阅读说明：本技术 用于视觉传感器精度检测的检测装置及测量方法 (Detection device and measurement method for precision detection of visual sensor ) 是由 张波 李慧 于 2020-12-02 设计创作，主要内容包括：本发明提出一种用于视觉传感器精度检测的检测装置,包括：基座；滑轨及与其配合的滑台,该滑轨设置于该基座,该滑轨的滑动方向为第一方向,该滑轨上设置有移动刻度；检测头,设置于该滑台,并沿第二方向上的转轴转动,该检测头设置有转动刻度,该检测头的检测面上有至少一个检测点；进行精度检测时,视觉传感器设置于该检测面一侧且朝向该检测面。本发明还提出一种视觉传感器精度检测方法。(The invention provides a detection device for detecting the precision of a vision sensor, which comprises: a base; the sliding rail is arranged on the base, the sliding direction of the sliding rail is a first direction, and the sliding rail is provided with a moving scale; the detection head is arranged on the sliding table and rotates along the rotating shaft in the second direction, the detection head is provided with a rotating scale, and the detection surface of the detection head is provided with at least one detection point; when the precision detection is carried out, the visual sensor is arranged on one side of the detection surface and faces the detection surface. The invention further provides a method for detecting the precision of the vision sensor.)

1. A detection device for accuracy detection of a vision sensor, comprising:

a base;

the sliding rail is arranged on the base, the sliding direction of the sliding rail is a first direction, and the sliding rail is provided with a moving scale;

the detection head is arranged on the sliding table and rotates along the rotating shaft in the second direction, the detection head is provided with a rotating scale, and the detection surface of the detection head is provided with at least one detection point;

when the precision detection is carried out, the visual sensor is arranged on one side of the detection surface and faces the detection surface.

2. The detecting device for detecting the rotation of a motor rotor as claimed in claim 1, wherein the base has a first reference surface, a second reference surface and a third reference surface which are perpendicular to each other;

the first direction is perpendicular to the second reference plane, and the second direction is perpendicular to the first reference plane.

3. The detecting device for detecting the rotation of a motor rotor as claimed in claim 1, wherein the detecting head is a hemisphere, the rotation axis is a symmetry axis of the hemisphere, and the detecting surface is a spherical surface of the hemisphere.

4. The detecting device for detecting the rotation of a motor rotor as claimed in claim 1, wherein the detecting points are metachromatic points.

5. The detecting device for detecting the rotation of a motor rotor as claimed in claim 4, wherein the detecting points are convex points and/or concave points.

6. A detection device for accuracy detection of a vision sensor, comprising:

a base;

the first sliding rail is arranged on the base, the sliding direction of the first sliding rail is a first direction, and the first sliding rail is provided with a moving scale;

the second sliding rail is arranged on the first sliding table, the sliding direction of the second sliding rail is a second direction, and the second sliding rail is provided with a moving scale;

the detection head is arranged on the second sliding table, and the detection surface of the detection head is provided with at least one detection point;

when the precision detection is carried out, the visual sensor is arranged on one side of the detection surface and faces the detection surface.

7. The detecting device for detecting the rotation of a motor rotor as claimed in claim 6, wherein the base has a first reference surface, a second reference surface and a third reference surface which are perpendicular to each other;

the first direction is perpendicular to the second reference plane, and the second direction is perpendicular to the third reference plane.

8. The detecting device for detecting the rotation of a motor rotor as claimed in claim 6, wherein the detecting points are metachromatic points.

9. The detecting device for detecting the rotation of a motor rotor as claimed in claim 8, wherein the detecting points are convex points and/or concave points.

10. A vision sensor accuracy detecting method for detecting accuracy of a vision sensor using the detecting apparatus according to any one of claims 1 to 9, the accuracy detecting method comprising:

fixedly placing the detection device at a position to be detected, and aligning a detection head of the detection device with a visual sensor to be detected;

carrying out first detection, and reading first actual position parameters of the detection points; acquiring a first detection position of the detection point by the vision sensor;

changing the position of the detection head;

carrying out second detection, and reading second actual position parameters of the detection point; acquiring a second detection position of the detection point by the vision sensor;

acquiring the actual displacement of the detection point according to the first actual position parameter and the second actual position parameter; acquiring the detection displacement of the detection point according to the first detection position and the second detection position; and obtaining the visual error of the visual sensor according to the actual displacement and the detection displacement.

Technical Field

The invention relates to the technical field of machine vision, in particular to a measuring device and a measuring method for measuring the precision of a vision sensor.

Background

With the development of machine vision technology, vision technology is more and more widely applied in industrial production practice. However, for the detection of the accuracy of the vision system, a high-accuracy measuring device is currently required. Although the precision of the vision system can be comprehensively measured by a commonly used professional measuring device, the daily measurement is not easy to complete due to the high cost and the difficulty in moving of the professional measuring device.

Disclosure of Invention

In order to solve the problems, the invention provides a simple machine vision precision evaluation device which can be used for a machine vision sensor to carry out error quantitative measurement.

Specifically, the measuring apparatus of the present invention includes: a base; the sliding rail is arranged on the base, the sliding direction of the sliding rail is a first direction, and the sliding rail is provided with a moving scale; the detection head is arranged on the sliding table and rotates along the rotating shaft in the second direction, the detection head is provided with a rotating scale, and the detection surface of the detection head is provided with at least one detection point; when the precision detection is carried out, the visual sensor is arranged on one side of the detection surface and faces the detection surface.

Further, the base has a first reference surface, a second reference surface and a third reference surface which are perpendicular to each other; the first direction is perpendicular to the second reference plane, and the second direction is perpendicular to the first reference plane.

Preferably, the detection head is a hemisphere, the rotation axis is a symmetry axis of the hemisphere, and the detection surface is a spherical surface of the hemisphere.

Preferably, the detection points are different color points.

Preferably, the detection points are bumps and/or pits.

The invention also provides a detection device, comprising: a base; the first sliding rail is arranged on the base, the sliding direction of the first sliding rail is a first direction, and the first sliding rail is provided with a moving scale; the second sliding rail is arranged on the first sliding table, the sliding direction of the second sliding rail is a second direction, and the second sliding rail is provided with a moving scale; the detection head is arranged on the second sliding table, and the detection surface of the detection head is provided with at least one detection point; when the precision detection is carried out, the visual sensor is arranged on one side of the detection surface and faces the detection surface.

Further, the base has a first reference surface, a second reference surface and a third reference surface which are perpendicular to each other; the first direction is perpendicular to the second reference plane, and the second direction is perpendicular to the third reference plane.

Preferably, the detection points are different color points.

Preferably, the detection points are bumps and/or pits.

The invention also provides a method for detecting the precision of the visual sensor, which adopts the detection device to detect the precision of the visual sensor, and the method for detecting the precision of the visual sensor comprises the following steps: fixedly placing the detection device at a position to be detected, and aligning a detection head of the detection device with a visual sensor to be detected; carrying out first detection, and reading first actual position parameters of the detection points; acquiring a first detection position of the detection point by the vision sensor; changing the position of the detection head; carrying out second detection, and reading second actual position parameters of the detection point; acquiring a second detection position of the detection point by the vision sensor; acquiring the actual displacement of the detection point according to the first actual position parameter and the second actual position parameter; acquiring the detection displacement of the detection point according to the first detection position and the second detection position; and obtaining the visual error of the visual sensor according to the actual displacement and the detection displacement.

The detection device provided by the invention is portable and easy to carry, is simple to operate, and can quickly and quantitatively evaluate the errors of a vision measurement system.

Drawings

Fig. 1 is a schematic structural diagram of a detection apparatus according to a first embodiment of the present invention.

Fig. 2 is a schematic structural diagram of a detecting device according to a second embodiment of the present invention.

FIG. 3 is a flow chart of the detection method of the present invention.

Wherein the reference numerals are:

1: a base 2: sliding rail

2': first slide rail 2 ": second slide rail

3: the sliding table 3': first sliding table

3": second slip table 4: detection head

5: detection point 6: rotating shaft

7: a visual sensor C: detection surface

P1: first reference plane P2: second reference plane

P3: third reference plane

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the following describes in detail a detection apparatus for detecting the accuracy of a visual sensor according to the present invention with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

The detection device of the invention obtains the visual error of the visual sensor by comparing the detection result of the visual sensor on the detection point position with the actual position of the detection point

Fig. 1 is a schematic structural diagram of a detection apparatus according to a first embodiment of the present invention. As shown in fig. 1, the detection apparatus of the present invention includes: base 1, slide rail 2, slip table 3 and detection head 4, wherein, slide rail 2 sets up on base 1, and slip table 3 and slide rail 2 cooperate, detect head 4 and set up on slip table 3, detect head 4 and have detection face C, have the check point 5 that is used for the vision measurement value of sign vision sensor 7 on the detection face C, detect head 4 and can revolute 6 rotations of axle.

Specifically, in the present embodiment, the base 1 has a first reference plane P1, a second reference plane P2 and a third reference plane P3, the three reference planes are perpendicular to each other, so that any one of the reference planes can be attached to a certain plane of the system including the vision sensor to be detected, and the fixed position of the base is used as a reference position for performing precision detection on the vision sensor, and in general, the first reference plane P1 is used as a common reference plane for detection operation; the slide rail 2 is fixedly arranged on the base 1, for example, the base 1 may be configured as a rectangular parallelepiped structure, and the slide rail 2 is directly and fixedly arranged on the opposite surface of the first reference plane P1 of the base 1, or as shown in fig. 1, the base 1 may be configured as a polyhedron structure formed by combining two rectangular parallelepipeds which are perpendicular to each other, the cross section of the polyhedron is "L" shaped, and one of the rectangular parallelepipeds is used as a support of the slide rail 2; for convenience of operation and actual position calculation, the slide rail 2 is arranged to be perpendicular to the second reference plane P2, and the moving direction of the sliding table 3 matched with the slide rail 2 is parallel to the first reference plane P1 and the third reference plane P3; the detection head 4 is arranged on the sliding table 3, and the axial direction of the rotating shaft 6 of the detection head 4 is perpendicular to the first reference plane P1; the detection surface C is back to the first reference surface P1, one or more detection points 5 are arranged on the detection surface C, the detection points 5 are heterochromatic points, so that the detection points 5 can be distinguished from the background of the detection surface C by the vision sensor 7, and in order to increase the recognition efficiency, the detection points 5 can be set to be convex points or concave points, or a part of the detection points 5 can be set to be convex points, and the other part of the detection points 5 can be set to be concave points; the sliding rail 2 is provided with a moving scale to mark the moving distance of the sliding table 3, and the rotating shaft 6 (or the detection head 4) is provided with a rotating scale to mark the rotating angle of the detection head 4; since the position of the detection point 5 on the detection head 4 is fixed, the actual displacement of the detection point 5 can be obtained by reading the movement value and the rotation value of the detection head 4 at different positions, and the visual error of the visual sensor 7 can be obtained by comparing the actual displacement with the detection displacement obtained by the visual sensor 7.

In this embodiment, the detection head 4 has a hemispherical structure or a hollow hemispherical structure, and the spherical surface of the hemispherical structure or the hollow hemispherical structure is the detection surface C, so that the plurality of detection points 5 can be set differently, and distances from different detection points 5 to the first reference surface P1 are different, so that distances from different detection points 5 to the vision sensor 7 are also different, and thus, the precision detection of different vision distances can be performed on the vision sensor 7.

The detection device of the invention can also adopt other structural forms. Fig. 2 is a schematic structural diagram of a detecting device according to a second embodiment of the present invention. As shown in fig. 2, the detection apparatus of the present invention includes: base 1, first slide rail 2', first slip table 3', second slide rail 2", second slip table 3" and detection head 4, wherein, first slide rail 2 'sets up on base 1, first slip table 3' cooperates with first slide rail 2', second slide rail 2 "sets up on first slip table 3', second slip table 3" cooperates with second slide rail 2", it sets up on second slip table 3" to detect head 4 (in fig. 2, it is set up as an organic whole with second slip table 3 "to detect head 4), it has detection face C to detect head 4, there is the check point 5 that is used for the vision measured value of sign vision sensor 7 on the detection face C. The base 1 has a first reference plane P1, a second reference plane P2 and a third reference plane P3, the three reference planes are perpendicular to each other, the first slide rail 2 'is perpendicular to the second reference plane P2, and the moving direction of the first sliding table 3' matched with the first slide rail 2 is parallel to the first reference plane P1 and the third reference plane P3; the second slide rail 2' is perpendicular to the third reference plane P3, and the moving direction of the second sliding table 3' matched with the second slide rail 2' is parallel to the first reference plane P1 and the second reference plane P2; the detection surface C is back to the first reference surface P1, one or more detection points 5 are arranged on the detection surface C, the detection points 5 are heterochromatic points, so that the detection points 5 can be distinguished from the background of the detection surface C by the vision sensor 7, and in order to increase the recognition efficiency, the detection points 5 can be set to be convex points or concave points, or a part of the detection points 5 can be set to be convex points, and the other part of the detection points 5 can be set to be concave points; the first slide rail 2' and the second slide rail 2 ″ are provided with moving scales, and since the positions of the detection points 5 on the detection head 4 are fixed, the actual displacement of the detection points 5 can be obtained by reading the moving values of the detection heads 4 at different positions in two directions, and the actual displacement is compared with the detection displacement obtained by the vision sensor 7, so that the vision error of the vision sensor 7 can be obtained.

FIG. 3 is a flow chart of the detection method of the present invention. As shown in fig. 3, the present invention further provides a method for detecting accuracy of a visual sensor based on the foregoing detection apparatus, including:

step S1, fixedly placing the detection device at a position to be detected, and aligning a detection head of the detection device with a visual sensor to be detected;

step S2, reading the current position parameter, such as the current moving scale value, or the current moving scale value and the rotating scale value, as the initial position parameter of the detection point; meanwhile, acquiring an initial detection position of a detection point by a vision sensor;

step S3, moving and/or rotating the detection head;

step S4, reading the current position parameter again, such as the current moving scale value, or the current moving scale value and the rotating scale value, as the comparison position parameter of the detection point; meanwhile, a visual sensor acquires a comparative detection position of a detection point;

step S5, acquiring the actual displacement of the detection point according to the initial position parameter and the comparison position parameter; acquiring the detection displacement of the detection point according to the initial detection position and the comparison detection position; and comparing the actual displacement with the detection displacement to obtain the visual error of the visual sensor.

Although the present invention has been described with reference to the above embodiments, it should be understood that various changes and modifications can be made by those skilled in the art without departing from the spirit and scope of the invention.