WO2017107534A1 - Procédé et dispositif de mesure d'angle, et procédé et dispositif de réglage d'angle - Google Patents

Procédé et dispositif de mesure d'angle, et procédé et dispositif de réglage d'angle Download PDF

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Publication number
WO2017107534A1
WO2017107534A1 PCT/CN2016/096898 CN2016096898W WO2017107534A1 WO 2017107534 A1 WO2017107534 A1 WO 2017107534A1 CN 2016096898 W CN2016096898 W CN 2016096898W WO 2017107534 A1 WO2017107534 A1 WO 2017107534A1
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Prior art keywords
angle
axis
motion mechanism
axis direction
target point
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PCT/CN2016/096898
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English (en)
Chinese (zh)
Inventor
廖明熙
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广州视源电子科技股份有限公司
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Publication of WO2017107534A1 publication Critical patent/WO2017107534A1/fr

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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
    • G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
    • 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

Definitions

  • the invention relates to the field of industrial testing, in particular to an angle measuring method, a device and an angle adjusting method and device.
  • a camera and a motion mechanism are usually included. Under normal circumstances, it is possible to ensure a certain positional relationship between the camera and a certain direction of the moving mechanism by mechanical precision and installation method.
  • mechanical precision and installation method In the following three cases: First, there is no direct connection mechanism between the camera and the motion mechanism; second, the camera installation machine needs to move; third, the accuracy of the camera installation device is not high enough, and the two cannot be ensured by mechanical precision and installation method. Positional relationship.
  • an embodiment of the present invention provides an angle measuring method, a device, and an angle adjusting method and device, which can accurately measure an angle between a camera and a motion mechanism, and adjust the camera based on the measured angle to ensure that the camera and the motion mechanism satisfy a certain degree.
  • the positional relationship satisfies the usage requirements.
  • Embodiments of the present invention provide a method for measuring an angle, including the following steps:
  • a target point on the two-axis motion mechanism recorded by the camera is moved by a predetermined distance before the movement of the two-axis motion mechanism and in the X-axis direction and the Y-axis direction of the two-axis motion mechanism, respectively.
  • the location information image it also includes:
  • the target point is located on a measuring board, and the measuring board is fixed to the two-axis moving mechanism.
  • the position of the target point in the position information image before the movement of the two-axis motion mechanism is the first position point
  • a straight line segment formed by connecting the first position point and the second position point is a motion trajectory of the target point along an X-axis direction of the two-axis motion mechanism, connecting the first position point and the first
  • the straight line segment formed by the three position points is a motion locus of the target point along the Y-axis direction of the two-axis motion mechanism.
  • the embodiment of the invention further provides an angle measuring device, comprising:
  • a position recording module configured to acquire, by the camera, a target point on the two-axis motion mechanism before the movement of the two-axis motion mechanism and after moving a predetermined distance along the X-axis direction and the Y-axis direction of the two-axis motion mechanism respectively Location information image;
  • a motion trajectory obtaining module configured to obtain, according to the position information image of the target point before and after the movement of the two-axis motion mechanism, obtaining a position of the target point in any one of the position information images The movement trajectory of the two-axis motion mechanism in the X-axis direction and the Y-axis direction;
  • An angle calculation module configured to calculate a movement trajectory of the target point along the X-axis direction and the Y-axis direction of the two-axis motion mechanism and a first clip of the x-axis and the y-axis of the plane coordinate system of the position information image And an angle between the angle and the second angle, wherein the first angle and the second angle are respectively an angle between the camera and the X-axis direction and the Y-axis direction of the two-axis motion mechanism.
  • the angle measuring device further includes:
  • the position recording module is further configured to acquire, by the calibrated camera, a target point on the two-axis motion mechanism before the movement of the two-axis motion mechanism and in the X-axis direction and the Y-axis direction of the two-axis motion mechanism respectively A position information image after moving a predetermined distance.
  • the position of the target point in the position information image before the movement of the two-axis motion mechanism is the first position point
  • the motion track acquisition module includes:
  • a marking unit configured to mark, in the position information image before the movement of the two-axis motion mechanism, the target point position in the position information image after the two-axis motion mechanism moves in the X-axis direction and the Y-axis direction by a predetermined distance Corresponding second position point and third position point;
  • a connecting unit wherein a straight line segment formed by connecting the first position point and the second position point is a movement trajectory of the target point along an X-axis direction of the two-axis motion mechanism, and the first position is connected
  • a straight line segment formed by the point and the third position point is a motion locus of the target point along the Y-axis direction of the two-axis motion mechanism.
  • the embodiment of the invention further provides an angle adjustment method, comprising the following steps:
  • the first angle and the second angle are measured by using the above-mentioned angle measurement method
  • S2 Calculating an adjustment angle according to the first angle and the second angle, and adjusting an installation angle of the camera according to the adjustment angle.
  • the above steps S1 to S2 are cyclically executed until the first angle or the second angle is calculated. 0°.
  • the embodiment of the invention further provides an angle adjusting device, comprising:
  • the above-mentioned angle measuring device for measuring the first angle and the second angle
  • the angle adjustment module is configured to calculate an adjustment angle according to the first angle and the second angle, and adjust an installation angle of the camera according to the adjustment angle.
  • the method and device for measuring the angle of the angle and the method and device for adjusting the angle provided by the embodiment of the present invention obtain the movement trajectory of a target point on the two-axis motion mechanism along the X-axis direction and the Y-axis direction of the two-axis motion mechanism.
  • calculating a first angle between the motion trajectory of the target point along the X-axis direction and the x-axis of the imaging plane coordinate system of the camera that is, an angle between the camera and the X-axis direction of the two-axis motion mechanism
  • a second angle between the motion trajectory of the target point along the Y-axis direction and the y-axis of the imaging plane coordinate system of the camera that is, the angle between the camera and the Y-axis direction of the two-axis motion mechanism
  • the technical solution provided by the embodiment of the invention can accurately measure the angle between the X-axis direction and the Y-axis direction of the camera and the two-axis motion mechanism, and adjust the camera based on the measured angle to ensure the camera and the second The X-axis direction or the Y-axis direction of the axis motion mechanism satisfies a certain positional relationship.
  • FIG. 1 is a schematic flow chart of an angle measurement method according to an embodiment of the present invention.
  • FIG. 2 is a schematic structural view of the entire mechanism before the movement of the two-axis motion mechanism according to the embodiment of the present invention.
  • FIG. 3 is a schematic diagram of a first location information image obtained based on FIG. 2 according to an embodiment of the present invention.
  • FIG. 4 is a schematic structural view of the entire mechanism after the two-axis motion mechanism is moved along the X-axis direction by a predetermined distance according to an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of a second location information image obtained based on FIG. 4 according to an embodiment of the present invention.
  • FIG. 6 is a schematic structural view of the entire mechanism after the two-axis motion mechanism is moved along the Y-axis direction by a predetermined distance according to an embodiment of the present invention.
  • FIG. 7 is a schematic diagram of a third location information image obtained based on FIG. 6 according to an embodiment of the present invention.
  • FIG. 8 is a schematic diagram of a method for acquiring a motion trajectory and calculating an included angle according to an embodiment of the present invention.
  • FIG. 9 is a schematic structural diagram of an angle measuring device according to an embodiment of the present invention.
  • FIG. 10 is a schematic structural diagram of the motion trajectory acquiring module shown in FIG. 9.
  • FIG. 11 is a schematic flow chart of an angle adjustment method according to an embodiment of the present invention.
  • FIG. 12 is a schematic structural diagram of an angle adjusting device according to an embodiment of the present invention.
  • the angle measuring method and device and the angle adjusting method and device provided by the embodiments of the present invention can accurately measure the angle between the X-axis direction and the Y-axis direction of the camera and the two-axis motion mechanism, and are based on the measured clip.
  • the camera is angularly adjusted to ensure that the camera and the X-axis direction or the Y-axis direction of the two-axis motion mechanism satisfy a certain positional relationship.
  • an embodiment of the present invention provides a method for measuring an included angle, which includes steps S11 to S13, as follows:
  • the camera calibration may be performed first, in order to Obtain specific and accurate internal and external parameters, so that the image recorded by the camera can be restored to a real plane without distortion.
  • traditional calibration The active visual calibration and the self-calibration are not specifically limited in the present invention.
  • the camera 11 is mounted above the two-axis motion mechanism 12, and records the position information image of a target point 20 on the two-axis motion mechanism.
  • the target point 20 is located on a measuring board 13 which is fixed on the two-axis moving mechanism 12, and the measuring board 13 can be a calibration board or other flat reference measuring tool for checking measurement work, the present invention No specific restrictions are made.
  • the target 11 is recorded by the camera 11 after calibration, before the movement of the two-axis motion mechanism 12 and in the X-axis direction and the Y-axis direction of the two-axis motion mechanism 12, respectively.
  • the position information image after moving a predetermined distance is specifically:
  • FIG. 3 is a schematic diagram of the first position information image obtained based on FIG. 2 , specifically, acquiring the first position information image 31 of the target point 20 recorded by the camera 11 after calibration.
  • the point at which the target point 20 is located in the first location information image 31 is point A.
  • FIG. 4 is a schematic diagram of the entire mechanism after the two-axis motion mechanism is moved by a predetermined distance along the X-axis direction thereof
  • FIG. 5 is a second position information image obtained based on FIG.
  • the schematic diagram is specifically: after the two-axis motion mechanism 12 moves a predetermined distance along the X-axis direction of the two-axis motion mechanism 12, acquiring the second target point 20 recorded by the camera 11 after calibration
  • the position information image 32 returns the two-axis motion mechanism 12 to the position before the movement, wherein the point at which the target point 20 is located in the second position information image 32 is point B, and the predetermined distance is smaller than The distance from point A to any boundary line of the image in the first position information image 31.
  • FIG. 6 is a schematic diagram of the entire mechanism after the two-axis motion mechanism moves a predetermined distance along the Y-axis direction thereof
  • FIG. 7 is a third position information image obtained based on FIG.
  • the schematic diagram is specifically: after the two-axis motion mechanism 12 is moved by a predetermined distance along the Y-axis direction of the two-axis motion mechanism 12, the third camera that records the target point 20 by the camera 11 after calibration is acquired.
  • the position information image 33 returns the two-axis motion mechanism 12 to the position before the movement, wherein the point at which the target point 20 is located in the third position information image 33 is point C.
  • the method specifically includes:
  • a straight line segment formed by connecting points A and B' is a motion trajectory of the target point 20 along the X-axis direction of the two-axis motion mechanism 12, and a straight line segment formed by connecting points A and C' is the target.
  • the present invention can also obtain the movement of the target point 20 along the X-axis direction and the Y-axis direction of the two-axis motion mechanism 12 in the second position information image 32 or the third position information image 33.
  • the trajectory, the present invention is not specifically described herein.
  • the first position information image 31 is a rectangular image, and a plane coordinate system is established with the point A as an origin, and the x-axis of the plane coordinate system is the same as the calibration.
  • the X C axis of the coordinate system of the camera 11 is parallel, and is also parallel to the horizontal boundary line of the first position information image 31, the y axis of the plane coordinate system and the Y C axis of the coordinate system of the camera 11 after calibration Parallel, which is also parallel to the vertical boundary line of the first position information image 31, the step S13 is specifically:
  • the coordinates of the points A, B', and C' are obtained as (0, 0), (x 1 , y 1 ), and (x 2 , y, respectively. 2 ).
  • the present invention also provides an angle measuring device that can perform all the processes of the angle measuring method provided by the above embodiments.
  • FIG. 9 is a schematic structural diagram of an angle measuring device according to an embodiment of the present invention.
  • the angle measuring device 100 includes a calibration module 110, a position recording module 120, a motion track acquiring module 130, and an angle calculating module 140, as follows:
  • the calibration module 110 is configured to perform camera calibration.
  • the calibration module 110 performs camera calibration in order to obtain specific and accurate internal and external parameters, so that the image recorded by the camera can be restored to a real plane without distortion.
  • calibration methods for the camera which can be mainly divided into three categories: traditional calibration, active visual calibration, and self-calibration, and the present invention is not specifically limited.
  • the position recording module 120 is configured to acquire, by the camera after the calibration, a target point on the two-axis motion mechanism before the movement of the two-axis motion mechanism and in the X-axis direction of the two-axis motion mechanism, A position information image after the Y-axis direction is moved by a predetermined distance.
  • the camera 11 is mounted above the two-axis motion mechanism 12, and records a position information image of a target point 20 on the two-axis motion mechanism 12, wherein
  • the target point 20 is located on a measuring board 13
  • the measuring board 13 is fixed on the two-axis moving mechanism 12
  • the measuring board 13 can be a calibration board or other flat reference measuring tool for verifying the measurement work.
  • the invention is not specifically limited.
  • the location recording module 120 is specifically configured to:
  • FIG. 3 is a schematic diagram of the first location information image obtained based on FIG. 2 .
  • the location recording module 120 acquires the target point 20 recorded by the camera 11 after calibration.
  • the first position information image 31, wherein the point at which the target point 20 is located in the first position information image 31 is point A.
  • FIG. 4 is a schematic diagram of the entire mechanism after the two-axis motion mechanism is moved by a predetermined distance along the X-axis direction thereof
  • FIG. 5 is a second position information image obtained based on FIG.
  • the position recording module 120 acquires the second position information of the target point 20 recorded by the calibrated camera 11 after the two-axis motion mechanism 12 moves a predetermined distance in the X-axis direction.
  • FIG. 6 is a schematic diagram of the entire mechanism after the two-axis motion mechanism moves a predetermined distance along the Y-axis direction thereof
  • FIG. 7 is a third position information image obtained based on FIG.
  • the position recording module 120 acquires the third position information of the target point 20 recorded by the calibrated camera 11 after the two-axis motion mechanism 12 moves a predetermined distance in the Y-axis direction.
  • the image 33 returns the two-axis motion mechanism 12 to the position before the movement, wherein the point at which the target point 20 is located in the third position information image 33 is point C.
  • the motion trajectory obtaining module 130 is configured to obtain, according to the position information image of the target point before and after the movement of the two-axis motion mechanism, the target point in the any one of the position information images.
  • the motion track acquiring module 130 specifically includes:
  • the marking unit 131 is configured to mark, in the first location information image 31, a B′ point corresponding to the B point position in the second location information image 32, and a C point point in the third location information image 33 C' point;
  • the connecting unit 132 the straight line segment formed by connecting the point A and the point B' is formed by moving the target point 20 along the X-axis direction of the two-axis motion mechanism 12, connecting the point A and the point C'.
  • the straight line segment is a motion locus of the target point 20 along the Y-axis direction of the two-axis motion mechanism 12.
  • the present invention can also obtain the movement of the target point 20 along the X-axis direction and the Y-axis direction of the two-axis motion mechanism 12 in the second position information image 32 or the third position information image 33.
  • the trajectory, the present invention is not specifically described herein.
  • the angle calculation module 140 is configured to calculate a motion trajectory of the target point along the X-axis direction and the Y-axis direction of the two-axis motion mechanism and an x-axis and a y-axis of the plane coordinate system of the position information image.
  • the first angle and the second angle are respectively an angle between the camera and the X-axis direction and the Y-axis direction of the two-axis motion mechanism.
  • the first position information image 31 is a rectangular image, and a plane coordinate system is established with the point A as an origin, and the x-axis of the plane coordinate system is the same as the calibration.
  • the X C axis of the coordinate system of the camera 11 is parallel, and is also parallel to the horizontal boundary line of the first position information image 31, the y axis of the plane coordinate system and the Y C axis of the coordinate system of the camera 11 after calibration Parallel, which is also parallel to the vertical boundary line of the first position information image 31, the angle calculation module is specifically configured to:
  • the coordinates of the points A, B', and C' are obtained as (0, 0), (x 1 , y 1 ), and (x 2 , y, respectively. 2 ).
  • the present invention also provides an angle adjustment method.
  • an embodiment of the present invention further provides an angle adjustment method, including steps S1 to S2, as follows:
  • the loop performs steps S1 to S2 until the first angle or the second angle is calculated to be 0°, that is, the camera 11 is parallel to the X-axis or the Y-axis of the two-axis motion mechanism 12. At this time, the sharpness of the picture taken by the camera 11 with respect to the two-axis motion mechanism 12 is superior.
  • the angle is in a certain direction. or Adjusting the camera 11 and then recalculating the adjusted first angle and the second angle.
  • Adjusting the angle of the camera 11 according to the adjusted first angle or the adjusted second angle and thus circulating until the X-axis or the Y-axis of the camera 11 and the two-axis motion mechanism 12 Parallel, wherein the certain direction may be a clockwise direction or a counterclockwise direction, and these may be set according to actual needs, and the invention is not specifically limited.
  • the first angle is equal to the second angle, and the installation angle of the camera 11 is adjusted until It is calculated that the first angle and the second angle are both 0, and the present invention is not specifically described herein.
  • the present invention also provides an angle adjusting device that can perform all the processes of the angle adjusting method provided by the above embodiments.
  • an embodiment of the present invention further provides an angle adjusting device 200, including: an angle measuring device 100 and an angle adjusting module 250, as follows:
  • the angle measuring device 100 is configured to measure the first angle and the second angle. Wherein the angle measuring device adopts the angle measuring device 100 shown in FIG.
  • the angle adjustment module 250 is configured to calculate an adjustment angle according to the first angle and the second angle, and adjust an installation angle of the camera according to the adjustment angle.
  • the steps S1 to S2 of the above-mentioned angle adjustment method are cyclically executed until the first clip is calculated.
  • the angle or the second angle is 0°, that is, the camera 11 is parallel to the X-axis or the Y-axis of the two-axis motion mechanism 12. At this time, the camera 11 captures the second axis motion mechanism 12 The clarity of the picture is superior.
  • the angle is in a certain direction. or Adjusting the camera 11 and then recalculating the adjusted first angle and the second angle.
  • Adjusting the angle of the camera 11 according to the adjusted first angle or the adjusted second angle and thus circulating until the X-axis or the Y-axis of the camera 11 and the two-axis motion mechanism 12 Parallel, wherein the certain direction may be a clockwise direction or a counterclockwise direction, and these may be set according to actual needs, and the invention is not specifically limited.
  • the first angle is equal to the second angle, and the installation angle of the camera 11 is adjusted until It is calculated that the first angle and the second angle are both 0, and the present invention is not specifically described herein.
  • the method and device for measuring the angle of the angle and the method and device for adjusting the angle provided by the embodiment of the present invention obtain the movement trajectory of a target point on the two-axis motion mechanism along the X-axis direction and the Y-axis direction of the two-axis motion mechanism.
  • calculating a first angle between the motion trajectory of the target point along the X-axis direction and the x-axis of the imaging plane coordinate system of the camera that is, an angle between the camera and the X-axis direction of the two-axis motion mechanism
  • a second angle between the motion trajectory of the target point along the Y-axis direction and the y-axis of the imaging plane coordinate system of the camera that is, the angle between the camera and the Y-axis direction of the two-axis motion mechanism
  • the technical solution provided by the embodiment of the invention can accurately measure the angle between the X-axis direction and the Y-axis direction of the camera and the two-axis motion mechanism, and adjust the camera based on the measured angle to ensure the camera and the second The X-axis direction or the Y-axis direction of the axis motion mechanism satisfies a certain positional relationship.
  • first and second are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated.
  • features defining “first” or “second” may include at least one of the features, either explicitly or implicitly.
  • the meaning of "a plurality” is at least two, such as two, three, etc., unless specifically defined otherwise.
  • a "computer-readable medium” can be any apparatus that can contain, store, communicate, propagate, or transport the software for use by the instruction execution system, apparatus, or apparatus, or in conjunction with the instruction execution system, apparatus, or apparatus.
  • computer readable media include the following: electrical connections (electronic devices) having one or more wires, portable computer disk cartridges (magnetic devices), random access memory (RAM), Read only memory (ROM), erasable editable read only memory (EPROM or flash memory), fiber optic devices, and portable compact disk read only memory (CDROM).
  • the computer readable medium may even be a paper or other suitable medium on which the software can be printed, as may be for example by paper Optical scanning is performed on other media, followed by editing, interpretation or, if necessary, processing in other suitable manner to electronically obtain the software and then store it in computer memory.
  • a plurality of steps or methods may be stored in a memory and understood by appropriate instructions, and portions of the invention may be implemented in hardware, software, firmware or a combination thereof.
  • the software or firmware executed by the system is implemented.
  • it can be implemented by any one or combination of the following techniques well known in the art: having logic gates for implementing logic functions on data signals.
  • PGAs programmable gate arrays
  • FPGAs field programmable gate arrays
  • each functional unit in each embodiment of the present invention may be integrated into one processing module, or each unit may exist physically separately, or two or more units may be integrated into one module.
  • the above integrated modules can be implemented in the form of hardware or in the form of software functional modules.
  • the integrated modules, if implemented in the form of software functional modules and sold or used as stand-alone products, may also be stored in a computer readable storage medium.
  • the above mentioned storage medium may be a read only memory, a magnetic disk or an optical disk or the like.

Abstract

L'invention concerne un procédé et un dispositif pour mesurer un angle, le procédé comprenant les étapes suivantes : obtenir des chemins de mouvement d'un point cible sur un mécanisme de déplacement biaxial (12) selon une direction d'axe X et une direction d'axe Y du mécanisme de déplacement biaxial (12) ; calculer un premier angle et un second angle, entre les chemins de mouvement du point cible selon la direction d'axe X et la direction d'axe Y, et un axe X et un axe Y d'un système de coordonnées de plan d'imagerie d'une caméra (11), le premier angle et le second angle étant respectivement les angles entre la caméra (11) et la direction d'axe X du mécanisme de déplacement biaxial (12), et entre la caméra et la direction d'axe Y du mécanisme de déplacement biaxial (12). L'invention concerne un procédé et un dispositif pour régler un angle, le procédé consistant à calculer un angle de réglage selon le premier angle et le second angle obtenus à partir d'une mesure, et à régler un angle de montage de la caméra (11) selon l'angle de réglage. La présente invention est capable de mesurer avec précision l'angle entre la caméra (11) et le mécanisme de déplacement biaxial (12), et de régler la caméra (11) selon l'angle obtenu à partir d'une mesure de façon à s'assurer que la caméra (11) et le mécanisme de déplacement biaxial (12) sont correcetement positionnés l'un par rapport à l'autre.
PCT/CN2016/096898 2015-12-21 2016-08-26 Procédé et dispositif de mesure d'angle, et procédé et dispositif de réglage d'angle WO2017107534A1 (fr)

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