A method and apparatus for determining error

Abstract

The application discloses a kind of error determining method and device, first, when rotating member drives calibration plate to move to preset fixed position, the reference position information of calibration plate is determined.Then, when rotating member drives calibration plate second time to move to fixed position, the first position information of calibration plate is determined.Finally, according to the reference position information of calibration plate and the first position information of calibration plate, the error of rotating member is determined.When rotating member moves to fixed position, camera is photographed to rotating member, and the image of rotating member is obtained, according to the image of rotating member, the reference position information of calibration plate can be determined, then when rotating member second time moves to fixed position, the position information of calibration plate at this time is determined, according to the reference position information of calibration plate and the position information at this time, the error information of rotating member can be determined, and the error caused by long-term movement of mechanical component can be determined by the above method.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of computer vision, and in particular to a method and device for determining error. BACKGROUND

[0002] In recent years, with the rapid development of industrial technology, the precision requirements of various tools, measuring instruments and mechanical parts are also increasing in various industries. The precision of these tools, measuring instruments and mechanical parts directly affects the accuracy of subsequent operations in related industries.

[0003] In the industrial production process, the gap between mechanical parts will directly affect the precision of mechanical processing. For example, mechanical parts such as ball screws used in shafts may have gaps. As the processing time becomes longer, these gaps will become larger and larger, resulting in larger and larger errors, which will ultimately directly affect the precision of the mechanical parts. Therefore, determining the cumulative error caused by the gap between the mechanical parts has become a problem to be solved. SUMMARY

[0004] Therefore, the embodiments of the present application provide a method and device for determining error, which aims to solve the problem of error caused by long-term movement of mechanical parts.

[0005] In a first aspect, the embodiments of the present application provide a method for determining error, which comprises:

[0006] When the rotating member drives the calibration plate to rotate to a preset fixed position, the reference position information of the calibration plate is determined;

[0007] When the rotating member drives the calibration plate to rotate to the preset fixed position again, the first position information of the calibration plate is determined;

[0008] According to the reference position information and the first position information, the first error information of the rotating member is determined.

[0009] Optionally, the reference position information comprises position information of a preset point on the calibration plate and angle information between a connecting line between two calibration points on the calibration plate and a preset reference line.

[0010] Optionally, when the calibration plate comprises a first calibration point, a second calibration point and a third calibration point, and the preset reference line comprises a first reference line and a second reference line, the reference position information of the calibration plate is determined by:

[0011] The position information of the preset point is determined;

[0012] The first connecting line between the first calibration point and the second calibration point is determined, and the second connecting line between the first calibration point and the third calibration point is determined;

[0013] determining first angle information according to the first line and the first reference line, and determining second angle information according to the second line and the second reference line;

[0014] determining the position information of the preset point, the first angle information and the second angle information as the reference position information.

[0015] Optionally, the method for determining the reference position information of the calibration plate further comprises:

[0016] determining an average value of the first angle and the second angle;

[0017] determining the position information of the preset point and the average value as the reference position information.

[0018] Optionally, after the first error information of the rotating member is determined according to the reference position information and the first position information, the error determination method further comprises:

[0019] if the first error information is greater than a preset threshold, performing error correction on the rotating member according to the first error information;

[0020] after the error of the rotating member is corrected, determining second position information of the calibration plate when the rotating member drives the calibration plate to rotate to the fixed position;

[0021] determining second error information of the rotating member according to the reference position information and the second position information;

[0022] if the second error information is less than the preset threshold, determining the second position information as the reference position information.

[0023] Since the camera is fixed, when the rotating member moves to the fixed position, the camera can capture an image of the rotating member, and the reference position information of the calibration plate can be determined according to the image of the rotating member. Then, when the rotating member moves to the fixed position for the second time, the current position information of the calibration plate is determined, and the error information of the rotating member can be determined according to the reference position information and the current position information of the calibration plate. Through the above method, the error caused by long-term movement of the mechanical component can be determined, and more accurate error information is provided to reduce the influence of the error caused by long-term movement of the mechanical component on the accuracy of mechanical processing.

[0024] In a second aspect, an error correction method is provided, and the method comprises:

[0025] driving the rotating member to rotate according to an instruction of rotating the rotating member to a preset fixed position, and the calibration plate is on the rotating member;

[0026] determine a first included angle between a line connecting two calibration points on the calibration plate and a preset reference line when the rotating member stops rotating;

[0027] correct the rotating member to the preset angle according to the difference when the difference between the first included angle and the preset angle is greater than a preset threshold.

[0028] Optionally, the error correction method further comprises:

[0029] drive the rotating member to rotate again according to the instruction of rotating the rotating member to the preset fixed position;

[0030] determine a second included angle between a line connecting two calibration points on the calibration plate and a preset reference line when the rotating member stops rotating;

[0031] determine the second included angle as the preset angle of the calibration plate when the difference between the second included angle and the preset angle is less than a preset threshold.

[0032] Optionally, the error correction method further comprises:

[0033] drive the rotating member to rotate according to the instruction of rotating the rotating member to the preset fixed position;

[0034] determine a position of a preset point on the calibration plate when the rotating member stops rotating;

[0035] correct the rotating member to the reference position according to the distance when the distance between the position of the preset point and the reference position is greater than a preset distance threshold.

[0036] According to the instruction of rotating the rotating member to the preset fixed position, the rotating member is driven to rotate, and the calibration plate rotates. When the rotating member stops rotating, a first included angle between a line connecting two calibration points on the calibration plate and a preset reference line is determined. When the difference between the first included angle and a preset angle is greater than a preset threshold, the rotating member is corrected to the preset angle according to the difference. The difference between the first included angle and the preset angle can determine error information of the rotating member. Correction according to the determined error information can solve the problem of error caused by long-term movement of a mechanical component, thereby reducing the influence of error caused by long-term movement of the mechanical component on the accuracy of mechanical processing.

[0037] In a third aspect, an error determination device is provided, and the device comprises:

[0038] a first determination module configured to determine reference position information of the calibration plate when the rotating member drives the calibration plate to rotate to a preset fixed position.

[0039] The second determining module is used to determine the first position information of the calibration plate when the rotating component drives the calibration plate to rotate to the preset fixed position again;

[0040] The third determining module is used to determine the first error information of the rotating component based on the reference position information and the first position information.

[0041] Fourthly, embodiments of this application provide an error correction device, the device comprising:

[0042] A rotation module is used to drive the rotating component to rotate according to an instruction to rotate the rotating component to a preset fixed position, and a calibration plate is placed on the rotating component;

[0043] An angle determination module is used to determine the first angle between the line connecting two calibration points on the calibration plate and a preset reference line after the rotating component stops rotating;

[0044] The rotation correction module is used to rotate and correct the rotating component to the preset angle according to the difference if the difference between the first included angle and the preset angle is greater than the preset threshold.

[0045] Fifthly, embodiments of this application provide an apparatus, the apparatus comprising:

[0046] Memory, used to store computer programs;

[0047] A processor is configured to execute the computer program to cause the device to perform the error determination method according to any of the first aspects above, or the error correction method according to any of the second aspects above.

[0048] In a sixth aspect, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the error determination method described in any of the first aspects or the error correction method described in any of the second aspects.

[0049] As can be seen from the above technical solutions, the embodiments of this application have the following advantages:

[0050] This application provides a method and apparatus for determining errors. First, when a rotating component drives a calibration plate to a preset fixed position, the reference position information of the calibration plate can be determined. Then, when the rotating component drives the calibration plate to the fixed position a second time, the first position information of the calibration plate can be determined. Finally, based on the reference position information and the first position information of the calibration plate, the error of the rotating component can be determined. Since the camera is fixed, when the rotating component moves to the fixed position, the camera takes a picture of the rotating component, obtaining an image of the rotating component. Based on the image of the rotating component, the reference position information of the calibration plate can be determined. Then, when the rotating component moves to the fixed position a second time, the position information of the calibration plate at this time can be determined. Based on the reference position information and the current position information of the calibration plate, the error information of the rotating component can be determined. This method can determine the error caused by the long-term movement of mechanical components, providing more accurate error information to reduce the impact of errors caused by the long-term movement of mechanical components on the accuracy of machining. Attached Figure Description

[0051] To more clearly illustrate the technical solutions in this embodiment or the prior art, the drawings used in the description of the embodiment or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0052] Figure 1 This is a schematic diagram of the system framework involved in one application scenario in the embodiments of this application;

[0053] Figure 2 A flowchart illustrating a method for determining error, as provided in an embodiment of this application;

[0054] Figure 3 This is a schematic diagram of a precision calibration structure provided in an embodiment of this application;

[0055] Figure 4 This is a schematic diagram of a circular precision calibration plate structure provided in an embodiment of this application;

[0056] Figure 5 A schematic diagram of a cross-shaped precision calibration plate structure provided in this application embodiment;

[0057] Figure 6 A flowchart of a method for correcting errors provided in an embodiment of this application;

[0058] Figure 7 A flowchart illustrating another error correction method provided in this application embodiment;

[0059] Figure 8This is a schematic diagram of the structure of an error determination device provided in an embodiment of this application;

[0060] Figure 9 This is a schematic diagram of the structure of an error correction device provided in an embodiment of this application. Detailed Implementation

[0061] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0062] In industrial production, the clearances between mechanical components directly affect the precision of machining. For example, mechanical components such as ball screws used in shafts may have clearances. As machining time increases, these clearances widen, leading to greater errors and ultimately impacting the precision of the mechanical components. Therefore, determining the cumulative error caused by the clearances between mechanical components becomes a crucial problem to solve.

[0063] Based on this, to solve the above problems, this application provides an error determination method. First, when the rotating component drives the calibration plate to a preset fixed position, the reference position information of the calibration plate can be determined. Then, when the rotating component drives the calibration plate to the fixed position a second time, the first position information of the calibration plate can be determined. Finally, based on the reference position information and the first position information of the calibration plate, the error of the rotating component can be determined. Since the camera is fixed, when the rotating component moves to the fixed position, the camera takes a picture of the rotating component, obtaining an image of the rotating component. Based on the image of the rotating component, the reference position information of the calibration plate can be determined. Then, when the rotating component moves to the fixed position a second time, the position information of the calibration plate at this time is determined. Based on the reference position information and the current position information of the calibration plate, the error information of the rotating component can be determined. The above method can determine the error caused by the long-term movement of mechanical components, providing more accurate error information to reduce the impact of errors caused by the long-term movement of mechanical components on the accuracy of machining.

[0064] For example, one scenario in the embodiments of this application can be applied to, such as Figure 1 The scenario shown includes a camera 101 and a server 102. The camera 101 captures images of the rotating component and sends the images to the server 102. The server 102 implements the error determination method and error correction method using the embodiments provided in this application.

[0065] First, in the above application scenarios, although the action descriptions of the implementation methods provided in this application are executed by the server 102, the implementation methods of this application are not limited in terms of the execution subject, as long as the actions disclosed in the implementation methods provided in this application are executed.

[0066] Secondly, the above scenario is only one example provided by the embodiments of this application, and the embodiments of this application are not limited to this scenario.

[0067] The following detailed description, in conjunction with the accompanying drawings and embodiments, illustrates the specific implementation of the error determination method and apparatus in this application.

[0068] Figure 2 This is a flowchart illustrating a method for determining error, provided in an embodiment of this application. (In conjunction with...) Figure 2 As shown, the error determination method provided in this application embodiment may include:

[0069] S201: When the rotating component drives the calibration plate to rotate to a preset fixed position, determine the reference position information of the calibration plate.

[0070] The rotating component can be a mechanical part with precision requirements, such as a ball screw. Of course, this application does not specifically limit the rotating component, and this does not affect the implementation of the embodiments of this application.

[0071] The calibration plate has a mark graphic. Before the rotating component drives the calibration plate to rotate, fix the calibration plate on the rotating component and adjust the height of the calibration plate and the object to be tested to the same horizontal plane. This ensures that the object to be tested and the calibration plate can be photographed simultaneously without adjusting the height.

[0072] See Figure 3 This figure is a schematic diagram of the accuracy calibration structure, combined with Figure 3 As shown, this includes 1, the calibration board structure; 2, the mark graphic on the calibration board; 3-1, the lens module; and 3-2, the camera module. Figure 3 As shown, the camera is above the calibration plate, but it can also be below it. This application does not specifically limit the positions of the camera and the calibration plate, and this does not affect the implementation of the embodiments of this application. The calibration plate moves along a fixed track. When the rotating component moves the calibration plate to a fixed position, the camera takes a picture of the calibration plate, thereby obtaining an image of the calibration plate on the rotating component and determining the reference position information on the calibration plate.

[0073] The position information of the preset fixed position can be represented by the coordinate values ​​(x, y, r) of the rotating component's axis, where x and y represent the position of the rotating component, and r represents the angle of the rotating component. The reference position information of the calibration plate can be the position information of preset points on the calibration plate and the angle information between the line connecting two calibration points on the calibration plate and the preset reference line. The preset points on the calibration plate can be the center point of the calibration plate, the calibration points on the calibration plate are the graphic markings on the calibration plate, and the preset reference line can be either the horizontal or vertical edge of the calibration plate image, with the horizontal and vertical edges of the calibration plate being perpendicular to each other.

[0074] The mark on the calibration board can be circular, cross-shaped, or square. Of course, this application embodiment does not specifically limit the shape of the mark on the calibration board, and this does not affect the implementation of this application embodiment. For ease of understanding, the following... Figure 4 and Figure 5 Schematic diagrams of two calibration plate structures are shown. See Figure 4 The figure shows a schematic diagram of a circular precision calibration plate, where 41, 42, 43, and 44 are circular marks on the calibration plate, and 4 is the calibration plate itself; see also... Figure 5 The figure shows a schematic diagram of the cross-shaped precision calibration plate structure, where 51, 52, 53, and 54 are cross-shaped marks on the calibration plate, and 5 is the calibration plate itself.

[0075] In one possible implementation, the reference position of the calibration plate can be the coordinates of the center point on the calibration plate and the angle formed between the line connecting the two calibration points on the calibration plate and the horizontal side of the calibration plate.

[0076] In another possible implementation, the reference position information of the calibration board can be the position information of a preset point, a first included angle, and a second included angle. Specifically, the method can first determine the first line connecting the first and second calibration points and the second line connecting the first and third calibration points, then determine the first included angle based on the first line and the first reference line, and finally determine the second included angle based on the second line and the second reference line. The first and second lines are perpendicular, and the first and second reference lines are perpendicular. As an example, the reference position of the calibration board can be the coordinates of the center point on the calibration board, the first included angle formed by the line connecting 41 and 42 with the horizontal edge of the calibration board image, and the second included angle formed by the line connecting 41 and 43 with the vertical edge of the calibration board image.

[0077] In another possible implementation, the reference position information of the calibration board can be the position information of a preset point and the average value of the included angles, wherein the average value of the included angles can be the average value of a first included angle and a second included angle. As an example, the reference position of the calibration board can be the coordinate value of the center point on the calibration board and the average value of the first included angle and the second included angle. Of course, this application does not specifically limit the content of the reference position information of the calibration board, and it does not affect the implementation of the embodiments of this application.

[0078] S202: When the rotating component drives the calibration plate to rotate to the preset fixed position again, determine the first position information of the calibration plate.

[0079] When the rotating component drives the calibration plate to rotate back to the preset fixed position, a photograph is taken to obtain an image of the calibration plate at this moment. The first position information of the calibration plate is determined based on the image. Due to errors caused by the long-term movement of mechanical parts, the position information on the calibration plate will change when the rotating component drives the calibration plate to rotate back to the fixed position. Therefore, it is necessary to determine the position information of the calibration plate at this time (i.e., the first position information mentioned above). The position information on the calibration plate can be the coordinate value of the center point on the calibration plate and the angle formed between the line connecting the two calibration points on the calibration plate and the horizontal edge of the calibration plate.

[0080] S203: Determine the first error information of the rotating component based on the reference position information and the first position information.

[0081] By comparing the changes in the reference position information on the calibration plate and the first position information on the calibration plate, the error information of the rotating part can be determined.

[0082] In addition, the rotating component can be corrected based on the determined error information. Therefore, in this embodiment, the following may be included: if the determined first error information is greater than a preset threshold, the rotating component is corrected for error based on the first error information; after the rotating component is corrected for error, when the rotating component drives the calibration plate to rotate to a fixed position again, the second position information of the calibration plate is determined; the second error information of the rotating component is determined based on the reference position and the second position information; if the second error information is less than a preset threshold, the second position information is determined as the reference position information of the calibration plate.

[0083] When the first error information is greater than the preset threshold, it indicates that the error is large. The rotating part is corrected for error based on the first error information. After the rotating part is corrected for error, when the rotating part drives the calibration plate to rotate to a fixed position again, the second position information of the calibration plate is determined. Based on the reference position and the second position information, the second error information of the rotating part can be determined. If the second error information of the rotating part is less than the preset threshold, it means that the error of the rotating part is smaller at this time. Therefore, the second position information of the calibration plate is used as the new reference position information of the calibration plate. Through the above method, the determined error information can be made smaller and smaller, thus ensuring the accuracy of the rotating part.

[0084] The above describes a method for determining errors provided in this application. First, when the rotating component drives the calibration plate to a preset fixed position, the reference position information of the calibration plate can be determined. Then, when the rotating component drives the calibration plate to the fixed position a second time, the first position information of the calibration plate can be determined. Finally, the error of the rotating component can be determined based on the reference position information and the first position information of the calibration plate. Since the camera is fixed, when the rotating component moves to the fixed position, the camera takes a picture of the rotating component, obtaining an image of the rotating component. The reference position information of the calibration plate can be determined based on the image of the rotating component. Then, when the rotating component moves to the fixed position a second time, the position information of the calibration plate at this time is determined. Based on the reference position information and the current position information of the calibration plate, the error information of the rotating component can be determined. This method can determine the error caused by the long-term movement of mechanical components, providing more accurate error information to reduce the impact of errors caused by the long-term movement of mechanical components on the accuracy of machining.

[0085] Figure 6 This is a flowchart illustrating an error correction method provided in an embodiment of this application. (In conjunction with...) Figure 6 As shown, the error correction method provided in this application embodiment may include:

[0086] S601: Drive the rotating part to rotate according to the instruction to rotate the rotating part to a preset fixed position, and the calibration plate is on the rotating part.

[0087] The instruction to rotate the rotating component to a fixed position could be to rotate the component a fixed number of times, such as rotating it 1000 times, or to power on and initialize the component before rotating it to a fixed position. Of course, this application does not specifically limit the content of the instruction, and it does not affect the implementation of the embodiments of this application. In one possible implementation, the rotating component is driven to rotate according to the instruction to rotate it 1000 times and then to a fixed position, wherein the calibration plate is on the rotating component.

[0088] S602: After the rotating part stops rotating, determine the first angle between the line connecting the two calibration points on the calibration plate and the preset reference line.

[0089] Once the rotating component stops rotating, the angle between the line connecting the two calibration points on the calibration plate and the preset reference line can be determined. The calibration points on the calibration plate are the graphic marks on the calibration plate, and the preset reference line can be either the horizontal or vertical edge of the calibration plate image. The horizontal and vertical edges of the calibration plate are perpendicular to each other.

[0090] In one possible implementation, after the rotating component stops rotating, a second included angle and a third included angle can also be determined on the calibration plate. The second included angle is the angle between the line connecting the first calibration point and the second calibration point on the calibration plate and the first reference line. The third included angle is the angle between the line connecting the first calibration point and the third calibration point on the calibration plate and the second reference line.

[0091] In one possible implementation, after the rotating component stops rotating, the average value of the second and third included angles can also be determined.

[0092] S603: If the difference between the first included angle and the preset angle is greater than the preset threshold, the rotating part is rotated and corrected to the preset angle according to the difference.

[0093] The preset angle refers to the angle between the line connecting the two calibration points on the calibration plate and the preset baseline when the rotating component first rotates to a fixed position. Of course, this application does not specifically limit the method of obtaining the preset angle, nor does it affect the implementation of the embodiments of this application. If the difference between the first angle and the preset angle is greater than a preset threshold, the rotating component is rotated to the preset angle based on the difference, thereby completing the error correction of the rotating component.

[0094] In addition, after correcting the rotating component based on the error information, a second correction can be performed on the corrected rotating component. Therefore, the embodiments of this application may further include:

[0095] According to the instruction to rotate the rotating part to a preset fixed position, drive the rotating part to rotate again; when the rotating part stops rotating, determine the second included angle between the line connecting the two calibration points on the calibration plate and the preset baseline; if the difference between the second included angle and the preset angle is less than the preset threshold, the second included angle is determined as the preset angle of the calibration plate.

[0096] After the rotating part is rotated and corrected, the rotating part is driven to rotate again according to the instruction to rotate it to a fixed position. When the rotating part stops rotating, the second included angle between the line connecting the two calibration points on the calibration plate and the preset baseline is determined. If the difference between the second included angle and the preset angle is less than the preset threshold, it means that the error of the second included angle on the calibration plate is smaller at this time. Therefore, the second included angle is determined as the new preset angle of the calibration plate. Through the above method, the determined error information can be made smaller and smaller, thus ensuring the accuracy of the rotating part.

[0097] The above describes an error correction method provided by an embodiment of this application. First, according to an instruction to rotate a rotating component to a preset fixed position, the rotating component is driven to rotate, with a calibration plate on the rotating component. Then, after the rotating component stops rotating, a first angle is determined between the line connecting two calibration points on the calibration plate and a preset reference line. Finally, if the difference between the first angle and a preset angle is greater than a preset threshold, the rotating component is corrected to the preset angle based on the difference. The error information of the rotating component can be determined based on the difference between the first angle and the preset angle. Correction based on the determined error information can solve the problem of errors caused by long-term movement of mechanical components, thereby reducing the impact of errors caused by long-term movement of mechanical components on the accuracy of machining.

[0098] In this embodiment, in addition to angular errors, there are also positional errors during rotation. In order to correct the positional errors, the error is determined based on the distance between the position of the preset point on the calibration board and the reference position, and rotation correction is performed based on this error. The following describes another error correction method in conjunction with the embodiments and accompanying drawings.

[0099] Figure 7 A flowchart illustrating another error correction method provided in this application embodiment. (In conjunction with...) Figure 7 As shown, the error correction method provided in this application embodiment may include:

[0100] S701: Drive the rotating component to rotate according to the instruction to rotate the rotating component to a preset fixed position.

[0101] S702: After the rotating part stops rotating, determine the position of the preset point on the calibration plate.

[0102] The preset point on the calibration plate can be the center point of the calibration plate. In one possible implementation, the coordinates of the center point on the calibration plate can be determined after the rotating component stops rotating. Of course, this application does not specifically limit the preset point, and this does not affect the implementation of the embodiments of this application.

[0103] S703: If the distance between the preset point and the reference position is greater than the preset distance threshold, the rotating part will be rotated and corrected to the reference position according to the distance.

[0104] The reference position refers to the position of a preset point on the calibration plate when the rotating component first rotates to a fixed position. Of course, this application does not specifically limit the method of obtaining the reference position, nor does it affect the implementation of the embodiments of this application. In one possible implementation, when the distance between the coordinates of the preset point and the coordinates of the reference position is greater than a preset distance threshold, the rotating component is rotated and corrected to the reference position based on the determined distance.

[0105] The above describes another error correction method provided by this application embodiment. First, according to the instruction to rotate the rotating part to a preset fixed position, the rotating part is driven to rotate, wherein the calibration plate is on the rotating part. Then, after the rotating part stops rotating, the position of a preset point on the calibration plate is determined. Finally, if the distance between the preset point and the reference position is greater than a preset distance threshold, the rotating part is rotated to the reference position according to the determined distance. The positional error information of the rotating part can be determined based on the position of the preset point and the distance to the reference position, providing error information in the horizontal or vertical direction. Correction based on the determined error information can solve the problem of errors caused by long-term movement of mechanical parts, thereby reducing the impact of errors caused by long-term movement of mechanical parts on the accuracy of machining.

[0106] The above describes some specific implementations of the error determination and error correction methods provided in the embodiments of this application. Based on this, the present application also provides a corresponding apparatus. The apparatus provided in the embodiments of this application will be described below from the perspective of functional modularity.

[0107] See Figure 8 The figure is a schematic diagram of the structure of an error determination device 800 provided in an embodiment of this application. The device 800 may include:

[0108] The first determining module 801 is used to determine the reference position information of the calibration plate when the rotating component drives the calibration plate to rotate to a preset fixed position;

[0109] The second determining module 802 is used to determine the first position information of the calibration plate when the rotating component drives the calibration plate to rotate to the preset fixed position again;

[0110] The third determining module 803 is used to determine the first error information of the rotating component based on the reference position information and the first position information.

[0111] In this embodiment, through the cooperation of the first determining module 801, the second determining module 802, and the third determining module 803, when the rotating part moves to a fixed position, the camera takes a picture of the rotating part to obtain an image of the rotating part. Based on the image of the rotating part, the reference position information of the calibration plate can be determined. Then, when the rotating part moves to the fixed position for the second time, the position information of the calibration plate at this time is determined. Based on the reference position information of the calibration plate and the position information at this time, the error information of the rotating part can be determined. Through the above method, the error caused by the long-term movement of the mechanical part can be determined, providing more accurate error information to reduce the impact of the error caused by the long-term movement of the mechanical part on the accuracy of machining.

[0112] As one implementation method, the reference position information includes the position information of preset points on the calibration plate, and the angle information between the line connecting two calibration points on the calibration plate and the preset reference line.

[0113] In one implementation, when the calibration plate includes a first calibration point, a second calibration point, and a third calibration point, and the preset reference line includes a first reference line and a second reference line, the first determining module 801 is specifically used for:

[0114] Determine the location information of the preset point;

[0115] Determine the first line connecting the first and second calibration points, and determine the second line connecting the first and third calibration points;

[0116] The first included angle information is determined based on the first connecting line and the first baseline, and the second included angle information is determined based on the second connecting line and the second baseline.

[0117] The location information of the preset point, the first included angle information, and the second included angle information are determined as the reference location information.

[0118] As one implementation, the error determination device 800 further includes:

[0119] The first determining unit is used to determine the average value of the first included angle and the second included angle;

[0120] The second determining unit is used to determine the location information and average value of the preset point as the reference location information.

[0121] In one embodiment, the error determining device 800 further includes:

[0122] An error correction unit is used to correct the error of the rotating component based on the first error information if the first error information is greater than a preset threshold.

[0123] The third determining unit is used to determine the second position information of the calibration plate when the rotating part drives the calibration plate to a fixed position after the rotating part has corrected the error;

[0124] The fourth determining unit is used to determine the second error information of the rotating component based on the reference position information and the second position information;

[0125] The fifth determining unit is used to determine the second position information as the reference position information if the second error information is less than a preset threshold.

[0126] See Figure 9 The figure is a schematic diagram of the structure of an error correction device 900 provided in an embodiment of this application. The device 900 may include:

[0127] The rotation module 901 is used to drive the rotating component to rotate according to the instruction to rotate the rotating component to a preset fixed position, and the calibration plate is on the rotating component;

[0128] The included angle module 902 is used to determine the first included angle between the line connecting the two calibration points on the calibration plate and the preset reference line after the rotating part stops rotating;

[0129] The rotation correction module 903 is used to rotate and correct the rotating component to the preset angle according to the difference if the difference between the first included angle and the preset angle is greater than the preset threshold.

[0130] In this embodiment, through the cooperation of three modules—rotation module 901, angle determination module 902, and rotation correction module 903—the rotating component is driven to rotate according to the instruction to rotate it to a preset fixed position, wherein the calibration plate is on the rotating component. After the rotating component stops rotating, a first angle is determined between the line connecting two calibration points on the calibration plate and a preset baseline. If the difference between the first angle and a preset angle is greater than a preset threshold, the rotating component is corrected to the preset angle based on the difference. The error information of the rotating component can be determined based on the difference between the first angle and the preset angle. Correction based on the determined error information can solve the problem of errors caused by long-term movement of mechanical components, thereby reducing the impact of errors caused by long-term movement of mechanical components on the accuracy of machining.

[0131] In one embodiment, the error correction device 900 further includes:

[0132] The first rotating unit is used to drive the rotating component to rotate again according to the instruction to rotate the rotating component to a preset fixed position;

[0133] An included angle unit is used to determine the second included angle between the line connecting two calibration points on the calibration plate and the preset reference line after the rotating part stops rotating;

[0134] A preset angle unit is defined to determine the second included angle as the preset angle of the calibration plate when the difference between the second included angle and the preset angle is less than a preset threshold.

[0135] In one embodiment, the error correction device 900 further includes:

[0136] The second rotating unit is used to drive the rotating component to rotate according to the instruction to rotate the rotating component to a preset fixed position;

[0137] The preset point unit is used to determine the position of the preset point on the calibration plate after the rotating part stops rotating;

[0138] The correction unit is used to correct the rotation of the rotating part to the reference position according to the distance if the distance between the preset point and the reference position is greater than the preset distance threshold.

[0139] This application also provides corresponding devices and computer-readable storage media for implementing the solutions provided in this application.

[0140] The device includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to cause the device to perform the error determination method or the error correction method described in any embodiment of this application.

[0141] The computer-readable storage medium stores a computer program. When the computer program is run, the device running the computer program implements the error determination method or the error correction method described in any embodiment of this application.

[0142] In the embodiments of this application, the terms "first" and "second" (if they exist) are used only as name identifiers and do not represent the order of first and second.

[0143] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that all or part of the steps in the methods of the above embodiments can be implemented by means of software plus a general-purpose hardware platform. Based on this understanding, the technical solution of this application can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as a read-only memory (ROM) / RAM, magnetic disk, optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, a server, or a network communication device such as a router) to execute the methods described in various embodiments or some parts of the embodiments of this application.

[0144] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on its differences from other embodiments. In particular, the apparatus embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0145] The above description is merely an exemplary implementation of this application and is not intended to limit the scope of protection of this application.

Claims

1. A method of determining error, characterized by, The method comprises: When the rotating member drives the calibration plate to rotate to a preset fixed position, reference position information of the calibration plate is determined; the reference position information comprises position information of a preset point on the calibration plate at a first time, and an average value of a first included angle and a second included angle; the first included angle is an included angle between a first reference line and a first connecting line of a first calibration point and a second calibration point on the calibration plate, and the second included angle is an included angle between a second reference line and a second connecting line of the first calibration point and a third calibration point on the calibration plate; When the rotating member drives the calibration plate to rotate to the preset fixed position again, first position information of the calibration plate is determined; the first position information comprises position information of a preset point on the calibration plate at a second time, and an average value of a first included angle and a second included angle; the second time is later than the first time; According to the reference position information and the first position information, first error information of the rotating member is determined; If the first error information is greater than a preset threshold, error correction is performed on the rotating member according to the first error information; After the rotating member is corrected, when the rotating member drives the calibration plate to rotate to the preset fixed position again, second position information of the calibration plate is determined; the second position information comprises position information of a preset point on the calibration plate at a third time, and an average value of a first included angle and a second included angle; the third time is later than the second time; According to the reference position information and the second position information, second error information of the rotating member is determined; If the second error information is less than the preset threshold, the second position information is determined as the reference position information.

2. A method of error correction, characterized by, The method comprises: According to an instruction of rotating the rotating member to a preset fixed position, the rotating member is driven to rotate, and a calibration plate is on the rotating member; When the rotating member stops rotating, a first included angle between a connecting line between two calibration points on the calibration plate and a preset reference line is determined; If a difference between the first included angle and a preset angle is greater than a preset threshold, the rotating member is rotated and corrected to the preset angle according to the difference; According to an instruction of rotating the rotating member to the preset fixed position, the rotating member is driven to rotate again; When the rotating member stops rotating, a second included angle between a connecting line between two calibration points on the calibration plate and a preset reference line is determined; If a difference between the second included angle and the preset angle is less than a preset threshold, the second included angle is determined as a preset angle of the calibration plate.

3. The method of claim 2, wherein, The method further comprises: According to an instruction of rotating the rotating member to the preset fixed position, the rotating member is driven to rotate; When the rotating member stops rotating, a position of a preset point on the calibration plate is determined; If a distance between the position of the preset point and a reference position is greater than a preset distance threshold, the rotating member is rotated and corrected to the reference position according to the distance.

4. A device for determining an error, characterized by The device comprises: The first determining module is configured to determine reference position information of the calibration plate when the rotating member drives the calibration plate to rotate to a preset fixed position; the reference position information comprises position information of a preset point on the calibration plate at a first time, and an average value of a first included angle and a second included angle; the first included angle is an included angle between a first reference line and a first connecting line between a first calibration point and a second calibration point on the calibration plate, and the second included angle is an included angle between a second reference line and a second connecting line between the first calibration point and a third calibration point on the calibration plate; The second determining module is configured to determine first position information of the calibration plate when the rotating member drives the calibration plate to rotate to the preset fixed position again; the first position information comprises position information of a preset point on the calibration plate at a second time, and an average value of a first included angle and a second included angle; the second time is later than the first time; The third determining module is configured to determine first error information of the rotating member according to the reference position information and the first position information; The error correction unit is configured to perform error correction on the rotating member according to the first error information if the first error information is greater than a preset threshold value; The third determining unit is configured to determine second position information of the calibration plate when the rotating member drives the calibration plate to rotate to the preset fixed position again after the rotating member is corrected; the second position information comprises position information of a preset point on the calibration plate at a third time, and an average value of a first included angle and a second included angle; the third time is later than the second time; The fourth determining unit is configured to determine second error information of the rotating member according to the reference position information and the second position information; The fifth determining unit is configured to determine the second position information as the reference position information if the second error information is less than the preset threshold value.

5. An error correction device, characterized by, The device comprises: The rotating module is configured to drive the rotating member to rotate according to an instruction of rotating the rotating member to a preset fixed position; the calibration plate is on the rotating member; The included angle determining module is configured to determine a first included angle between a connecting line between two calibration points on the calibration plate and a preset reference line when the rotating member stops rotating; The rotating correction module is configured to rotate the rotating member to a preset angle according to a difference value of the first included angle and the preset angle if the difference value is greater than a preset threshold value; The first rotating unit is configured to drive the rotating member to rotate again according to an instruction of rotating the rotating member to the preset fixed position; The included angle determining unit is configured to determine a second included angle between a connecting line between two calibration points on the calibration plate and a preset reference line when the rotating member stops rotating; The preset angle determining unit is configured to determine the second included angle as a preset angle of the calibration plate if a difference value of the second included angle and the preset angle is less than a preset threshold value.

6. An apparatus, comprising: The equipment comprises: The memory is configured to store a computer program; The processor is configured to implement the error determining method of claim 1 or the error correction method of claim 2 or 3 when the computer program is executed.

7. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and the computer program is executed by the processor to implement the error determination method in claim 1, or the error correction method in claim 2 or 3.

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