Disclosure of Invention
In view of the shortcomings of the prior art, the invention aims to provide a device, a method and a system for acquiring three-dimensional coordinates of a point location of a workpiece, and aims to solve the problem that in the prior art, the accuracy of measuring the three-dimensional coordinates of the point location of the workpiece on the workpiece is low.
The technical scheme of the invention is as follows:
In a first aspect, the present invention provides a device for obtaining three-dimensional coordinates of a point location of a workpiece, where the device includes:
The moving mechanism is used for placing a workpiece, and a first workpiece point is marked on the workpiece;
The imaging instrument is arranged on the moving mechanism and is used for imaging the first workpiece point;
The laser is arranged on the moving mechanism and used for emitting light rays to determine the position of the first workpiece point;
The optical axis of the imager and the light emitted by the laser intersect to form an intersection point.
In one embodiment, the movement mechanism comprises:
the workpiece mounting platform is used for placing a workpiece;
And the movement shaft is movably connected with the workpiece mounting platform and is used for driving the imager and the laser to synchronously move.
In one embodiment, the imager is a camera, and an optical axis of the camera is perpendicular to an end face of the workpiece mounting platform;
The image acquired by the imager comprises: a laser reflection point; the laser reflection point is formed by projecting light rays emitted by the laser onto the workpiece;
Wherein the laser reflection point may coincide with the intersection point.
In one embodiment, the apparatus further comprises:
the controller is respectively connected with the moving mechanism, the imaging instrument and the laser in a signal way;
And the display device is in signal connection with the controller and is used for displaying the image acquired by the imager.
In a second aspect, the invention provides a method for acquiring three-dimensional coordinates of a point location of a workpiece, wherein the method comprises the following steps:
Controlling the moving mechanism to move in the horizontal direction so that a first workpiece point of a workpiece is positioned in an image acquired by the imager to obtain the moving parameters of the imager; the moving mechanism is provided with an imager and a laser, the imager and the laser synchronously move, and a first workpiece point is marked on the workpiece;
Controlling the moving mechanism to move in the vertical direction so as to enable an intersection point formed by an optical axis of the imager and light rays emitted by the laser to be aligned with the first workpiece point, thereby obtaining displacement parameters of the laser;
and obtaining the three-dimensional coordinates of the first workpiece point according to the movement parameter, the displacement parameter and the image.
In one implementation, the optical axis of the imager is perpendicular to the end face of the workpiece mounting platform, and the optical axis of the imager intersects the workpiece to form an optical axis imaging point;
The image acquired by the imager comprises: a laser reflection point; the laser reflection point is formed by projecting light rays emitted by the laser onto the workpiece;
wherein the optical axis imaging point can be overlapped with the laser reflection point to form the intersection point;
The movement parameters comprise an X-axis movement distance and a Y-axis movement distance, the displacement parameters comprise a Z-axis movement distance, and the three-dimensional coordinates of the first workpiece point comprise: an X coordinate, a Y coordinate, and a Z coordinate;
The horizontal direction comprises an X-axis direction and a Y-axis direction, and the vertical direction comprises a Z-axis direction; wherein the X-axis direction, the Y-axis direction and the Z-axis direction are mutually perpendicular;
the control moving mechanism moves in the horizontal direction to enable a first workpiece position of a workpiece to be located in an image acquired by an imager, and obtain moving parameters of the imager, and the control moving mechanism comprises:
Controlling an imager and a laser to move in the X-axis direction and the Y-axis direction so that the first workpiece point and the optical axis imaging point are overlapped in an image acquired by the imager to obtain an X-axis moving distance and a Y-axis moving distance;
the control of the movement mechanism to move so that an intersection point formed by an optical axis of the imager and light emitted by the laser is aligned with the first workpiece point, and a displacement parameter of the laser is obtained, including:
Controlling the imager and the laser to move in the Z-axis direction so that the first workpiece point and the laser reflection point are overlapped in an image acquired by the imager to obtain a Z-axis moving distance;
obtaining the three-dimensional coordinates of the first workpiece point according to the movement parameter, the displacement parameter and the image, wherein the three-dimensional coordinates comprise:
Determining an X coordinate according to the X-axis moving distance;
determining a Y coordinate according to the Y-axis moving distance;
and determining a Z coordinate according to the Z-axis moving distance.
In one implementation, the workpiece is further marked with a second workpiece point;
the method further comprises the steps of:
determining three-dimensional coordinates of the second workpiece point;
And determining the linear distance between the first workpiece point and the second workpiece point according to the three-dimensional coordinates of the first workpiece point and the second workpiece point.
In one implementation, the optical axis imaging point coincides with an identification point of a display device, where the display device is configured to display an image acquired by the imager;
The method for controlling the imaging instrument and the laser to move in the X-axis direction and the Y-axis direction so that the first workpiece point and the optical axis imaging point are overlapped in the image acquired by the imaging instrument to obtain an X-axis moving distance and a Y-axis moving distance comprises the following steps:
controlling the imager and the laser to move in the X-axis direction and the Y-axis direction so that the first workpiece point and the identification point are overlapped in an image acquired by the imager to obtain an X-axis moving distance and a Y-axis moving distance;
The controlling the imager and the laser to move in the Z-axis direction so that the first workpiece point and the laser reflection point are overlapped in an image acquired by the imager to obtain a Z-axis moving distance comprises the following steps:
And controlling the imager and the laser to move in the Z-axis direction so that the identification point and the laser reflection point are overlapped in the image acquired by the imager to obtain the Z-axis moving distance.
In one implementation manner, the control moving mechanism moves in a horizontal direction, so that a first workpiece of a workpiece is located in an image acquired by an imager, and before the movement parameters of the imager are obtained, the control moving mechanism further includes:
calibrating the position of the imaging instrument so that the optical axis of the imaging instrument is perpendicular to the end face of the workpiece mounting platform;
and calibrating the position of the laser so as to determine the relative position between the laser and the imager.
In a third aspect, the present invention provides a three-dimensional coordinate acquisition system for a point location of a workpiece, including:
the image acquisition module is used for controlling the moving mechanism to move in the horizontal direction so as to enable workpiece points of a workpiece to be positioned in images acquired by the imager and obtain moving parameters of the imager; the moving mechanism is provided with an imager and a laser, the imager and the laser synchronously move, and a workpiece point is marked on the workpiece;
The displacement acquisition module is used for controlling the moving mechanism to move in the vertical direction so as to enable an intersection point formed by an optical axis of the imager and light rays emitted by the laser to be aligned with the workpiece point, and obtaining displacement parameters of the laser;
And the coordinate determining module is used for obtaining the three-dimensional coordinates of the workpiece point according to the movement parameter, the displacement parameter and the image.
The beneficial effects are that: the invention provides a device, a method and a system for acquiring three-dimensional coordinates of a point position of a workpiece, wherein the device comprises the following components: the moving mechanism is used for placing a workpiece, and a first workpiece point is marked on the workpiece; the imaging instrument is arranged on the moving mechanism and is used for imaging the first workpiece point; the laser is arranged on the moving mechanism and used for emitting light rays to determine the position of the first workpiece point; the optical axis of the imager and the light emitted by the laser intersect to form an intersection point. According to the invention, the moving mechanism drives the imaging instrument and the laser to synchronously move, so that the first workpiece point is positioned in an image acquired by the imaging instrument, the moving parameters of the imaging instrument are obtained, the movement of the imaging instrument is continued through the laser, so that the first workpiece point is aligned with the intersection point, the three-dimensional coordinate of the first workpiece point is obtained, and the accuracy of measuring the three-dimensional coordinate of the first workpiece point on the workpiece is improved.
Detailed Description
The invention provides a device, a method and a system for acquiring three-dimensional coordinates of a point position of a workpiece, which are used for making the purposes, the technical scheme and the effects of the invention clearer and clearer, and are further described in detail below. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It should also be noted that in the drawings of the embodiments of the present invention, the same or similar reference numerals correspond to the same or similar components; in the description of the present invention, it should be understood that, if there is an azimuth or positional relationship indicated by terms such as "upper", "lower", "left", "right", etc., based on the azimuth or positional relationship shown in the drawings, it is only for convenience of describing the present invention and simplifying the description, but it is not indicated or implied that the apparatus or element referred to must have a specific azimuth, be constructed and operated in a specific azimuth, and thus, terms describing the positional relationship in the drawings are merely for exemplary illustration and are not to be construed as limitations of the present patent, and specific meanings of the terms described above may be understood by those skilled in the art according to specific circumstances.
The dimension measurement is an indispensable link in industrial production, and the three-dimensional coordinates of a workpiece point on a workpiece need to be measured before the dimension measurement, and the main dimension measurement method in the prior art comprises ruler-gauge manual measurement, visual two-dimensional measurement, touch three-dimensional measurement and visual 3D measurement, but the three-dimensional coordinates of a plurality of non-coplanar measurement points (i.e. workpiece points) in a complex workpiece in the prior art are inconvenient to measure, and larger measurement errors are easy to generate, so that the accuracy of measuring the three-dimensional coordinates of the workpiece point is lower.
In order to solve the above problems, the present invention provides a three-dimensional coordinate acquisition device for workpiece points, which can rapidly and accurately measure three-dimensional coordinates of workpiece points on a workpiece, so as to accurately measure geometric relationships between a plurality of workpiece points, as shown in fig. 1 to 3, in fig. 1, reference numerals in brackets denote punctuations overlapping with the punctuations, for example, 320 (203/302) indicates that intersection points, optical axis imaging points and laser reflection points overlap. The device comprises:
A moving mechanism 100, wherein the moving mechanism 100 is used for placing a workpiece, and a first workpiece point 600A is marked on the workpiece;
an imager 200 disposed on the moving mechanism 100, the imager 200 being configured to image the first workpiece point 600A;
The laser 300 is arranged on the moving mechanism 100, and the laser 300 is used for emitting light rays to determine the position of the first workpiece point 600A;
wherein the optical axis 201 of the imager 200 intersects the light ray 301 emitted by the laser 300 to form an intersection 320.
It should be noted that, the workpiece is placed on the moving mechanism 100, and the moving mechanism 100 is provided with the imager 200 and the laser 300, that is, the relative positions of the imager 200 and the laser 300 are fixed, so that the two can be driven to move synchronously by the moving mechanism 100; under the condition that the position of the workpiece is fixed, the moving mechanism 100 can drive the imager 200 and the laser 300 to move horizontally in space, namely, move in the left-right direction (X-axis direction) and the front-back direction (Y-axis direction), and the movement can also include the movement in the vertical direction, so that the first workpiece point 600A marked on the workpiece is positioned in the visual field of the imager 200, and the first workpiece point 600A is positioned in the image acquired by the imager 200; continuing to move vertically, i.e., up and down (Z-axis), by the movement mechanism 100, care should be taken that no longer moves horizontally at this time to align the light 301 of the laser 300 with the first workpiece point 600A. Note that the laser 300 may intersect the optical axis 201 of the imager 200 by means of an emitted light ray 301 (i.e., a laser line), and the laser may be a laser range finder or a point laser, which is not specifically limited herein.
In this embodiment, the coordinates of the intersection point 320 in the initial state are the origin coordinates, that is, the three-dimensional coordinates of the intersection point are (0, 0), the X-coordinate and the Y-coordinate of the first workpiece point are determined by the horizontal movement of the imager 200, and the Z-coordinate of the first workpiece point is determined by the vertical movement of the laser 300, so as to obtain the three-dimensional coordinates of the first workpiece point 600A on the workpiece.
In some embodiments, the movement mechanism 100 includes:
the workpiece mounting platform is used for placing a workpiece;
And the motion shaft is movably connected with the workpiece mounting platform and is used for driving the imager 200 and the laser 300 to synchronously move.
Specifically, as shown in fig. 4, the workpiece mounting platform includes an XOY plane 104, where the XOY plane 104 is an end face of the workpiece mounting platform (i.e., an upper end face of the platform) and the end face is a horizontal plane, and it is noted that a lower end face of the platform is disposed opposite to the upper end face, and the lower end face of the platform may be matched with the ground, and again, without being limited thereto, the workpiece may be mounted on the XOY plane 104, and it is noted that a bottom end of the workpiece may be mounted in alignment with the XOY plane 104, but not limited thereto, and the bottom end of the workpiece may also be disposed obliquely with respect to the XOY plane 104, so that a first workpiece point marked on the workpiece may be located in an image acquired by the imager 200. The method utilizes a person to judge the correctness of point selection, and has stronger environmental adaptability than pure visual 3D measurement.
Preferably, the XOY plane 104 is rotatably connected with a rotating platform (not shown in the figure), and the upper end surface of the rotating platform is parallel to the XOY plane, so that the workpiece is positioned on the rotating platform, a first workpiece point on the workpiece is convenient to be positioned by an imager and a laser, and the positions of the imager and the laser do not need to be readjusted every time, so that the measuring efficiency and accuracy are improved.
As shown in fig. 4, the moving axes include an X moving axis 101, a Y moving axis 102, and a Z moving axis 103, so that the moving axes are conveniently controlled to move in XYZ directions, the X moving axis 101, the Y moving axis 102, and the Z moving axis 103 are perpendicular to each other, a cartesian coordinate system is formed, and a corresponding three-dimensional XYZ coordinate system can be obtained by reading the moving distance readings of the corresponding axes, wherein an XOY plane 104 is parallel to the X moving axis 101 and the Y moving axis 102 and perpendicular to the Z moving axis 103; however, in other embodiments, the motion axis may be configured as a single axis or a double axis, that is, the motion axis may be moved on the workpiece mounting platform and the movement parameters (the X-axis movement distance and the Y-axis movement distance) of the motion axis may be measured in the process of synchronously driving the imager 200 and the laser 300 to move, where the X-axis movement distance and the Y-axis movement distance correspond to the X-coordinate and the Y-coordinate of the first workpiece point, respectively. The invention adopts a large-span motion axis, and can realize large-span and high-precision XYZ three-dimensional measurement.
Further, a support 105 is provided on the movement axis, and as shown in fig. 1, a support 105 is provided on the Y movement axis 102 for fixing the laser and the imager on the movement axis so that they can move in XYZ space in a rigid manner as a whole, and the origin of the coordinate axes is higher than the XOY plane; but not limited thereto, may be disposed on a Z-axis or an X-axis, and when the imager and the laser are disposed on the Z-axis through the holder, the origin of the coordinate axis may be an O-point; one side of the bracket 105 is provided with the imager 200, and the other side of the bracket 105 is provided with the laser 300, in other embodiments, two brackets can be provided, so that the imager 200 and the laser 300 are respectively connected with one bracket, and the specific setting is automatically modified according to actual requirements.
It should be noted that, preferably, the X-coordinate and the Y-coordinate of the imager 200 are both 0, and the optical axis 201 of the imager is perpendicular to the XOY plane 104, that is, the X-coordinate and the Y-coordinate of the imaging point of the optical axis are both 0.
In some embodiments, the imager 200 is a camera, the optical axis 201 of which is perpendicular to the end face of the workpiece mounting platform (i.e., the upper end face of the platform);
The image acquired by the imager 300 includes: a laser reflection point 302; the laser reflection point is formed by projecting light 301 emitted by the laser onto the workpiece;
wherein the laser reflection point 302 may coincide with the intersection point 320.
Specifically, as shown in fig. 1 and 3, the imager 200 of the present embodiment is a camera; the optical axis 201 of the camera is perpendicular to the XOY plane 104, that is, the optical axis 201 is parallel to the Z motion axis 103, so that the camera moves synchronously in the motion process of the motion axis, images collected by the camera 200 are ensured to be convenient to observe, the motion axis is convenient to move so that a first workpiece point is located in the images collected by the camera 200, the motion parameters of the motion axis are ensured to correspond to the X coordinate and the Y coordinate of the first workpiece point, and the motion axis is convenient to move so that the laser reflection point 302 coincides with the first workpiece point; the first workpiece point 600A is located in the imager field of view 202 (i.e., the camera field of view), i.e., such that the image acquired by the imager 200 includes the first workpiece point, and the image acquired by the imager also includes the laser reflection point 302, i.e., the light 301 (i.e., the laser line) emitted by the laser 300 is projected onto the workpiece. The camera and the laser are integrally mounted on a moving shaft, and can be transported to any position in a measuring range by the moving shaft.
It should be noted that, as shown in fig. 4, the light 301 emitted by the laser 300 forms a certain angle (greater than 0 degrees and less than 90 degrees) with the XOY plane 104, and is specifically set according to practical situations, as shown in fig. 1 to 3, the light 301 intersects with the optical axis 201 to form an intersection point 320, and it is convenient for the rangefinder to make the first workpiece point coincide with the laser reflection point when there is a shielding object on the workpiece, so that the Z coordinate of the first workpiece point is determined according to the movement axis or the distance of the laser in the Z axis direction.
In this embodiment, the apparatus further includes:
a controller 400 in signal connection with the moving mechanism 100, the imager 200, and the laser 300, respectively;
and the display device 500 is in signal connection with the controller 400 and is used for displaying the image acquired by the imager 200.
Specifically, as shown in fig. 1 and 2, the controller 400 is respectively connected with the motion axis, the camera and the laser in a signal manner, so that the controller outputs control signals, the motion axis, the camera and the laser receive the control signals, control the motion axis to move, the camera to collect images and the laser to emit laser lines; the controller is also in signal connection with a display device 500, which is a display, displaying images captured by the camera.
It should be noted that the controller may be connected to the motion axis, the camera, the laser, and the display device through control lines, respectively; the controller 400 sends out instructions to control the imager 200 and the laser 300 to move to a designated position, and can acquire the XYZ coordinates of the current position; the controller 400 can instruct the laser to be turned on or off so as to save electricity; the display device 500 may instruct the 400 controller to control the motion axis, the imager, and the laser, and obtain feedback data. The invention uses the display device 500 to guide alignment, has simple operation and is convenient to operate and use.
Further, the center of the screen of the display device 500 is provided with an alignment cross, the intersection of the alignment cross is a mark point 501, and the mark point 501 is used as an alignment reference point of the imager, so that the optical axis imaging point 203 of the imager 200 coincides with the mark point 501.
It should be noted that, when determining the X coordinate and the Y coordinate of the first workpiece point 600A, the identification point 501 is convenient for overlapping the identification point with the first workpiece point, so that the X coordinate and the Y coordinate of the first workpiece point can be accurately obtained; when the Z coordinate of the first workpiece point 600A is determined through the identification point 501, the identification point (which is overlapped with the first workpiece point at this time) is overlapped with the laser reflection point, so that the Z coordinate of the first workpiece point is accurately obtained, and the accuracy of the three-dimensional coordinate of the first workpiece point is further improved.
The invention can realize the accurate measurement of the three-dimensional coordinates of the workpiece points, and surpass the manual measurement of the ruler and the gauge and the visual two-dimensional measurement; the non-contact measurement mode is adopted, so that the requirement on the fixing of the workpiece is low compared with the touch three-dimensional measurement mode, and the workpiece is not damaged; in addition, the cost of the device is equivalent to that of large-span visual two-dimensional measurement and is lower than that of touch three-dimensional measurement and visual 3D measurement.
Based on the above embodiment, the present invention further provides a method for obtaining three-dimensional coordinates of a workpiece point, which is applied to the device for obtaining three-dimensional coordinates of a workpiece point, as shown in fig. 9, and the method includes:
step S100, controlling a moving mechanism to move in the horizontal direction so that a first workpiece point of a workpiece is positioned in an image acquired by an imager to obtain moving parameters of the imager; the moving mechanism is provided with an imager and a laser, the imager and the laser synchronously move, and a first workpiece point is marked on the workpiece.
In order to accurately measure the distance (i.e., the spatial distance) between two workpiece points marked on a workpiece, as shown in fig. 2, the present embodiment moves by the moving mechanism 100 to control the movement of the imager 200 and the laser 300, so that the first workpiece point 600A of the workpiece is located in the image acquired by the imager 200, and the movement parameters of the imager 200 are obtained, thereby determining the X coordinate and the Y coordinate in the spatial coordinates of the first workpiece point 600A. It should be noted that the first workpiece point in the initial state may not be located in the image acquired by the imager, and is not specifically limited herein. In one implementation, the imager used in this embodiment may be a camera, and the present invention is not limited to a specific type of camera.
In some implementations, the optical axis 201 of the imager 200 is perpendicular to the upper end surface of the workpiece mounting platform, and the optical axis 201 of the imager 200 intersects the workpiece to form an optical axis imaging point 203;
The image acquired by the imager comprises: a laser reflection point; the laser reflection point is formed by projecting light rays emitted by the laser onto the workpiece;
Wherein the optical axis imaging point 203 may coincide with the laser reflection point 302 to form the intersection 320, as shown in fig. 3;
The movement parameters include an X-axis movement distance and a Y-axis movement distance, the displacement parameters include a Z-axis movement distance, and the three-dimensional coordinates of the first workpiece point 600A include: an X coordinate, a Y coordinate, and a Z coordinate;
The horizontal direction comprises an X-axis direction and a Y-axis direction, and the vertical direction comprises a Z-axis direction; wherein the X-axis direction, the Y-axis direction and the Z-axis direction are mutually perpendicular.
The step S100 specifically includes the following steps:
In step S110, the imager 200 and the laser 300 are controlled to move in the X-axis direction and the Y-axis direction, so that the first workpiece point 600A and the optical axis imaging point 203 are overlapped in the image acquired by the imager, and the X-axis moving distance and the Y-axis moving distance are obtained.
It should be noted that, before step S100 is performed, the laser 300 may be turned off, and in general, the laser reflection point 302 is not aligned with the first workpiece point 600A, which is caused by the excessive or insufficient heights of the imager and the first workpiece point, so that the laser is turned off to reduce the energy consumption and prevent the interference of the laser reflection point 302 when the worker performs the coincidence determination; in other implementations, the laser may also be turned on to determine the movement parameters of the imager, in which case the laser reflection point 302 may coincide with the first workpiece point 600A.
In some implementations, the optical axis imaging point 203 coincides with an identification point 501 of a display device that is used to display the image acquired by the imager.
The step S110 specifically includes:
In step S111, the imager 200 and the laser 300 are controlled to move in the X-axis direction and the Y-axis direction, so that the first workpiece point 600A and the identification point are overlapped in the image acquired by the imager, and the X-axis moving distance and the Y-axis moving distance are obtained.
Further, as shown in fig. 2, the screen center of the display device 500 is provided with an alignment cross, the intersection of the alignment cross is the identification point 501, the imaging point of the optical axis 201 of the imager 200 on the image coincides with the identification point 501, that is, the identification point 501 (i.e., the center point of the image) coincides with the optical axis imaging point 203, the X coordinate of the identification point 501 in the initial state of the imager 200 and the laser 300 is 0, that is, when the first workpiece point 600A does not coincide with the identification point 501, the horizontal coordinate of the identification point 501 (i.e., the optical axis imaging point 203) is (0, 0), and the imager 200 and the laser 300 are controlled to synchronously move so that the identification point 501 coincides with the first workpiece point 600A in the image, and the obtained X axis movement distance XA is the X coordinate of the first workpiece point, and the obtained Y axis movement distance YA is the Y coordinate of the first workpiece point, that is the projection coordinate of the first workpiece point 600A on the XOY plane is (XA,YA).
It should be noted that, in this embodiment, the alignment of the "observable" workpiece point and the optical axis is achieved by marking the optical axis imaging point by aligning the cross intersection, so that the worker can determine the coincidence between the first workpiece point 600A and the optical axis imaging point 203, thereby accurately acquiring the X coordinate and the Y coordinate of the first workpiece point.
In other embodiments, for a "virtual measurement point" at a specific position in some geometric figures, an auxiliary figure manner may be adopted to align the optical axis, for example, a circle may be adopted to align the circular hole edge to obtain the center position of the circle, and then, for example, a rectangular pair Ji Yaokong (waist hole) or a square hole edge in any direction may be adopted to obtain the center position of the hole; for another example, the three-dimensional distance of the intersection of two straight edges on the workpiece is measured using straight line aided alignment through an "optical axis imaging point".
Before the step S100, the method further includes the steps of:
S101, calibrating the position of the imager so that the optical axis of the imager is perpendicular to the end face of the workpiece mounting platform;
And step S102, calibrating the position of the range finder so as to ensure that the relative position between the range finder and the imager is determined.
Specifically, when the device is installed, the optical axis of the imager 200 is directed to the XOY plane (i.e., the upper end surface of the workpiece mounting platform) directly below, and at this time, the optical axis imaging point 203 may coincide with the O point (e.g., the imager is installed on the Z axis), and the laser is continuously installed at a position having a fixed relative distance and angle to the imager, where the light of the laser forms an angle with the optical axis so as to have an intersection 320, so that the accurate measurement of the three-dimensional coordinates of the first workpiece point 600A is facilitated.
Step S200, controlling the moving mechanism 100 to move in a vertical direction, so that an intersection 320 formed by the optical axis 201 of the imager and the light 301 emitted by the laser aligns to the first workpiece point 600A, and obtaining a displacement parameter of the laser.
The step S200 specifically includes the following steps:
Step S210, controlling the imager 200 and the laser 300 to move in the Z-axis direction, so that the first workpiece point 600A and the laser reflection point 302 overlap in the image acquired by the imager, and obtaining the Z-axis moving distance.
It should be noted that, in the step S200, the imager and the laser do not move in the X-axis direction and the Y-axis direction, so that the optical axis 201 of the imager 200 is always aligned with the first workpiece point 600A, and at this time, the 2-laser reflection point 302 coincides with the first workpiece point 600A by the movement of the imager and the laser in the Z-axis direction, so that the Z-axis movement distance is obtained.
Further, the step S210 specifically includes:
Step S211, controlling the imager 200 and the laser 300 to move in the Z-axis direction, so that the mark 501 and the laser reflection point 302 overlap in the image acquired by the imager, and obtaining the Z-axis moving distance.
Specifically, in the present embodiment, the intersection 320 in the initial state is the origin of coordinates of the moving mechanism 100, so that the movement of the imager 200 in the X-axis direction and the Y-axis direction (i.e., the X-axis movement distance and the Y-axis movement distance) is the X-coordinate and the Y-coordinate, and the horizontal direction position in step 200 is unchanged, and the movement of the first workpiece point 600A in the Z-axis direction (Z-axis movement distance) is the Z-coordinate, so that the Z-axis movement distance is ZA, that is, the Z-coordinate of the first workpiece point is ZA; in another preferred embodiment, the intersection point 320 is located on the Z-axis of motion 103, and the Z-coordinate of the first workpiece point 600A is determined based on the movement of the first workpiece point 600A in the Z-axis direction (Z-axis movement distance) and the initial Z-coordinate of the intersection point 320.
It should be noted that, in step S100, the role of the mark point 501 is to make the first workpiece point 600A coincide with the optical axis imaging point 203 (i.e., the mark point), and in step S200, the role of the mark point 501 is to make the laser reflection point 302 coincide with the first workpiece point 600A (i.e., the mark point/the optical axis imaging point), so that the operator can quickly and accurately determine the three-dimensional coordinates of the first workpiece point, and the measurement accuracy is improved.
And step 300, obtaining the three-dimensional coordinates of the first workpiece point according to the movement parameter, the displacement parameter and the image.
The step S300 specifically includes the following steps:
Step S310, determining an X coordinate according to the X axis moving distance;
step S320, determining Y coordinates according to the Y-axis moving distance;
and step S330, determining Z coordinates according to the Z-axis moving distance.
Specifically, the X-axis movement distance XA obtained at this time is the X-coordinate of the workpiece point, the Y-axis movement distance YA obtained is the Y-coordinate of the workpiece point, that is, the projection coordinate of the first workpiece point 600A on the XOY plane is (XA,YA), and the Z-axis movement distance is ZA, that is, the Z-coordinate of the first workpiece point is ZA, so that the three-dimensional coordinate (XA,YA,ZA) of the first workpiece point 600A is obtained.
In one implementation, the workpiece is further marked with a second workpiece point.
In the prior art, when measuring the geometrical relationship between two workpiece points on a workpiece: as shown in fig. 5, the distance m measured by the inner opening of the first backboard 801 needs to be measured by an auxiliary object (i.e. square block 802) between two workpiece points on the workpiece, and the measurement accuracy is low; as shown in fig. 6, a second back plate 901 is provided with a screw hole 902 on a central line, a vernier caliper and the screw hole are needed to be used for drawing the central line on the second back plate, circles with the sizes of the hole sites are drawn on a transparent plastic sheet 903, the circle centers are marked, and the edges of the hole sites are aligned, so that the distance between two workpiece points is calculated, and the measurement is complicated and the accuracy is poor.
In a preferred embodiment of the present invention, as shown in fig. 7 and 8, the method further comprises the steps of:
step S410, determining the three-dimensional coordinates of the second workpiece point 600B;
Step S420, determining a geometric relationship between the first workpiece point 600A and the second workpiece point 600B, such as a linear distance or an angle between the two points and an XOY plane, according to the three-dimensional coordinates of each of the first workpiece point 600A and the second workpiece point 600B.
Specifically, the principle of the step 410 is the same as that of the steps 100 to 300, and will not be repeated again, so as to determine that the three-dimensional coordinate of the second workpiece point 600B is (XB,YB,ZB); in this embodiment, the projection distance d1 of the first workpiece point 600A and the second workpiece point 600B on the XOY plane is calculated to be: The projection distance d2 at the motion axis Z is: d2 The linear distance d of the first workpiece point 600A and the second workpiece point 600BB is = |zA-ZB |:
based on the above embodiment, the present invention also provides a three-dimensional coordinate acquisition system for the point location of the workpiece, as shown in fig. 10,
The image acquisition module 01 is used for controlling the moving mechanism to move in the horizontal direction so as to enable a workpiece point of a workpiece to be positioned in an image acquired by the imager and obtain the moving parameters of the imager; the moving mechanism is provided with an imager and a laser, the imager and the laser synchronously move, and a workpiece point is marked on the workpiece;
The displacement acquisition module 02 is used for controlling the moving mechanism to move in the vertical direction so as to enable an intersection point formed by an optical axis of the imager and light rays emitted by the laser to be aligned with the workpiece point, thereby obtaining a displacement parameter of the laser;
And the coordinate determining module 03 is configured to obtain three-dimensional coordinates of the workpiece point according to the movement parameter, the displacement parameter and the image.
Based on the above embodiment, the present invention also provides a computer device, and a functional block diagram thereof may be shown in fig. 12. The computer device includes a processor, a memory, a network interface, and a display screen connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The network interface of the computer device is used for communicating with an external computer device through a network connection. The computer program is executed by a processor to implement a method of three-dimensional coordinate measurement of a point location of a workpiece. The display of the computer device may be a liquid crystal display or an electronic ink display.
It will be appreciated by those skilled in the art that the functional block diagram shown in FIG. 12 is merely a block diagram of some of the structures associated with the present inventive arrangements and is not limiting of the computer device to which the present inventive arrangements may be implemented, as a specific computer device may include more or fewer components than those shown, or may be combined with certain components, or have a different arrangement of components.
In one implementation, one or more programs are stored in a memory of the computer apparatus and configured to be executed by one or more processors, the one or more programs including instructions for performing a method of three-dimensional coordinate measurement of a point location of a workpiece.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (SYNCHLINK) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
In summary, the invention provides a device, a method and a system for acquiring three-dimensional coordinates of a point location of a workpiece, wherein the device comprises: the moving mechanism is used for placing a workpiece, and a first workpiece point is marked on the workpiece; the imaging instrument is arranged on the moving mechanism and is used for imaging the first workpiece point; the laser is arranged on the moving mechanism and used for emitting light rays to determine the position of the first workpiece point; the optical axis of the imager and the light emitted by the laser intersect to form an intersection point. According to the invention, the moving mechanism drives the imaging instrument and the laser to synchronously move, so that the first workpiece point is positioned in an image acquired by the imaging instrument, the moving parameters of the imaging instrument are obtained, the movement of the imaging instrument is continued through the laser, so that the first workpiece point is aligned with the intersection point, the three-dimensional coordinate of the first workpiece point is obtained, and the accuracy of measuring the three-dimensional coordinate of the first workpiece point on the workpiece is improved.
It is to be understood that the invention is not limited in its application to the examples described above, but is capable of modification and variation in light of the above teachings by those skilled in the art, and that all such modifications and variations are intended to be included within the scope of the appended claims.