CN114720915B - Calibration method and device for three-dimensional Hall probe and visual guidance system - Google Patents
Calibration method and device for three-dimensional Hall probe and visual guidance system Download PDFInfo
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- CN114720915B CN114720915B CN202210638502.1A CN202210638502A CN114720915B CN 114720915 B CN114720915 B CN 114720915B CN 202210638502 A CN202210638502 A CN 202210638502A CN 114720915 B CN114720915 B CN 114720915B
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- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R33/00—Arrangements or instruments for measuring magnetic variables
- G01R33/02—Measuring direction or magnitude of magnetic fields or magnetic flux
- G01R33/0206—Three-component magnetometers
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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
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R33/00—Arrangements or instruments for measuring magnetic variables
- G01R33/0005—Geometrical arrangement of magnetic sensor elements; Apparatus combining different magnetic sensor types
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R33/00—Arrangements or instruments for measuring magnetic variables
- G01R33/02—Measuring direction or magnitude of magnetic fields or magnetic flux
- G01R33/06—Measuring direction or magnitude of magnetic fields or magnetic flux using galvano-magnetic devices
- G01R33/07—Hall effect devices
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Abstract
The invention discloses a calibration method and a device of a three-dimensional Hall probe and a vision guide system, wherein the calibration method comprises the following steps: acquiring a first visual center position of the unipolar magnet at a first position and a second visual center position of the unipolar magnet at a second position; controlling the three-dimensional Hall probe to move in a preset area until the measured magnetic flux density is the preset density, and marking the position of the three-dimensional Hall probe as the position of a first probe; controlling the unipolar magnet to rotate by a second preset angle from a second position through a preset rotating shaft; controlling the three-dimensional Hall probe to move in a preset area until the measured magnetic flux density is the preset density, and marking the position of the three-dimensional Hall probe as the position of a second probe; and determining calibration information based on the first probe position, the second probe position, the first visual center position and the second visual center position. According to the technical scheme of the invention, the error between the magnetic field center and the physical center of the magnet can be eliminated, and the guiding and positioning precision of the three-dimensional Hall probe during visual guiding can be further improved.
Description
Technical Field
The invention relates to the technical field of calibration of a Hall probe and a visual guidance system, in particular to a method and a device for calibrating a three-dimensional Hall probe and a visual guidance system.
Background
The gauss probe is guided by machine vision to measure the magnetic flux density at a certain position of the magnet, and a high-precision calibration method is needed to realize the high-precision calibration of a coordinate system between the machine vision and the gauss probe due to the fact that the sizes of the encapsulation of the gauss probe and the encapsulation of the exterior are unknown.
The existing calibration method is to use a single-polarity small rectangular magnet with the theoretical magnetic field center coinciding with the physical center of the magnet, a camera is used for shooting the central position of the magnet, a Gaussian probe is moved to the position above the magnet to find the position when the magnetic flux density in the X-axis direction and the magnetic flux density in the Y-axis direction are both 0, the difference value between the position and the central point of the magnet is the calibration difference value, but the calibration error is caused by the influence of the magnetizing precision between the physical center of the magnet and the magnetic field center.
Disclosure of Invention
The invention aims to provide a calibration method and a calibration device of a three-dimensional Hall probe and a visual guidance system.
In order to achieve the purpose, the invention provides the following scheme:
a calibration method of a three-dimensional Hall probe and a vision guidance system comprises the following steps:
acquiring a first visual center position of a unipolar magnet at a first position and a second visual center position of the unipolar magnet at a second position, wherein the second position is obtained by rotating the unipolar magnet from the first position by a first preset angle through a preset rotating shaft;
the three-dimensional Hall probe is controlled to move in a preset area until the magnetic flux density measured by the three-dimensional Hall probe is the preset density, the position of the three-dimensional Hall probe is marked to be the position of a first probe, the preset area is an area corresponding to the preset surface of the unipolar magnet, the preset rotating shaft is perpendicular to the preset surface, and the corresponding points of the first visual center position and the second visual center position belong to the preset surface;
controlling the unipolar magnet to rotate by a second preset angle from the second position by the preset rotating shaft;
controlling the three-dimensional Hall probe to move in the preset area until the magnetic flux density measured by the three-dimensional Hall probe is the preset density, and marking the position of the three-dimensional Hall probe as a second probe position;
and determining calibration information of the three-dimensional Hall probe and a vision guiding system based on the first probe position, the second probe position, the first vision center position and the second vision center position.
Optionally, the determining calibration information of the three-dimensional hall probe and the visual guidance system based on the first probe position, the second probe position, the first visual center position, and the second visual center position includes:
obtaining a third probe position based on the first probe position and the second probe position;
obtaining the rotation center position of the unipolar magnet according to the first visual center position and the second visual center position;
and obtaining the calibration information based on the third probe position and the rotation center position.
Optionally, the obtaining the calibration information based on the third probe position and the rotation center position includes:
acquiring first X-axis coordinate information and first Y-axis coordinate information corresponding to the position of the third probe;
acquiring second X-axis coordinate information and second Y-axis coordinate information corresponding to the rotation center position;
obtaining X-axis coordinate difference information based on the first X-axis coordinate information and the second X-axis coordinate information;
obtaining Y-axis coordinate difference information according to the first Y-axis coordinate information and the second Y-axis coordinate information;
and taking the X-axis coordinate difference information and the Y-axis coordinate difference information as the calibration information.
Optionally, the acquiring a first visual center position of the monopole magnet at the first position and a second visual center position of the monopole magnet at the second position includes:
acquiring the first visual center position of the monopole magnet with the monopole magnet in the first position;
controlling the unipolar magnet to rotate by the first preset angle by a preset rotating shaft;
and acquiring a second visual center position of the unipolar magnet.
Optionally, the acquiring a first visual center position of the monopole magnet includes:
acquiring a first surface image of the preset surface of the unipolar magnet;
determining a first surface boundary of the monopole magnet based on the first surface image;
determining a first center position of the first surface boundary and taking the first center position as the first visual center position.
Optionally, the acquiring a second visual center position of the monopole magnet includes:
acquiring a second surface image of the preset surface of the unipolar magnet;
determining a second surface boundary of the monopole magnet based on the second surface image;
determining a second center position of the second surface boundary and taking the second center position as the second visual center position.
Optionally, the preset density is that the magnetic flux density in the X-axis direction and the magnetic flux density in the Y-axis direction are zero, and the magnetic flux density in the Z-axis direction belongs to a preset range, where the preset range is determined based on the magnet theoretical value of the unipolar magnet.
On the other hand, the invention also provides a calibration device of the three-dimensional hall probe and the vision guidance system, which comprises the following components:
the vision center position acquisition module is used for acquiring a first vision center position of a unipolar magnet at a first position and a second vision center position of the unipolar magnet at a second position, wherein the second position is obtained by rotating the unipolar magnet from the first position by a first preset angle through a preset rotating shaft;
the first probe position acquisition module is used for controlling the three-dimensional Hall probe to move in a preset region until the magnetic flux density measured by the three-dimensional Hall probe is a preset density, marking the position of the three-dimensional Hall probe as a first probe position, wherein the preset region is a region relative to a preset surface of the unipolar magnet, the preset rotating shaft is vertical to the preset surface, and points corresponding to the first visual center position and the second visual center position belong to the preset surface;
the rotating module is used for controlling the unipolar magnet to rotate by a second preset angle from the second position through the preset rotating shaft;
the second probe position acquisition module is used for controlling the three-dimensional Hall probe to move in the preset area until the magnetic flux density measured by the three-dimensional Hall probe is the preset density, and marking the position of the three-dimensional Hall probe as a second probe position;
and the calibration information determining module is used for determining the calibration information of the three-dimensional Hall probe and the visual guidance system based on the first probe position, the second probe position, the first visual center position and the second visual center position.
In another aspect, the present invention further provides an electronic device, including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to execute the calibration method of the three-dimensional Hall probe and the vision guidance system.
In another aspect, the present invention further provides a non-volatile computer readable storage medium, on which computer program instructions are stored, wherein the computer program instructions, when executed by a processor, implement the calibration method of the three-dimensional hall probe and the vision guidance system.
According to the calibration method and device for the three-dimensional Hall probe and the vision guidance system, the calibration information of the three-dimensional Hall probe and the vision guidance system is determined based on the first probe position, the second probe position, the first vision center position and the second vision center position by acquiring the first probe position and the second probe position which correspond to the points, with the magnetic flux density preset density, measured by the three-dimensional Hall probe before and after rotation, and acquiring the first vision center position and the second vision center position of the monopole magnet before and after rotation, so that the error between the magnetic field center and the physical center of the magnet can be eliminated, and the guidance positioning accuracy of the three-dimensional Hall probe during vision guidance can be further improved.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings used in the description of the embodiment or the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art it is also possible to derive other drawings from these drawings without inventive effort.
Fig. 1 is an application environment of a calibration method for a three-dimensional hall probe and a vision guidance system according to an embodiment of the present invention;
FIG. 2 is a flowchart of a method for calibrating a three-dimensional Hall probe and a vision-guided system according to an embodiment of the present invention;
fig. 3 is a flowchart of a method for determining calibration information of a three-dimensional hall probe and a visual guidance system based on a first probe position, a second probe position, a first visual center position, and a second visual center position according to an embodiment of the present invention;
FIG. 4 is a flowchart of a method for obtaining calibration information based on a third probe position and a rotation center position according to an embodiment of the present invention;
fig. 5 is a flowchart of a method for obtaining a first visual center position of a unipolar magnet at a first position and a second visual center position of the unipolar magnet at a second position according to an embodiment of the present invention;
FIG. 6 is a flowchart of a method for obtaining a first visual center position of a monopole magnet according to an embodiment of the present invention;
FIG. 7 is a flowchart of a method for obtaining a second visual center position of a monopole magnet according to an embodiment of the present invention;
fig. 8 is a block diagram of a calibration apparatus for a three-dimensional hall probe and a vision guidance system according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
As shown in fig. 1, an application environment of the present invention may include a unipolar magnet 100, a three-dimensional hall probe 200, a rotary platform 300, and a machine vision system. The machine vision system can convert the shot target into an image signal through a machine vision product (namely an image shooting device), transmits the image signal to a special image processing system to obtain the form information of the shot target, and converts the form information into a digital signal according to the information of pixel distribution, brightness, color and the like; the image system performs various calculations on these signals to extract the features of the target, and then controls the operation of the on-site equipment according to the result of the discrimination. Specifically, the monopole magnet 100 may be horizontally disposed on a rotating platform, which may be configured to rotate the monopole magnet via rotation. The unipolar magnet may refer to a magnet having a unipolar magnetism; the monopole magnet 100 may be a magnet having a flat top and a regular shape, such as a square magnet. The three-dimensional hall probe 200 can be used to measure the magnetic flux density at a point in space; specifically, the magnetic flux density measured by the three-dimensional hall probe 200 includes the magnetic flux density in the three-dimensional direction, which may specifically include the X-axis direction, the Y-axis direction, and the Z-axis direction in the present embodiment. In practice, the monopole magnet 100 may be placed on the rotating platform 300 with the axis of rotation of the rotating platform 300 passing through the physical or magnetic field center of the monopole magnet 100.
An embodiment of a calibration method for a three-dimensional hall probe and a visual guidance system according to the present invention is described below, and fig. 2 is a flowchart of a calibration method for a three-dimensional hall probe and a visual guidance system according to the embodiment of the present invention. It is noted that the present specification provides method steps as described in the examples or flowcharts, but may include more or less steps based on routine or non-inventive efforts. The order of steps recited in the embodiments is merely one manner of performing the steps in a multitude of orders and does not represent the only order of execution. In practice, the system products may be executed sequentially or in parallel (e.g., in the context of parallel processors or multi-threaded processing) in accordance with the methods described in the embodiments or figures. As shown in fig. 2, the present embodiment provides a calibration method for a three-dimensional hall probe and a vision guidance system, where the method includes:
s201, a first visual center position of the unipolar magnet at a first position and a second visual center position of the unipolar magnet at a second position are obtained, wherein the second position is obtained by rotating the unipolar magnet from the first position by a first preset angle through a preset rotating shaft.
The first position may refer to a position of the unipolar magnet before the unipolar magnet is rotated by a first preset angle; the second position may refer to a position where the unipolar magnet is located after being rotated by a first preset angle. The first visual center position may refer to a center point position of the preset surface 101 of the unipolar magnet; the first visual center position may refer to a center point position of the predetermined surface 101 of the unipolar magnet captured by the image capturing device, and specifically, the center point position of the predetermined surface 101 determined according to the image of the predetermined surface 101 may be the first visual center position when the image capturing device of the machine vision system captures the predetermined surface 101 of the unipolar magnet located at the first position. The second visual center position may refer to a center point position of the preset surface 101 of the unipolar magnet; the second visual center position may be a position of a center point of the predetermined surface 101 determined according to an image of the predetermined surface 101 after the image capturing device of the machine vision system captures the predetermined surface 101 of the unipolar magnet located at the second position. In this embodiment, as shown in fig. 1, the surface of the monopole magnet opposite to the three-dimensional hall probe is a predetermined surface 101 of the monopole magnet. The preset rotating shaft can be a geometric straight line used for the monopole magnet to perform rotational symmetry action in the rotating process; specifically, the preset rotation axis may be a straight line coinciding with a rotation axis of the rotation platform. As an example, the first preset angle may be 180 °.
In practical application, the single-pole magnet is placed on a rotating platform; specifically, the physical center of the monopole magnet placed on the rotating platform is located on the straight line of the rotating shaft of the rotating platform; it is understood that the unipolar magnet disposed on the rotation stage is located at the first position, and the image pickup device may be directed to an upper surface of the unipolar magnet to reduce an error in determining the visual center due to a photographing angle of the image pickup device. An image pickup device controlling a machine vision system captures an image of the preset surface 101 of the monopole magnet. According to the image of the preset surface 101 of the unipolar magnet shot by the image shooting device, the position of the central point of the preset surface 101 can be determined to be the first visual center position; specifically, the position of the center point of the preset surface 101 in the space can be determined by the position of the center point of the preset surface 101 in the image and the relative position of the preset surface 101 and the image pickup device. It should be noted that a spatial coordinate system may be established in advance before the first visual center position and the second visual center position are obtained, and in the case that the positions of the three-dimensional hall probe, the unipolar magnet, the rotary platform, and the machine vision system are known, the coordinates of the positions of the three-dimensional hall probe, the unipolar magnet, the rotary platform, and the machine vision system may be obtained, and the position in this embodiment may also be represented by the coordinates. Specifically, the apparatus device or the unipolar magnet may have its predetermined key point as a point whose coordinate position represents, for example, the spatial position of the three-dimensional hall probe may be represented by the probe tip of the three-dimensional hall probe.
After the first visual center position is determined, the rotating platform can be controlled to rotate by a first preset angle so that the unipolar magnet rotates by the first preset angle along the preset rotating shaft, and the position of the unipolar magnet after the rotation is the second position. An image pickup device controlling a machine vision system takes an image of the preset surface 101 of the unipolar magnet. According to the image of the preset surface 101 of the monopole magnet shot by the image shooting device, the position of the central point of the preset surface 101 can be determined as the second visual center position.
S202, the three-dimensional Hall probe is controlled to move in a preset area until the magnetic flux density measured by the three-dimensional Hall probe is the preset density, the position of the marked three-dimensional Hall probe is the position of a first probe, the preset area is an area relative to the preset surface of the unipolar magnet, a preset rotating shaft is perpendicular to the preset surface, and points corresponding to the first visual center position and the second visual center position belong to the preset surface.
The preset area can be a moving area of the three-dimensional Hall probe; the predetermined region may be set after the unipolar magnet is placed on the rotary table, or may be set in advance according to the position of the rotary table and the size of the unipolar magnet. The preset density may be such that the magnetic flux density in the X-axis direction and the Y-axis direction is zero, and the magnetic flux density in the Z-axis direction falls within a preset range; the preset range is determined based on a magnet theoretical value c of the unipolar magnet; for example, if the theoretical magnet values fall within a predetermined range (a, b), and after the theoretical magnet value c of the monopole magnet is obtained, the end values a and b of the predetermined range may be:
where Δ may be a preset value.
The first probe position may refer to a position at which the three-dimensional hall probe is located when the three-dimensional hall probe is used to measure the magnetic flux density at a preset density with the unipolar magnet located at the first position.
In practical application, the three-dimensional hall probe can be controlled to move in a preset area through the control shaft, specifically, the three-dimensional hall probe can be controlled to move at a low speed in the preset area, so that the three-dimensional hall probe can be stopped at a position corresponding to a magnetic flux density more accurately when the magnetic flux density measured by the three-dimensional hall probe is the preset density, and exemplarily, the low-speed movement can be performed at 0.5-2 cm/s; it can be understood that the magnetic flux density measured by the three-dimensional Hall probe changes along with the movement of the three-dimensional Hall probe. When the magnetic flux density measured by the three-dimensional Hall probe is the preset density, the three-dimensional Hall probe can be controlled to stop moving, the current position of the three-dimensional Hall probe is obtained, and the current position of the three-dimensional Hall probe is used as the first probe position.
And S203, controlling the unipolar magnet to rotate by a second preset angle from the second position through a preset rotating shaft.
Wherein, as an example, the second preset angle may be 180 °.
In practical application, the rotating platform can be controlled to rotate by a second preset angle so as to drive the unipolar magnet to rotate by the second preset angle.
And S204, controlling the three-dimensional Hall probe to move in a preset area until the magnetic flux density measured by the three-dimensional Hall probe is the preset density, and marking the position of the three-dimensional Hall probe as the position of a second probe.
The second probe position may be a position where the three-dimensional hall probe is located when the magnetic flux density measured by the three-dimensional hall probe is the preset density with the monopole magnet located at the second position.
In practical application, the method in step S202 may be referred to, and the three-dimensional hall probe is controlled to move in the preset region until the measured magnetic flux density is the preset density, and the position where the three-dimensional hall probe is located at this time is obtained as the second probe position.
S205, determining calibration information of the three-dimensional Hall probe and the vision guiding system based on the first probe position, the second probe position, the first vision center position and the second vision center position.
The calibration information of the three-dimensional Hall probe and the vision guiding system can be used for high-precision calibration between the machine vision system and the three-dimensional Hall probe. The calibration information of the three-dimensional hall probe and the vision guidance system may include an offset X in the X-axis direction P And an offset Y in the Y-axis direction P 。
In practical application, when the first visual center position is acquired (x 1 ，y 1 ，z 1 ) Second visual center position (x 2 ，y 2 ， z 2 ) First probe position (a)x 3 ，y 3 ，z 3 ) And a second probe position (x 4 ，y 4 ，z 4 ) Then, the calibration information (X) of the three-dimensional Hall probe and the vision guiding system can be calculated according to the following formula P ，Y P ）：
The calibration information of the three-dimensional Hall probe and the visual guidance system is determined based on the first probe position, the second probe position, the first visual center position and the second visual center position, so that the error between the magnetic field center and the physical center of the magnet can be eliminated, and the guidance positioning precision of the three-dimensional Hall probe during visual guidance can be improved.
Fig. 3 is a flowchart of a method for determining calibration information of a three-dimensional hall probe and a visual guidance system based on a first probe position, a second probe position, a first visual center position, and a second visual center position according to an embodiment of the present invention. In one possible embodiment, as shown in fig. 3, the step S205 may include:
s301, obtaining a third probe position based on the first probe position and the second probe position.
The third probe position may refer to a position of a rotation center of the three-dimensional hall probe determined according to the first probe position and the second probe position.
In practical application, the position of the middle point of the first probe and the position of the second probe in space can be obtained according to the position of the first probe and the position of the second probe, and the obtained position is the position of the third probe.
S302, obtaining the rotating center position of the unipolar magnet according to the first visual center position and the second visual center position.
Wherein, the point corresponding to the rotation center of the unipolar magnet may be an intersection point of the preset surface 101 of the unipolar magnet and the preset rotation axis.
In practical application, the position of the middle point of the first visual center and the position of the second visual center in space can be obtained according to the positions of the first visual center and the second visual center, namely the position of the rotation center of the unipolar magnet.
And S303, obtaining calibration information based on the position of the third probe and the position of the rotation center.
In practical applications, as shown in fig. 4, the step S303 may include:
s401, acquiring first X-axis coordinate information and first Y-axis coordinate information corresponding to the position of a third probe.
In practical application, the first X-axis coordinate information, the first Y-axis coordinate information and the first Z-axis coordinate information corresponding to the third probe can be obtained according to the position of the third probe. Specifically, the coordinate information in the three-dimensional direction corresponding to the third probe position may be obtained according to the relative position between the third probe position and the first probe position or the second probe position, and the coordinate value corresponding to the first probe position or the second probe position.
S402, second X-axis coordinate information and second Y-axis coordinate information corresponding to the position of the rotation center are obtained.
In practical applications, the second X-axis coordinate information and the second Y-axis coordinate information corresponding to the rotation center position may refer to step S401 described above.
And S403, obtaining X-axis coordinate difference information based on the first X-axis coordinate information and the second X-axis coordinate information.
In practical application, the difference value between the first X-axis coordinate information and the second X-axis coordinate information can be obtained to obtain X-axis coordinate difference value information.
S404, obtaining Y-axis coordinate difference information according to the first Y-axis coordinate information and the second Y-axis coordinate information.
In practical application, the difference value between the first Y-axis coordinate information and the second Y-axis coordinate information may be obtained to obtain Y-axis coordinate difference value information.
And S405, taking the X-axis coordinate difference information and the Y-axis coordinate difference information as calibration information.
In practical application, the coordinate difference information of the X axis can be used as the offset in the X axis direction, and the coordinate difference information of the Y axis can be used as the offset in the Y axis direction, so that the calibration information of the three-dimensional Hall probe and the visual guidance system can be obtained.
Fig. 5 is a flowchart of a method for obtaining a first visual center position of a unipolar magnet at a first position and a second visual center position of the unipolar magnet at a second position according to an embodiment of the present invention. In one possible implementation, as shown in fig. 5, the step S201 may include:
s501, under the condition that the unipolar magnet is located at the first position, acquiring a first visual center position of the unipolar magnet.
In practical applications, as shown in fig. 6, the acquiring the first visual center position of the monopole magnet may include:
s601, acquiring a first surface image of the preset surface of the single-pole magnet.
The first surface image may refer to an image of the predetermined surface 101 of the monopole magnet when the monopole magnet is at the first position.
In practical applications, with the monopole magnet in the first position, the image capturing device of the machine vision system may capture the predetermined surface 101 of the monopole magnet to obtain the first surface image. It should be noted that the image capturing device of the machine vision system captures an image having a range greater than the boundary range of the predetermined surface 101 of the monopole magnet, so that the boundary of the predetermined surface 101 can be captured, and the boundary of the predetermined surface 101 can be determined by capturing an image including the boundary of the predetermined surface 101.
S602, determining a first surface boundary of the unipolar magnet based on the first surface image.
The first surface boundary may refer to a boundary where the preset surface 101 of the unipolar magnet at the first position corresponds to the first surface image.
In practical applications, the first surface boundary corresponding to the predetermined surface 101 of the monopole magnet in the first surface image can be identified through edge detection.
S603, determining a first center position of the first surface boundary, and taking the first center position as a first visual center position.
The first central position may refer to a position corresponding to a central point of the first surface boundary.
In practical application, the line of the first surface boundary can be smoothed by smoothing the first surface boundary; according to the smoothed first surface boundary, a plurality of vertexes of the boundary and corresponding positions of the vertexes can be obtained; a first center position corresponding to the first surface boundary may be determined based on the positions of the plurality of vertices. For example, in the present embodiment, the predetermined surface 101 of the monopole magnet is square, and is approximated to a square wire frame according to the first surface boundary after the smoothing process, so that 4 vertices and corresponding positions thereof can be obtained; two line segments can be obtained by connecting the two opposite vertexes, and the intersection point of the two line segments is the central point corresponding to the first surface boundary, so that the position of the central point can be obtained.
S502, controlling the unipolar magnet to rotate by a first preset angle through a preset rotating shaft.
In practical applications, after the first visual center position is determined, the rotating platform may be controlled to rotate by a first preset angle so as to rotate the monopole magnet by the first preset angle along the preset rotating shaft, and the monopole magnet may be located at a second position after the rotation.
And S503, acquiring a second visual center position of the unipolar magnet.
In practical applications, as shown in fig. 7, the acquiring the second visual center position of the monopole magnet may include:
and S701, acquiring a second surface image of the preset surface of the single-pole magnet.
The second surface image may refer to an image of the predetermined surface 101 of the monopole magnet when the monopole magnet is at the second position.
In practical applications, the second surface image may be acquired with reference to the step S601.
S702, determining a second surface boundary of the unipolar magnet based on the second surface image.
The second surface boundary may refer to a boundary where the preset surface 101 of the unipolar magnet at the second position corresponds to the second surface image.
In practical applications, the second surface boundary corresponding to the predetermined surface 101 of the monopole magnet in the second surface image can be identified through edge detection.
And S703, determining a second central position of the second surface boundary, and taking the second central position as a second visual central position.
Wherein the second center position may refer to a position corresponding to a center point of the second surface boundary.
In practical applications, the second center position of the second surface boundary may be determined with reference to the step S603.
Fig. 8 is a structural block diagram of a calibration apparatus for a three-dimensional hall probe and a vision guidance system according to an embodiment of the present invention. On the other hand, the embodiment further provides a calibration apparatus for a three-dimensional hall probe and a vision guidance system, the apparatus includes:
a vision center position obtaining module 10, configured to obtain a first vision center position of the monopole magnet at a first position and a second vision center position of the monopole magnet at a second position, where the second position is obtained by rotating the monopole magnet from the first position by a first preset angle with a preset rotation axis;
the first probe position obtaining module 20 is configured to control the three-dimensional hall probe to move in a preset region until a magnetic flux density measured by the three-dimensional hall probe is a preset density, mark the position of the three-dimensional hall probe as a first probe position, where the preset region is a region corresponding to a preset surface of the unipolar magnet, a preset rotation axis is perpendicular to the preset surface, and points corresponding to the first visual center position and the second visual center position both belong to the preset surface;
the rotating module 30 is used for controlling the unipolar magnet to rotate by a second preset angle from the second position through the preset rotating shaft;
the second probe position obtaining module 40 is used for controlling the three-dimensional Hall probe to move in a preset area until the magnetic flux density measured by the three-dimensional Hall probe is a preset density, and marking the position of the three-dimensional Hall probe as a second probe position;
and the calibration information determining module 50 is configured to determine calibration information of the three-dimensional hall probe and the visual guidance system based on the first probe position, the second probe position, the first visual center position, and the second visual center position.
On the other hand, an embodiment of the present invention further provides an electronic device, including: a processor; a memory for storing processor-executable instructions; wherein, the processor is configured to execute the calibration method of the three-dimensional Hall probe and the vision guidance system.
In another aspect, an embodiment of the present invention further provides a non-volatile computer-readable storage medium, on which computer program instructions are stored, where the computer program instructions, when executed by a processor, implement the calibration method for the three-dimensional hall probe and the vision guidance system.
It is noted that while for simplicity of explanation, the foregoing method embodiments have been presented as a series of interrelated states or acts, it should be appreciated by those skilled in the art that the present invention is not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the invention. Similarly, the modules of the calibration device of the three-dimensional hall probe and the visual guidance system are referred to as computer programs or program segments for performing one or more specific functions, and the distinction between the modules does not mean that the actual program codes are necessarily separated. Further, the above embodiments may be arbitrarily combined to obtain other embodiments.
In the foregoing embodiments, the descriptions of the embodiments have respective emphasis, and reference may be made to related descriptions of other embodiments for parts that are not described in detail in a certain embodiment. Those of skill in the art will further appreciate that the various illustrative logical blocks, units, and steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate the interchangeability of hardware and software, various illustrative components, elements, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design requirements of the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present embodiments.
The foregoing description has disclosed fully preferred embodiments of the present invention. It should be noted that those skilled in the art can make modifications to the embodiments of the present invention without departing from the scope of the appended claims. Accordingly, the scope of the appended claims is not to be limited to the specific embodiments described above.
Claims (9)
1. A calibration method of a three-dimensional Hall probe and a vision guidance system is characterized by comprising the following steps:
acquiring a first visual center position of a unipolar magnet at a first position and a second visual center position of the unipolar magnet at a second position, wherein the second position is obtained by rotating the unipolar magnet from the first position by a first preset angle with a preset rotating shaft;
the three-dimensional Hall probe is controlled to move in a preset area until the magnetic flux density measured by the three-dimensional Hall probe is the preset density, the position of the three-dimensional Hall probe is marked to be the position of a first probe, the preset area is an area corresponding to the preset surface of the unipolar magnet, the preset rotating shaft is perpendicular to the preset surface, and the corresponding points of the first visual center position and the second visual center position belong to the preset surface;
controlling the unipolar magnet to rotate by a second preset angle from the second position by the preset rotating shaft;
controlling the three-dimensional Hall probe to move in the preset area until the magnetic flux density measured by the three-dimensional Hall probe is the preset density, and marking the position of the three-dimensional Hall probe as a second probe position;
determining calibration information of the three-dimensional Hall probe and a vision guidance system based on the first probe position, the second probe position, the first vision center position and the second vision center position, and specifically comprising: obtaining a third probe position based on the first probe position and the second probe position; obtaining the rotation center position of the unipolar magnet according to the first visual center position and the second visual center position; and obtaining the calibration information based on the third probe position and the rotation center position.
2. The method of claim 1, wherein said deriving said calibration information based on said third probe position and said center of rotation position comprises:
acquiring first X-axis coordinate information and first Y-axis coordinate information corresponding to the position of the third probe;
acquiring second X-axis coordinate information and second Y-axis coordinate information corresponding to the rotation center position;
obtaining X-axis coordinate difference information based on the first X-axis coordinate information and the second X-axis coordinate information;
obtaining Y-axis coordinate difference information according to the first Y-axis coordinate information and the second Y-axis coordinate information;
and taking the X-axis coordinate difference information and the Y-axis coordinate difference information as the calibration information.
3. The method of claim 1, wherein obtaining a first visual center location of a unipolar magnet at a first location and a second visual center location of the unipolar magnet at a second location comprises:
acquiring the first visual center position of the monopole magnet with the monopole magnet in the first position;
controlling the unipolar magnet to rotate by the first preset angle by a preset rotating shaft;
and acquiring a second visual center position of the unipolar magnet.
4. The method of claim 3, wherein said obtaining a first visual center location of said monopole magnet comprises:
acquiring a first surface image of the preset surface of the unipolar magnet;
determining a first surface boundary of the monopole magnet based on the first surface image;
determining a first center position of the first surface boundary and taking the first center position as the first visual center position.
5. The method of claim 3, wherein said obtaining a second visual center position of said monopole magnet comprises:
acquiring a second surface image of the preset surface of the unipolar magnet;
determining a second surface boundary of the monopole magnet based on the second surface image;
determining a second center position of the second surface boundary and using the second center position as the second visual center position.
6. The method according to claim 1, wherein the preset density is such that the magnetic flux density in the X-axis direction and the Y-axis direction is zero, and the magnetic flux density in the Z-axis direction falls within a preset range, which is determined based on the magnet theoretical value of the unipolar magnet.
7. A calibration device for a three-dimensional Hall probe and a vision guidance system is characterized by comprising:
the vision center position acquisition module is used for acquiring a first vision center position of a unipolar magnet at a first position and a second vision center position of the unipolar magnet at a second position, wherein the second position is obtained by rotating the unipolar magnet from the first position by a first preset angle through a preset rotating shaft;
the first probe position acquisition module is used for controlling the three-dimensional Hall probe to move in a preset region until the magnetic flux density measured by the three-dimensional Hall probe is a preset density, marking the position of the three-dimensional Hall probe as a first probe position, wherein the preset region is a region relative to a preset surface of the unipolar magnet, the preset rotating shaft is vertical to the preset surface, and points corresponding to the first visual center position and the second visual center position belong to the preset surface;
the rotating module is used for controlling the unipolar magnet to rotate by a second preset angle from the second position through the preset rotating shaft;
the second probe position acquisition module is used for controlling the three-dimensional Hall probe to move in the preset area until the magnetic flux density measured by the three-dimensional Hall probe is the preset density, and marking the position of the three-dimensional Hall probe as a second probe position;
a calibration information determining module, configured to determine calibration information of the three-dimensional hall probe and the visual guidance system based on the first probe position, the second probe position, the first visual center position, and the second visual center position, and specifically includes: obtaining a third probe position based on the first probe position and the second probe position; obtaining the rotation center position of the unipolar magnet according to the first visual center position and the second visual center position; and obtaining the calibration information based on the third probe position and the rotation center position.
8. An electronic device, comprising:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to execute the executable instructions to implement the calibration method of the three-dimensional hall probe and the vision guidance system of any one of claims 1 to 6.
9. A non-transitory computer readable storage medium having stored thereon computer program instructions, wherein the computer program instructions, when executed by a processor, implement the method of calibrating a three-dimensional hall probe and visual guidance system of any one of claims 1 to 6.
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