CN113758499A - Method, device and equipment for determining assembly deviation compensation parameters of positioning sensor - Google Patents
Method, device and equipment for determining assembly deviation compensation parameters of positioning sensor Download PDFInfo
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Abstract
The invention discloses a method, a device and equipment for determining assembly deviation compensation parameters of a positioning sensor, and relates to the technical field of computers. The method comprises the following steps: acquiring position deviation points of the positioning object relative to the imaging view center of the positioning sensor, which correspond to N preset angles of rotation of the positioning object relative to the positioning sensor; determining the center coordinates and the radius of the deviation circle according to the N position deviation points; and determining a deviation compensation parameter according to the circle center coordinate and the radius of the deviation circle and a position deviation point under a preset angle. Through the steps, the assembly deviation compensation parameters of the positioning sensor can be accurately determined. Furthermore, the measurement result of the positioning sensor is compensated based on the deviation compensation parameter, so that the influence of the assembly deviation on the measurement precision and accuracy of the positioning sensor is greatly reduced, the requirement on the assembly precision of the optical assembly of the positioning sensor is reduced, and the assembly steps are simplified.
Description
Technical Field
The invention relates to the technical field of computers, in particular to a method, a device and equipment for determining assembly deviation compensation parameters of a positioning sensor.
Background
At present, a goods shelf carrying trolley AGV in a logistics warehouse goods-to-people goods sorting solution generally adopts a two-dimensional code navigation sensor to navigate. The two-dimensional code navigation sensor is one of key components of the AGV, acquires an image of a two-dimensional code through a CCD (charge coupled device) or CMOS (complementary metal oxide semiconductor) image sensor, processes the image, and finally obtains and outputs two-dimensional code coding information and position and angle deviation information of the sensor relative to the two-dimensional code. The control system of the AGV can realize the adjustment of the self motion attitude according to the information.
The two-dimensional code navigation sensor is a positioning sensor, and has high requirements on measurement precision and accuracy. The assembly deviation of the optical components in the two-dimensional code navigation sensor seriously influences the measurement precision and accuracy of the two-dimensional code navigation sensor. In addition, the problem of assembly deviation of the optical component is also common to other sensors which take images based on the optical component to realize measurement and positioning.
In the process of implementing the invention, the inventor of the invention finds that: to the problem of optical assembly deviation, the current common practice is to ensure the assembly precision by adopting auxiliary tools such as special tool fixtures and the like, and further ensure the measurement precision and accuracy of the sensor. However, this method has the problems of complicated and tedious assembly process of the sensor, low efficiency, etc.
Disclosure of Invention
In view of the above, the present invention provides a method, an apparatus and a device for determining an assembly deviation compensation parameter of a position sensor, which can accurately determine the assembly deviation compensation parameter of the position sensor. Furthermore, the measurement result of the positioning sensor is compensated based on the deviation compensation parameter, so that the influence of the assembly deviation on the measurement precision and accuracy of the positioning sensor is greatly reduced, the requirement on the assembly precision of the optical assembly of the positioning sensor is reduced, the assembly steps are simplified, and the assembly efficiency is improved.
To achieve the above object, according to a first aspect of the present invention, there is provided a method of determining a positioning sensor assembly deviation compensation parameter.
The method for determining the assembly deviation compensation parameter of the positioning sensor comprises the following steps: acquiring sensor measurement results corresponding to N preset angles of rotation of a positioning object relative to a positioning sensor; wherein the sensor measurements comprise: positioning a position deviation point of the object relative to the imaging view center of the positioning sensor; the positioning object keeps aligned with the center of a photosensitive imaging element of the positioning sensor during the rotation process relative to the positioning sensor, and N is more than or equal to 3; determining the center coordinates and the radius of a deviation circle according to the position deviation points of the positioning object relative to the imaging view center of the positioning sensor under the N preset angles; and determining a deviation compensation parameter according to the circle center coordinate and the radius of the deviation circle and a position deviation point under a preset angle.
Optionally, determining a deviation compensation parameter according to the center coordinate and the radius of the deviation circle and a position deviation point at a preset angle includes: calculating the included angle of any position deviation point relative to the coordinate axis according to the included angle of the position deviation point relative to the coordinate axis under a preset angle; and determining deviation compensation parameters according to the circle center coordinates and the radius of the deviation circle and the included angle of the deviation point at any position relative to the coordinate axis.
Optionally, N is equal to 3, and the three preset angles are 0 °, 120 °, and 240 °, respectively.
Optionally, the calculating an angle of any position deviation point with respect to the coordinate axis according to the angle of the position deviation point with respect to the coordinate axis under a preset angle includes: calculating an included angle of a position deviation point relative to the Y axis under the preset angle of 0 degree; and summing the included angle of the position deviation point with the preset angle of 0 degrees relative to the Y axis and the rotating angle corresponding to the random position deviation point to obtain the included angle of the random position deviation point relative to the Y axis.
Optionally, the method further comprises: after determining the deviation compensation parameter, verifying the deviation compensation parameter; and saving the deviation compensation parameter under the condition that the verification is passed.
Optionally, the positioning object is a two-dimensional code, and the positioning sensor is a two-dimensional code navigation sensor.
To achieve the above object, according to a second aspect of the present invention, there is provided an apparatus for determining a positioning sensor assembly deviation compensation parameter.
The device for determining the assembly deviation compensation parameter of the positioning sensor comprises: the acquisition module is used for acquiring sensor measurement results corresponding to the positioning object rotating by N preset angles relative to the positioning sensor; wherein the sensor measurements comprise: positioning a position deviation point of the object relative to the imaging view center of the positioning sensor; the positioning object keeps aligned with the center of a photosensitive imaging element of the positioning sensor during the rotation process relative to the positioning sensor, and N is more than or equal to 3; the determining module is used for determining the center coordinates and the radius of the deviation circle according to the position deviation point of the positioning object relative to the imaging view center of the positioning sensor under the N preset angles; and determining a deviation compensation parameter according to the circle center coordinate and the radius of the deviation circle and a position deviation point under a preset angle.
To achieve the above object, according to a third aspect of the present invention, there is provided an electronic apparatus.
The electronic device of the present invention includes: one or more processors; and storage means for storing one or more programs; when executed by the one or more processors, cause the one or more processors to implement the method of determining positional sensor set-up offset compensation parameters of the present invention.
To achieve the above object, according to a fourth aspect of the present invention, there is provided a computer-readable medium.
The computer-readable medium of the present invention has stored thereon a computer program which, when executed by a processor, implements the method of the present invention for determining offset compensation parameters for positioning sensor assembly.
To achieve the above object, according to a fifth aspect of the present invention, there is provided an apparatus for determining a positioning sensor assembly deviation compensation parameter.
The apparatus for determining a sensor assembly deviation compensation parameter of the present invention comprises: the acquisition control module is electrically connected with the motor and the positioning sensor respectively; the output shaft of the motor is connected with the rotary table, and the tail end of the motor is connected with the rotation angle measurer and used for driving the rotary table to rotate by N preset angles under the control of the acquisition control module; n is greater than or equal to 3; the rotary table is fixedly provided with a positioning object and is used for driving the positioning object to rotate by N preset angles relative to the positioning sensor; the positioning sensor is arranged above the positioning object through a fixed mounting part and is aligned with the positioning object in a center in the vertical direction; the positioning sensor is used for measuring a positioning object rotating to a preset angle under the control of the acquisition control module; and the processing module is used for determining deviation compensation parameters according to the measurement results of the sensor when the positioning object rotates by N preset angles.
Optionally, the fixed mount comprises: two fixed brackets and a cross beam which are vertically arranged; the positioning sensor is installed on the cross beam, and the cross beam is installed on the fixed support through a locking nut.
Optionally, the fixed bracket is further provided with a plurality of rows of holes for adjusting the mounting height of the cross beam.
Optionally, the apparatus further comprises: and the rotating table corner indicating device is fixedly arranged above the rotating table and is used for being matched with the position marking line on the rotating table to indicate whether the rotating table rotates to a specified position or not.
Optionally, the apparatus further comprises: and the corner calibration device is fixedly arranged above the rotary table and is used for calibrating the rotation angle of the rotary table by matching with the positioning hole on the rotary table and the corner measurer.
Optionally, the apparatus further comprises: a base; the acquisition control module is fixedly installed on the base, and the motor is arranged above the base through a motor fixing plate.
One embodiment of the above invention has the following advantages or benefits: the sensor assembly deviation compensation parameters can be accurately determined by the steps of obtaining sensor measurement results corresponding to N preset angles of rotation of the positioning object relative to the positioning sensor, and determining deviation compensation parameters according to the position deviation of the positioning object relative to the imaging view center of the positioning sensor in the sensor measurement results. Furthermore, the measurement result of the positioning sensor is compensated based on the deviation compensation parameter, so that the influence of the assembly deviation on the measurement precision and accuracy of the positioning sensor is greatly reduced, the requirement on the assembly precision of the optical assembly of the positioning sensor is reduced, the assembly steps are simplified, and the assembly efficiency is improved.
Further effects of the above-mentioned non-conventional alternatives will be described below in connection with the embodiments.
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The drawings are included to provide a better understanding of the invention and are not to be construed as unduly limiting the invention. Wherein:
FIG. 1 is a schematic illustration of an optical assembly setup variation of a position sensor;
FIG. 2 is a schematic flow chart illustrating a method for determining offset compensation parameters for a positioning sensor assembly according to a first embodiment of the present invention;
FIG. 3 is a schematic diagram of a deviation circle determined from a position deviation point;
FIG. 4 is a schematic diagram of the main blocks of the apparatus for determining offset compensation parameters for the mounting of a position sensor according to a second embodiment of the present invention;
FIG. 5 is a schematic view of the main structure of an apparatus for determining a mounting deviation compensation parameter of a position sensor according to a third embodiment of the present invention;
FIG. 6 is a schematic view of an exemplary turret structure according to a third embodiment of the invention;
FIG. 7 is a schematic flow chart illustrating a method for determining offset compensation parameters for positioning sensor assembly according to a fourth embodiment of the present invention;
FIG. 8 is a schematic block diagram of a computer system suitable for use with the electronic device to implement an embodiment of the invention.
Detailed Description
Exemplary embodiments of the present invention are described below with reference to the accompanying drawings, in which various details of embodiments of the invention are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
It should be noted that the embodiments and technical features of the embodiments of the present invention may be combined with each other without affecting the implementation of the present invention.
FIG. 1 is a schematic illustration of the optical assembly setup variation of a position sensor. The effect of the optical assembly mounting deviation on the measurement accuracy of the position sensor is described below with reference to fig. 1.
The camera module is a key component of positioning sensors such as a two-dimensional code navigation sensor. The assembling deviation exists in the camera module assembling process, which is particularly shown in that the axis of the lens is not perpendicular to the surface of the module photosensitive element, so that the physical center of the lens is not overlapped with the imaging view center any more, but a certain position deviation exists. In short, the assembly deviation of the optical assembly can cause the imaging view eccentricity, and further the measurement precision and accuracy of positioning sensors such as a two-dimensional code navigation sensor are affected.
In order to reduce the influence of assembling deviation of the optical assembly, it is a conventional practice to perform centering adjustment during the assembling process of the lens and the lens holder so as to improve the assembling accuracy as much as possible. Particularly, a module PCB (printed circuit board) is fixed on the centering tool, cross scale paper is arranged under the module PCB, and the center of the cross scale paper is coincided with the center of the module photosensitive imaging element. When centering adjustment is carried out, a lens is installed on the lens seat, then the lens and lens seat assembly is fixed on the module PCB through a screw, and the relative position of the lens and lens seat assembly relative to the photosensitive imaging element needs to be finely adjusted continuously in the process of screwing the screw, so that the central deviation of the lens and lens seat assembly is within a certain range. The requirement of positioning sensors such as two-dimensional code navigation sensors on the measurement precision is high, and then the requirement of the positioning sensors on the assembly precision of the optical component is high, so that the fine adjustment needs to be continuously tried in the assembly process, and the whole assembly process is complicated and the efficiency is low.
In view of the above, the present invention provides a method, an apparatus, and a device for determining an assembly deviation compensation parameter of a positioning sensor, which can accurately determine the deviation compensation parameter, and further compensate a measurement result of the positioning sensor based on the determined deviation compensation parameter, so that not only can the influence of the assembly deviation on the measurement precision and accuracy of the positioning sensor be reduced or offset, but also the requirement on the assembly precision of an optical component of the positioning sensor can be reduced, the assembly steps can be simplified, and the assembly efficiency can be improved.
Fig. 2 is a schematic main flow chart of a method for determining a set-up deviation compensation parameter of a position sensor according to a first embodiment of the present invention. As shown in fig. 2, the method for determining the offset compensation parameter of the positioning sensor assembly according to the embodiment of the present invention includes:
step S201: acquiring sensor measurement results corresponding to N preset angles of rotation of a positioning object relative to a positioning sensor; wherein the sensor measurements comprise: and positioning deviation points of the object relative to the imaging view center of the positioning sensor.
Wherein the positioning object is maintained in alignment with the center of the photosensitive imaging element of the positioning sensor during rotation relative to the positioning sensor. Illustratively, the positioning sensor is a two-dimensional code navigation sensor, and the positioning object is a two-dimensional code. Besides, the positioning sensor may be other sensors for positioning based on the principle that an optical component such as a camera takes an image, and accordingly, the positioning object is an object used for positioning in cooperation with the positioning sensor.
In an optional example, when the positioning sensor is a two-dimensional code navigation sensor and the positioning object is a two-dimensional code, the measurement result of the two-dimensional code navigation sensor when the two-dimensional code rotates by N (N is an integer greater than or equal to 3) preset angles relative to the two-dimensional code navigation sensor can be obtained. For example, a sensor measurement result when the rotation angle of the two-dimensional code relative to the two-dimensional code navigation sensor is 0 °, a sensor measurement result when the rotation angle of the two-dimensional code relative to the two-dimensional code navigation sensor is 120 °, and a sensor measurement result when the rotation angle of the two-dimensional code relative to the two-dimensional code navigation sensor is 240 ° may be obtained. Further, the three sensor measurements include: when the rotation angle is 0 degrees, the front, back, left and right position deviation x of the two-dimensional code relative to the imaging view center of the two-dimensional code navigation sensor1(positional deviation)Coordinates of points on the X-axis) and y1(coordinates of the positional deviation points on the Y axis); when the rotation angle is 120 degrees, the front, back, left and right position deviation x of the two-dimensional code relative to the imaging view center of the two-dimensional code navigation sensor2And y2(ii) a When the rotation angle is 240 degrees, the front, back, left and right position deviation x of the two-dimensional code relative to the imaging view center of the two-dimensional code navigation sensor3And y3. In addition, in specific implementation, the value of N may also be 4, 5 or other integers greater than or equal to 3, and the value of the preset angle may also be flexibly set according to requirements, for example, set to 30 °, 60 °, or 100 °.
Step S202: and determining the circle center coordinates and the radius of the deviation circle according to the position deviation point of the positioning object relative to the imaging view center of the positioning sensor under the N preset angles.
Step S203: and determining a deviation compensation parameter according to the circle center coordinate and the radius of the deviation circle and a position deviation point under a preset angle.
Wherein, the step S203 may further include: calculating the included angle of any position deviation point relative to the coordinate axis according to the included angle of the position deviation point relative to the coordinate axis under a preset angle; and determining deviation compensation parameters according to the circle center coordinates and the radius of the deviation circle and the included angle of the deviation point at any position relative to the coordinate axis.
Optionally, the calculating an angle of any position deviation point with respect to the coordinate axis according to the angle of the position deviation point with respect to the coordinate axis under a preset angle includes: calculating the included angle of the position deviation point relative to the Y axis or the X axis under the preset angle of 0 degree; and summing the included angle of the position deviation point under the preset angle of 0 degree relative to the Y axis or the X axis and the rotating angle corresponding to the arbitrary position deviation point to obtain the included angle of the arbitrary position deviation point relative to the Y axis or the X axis. In addition, in specific implementation, the included angle of any position deviation point relative to the Y axis or the X axis can be calculated according to the included angle of the position deviation point relative to the Y axis or the X axis under other preset angles.
For example, the position deviation coordinate of the two-dimensional code relative to the imaging view center of the two-dimensional code navigation sensor under the rotation angles of 0 degrees, 120 degrees and 240 degrees can be determinedLabel (x)1,y1)、(x2,y2)、(x3,y3) Determining the center coordinates (x) of the deviation circler,yr) And a radius r; according to the position deviation point coordinate (x) at 0 DEG1,y1) Calculating the included angle of the coordinate (X, Y) of the deviation point at any position relative to the Y axis or the X axis; then, according to the center coordinates (x) of the deviation circler,yr) And the radius r and the included angle of the deviation point (X, Y) at any position relative to the Y axis or the X axis, and determining deviation compensation parameters.
In an alternative example, the method of determining the offset compensation parameter of the positioning sensor assembly may further include the steps of: after determining the deviation compensation parameter, verifying the deviation compensation parameter; if the verification is passed (or the verification is successful), saving the deviation compensation parameters; the above-described procedure is exited in the case where the check fails (or fails). Through the steps, the accuracy and the reliability of the determined assembly deviation compensation parameters of the positioning sensor can be further improved.
In the embodiment of the invention, the deviation compensation parameters of the positioning sensor can be accurately determined through the steps, and then the measurement result of the positioning sensor can be compensated based on the determined deviation compensation parameters, so that the influence of the assembly deviation on the measurement precision and accuracy of the positioning sensor can be reduced or offset, the requirement on the assembly precision of the optical assembly of the positioning sensor can be reduced, the assembly steps are simplified, and the assembly efficiency is improved.
FIG. 3 is a schematic diagram of a deviation circle determined from a position deviation. Step S202 in the first embodiment is described in detail below with reference to fig. 3.
The factors that the assembly deviation of the optical assembly has the greatest influence on the precision and accuracy of the measurement result (or the calculation result) of the positioning sensor are the included angle between the central axis of the lens assembly and the normal line of the surface of the photosensitive imaging element and the front-back left-right deviation between the central point of the lens assembly and the central point of the surface of the photosensitive imaging element in turn.
The center of the photosensitive imaging element is vertically projected to the surface of a positioned object (such as a two-dimensional code), and the projected point is coincident with the center point of the surface of the positioned object. If the positioning object rotates around the center point of the positioning object, and the measurement result obtained by the positioning sensor is drawn into a graph, an approximate circle, namely a deviation circle, can be obtained. The front-back left-right deviation between the central point of the lens component and the central point of the surface of the photosensitive imaging element is reflected to the figure which is equivalent to a circle which carries out the same translation on the plane of a coordinate system, namely the deviation of the coordinates of the circle center.
According to the above analysis, after the coordinates of the position deviation points of the positioning object relative to the imaging field center of the positioning sensor at N preset angles are obtained in step S201, the center coordinates and the radius of the deviation circle can be determined according to the coordinates of the position deviation points at three preset angles.
Further, when the center coordinates and the radius of the deviation circle are determined according to the coordinates of the position deviation points at three preset angles, the following formula can be adopted:
A＝x1(y2-y3)-y1(x2-x3)+x2y3-x3y2
further, the center coordinates (x) of the offset circle can be obtained from the above formular,yr) And a radius r of the film to be formed,
next, the pre-prediction may be calculated as followsCoordinate (x) of position deviation point at angle of 0 DEG1,y1) Angle theta relative to positive direction of Y axis0：
To give theta'0Then, pairs θ 'may be defined according to the sensor angle symbol'0Is converted to obtain theta0The method specifically comprises the following steps:
when x is1-xrIs not less than 0 and y1-yrAt < 0, theta0＝θ'0+180°；
When x is1-xrY is less than or equal to 01-yrAt < 0, theta0＝θ'0+180°；
When x is1-xrY is less than or equal to 01-yrAt > 0, theta0＝θ'0+360°；
Furthermore, when y1-yr0 and x1-xrAt > 0, theta090 °; when y is1-yr0 and x1-xrAt < 0, theta0＝270°。
Next, may be based on θ0Calculating the included angle theta of the coordinates (x, Y) of the deviation point at any position relative to the positive direction of the Y axisΔSee the following equation:
θΔ＝θ+θ0；
further, the center coordinates (x) of the deviation circle can be usedr,yr) And radii r, and thetaΔDetermining a deviation compensation parameter xbu、ybuSee the following equation:
xbu＝r*sinθΔ+xr；
ybu＝r*cosθΔ+yr；
furthermore, the measurement result obtained by the measurement of the positioning sensor can be compensated according to the obtained deviation compensation parameter.
In the embodiment of the invention, by accurately determining the deviation compensation parameter of the positioning sensor and compensating the measurement result of the positioning sensor based on the determined deviation compensation parameter, the influence of the assembly deviation on the measurement precision and accuracy of the positioning sensor can be reduced or offset, the requirement on the assembly precision of the optical assembly of the positioning sensor can be reduced, the assembly steps are simplified, and the assembly efficiency is improved.
Fig. 4 is a schematic view of the main blocks of an apparatus for determining a sensor mounting deviation compensation parameter according to a second embodiment of the present invention. As shown in fig. 4, the apparatus 400 for determining a sensor assembly deviation compensation parameter according to an embodiment of the present invention includes: an obtaining module 401 and a determining module 402.
The obtaining module 401 is configured to obtain sensor measurement results corresponding to N preset angles of rotation of the positioning object with respect to the positioning sensor. Wherein the sensor measurements comprise: and positioning deviation points of the object relative to the imaging view center of the positioning sensor.
Wherein the positioning object is maintained in alignment with the center of the photosensitive imaging element of the positioning sensor during rotation relative to the positioning sensor. Illustratively, the positioning sensor is a two-dimensional code navigation sensor, and the positioning object is a two-dimensional code. Besides, the positioning sensor may be other sensors for positioning based on the principle that an optical component such as a camera takes an image, and accordingly, the positioning object is an object used for positioning in cooperation with the positioning sensor.
In an optional example, when the positioning sensor is a two-dimensional code navigation sensor and the positioning object is a two-dimensional code, the obtaining module 401 may obtain a measurement result of the two-dimensional code navigation sensor when the two-dimensional code rotates by N (N is an integer greater than or equal to 3) preset angles with respect to the two-dimensional code navigation sensor. For example, the obtaining module 401 may obtain a sensor measurement result when the rotation angle of the two-dimensional code relative to the two-dimensional code navigation sensor is 0 °, a sensor measurement result when the rotation angle of the two-dimensional code relative to the two-dimensional code navigation sensor is 120 °, and a sensor measurement knot when the rotation angle of the two-dimensional code relative to the two-dimensional code navigation sensor is 240 °And (5) fruit. Further, the three sensor measurements include: when the rotation angle is 0 degrees, the front, back, left and right position deviation x of the two-dimensional code relative to the imaging view center of the two-dimensional code navigation sensor1And y1(ii) a When the rotation angle is 120 degrees, the front, back, left and right position deviation x of the two-dimensional code relative to the imaging view center of the two-dimensional code navigation sensor2And y2(ii) a When the rotation angle is 240 degrees, the front, back, left and right position deviation x of the two-dimensional code relative to the imaging view center of the two-dimensional code navigation sensor3And y3. In addition, in specific implementation, the value of N may also be 4, 5 or other integers greater than or equal to 3, and the value of the preset angle may also be flexibly set according to requirements, for example, set to 30 °, 60 °, or 100 °.
A determining module 402, configured to determine a circle center coordinate and a radius of a deviation circle according to a position deviation point of the positioning object relative to the imaging view center of the positioning sensor at the N preset angles; and determining a deviation compensation parameter according to the circle center coordinate and the radius of the deviation circle and a position deviation point under a preset angle.
For example, the determining module 402 may further determine the deviation compensation parameter by: the determining module 402 calculates the center coordinates and the radius of the deviation circle according to the position deviation points of the positioning object relative to the imaging view center of the positioning sensor at three preset angles; the determining module 402 calculates an included angle of any position deviation point with respect to a coordinate axis according to the included angle of the position deviation point with respect to the coordinate axis at a preset angle; the determining module 402 determines the deviation compensation parameter according to the center coordinate and radius of the deviation circle and the included angle of the deviation point at any position relative to the coordinate axis.
Optionally, the step of calculating, by the determining module 402, an included angle of any position deviation point with respect to the coordinate axis according to the included angle of the position deviation point with respect to the coordinate axis under a preset angle includes: the determining module 402 calculates an included angle of the position deviation point relative to the Y axis or the X axis under the preset angle of 0 °; the determining module 402 performs summation operation on the included angle of the position deviation point with the preset angle of 0 ° relative to the Y axis or the X axis and the rotation angle corresponding to the arbitrary position deviation point to obtain the included angle of the arbitrary position deviation point relative to the Y axis or the X axis. In addition, in a specific implementation, the determining module 402 may also calculate an angle of any position deviation point with respect to the Y axis or the X axis according to an angle of the position deviation point with respect to the Y axis or the X axis under another preset angle.
For example, the determining module 402 may determine the coordinates (x) of the position deviation point of the two-dimensional code relative to the center of the imaging field of view of the two-dimensional code navigation sensor according to the rotation angles of 0 °, 120 °, and 240 °1,y1)、(x2,y2)、(x3,y3) Determining the center coordinates (x) of the deviation circler,yr) And a radius r; the determination module 402 determines coordinates (x) of the point of deviation from the position at 0 °1,y1) Calculating the included angle of any position deviation point (X, Y) relative to the Y axis or the X axis relative to the included angle of the Y axis or the X axis; then, the determining module 402 determines the center coordinates (x) of the deviation circler,yr) And the radius r and the included angle of the deviation point (X, Y) at any position relative to the Y axis or the X axis, and determining deviation compensation parameters.
In the embodiment of the invention, the deviation compensation parameters of the positioning sensor can be accurately determined through the device, and then the measurement result of the positioning sensor can be compensated based on the determined deviation compensation parameters, so that the influence of the assembly deviation on the measurement precision and accuracy of the positioning sensor can be reduced or offset, the requirement on the assembly precision of the optical assembly of the positioning sensor can be reduced, the assembly steps are simplified, and the assembly efficiency is improved.
Fig. 5 is a schematic view of the main structure of an apparatus for determining a sensor mounting deviation compensation parameter according to a third embodiment of the present invention. Fig. 6 is a schematic view of an exemplary turret structure according to a third embodiment of the invention. As shown in fig. 5 and 6, the apparatus for determining a sensor mounting deviation compensation parameter according to an embodiment of the present invention includes: the device comprises an acquisition control module 1, a motor 2, a rotary table 3, a rotation angle measurer 4, a positioning sensor 6 and a processing module 8.
The acquisition control module 1 is electrically connected with the motor 2 and the positioning sensor 6 respectively and is mainly used for controlling the motor 2 to rotate to a preset angle and controlling the positioning sensor 6 to measure when rotating to the preset angle. In specific implementation, the acquisition control module 1 and the positioning sensor6 can be connected by a cable harness 15, and can adopt a plurality of communication protocols to carry out information transmission between the two, such as TCP/IP, UDP, USB, RS232, RS485, TTL UART, SPI, I2C protocol, etc. Furthermore, the acquisition control module 1 can also be electrically connected with the rotation angle measurer 4 and used for controlling the rotation angle measurer to measure the rotation angle of the motor in real time. In addition, the acquisition control module 1 can also be used for providing working power supply for the motor 2, the positioning sensor 6 and the rotation angle measurer 4.
And an output shaft of the motor 2 is connected with the rotary table 3, and the tail end of the motor 2 is connected with the rotation angle measurer 4 and used for driving the rotary table 3 to rotate by N preset angles under the control of the acquisition control module 1. Wherein N is an integer greater than or equal to 3, and the preset angle may be 0 °, 120 °, 240 °, or another angle value.
In an alternative example, the apparatus for determining a sensor assembly deviation compensation parameter further comprises: a base 13 of the platform type. And the base 13 is used for fixedly mounting the acquisition control module 1, and the motor 2 is fixedly arranged above the base 13 through a motor fixing plate 14.
The rotary table 3 is fixedly provided with a positioning object 5 and used for driving the positioning object 5 to rotate by N preset angles relative to the positioning sensor 6. Illustratively, the positioning sensor 6 is a two-dimensional code navigation sensor, the positioning object 5 is a two-dimensional code, and the two-dimensional code can be fixed on the turntable 3 by means of pasting or the like. Besides, the positioning sensor 6 may be other sensors for positioning based on the principle that an optical component such as a camera takes an image, and accordingly, the positioning object 5 is an object used for positioning in cooperation with the positioning sensor.
And the rotation angle measurer 4 is fixedly arranged at the tail end of the motor 2 and can measure the rotation angle of the motor in real time under the control of the acquisition control module 1. The rotation angle measuring device 4 may be one of an absolute rotation angle measuring sensor such as a multi-turn potentiometer, an absolute encoder, and a hall rotation angle measuring sensor.
And the positioning sensor 6 is arranged above the positioning object 5 through the fixed mounting part 7 and is aligned with the positioning object 5 in the vertical direction in a center mode. The positioning sensor 6 is used for measuring the positioning object 5 rotating to a preset angle under the control of the acquisition control module 1. The measurement results of the positioning sensor 6 include: and positioning deviation points of the object relative to the imaging view center of the positioning sensor.
For example, when the positioning sensor is a two-dimensional code navigation sensor, the measurement results at N preset angles can be collected. For example, the sensor measurement result when the rotation angle of the two-dimensional code relative to the two-dimensional code navigation sensor is 0 °, the sensor measurement result when the rotation angle of the two-dimensional code relative to the two-dimensional code navigation sensor is 120 °, and the sensor measurement result when the rotation angle of the two-dimensional code relative to the two-dimensional code navigation sensor is 240 °. Further, the three sensor measurements include: when the rotation angle is 0 degrees, the front, back, left and right position deviation x of the two-dimensional code relative to the imaging view center of the two-dimensional code navigation sensor1And y1(ii) a When the rotation angle is 120 degrees, the front, back, left and right position deviation x of the two-dimensional code relative to the imaging view center of the two-dimensional code navigation sensor2And y2(ii) a When the rotation angle is 240 degrees, the front, back, left and right position deviation x of the two-dimensional code relative to the imaging view center of the two-dimensional code navigation sensor3And y3。
In an alternative example, the fixing mount 7 includes: two vertically arranged fixed brackets 701 and a cross beam 702. The position sensor 6 is mounted on a beam 702, and the beam 702 is mounted on a fixed bracket 701 by a lock nut 703. Further, in the above alternative example, the fixing support 701 in the fixing installation part 7 may further be provided with a plurality of rows of holes 704 for adjusting the installation height of the cross beam 702, thereby achieving adjustment of the vertical height between the positioning sensor and the turntable, so that the apparatus may be applied to positioning sensors with different installation heights. It should be noted that the fixing and mounting member may have other constituent structures than the above structure without affecting the practice of the present invention.
And the processing module 8 is used for determining deviation compensation parameters according to the measurement results of the sensor when the positioning object rotates by N preset angles. The processing module 8 may be one of the processing terminals. The processing terminal canSuch as a PC, HMI, or other embedded device. In specific implementation, the processing terminal and the acquisition control module can adopt various communication protocols for information transmission, such as TCP/IP, UDP, USB, RS232, RS485, TTL UART, SPI and I2C protocol, etc. In addition, in an optional example, the processing terminal may be further configured to issue a control instruction to the acquisition control module, acquire and display the operation data in real time, and the like.
In an alternative example, the apparatus of the embodiment of the present invention may further include: and a turntable rotation angle indicating device 9. The turntable rotation angle indicating device 9 is fixedly arranged above the turntable 3 and is used for being matched with the position scale line 10 on the turntable 3 to indicate whether the turntable rotates to a specified position or not. The turntable angle indicating means 9 may, for example, be of an elongated hand structure similar to a clock hour, minute and second hand.
In an alternative example, the apparatus of the embodiment of the present invention may further include: and the rotation angle calibration device 11 is fixedly arranged above the rotary table 3 and is used for calibrating the rotation angle of the rotary table by matching with the positioning hole 12 on the rotary table 3 and the rotation angle measurer 4. For example, the simplest structure of the rotation angle calibration device may be a pin. In specific implementation, when the rotation angle of the turntable needs to be accurately calibrated, a pin of the rotation angle calibration device 11 can be inserted into a positioning hole 12 on the turntable, and then a measurement value of the rotation angle measurement sensor is read through the acquisition control unit, wherein the measurement value is the rotation angle of the turntable. After a period of use, if the rotating angle corresponding to the rotating of the turntable to the specified position is found out to be not correct through the turntable rotating angle indicating device 9, the rotating angle of the turntable can be recalibrated by adopting the method.
In the embodiment of the invention, the deviation compensation parameters of the positioning sensor can be accurately measured through the equipment, and then the measurement result of the positioning sensor can be compensated based on the determined deviation compensation parameters, so that the influence of the assembly deviation on the measurement precision and accuracy of the positioning sensor can be reduced or offset, the requirement on the assembly precision of the optical assembly of the positioning sensor can be reduced, the assembly steps are simplified, and the assembly efficiency is improved.
Fig. 7 is a schematic main flow chart of a method for determining a set-up deviation compensation parameter of a position sensor according to a fourth embodiment of the present invention. In the embodiment of the invention, a detailed process for determining the assembly deviation compensation parameter is given by taking a positioning sensor as a two-dimensional code navigation sensor as an example. As shown in fig. 7, the method for determining the sensor assembly deviation compensation parameter according to the embodiment of the present invention includes:
step S701: and installing a two-dimensional code navigation sensor, connecting a cable and supplying power.
Illustratively, the method of embodiments of the present invention may be performed in conjunction with the apparatus shown in FIG. 5. Specifically, in this step, the two-dimensional code navigation sensor may be fixedly mounted on the cross beam, and the mounting height of the two-dimensional code navigation sensor may be the same as the actual working height. Next, the two-dimensional code navigation sensor may be connected to the acquisition control module 1 and the acquisition control module may be connected to the processing terminal through the cable harness 15, and then the power plug 16 may be plugged into an external power socket to supply power to the device and wait for the system to start.
Step S702: and controlling the rotary table to rotate to 0 degrees, and reading a resolving result.
Illustratively, a corresponding control instruction can be issued to the acquisition control module through the processing terminal, and the acquisition control module measures the current angle of the turntable by controlling the corner measuring sensor and compares the current angle with the target angle of 0 degrees. If the current angle is not consistent with the target angle, the acquisition control module controls the motor to rotate so as to drive the rotary table to rotate until the rotary table rotates to the target angle of 0 degree. And then, the acquisition control module sends a decoding instruction to the two-dimensional code navigation sensor, and the two-dimensional code navigation sensor carries out real-time calculation and uploads a calculation result to the processing terminal for display through the acquisition control module.
Step S703: and controlling the rotary table to rotate to 120 degrees, and reading a resolving result.
Illustratively, the turntable can be controlled to rotate to a target angle of 120 degrees by the processing terminal, the acquisition control module and the like, and the calculation result of the two-dimensional code navigation sensor at the angle is read.
Step S704: and controlling the rotary table to rotate to 240 degrees, and reading a resolving result.
Illustratively, the turntable can be controlled to rotate to a target angle of 240 degrees by the processing terminal, the acquisition control module and the like, and the calculation result of the two-dimensional code navigation sensor at the angle is read.
Step S705: and calculating deviation compensation parameters according to the calculation result.
In this step, the deviation compensation parameters of the two-dimensional code navigation sensor can be calculated according to the calculation results of the target angles of 0 °, 120 ° and 240 °. With regard to how the deviation compensation parameter is calculated in particular, reference is made to the relevant description of the embodiment shown in fig. 2.
Step S706: and verifying the deviation compensation parameters.
In an alternative example, step S706 may further include: controlling the two-dimensional code to rotate according to a certain angle interval (for example, rotating from 0 degree to 350 degrees according to an angle interval of 10 degrees), and verifying deviation compensation parameters under a plurality of rotation angles; if the deviation compensation parameters under all the rotation angles are successfully verified, the verification of the deviation compensation parameters is successfully confirmed; otherwise, confirming that the deviation compensation parameter verification fails.
For example, the two-dimensional code can be controlled to rotate to 0 ° and the two-dimensional code navigation sensor is triggered to perform a calculation, and then the deviation compensation parameters determined in step S705 are used to compensate the calculation result, specifically, the position deviation in the calculation result. The position deviation after compensation is theoretically 0, and the position deviation after compensation actually obtained is a numerical value relatively close to 0. If the position deviation after compensation actually obtained under the rotation angle exceeds a preset value range, confirming that the verification of the deviation compensation parameter fails; otherwise, the two-dimensional code can be controlled to rotate to 10 degrees and the deviation compensation parameter under the rotation angle is verified.
If the verification of the deviation compensation parameter is successful, step S707 is executed; and exiting the process under the condition that the verification of the deviation compensation parameters fails.
Step S707: the offset compensation parameters are saved.
In the embodiment of the invention, the deviation compensation parameters of the positioning sensor can be accurately measured by adopting the steps, and then the measurement result of the positioning sensor can be compensated based on the determined deviation compensation parameters, so that the influence of the assembly deviation on the measurement precision and accuracy of the positioning sensor can be reduced or offset, the requirement on the assembly precision of the optical assembly of the positioning sensor can be reduced, the assembly steps are simplified, and the assembly efficiency is improved.
Referring now to FIG. 8, shown is a block diagram of a computer system 800 suitable for use in implementing an electronic device of an embodiment of the present invention. The computer system illustrated in FIG. 8 is only one example and should not impose any limitations on the scope of use or functionality of embodiments of the invention.
As shown in fig. 8, the computer system 800 includes a Central Processing Unit (CPU)801 that can perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM)802 or a program loaded from a storage section 808 into a Random Access Memory (RAM) 803. In the RAM 803, various programs and data necessary for the operation of the system 800 are also stored. The CPU 801, ROM 802, and RAM 803 are connected to each other via a bus 804. An input/output (I/O) interface 805 is also connected to bus 804.
The following components are connected to the I/O interface 805: an input portion 806 including a keyboard, a mouse, and the like; an output section 807 including a signal such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage portion 808 including a hard disk and the like; and a communication section 809 including a network interface card such as a LAN card, a modem, or the like. The communication section 809 performs communication processing via a network such as the internet. A drive 810 is also connected to the I/O interface 805 as necessary. A removable medium 811 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 810 as necessary, so that a computer program read out therefrom is mounted on the storage section 808 as necessary.
In particular, according to the embodiments of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such an embodiment, the computer program can be downloaded and installed from a network through the communication section 809 and/or installed from the removable medium 811. The computer program executes the above-described functions defined in the system of the present invention when executed by the Central Processing Unit (CPU) 801.
It should be noted that the computer readable medium shown in the present invention can be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present invention, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present invention, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The modules described in the embodiments of the present invention may be implemented by software or hardware. The described modules may also be provided in a processor, which may be described as: a processor includes an acquisition module, a determination module. The names of the modules do not limit the module itself in some cases, and for example, the acquiring module may be further described as a module that acquires sensor measurements corresponding to N preset angles of rotation of the positioning object relative to the positioning sensor.
As another aspect, the present invention also provides a computer-readable medium that may be contained in the apparatus described in the above embodiments; or may be separate and not incorporated into the device. The computer readable medium carries one or more programs which, when executed by a device, cause the device to perform the following: acquiring sensor measurement results corresponding to N preset angles of rotation of a positioning object relative to a positioning sensor; wherein the sensor measurements comprise: positioning a position deviation point of the object relative to the imaging view center of the positioning sensor; the positioning object keeps aligned with the center of a photosensitive imaging element of the positioning sensor during the rotation process relative to the positioning sensor, and N is more than or equal to 3; determining the center coordinates and the radius of a deviation circle according to the position deviation points of the positioning object relative to the imaging view center of the positioning sensor under the N preset angles; and determining a deviation compensation parameter according to the circle center coordinate and the radius of the deviation circle and a position deviation point under a preset angle.
According to the technical scheme of the embodiment of the invention, the assembly deviation compensation parameter of the positioning sensor can be accurately determined. Furthermore, the measurement result of the positioning sensor is compensated based on the deviation compensation parameter, so that the influence of the assembly deviation on the measurement precision and accuracy of the positioning sensor is greatly reduced, the requirement on the assembly precision of the optical assembly of the positioning sensor is reduced, the assembly steps are simplified, and the assembly efficiency is improved.
The above-described embodiments should not be construed as limiting the scope of the invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions can occur, depending on design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (15)
1. A method of determining a positioning sensor assembly deviation compensation parameter, the method comprising:
acquiring sensor measurement results corresponding to N preset angles of rotation of a positioning object relative to a positioning sensor; wherein the sensor measurements comprise: positioning a position deviation point of the object relative to the imaging view center of the positioning sensor; the positioning object keeps aligned with the center of a photosensitive imaging element of the positioning sensor during the rotation process relative to the positioning sensor, and N is more than or equal to 3;
determining the center coordinates and the radius of a deviation circle according to the position deviation points of the positioning object relative to the imaging view center of the positioning sensor under the N preset angles;
and determining a deviation compensation parameter according to the circle center coordinate and the radius of the deviation circle and a position deviation point under a preset angle.
2. The method of claim 1, wherein determining deviation compensation parameters based on the coordinates and radius of the center of the deviation circle and the position deviation point at a predetermined angle comprises:
calculating the included angle of any position deviation point relative to the coordinate axis according to the included angle of the position deviation point relative to the coordinate axis under a preset angle; and determining deviation compensation parameters according to the circle center coordinates and the radius of the deviation circle and the included angle of the deviation point at any position relative to the coordinate axis.
3. The method according to claim 2, wherein N is equal to 3 and the three preset angles are 0 °, 120 °, 240 °, respectively.
4. The method of claim 2, wherein calculating the angle of any position deviation point with respect to the coordinate axis according to the angle of the position deviation point with respect to the coordinate axis at a predetermined angle comprises:
calculating an included angle of a position deviation point relative to the Y axis under the preset angle of 0 degree; and summing the included angle of the position deviation point with the preset angle of 0 degrees relative to the Y axis and the rotating angle corresponding to the random position deviation point to obtain the included angle of the random position deviation point relative to the Y axis.
5. The method of claim 1, further comprising: after the determination of the deviation-compensating parameters,
verifying the deviation compensation parameters; and saving the deviation compensation parameter under the condition that the verification is passed.
6. The method according to any one of claims 1 to 5, wherein the positioning object is a two-dimensional code, and the positioning sensor is a two-dimensional code navigation sensor.
7. An apparatus for determining a positioning sensor assembly deviation compensation parameter, the apparatus comprising:
the acquisition module is used for acquiring sensor measurement results corresponding to N preset angles of rotation of the positioning object relative to the positioning sensor; wherein the sensor measurements comprise: positioning a position deviation point of the object relative to the imaging view center of the positioning sensor; the positioning object keeps aligned with the center of a photosensitive imaging element of the positioning sensor during the rotation process relative to the positioning sensor, and N is more than or equal to 3;
the determining module is used for determining the center coordinates and the radius of the deviation circle according to the position deviation point of the positioning object relative to the imaging view center of the positioning sensor under the N preset angles; and determining a deviation compensation parameter according to the circle center coordinate and the radius of the deviation circle and a position deviation point under a preset angle.
8. An electronic device, comprising:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-6.
9. A computer-readable medium, on which a computer program is stored, which, when being executed by a processor, carries out the method according to any one of claims 1-6.
10. An apparatus for determining a sensor assembly deviation compensation parameter, the apparatus comprising:
the acquisition control module (1) is electrically connected with the motor (2) and the positioning sensor (6) respectively;
the output shaft of the motor (2) is connected with the rotary table (3), and the tail end of the motor (2) is connected with the corner measurer (4) and is used for driving the rotary table (3) to rotate for N preset angles under the control of the acquisition control module (1); n is greater than or equal to 3;
the rotary table (3) is fixedly provided with a positioning object (5) and is used for driving the positioning object (5) to rotate for N preset angles relative to the positioning sensor;
the positioning sensor (6) is arranged above the positioning object (5) through a fixed mounting part (7) and is aligned with the positioning object (5) in a center in the vertical direction; the positioning sensor (6) is used for measuring the positioning object (5) rotating to a preset angle under the control of the acquisition control module (1);
and the processing module (8) is used for determining deviation compensation parameters according to the measurement results of the sensor when the positioning object rotates by N preset angles.
11. The apparatus according to claim 10, wherein the fixing mount (7) comprises: two vertically arranged fixed brackets (701) and a cross beam (702); the positioning sensor (6) is arranged on the cross beam, and the cross beam (702) is arranged on the fixed support (701) through a locking nut (703).
12. The apparatus according to claim 11, characterized in that the fixing bracket (701) is further provided with a plurality of rows of holes (704) for adjusting the installation height of the cross beam (702).
13. The apparatus of claim 10, further comprising:
and the rotating table corner indicating device (9) is fixedly arranged above the rotating table (3) and is used for indicating whether the rotating table rotates to a specified position or not by matching with the position marking line (10) on the rotating table (3).
14. The apparatus of claim 10, further comprising:
and the corner calibration device (11) is fixedly arranged above the rotary table (3) and is used for calibrating the rotating angle of the rotary table by matching with the positioning hole (12) on the rotary table (3) and the corner measurer (4).
15. The apparatus of claim 10, further comprising: a base (13); the acquisition control module (1) is fixedly installed on the base (13), and the motor (2) is arranged above the base (13) through a motor fixing plate (14).
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