CN113639633B - Clamp angular zero alignment method in multi-axis vision measurement device - Google Patents
Clamp angular zero alignment method in multi-axis vision measurement device Download PDFInfo
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Abstract
The invention belongs to the technical field of machine vision and vision measurement, and particularly relates to a fixture angular zero alignment method in a multi-axis vision measurement device. The alignment method comprises the following steps: inserting the angular positioning target into an angular zero hole on the clamp, and adjusting the industrial camera and the rotary table to an initial state; placing a parallel illumination light source at the opposite side position of an industrial camera to enable an angular positioning target to be in a back illumination acquirable state, and acquiring a back illumination image of the angular positioning target; and extracting the center line of the target area and the center line of the image in the back illumination image. According to the invention, through the industrial camera and the angular positioning target, the angular position of the center of the fixture angular zero position hole on the rotary table can be determined, the difficult problem of fixture angular zero position alignment in the multi-axis vision measuring device is solved, and the method has great innovation value and practical significance and wide application prospect.
Description
Technical Field
The invention belongs to the technical field of machine vision and vision measurement, and particularly relates to a fixture angular zero alignment method in a multi-axis vision measurement device.
Background
In many industrial fields such as aviation, aerospace, ships and automobiles, the revolving body parts have a great specific gravity in various parts, and most of the revolving body parts are key components in industrial equipment or mechanical equipment, so that the revolving body parts play an irreplaceable role. In the use process, the shape and position errors and the manufacturing precision of the rotary part can have important influence on the assembly and the use performance of the whole part, and not only can the matching property of the contact surface be influenced, but also the vibration, noise, rotation precision, fatigue life and the like of the rotary part can be influenced. Therefore, in the processing field of the revolving body parts, the realization of high-precision and high-efficiency detection and evaluation of key geometric features of the revolving body parts is urgently needed to ensure the manufacturing precision of the parts.
However, the revolving body parts generally have the characteristics of variable batch, multiple geometric elements, complex outline shape, high precision requirement and the like, so that great challenges and high requirements are provided for corresponding measuring means and equipment. In recent years, with the development of measurement technology and other related subjects, visual measurement as a non-contact measurement means and method can solve various problems which are difficult or impossible to solve by conventional measurement means, and has been widely used in various fields of modern industry. The vision measurement is derived from a computer vision technology, and is a novel measurement technology based on an industrial camera, an illumination light source, an image acquisition card and the like. Specifically, the vision measurement is to apply computer vision to measurement and positioning of geometric dimensions, and take an image as a means for acquiring information, so that the method has the advantages of low cost, simplicity and convenience in operation, flexibility in maneuver, strong real-time performance, rich information and the like.
The industrial camera is combined with the three-dimensional motion platform, the three-dimensional motion platform is used as a moving carrier of the industrial camera, the motion trail of the industrial camera is realized through the movement of the three linear shafts, and the application range of the vision measurement technology can be further expanded. In addition, aiming at the structural characteristics of the revolving body part, the imaging system in a single direction can only acquire a certain part of measurement data, and a revolving shaft (a fourth shaft) namely a revolving table is needed to be added on the basis of three linear shafts to acquire all the measurement data, so that a novel multi-axis vision measuring device is formed.
The rotary tables are matched to realize measurement of different directions of the measured object so as to obtain complete measurement data and improve measurement efficiency. In practical application, geometric features such as certain holes and tables on the revolving body part have high angular distribution precision requirements, and the actual angular positions of the geometric features need to be accurately determined. The angular zero position of the rotary part or the clamp is required to be aligned to determine the angular position of the angular positioning feature of the rotary part or the clamp in the multi-axis vision measuring device, so that the actual angular distribution information of the measured geometric feature can be finally obtained. At present, because the front end sensor of the multi-axis vision measuring device is an industrial camera and is obviously different from a conventional contact type three-dimensional measuring head, an effective and reliable solution is not available for the difficult problem of angular zero alignment of a revolving body part or a clamp in the equipment environment.
Disclosure of Invention
In view of the above problems, the present invention provides a method for aligning a fixture angle to a zero position in a multi-axis vision measuring device, the aligning method comprising:
step S1: inserting the angular positioning target into an angular zero hole on the clamp, and adjusting the industrial camera and the rotary table to an initial state;
step S2: placing a parallel illumination light source at the opposite side position of an industrial camera to enable an angular positioning target to be in a back illumination acquirable state, and acquiring a back illumination image of the angular positioning target;
step S3: extracting the back illumination image, extracting a center line of a target area and an image center line in the back illumination image, and calculating a physical distance between the center line of the target area and the center line of the image;
step S4: calculating to obtain a central deflection angle theta of the angular positioning target according to a central deflection angle calculation formula;
step S5: rotating the rotary table by an angle theta;
step S6: repeating the steps S2-S5 until the center deflection angle theta is within the angle positioning accuracy range, and recording the angle position value theta of the rotary table at the moment 0 And (5) completing the angular zero alignment of the clamp.
Further, the adjusting the industrial camera and the turntable to the initial states includes:
step S101: the position of the industrial camera in the Y-axis direction is adjusted through the three-dimensional motion platform, so that an imaging optical axis of the industrial camera is perpendicularly intersected with a rotation axis of the rotary table;
step S102: and controlling the rotary table to return to zero.
Further, the angular positioning target is of a cylindrical structure; the angularly positioned targets can be mounted in the angularly null holes forming a small clearance fit.
Further, the placing the angularly positioned target in a back-illuminated collectable state includes:
step S201: the angular positioning target is positioned between the industrial camera and the parallel illumination light source to form back illumination;
step S202: the position of the industrial camera in the Z-axis direction is adjusted through the three-dimensional motion platform, and the angle position of the rotary table is adjusted, so that the angular positioning target enters the field of view range of the industrial camera;
step S203: and the position of the industrial camera in the X-axis direction is adjusted through the three-dimensional motion platform, so that the industrial camera is correctly focused on the angular positioning target.
Further, the extraction process includes filtering noise reduction, threshold segmentation, edge detection, and centerline extraction.
Further, the calculating the physical distance between the center line of the target area and the center line of the image includes:
step S301: measuring to obtain the pixel distance between the center line of the target area and the center line of the image in the back illumination image;
step S302: calculating to obtain the physical distance between the center line of the target area and the center line of the image through a distance calculation formula, wherein the calculation formula is as follows:
L＝K·n，
wherein L represents the physical distance between the center line of the target area and the center line of the image, and the unit is mm; n represents the pixel distance between the target area centerline 10 and the image centerline 11 in pixels; k represents the pixel size equivalent in mm/pixel.
Further, the calculation formula of the center offset angle θ is:
wherein θ represents the central off-angle of the angular positioning target in degrees; l represents the physical distance between the center line of the target area and the center line of the image, and the unit is mm; r represents the distance from the angular zero hole to the central axis of the fixture in mm.
Further, the rotation angle θ of the turntable means: and rotating the rotary table to enable the central line of the target area to be close to the central line of the image.
Further, the angular position value θ in the step S6 0 The representation is: and the angular position value of the angular zero position hole center on the rotary table.
The beneficial effects of the invention are as follows: the angular position of the center of the fixture angular zero position hole on the rotary table is determined through the industrial camera and the angular positioning target, so that the problem of fixture angular zero position alignment in the multi-axis vision measuring device is solved, and the fixture angular zero position measuring device has great innovation value and practical significance and wide application prospect.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention may be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 shows a schematic structural diagram of a multi-axis vision measuring device according to an embodiment of the present invention;
FIG. 2 shows a schematic diagram of the positional relationship among an industrial camera, an angular positioning target, and a parallel illumination light source according to an embodiment of the present invention;
FIG. 3 illustrates a backlit image of an embodiment of the present invention;
fig. 4 shows a schematic view of the central offset angle of an embodiment of the present invention.
In the figure: the three-dimensional motion platform comprises a 1-three-dimensional motion platform, a 2-Z shaft supporting plate, a 3-industrial camera, a 4-clamp, a 5-angle zero position hole, a 6-rotary table, a 7-base, an 8-angle positioning target, a 9-parallel illumination light source, a 10-target area central line and an 11-image central line.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. 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.
The embodiment of the invention provides a multi-axis vision measuring device, which is shown in fig. 1 and 2, and comprises a three-dimensional motion platform 1, a Z-axis supporting plate 2, an industrial camera 3, a clamp 4, a rotary table 6 and a base 7.
Preferably, the base 7 is made of marble or natural granite with good thermal stability, can bear certain external impact and interference, and the surface flatness reaches the 00-level standard after the upper surface is checked by a grid method.
The three-dimensional motion platform 1 is arranged on the base 7, and three linear shaft guide rails, namely an X-axis guide rail, a Y-axis guide rail and a Z-axis guide rail, are arranged on the three-dimensional motion platform 1. As shown in fig. 1, the multi-axis vision measuring device uses the moving directions of the X-axis guide rail, the Y-axis guide rail and the Z-axis guide rail as references to establish three-dimensional coordinate axes, which are respectively an X axis, a Y axis and a Z axis, wherein the X axis, the Y axis and the Z axis are respectively perpendicular to each other. The Z-axis supporting plate 2 is arranged on a Z-axis guide rail, namely the Z-axis supporting plate 2 can move along the Z-axis direction on the Z-axis guide rail; the Y-axis guide rail can realize the movement of the Z-axis supporting plate 2 in the Y-axis direction; the X-axis guide rail can realize movement of the Z-axis pallet 2 in the X-axis direction.
It should be noted that, each linear axis guide rail of the three-dimensional motion platform 1 is a high-precision linear guide rail, and is equipped with a high-precision grating ruler, so as to ensure the motion stability and displacement precision of each linear axis guide rail.
Further, the industrial camera 3 is mounted on the Z-axis supporting plate 2, and the imaging optical axis direction of the industrial camera 3 is parallel to the X-axis direction of the three-dimensional motion platform 1 through mechanical adjustment. The three-dimensional motion platform 1 can realize the linear motion of the industrial camera 3 in three directions of an X axis, a Y axis and a Z axis, thereby driving the industrial camera 3 to carry out space movement and position change so as to enable the industrial camera 3 to reach the correct measurement orientation. On the one hand, the measuring track of the industrial camera 3 can be monitored, and on the other hand, the multi-axis vision measuring device can adapt to the measuring requirements of measured objects with different shapes and sizes, so that the whole device has greater flexibility and flexibility.
Further, the turntable 6 is fixed on the base 7, and the turntable 6 is located at the middle position of the Y-axis stroke of the three-dimensional motion platform 1. The rotation axis of the turntable 6 is made parallel to the Z-axis direction of the three-dimensional motion platform 1 by mechanical adjustment. The rotary table 6 is internally provided with a high-precision circular grating ruler, can precisely rotate to a set angle position, and has a flat table top.
The multi-axis vision measuring device has X, Y, Z three linear axes and one rotary axis C. The movement of the three linear axes X, Y, Z of the multi-axis vision measuring device is realized by the three-dimensional moving platform 1, and the movement of the rotary axis C is realized by the rotary table 6.
Further, the jig 4 is mounted on the table surface of the turntable 6, and the center axis of the jig 4 is made coaxial with the rotation axis of the turntable 6 by mechanical adjustment. The fixture 4 is provided with an angular zero hole 5 for determining an angular zero.
On the basis of the multi-axis vision measuring device, the embodiment of the invention also provides a fixture angular zero alignment method for determining the angular position theta of the center of the angular zero hole 5 on the rotary table 6 0 . The alignment method comprises the following steps:
step S1: the industrial camera 3 and the turret 6 are adjusted to an initial state by inserting the angular positioning targets 8 into the angular zero holes 5 on the jig 4.
Specifically, the adjusting the industrial camera 3 and the turntable 6 to the initial states includes:
step S101: the position of the industrial camera 3 in the Y-axis direction is adjusted through the three-dimensional motion platform 1, so that an imaging optical axis of the industrial camera 3 is perpendicularly intersected with a rotation axis of the rotary table 6;
step S102: and controlling the rotary table 6 to return to zero.
Specifically, as shown in fig. 2, the angular positioning target 8 has a cylindrical structure, is made of a cemented carbide steel material, and has good shape accuracy. The angular positioning targets 8 can be mounted in the angular zero holes 5, forming a small clearance fit.
Step S2: the parallel illumination light source 9 is placed at the opposite side position of the industrial camera 3, so that the angular positioning target 8 is in a back illumination acquirable state, and a back illumination image of the angular positioning target 8 is acquired.
Specifically, as shown in fig. 2, the placing the angularly positioning target 8 in the back-illuminated collectable state includes:
step S201: the angular positioning target 8 is positioned between the industrial camera 3 and the parallel illumination light source 9 to form back illumination;
step S202: the position of the industrial camera 3 in the Z-axis direction is adjusted through the three-dimensional motion platform 1, and the angle position of the rotary table 6 is adjusted, so that the angular positioning target 8 enters the field of view of the industrial camera 3;
step S203: the position of the industrial camera 3 in the X-axis direction is adjusted through the three-dimensional motion platform 1, so that the industrial camera 3 is correctly focused on the angular positioning target 8.
Specifically, when the back-illuminated image of the angular positioning target 8 is acquired, it is ensured that the illumination direction of the parallel illumination light source 9 is parallel to the X-axis direction, and the light beam of the parallel photo light source 9 is opposite to the lens of the industrial camera 3.
Step S3: and extracting the target area center line 10 and the image center line 11 in the back illumination image, and calculating the physical distance between the target area center line 10 and the image center line 11.
Specifically, the extraction processing is completed by control software in the upper computer, including filtering noise reduction, threshold segmentation, edge detection and center line extraction.
The filtering noise reduction means that: the filtering noise reduction processing of the back illumination image is realized by adopting median filtering, and the detail information in the image can be kept so as to facilitate the subsequent image processing while the image noise is removed.
The threshold segmentation refers to: and determining a global threshold value of the back illumination image by adopting a maximum inter-class variance method, and carrying out threshold segmentation of the back illumination image by adopting the threshold value to segment the back illumination image into a target area and a background area.
The edge detection means that: and (3) adopting a Sobel edge detection operator to realize edge detection of the target area, and extracting the left edge and the right edge of the target area.
The center line extraction means: and obtaining the center line of the target area by averaging the left edge and the right edge of the target area, and finishing the center line extraction.
As shown in fig. 3, the image center line 11 is a vertical center line facing away from the illumination image; the target area center line 10 is a vertical center line of a black rectangle in the back-illuminated image, and the black rectangle is an image part of the angular positioning target 8 in the back-illuminated image.
The calculating of the physical distance between the target area centerline 10 and the image centerline 11 includes:
step S301: measuring the pixel distance between the target area center line 10 and the image center line 11 in the back illumination image;
step S302: the physical distance between the center line 10 of the target area and the center line 11 of the image is calculated by a distance calculation formula, wherein the calculation formula is as follows:
L＝K·n，
wherein L represents the physical distance between the center line of the target area and the center line of the image, and the unit is mm; n represents the pixel distance between the target area centerline 10 and the image centerline 11 in pixels; k represents the pixel size equivalent in mm/pixel.
Step S4: and calculating the central deflection angle theta of the angular positioning target 8 according to a central deflection angle calculation formula.
Specifically, the calculation formula of the center deflection angle θ is as follows:
as shown in fig. 4, θ represents a central offset angle of the angular positioning target 8, and is in degrees; l represents the physical distance between the target area centerline 10 and the image centerline 11 in mm; r represents the distance from the angular zero hole 5 to the central axis of the clamp 4 in mm.
Step S5: the turntable 6 is rotated by an angle θ.
Specifically, the rotation angle θ of the turntable 6 means: and rotating the rotary table to enable the central line of the target area to be close to the central line of the image.
Step S6: repeating the steps S2-S5 until the center deflection angle theta is within the angle positioning accuracy range, and recording the angle position value theta of the rotary table 6 at the moment 0 The angular zero alignment of the clamp 4 is completed.
Specifically, the angle position value θ 0 The representation is: the angular position value of the centre of the angular zero-position hole 5 on the turret 6.
According to the alignment method provided by the embodiment of the invention, through the industrial camera and the angular positioning target, the angular position of the center of the angular zero hole of the clamp on the rotary table can be determined, the difficult problem of angular zero alignment of the clamp in the multi-axis vision measuring device is solved, and the alignment method has great innovation value and practical significance and wide application prospect.
Although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (6)
1. The method for aligning the angular zero position of the clamp in the multi-axis vision measuring device is characterized by comprising the following steps of:
step S1: inserting the angular positioning target into an angular zero hole on the clamp, and adjusting the industrial camera and the rotary table to an initial state;
step S2: placing a parallel illumination light source at the opposite side position of an industrial camera to enable an angular positioning target to be in a back illumination acquirable state, and acquiring a back illumination image of the angular positioning target;
step S3: extracting the back illumination image, extracting a center line of a target area and an image center line in the back illumination image, and calculating a physical distance between the center line of the target area and the center line of the image;
step S4: the calculation formula according to the center deflection angle is:
calculating to obtain a central deflection angle theta of the angular positioning target; wherein θ represents the central off-angle of the angular positioning target in degrees; l represents the physical distance between the center line of the target area and the center line of the image, and the unit is mm; r represents the distance from the angular zero hole to the central axis of the fixture, and the unit is mm;
step S5: the rotary table is rotated by an angle theta, and the angle theta refers to: rotating the rotary table to enable the central line of the target area to be close to the central line of the image;
step S6: repeating the steps S2-S5 until the center deflection angle theta is within the angle positioning accuracy range, and recording the angle position value theta of the rotary table at the moment 0 Completing the angular zero alignment of the clamp; wherein the angular position value θ 0 The representation is: and the angular position value of the angular zero position hole center on the rotary table.
2. The method for alignment of fixture angular zero position in multi-axis vision measuring device as recited in claim 1, wherein said adjusting the industrial camera and the turntable to initial states comprises:
step S101: the position of the industrial camera in the Y-axis direction is adjusted through the three-dimensional motion platform, so that an imaging optical axis of the industrial camera is perpendicularly intersected with a rotation axis of the rotary table;
step S102: and controlling the rotary table to return to zero.
3. The method for alignment of the fixture angular zero position in the multi-axis vision measuring device of claim 1, wherein the angular positioning target is a cylindrical structure; the angularly positioned targets can be mounted in the angularly null holes forming a small clearance fit.
4. The method of jig angular zero alignment in a multi-axis vision measurement device of claim 1, wherein said placing the angular positioning target in a back-illuminated collectable state comprises:
step S201: the angular positioning target is positioned between the industrial camera and the parallel illumination light source to form back illumination;
step S202: the position of the industrial camera in the Z-axis direction is adjusted through the three-dimensional motion platform, and the angle position of the rotary table is adjusted, so that the angular positioning target enters the field of view range of the industrial camera;
step S203: and the position of the industrial camera in the X-axis direction is adjusted through the three-dimensional motion platform, so that the industrial camera is correctly focused on the angular positioning target.
5. The method of jig angular zero alignment in a multi-axis vision measuring device of claim 1, wherein the extraction process includes filtering noise reduction, threshold segmentation, edge detection, and centerline extraction.
6. The method for alignment of fixture angular zero in a multi-axis vision measuring device of claim 1 or 5, wherein calculating the physical distance between the center line of the target area and the center line of the image comprises:
step S301: measuring to obtain the pixel distance between the center line of the target area and the center line of the image in the back illumination image;
step S302: calculating to obtain the physical distance between the center line of the target area and the center line of the image through a distance calculation formula, wherein the calculation formula is as follows:
L＝K·n，
wherein L represents the physical distance between the center line of the target area and the center line of the image, and the unit is mm; n represents the pixel distance between the target area center line (10) and the image center line (11), and the unit is pixel; k represents the pixel size equivalent in mm/pixel.
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