JP6420041B2 - Absolute angle error calculation using image processing - Google Patents
Absolute angle error calculation using image processing Download PDFInfo
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- JP6420041B2 JP6420041B2 JP2014019069A JP2014019069A JP6420041B2 JP 6420041 B2 JP6420041 B2 JP 6420041B2 JP 2014019069 A JP2014019069 A JP 2014019069A JP 2014019069 A JP2014019069 A JP 2014019069A JP 6420041 B2 JP6420041 B2 JP 6420041B2
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Description
本発明は、画像処理システム（カメラによる直行座標計測）を利用して、回転機構の割出し角度における絶対角度誤差算出に関するものである。 The present invention relates to calculation of an absolute angle error in an indexing angle of a rotation mechanism using an image processing system (direct coordinate measurement by a camera).
回転機構を持つ産業用装置等において、角度測定器を利用せず画像処理により、ワークの直行座標位置の測定結果を用いて、絶対角度誤差算出を行うことができる。 In an industrial apparatus or the like having a rotation mechanism, an absolute angle error can be calculated by using the measurement result of the orthogonal coordinate position of the workpiece by image processing without using an angle measuring device.
画像処理システムによりワークの直行座標位置検出を行い、絶対角度誤差の算出を行う。 The orthogonal coordinate position of the workpiece is detected by the image processing system, and the absolute angle error is calculated.
産業用装置の回転機構部に、絶対角度測定用の角度測定器を取りつけることが困難な場合がある。 In some cases, it is difficult to attach an angle measuring device for measuring an absolute angle to the rotation mechanism of an industrial device.
画像処理システムを使用して割り出し位置を直行座標測定する装置が存在し、割り出し位置を角度指令で調整しなければならない場合がある。 There are devices that use an image processing system to measure the index position directly, and the index position may need to be adjusted with an angle command.
画像処理システムで直行座標計測した値を用いて絶対角度誤差を算出することで、割り出し位置を角度として算出及び角度調整が行える。 By calculating the absolute angle error using the value obtained by measuring the orthogonal coordinates in the image processing system, the index position can be calculated and the angle can be adjusted.
回転機構を装置搭載した状態で絶対角度誤差が測定可能となり、高速位置決め動作や装置稼働状態でも測定ができる。 The absolute angle error can be measured with the rotation mechanism mounted on the device, and can be measured even during high-speed positioning operations or when the device is operating.
本発明ではn 等分割での絶対角度測定及び調整が可能である。 In the present invention, absolute angle measurement and adjustment in n equal divisions is possible.
回転機構のワーク直行座標測定用カメラとマークの配置を図1に示す。 Fig. 1 shows the camera's direct coordinate measurement camera and mark arrangement of the rotating mechanism.
∠a、∠b、∠c、∠d はそれぞれ絶対角度誤差を含む状態にある。
絶対角度誤差を含む駆動角90°に４ポイントのマーク配置を行い、カメラ１（基準）
を見て、カメラの基準位置にマークを移動させる。同作業を90度送り毎に４ポイント行う。
∠a, ∠b, ∠c, and ∠d each include an absolute angle error.
Camera 1 (reference) with 4 point mark arrangement at 90 ° driving angle including absolute angle error
And move the mark to the camera reference position. Do the same 4 points every 90 degrees.
90 度の指令動作を行い、カメラ２を見て90度の指令動作前後の直行座標差分を計測する。
直行座標差分から∠θaを算出すると、次の関係式が得られる。（図２参照）
∠a−∠b＝∠θa ・・・・・・・・・（１）
さらに、90 度指令動作を順次行うと、絶対角度誤差を含むそれぞれの∠a，∠b，∠c，∠d
との関係より得られる∠θb，∠θc は，
∠b−∠c＝∠θb・・・・・・・・・（２）
∠c−∠d＝∠θc・・・・・・・・・（３）
∠a＋∠b＋∠c＋∠d＝360・・・・・（４）
よって、（１）〜（４）式から成る連立１次方程式が得られ、未知数である絶対角度誤差を含む∠a，∠b，∠c，∠d を算出し、割出角度90 度の絶対角度誤差を求めることができる。
A 90 degree command operation is performed, and the orthogonal coordinate difference before and after the 90 degree command operation is measured by looking at the camera 2.
When ∠θa is calculated from the orthogonal coordinate difference, the following relational expression is obtained. (See Figure 2)
∠a−∠b = ∠θa (1)
Furthermore, if the 90 ° command operation is performed sequentially, each ∠a, ∠b, ∠c, ∠d including the absolute angle error will be displayed.
∠θb and ∠θc obtained from the relationship with
∠b−∠c = ∠θb (2)
∠c−∠d = ∠θc (3)
∠a + ∠b + ∠c + ∠d = 360 (4)
Therefore, simultaneous linear equations consisting of equations (1) to (4) are obtained, and ∠a, ∠b, ∠c, and ∠d including absolute angle errors, which are unknown numbers, are calculated, and an absolute angle of 90 degrees is calculated. Angular error can be determined.
Claims (1)
Install two cameras adjacent to the mark placed on the outer periphery of the rotating object, and use an image processing system (camera coordinate measurement) to calculate the absolute angle error from the data obtained by measuring the orthogonal coordinate position of the mark. A simple measurement method for calculating an absolute angle error of an indexing angle of a rotating object for which a solution of simultaneous equations is obtained.
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| JP2014019069A JP6420041B2 (en) | 2014-02-04 | 2014-02-04 | Absolute angle error calculation using image processing |
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| JP2014019069A JP6420041B2 (en) | 2014-02-04 | 2014-02-04 | Absolute angle error calculation using image processing |
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| JP2015145843A JP2015145843A (en) | 2015-08-13 |
| JP6420041B2 true JP6420041B2 (en) | 2018-11-07 |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6420063B2 (en) * | 2014-05-29 | 2018-11-07 | 中村留精密工業株式会社 | Measuring method of mechanical error of rotary table and peripheral edge processing method of plate material |
| CN109612410A (en) * | 2019-02-01 | 2019-04-12 | 东莞中科蓝海智能视觉科技有限公司 | The detection localization method of glassware |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP3335850B2 (en) * | 1996-09-04 | 2002-10-21 | 松下電器産業株式会社 | Motor rotation angle measuring method and motor rotation angle measuring device |
| JP2005292103A (en) * | 2004-03-31 | 2005-10-20 | Koodotekku:Kk | Angle measuring apparatus for polygon mirror |
| JP2010008074A (en) * | 2008-06-24 | 2010-01-14 | Yazaki Corp | Pointer-indicating-angle calculation device, pointer-indicating-angle evaluation system, and pointer-indicating-angle calculation program |
| JP2013036804A (en) * | 2011-08-05 | 2013-02-21 | Nakamura Tome Precision Ind Co Ltd | Method of measuring pitch error of work table |
| JP5971028B2 (en) * | 2011-10-04 | 2016-08-17 | 株式会社明電舎 | Rotation angle measuring device and method |
| CN104820439B (en) * | 2015-04-16 | 2017-10-20 | 华南理工大学 | A kind of visual apparatus as sensor parallel connection platform follow-up control apparatus and method |
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