CN112197698B - Rotary cone angle amplification servo axis measuring method and system - Google Patents
Rotary cone angle amplification servo axis measuring method and system Download PDFInfo
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- CN112197698B CN112197698B CN202011006851.9A CN202011006851A CN112197698B CN 112197698 B CN112197698 B CN 112197698B CN 202011006851 A CN202011006851 A CN 202011006851A CN 112197698 B CN112197698 B CN 112197698B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
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Abstract
The invention discloses a method and a system for measuring a rotary cone angle amplification servo axis, wherein the method comprises the following steps: the target disc is magnetically attracted to the end faces of the servo inner ring bearing and the servo outer ring bearing; rotating the servo inner ring and the servo outer ring, and acquiring a plurality of spatial positions of the mark points rotating around the bearing through a binocular vision system; inputting the plurality of spatial positions into a computer to fit a revolution axis; and measuring normal vectors of a certain plane fixed on the shaft at a plurality of moments in the rotating process based on the revolution axis so as to fit the revolution center line vector of the conical surface. The invention has the advantages that: the realization is simple, and the device comprises a target disc which is used for being magnetically adsorbed on the end surfaces of the servo inner ring bearing and the servo outer ring bearing; the binocular vision system is used for collecting a plurality of spatial positions of the mark points rotating around the bearing when the inner and outer servo rings are rotated; and the processing module is used for fitting the conical surface rotation center line vector, realizing non-contact measurement of the virtual rotating shaft and solving the problem that the servo virtual rotating shaft cannot be directly measured.
Description
Technical Field
The invention belongs to the field of precision measurement and precision adjustment, and particularly relates to a method and a system for measuring a rotary cone angle amplification servo axis.
Background
When the servo mechanism is assembled, the spatial directions of rotating shafts such as an inner ring and an outer ring are often required to be measured, the rotating shafts are virtual characteristics formed by dynamic rotation of the inner ring and the outer ring around bearings at two ends and cannot be directly obtained by simple means such as a measuring tool. The existing technical means are generally complex, can not directly measure the servo virtual rotating shaft and can not be well applied to the space angle measurement of the servo mechanism virtual rotating shaft.
Disclosure of Invention
The invention aims to provide a rotary cone angle amplification servo axis measuring method, which solves the problem that a servo virtual rotary shaft cannot be directly measured.
In view of this, the technical solution provided by the present invention is: a method of rotating cone angle amplified servo axis measurement, comprising:
firstly, a target disc is magnetically attracted to the end faces of the servo inner ring bearing and the servo outer ring bearing;
secondly, rotating the inner and outer servo rings, and acquiring a plurality of spatial positions of the mark points rotating around the bearing through a binocular vision system;
then, inputting the plurality of spatial positions into a computer to fit a revolution axis;
and finally, measuring normal vectors of a certain plane fixed on the shaft at a plurality of moments in the rotating process based on the revolution axis so as to fit the revolution center line vector of the conical surface.
Furthermore, the target disc is magnetically adsorbed on the end faces of the inner ring bearing and the outer ring bearing of the servo in a 5-15 degree angle.
Further, a binocular vision system acquires a plurality of spatial positions of the marker points rotating around the bearing, including: and acquiring the image of the target disc in the process of uniform rotation of the shaft by using a binocular vision system.
Further, the input computer fits the axis of revolution, comprising: and fitting the normal vector of each moment of the target disk in the computer.
Further, measuring normal vectors of a plane fixed on the shaft at a plurality of moments in the rotation process to fit the cone surface rotation center line vector, comprising: and obtaining the direction vector of the shaft to be measured by fitting the rotation center line of the conical surface formed by the normal vectors of the target plate at a plurality of moments.
Further, fitting the normal vector of each time of the target disk in the computer comprises: and (3) carrying out edge extraction in a computer by utilizing an image processing technology, and identifying all mark points in the image by a feature identification algorithm.
Further, the feature recognition algorithm is an ellipse recognition algorithm.
Another object of the present invention is to provide a rotary cone angle amplified servo axis measuring system, comprising:
the target disc is used for being magnetically adsorbed on the end faces of the servo inner ring bearing and the servo outer ring bearing;
the binocular vision system is used for collecting a plurality of spatial positions of the mark points rotating around the bearing when the inner and outer servo rings are rotated;
and the processing module is used for inputting the fitting rotation axis of the computer according to the plurality of spatial positions, measuring normal vectors of a certain plane fixed on the shaft at a plurality of moments in the rotating process based on the rotation axis, and fitting the rotation center line vector of the conical surface.
Furthermore, the round galvanized thin iron sheet is provided with a plurality of mark points on the surface in a random and uniform dispersion manner.
Furthermore, the target disc is a circular galvanized thin iron sheet with the diameter of 80mm, 5mm mark points are randomly and uniformly distributed on the surface, and the distribution range is more than 60 mm.
The present invention achieves the following significant advantageous effects
The realization is simple, include: the target plate is magnetically attracted to the end faces of the servo inner ring bearing and the servo outer ring bearing; rotating the servo inner ring and the servo outer ring, and acquiring a plurality of spatial positions of the mark points rotating around the bearing through a binocular vision system; inputting the plurality of spatial positions into a computer to fit a revolution axis; and measuring normal vectors of a certain plane fixed on the shaft at a plurality of moments in the rotating process based on the revolution axis so as to fit the revolution center line vector of the conical surface. The non-contact measurement technical effect of the virtual rotating shaft based on binocular vision can be achieved, and the problem that the servo virtual rotating shaft cannot be directly measured is solved.
Drawings
FIG. 1 is a flow chart of a method for rotating cone angle amplified servo axis measurement according to the present invention.
FIG. 2 is a schematic representation of a target of the present invention;
FIG. 3 is a schematic diagram of the cone fitting principle of the present invention.
FIG. 4 is a flowchart of an embodiment of a method for rotating cone angle amplified servo axis measurement according to the present invention.
Schematic of the reference numerals
1. Marking point 2, target disc 3, conical surface formed by target disc normal vector rotating around axis to be measured
4. Axial direction vector to be measured
Detailed Description
The advantages and features of the present invention will become more fully apparent from the following description and appended claims, taken in conjunction with the accompanying drawings and detailed description of specific embodiments of the invention. It is to be noted that the drawings are in a very simplified form and are not to scale, which is intended merely for convenience and clarity in describing embodiments of the invention.
It should be noted that, for clarity of description of the present invention, various embodiments are specifically described to further illustrate different implementations of the present invention, wherein the embodiments are illustrative and not exhaustive. In addition, for simplicity of description, the contents mentioned in the previous embodiments are often omitted in the following embodiments, and therefore, the contents not mentioned in the following embodiments may be referred to the previous embodiments accordingly.
While the invention is amenable to various modifications and alternative forms, specifics thereof have been shown by way of example in the drawings and will be described in detail. It should be understood that the inventors do not intend to limit the invention to the particular embodiments described, but intend to protect all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the claims. The same meta-module part number may be used throughout the drawings to represent the same or similar parts.
Referring to fig. 1 to 4, a method for measuring a rotating cone angle amplified servo axis according to the present invention includes:
step S101, enabling a target disc to be magnetically adsorbed on the end faces of inner and outer ring bearings of a servo;
step S102, rotating the inner and outer servo rings, and collecting a plurality of spatial positions of the mark points rotating around the bearing through a binocular vision system;
step S103, inputting a computer to fit a rotation axis according to the plurality of spatial positions;
and step S104, measuring normal vectors of a certain plane fixed on the shaft at a plurality of moments in the rotating process based on the rotation axis to fit the rotation center line vector of the conical surface.
In one embodiment, the target disk is magnetically attached to the end faces of the inner ring bearing and the outer ring bearing of the servo in an angle of 5-15 degrees.
In one embodiment, a binocular vision system acquires a plurality of spatial positions of a marker point rotating around the bearing, including: and acquiring the image of the target disc in the process of uniform rotation of the shaft by using a binocular vision system.
In one embodiment, the input computer fits a gyration axis comprising: and fitting the normal vector of each moment of the target disk in the computer.
In one embodiment, measuring normal vectors of a plane fixed to the shaft at a plurality of times during rotation to fit a cone centerline of revolution vector comprises: and obtaining the direction vector of the shaft to be measured by fitting the rotation center line of the conical surface formed by the normal vectors of the target plate at a plurality of moments.
In one embodiment, fitting a normal vector to the target disk at each time in a computer comprises: and (3) carrying out edge extraction in a computer by utilizing an image processing technology, and identifying all mark points in the image by a feature identification algorithm.
In one embodiment, the feature recognition algorithm is an ellipse recognition algorithm.
Another object of the present invention is to provide a system for enlarged servo axis measurement of a cone angle of gyration, comprising:
the target disc is used for being magnetically adsorbed on the end faces of the servo inner ring bearing and the servo outer ring bearing;
the binocular vision system is used for collecting a plurality of spatial positions of the mark points rotating around the bearing when the inner and outer servo rings are rotated;
and the processing module is used for inputting the fitting rotation axis of the computer according to the plurality of spatial positions, measuring normal vectors of a certain plane fixed on the shaft at a plurality of moments in the rotating process based on the rotation axis, and fitting the rotation center line vector of the conical surface.
In one embodiment, the round galvanized thin iron sheet is provided with a plurality of marking points which are randomly and uniformly distributed on the surface.
In one embodiment, the target disc is a circular galvanized thin iron sheet with the diameter of 80mm, the surface of the target disc is randomly and uniformly distributed with 5mm mark points, and the distribution range is more than 60 mm. The invention realizes the technical effect of non-contact virtual axis measurement based on the binocular vision system, acquires images of a plurality of moments of the mark points rotating around the bearing through the binocular vision system, and then inputs the images into the computer to fit the revolution axis.
As a specific embodiment, the present invention provides a system for rotating cone angle amplified servo axis measurement, comprising: the target disc is an auxiliary measuring tool and is a circular galvanized thin iron sheet with the diameter of 80mm, mark points with the diameter of 5mm are randomly and uniformly distributed on the surface, and the distribution range is more than 60 mm.
As a specific embodiment, the target disc is magnetically adsorbed on the end faces of the inner ring bearing and the outer ring bearing of the servo in a 5-15 degree angle.
As a specific embodiment, the inner ring and the outer ring of the servo are rotated, images of a target disc in the process that a binocular vision system acquisition shaft rotates for a circle at a constant speed are used for subsequent data fitting, images of the target disc at 300 moments in the rotating process are acquired, the time that the shaft rotates for a circle is set as t, and the acquisition frame rate of the binocular vision system is set as 300/t. For example: when the time of one revolution of a certain servo mechanism shaft is 10 seconds, the acquisition frame rate of the binocular vision system is set to be 30 frames/second.
As a specific embodiment, each acquisition time in the rotation process is calculated to be a state, each state is provided with a pair of images acquired by two cameras of a binocular vision system, edge extraction is carried out in a computer by using an image processing technology, all mark points in the images can be identified through feature identification algorithms such as ellipse identification and the like, and then spatial coordinates of a target disc plane in each state are fitted, and further a normal vector of the target disc plane in each state is calculated.
As a specific embodiment, the invention is based on the principle of cone fitting, that is, any plane fixed on the shaft rotates around the shaft in the rotation process of the shaft, and the mathematical expression shows that the unit normal vector of the plane at any time is on the cone with the axial direction vector as the center. The direction vector of the shaft to be measured can be obtained by fitting the rotation center line of the conical surface formed by the normal vectors of the target plate at 300 moments.
As a specific embodiment, any plane fixed on the shaft rotates around the shaft in the rotation process of the shaft, and the mathematical expression shows that the unit normal vector of the plane at any time is on a conical surface taking the axial direction vector as the center. By using the principle, the normal vectors of a certain plane fixed on the shaft at a plurality of moments in the rotating process can be measured, and then the vector of the conical surface rotation center line is fitted, namely the measured vector of the shaft direction to be measured. Based on the principle, the invention designs the target plate for auxiliary measurement, and the target plate is magnetically adsorbed on the end face of the bearing at an angle of 5-15 degrees, so that a better measurement effect is obtained.
As a specific embodiment, the auxiliary measuring tool target disk is adsorbed on the end faces of the inner ring bearing and the outer ring bearing of the servo. And rotating the servo inner ring and the servo outer ring, using a binocular vision system to acquire images of the target disk in the process that the shaft rotates at a uniform speed for one circle for subsequent data fitting, and finally obtaining the direction vector of the shaft to be measured by fitting the revolution center line of the conical surface consisting of the normal vectors of the target disk at a plurality of moments.
As a specific embodiment, the target disk is magnetically adsorbed on the end faces of the inner ring bearing and the outer ring bearing of the servo at an angle of 10 degrees.
As a specific embodiment, the target disk images at 300 moments are required to be acquired in the process of one rotation of the shaft, the time of one rotation of the shaft is set as t, and the acquisition frame rate of a binocular vision system is set as 300/t.
As a specific embodiment, the invention inputs the images acquired by binocular vision into a computer for processing.
As a specific embodiment, the method utilizes an image processing technology to extract edges in a computer, and can identify all mark points in an image through a feature identification algorithm such as ellipse identification and the like, so as to fit the space coordinates of the plane of the target disc in each state, and further calculate the normal vector of the plane of the target disc in each state.
The invention also provides a rotary cone angle amplification servo axis measuring system, which comprises:
the target disc is used for being magnetically adsorbed on the end faces of the servo inner ring bearing and the servo outer ring bearing;
the binocular vision system is used for collecting a plurality of spatial positions of the mark points rotating around the bearing when the inner and outer servo rings are rotated;
and the processing module is used for inputting the fitting rotation axis of the computer according to the plurality of spatial positions, measuring normal vectors of a certain plane fixed on the shaft at a plurality of moments in the rotating process based on the rotation axis, and fitting the rotation center line vector of the conical surface.
As a specific embodiment, the system of the invention adopts a binocular camera, a computer and a target disc. The target disc is a circular galvanized thin iron sheet with the diameter of 80mm, black and white marking points with the diameter of 5mm are randomly and uniformly distributed on the surface, the distribution range is more than 60mm, and the target disc is magnetically adsorbed on the end face of a shaft to be measured at an angle of 5-15 degrees. And (4) acquiring target disc marking point data by using a binocular camera, inputting the target disc marking point data into a computer for processing, and finally fitting the spatial angle of the virtual axis.
The round galvanized thin iron sheet is provided with a plurality of mark points which are randomly and uniformly distributed on the surface.
As a specific embodiment, the target disc is a circular galvanized thin iron sheet with the diameter of 80mm, marking points with the diameter of 5mm are randomly and uniformly distributed on the surface, and the distribution range is more than 60 mm.
As a specific embodiment, the inner ring and the outer ring of the servo are rotated, images of a target disk in the process of uniform rotation of a binocular vision system acquisition shaft for subsequent data fitting are used, images of the target disk at 300 moments in the rotation process are acquired, and the time of uniform rotation of the shaft for one circle is set as t, so that the acquisition frame rate of the binocular vision system is set as 300/t. For example: when the time of one revolution of a certain servo mechanism shaft is 10 seconds, the acquisition frame rate of the binocular vision system is set to be 30 frames/second.
As a specific embodiment, a specific measurement flow of the system for measuring the rotating cone angle amplified servo axis according to the present invention is as follows:
the first step is as follows: and magnetically adsorbing the target disk at 5-15 degrees to the end faces of the inner ring bearing and the outer ring bearing of the servo.
The second step is that: rotating the inner ring and the outer ring of the servo, using images of the target disk in the process of uniform rotation of the binocular vision system acquisition shaft for subsequent data fitting, generally acquiring images of the target disk at 300 moments in the rotation process, and setting the time of uniform rotation of the shaft for one circle as t, and setting the acquisition frame rate of the binocular vision system as 300/t. For example: when the time of one revolution of a certain servo mechanism shaft is 10 seconds, the acquisition frame rate of the binocular vision system is set to be 30 frames/second.
The third step: calculating each acquisition moment in the rotation process as a state, wherein each state has a pair of images acquired by two cameras of a binocular vision system, extracting edges in a computer by using an image processing technology, identifying all mark points in the images by using a feature identification algorithm such as ellipse identification and the like, fitting the space coordinates of the plane of the target disc in each state, and calculating the normal vector of the plane of the target disc in each state.
The fourth step: according to the cone fitting principle, that is, any plane fixed on the shaft rotates around the shaft in the rotation process of the shaft, the mathematical expression shows that the unit normal vector of the plane at any time is on the cone with the axial direction vector as the center. The direction vector of the shaft to be measured can be obtained by fitting the rotation center line of the conical surface formed by the normal vectors of the target plate at 300 moments.
The invention achieves the following remarkable beneficial effects
The realization is simple, include: the target plate is magnetically attracted to the end faces of the servo inner ring bearing and the servo outer ring bearing; rotating the servo inner ring and the servo outer ring, and acquiring a plurality of spatial positions of the mark points rotating around the bearing through a binocular vision system; inputting the plurality of spatial positions into a computer to fit a revolution axis; and measuring normal vectors of a certain plane fixed on the shaft at a plurality of moments in the rotating process based on the revolution axis so as to fit the revolution center line vector of the conical surface. The non-contact measurement technical effect of the virtual rotating shaft based on binocular vision can be achieved, and the problem that the servo virtual rotating shaft cannot be directly measured is solved.
Any other suitable modifications can be made according to the technical scheme and the conception of the invention. All such alternatives, modifications and improvements as would be obvious to one skilled in the art are intended to be included within the scope of the invention as defined by the appended claims.
Claims (7)
1. A method of rotating cone angle amplified servo axis measurement, comprising:
firstly, magnetically adsorbing a target disc at 5-15 degrees to the end faces of inner and outer ring bearings of a servo;
secondly, rotating the inner and outer servo rings, and acquiring a plurality of spatial positions of the mark points rotating around the bearing through a binocular vision system;
then, inputting the plurality of spatial positions into a computer to fit a revolution axis;
and finally, measuring normal vectors of a certain plane fixed on the shaft at a plurality of moments in the rotating process based on the revolution axis so as to fit the revolution center line vector of the conical surface.
2. The method of gyratory cone angle amplification servo axis measurement according to claim 1, wherein the binocular vision system acquires a plurality of spatial positions of the marker points rotating about the bearing, including: and acquiring an image of the target disc during the uniform rotation of the shaft for one circle by using a binocular vision system.
3. The method of claim 1, wherein inputting a computer to fit the slew axis comprises: and fitting the normal vector of each moment of the target disk in the computer.
4. The method of claim 3, wherein measuring normal vectors of a plane fixed to the shaft at a plurality of times during rotation to fit the cone centerline of revolution vector comprises: and obtaining the direction vector of the shaft to be measured by fitting the rotation center line of the conical surface formed by the normal vectors of the target plate at a plurality of moments.
5. The method of claim 4, wherein fitting the normal vector to the target disk at each time in the computer comprises: and (3) extracting edges in a computer by using an image processing technology, and identifying all the mark points in the image by using a feature identification algorithm.
6. The method of claim 5, wherein the feature recognition algorithm is an ellipse recognition algorithm.
7. A rotary cone angle amplified servo axis measurement system, comprising:
the target disc is used for being magnetically adsorbed on the end faces of the servo inner ring bearing and the servo outer ring bearing at an angle of 5-15 degrees;
the binocular vision system is used for collecting a plurality of spatial positions of the mark points rotating around the bearing when the servo inner ring and the servo outer ring are rotated;
and the processing module is used for inputting the fitting rotation axis of the computer according to the plurality of spatial positions, measuring normal vectors of a certain plane fixed on the shaft at a plurality of moments in the rotating process based on the rotation axis, and fitting the rotation center line vector of the conical surface.
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| CN112923853B (en) * | 2021-01-29 | 2022-07-29 | 北京理工大学 | Method and system for measuring gear revolution axis pose and gear shafting assembly error |
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