CN113432585A - Non-contact hub position accurate measurement method based on machine vision technology - Google Patents
Non-contact hub position accurate measurement method based on machine vision technology Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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Abstract
The invention relates to the technical field of target detection, in particular to a non-contact hub position accurate measurement method based on a machine vision technology, which comprises the following steps of S1, constructing a vision detection system by using a CCD industrial camera to realize the acquisition of a workpiece image; s2, extracting two main characteristics of the hub by using a double-characteristic position accurate measurement method, namely the position of a hub valve hole and the position of a hub center hole; s3, determining the hub position precision error through the analysis and calculation of the dual-feature data, and outputting a result according to the calculation data; and S4, performing feedback compensation by using a segmented displacement and gradual secondary positioning mode. In the measuring method, the standard deviation of the angle is 0.0226 degrees, the measurement uncertainty is 0.0036 degrees, the measurement precision is ideal, and the detecting method has good timeliness and accuracy and can meet the performance requirement of detecting the automatic machining position of the hub.
Description
Technical Field
The invention relates to the technical field of target detection, in particular to a non-contact hub position accurate measurement method based on a machine vision technology.
Background
With the advent of the industrial 4.0 era, the industrial technology has been rapidly developed, and automatic processing has become the most important processing mode in industrial production due to high precision, high speed and high stability. The hub is used as a key part of vehicles such as automobiles and electric vehicles, is easily influenced by human factors, has low efficiency and poor stability due to the traditional processing mode, and is difficult to meet the market demand of high-speed development. Automatic processing of hubs is imperative.
The hub machining is the only finish machining process in the hub production process and is the most important link in the hub machining. The automatic hub machining process mainly comprises the steps of turning the hub profile by a numerical control lathe, and milling and drilling by a machining center. When the machining process is replaced, the hub needs to be turned over and clamped again, and the accurate measurement of the position of the hub becomes an important link influencing the clamping precision of the machining of the hub and directly influences the machining precision of the hub.
The traditional manual contact type position accurate measurement mode is low in production efficiency, poor in positioning accuracy, easy to be influenced by human factors, easy to form serious misjudgment under the condition that detection personnel are fatigue or not concentrated in energy, and incapable of meeting the intelligent production requirement. The measuring technology based on computer vision can better meet the requirement of measuring the precision of the automatic machining position of the hub due to the characteristics of high speed, good real-time performance, non-contact, low cost and the like. The Wangyujie adopts a visual detection technology to respectively carry out mean value filtering and edge segmentation detection on the acquired images so as to improve the detection precision and the detection rapidity. The Shenbao nations adopts a visual detection technology to carry out edge detection and edge identification on the collected image, and extracts the inclination angles of two sides of an included angle in the image by using two straight line identification methods of a least square method and Hough transformation, thereby realizing the angle detection of the workpiece. The Qinhevir optimizes the image acquired by the camera by adopting a wavelet denoising method, and calculates an optimal threshold value suitable for the denoised image by using a maximum inter-class variance method to carry out binarization processing so as to improve the visual accuracy of detection. The German bath detects edge characteristics by using a Canny edge detection operator, and then detects a section profile by using an improved random Hough circle detection algorithm, so that the detection precision and efficiency of the visual detection algorithm are improved. The new forest east adopts a machine vision technology, uses a monocular camera to image a target in real time, and then positions and tracks the target through digital image processing technologies such as binaryzation, contour extraction and the like, so that the measurement efficiency and stability are effectively improved, and real-time measurement is realized.
Under the actual complex processing environment, how to realize the accurate measurement of the hub position is a difficult problem to be solved at present.
Disclosure of Invention
In order to solve the problems, the invention provides a non-contact hub position accurate measurement method based on a machine vision technology.
In order to achieve the purpose, the invention adopts the technical scheme that:
a non-contact hub position accurate measurement method based on a machine vision technology comprises the following steps:
s1, building a visual detection system by using a CCD industrial camera to realize the acquisition of a workpiece image;
s2, extracting two main characteristics of the hub by using a double-characteristic position accurate measurement method, namely the position of a hub valve hole and the position of a hub center hole;
s3, determining the hub position precision error through the analysis and calculation of the dual-feature data, and outputting a result according to the calculation data;
and S4, performing feedback compensation by using a segmented displacement and gradual secondary positioning mode.
Further, the step S1 specifically includes the following steps: a visual detection system is built by using a CCD industrial camera, and after a workpiece enters a visual detection area and a sensor senses that the workpiece is in place, the visual detection system calls the CCD industrial camera to realize the acquisition of the workpiece image.
Further, In the step S2, In-sight explorer software is used to extract two basic features of the valve hole position and the center hole position of the hub.
Further, in step S3, the similarity between the image feature to be measured and the standard template image is calculated by comparing the image feature to be measured and the standard template image, if the calculation result meets the requirement of the similarity, the position is considered to meet the requirement, and if the calculation result does not meet the requirement, the distance or angle requiring the displacement compensation is calculated according to the error between the image position and the standard position.
Further, the step S3 specifically includes the following steps: firstly, extracting characteristic information of the valve hole in a standard template image, searching position information of the valve hole characteristic in an image area to be detected, and finding a coordinate x of the found characteristic position of the valve hole1、y1Coordinate x of characteristic position of valve hole in standard templateb1、yb1Comparing, calculating position error, and if the error is less than or equal to a threshold value, enabling the characteristic position of the valve hole to meet the requirement; extracting the characteristics of the central hole of the hub by a local mask of the characteristics of the central hole of the hub, and searching the coordinates x of the characteristic position of the central hole in the image to be detected2、y2Coordinate x of characteristic position of center hole of standard templateb2、yb2Comparing, calculating position error, if the error is less than or equal to a threshold value, the position of the central hole also meets the requirement, and if the precision of the double characteristic positions meets the requirement, detecting that the position of the hub meets the clamping requirement;
one of the position coordinate errors of the valve hole and the central holeIf the item or all items are larger than the threshold value, the characteristic position information (x) of two positions of the hub is imported1、y1、x2、y2) To the automatic calculation program of the table,
and calculating to obtain the angular position error r of the hub, analyzing according to the calculation result, wherein the position error r is smaller than or equal to the threshold value, the hub position meets the clamping requirement, and if the calculation result is larger than the threshold value, the hub position does not meet the clamping requirement.
Further, in step S4, for the workpiece with a large position deviation, the hub position precision is measured by performing displacement compensation movement in a segmented displacement and gradually positioning manner, an angle of 60 ° is set as a single maximum compensation interval, that is, the workpiece with a deviation greater than 60 ° is set, and in a manner of compensating 60 ° each time, the difference is compensated until the remaining angle is less than 60 °, and then the angle is directly compensated until the remaining angle meets the requirement.
Experimental measurement shows that in the measuring method, the standard deviation of the angle is 0.0226 degrees, the measurement uncertainty is 0.0036 degrees, the measurement precision is ideal, and the detection method has good timeliness and accuracy and can meet the performance requirement of detecting the automatic machining position of the hub.
Drawings
Fig. 1 is a flow chart of feature extraction and analysis in an embodiment of the present invention.
Fig. 2 is a flow chart of offset adjustment according to an embodiment of the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.
Construction of visual inspection system
A visual detection system is built by using a CCD industrial camera, and after a workpiece enters a visual detection area and a sensor senses that the workpiece is in place, the visual detection system calls the CCD industrial camera to realize the acquisition of the workpiece image.
Accurate determination of hub chucking position
Because the hub clamping position precision has double positioning requirements on the position and the posture of the hub, in order to ensure the hub clamping position precision accuracy, a method for measuring the double-characteristic position precision is adopted, and compared with the conventional single-characteristic position measuring method, the double-characteristic positioning method can effectively eliminate the small error and influence on the workpiece posture position precision. Specifically, the method comprises the following steps: extracting two basic characteristics of the valve hole position and the central hole position of a hub carried In a workpiece image through In-SightExplorer software, respectively comparing the characteristics of the image to be detected with a standard template image, calculating the similarity between the two basic characteristics, judging that the positions are In accordance if the calculated result meets the requirement of the similarity, and calculating the distance or angle needing displacement compensation according to the error between the image position and the standard position if the calculated result does not meet the requirement, wherein the specific flow is shown In figure 1.
Knowing the hub feature 1 (valve hole) position information x1、y1Hub feature 2 (center hole) position information x2，y2And the deflection angle r of the hub position is as follows:
designing a table angle automatic calculation program according to the formula (1)
And the application program imports two characteristic parameters of the hub and can calculate the angular position error r of the hub.
As shown in figure 1, firstly extracting the characteristic information of the valve hole in the standard template image, then searching the position information of the valve hole characteristic in the image area to be detected, and searching the coordinate x of the found position of the valve hole characteristic1、y1Coordinate x of characteristic position of valve hole in standard templateb1、yb1Comparing, calculating the position error, and if the error is less than or equal toAnd (5) threshold value, the characteristic position of the valve hole meets the requirement.
Extracting the characteristics of the central hole of the hub by a local mask of the characteristics of the central hole of the hub, and searching the coordinates x of the characteristic position of the central hole in the image to be detected2、y2Coordinate x of characteristic position of center hole of standard templateb2、yb2And comparing, calculating position errors, if the errors are smaller than or equal to a threshold value, enabling the position of the central hole to meet the requirement, and enabling the precision of the double characteristic positions to meet the requirement, and detecting that the position of the hub meets the clamping requirement. If one or both of the coordinate errors of the positions of the valve hole and the center hole are larger than the threshold value, the characteristic position information (x) of two positions of the hub is introduced1、y1、x2、y2) To the automatic calculation program of the table,
and calculating to obtain the angular position error r of the hub, analyzing according to the calculation result, wherein the position error r is smaller than or equal to the threshold value, the hub position meets the clamping requirement, and if the calculation result is larger than the threshold value, the hub position does not meet the clamping requirement.
Because the clamping mode of hub processing adopts the mode of central positioning and uniform clamping around, the mode can well ensure the central positioning precision of the hub, so that the hub positioning precision only has angle positioning error, and error bands are always distributed on the circumference with the equal diameter and taking the hub positioning center as the circle center, therefore, the angle becomes the main parameter directly influencing the hub processing positioning precision factor, the hub position is accurately determined and selected by taking the angle value as the main output result, and the formula (1) is used for automatically calculating a program through a table
And calculating an angle by using two characteristic parameters of the hub as an output result.
Because of single measurement accuracy has the error, and the single measurement time of vision system is extremely short, for reducing the error value, the accurate survey of wheel hub position chooses for use and measures (10 times) the mode of getting the average value many times, reduces measuring error, feeds back the output result to the manipulator after the measurement is accomplished and carries out the motion of displacement difference benefit.
In order to reduce errors of positioning accuracy of a manipulator, when the displacement difference is compensated, the hub position accuracy is measured for a workpiece with large position deviation, the displacement compensation motion is carried out by selecting a segmented displacement and gradual secondary positioning mode, an angle of 60 degrees is set as a single maximum compensation interval, namely, the workpiece with the deviation larger than 60 degrees is compensated until the residual angle is smaller than 60 degrees in a mode of compensating 60 degrees every time, and then the angle is directly compensated until the residual angle meets the requirement. The specific compensation adjustment process is shown in FIG. 2
A compensation difference adjustment step:
step1, distinguishing the angle deviation range of the hub according to the measurement result, and dividing the range into five intervals of-60 degrees to 60 degrees, 60 degrees to 120 degrees, 120 degrees to 180 degrees, 60 degrees to-120 degrees, 120 degrees to-180 degrees according to different angles;
step2, uniformly shifting and compensating the angle deviation of the wheel hub between 120 degrees and 180 degrees or between-120 degrees and-180 degrees for the workpiece between 60 degrees and 60 degrees or between-60 degrees and-120 degrees, and measuring again;
step3, uniformly displacing and compensating the range of 60-60 degrees for the workpiece with the hub angle deviation of 60-120 degrees or-60-120 degrees, and measuring again;
step 4: directly displacing the compensation measurement result to a correct position for a workpiece with the hub angle deviation in a range of-60 degrees to 60 degrees;
step 5: and measuring a compensation result, and judging that the position meets the card installing requirement as the end of adjustment.
Practical application in the field
The wheel hub position precision measuring system is utilized to actually measure 40 times the same workpiece with the deflection angle of 3 degrees, and the result is shown in table 1.
TABLE 1 measurement of workpieces with the same deflection angle
The hub position accurate measurement standard deviation s is as follows:
standard uncertainty of measurement
Is composed of
The requirement for the position precision error of the hub is +/-0.5 degrees, the maximum error, the standard deviation and the A-type uncertainty of the position precision measurement of the hub are calculated according to experimental data and are within an ideal range, the hub position precision measuring system based on the visual detection technology is explained, the requirement for the position precision measurement of the hub can be met, the measurement can be rapidly and repeatedly carried out, the displacement compensation system can meet the requirements for output, the system processing time is short, and the industrial online real-time detection requirement is met. In order to further improve the measurement accuracy, the stability of the system, and shorten the processing time of the system, further research on related problems, such as positioning of camera pixels, detection environment, stability of lens and light source, etc., is required.
Use visual detection system for field experiment, supplementary wheel hub automated processing 577 wheel hubs, wherein 55 work pieces of problem, the product percent of pass of once-through processing is 90.47%, through the detection and analysis to the work piece of problem, the production problem reason is whole for processing or fixture precision, and the whole meet the demands of wheel hub automated processing detection location are all determined to the wheel hub position accuracy.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (6)
1. A non-contact hub position accurate measurement method based on a machine vision technology is characterized in that: the method comprises the following steps:
s1, building a visual detection system by using a CCD industrial camera to realize the acquisition of a workpiece image;
s2, extracting two main characteristics of the hub by using a double-characteristic position accurate measurement method, namely the position of a hub valve hole and the position of a hub center hole;
s3, determining the hub position precision error through the analysis and calculation of the dual-feature data, and outputting a result according to the calculation data;
and S4, performing feedback compensation by using a segmented displacement and gradual secondary positioning mode.
2. The method for accurately measuring the position of the non-contact hub based on the machine vision technology as claimed in claim 1, wherein: the step S1 specifically includes the following steps: a visual detection system is built by using a CCD industrial camera, and after a workpiece enters a visual detection area and a sensor senses that the workpiece is in place, the visual detection system calls the CCD industrial camera to realize the acquisition of the workpiece image.
3. The method for accurately measuring the position of the non-contact hub based on the machine vision technology as claimed in claim 1, wherein: in the step S2, In-sight explorer software is used to extract two basic features of the valve hole position and the center hole position of the hub.
4. The method for accurately measuring the position of the non-contact hub based on the machine vision technology as claimed in claim 1, wherein: in step S3, the similarity between the image feature to be measured and the standard template image is calculated by comparing the image feature to be measured and the standard template image, if the calculated result meets the similarity requirement, the position is considered to meet the requirement, and if the calculated result does not meet the requirement, the distance or angle required to be compensated by displacement is calculated according to the error between the image position and the standard position.
5. The method for accurately measuring the position of the non-contact hub based on the machine vision technology as claimed in claim 1, wherein: the step S3 specifically includesThe following steps: firstly, extracting characteristic information of the valve hole in a standard template image, searching position information of the valve hole characteristic in an image area to be detected, and finding a coordinate x of the found characteristic position of the valve hole1、y1Coordinate x of characteristic position of valve hole in standard templateb1、yb1Comparing, calculating position error, and if the error is less than or equal to a threshold value, enabling the characteristic position of the valve hole to meet the requirement; extracting the characteristics of the central hole of the hub by a local mask of the characteristics of the central hole of the hub, and searching the coordinates x of the characteristic position of the central hole in the image to be detected2、y2Coordinate x of characteristic position of center hole of standard templateb2、yb2Comparing, calculating position error, if the error is less than or equal to a threshold value, the position of the central hole also meets the requirement, and if the precision of the double characteristic positions meets the requirement, detecting that the position of the hub meets the clamping requirement; if one or both of the coordinate errors of the positions of the valve hole and the center hole are larger than the threshold value, the characteristic position information (x) of two positions of the hub is introduced1、y1、x2、y2) To the automatic calculation program of the table,
and calculating to obtain the angular position error r of the hub, analyzing according to the calculation result, wherein the position error r is smaller than or equal to the threshold value, the hub position meets the clamping requirement, and if the calculation result is larger than the threshold value, the hub position does not meet the clamping requirement.
6. The method for accurately measuring the position of the non-contact hub based on the machine vision technology as claimed in claim 1, wherein: in the step S4, for a workpiece with a large position deviation, the hub position precision is measured, a displacement compensation motion is performed by selecting a segmented displacement and gradually positioning mode, an angle of 60 ° is set as a single maximum compensation interval, that is, a workpiece with a deviation greater than 60 ° is set, and in a mode of compensating 60 ° each time, the compensation is performed until the remaining angle is less than 60 °, and then the compensation is performed until the angle meets the requirement.
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Application publication date: 20210924 |