CN116067666A - 360-degree continuous detection system based on visual rotation - Google Patents

Abstract

The invention relates to the technical field of photoelectric measurement, in particular to a 360-degree continuous detection system based on visual racemization, which comprises an optical reference component for providing visual measurement reference; the reticle in the optical reference assembly is positioned at the infinity position of the collimator, an arrow image on the reticle is a visual measurement reference, and an arrow line is parallel to the plumb line; the reflecting mirror component is arranged at the front end of the collimator and reflects the parallel light emitted by the collimator downwards by 90 degrees; the horizontal adjusting table is arranged right below the reflecting mirror and is used for placing and fixing the optical system to be tested; the control assembly is used for quantitatively driving the motor; a vision measurement component for capturing an image; the evaluation recording component is used for outputting and displaying the image reconstruction and computer calculation results; the evaluation recording component supplies power to the motor and controls the start and stop and the rotating speed of the motor. Experimental results show that the detection system can meet the continuous detection requirement point of the full working range of the racemization precision index of the novel vehicle length peripheral mirror.

Description

360-degree continuous detection system based on visual rotation

Technical Field

The invention relates to the technical field of photoelectric measurement, in particular to a 360-degree continuous detection system based on visual racemization.

Background

The image stabilization precision is a critical index of a vehicle length peripheral mirror, and the problem of local abnormal shake is generally controlled through software. Through analysis, the over-tolerance of the resolution extremum among factors affecting the image stabilization precision is the main cause. The traditional measurement is point measurement, and the extreme value position is easy to miss because the measurement points are relatively fewer.

In order to improve the image stabilizing precision of a vehicle length observing and aiming system and eliminate extreme value out-of-tolerance influence factors, the full-working-interval continuous detection requirement is provided for the image eliminating precision index of a novel vehicle length peripheral mirror, and a visual image eliminating 360-degree continuous detection system is designed.

Disclosure of Invention

Aiming at the defects of the prior art, the invention discloses a 360-degree continuous detection system based on visual racemization, which can be applied to 360-degree continuous detection of an image inclination index and provides basis for online adjustment of a racemization mechanism. The problem of the long week mirror of car is because of eliminating the unusual shake of steady image precision that the accuracy extremum of rotation is out of tolerance, out of tolerance is solved.

The invention is realized by the following technical scheme:

a visual rotation-based 360 ° continuous detection system, comprising:

an optical reference assembly for providing a visual measurement reference; the reticle in the optical reference assembly is positioned at the infinity position of the collimator, an arrow image on the reticle is a visual measurement reference, and an arrow line is parallel to a plumb line; the reflecting mirror component is arranged at the front end of the collimator and reflects the parallel light emitted by the collimator downwards by 90 degrees; the horizontal adjusting table is arranged right below the reflecting mirror and is used for placing and fixing the optical system to be tested;

the control assembly is used for quantitatively driving the motor; the control assembly comprises a base, a motor, an encoder and a gearbox; the control assembly is connected with the optical system to be tested through the base, the transmission case is connected in series with the middle position of the encoder and the coaxial, and the rear end of the transmission case is connected with the motor with high precision;

a vision measurement component for capturing an image;

the evaluation recording component is used for outputting and displaying the image reconstruction and computer calculation results; the evaluation recording component is connected with the vision measuring component and comprehensively displays continuous rotation accuracy tolerance waveforms and extremum position information; the evaluation recording component is internally provided with a program-controlled computer and is responsible for resolving the image processing angle.

Preferably, the measuring principle of the detecting system is to judge the rotation accuracy value of the image according to the transmission ratio by accurately driving the deviation between the rotation output angle value of the motor and the vision measurement actual value.

Preferably, the encoder adopts a rotary photoelectric incremental encoder, and the gearbox adopts 1: 2.

Preferably, the vision measurement component calculates the included angle by detecting the relative positions of two lines in the initial picture and the rotated picture taken by the camera at the eyepiece end, so as to obtain the optical rotation quantity.

Preferably, the automatic positioning control system of the motor achieves the aim of outputting controlled quantity by adopting a function that one input is a position error and the other output is a desired speed; regarding position error and output desired speed, a typical sigmoid function curve is used:

finally, the algorithm execution flow is as follows:

s1: initializing hardware and parameters;

s2: reading a target position and calculating a position error;

s3: mapping to obtain a target speed;

s4: calculating a speed error;

s5: obtaining a control increment according to the speed ring;

s6: adjusting output according to the control increment and the current controlled quantity value;

s7: detecting whether the target position is reached, if so, turning to S8; otherwise, turning to S2;

s8: and (5) ending.

Preferably, the detection points are close to innumerable, and continuous detection is formed, and the continuous detection process is as follows:

1) The upper end face of the optical system to be tested is ensured to be in a horizontal state by adjusting the horizontal adjusting table;

2) Placing an image detection camera in front of an ocular of a detected optical system to be adjusted to be horizontal, rotating a Buchner prism assembly in the detected optical system, and observing that a dividing line in an image of the detection camera is parallel to a vertical line with an arrow in a collimator, so that the arrow direction is upward;

3) Triggering a zero return button, controlling the motor to rotate until the signal output value of the encoder stays at 0, and locking a screw on the coaxial device to enable the detection tool assembly and the detected optical system to be connected into a whole;

4) Triggering a start button, automatically driving a coaxial in the rotation-eliminating mechanism to rotate clockwise by a motor, quickly capturing a current picture by a vision measurement assembly at the moment, reconstructing an image, and outputting a computer resolving result to form a measurement waveform diagram.

The invention has the following beneficial effects:

the system is used for comparing and measuring the driving rotation value and the visual measurement value, so that the full working interval data acquisition of the rotation resolution transmission precision is realized, and the position of the extreme value of the rotation resolution precision is more accurately searched. The high-precision motor and the encoder output angles, and the PID algorithm is combined to control the rotation speed of the motor, so that the accurate positioning of the detection angle is ensured; and the full-working-range continuous detection of the racemization transmission precision is realized by matching with the sub-pixel image processing and visual measurement. Experimental results show that the detection system can meet the continuous detection requirement point of the full working range of the racemization precision index of the novel vehicle length peripheral mirror.

Drawings

In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a flow chart of the automatic detection system for the resolution rotation transmission precision of the invention.

FIG. 2 is a schematic diagram of a detection system according to the present invention.

FIG. 3 is a schematic view of a reticle of the present invention.

Fig. 4 is a schematic diagram of the control assembly of the present invention.

Fig. 5 is a schematic diagram of a conventional motor control flow according to the present invention.

Fig. 6 is a schematic diagram of the improved control flow of the present invention.

FIG. 7 is a system interface schematic of the assessment logging assembly of the present invention.

FIG. 8 is a schematic diagram of the detection result according to the original detection point.

FIG. 9 is a schematic diagram of the detection results according to the continuous measurement method of the present invention.

FIG. 10 is a graph showing the comparison of two graphs of the present invention superimposed.

In the figure: 1-optical reference component, 2-control component, 3-evaluation record component, 4-vision measurement component, 5-measured optical system, 6-reticle frame, 7-reticle, 8-arrowed dividing line, 9-base, 10-motor, 11-encoder, 12-gearbox.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

As shown in fig. 1-10, the embodiment of the invention provides a 360-degree continuous detection system based on visual racemization, which mainly comprises an optical reference component 1, a control component 2, a visual measurement component 4 and an evaluation recording component 3. The system functions mainly comprise: the optical reference component 1 provides a visual measurement reference, the control component 2 quantitatively drives the motor 10, the visual measurement system captures images, and the evaluation recording system component outputs and displays the image reconstruction and computer calculation results, and the working flow of the evaluation recording system component is shown in fig. 1.

(one) optical reference component 1: as shown in fig. 2, the reticle 7 in the optical reference assembly 1 is located at the infinity position of the collimator, and the arrow on the reticle 7 is like a visual measurement reference, and the arrow line 8 is parallel to the plumb line; the reflecting mirror component is arranged at the front end of the collimator and reflects the parallel light emitted by the collimator downwards by 90 degrees; the horizontal adjustment table is placed right under the reflecting mirror for placing and fixing the optical system 5 to be measured.

In which a reticle arrow line 8, as shown in fig. 3, a reticle 7 is mounted on the reticle frame 6, and an arrow may be added to the top of a reticle for ease of recognition.

(II) control assembly 2: as shown in fig. 4, the control component 2 is connected with the optical system 5 to be tested through the base 9, and the encoder 11 used in the invention is a rotary photoelectric incremental encoder; series 1 at the intermediate position of the encoder 11 and the coax: 2 a speed change gear box, and a high-precision motor is connected with the rear end of the speed change gear box 12.

The conventional motor 10 positioning control system is as follows:

photoelectric encoders are classified into absolute value encoders and incremental encoders. The position output by the absolute value encoder is the actual value of the rotation of the encoder, and the position output by the incremental encoder is the position increment. The system adopts an incremental encoder for design, and a controller needs to accumulate the increment so as to obtain final position data.

In order to allow the motor 10 to smoothly reach the target position, it is often necessary to simultaneously perform closed loop control of the position and the speed of rotation of the motor 10. Fig. 5 shows a conventional control flow of the motor 10.

The automatic positioning system control optimization of the motor 10 of the embodiment of the invention is as follows:

in order to simplify the control flow, the cascade PID is improved, a speed generating function is adopted to replace a PID position loop, and the improved control flow is shown in figure 6.

The purpose of outputting the controlled variable is achieved by adopting a function that one input is a position error and the other output is a desired speed. Regarding the position error and the output desired speed, a typical sigmoid function curve may be employed;

finally, the algorithm execution flow is as follows:

s1: initializing hardware and parameters;

s2: reading a target position and calculating a position error;

s3: mapping to obtain a target speed;

s4: calculating a speed error;

s5: obtaining a control increment according to the speed ring;

s6: adjusting output according to the control increment and the current controlled quantity value;

s7: detecting whether the target position is reached, if so, turning to S8; otherwise, the process goes to S2.

S8: and (5) ending.

(III) evaluation recording component 3: as shown in fig. 7, the evaluation recording component 3 supplies power to the motor 10, and controls the start and stop and the rotation speed of the motor 10, the evaluation recording component 3 is connected with the visual detection component, and the continuous rotation accuracy tolerance waveform, the extremum position information and the like are comprehensively displayed. The evaluation recording component 3 contains a program control computer and is responsible for resolving the image processing angle.

(IV) visual measurement component 4: visual measurement component 4 parameters: sensor type: 1/1.8' CMOS; resolution ratio: 3072×2048; pixel size: 2.4 μm; illuminance range: 1X 10-2 to 1X 103Lx; zoom and focus, f=5-50 mm. In order to ensure accurate visual measurement and clearer image acquisition, a background illumination measure is designed for compressing the target plate and the ambient illuminance difference, so that local overexposure during low illuminance COMS test can be avoided; we make the image clearer by image processing such as exposure suppression, contrast adjustment, image enhancement, etc. The CCD lens intercepts the initial picture and the rotated picture at the eyepiece end to reconstruct an image, and the relative positions of two lines in the image, namely the arrow image rotation angle, are calculated by a computer.

(V) working principle: the system judges the rotation accuracy value according to the transmission ratio by accurately driving the deviation of the rotation output angle value of the motor 10 and the vision measurement actual value. The control mechanism adopts a high-precision motor 10 and an encoder 11 to drive the initial end of the imaging rotation mechanism by a designated angle, and combines a PID algorithm to control the rotation speed of the motor 10, so that the accurate output of the rotation angle of the initial end in the measurement system is realized. The visual measurement is to calculate the included angle by detecting the relative positions of two lines in the initial picture and the rotated picture taken by the camera at the eyepiece end, so as to obtain the optical rotation quantity. The full working interval racemization precision data waveform can be obtained through continuous image acquisition, processing and comparison. The method comprehensively detects the machining errors of the Pehan prism and the mechanical parts and the assembly errors of the mechanical structure, and the system can accurately position the extreme value position and provides basis for on-line adjustment of the racemization mechanism.

And (six) experimental verification: we measure the resolution of the lower assembly in a certain type of peripheral mirror. For better comparison, I performed three different detection methods on the same product.

The method comprises the following steps: conventional methods.

The detection data are shown in Table 1, and the extremum position is 540 DEG and the extremum amount is 1 DEG 54' as shown in Table 1.

Table 1 data statistics table

The second method is as follows: visual detector spot measurement.

The detection process is as follows:

1, the upper end face of a tested system is ensured to be in a horizontal state by adjusting a horizontal adjusting table;

2, placing an image detection camera in front of an ocular of the optical system 5 to be detected to be horizontal, rotating a Buchner prism assembly in the optical system 5 to be detected, and observing that a division line in an image of the detection camera is parallel to a vertical line with an arrow in a collimator, and enabling the arrow direction to be upward;

3 triggering a zero-resetting button, controlling the motor 10 to rotate until the signal output value of the encoder 11 stays at 0, and locking a screw on the coaxial device to enable the detection tool assembly and the detected optical system 5 to be connected into a whole;

4 trigger the start button, the motor 10 automatically drives the coaxial in the rotation-eliminating mechanism to rotate clockwise, at this time, the vision measurement component 4 rapidly grabs the current picture, reconstructs the image, and outputs the calculated result to form a measurement waveform diagram.

The device is used for carrying out detection data statistics according to the original detection points, as shown in fig. 8.

And (3) carrying out statistical analysis on the two groups of data, wherein the detection data of the racemization detector is consistent with that of the traditional detection method according to the detection of the original detection points.

And a third method: continuous measurement.

The detection method is consistent with the second method, and the difference is that the detection points of the third method are close to innumerable, so that continuous detection is formed. The following chart data were obtained by continuous detection with a visual detection 360 ° continuous detector, as shown in fig. 9. The two graphs are superimposed as shown in fig. 10.

The peak appears at 584 ° by observing that the continuous measurement curve between 540 ° and 630 ° is rising. The extremum also increased to 2 ° 06', a distinct result from the two-point measurement of the method; the continuous measurement results exceed the tolerance value requirements.

Experiments show that the visual detection 360-degree continuous detector can accurately reflect the position and the interval of the extreme value of the transmission precision of the rotation eliminating mechanism.

(seventh) conclusion: because the current image tilting adopts a point measurement method, the invention utilizes the high-precision motor 10 and the encoder 11 to output angles, and combines a PID algorithm to control the rotation speed of the motor 10, thereby ensuring the accurate positioning of the detection angle; and the visual rotation 360-degree continuous measurement is realized by matching with the sub-pixel image processing and visual measurement. Experimental results show that the application of the system can accurately position the extreme value and measure the extreme value, and provides a basis for on-line adjustment of the rotation eliminating mechanism. The problem of the long week mirror of car is because of eliminating the unusual shake of steady image precision that the accuracy extremum of rotation is out of tolerance, out of tolerance is solved. Is worth popularizing and using in similar products.

The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (6)

1. A 360 ° continuous detection system based on visual racemization, comprising:

an optical reference assembly for providing a visual measurement reference; the reticle in the optical reference assembly is positioned at the infinity position of the collimator, an arrow image on the reticle is a visual measurement reference, and an arrow line is parallel to a plumb line; the reflecting mirror component is arranged at the front end of the collimator and reflects the parallel light emitted by the collimator downwards by 90 degrees; the horizontal adjusting table is arranged right below the reflecting mirror and is used for placing and fixing the optical system to be tested;

the control assembly is used for quantitatively driving the motor; the control assembly comprises a base, a motor, an encoder and a gearbox; the control assembly is connected with the optical system to be tested through the base, the transmission case is connected in series with the middle position of the encoder and the coaxial, and the rear end of the transmission case is connected with the motor with high precision;

a vision measurement component for capturing an image;

the evaluation recording component is used for outputting and displaying the image reconstruction and computer calculation results; the evaluation recording component is connected with the vision measuring component and comprehensively displays continuous rotation accuracy tolerance waveforms and extremum position information; the evaluation recording component is internally provided with a program-controlled computer and is responsible for resolving the image processing angle.

2. The 360-degree continuous detection system based on visual rotation of the image rejection rate according to claim 1, wherein the measurement principle of the detection system is to judge the rotation accuracy value of the image rejection rate according to the transmission ratio by precisely driving the deviation between the rotation output angle value of the motor and the visual measurement actual value.

3. A visual derotation based 360 ° continuous inspection system according to claim 1 wherein said encoder employs a rotary photoelectric incremental encoder and said gearbox employs 1: 2.

4. The 360-degree continuous detection system based on visual rotation of claim 1, wherein the visual measurement component calculates an included angle by detecting the relative positions of two lines in the initial picture and the rotated picture taken by the camera at the eyepiece end, so as to obtain the optical rotation amount.

5. A visual rotation-eliminating 360 deg. continuous detecting system as defined in claim 3, wherein the automatic positioning control system of the motor is used for realizing the purpose of controlled quantity output by adopting a function of position error and desired speed as input; regarding position error and output desired speed, a typical sigmoid function curve is used:

finally, the algorithm execution flow is as follows:

s1: initializing hardware and parameters;

s2: reading a target position and calculating a position error;

s3: mapping to obtain a target speed;

s4: calculating a speed error;

s5: obtaining a control increment according to the speed ring;

s6: adjusting output according to the control increment and the current controlled quantity value;

s7: detecting whether the target position is reached, if so, turning to S8; otherwise, turning to S2;

s8: and (5) ending.

6. A visual racemization based 360 ° continuous detection system according to any one of claims 1 to 5, wherein a near infinite number of detection points are employed to form a continuous detection, the continuous detection process being as follows:

1) The upper end face of the optical system to be tested is ensured to be in a horizontal state by adjusting the horizontal adjusting table;

2) Placing an image detection camera in front of an ocular of a detected optical system to be adjusted to be horizontal, rotating a Buchner prism assembly in the detected optical system, and observing that a dividing line in an image of the detection camera is parallel to a vertical line with an arrow in a collimator, so that the arrow direction is upward;

3) Triggering a zero return button, controlling the motor to rotate until the signal output value of the encoder stays at 0, and locking a screw on the coaxial device to enable the detection tool assembly and the detected optical system to be connected into a whole;

4) Triggering a start button, automatically driving a coaxial in the rotation-eliminating mechanism to rotate clockwise by a motor, quickly capturing a current picture by a vision measurement assembly at the moment, reconstructing an image, and outputting a computer resolving result to form a measurement waveform diagram.

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