CN114111593A - Keyboard automatic detection equipment and imaging method thereof - Google Patents
Keyboard automatic detection equipment and imaging method thereof Download PDFInfo
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- CN114111593A CN114111593A CN202111412603.9A CN202111412603A CN114111593A CN 114111593 A CN114111593 A CN 114111593A CN 202111412603 A CN202111412603 A CN 202111412603A CN 114111593 A CN114111593 A CN 114111593A
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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
- G01B11/022—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by means of tv-camera scanning
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformation in the plane of the image
- G06T3/40—Scaling the whole image or part thereof
- G06T3/4038—Scaling the whole image or part thereof for image mosaicing, i.e. plane images composed of plane sub-images
Abstract
The invention relates to automatic keyboard detection equipment and an imaging method thereof, wherein the automatic keyboard detection equipment comprises a keyboard fixing jig, an imaging device, a mobile platform for driving the keyboard fixing jig to translate and a code scanning bar, wherein the imaging device comprises a camera and a line laser device; in the vertical direction, the camera 3 is arranged above the keyboard, and the line laser devices 4 are respectively arranged above and below the keyboard; the keyboard fixing jig comprises a supporting plate, a long keyboard jig and a short keyboard jig, wherein the long keyboard jig and the short keyboard jig are fixed on the supporting plate; the upper end face of the supporting plate is provided with a convex block as a standard block. According to the automatic keyboard detection device, the 2D size of the keyboard is measured by multi-camera motion shooting, the point cloud is acquired by the motion of the multi-line laser device, the line laser device is calibrated in real time, and a 3D standard software framework is used, so that the measurement efficiency is improved, the cost of the device is reduced, the occupied area of the device is reduced, the program development difficulty is reduced, the program development period is shortened, the maintenance difficulty is reduced, and the compatibility of the device is improved.
Description
Technical Field
The invention relates to the technical field of detection equipment, in particular to automatic keyboard detection equipment and an imaging method thereof.
Background
At present, the keyboard measurement adopts the traditional CCD static measurement and point laser movement collection point mode, 1 2D measuring device and 5 point laser 3D measuring devices need to be equipped, and when the keyboard is integrated into a production line, 3 automatic feeding and discharging robots need to be added. The existing detection equipment has the problems of low efficiency, large quantity of equipment, large occupied area, high cost, unstable measurement precision and the like.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: in order to overcome the defects in the prior art, the automatic keyboard detection equipment and the imaging method thereof are provided.
The technical scheme adopted by the invention is as follows: the utility model provides a keyboard automated inspection equipment, includes the fixed tool of keyboard, image device and drives the moving platform of the fixed tool translation of keyboard, image device include camera and line laser device. Through the mobile platform that can violently indulge the both way movement, drive the fixed tool of keyboard and accomplish predetermined removal, cooperate image device again, the keyboard only need pass in and out to remove once can accomplish the measurement of all sizes.
In the vertical direction, the cameras are arranged above the keyboard, and the line laser devices are respectively arranged above and below the keyboard.
Furthermore, three sets of cameras are arranged in a shape like a Chinese character pin, and the visual fields of the three sets of cameras can cover the short edges of the keyboard. In the keyboard moving process, a camera takes a picture from the upper side of the keyboard, the picture is transmitted back to the data processing module for splicing, and a complete keyboard plane graph is obtained through splicing, so that the length and width dimensions of the keyboard are obtained.
The traditional static photographing mode is replaced by a multi-camera moving photographing mode. The device has stronger flexible compatibility, can meet the measurement of 2D sizes of keyboards with different length sizes, and a single device in the traditional static photographing mode can only meet the measurement of a keyboard with a constant size, and the device needs to be replaced when a product is switched; the measurement efficiency is high, the imaging device can be fused to one station, the product can complete the measurement of all 2D and 3D sizes only by moving back and forth once, and the 2D and 3D measurement in the traditional mode needs to be carried out at different stations; the size of the equipment is reduced, the imaging device is integrated to one station, a mechanical mechanism is simplified, the size of the equipment is greatly reduced, and the 2D and 3D measurement in the traditional measurement mode is completed by two different devices; the equipment cost is reduced, only three sets of cameras are needed in the multi-camera motion photographing mode, 12 sets of vision hardware systems are needed in the traditional mode, and the equipment cost is greatly reduced.
Furthermore, four groups of line laser devices are arranged, wherein two groups of line laser devices are transversely arranged above the keyboard, two groups of line laser devices are transversely arranged below the keyboard, and the four groups of line laser devices synchronously scan and acquire point cloud data of the upper surface, the side edges and the lower surface of the keyboard and transmit the point cloud data back to the data processing module for splicing and comparison to obtain the thickness dimension and the flatness of the keyboard.
A traditional low-efficiency mode of acquiring product data by moving point laser single points is replaced by a mode of synchronously scanning and acquiring 3D point cloud of a product by a multi-line laser device for splicing. The efficiency is higher, 3D point cloud data of the whole keyboard can be acquired only by moving back and forth once, and the measurement data of the keyboard can be acquired only by moving 70 times in the traditional mode of acquiring data by using point laser, so that the efficiency is extremely low; the device flexibility is larger, point cloud data of all positions on a keyboard are acquired by a multi-line laser device in a synchronous scanning mode, acquisition points are required to be added or measurement sizes are increased by later customers only by modifying a measurement algorithm, expansibility is good, data acquisition is limited by a traditional point laser acquisition mode, when the customers modify requirements, a motion control program needs to be modified, acquisition times are increased by modifying motion tracks, and expansibility is poor; the occupied area of the equipment is reduced, the cost of the equipment is reduced, the productivity of the whole line can be met only by one set of line laser devices, the productivity requirement can be met only by five sets of line laser devices in the traditional point laser acquisition mode, and the occupied area of the equipment is reduced by 80%.
Furthermore, the keyboard fixing jig comprises a supporting plate, a long keyboard jig and a short keyboard jig, wherein the long keyboard jig and the short keyboard jig are fixed on the supporting plate. Long keyboard tool and short keyboard tool are with the rotatory setting in backup pad center department center, guarantee that the corresponding measuring point after the rotation can not influence measured data because 180 rotations take place the skew.
Furthermore, the upper end face of the supporting plate is provided with a convex block as a standard block. When the line laser device is used for a long time, displacement can be generated when the mounting seat of the line laser device on the fixing frame is displaced, and displacement can be generated when the absolute value measured when the temperature of the sensor of the line laser device is increased. Adding a real-time calibration supplement function: initially, a reference value a is obtained by measuring a standard block, before each measurement, the corresponding reference value a ', a ' -a is obtained by measuring the standard block, namely the displacement or the offset, the data is transmitted back to the data processing module, and the subsequent point cloud data- (a ' -a) collected by the corresponding line laser device is the data for eliminating the error.
And real-time calibration supplement is added, accumulated errors caused by hardware structure change are eliminated, and errors of thickness and size caused by temperature change of the sensor are eliminated.
Further, keyboard fixed tool top be equipped with sweep the sign indicating number strip, the lower extreme is connected in the DD motor, be connected with the connecting seat under the DD motor. Sweep the code bar and be fixed in equipment curb plate or frame through the fixing base on, sweep the code bar and place in last unloading one side, confirm promptly after the keyboard is put whether need rotate. Whether the jig obtained by matching the DD motor with the code scanning bar needs a rotation instruction or not is used for rotating the jig with the keyboard on one side by 180 degrees to the imaging side of the imaging device.
Furthermore, the mobile platform comprises a transverse platform and a longitudinal platform, the transverse platform and the longitudinal platform are connected through a transverse traveling wheel platform in a sliding mode, and the longitudinal platform and the connecting seat are connected through a longitudinal traveling wheel platform in a sliding mode. The transverse platform and the longitudinal platform finish translation according to a preset action route, and are matched with an imaging device to finish the acquisition of all data to obtain the length, height, width and flatness data of the keyboard.
Furthermore, the front side and the rear side of the transverse platform are provided with transverse guide rails, the side is provided with transverse drag chains connected with the transverse traveling wheel platform, the left side and the right side of the longitudinal platform are provided with longitudinal guide rails, and the side is provided with longitudinal drag chains connected with the longitudinal traveling wheel platform. Through the tow chain that follows the platform and remove, hide corresponding connecting wire and handle for overall structure is pleasing to the eye.
Furthermore, the bottom end of the movable platform is fixed on the platform, and a fixing frame used for limiting the imaging device is fixedly arranged on the platform. The imaging device is arranged at a fixed position, and the imaging device is fixed in position through the mounting seat fixed on the fixing frame, so that the displacement error of the line laser device caused by the uncertain displacement of the imaging device is avoided.
Once the imaging device is displaced, the visual fields of the three sets of cameras can be ensured to cover the short edge of the keyboard during photographing by longitudinally moving the longitudinal platform.
An imaging method of an automatic keyboard detection device comprises the following steps:
A. the manipulator puts the keyboard into a corresponding keyboard fixing jig, and the code scanning bar scans codes to determine whether the keyboard fixing jig needs to rotate;
B. after the keyboard is determined to be at the imaging side, the mobile platform is started, in the moving process, a camera of the imaging device takes pictures, a line laser device scans and collects data, and the pictures and the data are transmitted to the data processing module;
C. the mobile platform returns to the upper material level and the lower material level after moving to the extreme point, and in the returning process, the line laser device of the imaging device performs secondary scanning to acquire data and transmits the pictures and the data to the data processing module;
D. the manipulator carries out blanking processing on the keyboard, and meanwhile, the data processing module processes and calculates data and outputs a measuring result.
Further, before the step a, the following steps are included:
a. designing a standard block in a three-dimensional modeling mode, and outputting point cloud data of the standard block, wherein the block size precision requirement of the standard block is less than or equal to +/-0.01 mm;
b. putting the standard block on equipment, starting the equipment, and enabling the upper line laser device and the lower line laser device to scan the right angle of the standard block;
c. and (3) performing oblique-pulling correction on each line laser device, wherein during the oblique-pulling correction step, X, Y two-dimensional coordinate point clouds scanned by each line laser device are extracted, and the oblique-pulling deformation correction is respectively performed, and the correction calculation formula is as follows:
d. the four line laser devices enable point cloud data under different coordinates to be merged into the same coordinate system when 3D image splicing is carried out by scanning one standard block.
Further, the step D of splicing the point cloud data scanned by the line laser device during data processing calculation includes the following steps: wherein, the four laser three-dimensional point sets are X1, X2, X3 and X4, the standard block model point set is X0,
step one, calculating the corresponding near point of each point in the X1 in the X0 point set:
two 3D points P and Q in three-dimensional space,
their euclidean distance is expressed as:
matrices R and T of P and Q variation, for
N, i is 1, 2, N, and the obtained value is obtained
The smallest R and T;
step two, separation of parallel movement and rotation:
firstly, carrying out initial estimation on the translation vector T to respectively obtain the centers of the point sets P and Q:
translating the point sets P and Q to the center point, respectively:
to obtain
Minimum size
Wherein
Thirdly, solving an initial rotation matrix by using the control points:
for the ith pair of points, the matrix Ai for the pair of points is calculated:
step four, calculating a translation matrix:
calculating a translation matrix through a central point, stopping iterative calculation if the average distance between the new transformation point set and the reference point set is smaller than a given threshold value, otherwise, continuing iteration by taking the new transformation point set as a new X1 until the requirement of an objective function is met, namely, after initial matching, making translation change on all points in the point set P, then comparing the matching degree of the point set P and the point set Q,
specifically, each point in the point set P is found, the point closest to the point set Q is used as a corresponding point, and the T obtained in the previous step is utilizedk-1Make an effort to
Minimum TkWherein, in the step (A),
step five, repeating the steps to process X2, X3 and X4, and finishing the unification of the point cloud coordinates of the line laser device;
and step six, the data processing module automatically finds the characteristic points of the standard block and matches the scanned 3D point cloud characteristic points with the 3D model characteristic points for multiple times to obtain a result.
Before the data processing calculation in step D, some isolated noise points in the original data need to be removed by using a tool.
Whether the keyboard fixing jig provided by the invention rotates the instruction, the corresponding moving program of the moving platform, the camera picture and the line laser device data are controlled and calculated by 3D standard software.
The traditional software framework is as follows: the development workload of the new project is large, and the new project can be competent by engineers with rich experience; the measurement effect and stability depend on the experience and development capability of engineers, and the project development risk is high; the addition of a new sensor requires independent development, and has poor compatibility and unreliable stability.
The 3D standard software framework is used, and the following advantages are achieved: firstly, a visual programming interface is more visual and efficient, the training cost of a new person is low, the new person is easier to learn and master, and the development efficiency is high; the algorithm unit is modularized, so that the development is more efficient and reliable, different engineers use the same framework, the consistency of the measurement effect is high, and the project is more controllable; the functions of multi-sensor signal interaction and data input and output are realized, sensors of most brands in the market are compatible, compatibility is strong, and communication is stable; fourthly, the method has the functions of point cloud reconstruction and benchmark establishment, the characteristic positioning is accurate, and the measurement error is reduced.
The keyboard automatic detection equipment is provided with an automatic feeding and discharging manipulator when in use. The manipulator puts the keyboard into a corresponding keyboard fixing jig, and the code scanning bar scans codes to determine whether the keyboard fixing jig needs to rotate; after the keyboard is determined to be at the imaging side, the mobile platform is started, in the moving process, a camera of the imaging device takes pictures, the line laser device collects data, and the pictures and the data are transmitted to the data processing module; the mobile platform returns to the upper and lower material levels after moving to the extreme point, and in the returning process, the line laser device of the imaging device acquires data for the second time and transmits the pictures and the data to the data processing module; the manipulator carries out blanking processing on the keyboard, and meanwhile, the data processing module processes and calculates and outputs a measuring result.
Compared with the prior art, the invention has the following advantages:
1. the measurement efficiency is improved, and the product can finish measurement of all sizes only by moving in and out for 1 time;
2. the number of equipment is reduced, and the floor area of the equipment is reduced;
3. the program development difficulty is reduced, the program development period is shortened, and the maintenance difficulty is reduced;
4. the compatibility of the equipment is improved, and the keyboard with different lengths can be compatible.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of a keyboard fixing jig according to the present invention;
FIG. 3 is a schematic diagram of the structure of the camera of the present invention;
fig. 4 is a schematic structural view of the line laser apparatus of the present invention.
Reference numbers in the figures: 1-keyboard fixing jig, 2-moving platform, 3-camera, 4-line laser device, 5-code scanning bar, 6-DD motor, 7-platform, 8-fixing frame, 11-long keyboard jig, 12-short keyboard jig, 13-supporting plate, 14-standard block, 21-transverse platform, 22-transverse guide rail, 23-transverse drag chain, 24-transverse traveling wheel platform, 25-longitudinal platform, 26-longitudinal guide rail, 27-longitudinal drag chain, 28-longitudinal traveling wheel platform and 61-connecting seat.
Detailed Description
The following examples are given for the detailed implementation and specific operation of the embodiments of the present invention, but the scope of the present invention is not limited to the following examples.
Fig. 1-4 show an automatic keyboard inspection apparatus, which comprises a keyboard fixing jig 1, an imaging device and a mobile platform 2 for driving the keyboard fixing jig 1 to translate, wherein the imaging device comprises a camera 3 and a line laser device 4,
in the vertical direction, the camera 3 is arranged above the keyboard, and the line laser device 4 is respectively arranged above and below the keyboard.
The cameras 3 are arranged in three sets and arranged in a shape like a Chinese character pin, the visual fields of the three sets of cameras 3 cover the short edges of the keyboard, the cameras 3 shoot from the upper side of the keyboard in the moving process of the keyboard, the pictures are transmitted back to the data processing module to be spliced, and a complete keyboard plane diagram is obtained through splicing, so that the length and the width of the keyboard are obtained.
The line laser devices 4 are provided with four groups, wherein two groups are transversely arranged above the keyboard, and two groups are transversely arranged below the keyboard, the point cloud data of the upper surface, the side edges and the lower surface of the keyboard are synchronously scanned and collected by the four groups of line laser devices 4 and transmitted back to the data processing module for splicing and comparison, and the thickness size and the flatness of the keyboard are obtained.
The keyboard fixing jig 1 comprises a supporting plate 13, a long keyboard jig 11 and a short keyboard jig 12, wherein the long keyboard jig 11 and the short keyboard jig 12 are fixed on the supporting plate 13.
The upper end face of the supporting plate 13 is provided with a projection as a standard block 14. Initially, the line laser device 4 measures the standard block 14 to obtain a reference value a, before each measurement, the standard block 14 is measured to obtain a corresponding reference value a ', a ' -a, which is a displacement or offset, the data is transmitted back to the data processing module, and the subsequent point cloud data- (a ' -a) acquired by the corresponding line laser device 14 is data for eliminating errors.
The specific implementation steps are as follows:
a standard block 14 (the area is 10mm x 10mm, and the planeness is less than or equal to 0.005mm) is added on the keyboard fixing jig 1, and the data of the plane of the standard block 14 is measured when the line laser device 4 measures a product each time.
Immediately after the apparatus was started and the line laser apparatus 4 was at room temperature, 10 points (a1, a2, … … a10) on the standard block 14 were measured and stored as reference values.
The apparatus is left to operate continuously, the line laser device 4 reaching a maximum temperature after which the temperature will not increase. The normal temperature is 22 ℃ and the maximum temperature is 31 ℃, and the measured values of 10 points at different temperatures are recorded as follows:
22℃：A10、A20……A100
23℃：A11、A21……A101
……
31℃：A19、A29……A109
calculating temperature compensation values at different temperatures
If the temperature compensation value at 23 ℃ is K1, K1 ═ [ A11-A10) + (A21-A20) + … …
(A101-A100)】/9
When the equipment normally operates, the temperature compensation value K is calculated every time, the Z coordinate of each point of the 3D point cloud is subjected to temperature compensation, the Z coordinates of 300 points of a real-time measurement product are set to be Z1, Z2 and Z3 … … Z300, and the compensated Z coordinate is set to be Z1+ K, Z2+ K … … Z300+ K.
Finally, reverse verification is needed to verify the repeatability and reproducibility of the compensation value. The operation method comprises the following steps:
firstly, cooling a line laser device 4 to a normal temperature of 22 ℃;
measuring the thickness value of 10 points of the product;
thirdly, when the line laser device 4 rises to the highest temperature, 9 temperature points are divided into sections with different temperatures of 22 ℃, 23 ℃ and 24 ℃ and … … 31 ℃, and the measurement values of 10 points below each temperature point are measured and recorded
22℃：H0100、H0200……H1000
23℃：H0101、H0201……H1001
……
31℃：H0109、H0209……H1009
And calculating the deviation of 90 measured values subjected to real-time compensation at 23-31 ℃, wherein X1-H0101-H0100, X2-H0201-H0200 … … -X90-H1009-H1000, and completing the real-time temperature compensation if X1-X90 is less than or equal to 0.005 mm.
The keyboard fixing jig 1 is provided with a code scanning bar 5 above, the lower end is connected to a DD motor 6, and a connecting seat 61 is connected below the DD motor 6. Sweep on the frame that sign indicating number strip 5 is fixed in equipment through the fixing base, sweep sign indicating number strip 5 and place in last unloading one side of manipulator, confirm keyboard fixed tool 1 and need rotate after the keyboard is put promptly.
The mobile platform 2 comprises a transverse platform 21 and a longitudinal platform 25, the transverse platform 21 and the longitudinal platform 25 are slidably connected through a transverse travelling wheel platform 24, and the longitudinal platform 25 and a connecting seat 61 are slidably connected through a longitudinal travelling wheel platform 28.
The front side and the rear side of the transverse platform 21 are provided with transverse guide rails 22, the sides are provided with transverse drag chains 23 connected with a transverse traveling wheel platform 24, the left side and the right side of the longitudinal platform 25 are provided with longitudinal guide rails 26, and the sides are provided with longitudinal drag chains 27 connected with a longitudinal traveling wheel platform 28.
The bottom end of the moving platform 2 is fixed on a platform 7, and a fixing frame 8 for limiting the imaging device is fixedly arranged on the platform 7.
The keyboard automatic detection equipment of the invention is required to be provided with an automatic feeding and discharging mechanical arm (not shown in the figure) when in use.
An imaging method of an automatic keyboard detection device comprises the following steps:
A. the manipulator puts the keyboard into the corresponding keyboard fixing jig 1, and the code scanning bar 5 scans codes to determine whether the keyboard fixing jig 1 needs to rotate;
B. after the keyboard is determined to be at the imaging side, the mobile platform 2 is started, and in the moving process, a camera 3 of the imaging device takes a picture, a line laser device 4 scans and collects data, and the picture and the data are transmitted to a data processing module;
C. the moving platform 2 returns to the material loading and unloading position after moving to the extreme point, and in the returning process, the line laser device 4 of the imaging device performs secondary scanning to acquire data and transmits the pictures and the data to the data processing module;
D. the manipulator carries out blanking processing on the keyboard, and meanwhile, the data processing module processes and calculates data and outputs a measuring result.
Before the step A, the method comprises the following steps:
a. designing a standard block 14 in a three-dimensional modeling mode, and outputting point cloud data of the standard block 14, wherein the requirement of the dimensional accuracy of the standard block 14 is less than or equal to +/-0.01 mm;
b. placing 14 the standard block on the equipment, starting the equipment, and enabling the upper line laser device 4 and the lower line laser device 4 to scan the right angle of the standard block 14;
c. and (3) performing oblique-pulling correction on each line laser device 4, wherein during the oblique-pulling correction step, X, Y two-dimensional coordinate point clouds scanned by each line laser device 4 are extracted, and the oblique-pulling deformation correction is respectively performed, and the correction calculation formula is as follows:
d. the four line laser devices enable point cloud data under different coordinates to be merged into the same coordinate system when 3D image splicing is carried out by scanning one standard block.
Further, the step D of splicing the point cloud data scanned by the line laser device during data processing calculation includes the following steps: wherein, the four laser three-dimensional point sets are X1, X2, X3 and X4, the standard block model point set is X0,
step one, calculating the corresponding near point of each point in the X1 in the X0 point set:
two 3D points P and Q in three-dimensional space,
their euclidean distance is expressed as:
matrices R and T of P and Q variation, for
N, i is 1, 2, N, and the obtained value is obtained
The smallest R and T;
step two, separation of parallel movement and rotation:
firstly, carrying out initial estimation on the translation vector T to respectively obtain the centers of the point sets P and Q:
translating the point sets P and Q to the center point, respectively:
to obtain
Minimum size
Wherein
Thirdly, solving an initial rotation matrix by using the control points:
for the ith pair of points, the matrix Ai for the pair of points is calculated:
step four, calculating a translation matrix:
calculating a translation matrix through a central point, stopping iterative calculation if the average distance between the new transformation point set and the reference point set is smaller than a given threshold value, otherwise, continuing iteration by taking the new transformation point set as a new X1 until the requirement of an objective function is met, namely, after initial matching, making translation change on all points in the point set P, then comparing the matching degree of the point set P and the point set Q,
specifically, each point in the point set P is found, the point closest to the point set Q is used as a corresponding point, and the T obtained in the previous step is utilizedk-1Make an effort to
Minimum TkWherein, in the step (A),
step five, repeating the steps to process X2, X3 and X4, and finishing the unification of the point cloud coordinates of the line laser device 4;
and step six, the data processing module automatically finds the characteristic points of the standard block 14, and the scanned 3D point cloud characteristic points and the 3D model characteristic points are matched for multiple times to obtain a result.
Before the data processing calculation in step D, some isolated noise points in the original data need to be removed by using a tool.
Claims (7)
1. An imaging method of a keyboard automatic detection device is characterized in that: the method comprises the following steps:
A. the manipulator puts the keyboard into the corresponding keyboard fixing jig (1), and the code scanning bar (5) scans codes to determine whether the keyboard fixing jig (1) needs to rotate or not;
B. after the keyboard is determined to be on the imaging side, the mobile platform (2) is started, in the moving process, a camera (3) of the imaging device takes a picture, a line laser device (4) scans to acquire data, and the picture and the data are transmitted to the data processing module;
C. the moving platform (2) returns to the upper and lower material positions after moving to the extreme point, and in the returning process, the line laser device (4) of the imaging device performs secondary scanning to acquire data and transmits pictures and data to the data processing module;
D. the manipulator carries out blanking processing on the keyboard, and meanwhile, the data processing module processes and calculates data and outputs a measuring result.
2. The imaging method of the keyboard automatic detection device according to claim 1, characterized in that: before the step A, the method comprises the following steps:
a. designing a standard block (14) in a three-dimensional modeling mode, and outputting point cloud data of the standard block (14), wherein the requirement of the size precision of the standard block (14) is less than or equal to +/-0.01 mm;
b. putting the standard block (14) on equipment, starting the equipment, and enabling the upper line laser device and the lower line laser device (4) to scan the right angle of the standard block (14);
c. and (3) performing oblique-pulling correction on each linear laser device (4), wherein during the oblique-pulling correction step, X, Y axis point cloud coordinates scanned by each linear laser device (4) are extracted, and oblique-pulling deformation correction is respectively performed, and the correction calculation formula is as follows:
wherein Theta is Theta; hommat is the initial matrix; hommatslant is a matrix containing diagonal pulling information;
e. the four line laser devices (4) enable point cloud data under different coordinates to be merged into the same coordinate system when 3D image splicing is carried out by scanning one standard block (14).
3. The imaging method of the keyboard automatic detection device according to claim 2, characterized in that: d, when the data processing and calculation are carried out, the point cloud data scanned by the line laser device (4) are spliced, and the method comprises the following steps: wherein, the four laser three-dimensional point sets are X1, X2, X3 and X4, the standard block model point set is X0,
step one, calculating the corresponding near point of each point in the X1 in the X0 point set:
two 3D points P and Q in three-dimensional space, matrices R and T of P and Q variations, for
To obtain
The smallest R and T;
step two, separation of parallel movement and rotation:
firstly, carrying out initial estimation on a translation vector T to respectively obtain the centers of point sets P and Q;
translating the point sets P and Q to the central point respectively;
to obtain
Minimum size
Wherein
Thirdly, solving an initial rotation matrix by using the control points:
for the ith pair of points, the matrix Ai for the pair of points is calculated:
step four, calculating a translation matrix:
calculating a translation matrix through a central point, stopping iterative calculation if the average distance between the new transformation point set and the reference point set is smaller than a given threshold value, otherwise, continuing iteration by taking the new transformation point set as a new X1 until the requirement of an objective function is met, namely, after initial matching, making translation change on all points in the point set P, then comparing the matching degree of the point set P and the point set Q,
specifically, each point in the point set P is found, the point closest to the point set Q is used as a corresponding point, and the T obtained in the previous step is utilizedk-1Make an effort to
Minimum TkWherein, in the step (A),
step five, repeating the steps to process X2, X3 and X4, and finishing the unification of point cloud coordinates of the line laser device (4);
and step six, the data processing module automatically finds the characteristic points of the standard block (14), and the scanned 3D point cloud characteristic points and the 3D model characteristic points are matched for multiple times to obtain a result.
4. An automatic keyboard detection device is characterized in that: comprises a keyboard fixing jig (1), an imaging device and a mobile platform (2) for driving the keyboard fixing jig (1) to translate, wherein the imaging device comprises a camera (3) and a line laser device (4),
in the vertical direction, the camera (3) is arranged above the keyboard, the line laser device (4) is respectively arranged above and below the keyboard,
the keyboard fixing jig (1) comprises a supporting plate (13), a long keyboard jig (11) and a short keyboard jig (12) which are fixed on the supporting plate (13), wherein a convex block serving as a standard block (14) used as a measurement reference value is arranged on the upper end face of the supporting plate (13),
keyboard fixed tool (1) top be equipped with sweep a yard strip (5), the lower extreme is connected in DD motor (6) that are used for rotatory keyboard fixed tool (1), be connected with connecting seat (61) under DD motor (6).
5. The keyboard automatic detection device according to claim 4, wherein: the movable platform (2) comprises a transverse platform (21) and a longitudinal platform (25), the transverse platform (21) and the longitudinal platform (25) are connected through a transverse travelling wheel platform (24) in a sliding mode, and the longitudinal platform (25) and the connecting seat (61) are connected through a longitudinal travelling wheel platform (28) in a sliding mode.
6. The keyboard automatic detection device according to claim 5, wherein: the side is equipped with transverse guide (22) around transverse platform (21), the side is equipped with horizontal tow chain (23) of being connected with horizontal travelling wheel platform (24), the side about longitudinal platform (25) be equipped with longitudinal rail (26), the side is equipped with vertical tow chain (27) of being connected with longitudinal travelling wheel platform (28).
7. The keyboard automatic detection device according to claim 4, wherein: the bottom end of the moving platform (2) is fixed on the platform (7), and a fixing frame (8) used for limiting the imaging device is fixedly arranged on the platform (7).
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