Plane rotation angle visual measurement method and device based on Aruco code

Abstract

The invention provides a plane rotation angle visual measurement method and device based on an Aruco code. The plane rotation angle visual measurement device comprises processing and display equipment1, a camera 2, a fixed plane device 3, an Aruco code 4 installed on the fixed plane device 3, a rotating object 5 and an Aruco code 6 installed on the rotating object 5. The processing and display equipment 1 is responsible for processing images and calculating angles; the camera 2 is installed to ensure that the Arauco code 4 on the fixed plane and the Arauco code 5 on the rotating object are within the field of view; and the Arauco code 6 mounted on the rotating object 5 is mounted at a non-rotating center. The method comprises the steps: step 1, establishing a coordinate system; step 2, determining a rotation angle; and step 3, calculating a rotation angle. According to the method, real-time high-precision measurement is carried out on the rotating angle of the rotating object in a non-contact mode, the method can adapt to the complex changing environment, the device is simple, the installation and use requirements are low, and the application range is wide.

Description

technical field [0001] The invention relates to a method and device for visually measuring plane rotation angles based on Aruco codes, belonging to the field of rotation angle measurement. Background technique [0002] At present, many applications require real-time measurement of the rotation angle of rotating objects, such as the military industry and aerospace fields, which put forward high requirements for the measurement accuracy and real-time performance of the rotation angle. Most of the traditional methods of measuring the rotation angle are carried out by means of electronic sensors or optical instruments, which require necessary contact with the rotating object and may cause damage to the object. At the same time, electronic sensors have high requirements on the structure of rotating objects, and a location for the sensor needs to be reserved; optical instruments are complex to operate, costly, and have limited applicable occasions. [0003] Machine vision obtains...

AI Technical Summary

Problems solved by technology

[0005] Although this machine vision-based high-precision online measurement method for turntable angle can measure the rotation angle with high precision, it has the following problems: (1) Using a round hole as a mark is easy to conflict with other objects with a nearly round shape, resulting in recognition failure (2) Setting the mark by punching a round hole will damage the object to be measured, and it is difficult to ensure that the center of the round hole and the rotation center of the turntable are completely coincident; (3) It is difficult to ensure the imaging of the camera when installing the camera The center completely coincides with the center of the turntable; (4) In the image processing stage, it is necessary to rely on a stable light source to avoid repeated image processing, which cannot be applied to changing lighting conditions

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