CN110645912A - Machine vision panoramic measurement system and measurement method - Google Patents
Machine vision panoramic measurement system and measurement method Download PDFInfo
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- CN110645912A CN110645912A CN201910961570.XA CN201910961570A CN110645912A CN 110645912 A CN110645912 A CN 110645912A CN 201910961570 A CN201910961570 A CN 201910961570A CN 110645912 A CN110645912 A CN 110645912A
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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
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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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
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
- G01B5/0002—Arrangements for supporting, fixing or guiding the measuring instrument or the object to be measured
- G01B5/0004—Supports
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Abstract
The invention discloses a machine vision panoramic measurement system and a measurement method, which comprise an upper computer A, a lower computer B, a radial motor driver C, a direct-current power supply D, an axial motor driver E and a machine vision measurement sliding table F. The machine vision panoramic measurement system and the measurement method are designed from the viewpoint that the position of a measurement camera is fixed and a measurement platform moves. The system can automatically control the measuring sliding table to drive the clamping workpiece to complete axial and radial linear motion and circular motion in the measuring platform according to the measurement requirement under the combined control of the upper computer and the lower computer, so that high-precision panoramic scanning and three-dimensional reconstruction of the workpiece are realized, a hand wheel is arranged, manual adjustment during fault is facilitated, and the adaptability to the working environment is good; and a proximity switch sensor and a limit switch are arranged on the measuring sliding table and used for feeding back and positioning the operation position of a workpiece in real time and self-protection of the device when the work is abnormal. The machine vision measurement sliding table system can clamp a plurality of workpieces simultaneously, is suitable for task requirements of various vision acquisition modes, comprises monocular vision measurement, binocular vision measurement and structured light measurement, and is high in adaptability, high in positioning accuracy and high in popularization in the field of machine vision measurement.
Description
Technical Field
The invention belongs to the technical field of machine vision measurement, and particularly relates to a machine vision panoramic measurement system and a measurement method.
Background
The machine vision measurement technology is to use equipment such as a camera, a special fixture and the like to carry out dynamic or static shooting on an object to be measured to obtain a sequence or a single-frame image, and the visual measurement can be applied to accurately measure a complex structure. In an actual industrial measurement environment, if the surface appearance of a workpiece to be measured is complex or multiple workpieces are measured simultaneously in parallel, the acquisition camera is difficult to acquire complete appearance in a single measurement, the acquisition camera is required to shoot from multiple angles, and imaging is reconstructed through feature matching of multiple pictures. In the measuring process, if the workpiece position is fixed, the camera needs to acquire images at different positions, the camera parameters need to be repeatedly calibrated, and if the measuring and positioning are not accurate, the measuring result is not accurate, and the working efficiency is not high.
Disclosure of Invention
The invention aims to provide a machine vision panoramic measurement system and a measurement method, which are used for fixing the position of an acquisition camera and precisely positioning and controlling the movement of an object carrying platform for clamping a plurality of workpieces so as to solve the problems of repeated calibration of the camera, low efficiency and inaccurate measurement and positioning in the current vision measurement.
In order to solve the above vision measurement problem, the specific technical scheme of the invention is as follows:
a machine vision panoramic measurement system and a measurement method comprise an upper computer A, a lower computer B, a radial motor driver C, a direct-current power supply D, an axial motor driver E and a machine vision measurement sliding table F, wherein the radial motor driver C and the axial motor driver E are controlled to work through programming of the upper computer A and the lower computer B, and a driving motor drives an object carrying plate 200 to realize linear and circular motion so as to complete a measurement task; the radial motor driver C and the axial motor driver E are powered by a direct-current power supply D, and receive the instruction of the lower computer B to drive the motor to rotate; the machine vision measurement sliding table F consists of a portal frame vision acquisition mechanism 100, a carrying plate 200, a driving radial lead screw nut mechanism 300, a fixing plate 400, a driving axial lead screw nut mechanism 500, a driven axial sliding block mechanism 600 and a driven radial sliding block mechanism 700; the image acquisition mode of the portal frame vision acquisition mechanism 100 can select monocular, binocular or structured light measurement according to the measurement requirement; the fixed plate 400 is provided with a slot for positioning and mounting proximity switch sensors 405, 406, 407, 408, 409 and 410, limit switches 401, 402, 403 and 404 are fixed on the fixed plate through screw connection, and the linear sliding guide rail 603 is connected with the fixed plate 400 through screws; the linear slide guide 603 is used to achieve smooth movement of the slide block 502 on the fixed plate 400 in the active axial lead screw-nut mechanism 500, the active axial lead screw nut mechanism 500 is connected to the fixing plate 400 through bolts of a supporting seat 501 and a fixing seat 505, bearings are arranged in the supporting seat 501 and the fixing seat 505, the screw 504 is used for being nested, one end of the screw 504 is connected with a rotating shaft of a driving motor 508 through a coupling 506, the driving motor 508 is installed on a motor base 507 through screw connection, the motor base 507 is installed on a fixing plate 400 through a screw at the bottom of the fixing plate 400, a hand wheel 509 is arranged on the rotating shaft at the other end of the driving motor 508, the driving radial screw nut mechanism 300 is connected with the driving axial screw nut mechanism 500 in the same mode, and the driven axial nut mechanism 600 and the driven radial nut mechanism 700 are connected with a sliding block 502 in the same mode as the driving axial screw nut mechanism 500; the lower part of a sliding block 502 of the driving axial lead screw nut mechanism 500 is connected with the fixing plate 400 through a screw, the upper part of the driving axial lead screw nut mechanism is connected with a linear sliding guide rail 601 through a screw, an object carrying plate 200 is arranged above the linear sliding guide rail 601, and the object carrying plate 200 can finish clamping according to the structural shape and the number of workpieces.
Preferably, the camera in the portal frame vision acquisition mechanism 100 adopts a large constant MER-130-30UM camera, the upper computer adopts an Intel (R) core (TM) i5-4200CPU @2.80GHz processor, the memory is 8GB, and the lower computer adopts a singlechip controller.
Preferably, the slot of the fixed plate 400 is precisely positioned with the proximity switch sensors 405, 406, 407, 408, 409 and 410 and the linear sliding guide 603 by transition fit, and the proximity switch sensors 405, 406, 407, 408, 409 and 410 are metal proximity sensors.
Preferably, the driving motors 508 and 305 of the driving axial lead screw nut mechanism 500 and the driving radial lead screw nut mechanism 300 are step motors, and the handwheels 509 and 301 are uniformly knurled.
Preferably, countersunk screws are used as screws in the linear sliding guide rails 601 and 603.
Preferably, the measurement positioning step of the machine vision measurement sliding table system is as follows:
step I: arranging and installing a portal frame vision acquisition mechanism 100 and a precise sliding table mechanism according to measurement requirements, clamping a plurality of workpieces on an object carrying plate 200 as required, giving a zeroing instruction by a lower computer B to enable the position of the object carrying plate 200 to be zeroed, driving motors 305 and 508 to drive lead screws 309 and 504 to rotate by a radial motor driver C and an axial motor driver E, and enabling zeroing proximity switch sensors 406 and 409 to be used for positioning the zeroing positions and feeding back the zeroing positions to a single chip microcomputer control system to finish zeroing of the device;
step II: after the position of the object carrying plate 200 is reset to zero, the upper computer communicates to give coordinate data of a measuring position of the lower computer, the lower computer sends an instruction to the radial motor driver C and the axial motor driver E, the driving motors 305 and 508 drive the screw rods 309 and 504 to rotate, the nut mechanism converts the rotation of the screw rods into linear motion of the sliding blocks to complete the radial and axial motion of the object carrying plate 200, and the proximity switch sensors 405, 407, 408 and 410 arranged on the fixed plate 400 are used for position feedback of the object carrying plate 200, accurately positioning the position of a workpiece and realizing the precise linear motion of the axial direction and the radial direction; the axial and radial lead screw nut mechanisms can realize circular arc type motion by applying an interpolation method and matching with the driven axial sliding block mechanism 600 and the driven radial sliding block mechanism 700, so as to carry out panoramic scanning measurement on the workpiece;
step III: if the running position is not reasonable, the limit switches 401, 402, 403 and 404 are triggered and fed back to the single chip microcomputer control system in real time, the driving motors 508 and 305 are stopped from rotating, and the device is protected.
Step IV: after the measurement task is completed, the singlechip control system gives a zeroing instruction, and controls the driving motors 508 and 305 to rotate under the positioning action of the proximity switch sensors 409 and 406, so that the position of the loading plate is zeroed again, and the next operation is facilitated.
The invention has the beneficial effects that:
1. the invention can precisely position and control the movement of the loading platform of the multi-clamping workpiece to complete the scanning of the workpiece under the condition of ensuring that the measuring position of the camera is not changed, and can avoid the problem of repeated calibration of camera parameters compared with a measuring mode of fixing the workpiece and moving the camera, thereby greatly improving the measuring efficiency and the positioning accuracy;
2. the object carrying plate 200 and the sliding block 602, the sliding block 602 and the fixed plate 400 are connected through the linear sliding guide rails 601 and 603, so that the flatness is good, the stable operation of a precise sliding table can be ensured, the object carrying plate 200 can be provided with clamps according to the structure and the number of workpieces, and the clamping practicability is high;
3. the invention is provided with proximity switch sensors 405, 406, 407, 408, 409 and 410, can accurately position and feed back the operation state of the sliding table, realizes the operation of limiting and zeroing, and has real-time positioning feedback capability, and the installation of the limit switches 401, 402, 403 and 404 can immediately cut off the power when the operation position is unreasonable, thereby protecting the precise sliding table from being damaged and having self-protection capability of the device;
4. the rotating shafts of the driving motors 508 and 305 of the driving axial lead screw nut mechanism 500 and the driving radial lead screw nut mechanism 300 are both provided with hand wheels 509 and 301 which can be manually adjusted according to conditions;
5. the clamping support of the acquisition camera can be suitable for more camera models, and the monocular, binocular, structured light and the like can be replaced according to the needs in an image acquisition mode, so that the clamping support has a wider application range.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a panoramic measuring system for machine vision
FIG. 2 is an overall structure diagram of a machine vision measuring slide table of a machine vision panoramic measuring system
FIG. 3 is an exploded view of the overall structure of a machine vision measurement slide table of a machine vision panoramic measurement system
FIG. 4 is an exploded view of an axial active lead screw nut mechanism of a machine vision panoramic measurement system
FIG. 5 is an exploded view of a radial active lead screw nut mechanism of a machine vision panoramic measurement system
FIG. 6 is an exploded view of a driven slider structure of a machine vision panoramic measurement system
FIG. 7 is a schematic view of a fixing plate component of a machine vision panoramic measurement system
Detailed Description
In order that the objects, aspects and advantages of the invention will become more apparent, the invention will be described by way of example only, and in connection with the accompanying drawings. It is to be understood that such description is merely illustrative and not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
The following further describes specific structures and embodiments of the present invention with reference to the drawings. The system of the invention is composed as shown in figures 1-6, and adopts the following scheme:
example 1:
the structural composition of the machine vision panoramic measurement system comprises: the device comprises an upper computer A, a lower computer B, a radial motor driver C, a direct-current power supply D, an axial motor driver E and a machine vision measurement sliding table F. The upper computer A and the lower computer B program-control the radial motor driver C and the axial motor driver E to work, and the driving motors drive the carrying plate 200 to realize linear and circular motion so as to complete a measurement task; the radial motor driver C and the axial motor driver E are powered by a direct-current power supply D, and receive the instruction of the lower computer B to drive the motor to rotate; the machine vision measurement sliding table F is used as an executing mechanism of the measurement system, a plurality of workpieces are clamped, and measurement tasks of running modes such as straight lines, arcs and the like are completed according to control instructions.
The machine vision measurement sliding table F consists of a portal frame vision acquisition mechanism 100, a carrying plate 200, a driving radial lead screw nut mechanism 300, a fixing plate 400, a driving axial lead screw nut mechanism 500, a driven axial sliding block mechanism 600 and a driven radial sliding block mechanism 700; the portal frame vision acquisition mechanism 100 and the fixing plate 400 are arranged on the working platform; the driving radial lead screw nut mechanism 300 and the driving axial lead screw nut mechanism 500 are connected to the fixed plate 400 through bolts on the supporting seats 302 and 501 and the fixing seats 308 and 505, the lower parts of the sliding blocks 303 and 502 on the driving radial lead screw nut mechanism 300 and the driving axial lead screw nut mechanism 500 are in screw connection with the fixed plate 400 through linear sliding guide rails 603, and the upper parts of the sliding blocks are in screw connection with the object carrying plate 200 through the linear sliding guide rails 601; the lower parts of the driven axial sliding block mechanism 600 and the driven radial sliding block mechanism 700 are in screw connection with the fixed plate 400 through a linear sliding guide rail 603, and the upper parts are in screw connection with the object carrying plate 200 through a linear sliding guide rail 601.
The driving axial lead screw and nut mechanism 500 comprises a supporting seat 501, a sliding block 502, a ball nut 503, a lead screw 504, a fixed seat 505, a coupling 506, a motor seat 507, a driving motor 508 and a hand wheel 509, wherein the driving motor 508 is fixedly connected to the motor seat 507 through a screw, the motor seat 507 is connected to the fixed plate 400 through a screw on the bottom surface of the fixed plate 400, the driving motor 508 drives the lead screw 504 to rotate in the forward and reverse directions through the coupling 506, the hand wheel 509 can manually adjust the rotation of the lead screw 504, the nut mechanism converts the rotation of the lead screw into the linear motion of the sliding block, and the axial motion of the object carrying plate 200 is realized by matching.
The driving radial lead screw nut mechanism 300 is composed of a hand wheel 301, a supporting seat 302, a sliding block 303, a nut 304, a lead screw 309, a fixed seat 308, a coupling 307, a motor seat 306 and a driving motor 305, and the operation mode and the connection relation are the same as those of the driving axial lead screw nut mechanism 500.
The fixed plate 400 is provided with proximity switch sensors 405, 406, 407, 408, 409 and 410 for zero setting and positioning control of the device, and limit switches 401, 402, 403 and 404 for self-protection when the running position of the device is unreasonable.
Example 2:
in the invention, the measurement positioning steps of the machine vision measurement sliding table system are as follows:
step I: arranging and installing a portal frame vision acquisition mechanism 100 and a precise sliding table mechanism according to measurement requirements, clamping a plurality of workpieces on an object carrying plate 200 as required, giving a zeroing instruction by a lower computer B to enable the position of the object carrying plate 200 to be zeroed, driving motors 305 and 508 to drive lead screws 309 and 504 to rotate by a radial motor driver C and an axial motor driver E, and enabling zeroing proximity switch sensors 406 and 409 to be used for positioning the zeroing positions and feeding back the zeroing positions to a single chip microcomputer control system to finish zeroing of the device;
step II: after the position of the object carrying plate 200 is reset to zero, the upper computer communicates to give coordinate data of a measuring position of the lower computer, the lower computer sends an instruction to the radial motor driver C and the axial motor driver E, the driving motors 305 and 508 drive the screw rods 309 and 504 to rotate, the nut mechanism converts the rotation of the screw rods into linear motion of the sliding blocks to complete the radial and axial motion of the object carrying plate 200, and the proximity switch sensors 405, 407, 408 and 410 arranged on the fixed plate 400 are used for position feedback of the object carrying plate 200, accurately positioning the position of a workpiece and realizing the precise linear motion of the axial direction and the radial direction; the axial and radial lead screw nut mechanisms can realize circular arc type motion by applying an interpolation method and matching with the driven axial sliding block mechanism 600 and the driven radial sliding block mechanism 700, so as to carry out panoramic scanning measurement on the workpiece;
step III: if the running position is not reasonable, the limit switches 401, 402, 403 and 404 are triggered and fed back to the single chip microcomputer control system in real time, the driving motors 508 and 305 are stopped from rotating, and the device is protected.
Step IV: after the measurement task is completed, the singlechip control system gives a zeroing instruction, and controls the driving motors 508 and 305 to rotate under the positioning action of the proximity switch sensors 409 and 406, so that the position of the loading plate is zeroed again, and the next operation is facilitated.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. The present invention is not limited to the above-described embodiments, which are described in the specification and illustrated only for illustrating the principle of the present invention, but various changes and modifications may be made within the scope of the present invention as claimed without departing from the spirit and scope of the present invention.
Claims (8)
1. A machine vision panoramic measurement system and a measurement method are characterized in that: the device comprises an upper computer A, a lower computer B, a radial motor driver C, a direct-current power supply D, an axial motor driver E and a machine vision measurement sliding table F. The upper computer A selects an Intel (R) core (TM) i5-4200CPU @2.80GHz processor, the internal memory is 8GB and is used for sending out control instructions and displaying collected images on a screen; the lower computer B selects a 51 single-chip microcomputer controller for controlling the driver and the sensor; the radial motor driver C and the axial motor driver E are powered by a direct-current power supply D, receive the instruction of the lower computer B to drive the motor to rotate, and drive the measurement sliding table to measure the workpiece; the machine vision measurement sliding table F is composed of a portal frame vision acquisition mechanism 100, a carrying plate 200, a driving radial lead screw nut mechanism 300, a fixing plate 400, a driving axial lead screw nut mechanism 500, a driven axial slider mechanism 600 and a driven radial slider mechanism 700, wherein the portal frame vision acquisition mechanism 100 is used for image acquisition, the carrying plate 200 is in fastening connection with a slider of the axial lead screw nut mechanism 300 through a threaded hole in a linear sliding guide rail, the driving axial lead screw nut mechanism 500 is connected onto the fixing plate 400 through a bolt, and the driven axial nut mechanism 600 and the driven radial nut mechanism 700 are matched with the driving axial lead screw nut mechanism 500 and the driving radial lead screw nut mechanism 300 to move synchronously.
2. The machine vision panoramic measurement system and the measurement method according to claim 1, characterized in that: machine vision measurement slip table F, including portal frame vision acquisition mechanism 100 passes through bolt-up connection by portal frame and collection camera, it is removable to gather the camera, and the portal frame base design has the through-hole to fix through bolted connection and carries out image acquisition at work platform.
3. The machine vision panoramic measurement system and the measurement method according to claim 1, characterized in that: the machine vision measurement sliding table F comprises a fixing plate 400 fixed on a working platform through bolt connection, limit switches 401, 402, 403 and 404 are connected on the fixing plate 400 through screws, proximity switch sensors 405, 406, 407, 408, 409 and 410 are connected and positioned through screws in a groove of the fixing plate 400, and a linear sliding guide rail 603 is fixed in the groove of the fixing plate 400 through screw connection.
4. The machine vision panoramic measurement system and the measurement method according to claim 1, characterized in that: the driving axial lead screw nut mechanism 500 of the machine vision measurement sliding table F is fixed on the fixing plate 400 through the bolt connection of the supporting seat 501 and the fixing seat 505, the driving motor 508 in the driving axial lead screw nut mechanism 500 is fixed on the motor base 507 through a screw, and the motor base 507 is fixedly connected with the fixing plate 400 through a screw at the bottom of the fixing plate 400.
5. The machine vision panoramic measurement system and the measurement method according to claim 4, wherein: a lead screw 504 in the active axial lead screw nut mechanism 500 is connected with a supporting seat 501 and a fixed seat 505 through bearings, the left side of the lead screw is nested in the bearing of the supporting seat 501, and the right side of the lead screw is nested in the bearing of the fixed seat 505; the screw 504 is connected to the slider 502 via a ball nut 503, and the slider 502 is connected to a linear slide rail 603 fixed to the fixed plate 400.
6. The machine vision panoramic measurement system and the measurement method according to claim 5, wherein: the right side of the lead screw 504 is connected with the left side of the rotating shaft of the driving motor 508 through a coupler 506, and the right side of the rotating shaft of the driving motor 508 is provided with a hand wheel 509 which is connected through a key; the slide block 602 on the driven axial nut mechanism 600 is in screw connection with the fixed plate 400 through a linear sliding guide rail 603; the connection of the driving radial lead screw nut mechanism 300 and the driven radial lead screw nut mechanism 700 is the same as the connection of the axial lead screw nut mechanism 300 and the driven axial nut mechanism 600.
7. The machine vision panoramic measurement system and the measurement method according to claim 1, characterized in that: the object carrying plate 200 of the machine vision measurement sliding table F is in screw connection with the slide blocks of the driving axial lead screw nut mechanism 500, the radial lead screw nut mechanism 300, the driven axial nut mechanism 600 and the driven radial nut mechanism 700 through the linear sliding guide rail 601, and the object carrying plate 200 can complete clamping according to the structural appearance of a workpiece and can simultaneously clamp a plurality of workpieces.
8. The machine vision panoramic measurement system and the measurement method according to claim 1, characterized in that: the measuring and positioning steps of the machine vision measuring sliding table system are as follows:
step I: arranging and installing a portal frame vision acquisition mechanism 100 and a precise sliding table mechanism according to measurement requirements, clamping a plurality of workpieces on an object carrying plate 200 as required, giving a zeroing instruction by a lower computer B to enable the position of the object carrying plate 200 to be zeroed, driving motors 305 and 508 to drive lead screws 309 and 504 to rotate by a radial motor driver C and an axial motor driver E, and enabling zeroing proximity switch sensors 406 and 409 to be used for positioning the zeroing positions and feeding back the zeroing positions to a single chip microcomputer control system to finish zeroing of the device;
step II: after the position of the object carrying plate 200 is reset to zero, the upper computer communicates to give coordinate data of a measuring position of the lower computer, the lower computer sends an instruction to the radial motor driver C and the axial motor driver E, the driving motors 305 and 508 drive the screw rods 309 and 504 to rotate, the nut mechanism converts the rotation of the screw rods into linear motion of the sliding blocks to complete the radial and axial motion of the object carrying plate 200, and the proximity switch sensors 405, 407, 408 and 410 arranged on the fixed plate 400 are used for position feedback of the object carrying plate 200, accurately positioning the position of a workpiece and realizing the precise linear motion of the axial direction and the radial direction; the axial and radial lead screw nut mechanisms can realize circular arc type motion by applying an interpolation method and matching with the driven axial sliding block mechanism 600 and the driven radial sliding block mechanism 700, so as to carry out panoramic scanning measurement on the workpiece;
step III: if the running position is not reasonable, the limit switches 401, 402, 403 and 404 are triggered and fed back to the single chip microcomputer control system in real time, the driving motors 508 and 305 are stopped from rotating, and the device is protected.
Step IV: after the measurement task is completed, the singlechip control system gives a zeroing instruction, and controls the driving motors 508 and 305 to rotate under the positioning action of the proximity switch sensors 409 and 406, so that the position of the loading plate is zeroed again, and the next operation is facilitated.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114111571A (en) * | 2021-11-15 | 2022-03-01 | 天津大学 | Visual precision detection device for measuring special-shaped workpiece |
| CN117308780A (en) * | 2023-09-26 | 2023-12-29 | 深圳市深杰皓科技有限公司 | Fan blade detection device and system based on visual detection |
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Application publication date: 20200103 |