CN113465518A - Method for eliminating mechanical error generated by installation of laser height measuring mechanism - Google Patents
Method for eliminating mechanical error generated by installation of laser height measuring mechanism Download PDFInfo
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- CN113465518A CN113465518A CN202110741575.9A CN202110741575A CN113465518A CN 113465518 A CN113465518 A CN 113465518A CN 202110741575 A CN202110741575 A CN 202110741575A CN 113465518 A CN113465518 A CN 113465518A
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- measuring mechanism
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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
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/03—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring coordinates of points
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Abstract
The invention provides a method for eliminating mechanical errors generated by installation of a laser height measuring mechanism, which comprises a calibration plate, the laser height measuring mechanism and a visual system, wherein the calibration plate is provided with a height change structure with a circular cross section, the relative positions of the laser height measuring mechanism and the visual system are unchanged, the laser height measuring mechanism can obtain a height value function and the circular height change structure, two chords are determined on a circular plane of the height change structure, the center of a circle of the height change structure is obtained by the perpendicular bisector of the two chords, the position of the laser height measuring mechanism is further determined, the relative position of the visual system and the laser height measuring mechanism is obtained by combining the position determined by the visual system according to the calibration plate, and the mechanical errors generated when the laser height measuring mechanism is installed are eliminated.
Description
Technical Field
The invention belongs to the field of determination of relative positions of a vision system and a laser center of height measuring equipment, and particularly relates to a method for eliminating mechanical errors generated by installation of a laser height measuring mechanism.
Background
Under the conditions that the resolution of an image sensor is continuously increased and the size of a single pixel is continuously reduced, the requirement on the accuracy of the relative positioning of a lens and the image sensor is higher and higher, and the current traditional packaging equipment cannot meet the requirement. The mechanical tolerance of each component can be corrected by an Active calibration technology of an AA (Active Alignment, which is a technology for determining the relative position in the assembly process of the spare part) process, and the imaging quality of the camera and the consistency of products are ensured.
When the camera module is produced by the automatic assembly equipment adopting the AA technology, the procedures of glue dispensing, AA curing, UV curing and the like are generally required. In the AA procedure, the relative position of the lens and the image sensor is adjusted in real time by matching a high-precision motion structure with a software algorithm, so that the optimal imaging effect is achieved.
During dispensing, the relative position of the dispensing needle and the vision system is determined, and because the height of each supplied material has deviation, in order to enable the dispensing needle to quickly and accurately reach a dispensing surface, a laser height measuring mechanism is added, the position of a light measuring beam relative to the two-dimensional space position of the vision system needs to be calibrated and confirmed, and mechanical errors generated during installation of the laser height measuring mechanism are eliminated.
Disclosure of Invention
Therefore, in order to solve the above problems, an object of the present invention is to provide a method for eliminating mechanical errors generated by the installation of a laser height measuring mechanism, which includes a calibration plate, the laser height measuring mechanism and a vision system, wherein the calibration plate is provided with a height variation structure with a circular cross section, and the relative positions of the laser height measuring mechanism and the vision system are unchanged;
the method is characterized in that:
the method comprises the following steps: the vision system takes a picture of the calibration plate and analyzes the image to determine the center of the height change structure;
step two: recording the coordinate w of the center of the height change structure;
step three: the laser height measuring mechanism and the calibration plate do relative linear motion for the first time, and the laser height measuring mechanism records the coordinate values of a point 1 and a point 2 with height change;
step four: the laser height measuring mechanism and the calibration plate do relative linear motion for the second time, and the laser height measuring mechanism records the coordinate values of the point 3 and the point 4 with height change;
step five: constructing a connecting line 1 according to the coordinate values of the point 1 and the point 2, and constructing a connecting line 2 according to the coordinate values of the point 3 and the point 4;
step six: calculating and constructing a perpendicular bisector 1 of the connecting line 1 and a perpendicular bisector 2 of the connecting line 2, and determining a coordinate y of the center of the height variation structure according to the intersection point of the perpendicular bisector 1 and the perpendicular bisector 2;
step seven: determining the relative position of the vision system and the laser height measuring mechanism according to the distance between the coordinate w and the coordinate y;
the coordinate values, the coordinate w, the coordinate y, the connecting line 1, the connecting line 2, the perpendicular bisector 1 and the perpendicular bisector 2 are all located in the same plane coordinate system.
Furthermore, the laser height measuring mechanism and the vision system are fixed, the driving system drives the calibration plate to move, and the driving system can acquire coordinate values of the calibration plate relative to the laser height measuring mechanism and the vision system.
Further, when the straight line formed by the first relative linear motion is parallel to the straight line formed by the second relative linear motion, and the perpendicular bisector 1 and the perpendicular bisector 2 coincide, the following steps are performed: and rotating the calibration plate, and then executing the step four, the step five, the step six and the step seven in sequence.
Further, the rotation angle range of the calibration plate is ± 5 °.
The invention has the beneficial effects that:
the laser height measuring mechanism has the advantages that the function of obtaining a height value and the circular height change structure can be obtained by the laser height measuring mechanism, two chords (a connecting line 1 and a connecting line 2) are determined on the circular plane of the height change structure, the center of a circle of the height change structure is obtained through the perpendicular bisector of the two chords, the position of the laser height measuring mechanism is further determined, the relative position of the vision system and the laser height measuring mechanism is obtained according to the position determined by the calibration plate through the vision system, and mechanical errors in installation of the laser height measuring mechanism are eliminated.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic illustration of the positioning of a calibration plate, vision system, laser height finding mechanism and work tool;
FIG. 2 is a schematic diagram of the positions of line 1 and line 2;
fig. 3 is a schematic structural diagram of the calibration plate.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Embodiments of the present invention will be described below with reference to the accompanying drawings.
Example (b):
fig. 1-3 illustrate a method for eliminating mechanical errors generated by the installation of a laser height measuring mechanism, which is provided by the invention, and comprises a calibration plate, the laser height measuring mechanism and a vision system, wherein the calibration plate is provided with a height change structure with a circular cross section, and the relative positions of the laser height measuring mechanism and the vision system are unchanged;
the method of determining the relative position between the vision system and the laser altimeter mechanism is as follows:
the method comprises the following steps: the vision system takes a picture of the calibration plate and analyzes the image to determine the center of the height change structure;
step two: recording the coordinate w of the center of the height change structure;
step three: the laser height measuring mechanism and the calibration plate do relative linear motion for the first time, and the laser height measuring mechanism records the coordinate values of a point 1 and a point 2 with height change;
step four: the laser height measuring mechanism and the calibration plate do relative linear motion for the second time, and the laser height measuring mechanism records the coordinate values of the point 3 and the point 4 with height change;
step five: constructing a connecting line 1 according to the coordinate values of the point 1 and the point 2, and constructing a connecting line 2 according to the coordinate values of the point 3 and the point 4;
step six: calculating and constructing a perpendicular bisector 1 of the connecting line 1 and a perpendicular bisector 2 of the connecting line 2, and determining a coordinate y of the center of the height variation structure according to the intersection point of the perpendicular bisector 1 and the perpendicular bisector 2;
step seven: determining the relative position of the vision system and the laser height measuring mechanism according to the distance between the coordinate w and the coordinate y;
the coordinate values, the coordinate w, the coordinate y, the connecting line 1, the connecting line 2, the perpendicular bisector 1 and the perpendicular bisector 2 are all located in the same plane coordinate system.
The laser height measuring mechanism and the vision system are fixed, the driving system drives the calibration plate to move, and the driving system can acquire the coordinate value of the calibration plate relative to the laser height measuring mechanism and the vision system.
When the straight line formed by the first relative linear motion is parallel to the straight line formed by the second relative linear motion, and the perpendicular bisector 1 and the perpendicular bisector 2 are coincident, the following steps are executed: and rotating the calibration plate, and then executing the step four, the step five, the step six and the step seven in sequence.
The rotation angle range of the calibration plate may be ± 5 °, but is not limited thereto.
The height variation structure is a circular bulge or a circular recess.
The working principle is as follows:
the laser height measuring mechanism records 4 points when the height changes and constructs two connecting lines and two corresponding perpendicular bisectors by the 4 points, the intersection point of the two perpendicular bisectors is the coordinate y corresponding to the laser height measuring mechanism, the coordinate w and the coordinate y respectively represent the absolute coordinates of the visual system and the laser height measuring mechanism, thereby obtaining the relative position of the visual system and the laser height measuring mechanism and further obtaining the actual relative position of the laser height measuring mechanism and the working tool, the laser height measuring mechanism has the advantages that the traditional method that the moving distance of the follow-up execution unit is regulated and controlled through the relative position (including mechanical error) of the rack mounting position is replaced, the mechanical error generated during the installation of the laser height measuring mechanism is eliminated, the accuracy of the moving distance of the follow-up execution unit is improved, and the processing dislocation is avoided.
Claims (4)
1. A method for eliminating mechanical errors generated by installation of a laser height measuring mechanism comprises a calibration plate, the laser height measuring mechanism and a visual system, wherein the calibration plate is provided with a height change structure with a circular cross section, and the relative positions of the laser height measuring mechanism and the visual system are unchanged;
the method is characterized in that:
the method comprises the following steps: the vision system takes a picture of the calibration plate and analyzes the image to determine the center of the height change structure;
step two: recording the coordinate w of the center of the height change structure;
step three: the laser height measuring mechanism and the calibration plate do relative linear motion for the first time, and the laser height measuring mechanism records the coordinate values of a point 1 and a point 2 with height change;
step four: the laser height measuring mechanism and the calibration plate do relative linear motion for the second time, and the laser height measuring mechanism records the coordinate values of the point 3 and the point 4 with height change;
step five: constructing a connecting line 1 according to the coordinate values of the point 1 and the point 2, and constructing a connecting line 2 according to the coordinate values of the point 3 and the point 4;
step six: calculating and constructing a perpendicular bisector 1 of the connecting line 1 and a perpendicular bisector 2 of the connecting line 2, and determining a coordinate y of the center of the height variation structure according to the intersection point of the perpendicular bisector 1 and the perpendicular bisector 2;
step seven: determining the relative position of the vision system and the laser height measuring mechanism according to the distance between the coordinate w and the coordinate y;
the coordinate values, the coordinate w, the coordinate y, the connecting line 1, the connecting line 2, the perpendicular bisector 1 and the perpendicular bisector 2 are all located in the same plane coordinate system.
2. The method for eliminating mechanical errors caused by installation of the laser height measuring mechanism according to claim 1, wherein the laser height measuring mechanism and the vision system are fixed, and a driving system drives the calibration plate to move.
3. The method for eliminating the mechanical error generated by the installation of the laser height measuring mechanism according to claim 1, wherein when the straight line formed by the first relative linear motion is parallel to the straight line formed by the second relative linear motion, and the perpendicular bisector 1 and the perpendicular bisector 2 coincide, the following steps are performed: and rotating the calibration plate, and then executing the step four, the step five, the step six and the step seven in sequence.
4. The method for eliminating mechanical error caused by installation of the laser height measuring mechanism as claimed in claim 3, wherein the rotation angle range of the calibration plate is ± 5 °.
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Cited By (1)
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| CN116989684A (en) * | 2023-09-27 | 2023-11-03 | 广州镭晨智能装备科技有限公司 | Floating height detection device, detection system and detection method |
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