Microsphere hole attitude measurement method based on active motion of double microscopic cameras

Abstract

The invention belongs to the field of microscopic vision measurement and control, particularly relates to a microsphere hole attitude measurement method, system and device based on active motion of double microscopic cameras, and aims to solve the problem that the measurement precision of the microsphere hole attitude measurement method based on microscopic vision cannot meet the requirements. Themethod comprises the following steps: adjusting the positions of a first microscopic camera and a second microscopic camera to enable the image coordinates of the central point of a micropore at thetwo microscopic cameras to be consistent with the image coordinates of the central point of an optical axis; calculating a motion error of a focusing motion axis of the two microscopic cameras; obtaining corrected motion amounts of the two camera motion mechanisms through a preset motion correction method; calculating a decomposition angle of the attitude vector of the micropore in the coordinatesystems of the two camera motion mechanisms and a rotation angle of the attitude vector of the micropore in the coordinate system of the microsphere adjustment platform according to the corrected motion amount; and based on the rotation angle, obtaining an attitude unit vector of the micropore. According to the invention, the measurement precision of the microsphere hole attitude measurement method based on microscopic vision is improved.

Description

technical field [0001] The invention belongs to the field of microscopic vision measurement and control, and in particular relates to a method, system and device for measuring the attitude of microsphere holes based on the active movement of dual microscopic cameras. Background technique [0002] In the micro-assembly of some spherical parts with holes, the accurate measurement of the three-dimensional pose of the micro-parts is the key to complete the assembly task. Most of the methods for measuring the attitude of micro parts are based on microscopic vision, which generally include monocular measurement and binocular measurement. When measuring the attitude of the microsphere hole with a single lens, the camera is installed directly above the microsphere, and through the precise positioning of the microsphere and the microhole, the relative spatial relationship between the center of the microsphere and the center of the microhole is calculated, and the microsphere Attitud...

AI Technical Summary

Problems solved by technology

[0003] In order to solve the above-mentioned problems in the prior art, that is, in order to solve the problem that the measurement accuracy of the existing microsphere hole attitude measurement method based on microscopic vision cannot meet the demand, the first aspect of the present invention proposes a dual-microscopic camera-based active The moving microsphere attitude measurement method is applied to a microsphere attitude measurement device based on dual microscopic cameras, the device includes a first camera movement mechanism, a second camera movement mechanism, respectively fixed on the first camera movement mechanism , the first microscopic camera and the second microscopic camera of the second camera movement mechanism, the first bracket, the second bracket, the vibration isolation platform, the microsphere adjustment platform, the microsphere, and the micropores on the microsphere are vertical Upward, it is characterized in that the method includes:

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