CN113465518B - 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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- CN113465518B CN113465518B CN202110741575.9A CN202110741575A CN113465518B CN 113465518 B CN113465518 B CN 113465518B CN 202110741575 A CN202110741575 A CN 202110741575A CN 113465518 B CN113465518 B CN 113465518B
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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 measurement mechanism, which comprises a calibration plate, a laser height measurement mechanism and a vision system, wherein the calibration plate is provided with a height change structure with a circular cross section, the relative positions of the laser height measurement mechanism and the vision system are unchanged, the function of acquiring a height value by using the laser height measurement mechanism and the circular height change structure are utilized, two strings are determined on a circular plane of the height change structure, the center of the height change structure is obtained by a perpendicular bisector of the two strings, the position of the laser height measurement mechanism is determined, and the relative positions of the vision system and the laser height measurement mechanism are obtained by combining the position determined by the vision system according to the calibration plate, so that the mechanical errors during installation of the laser height measurement mechanism are eliminated.
Description
Technical Field
The invention belongs to the field of determination of the 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 the image sensor is continuously increased and the size of a single pixel is continuously reduced, the accuracy requirement of the relative positioning of the lens and the image sensor is higher and higher, and the traditional packaging equipment cannot meet the requirement at present. The mechanical tolerance of each component can be corrected by an Active calibration technology of an AA (Active Alignment) technology, which is a technology for determining the relative position in the assembly process of parts, so that the imaging quality of a camera and the consistency of products are ensured.
The automatic assembly equipment adopting the AA technology generally needs to undergo the procedures of dispensing, AA, UV curing and the like when the camera module is produced. In the AA procedure, the relative positions of the lens and the image sensor are adjusted in real time through the high-precision motion structure and the software algorithm, so that the optimal imaging effect is achieved.
When dispensing, the relative positions of the dispensing needle and the vision system are determined, and because of the deviation of the heights of all incoming materials, in order to enable the dispensing needle to quickly and accurately reach the dispensing surface, a laser height measurement mechanism is added, calibration and confirmation are needed to be carried out on the position of the measuring beam relative to the two-dimensional space position of the vision system, and mechanical errors generated by the laser height measurement mechanism during installation 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 installation of a laser height measurement mechanism, which includes a calibration plate, a laser height measurement 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 measurement mechanism and the vision system are unchanged;
the method is characterized in that:
step one: the vision system photographs 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 first relative linear motion, and the laser height measuring mechanism records 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 a second relative linear motion, and the laser height measuring mechanism records the coordinate value of the point 3 and the coordinate value of the point 4 with height change;
step five: constructing a connecting line 1 according to the coordinate value of the point 1 and the coordinate value of the point 2, and constructing a connecting line 2 according to the coordinate value of the point 3 and the coordinate value of 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 change 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.
Further, the laser height measurement mechanism is fixed with the vision system, 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 measurement mechanism and the vision system.
Further, when the straight line formed by the first relative straight line movement is parallel to the straight line formed by the second relative straight line movement, the perpendicular bisector 1 and the perpendicular bisector 2 are overlapped, the following steps are performed: and (3) rotating the calibration plate, and sequentially executing the fourth step, the fifth step, the sixth step and the seventh step.
Further, the rotation angle range of the calibration plate is + -5 deg..
The beneficial effects of the invention are as follows:
the function of the height value and the circular height change structure can be obtained by utilizing the laser height measurement mechanism, two strings (connecting line 1 and connecting line 2) are determined on a circular plane of the height change structure, the center of the circle of the height change structure is obtained by the perpendicular bisectors of the two strings, the position of the laser height measurement mechanism is further determined, the relative position of the vision system and the laser height measurement mechanism is obtained by combining the position of the vision system according to the calibration plate, and the mechanical error of the laser height measurement mechanism during installation is eliminated.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic illustration of the positions of a calibration plate, vision system, laser altimeter mechanism and work tool;
FIG. 2 is a schematic diagram of the locations of the connection lines 1 and 2;
FIG. 3 is a schematic structural view of the calibration plate.
Detailed Description
The following description of the technical solutions in the embodiments of the present invention will be clear and complete, and it is obvious that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Specific embodiments of the present invention will be described below with reference to the accompanying drawings.
Examples:
1-3 illustrate a method for eliminating mechanical errors generated by installation of a laser height measurement mechanism, which comprises a calibration plate, the laser height measurement 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 measurement mechanism and the vision system are unchanged;
the method for determining the relative position between the vision system and the laser altimeter mechanism is as follows:
step one: the vision system photographs 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 first relative linear motion, and the laser height measuring mechanism records 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 a second relative linear motion, and the laser height measuring mechanism records the coordinate value of the point 3 and the coordinate value of the point 4 with height change;
step five: constructing a connecting line 1 according to the coordinate value of the point 1 and the coordinate value of the point 2, and constructing a connecting line 2 according to the coordinate value of the point 3 and the coordinate value of 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 change 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 measurement mechanism is fixed with the vision system, 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 measurement mechanism and the vision system.
When the straight line formed by the first relative straight line movement is parallel to the straight line formed by the second relative straight line movement, and the perpendicular bisector 1 and the perpendicular bisector 2 are overlapped, the following steps are executed: and (3) rotating the calibration plate, and sequentially executing the fourth step, the fifth step, the sixth step and the seventh step.
The rotation angle range of the calibration plate may be ±5°, but is not limited to this range.
The height variation structure is a circular protrusion or a circular depression.
Working principle:
the laser height measuring mechanism, the vision system and the working tool are fixed together, the relative positions of the working tool and the vision system are determined, the center of the calibration plate, namely the center of the height change structure, is identified through the function of the vision system, the coordinate w corresponding to the vision system is recorded, the calibration plate is translated to the lower part of the laser height measuring mechanism through the driving system, the driving system controls the calibration plate to linearly move to form two non-parallel straight lines, the laser height measuring mechanism records 4 points when the height is changed, two connecting lines and two corresponding perpendicular bisectors are constructed through the 4 points, the intersection point of the two perpendicular bisectors, namely the coordinate y corresponding to the laser height measuring mechanism, of the coordinate w and the coordinate y respectively represent the absolute coordinates of the vision system and the laser height measuring mechanism, so that the relative positions of the vision system and the laser height measuring mechanism can be obtained, the actual relative positions of the laser height measuring mechanism and the working tool are obtained, the traditional moving distance of a follow-up execution unit is regulated and controlled through the relative position (containing mechanical errors) of a rack mounting position is replaced, the mechanical errors generated when the laser height measuring mechanism is mounted, the accuracy of the follow-up execution unit is avoided.
Claims (3)
1. The method for eliminating the mechanical error generated by the installation of the laser height measurement mechanism comprises the steps of determining the relative positions of a vision system and the laser height measurement mechanism by using a calibration plate, wherein the calibration plate is provided with a height change structure with a circular cross section, and the relative positions of the laser height measurement mechanism and the vision system are unchanged; the method specifically comprises the following steps:
step one: the vision system photographs 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 first relative linear motion, and the laser height measuring mechanism records 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 a second relative linear motion, and the laser height measuring mechanism records the coordinate value of the point 3 and the coordinate value of the point 4 with height change;
step five: constructing a connecting line 1 according to the coordinate value of the point 1 and the coordinate value of the point 2, and constructing a connecting line 2 according to the coordinate value of the point 3 and the coordinate value of 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 change 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;
when the straight line formed by the first relative straight line movement is parallel to the straight line formed by the second relative straight line movement, and the perpendicular bisector 1 and the perpendicular bisector 2 are overlapped, the following steps are executed: the calibration plate rotates, and then the fourth step, the fifth step, the sixth step and the seventh step are sequentially executed;
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 of claim 1, wherein the laser altimeter mechanism and the vision system are fixed and a drive system drives the calibration plate to move.
3. The method of eliminating mechanical errors from the installation of a laser height measurement mechanism of claim 1, wherein the calibration plate has a rotation angle in the range of ±5°.
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| JP2013250110A (en) * | 2012-05-31 | 2013-12-12 | Hitachi Information & Control Solutions Ltd | Calibration system, calibration method and calibration apparatus for laser measurement apparatus |
| CN107816942A (en) * | 2017-09-28 | 2018-03-20 | 中国东方电气集团有限公司 | A kind of planar dimension measurement method based on cross structure light vision system |
| CN110524309B (en) * | 2019-08-30 | 2020-10-27 | 西安交通大学 | Geometric error measuring method of numerical control turntable based on four-base-station laser tracking system |
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