CN109341601A - A kind of Space locality establishment method of revolving platform central axis in vision measurement device - Google Patents
A kind of Space locality establishment method of revolving platform central axis in vision measurement device Download PDFInfo
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- CN109341601A CN109341601A CN201811343799.9A CN201811343799A CN109341601A CN 109341601 A CN109341601 A CN 109341601A CN 201811343799 A CN201811343799 A CN 201811343799A CN 109341601 A CN109341601 A CN 109341601A
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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
- G01B11/27—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing the alignment of axes
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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
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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
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
- G01B11/005—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates coordinate measuring machines
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Abstract
The present invention provides a kind of Space locality establishment method of revolving platform central axis in vision measurement device, this method step are as follows: and 1, the black box being made of spherical displacer and club is fixed on the table top of revolving platform, and deviate the central axis of revolving platform；2, revolving platform is made to turn to all angles position, and so that the mobile gantry of three-dimensional is driven image collecting device movement to be directed at spherical displacer and acquire the image with identical readability and position spherical displacer placed in the middle, record the grating scale reading of tri- linear axis of X, Y, Z at each position at this time；3, least square fitting and coordinate transform are carried out to recorded data, and then resolves unit direction vector and origin of the central axis for obtaining revolving platform in the coordinate system of machine of vision measurement device, so that it is determined that its dimensional orientation in coordinate system of machine.The principle of the invention is simple, using convenient, solves the critical issue in revolving parts vision measurement.
Description
Technical field
The present invention is a kind of Space locality establishment method of revolving platform central axis in vision measurement device, belongs to measurement skill
Art field.
Background technique
In numerous industrial circles such as Aeronautics and Astronautics, ship and automobile, revolving parts occupy very big in all kinds of parts
Specific gravity, the Form and position error and the accuracy of manufacture of this kind of part the performances such as can assemble to it, use and having an important influence on, not only will affect
To the fiting property of contact surface, vibration, noise, rotating accuracy and service life of rotary part etc. are also affected.For example,
The body of shell is exactly typical revolving parts, and the chamfered shape error of body is excessive will affect between bullet and barrel
Fit clearance, and then have an adverse effect to the initial velocity and trajectory of shooting；Meanwhile the scale error of body is excessive
It can cause being seriously worn for barrel, in turn result in card thorax or bombing bore accident.Therefore, existing in the processing of revolving parts and production
, there is an urgent need to realize the detection of the high-precision high-efficiency to parameters such as its Form and position errors and evaluation, to guarantee the design of such part
And the accuracy of manufacture.However, revolving parts generally have, change batch, geometric element is more, chamfered shape is complicated and required precision is high
The features such as, thus corresponding measurement means and equipment are proposed with very big challenge and very high requirement.
It is, in general, that revolving parts refer to that its shape feature meets the machine components of revolving body feature.Although revolving body
The structure of part is different and different from size because of its purposes, but has to the Detection & Controling of its structure and dimensional parameters very tight
The requirement of lattice, this is because many revolving parts are all the key components in mechanical equipment.Therefore, to revolving parts
High-precision and efficient detection are carried out, the urgent need of many national economy and defense sector is just become.Currently, for returning
The Form and position error of part and the detection of the accuracy of manufacture are turned, it is conventional to generally use special sample and Contacting three coordinates measurement machine etc.
Detection means and equipment carry out.The former detection process is by being accomplished manually, thus large labor intensity, and measurement result vulnerable to
Human factor influences, measurement accuracy is low, poor repeatability, and can only accomplish to qualitatively judge；Although the latter can reach very high
Detection accuracy, but the measurement method due to using contact, thus inefficiency, are unable to satisfy and become batch revolving parts
Detection demand.
In recent years, with the development of measuring technique and other related disciplines, vision measurement is as a kind of contactless survey
Amount means can solve traditional measurement method and be difficult to or insurmountable various problems, have been widely used for modern work at present
The every field of industry.Vision measurement is derived from computer vision technique, is novel based on industrial camera, camera lens and light source etc.
Measuring technique.Particularly, vision measurement is the measurement and positioning that computer vision technique is applied to geometric dimension, image
As the means for obtaining information, not only there is the high-efficient, adaptable of non-contact measuring technology, high reliablity and information
The advantages that abundant, also has the particular advantages such as at low cost, easy to operate, maneuverability and strong real-time, thus is widely used
In industry spot, the important content of industry spot fields of measurement research is become.In addition, coordinate measuring machine has movement
Range is big, registration and it is versatile the advantages that, can be used as the mobile vehicle of imaging system, pass through the shifting of three linear axis
The motion profile to realize imaging system is moved, to complete the acquisition of the measurement data at different location.For revolving parts
Design feature, the imaging system in single orientation can be only done the acquisition of certain a part of measurement data, and obtain whole surveys
Measure data, it is necessary to increase a rotating shaft (the 4th axis), i.e. revolving platform on the basis of three linear axis.Pass through revolving platform
The measurement for cooperating to realize the different direction of testee, to obtain complete measurement data, and improves measurement efficiency.However,
In the ideal case, the central axis (axis of rotation) of revolving platform and the Z axis of coordinate measuring machine are parallel to each other, thus
Revolving platform often rotates to an angle position, this part of measurement data on tested revolving parts is only needed by simple
The coordinate transforms such as translation, rotation can obtain the numerical value of the data before rotation.By the continuous rotation of revolving platform, finally
Whole measurement data of tested revolving parts can be spliced into.However, in actual application, since revolving platform is assembling
Inevitably there is installation error in the process, so that between actual central axis and the Z axis of coordinate measuring machine simultaneously
It is not parallel, but there is angle γ.In this case, if become still according to coordinates such as above-mentioned simple translation, rotations
It changes method and Data Integration is carried out to measurement data, measurement error will be generated, to reduce the measurement accuracy of revolving parts.Mesh
Before, for this problem, mainly by carrying out the calibration of the dimensional orientation parameter of practical center axis to revolving platform and being aided with essence
True Data Integration algorithm realizes, and for the sky of the revolving platform central axis in four axis vision measurement systems in the present invention
Between orientation calibration problem, there is no effective and reliable solution.
Summary of the invention
The present invention exactly designs in view of the above-mentioned deficiencies in the prior art and provides a kind of vision measurement device
The Space locality establishment method of middle revolving platform central axis, the purpose is to accurately determine the central axis of revolving platform in vision measurement
Direction in space and position in the coordinate system of machine of device help to improve the measurement accuracy and measurement efficiency of revolving parts,
With very big practical application value.
The purpose of the present invention is achieved through the following technical solutions:
The Space locality establishment method of revolving platform central axis in this kind of vision measurement device, the vision measurement device packet
Include workbench 1, revolving platform 2, image collecting device 3, camera mounting base 4 and three-dimensional mobile gantry 5.There are four measuring device tools
Kinematic axis, respectively tri- linear axis of X, Y, Z and rotating shaft A, wherein the direction of motion of tri- linear axis of X, Y, Z is mutually orthogonal,
And meet the right-hand rule.In the four axis layout of the vision measurement device, tri- linear axis of X, Y, Z are integrated, and
Rotating shaft A is individually arranged.The movement of tri- linear axis of X, Y, Z of the vision measurement device realized by the mobile gantry 5 of three-dimensional,
And the movement of rotating shaft A is realized by revolving platform 2.
The mobile gantry 5 of three-dimensional is mounted on workbench 1, and X-axis and Y-axis are located in horizontal plane, and Z axis is located at vertical direction,
And each axis is equipped with air-float guide rail and grating scale to ensure the robust motion and displacement accuracy of each axis.
Camera mounting base 4 is fixed on the mobile end of the Z axis of three-dimensional mobile gantry 5, and image collecting device 3 is mounted on phase
In machine mounting base 4, and make the imaging optical axis of image collecting device 3 and the X-direction of three-dimensional mobile gantry 5 by pose adjustment
In parallel.
The pedestal of revolving platform 2 is fixed on workbench 1, and makes revolving platform 2 positioned at the Y-axis stroke of three-dimensional mobile gantry 5
Middle position, center axis thereof 8 are in the dimensional orientation of a certain fixation；Circular gratings ruler built in revolving platform 2 is to realize each revolution
The precise measurement of angle position.
The Space locality establishment method of revolving platform central axis is characterized in that in this kind of vision measurement device: this method
Steps are as follows:
Step 1: spherical displacer 7 and club 6 are combined and are fixed on the table top of revolving platform 2, club 6 is vertically pacified
On the table top of revolving platform 2, and spherical displacer 7 is fixed on the top of club 6, and the installation site of club 6 deviates revolving platform 2
Central axis 8；
Step 2: turn to revolving platform 2 at 0 ° of position, i.e. δ0Then position is adopted by the mobile gantry 5 of three-dimensional with motion video
Acquisition means 3 move to imaging position, so that image collecting device 3 is directed at spherical displacer 7 and can be shot and reach the clear journey of regulation
The image of degree and position spherical displacer 7 placed in the middle records tri- linear axis of X, Y and Z in the mobile gantry 5 of three-dimensional at this position
Grating scale reads (X0,Y0,Z0), it is denoted as P0；
Step 3: the continuation of revolving platform 2 is made successively to turn to δiAt position, i=1,2 ..., N, N >=2, N are integer, and
The angle rotated every time is all the same, which is δ=360 °/(N+1)；
Step 4: in each angle position δiPlace is directed at spherical displacer 7 by image collecting device 3 and is shot, obtained
With δ0The image for the spherical displacer 7 that readability at position is identical and position is placed in the middle successively records the three-dimensional shifting at each position
The grating scale of tri- linear axis of X, Y and Z in dynamic gantry 5 reads (Xi,Yi,Zi), it is denoted as P respectively1,P2,…,PN, then P0,
P1,…,PNForm the circle of a central axis 8 around revolving platform 2, and P0,P1,…,PNIt is respectively positioned on the central axis with revolving platform 2
On the vertical space plane of line 8；
Step 5: fitting P using least square method0,P1,…,PNThe equation of place space plane, so that it is determined that the sky
Between plane normal vector, and the normal vector of the space plane is the direction in space vector of the central axis 8 of revolving platform 2,
Unit vector is converted by the direction in space vector of central axis 8 again, the unit side of the central axis 8 of revolving platform 2 can be obtained
To vector (l, m, n), to determine the direction in space of central axis 8；
Step 6: determining P using least square method fitting and coordinate transform0,P1,…,PNThe center of circle O of place circleRSeat
Mark (XR,YR,ZR), ORThe as origin of the central axis 8 of revolving platform 2, so that it is determined that the spatial position of central axis 8.According to return
The unit direction vector (l, m, n) of the central axis 8 of turntable 2, by P0,P1,…,PNIt is successively rotated to about the z axis with Y-axis flat with XOY
In the parallel plane in face, P is respectively obtained0′,P1′,…,PN′.P at this time0′,P1′,…,PN' be respectively positioned on it is same flat with XOY plane
In capable plane, using least square method to P0′,P1′,…,PN' round fitting is carried out, obtain center of circle OR' coordinate be (XR′,
YR′,ZR′).Again by center of circle OR' coordinate (XR′,YR′,ZR') successively reversely rotated around Y-axis and Z axis according to (l, m, n), from
And obtain OR(XR,YR,ZR), the as origin of the central axis 8 of revolving platform 2.The central axis obtained in conjunction with step 5
8 direction in space finally determines the dimensional orientation of central axis 8.
Further, workbench 1 is made of the marble or natural granite with good thermal stability, is able to bear one
Fixed external impact and interference, and its upper surface, after gridding method is examined, surface smoothness reaches 00 grade standard.
Further, image collecting device 3 is made of industrial camera 9, camera lens 10 and ring illumination light source 11；Camera lens 10 passes through
Standard interface is installed on industrial camera 9, and ring illumination light source 11 is fixed on the front end of camera lens 10.
Further, the linear motion on tri- directions X, Y and Z may be implemented in three-dimensional mobile gantry 5, to pass through camera
It is mobile that mounting base 4 drives image collecting device 3 to carry out space, so that image collecting device 3 is in correctly measurement orientation.One side
On the other hand the visual field and operating distance of the adjustable image collecting device 3 in face can also be such that vision measurement device adapts to different
The measurement demand of the testee of shapes and sizes, to make whole device that there is biggish flexible and flexibility.
Further, spherical displacer 7 is metal ball or Ceramic Balls, has good form accuracy and surface quality, and outside it
Surface is matt surface.
The purpose of the technical solution is coordinate system of machine O- of the central axis 8 in vision measurement device of determining revolving platform 2
Dimensional orientation in XYZ determines direction in space and space bit of the central axis 8 of revolving platform 2 in coordinate system of machine O-XYZ
It sets.Wherein, the direction in space of central axis 8 is indicated by its unit direction vector (l, m, n), and the spatial position of central axis 8
By its origin ORCoordinate (XR,YR,ZR) indicate.
The present invention is based on machine vision metrology principle, the acquisition of application image acquisition device has identical readability and position
Several spherical displacer images placed in the middle, and the revolving platform central axis in multiaxis vision measurement device has been calibrated by subsequent resolving
Direction in space and position, so that the development and exploitation for multiaxis vision coordinate measurement device provide a technical support.This
Invention has the advantages that principle is simply and easy to use, solves the critical issue in revolving parts vision measurement, facilitates
Its measurement accuracy and efficiency are improved, and there is stronger exploitativeness and application value.
Detailed description of the invention
Fig. 1 is the overall structure diagram of vision measurement device of the present invention；
Fig. 2 be vision measurement device of the present invention in revolving platform, spherical displacer and club structural schematic diagram；
Fig. 3 is the structural schematic diagram of the image collecting device in vision measurement device of the present invention；
Fig. 4 is that revolving platform rotates schematic diagram in calibration process；
Fig. 5 is that the positional relationship between the central axis of revolving platform and the coordinate system of machine O-XYZ of vision measurement device is shown
It is intended to；
Fig. 6 is the image schematic diagram of collected spherical displacer in calibration process.
Specific embodiment
Technical solution of the present invention is described in further detail below with reference to drawings and examples:
Referring to shown in attached drawing 1~6, this kind of vision measurement device includes workbench 1, revolving platform 2, image collecting device 3, phase
Machine mounting base 4 and three-dimensional mobile gantry 5.Wherein, the general frame being made of three-dimensional mobile gantry 5 and workbench 1 is using Beijing
Aviation precision research 1298 type three coordinate measuring machine of Pearl produced realizes that workbench 1 is by with good thermostabilization
The natural granite of property is made, and its upper surface, after gridding method is examined, surface smoothness reaches 00 grade standard.The type three
Coordinate measuring machine can generate the linear motion on tri- directions X, Y and Z, and each axis is equipped with air-float guide rail and high-precision
Grating scale, so that it is guaranteed that the robust motion and displacement accuracy of each axis.
Camera mounting base 4 is fixed on the mobile end of the Z axis of 1298 type three coordinate measuring machine of Pearl, image collector
It sets 3 to be mounted in camera mounting base 4, and makes the imaging optical axis and Pearl 1298 of image collecting device 3 by pose adjustment
The X-direction of type three coordinate measuring machine is parallel.
Revolving platform 2 selects the SGMCS type direct drive servovalve motor of Japanese Yaskawa company, can be without retarder
In the state of directly drive load, can be realized strength smoothness run from low speed to high speed, and built-in high-resolution volume
Code device may be implemented accurately to index and position.Its pedestal is fixed on workbench 1, and revolving platform 2 is made to be located at 1298 type of Pearl
The middle position of the Y-axis stroke of three coordinate measuring machine.
Image collecting device 3 is made of industrial camera 9, camera lens 10 and ring illumination light source 11；Camera lens 10 is connect by standard
Mouth is installed on industrial camera 9, and ring illumination light source 11 is fixed on the front end of camera lens 10.Industrial camera 9 selects Daheng's image
The MER-125-30GM type industrial camera of visual limit company；Camera lens 10 selects the MML3 type high-resolution of Japanese Moritex company
Calibration times telecentric lens；The DH-RL-50-90-W type ring light of the selection of ring illumination light source 11 Daheng's image vision Co., Ltd
Source.
It is demarcated using dimensional orientation of the above-mentioned vision measurement device to the central axis of revolving platform, the scaling method
Steps are as follows:
Step 1: spherical displacer 7 and club 6 are combined and are fixed on the table top of revolving platform 2, wherein spherical displacer 7
For metal ball or Ceramic Balls, there is good form accuracy and surface quality, and its outer surface is matt surface；Club 6 hangs down
Directly it is mounted on the table top of revolving platform 2, and spherical displacer 7 is fixed on the top of club 6, and the installation site of club 6 deviates back
The central axis 8 of turntable 2；
Step 2: turn to revolving platform 2 at 0 ° of position, i.e. δ0Position, then by 1298 type three-dimensional coordinates measurement of Pearl
Machine drives image collecting device 3 to move to imaging position, so that image collecting device 3 is directed at spherical displacer 7 and can shoot arrival
To the image of regulation readability and position spherical displacer 7 placed in the middle, the 1298 type three-dimensional coordinates measurement of Pearl at this position is recorded
The grating scale of tri- linear axis of X, Y and Z of machine reads (X0,Y0,Z0), it is denoted as P0；
Step 3: the continuation of revolving platform 2 is made successively to turn to δiAt position, i=1,2 ..., N, N >=2, N are integer, and
The angle rotated every time is all the same, which is δ=360 °/(N+1)；
Step 4: in each angle position δiPlace is directed at spherical displacer 7 by image collecting device 3 and is shot, obtained
With δ0The image for the spherical displacer 7 that readability at position is identical and position is placed in the middle, successively records the Pearl at each position
The grating scale of tri- linear axis of X, Y and Z of 1298 type three coordinate measuring machines reads (Xi,Yi,Zi), it is denoted as P respectively1,P2,…,PN,
Then P0,P1,…,PNForm the circle of a central axis 8 around revolving platform 2, and P0,P1,…,PNIt is respectively positioned on and revolving platform 2
On the vertical space plane of central axis 8；
Step 5: fitting P using least square method0,P1,…,PNThe equation of place space plane, so that it is determined that the sky
Between plane normal vector.If the equation of the space plane is Z=aX+bY+c, i.e. aX+bY-Z+c=0, wherein
A, b and c is unknown parameter.By P0,P1,…,PNCoordinate successively substitute into the plane equation, and remember that S is
According to the principle of least square, the least square solution of a, b and c are the value of a, b and c when S being made to reach minimum value.And
So that S is reached minimum value, needs to meet
It is hereby achieved that following equation group:
Solve above-mentioned equation group, the least square solution of a, b and c can be obtained, thus obtain the normal direction of the space plane to
It measures (a, b, -1).
And the normal vector (a, b, -1) of the plane is the direction in space vector of the central axis 8 of revolving platform 2, by its turn
Turn to be after unit vector revolving platform 2 central axis 8 unit direction vector (l, m, n), i.e.,
The normal vector of the space plane is the direction in space vector of the central axis 8 of revolving platform 2, by central axis 8
Direction in space vector be converted into after unit vector be revolving platform 2 central axis 8 unit direction vector (l, m, n), with
Determine the direction in space of central axis 8；
Step 6: determining P using least square method fitting and coordinate transform0,P1,…,PNThe center of circle O of place circleRSeat
Mark (XR,YR,ZR), and ORThe as origin of the central axis 8 of revolving platform 2, so that it is determined that the spatial position of central axis 8.In order to
Seek OR, first between angle theta and central axis 8 and Z axis of the calculating central axis 8 between the projection and X-axis on XOY plane
Angle γ.According to the unit direction vector (l, m, n) of the central axis 8 of revolving platform 2 and three cosine laws, θ and γ can by with
Lower equation group resolves to obtain
By P0,P1,…,PNSuccessively about the z axis and on Y-axis rotation θ and γ to the plane parallel with XOY plane, it respectively obtains
P0′,P1′,…,PN′.In the process, spin matrix about the z axis is RZ, and be R around the spin matrix of Y-axisY,
P at this time0′,P1′,…,PN' be respectively positioned in the same plane parallel with XOY plane, using least square method pair
P0′,P1′,…,PN' round fitting is carried out, obtain center of circle OR' coordinate be (XR′,YR′,ZR′).Again by center of circle OR' coordinate (XR′,
YR′,ZR') basis (l, m, n) is successively around Y-axis and Z axis reverse rotation γ and θ, to obtain OR(XR,YR,ZR), as revolving platform
Central axis origin.
In conjunction with the direction in space for the central axis 8 that step 5 obtains, the central axis 8 of revolving platform 2 has finally been determined
Dimensional orientation.
Claims (4)
1. the Space locality establishment method of revolving platform central axis, the vision measurement device include in a kind of vision measurement device
Workbench (1), revolving platform (2), image collecting device (3), camera mounting base (4) and three-dimensional movement gantry (5).The measuring device
There are four kinematic axis, respectively tri- linear axis of X, Y, Z and a rotating shaft A for tool, and tri- linear axis of X, Y, Z are integrated in one
It rises, and rotating shaft A is individually arranged.The movement of tri- linear axis of X, Y, Z of the vision measurement device is mobile gantry (5) by three-dimensional
It realizes, and the movement of rotating shaft A realized by revolving platform (2).
Three-dimensional mobile gantry (5) is mounted on workbench (1), and X-axis and Y-axis are located in horizontal plane, and Z axis is located at vertical direction,
And meet the right-hand rule；Each axis is equipped with air-float guide rail and grating scale, to ensure the robust motion and displacement essence of each axis
Degree.
Camera mounting base (4) is fixed on the mobile end of the Z axis of three-dimensional mobile gantry (5), and image collecting device (3) is mounted on
In camera mounting base (4), and keep the imaging optical axis of image collecting device (3) and three-dimensional mobile gantry (5) by pose adjustment
X-direction it is parallel.
The pedestal of revolving platform (2) is fixed on workbench (1), and makes revolving platform (2) positioned at the Y-axis row of three-dimensional mobile gantry (5)
The middle position of journey, center axis thereof (8) are in the dimensional orientation of a certain fixation；Circular gratings ruler is built in revolving platform (2) to realize
The precise measurement of each angle of revolution position.
The Space locality establishment method of revolving platform central axis is characterized in that in this kind of vision measurement device: the step of this method
It is as follows:
Step 1: spherical displacer (7) and club (6) are combined and are fixed on the table top of revolving platform (2), club (6) hangs down
Directly it is mounted on the table top of revolving platform (2), and spherical displacer (7) is fixed on the top of club (6), and the installation position of club (6)
Set the central axis (8) for deviateing revolving platform (2)；
Step 2: turn to revolving platform (2) at 0 ° of position, i.e. δ0Then position is adopted by three-dimensional mobile gantry (5) band motion video
Acquisition means (3) move to imaging position, make image collecting device (3) alignment spherical displacer (7) and can shoot to reach regulation
The image of readability and position spherical displacer (7) placed in the middle records X, Y and Z tri- in the three-dimensional mobile gantry (5) at this position
The grating scale of a linear axis reads (X0,Y0,Z0), it is denoted as P0；
Step 3: revolving platform (2) is made to continue successively to turn to δiAt position, i=1,2 ..., N, N >=2, N are integer, and every time
The angle of rotation is all the same, which is δ=360 °/(N+1)；
Step 4: in each angle position δiPlace by image collecting device (3) alignment spherical displacer (7) and is shot, is obtained
With δ0The image for the spherical displacer (7) that readability at position is identical and position is placed in the middle, successively records the three-dimensional at each position
The grating scale of tri- linear axis of X, Y and Z in mobile gantry (5) reads (Xi,Yi,Zi), it is denoted as P respectively1,P2,…,PN, then P0,
P1,…,PNForm the circle of a central axis (8) around revolving platform (2), and P0,P1,…,PNIt is respectively positioned on and revolving platform (2)
On the vertical space plane of central axis (8)；
Step 5: fitting P using least square method0,P1,…,PNThe equation of place space plane, so that it is determined that the space is flat
The normal vector in face, and the normal vector of the space plane is the direction in space vector of the central axis (8) of revolving platform (2),
Unit vector is converted by the direction in space vector of central axis (8) again, the central axis (8) of revolving platform (2) can be obtained
Unit direction vector (l, m, n), to determine the direction in space of central axis (8)；
Step 6: determining P using least square method fitting and coordinate transform0,P1,…,PNThe center of circle O of place circleRCoordinate
(XR,YR,ZR), the as origin of the central axis (8) of revolving platform (2), so that it is determined that the spatial position of central axis (8).
The direction in space of the central axis (8) of the revolving platform (2) obtained in conjunction with step 5 finally determines the space of central axis (8)
Orientation.
2. the Space locality establishment method of revolving platform central axis in a kind of vision measurement device according to claim 1,
It is characterized by: workbench (1) is made of the marble or natural granite with good thermal stability, upper surface is passed through
After gridding method is examined, surface smoothness reaches 00 grade standard.
3. the Space locality establishment method of revolving platform central axis in a kind of vision measurement device according to claim 1,
It is characterized by: image collecting device (3) is made of industrial camera (9), camera lens (10) and ring illumination light source (11)；Camera lens
(10) it is installed on industrial camera (9) by standard interface, and ring illumination light source (11) is fixed on the front end of camera lens (10).
4. the Space locality establishment method of revolving platform central axis in a kind of vision measurement device according to claim 1,
It is characterized by: spherical displacer (7) is metal ball or Ceramic Balls, there is good form accuracy and surface quality, and its appearance
Face is matt surface.
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111397514A (en) * | 2020-04-27 | 2020-07-10 | 华北科技学院 | Inclination angle error control method |
| CN111735423A (en) * | 2020-06-22 | 2020-10-02 | 西北工业大学 | Engine blade air inlet and outlet edge profile measuring device and measuring method |
| CN113639633A (en) * | 2021-07-26 | 2021-11-12 | 中国航空工业集团公司北京航空精密机械研究所 | Method for aligning angular zero position of clamp in multi-axis vision measuring device |
| CN113751934A (en) * | 2021-10-15 | 2021-12-07 | 安迅捷智能机器人(宁夏)有限责任公司 | Positioning system, welding method and welding deformation measuring method |
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| CN114343848A (en) * | 2022-01-06 | 2022-04-15 | 北京瑞医博科技有限公司 | Length measuring system of marking block and surgical robot system |
| CN115406408A (en) * | 2022-10-31 | 2022-11-29 | 中国科学院长春光学精密机械与物理研究所 | Method for detecting and correcting vertical axis tilt error of photoelectric theodolite |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111397514A (en) * | 2020-04-27 | 2020-07-10 | 华北科技学院 | Inclination angle error control method |
| CN111397514B (en) * | 2020-04-27 | 2022-08-02 | 华北科技学院 | Inclination angle error control method |
| CN111735423A (en) * | 2020-06-22 | 2020-10-02 | 西北工业大学 | Engine blade air inlet and outlet edge profile measuring device and measuring method |
| CN113639633B (en) * | 2021-07-26 | 2023-07-07 | 中国航空工业集团公司北京航空精密机械研究所 | Clamp angular zero alignment method in multi-axis vision measurement device |
| CN113639633A (en) * | 2021-07-26 | 2021-11-12 | 中国航空工业集团公司北京航空精密机械研究所 | Method for aligning angular zero position of clamp in multi-axis vision measuring device |
| CN113751934A (en) * | 2021-10-15 | 2021-12-07 | 安迅捷智能机器人(宁夏)有限责任公司 | Positioning system, welding method and welding deformation measuring method |
| CN113751934B (en) * | 2021-10-15 | 2024-05-28 | 安迅捷智能机器人(宁夏)有限责任公司 | Positioning system, welding method and welding deformation measuring method |
| CN114343848A (en) * | 2022-01-06 | 2022-04-15 | 北京瑞医博科技有限公司 | Length measuring system of marking block and surgical robot system |
| CN114061459A (en) * | 2022-01-18 | 2022-02-18 | 成都飞机工业（集团）有限责任公司 | Non-contact photographic hole measurement calibration device and method |
| WO2023138119A1 (en) * | 2022-01-18 | 2023-07-27 | 成都飞机工业（集团）有限责任公司 | Non-contact photographing hole measurement calibration device and method |
| CN114061459B (en) * | 2022-01-18 | 2022-05-10 | 成都飞机工业（集团）有限责任公司 | Non-contact photographic hole measurement calibration device and method |
| CN115406408B (en) * | 2022-10-31 | 2023-01-17 | 中国科学院长春光学精密机械与物理研究所 | Method for detecting and correcting vertical axis tilt error of photoelectric theodolite |
| CN115406408A (en) * | 2022-10-31 | 2022-11-29 | 中国科学院长春光学精密机械与物理研究所 | Method for detecting and correcting vertical axis tilt error of photoelectric theodolite |
| CN115711589A (en) * | 2022-11-22 | 2023-02-24 | 哈尔滨工业大学 | Method for measuring rotor spherical surface profile of large-scale high-speed rotation equipment based on integration of multidimensional great circle projection centers |
| CN115711589B (en) * | 2022-11-22 | 2023-12-22 | 哈尔滨工业大学 | Method for measuring spherical profile of rotor of large-sized high-speed rotary equipment based on multi-dimensional large-circle projection center integration |
| CN116295171A (en) * | 2023-05-11 | 2023-06-23 | 廊坊精雕数控机床制造有限公司 | Cradle type turntable assembly precision detection device and detection method |
| CN116295171B (en) * | 2023-05-11 | 2023-08-11 | 廊坊精雕数控机床制造有限公司 | Cradle type turntable assembly precision detection device and detection method |
| CN117697828A (en) * | 2024-02-05 | 2024-03-15 | 苏州铸正机器人有限公司 | Surgical robot precision measurement tool and precision measurement method |
| CN117697828B (en) * | 2024-02-05 | 2024-04-26 | 苏州铸正机器人有限公司 | Surgical robot precision measurement tool and precision measurement method |
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