CN113808212A - Line scanning image synchronization calibration method and system - Google Patents
Line scanning image synchronization calibration method and system Download PDFInfo
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- CN113808212A CN113808212A CN202010555195.1A CN202010555195A CN113808212A CN 113808212 A CN113808212 A CN 113808212A CN 202010555195 A CN202010555195 A CN 202010555195A CN 113808212 A CN113808212 A CN 113808212A
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
Abstract
A method and a system for synchronously calibrating line scanning images are provided, wherein a motion platform provided with a calibration block is controlled by the calibration method to move according to a planned synthetic motion trail, a line scanning camera is controlled to scan the side surface of the calibration block while moving according to the synthetic motion trail, the length distribution condition of a grid on the side surface of the calibration block in the line scanning images is analyzed, and the synthetic motion trail is adjusted, so that the optimal synthetic motion trail is obtained, a line scanning image obtained when a real object to be detected moves according to the optimal synthetic motion trail can be used for defect detection, and errors caused by line scanning photographing are reduced.
Description
Technical Field
The invention relates to the technical field of machine vision, in particular to a method and a system for calibrating line scanning image synchronization.
Background
With the popularization of automatic production, various industrial cameras are widely applied to industrial production, but the general industrial cameras have limited visual fields, only can photograph images in a small area at a time, and can photograph for many times if images in a large area are required, so that the overall time is too long. At present, a line scanning camera can perform line scanning imaging on a large area at one time, the whole time is short, but the image deformation is greatly influenced by the motion control of a line scanned object, and meanwhile, whether the line scanned image can be used as the image input for visual defect detection cannot be intuitively checked from the image, so that how to provide a basis for speed control and adjustment for the line scanned object, obtain an image with the minimum deformation, and intuitively judge that the line scanned image can be used as the input for visual detection is a great problem.
Disclosure of Invention
The invention mainly solves the technical problem of how to obtain a line scanning image with small deformation.
According to a first aspect, an embodiment provides a calibration method for line scanning image synchronization, which is applied to a calibration system, the system includes a moving platform, a calibration block, and a line scan camera, the calibration block is disposed on the moving platform, a side surface of the calibration block is provided with grids at equal intervals, the moving platform can move in an X-axis direction, a Y-axis direction, and a rotation axis direction respectively, the line scan camera is used for scanning the side surface of the calibration block, the method includes:
planning a third motion track of the motion platform in the direction of the rotating shaft according to a preset starting point coordinate, a preset end point coordinate and a preset speed curve algorithm; planning a third motion track of the rotating shaft of the motion platform according to a preset initial parameter set by the speed curve algorithm, wherein the initial parameter set at least comprises speed parameters;
determining a track motion parameter based on the third motion track, and then determining a first motion track of the motion platform in the X-axis direction and a second motion track of the motion platform in the Y-axis direction based on the track motion parameter; the track motion parameters comprise the radius of the calibration block before rotating according to the third motion track, the radius of the calibration block after rotating according to the third motion track, the included angle between the radius of the calibration block before rotating according to the third motion track and the positive direction of the X axis, and the included angle between the radius of the calibration block after rotating according to the third motion track and the positive direction of the X axis;
determining a synthetic motion track of the motion platform based on the first motion track, the second motion track and the third motion track;
controlling the motion platform to move according to the synthesized motion track, and controlling the line scanning camera to scan the side surface of the calibration block at the same time to obtain a line scanning image;
comparing the length of the grid in the line scanning image with a preset standard grid length, and adjusting the synthesized motion track according to the comparison result until the difference between the length of the grid in the line scanning image and the preset standard grid length is smaller than a preset threshold value.
Optionally, the speed profile algorithm is an S-shaped speed profile algorithm.
Optionally, the obtaining of the trajectory motion parameter based on the third motion trajectory includes:
acquiring a rotation center coordinate of a motion platform and a geometric center coordinate of a calibration block;
determining an eccentric coordinate between the motion platform and the calibration block according to the rotation center coordinate of the motion platform and the geometric center coordinate of the calibration block;
and controlling a rotating shaft of the motion platform to rotate according to a planned third motion track, and obtaining track motion parameters according to an eccentric coordinate between the motion platform and the calibration block, wherein the track motion parameters comprise the radius of the calibration block before rotating according to the third motion track, the radius of the calibration block after rotating according to the third motion track, the included angle between the radius of the calibration block before rotating according to the third motion track and the positive direction of the X axis, and the included angle between the radius of the calibration block after rotating according to the third motion track and the positive direction of the X axis.
Optionally, the adjusting the synthetic motion trajectory according to the comparison result includes:
when the length of the grid in the line scanning image is larger than the preset standard length of the grid, increasing the speed parameter; and when the length of the grid in the line scanning image is smaller than the preset standard grid length, reducing the speed parameter.
Optionally, the shape of the calibration block is the same regular shape as the object to be measured.
According to a second aspect, an embodiment provides a calibration system for line scan image synchronization, including:
the motion platform can move respectively in the X-axis direction, the Y-axis direction and the rotating shaft direction;
the calibration block is arranged on the motion platform, and grids at equal intervals are arranged on the side surface of the calibration block;
a line scan camera for scanning a side of the calibration block;
the controller is used for planning a third motion track of the motion platform in the direction of the rotating shaft according to a preset starting point coordinate, a preset end point coordinate and a preset speed curve algorithm; the controller determines track motion parameters based on the third motion track, and then determines a first motion track of the motion platform in the X-axis direction and a second motion track of the motion platform in the Y-axis direction based on the track motion parameters; the controller determines a synthetic motion track of the motion platform based on the first motion track, the second motion track and the third motion track; planning a third motion track of the rotating shaft of the motion platform according to a preset initial parameter set by the speed curve algorithm, wherein the initial parameter set at least comprises speed parameters; the track motion parameters comprise the radius of the calibration block before rotating according to the third motion track, the radius of the calibration block after rotating according to the third motion track, the included angle between the radius of the calibration block before rotating according to the third motion track and the positive direction of the X axis, and the included angle between the radius of the calibration block after rotating according to the third motion track and the positive direction of the X axis;
the controller is also used for controlling the motion platform to move according to the synthesized motion track, and controlling the line scanning camera to scan the side surface of the calibration block at the same time to obtain a line scanning image; comparing the length of the grid in the line scanning image with a preset standard grid length, and adjusting the synthesized motion track according to the comparison result until the difference between the length of the grid in the line scanning image and the preset standard grid length is smaller than a preset threshold value.
Optionally, the calibration system further includes a camera, and the camera is configured to acquire the rotation center coordinates of the motion platform and the geometric center coordinates of the calibration block.
Optionally, the controller determining the trajectory motion parameter based on the third motion trajectory includes:
the controller is used for acquiring the rotation center coordinate of the motion platform and the geometric center coordinate of the calibration block, and then determining the eccentric coordinate between the motion platform and the calibration block according to the rotation center coordinate of the motion platform and the geometric center coordinate of the calibration block;
the controller is used for controlling a rotating shaft of the motion platform to rotate according to a planned third motion track, and obtaining track motion parameters according to an eccentric coordinate between the motion platform and the calibration block, wherein the track motion parameters comprise a radius of the calibration block before rotating according to the third motion track, a radius of the calibration block after rotating according to the third motion track, an included angle between the radius of the calibration block before rotating according to the third motion track and the positive direction of the X axis, and an included angle between the radius of the calibration block after rotating according to the third motion track and the positive direction of the X axis.
Optionally, the adjusting, by the controller, the synthesized motion trajectory according to the comparison result includes:
when the length of the grid in the online scanning image is larger than the preset standard length of the grid, the controller controls to increase the speed parameter; and when the length of the grid in the line scanning image is smaller than the preset standard length of the grid, the controller controls to reduce the speed parameter.
Optionally, the shape of the calibration block is the same regular shape as the object to be measured.
According to the method and the system for synchronously calibrating the line scanning images, the motion platform provided with the calibration block is controlled to move according to the planned synthetic motion trail, the line scanning camera is controlled to scan the side surface of the calibration block while moving according to the synthetic motion trail, the length distribution condition of the grid on the side surface of the calibration block in the line scanning image is analyzed, and the synthetic motion trail is adjusted, so that the optimal synthetic motion trail is obtained, the line scanning image obtained when the object to be detected moves according to the optimal synthetic motion trail can be used for defect detection, and errors caused by line scanning photographing are reduced.
Drawings
FIG. 1 is a schematic structural diagram of a calibration system for line scan image synchronization according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a calibration block structure according to an embodiment of the present application;
FIG. 3 is a schematic diagram illustrating a trajectory of a calibration block before and after rotation according to an embodiment of the present application;
FIG. 4 is a pre-calibration line scan image according to an embodiment of the present application;
FIG. 5 is a calibrated line scan image according to an embodiment of the present application;
FIG. 6 is a line scan image of a detected object according to an embodiment of the present application;
fig. 7 is a flowchart of a calibration method for line scan image synchronization according to an embodiment of the present application.
Detailed Description
The present invention will be described in further detail with reference to the following detailed description and accompanying drawings. Wherein like elements in different embodiments are numbered with like associated elements. In the following description, numerous details are set forth in order to provide a better understanding of the present application. However, those skilled in the art will readily recognize that some of the features may be omitted or replaced with other elements, materials, methods in different instances. In some instances, certain operations related to the present application have not been shown or described in detail in order to avoid obscuring the core of the present application from excessive description, and it is not necessary for those skilled in the art to describe these operations in detail, so that they may be fully understood from the description in the specification and the general knowledge in the art.
Furthermore, the features, operations, or characteristics described in the specification may be combined in any suitable manner to form various embodiments. Also, the various steps or actions in the method descriptions may be transposed or transposed in order, as will be apparent to one of ordinary skill in the art. Thus, the various sequences in the specification and drawings are for the purpose of describing certain embodiments only and are not intended to imply a required sequence unless otherwise indicated where such sequence must be followed.
The numbering of the components as such, e.g., "first", "second", etc., is used herein only to distinguish the objects as described, and does not have any sequential or technical meaning. The term "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings).
In an embodiment of the present invention, referring to fig. 1, fig. 1 is a schematic structural diagram of a calibration system for line scan image synchronization according to an embodiment, where the calibration system includes a motion platform 10, a line scan camera 20, and a controller 30.
The moving platform 10 can move respectively according to the X-axis direction, the Y-axis direction and the rotating shaft direction; wherein the X-axis direction is the horizontal direction and the Y-axis direction is the vertical direction, as shown in fig. 1. The motion platform on be provided with the calibration piece, calibration piece can follow the motion platform and carry out the motion along X axle direction, Y axle direction and rotation axis (R) direction respectively.
The line scan camera 20 is disposed at a relative position of the motion platform for scanning a side of the calibration block on the motion platform. In an embodiment, when the line scan camera is used to scan whether the side surface of the middle frame of the mobile phone has a defect, the calibration block with the shape shown in fig. 2 may be used to perform calibration in advance.
The controller 30 of this embodiment may be an upper industrial personal computer, the upper industrial personal computer includes a motion board 402 and a line scan acquisition card 401, the motion board 402 is configured to control the motion platform 10 to move in the X-axis, Y-axis and R-axis directions respectively according to an instruction sent by the upper industrial personal computer, and the line scan acquisition card 401 is configured to acquire an image scanned by the line scan camera.
The controller 30 is configured to plan a third motion trajectory of the motion platform in the rotation axis direction according to a preset start coordinate, an end coordinate, and a speed curve algorithm.
In this embodiment, the speed curve algorithm may be an S-shaped speed curve algorithm, the speed curve algorithm plans the third motion trajectory of the motion platform rotating shaft according to a preset initial parameter set, where the initial parameter set at least includes speed parameters, that is, different speed parameters are different along with the planned third motion trajectory. The start point coordinate and the end point coordinate in this embodiment are respectively the start point position and the end point position of the motion platform when the line scan camera scans the side of the calibration block, and are set in advance by a technician.
The controller 30 obtains the trajectory motion parameter according to the third motion trajectory. The trajectory motion parameters in this embodiment include a radius of the calibration block before rotating according to the third motion trajectory, a radius of the calibration block after rotating according to the third motion trajectory, an included angle between the radius of the calibration block before rotating according to the third motion trajectory and the positive direction of the X axis, and an included angle between the radius of the calibration block after rotating according to the third motion trajectory and the positive direction of the X axis.
And obtaining a first motion track of the motion platform in the X-axis direction and a second motion track of the motion platform in the Y-axis direction based on the track motion parameters, and obtaining a synthetic motion track of the motion platform based on the first motion track, the second motion track and the third motion track.
The calibration system further includes a camera 40, and the camera in this embodiment may be an industrial camera. The camera 40 is used for acquiring the rotation center coordinates of the motion platform and the geometric center coordinates of the calibration block. The method specifically comprises the following steps:
and calibrating the camera. In this embodiment, a piece of calibration paper with a circle drawn thereon is placed on the motion platform, the drawing is kept still, the motion platform is firstly returned to the camera shooting position by the control board 402, and then the motion platform is respectively moved to the X-axis direction and the Y-axis direction by l1And l2The visual inspection function is used to obtain 3 conditions (camera shooting position, X-axis direction movement l)1Y-axis direction movement l2) The internal and external parameter matrix A of the camera is obtained by the circle center coordinates1And finishing the calibration of the camera.
And acquiring the rotation center coordinates of the motion platform. Placing a piece of calibration paper with a circle drawn on a motion platform, keeping a drawing still, rotating the motion platform 3 times through a control board card, respectively identifying the circle center of the circle on the calibration paper by using an industrial camera, and utilizing 3 times of recorded circle center information (x1, y1), (x2, y2) (x3, y3) and a combined camera internal and external parameter matrix A1And (3) determining the rotation center coordinates C1(Rx, Ry) of the moving platform according to the formula (1) and the formula (2).
And acquiring the geometric center coordinates of the calibration block. Placing the calibration block on the motion platform, and combining with the external parameter matrix A of the camera1The nominal block geometric center coordinates C2 are identified.
The object calibration block is placed on the motion platform, the motion platform is moved, the line scan camera scans images in real time to determine the line scan starting point of the motion platform, and the controller 30 records the line scan starting point (x) of the motion platform 10 through the motion board card1，y1)。
The controller 30 determines the eccentric coordinates (Δ x) between the motion platform and the calibration block based on the rotation center coordinates C1 of the motion platform and the geometric center coordinates C2 of the calibration block1，Δy1)。
The controller 30 is configured to control the rotation axis of the motion platform 10 to rotate according to a planned third motion trajectory, and obtain trajectory motion parameters according to the eccentric coordinates between the motion platform 10 and the calibration block and the size of the calibration block, where the trajectory motion parameters of the third motion trajectory include a radius of the calibration block before rotating according to the third motion trajectory, a radius of the calibration block after rotating according to the third motion trajectory, a radius of the calibration block before rotating according to the third motion trajectory, and a square of the X axisThe included angle of the direction and the included angle of the radius of the calibration block after rotating according to the third motion track and the positive direction of the X axis. As shown in fig. 3, the dotted line in fig. 3 is the position of the calibration block before rotation, and the solid line is the position of the calibration block after rotation, according to the eccentric coordinate (Δ x) between the motion platform 10 and the calibration block1，Δy1) And the starting point (x) of linear scanning of the moving platform 101，y1) And calculating to obtain the radius R1 of the calibration block before rotation, the radius R2 of the calibration block after rotation, the included angle phi 1 between the radius R1 of the calibration block before rotation and the positive direction of the X axis and the included angle phi 2 between the radius R2 of the calibration block after rotation and the positive direction of the X axis.
Obtaining a synthetic motion track L of the motion platform in the linear scanning direction of 3 axes according to a first motion track of the motion platform in the X-axis direction, a second motion track of the motion platform in the Y-axis direction and a third motion track of the motion platform in the R-axis (rotating shaft) directionCombination of Chinese herbsThe trajectory plan may cause the calibration block on the X, Y, R axis to rotate one revolution while maintaining a constant distance from the line scan camera during motion, R1 + cos Φ 1-R2 + cos Φ 2.
The controller 30 sends an instruction, the motion board 302 controls the motion platform 10 to move according to the synthesized motion trajectory, and the controller 30 controls the line scan camera to scan the side of the calibration block at the same time and collects a line scan image through the line scan acquisition card 401.
In this embodiment, the line scan camera is set to a "level trigger" mode, and a program is programmed in the motion board card to convert the high level of the synthesized motion trajectory of 3 axes of the motion platform in the line scan direction into a program, so as to obtain a high level rising edge formed at every fixed pulse value in the synthesized motion trajectory.
When the motion platform moves along the 3-axis independent motion tracks, the corresponding high-level rising edge is sent, and the line scanning camera is triggered to take a picture. Since the distance between the calibration block and the line scan camera is guaranteed to be constant, the focal length of the line scan camera does not need to be changed in the process, and a complete line scan image can be obtained by triggering the line scan camera according to the high level, as shown in fig. 4.
The theoretically obtained line scan image scales the length of the block side grid to be the same, but the length of each grid is different because the grids are not synchronized.
Comparing the length of the grid in the line scanning image with a preset standard grid length, and adjusting the synthesized motion track according to the comparison result until the difference between the length of the grid in the line scanning image and the preset standard grid length is smaller than a preset threshold value.
In this embodiment, the line scan image is input into the existing synchronous detection software, so as to obtain the length distribution of the grid, when the length of the grid is elongated, it indicates that the point planning speed is too slow, otherwise, it is too fast, so that the adjustment is repeated according to the speed parameter in the adjustment speed curve algorithm until the line scan image shown in fig. 5 is obtained.
Then, the tested regular real object (such as a middle frame of a mobile phone) replaces the calibration block to move according to the optimal synthetic motion trajectory, so that a complete line scanning image of the synchronous regular line scanning real object can be obtained, and a line scanning image with small deformation is obtained as shown in fig. 6.
Based on the calibration system provided in the above embodiment, this embodiment further provides a calibration method for line scanning image synchronization, which is applied to the calibration system, and the system includes: the calibration method includes the steps of providing a motion platform 10, a calibration block, a line scan camera 20 and a controller 30, where the calibration block is disposed on the motion platform 10, a side surface of the calibration block is provided with grids at equal intervals, the motion platform 10 can move respectively according to an X-axis direction, a Y-axis direction and a rotation axis direction, the line scan camera 20 is used for scanning the side surface of the calibration block, and referring to fig. 7, the calibration method includes:
and S10, the controller 30 plans a third motion track of the motion platform in the rotating shaft direction according to the preset starting point coordinate, the preset end point coordinate and the preset speed curve algorithm. The speed curve algorithm in this embodiment plans the third motion trajectory of the motion platform rotating shaft according to a preset initial parameter set, where the initial parameter set at least includes a speed parameter.
S20, the controller 30 determines a trajectory motion parameter based on the third motion trajectory, and then determines a first motion trajectory of the motion platform in the X-axis direction and a second motion trajectory of the motion platform in the Y-axis direction based on the trajectory motion parameter. The track motion parameters comprise the radius of the calibration block before rotating according to the third motion track, the radius of the calibration block after rotating according to the third motion track, the included angle between the radius of the calibration block before rotating according to the third motion track and the positive direction of the X axis, and the included angle between the radius of the calibration block after rotating according to the third motion track and the positive direction of the X axis.
S30, the controller 30 obtains a composite motion trail of the motion platform based on the first motion trail, the second motion trail and the third motion trail.
And S40, the controller 30 controls the motion platform to move according to the synthesized motion track, and controls the line scanning camera to scan the side surface of the calibration block at the same time to obtain a line scanning image.
S50, the controller 30 compares the length of the grid in the line-scanned image with a preset standard grid length, and adjusts the synthesized motion trajectory according to the comparison result until the difference between the length of the grid in the line-scanned image and the preset standard grid length is smaller than a preset threshold.
The functions implemented by the steps in the method of this embodiment correspond to the modules in the calibration system of the embodiment, and for specific implementation and technical effects, reference is made to the description of the steps in the method of the embodiment, and details are not described here again.
The present invention has been described in terms of specific examples, which are provided to aid understanding of the invention and are not intended to be limiting. For a person skilled in the art to which the invention pertains, several simple deductions, modifications or substitutions may be made according to the idea of the invention.
Claims (10)
1. A synchronous calibration method of line scanning images is applied to a calibration system and is characterized in that the system comprises a motion platform, a calibration block and a line scanning camera, the calibration block is arranged on the motion platform, grids at equal intervals are arranged on the side surface of the calibration block, the motion platform can move respectively according to the X-axis direction, the Y-axis direction and the rotating shaft direction, the line scanning camera is used for scanning the side surface of the calibration block, and the method comprises the following steps:
planning a third motion track of the motion platform in the direction of the rotating shaft according to a preset starting point coordinate, a preset end point coordinate and a preset speed curve algorithm; planning a third motion track of the rotating shaft of the motion platform according to a preset initial parameter set by the speed curve algorithm, wherein the initial parameter set at least comprises speed parameters;
determining a track motion parameter based on the third motion track, and then determining a first motion track of the motion platform in the X-axis direction and a second motion track of the motion platform in the Y-axis direction based on the track motion parameter; the track motion parameters comprise the radius of the calibration block before rotating according to the third motion track, the radius of the calibration block after rotating according to the third motion track, the included angle between the radius of the calibration block before rotating according to the third motion track and the positive direction of the X axis, and the included angle between the radius of the calibration block after rotating according to the third motion track and the positive direction of the X axis;
determining a synthetic motion track of the motion platform based on the first motion track, the second motion track and the third motion track;
controlling the motion platform to move according to the synthesized motion track, and controlling the line scanning camera to scan the side surface of the calibration block at the same time to obtain a line scanning image;
comparing the length of the grid in the line scanning image with a preset standard grid length, and adjusting the synthesized motion track according to the comparison result until the difference between the length of the grid in the line scanning image and the preset standard grid length is smaller than a preset threshold value.
2. The method of claim 1, wherein the speed profile algorithm is an S-shaped speed profile algorithm.
3. The method of claim 1, wherein the deriving trajectory motion parameters based on the third motion trajectory comprises:
acquiring a rotation center coordinate of a motion platform and a geometric center coordinate of a calibration block;
determining an eccentric coordinate between the motion platform and the calibration block according to the rotation center coordinate of the motion platform and the geometric center coordinate of the calibration block;
and controlling a rotating shaft of the motion platform to rotate according to a planned third motion track, and obtaining track motion parameters according to an eccentric coordinate between the motion platform and the calibration block, wherein the track motion parameters comprise the radius of the calibration block before rotating according to the third motion track, the radius of the calibration block after rotating according to the third motion track, the included angle between the radius of the calibration block before rotating according to the third motion track and the positive direction of the X axis, and the included angle between the radius of the calibration block after rotating according to the third motion track and the positive direction of the X axis.
4. The method of claim 1, wherein adjusting the synthetic motion trajectory according to the comparison comprises:
when the length of the grid in the line scanning image is larger than the preset standard length of the grid, increasing the speed parameter; and when the length of the grid in the line scanning image is smaller than the preset standard grid length, reducing the speed parameter.
5. The method of any one of claims 1 to 4, wherein the calibration block has a shape that is the same regular shape as the object to be tested.
6. A calibration system for line scanning image synchronization is characterized by comprising:
the motion platform can move respectively in the X-axis direction, the Y-axis direction and the rotating shaft direction;
the calibration block is arranged on the motion platform, and grids at equal intervals are arranged on the side surface of the calibration block;
a line scan camera for scanning a side of the calibration block;
the controller is used for planning a third motion track of the motion platform in the direction of the rotating shaft according to a preset starting point coordinate, a preset end point coordinate and a preset speed curve algorithm; the controller determines track motion parameters based on the third motion track, and then determines a first motion track of the motion platform in the X-axis direction and a second motion track of the motion platform in the Y-axis direction based on the track motion parameters; the controller determines a synthetic motion track of the motion platform based on the first motion track, the second motion track and the third motion track; planning a third motion track of the rotating shaft of the motion platform according to a preset initial parameter set by the speed curve algorithm, wherein the initial parameter set at least comprises speed parameters; the track motion parameters comprise the radius of the calibration block before rotating according to the third motion track, the radius of the calibration block after rotating according to the third motion track, the included angle between the radius of the calibration block before rotating according to the third motion track and the positive direction of the X axis, and the included angle between the radius of the calibration block after rotating according to the third motion track and the positive direction of the X axis;
the controller is also used for controlling the motion platform to move according to the synthesized motion track, and controlling the line scanning camera to scan the side surface of the calibration block at the same time to obtain a line scanning image; comparing the length of the grid in the line scanning image with a preset standard grid length, and adjusting the synthesized motion track according to the comparison result until the difference between the length of the grid in the line scanning image and the preset standard grid length is smaller than a preset threshold value.
7. The system of claim 6, wherein the calibration system further comprises a camera for acquiring the coordinates of the center of rotation of the motion platform and the coordinates of the geometric center of the calibration block.
8. The system of claim 7, wherein the controller determines the trajectory motion parameter based on the third motion trajectory comprises:
the controller is used for acquiring the rotation center coordinate of the motion platform and the geometric center coordinate of the calibration block, and then determining the eccentric coordinate between the motion platform and the calibration block according to the rotation center coordinate of the motion platform and the geometric center coordinate of the calibration block;
the controller is used for controlling a rotating shaft of the motion platform to rotate according to a planned third motion track, and obtaining track motion parameters according to an eccentric coordinate between the motion platform and the calibration block, wherein the track motion parameters comprise a radius of the calibration block before rotating according to the third motion track, a radius of the calibration block after rotating according to the third motion track, an included angle between the radius of the calibration block before rotating according to the third motion track and the positive direction of the X axis, and an included angle between the radius of the calibration block after rotating according to the third motion track and the positive direction of the X axis.
9. The system of claim 6, wherein the controller adjusts the synthetic motion profile according to the comparison comprises:
when the length of the grid in the online scanning image is larger than the preset standard length of the grid, the controller controls to increase the speed parameter; and when the length of the grid in the line scanning image is smaller than the preset standard length of the grid, the controller controls to reduce the speed parameter.
10. The system of claims 6 to 9, wherein the calibration block has a shape that is the same regular shape as the object to be tested.
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