Probe lossless space attitude automatic calibration method and device and storage medium

Abstract

The invention relates to a Probe lossless space attitude automatic calibration method and device and a storage medium, and the method comprises the steps: collecting a point-press head image of a Probe point-press head module through a camera of a camera module, and obtaining a point-press head coordinate image; if the point-pressing head in the point-pressing head coordinate image is imaged into an ellipse and the long axis a of the ellipse is not parallel or vertical to the X axis of the rectangular plane coordinate system, measuring the long axis a of the ellipse and the coordinates of the two end points, and adjusting the position and the rotation angle by the servo motor controller to enable the long axis to be parallel to the X axis; if the long axis is parallel to the Z axis, the Z-axis rotating module and the XZ-axis displacement module are controlled to move, so that the point pressing head image is circular, and the circle center coincides with the original point. The point pressing head is installed on the Probe point pressing head module of the calibration module, the camera module is placed on the product test position, the point pressing head image is shot through the camera module to obtain a point pressing head coordinate image, position adjustment data is calculated, and the position adjustment data is transmitted to the servo motor controller for position calibration.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of device calibration, and in particular to a Probe non-destructive space posture automatic calibration method and device and storage medium. BACKGROUND

[0002] With the rapid development of electronic product technology, and the increasing requirements of process efficiency and yield, the electronic industry has gradually begun to strengthen the research and optimization of product function test equipment while improving the process efficiency of electronic products. Among them, whether the test Probe can be automatically calibrated in a non-destructive posture has become a technical difficulty in the industry.

[0003] During the testing process of electronic products, the product key position often needs to be tested by the test Probe. The maximum influencing factor of the product key test is whether the accuracy of the spatial posture position of the test Probe reaches the optimal. If the accuracy of the posture position of the test Probe relative to the product key is too poor, it will cause damage to the test Probe and the product. Therefore, a corresponding calibration system is needed to automatically calibrate the spatial position of the test Probe to improve the success rate and efficiency of product testing.

[0004] The traditional test Probe posture calibration method usually adopts a manual adjustment module mechanism, and cooperates with the simulation test tooling and the test Probe to contact to calibrate the posture position of the test Probe. This traditional calibration method has the following three insurmountable shortcomings: first, since most of the product key tests in the current electronic product testing industry are automated tests, the manual calibration method cannot well cooperate with the fast-paced automated testing requirements, and the testing efficiency of the product will be greatly affected; second, since the traditional calibration method adopts manual calibration, the calibration accuracy cannot reach the optimal; third, the manual calibration method needs to contact the test Probe with the simulation test tooling for alignment, and the contact process between the test Probe and the tooling may cause wear of the Probe. Long-term contact wear will cause damage to the test Probe. SUMMARY

[0005] The present application provides a Probe non-destructive space posture automatic calibration method and device and storage medium, which aims to at least solve one of the technical problems existing in the prior art.

[0006] The technical scheme of the present application is a Probe non-destructive space posture automatic calibration method, which is applied to a Probe non-destructive space posture automatic calibration device. The Probe non-destructive space posture automatic calibration device comprises a camera module arranged on a test table and a calibration module arranged opposite to the camera module. The camera module comprises a camera and an image analysis device connected in sequence. The calibration module comprises a base, an X-axis rotating module, a Z-axis rotating module, an XZ-axis displacement module and a Probe point pressing head module. The Probe non-destructive space posture automatic calibration method comprises the following steps:

[0007] S100, placing the camera module and the calibration module at a preset working position, the camera of the camera module collects a point pressing head image of the Probe point pressing head module, and sends the point pressing head image to the image analysis device, the image analysis device superimposes the point pressing head image on a plane rectangular coordinate system to obtain a point pressing head coordinate image;

[0008] S200, if the point pressing head in the point pressing head coordinate image is imaged as an ellipse, and a major axis a of the ellipse is not parallel nor perpendicular to an X-axis of the plane rectangular coordinate system, the image analysis device measures the major axis a, and two end point coordinates e(X e ,Z e ) and f(X f ,Z f ) of the major axis a, and a servo motor controller of the calibration module adjusts the position and the rotation angle to make the major axis a parallel to the X-axis of the plane rectangular coordinate system;

[0009] S300, if the major axis a is parallel to a Z-axis of the plane rectangular coordinate system, based on a Z-axis rotation angle θ Z , controlling the Z-axis rotating module and the XZ-axis displacement module to move, so that the point pressing head image is circular and the center of the circle coincides with an origin of the plane rectangular coordinate system;

[0010] S400, if the point pressing head in the point pressing head coordinate image is imaged as a circle and the center of the circle coincides with the origin of the plane rectangular coordinate system, the calibration operation is completed.

[0011] Further, step S200 comprises:

[0012] S210, selecting a point with a smaller Z-axis coordinate value from the two end point coordinates e(X e ,Z e ) and f(X f ,Z f ) of the major axis a;

[0013] S220, judging the inclined direction of the major axis a, and comparing the two end point coordinates e(X e ,Ze ) and f(X f , Z f ), if the X-axis coordinate value of the point with smaller Z-axis coordinate value is larger than that of the other end point, the major axis a is inclined towards the positive direction of the X-axis, at this time, the servo motor controller controls the second motor of the Z-axis rotation module to rotate towards the negative direction of the X-axis until the major axis a is parallel to the X-axis, and the second motor stops rotating;

[0014] S230, if the X-axis coordinate value of the point with smaller Z-axis coordinate value is smaller than that of the other end point, the major axis a is inclined towards the negative direction of the X-axis, at this time, the servo motor controller controls the second motor of the Z-axis rotation module to rotate towards the positive direction of the X-axis until the major axis a is parallel to the X-axis, and the second motor stops rotating;

[0015] S240, the image analysis device measures the minor axis b of the ellipse, and the image analysis device calculates the X-axis rotation angle θ X ;

[0016] S250, the servo motor controller controls the first motor of the X-axis rotation module to rotate in the positive direction by a first rotation angle θ X , in the process of rotation, the real-time point press head coordinate image is obtained and the length of the real-time minor axis b is extracted, if the length of the minor axis b becomes longer, the first motor continues to rotate, if the length of the minor axis b becomes shorter, the first motor of the X-axis rotation module rotates in the reverse direction until the point press head image is a standard circular shape with a diameter of a;

[0017] S260, the latest point press head coordinate image is obtained, the coordinate value of the center of the circle is calculated, if the center of the circle does not coincide with the origin of the plane rectangular coordinate system, the servo motor controller controls the third motor and the fourth motor of the XZ-axis displacement module to move so that the center of the latest point press head coordinate image coincides with the origin of the plane rectangular coordinate system.

[0018] Further, in step S240, the X-axis rotation angle θ X is:

[0019]

[0020] Wherein, a is the major axis of the ellipse, and b is the minor axis of the ellipse.

[0021] Further, in step S200, if the point press head in the point press head coordinate image is imaged as an ellipse, but the major axis a is parallel to the X-axis of the plane rectangular coordinate system,

[0022] Skip steps S210 to S230, and only perform steps S240 to S260.

[0023] Further, step S300 includes:

[0024] S310, the image analysis device calculates the Z-axis rotation angle θ Z

[0025] S320, the servo motor controller controls the second motor of the Z-axis rotation module to rotate forward by a second rotation angle θ Z In the process of rotation, the real-time point press head coordinate image is acquired and the length of the real-time short axis b is extracted, if the length of the short axis b becomes longer, the first motor continues to rotate, if the length of the short axis b becomes shorter, the second motor of the X-axis rotation module rotates reversely until the point press head image is a standard circular shape with a diameter of a;

[0026] S330, the latest point press head coordinate image is acquired, the coordinate value of the center of the circle is calculated, if the center of the circle does not coincide with the origin of the plane rectangular coordinate system, the servo motor controller controls the third motor and the fourth motor of the XZ-axis displacement module to move, so that the center of the latest point press head coordinate image coincides with the origin of the plane rectangular coordinate system.

[0027] Further, in step S310, the Z-axis rotation angle θ Z is:

[0028]

[0029] Wherein, a is the long axis of the ellipse, and b is the short axis of the ellipse.

[0030] Further, the application also provides a Probe non-destructive space posture automatic calibration device for executing the Probe non-destructive space posture automatic calibration method, the Probe non-destructive space posture automatic calibration device comprises a camera module and a calibration module arranged oppositely, and the camera module is arranged on a test table;

[0031] The camera module comprises a camera and an image analysis device connected in sequence;

[0032] The calibration module comprises a base, an X-axis rotation module, a Z-axis rotation module, an XZ-axis displacement module and a Probe point press head module,

[0033] The X-axis rotation module is used for driving the Probe point press head module to adjust the rotation angle of the X-axis, and the X-axis rotation module is arranged above the base,

[0034] The Z-axis rotation module is arranged to drive the Probe point press head module to adjust the rotation angle of the Z-axis, and the Z-axis rotation module is arranged above the X-axis rotation module along the extension direction of the Y-axis,

[0035] The XZ axis displacement module is used for driving the Probe point press head module to perform XZ axis translation position adjustment, and is arranged above the Z axis rotation module,

[0036] The Probe point press head module is used for aligning the tested position of the measured product, and is arranged in the extension direction of the Y axis of the XZ axis displacement module.

[0037] Further, the X axis rotation module at least comprises a first motor, a first motion conversion mechanism for converting linear motion output of the first motor into rotary motion, and a first rotary output disc connected with the output of the first motion conversion mechanism, and the first rotary output disc is connected with one end of the Z axis rotation module.

[0038] The Z axis rotation module at least comprises a first adapter plate connected with the first rotary output disc, a second motor, a second motion conversion mechanism for converting linear motion output of the second motor into rotary motion, and a second rotary output disc connected with the second motion conversion mechanism, and the second rotary output disc is connected with one end of the XZ axis displacement module.

[0039] The XZ axis displacement module at least comprises a second adapter plate connected with the second rotary output disc, a third motor for output shaft displacement along the Z axis, a Z axis displacement output plate, a fourth motor for output shaft displacement along the X axis, and an X axis displacement output plate,

[0040] The Probe point press head module at least comprises a third adapter plate, a fifth motor, a shaft coupling, a screw transmission mechanism, and a press mechanism.

[0041] The end of the press mechanism is provided with a press head.

[0042] Further, the first adapter plate comprises a first side plate and a second side plate perpendicular to each other, the normal vector of the first side plate is a direction extending along the X axis, the normal vector of the second side plate is a direction extending along the Z axis, the first side plate is connected with the first rotary output disc, and the second side plate is connected with the second motor.

[0043] The second adapter plate comprises a third side plate and a fourth side plate perpendicular to each other, the normal vector of the third side plate is a direction extending along the Z axis, the normal vector of the fourth side plate is a direction extending along the Y axis, the third side plate is connected with the second rotary output disc, and the fourth side plate is connected with the third motor.

[0044] The third adapter plate comprises a fifth side plate and a sixth side plate perpendicular to each other, the normal vector of the fifth side plate is a direction extending along the Y axis, the normal vector of the sixth side plate is a direction extending along the Z axis, the fifth side plate is connected with the X axis displacement output plate, and the Probe point press head module is arranged on the sixth side plate;

[0045] The first motor, the second motor, the third motor, the fourth motor and the fifth motor are servo motors, and a servo motor controller is further included, and the first motor, the second motor, the third motor, the fourth motor and the fifth motor are electrically connected with the servo motor controller, and the servo motor controller is electrically connected with the image analysis device.

[0046] Further, the application also provides a computer readable storage medium, which stores program instructions, and the program instructions are executed by a processor to implement the Probe non-destructive spatial posture automatic calibration method.

[0047] The Probe non-destructive spatial posture automatic calibration method, device and storage medium have the following beneficial effects:

[0048] The Probe non-destructive spatial posture automatic calibration method, device and storage medium install the point press head on the Probe point press head module of the calibration module, place the camera module on a product test position, obtain a point press head coordinate image by shooting the point press head image through the camera module, calculate position adjustment data and transmit the position adjustment data to a servo motor controller for position calibration.

[0049] (1) The calibration module uses a servo motor to test and adjust the position, which is different from the traditional manual calibration method, and the automatic calibration is more suitable for use in an automatic test system, thereby improving the success rate and efficiency of product testing;

[0050] (2) Since the calibration module adopts a servo motor system, the adjustment precision is higher than that of a manual calibration adjustment structure, and the problem of low adjustment precision of a traditional calibration structure is solved;

[0051] (3) The calibration module does not need to be in contact with other test tools, uses a camera module to shoot a point press head image, analyzes and calculates adjustment data through an image analysis system, and avoids damaging the test Probe. BRIEF DESCRIPTION OF DRAWINGS

[0052] Figure 1 It is a whole flow chart of the Probe non-destructive spatial posture automatic calibration method.

[0053] Figure 2 It is a schematic view of the imaging state of the Probe point press head module aligning the camera module in the Probe non-destructive spatial posture automatic calibration method.

[0054] Figure 3 The imaging state of the probe point press head module without alignment with the camera module in the probe non-destructive space posture automatic calibration method.

[0055] Figure 4 A point press head coordinate image and coordinate points and a long axis annotation collected in the probe non-destructive space posture automatic calibration method (the long axis a of the point press head imaging is not parallel to nor perpendicular to the X axis of the plane rectangular coordinate system).

[0056] Figure 5 The imaging state of the probe head in the coordinate system in the probe non-destructive space posture automatic calibration method. Figure 4 The imaging state of the probe head in the coordinate system in the probe non-destructive space posture automatic calibration method.

[0057] Figure 6 The imaging state of the probe head in the coordinate system in the probe non-destructive space posture automatic calibration method. Figure 5 The imaging state of the probe head in the coordinate system in the probe non-destructive space posture automatic calibration method.

[0058] Figure 7 The imaging state of the probe head in the coordinate system in the probe non-destructive space posture automatic calibration method. Figure 6 The imaging state of the probe head in the coordinate system in the probe non-destructive space posture automatic calibration method.

[0059] Figure 8 The imaging state of the probe head in the coordinate system in the probe non-destructive space posture automatic calibration method.

[0060] Figure 9 The imaging state of the probe head in the coordinate system in the probe non-destructive space posture automatic calibration method. Figure 8 The imaging state of the probe head in the coordinate system in the probe non-destructive space posture automatic calibration method.

[0061] Figure 10 The imaging state of the probe head in the coordinate system in the probe non-destructive space posture automatic calibration method. Figure 9 The imaging state of the probe head in the coordinate system in the probe non-destructive space posture automatic calibration method.

[0062] Figure 11 The structure diagram of the probe non-destructive space posture automatic calibration device.

[0063] Figure 12 The structure diagram of the X axis rotation module in the probe non-destructive space posture automatic calibration device.

[0064] Figure 13 The structure diagram of the Z axis rotation module in the probe non-destructive space posture automatic calibration device.

[0065] Figure 14 It is a structural schematic view of the XZ axis displacement module in the Probe non-destructive space posture automatic calibration device.

[0066] Figure 15 It is a structural schematic view of the Probe point pressing head module in the Probe non-destructive space posture automatic calibration device.

[0067] The figure mark, 100, a camera module; 110, a camera; 120, a test table; 200, a calibration module; 210, a base; 220, an X axis rotation module; 221, a first motor; 222, a first motion conversion mechanism; 223, a first rotation output disc; 230, a Z axis rotation module; 231, a first adapter plate; 232, a first side plate; 233, a second side plate; 234, a second motor; 235, a second motion conversion mechanism; 236, a second rotation output disc; 240, an XZ axis displacement module; 241, a second adapter plate; 242, a third side plate; 243, a fourth side plate; 244, a third motor; 245, a Z axis displacement output plate; 246, a fourth motor; 247, an X axis displacement output plate; 250, a Probe point pressing head module; 251, a third adapter plate; 252, a fifth side plate; 253, a sixth side plate; 254, a fifth motor; 255, a shaft coupling; 256, a screw transmission mechanism; 257, a pressing mechanism; 258, a pressing head. DETAILED DESCRIPTION

[0068] The concept, specific structure and generated technical effects of the present application will be described clearly and completely in combination with the embodiments and the drawings below, so as to fully understand the purpose, scheme and effects of the present application. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0069] It should be noted that, unless otherwise specified, when a certain feature is referred to as being "fixed" or "connected" to another feature, it can be directly fixed or connected to the other feature, or indirectly fixed or connected to the other feature. In addition, the up, down, left, right, top, bottom and other descriptions used in the present application are only relative to the relative positions of the components of the present application in the drawings.

[0070] In addition, unless otherwise defined, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art. The terms used in the specification herein are only for describing specific embodiments, and are not intended to limit the present application. The term "and / or" used herein includes any combination of one or more related listed items.

[0071] It should be understood that, although the terms first, second, third, etc. can be employed in this disclosure to describe various elements, these elements should not be limited to these terms. These terms are only used to distinguish one type of element from another type of element. For example, a first element could also be termed a second element, and, similarly, a second element could also be termed a first element, without departing from the scope of the present disclosure.

[0072] Referring to Figures 1 to 15 In some embodiments, the technical solution of the present application is a Probe non-destructive spatial posture automatic calibration method, which is applied to a Probe non-destructive spatial posture automatic calibration device. The Probe non-destructive spatial posture automatic calibration device comprises a camera module 100 arranged on a test table 120 and a calibration module 200 arranged opposite to the camera module 100. The camera module 100 comprises a camera 110 and an image analysis device connected in sequence. The calibration module 200 comprises a base 210, an X-axis rotation module 220, a Z-axis rotation module 230, an XZ-axis displacement module 240, and a Probe point pressing head module 250. Referring to Figure 1 , the Probe non-destructive spatial posture automatic calibration method comprises the following steps:

[0073] S100, placing the camera module 100 and the calibration module 200 at a predetermined working position. The camera 110 of the camera module 100 collects a point pressing head image of the Probe point pressing head module 250 and sends the point pressing head image to the image analysis device. The image analysis device superimposes the point pressing head image with a plane rectangular coordinate system to obtain a point pressing head coordinate image.

[0074] S200, if the point pressing head 258 in the point pressing head coordinate image is imaged as an ellipse, and the major axis a of the ellipse is not parallel nor perpendicular to the X-axis of the plane rectangular coordinate system, the image analysis device measures the major axis a, and the coordinates e(X e ,Z e ) and f(X f ,Z f ) of the two end points of the major axis a, and the servo motor controller of the calibration module 200 adjusts the position and the rotation angle to make the major axis a parallel to the X-axis of the plane rectangular coordinate system.

[0075] S300, if the major axis a is parallel to the Z-axis of the plane rectangular coordinate system, the Z-axis rotation angle θ Z is controlled to control the movement of the Z-axis rotation module 230 and the XZ-axis displacement module 240, so that the point pressing head image is circular and the center of the circle coincides with the origin of the plane rectangular coordinate system.

[0076] S400, if the stylus 258 in the stylus coordinate image is imaged as a circle and the center of the circle coincides with the origin of the plane rectangular coordinate system, the calibration operation is completed.

[0077] The present application has the following advantages:

[0078] The Probe non-destructive spatial posture automatic calibration method, device and storage medium install the stylus 258 on the Probe stylus module 250 of the calibration module 200, and place the camera module 100 on the product test position, obtain the stylus coordinate image by shooting the stylus image through the camera module 100, and calculate the position adjustment data and transmit it to the servo motor controller for position calibration.

[0079] (1) The calibration module 200 uses a servo motor to test the posture position adjustment, which is different from the traditional manual calibration method. The automatic calibration is more suitable for use in an automatic test system, and improves the success rate and efficiency of product testing.

[0080] (2) Since the calibration module 200 uses a servo motor system, it can achieve higher adjustment accuracy than the manual calibration adjustment structure, and solve the problem of low adjustment accuracy of the traditional calibration structure.

[0081] (3) The calibration module 200 does not need to contact other test tools, uses the camera module 100 to shoot the stylus image, analyzes and calculates the adjustment data of the shot stylus coordinate image through the image analysis system, and avoids damaging the test Probe.

[0082] Specifically, in step S100, before operating the Probe non-destructive spatial posture automatic calibration device, the camera module 100 and the Probe stylus module need to be installed at a predetermined position. After the camera module 100 and the Probe stylus module 250 are installed, the camera 110 in the camera module 100 first shoots the picture of the Probe stylus 258, and transmits the shot picture to the image analysis equipment. The image analysis equipment analyzes the state of the Probe stylus 258 picture in the coordinate system to obtain the stylus coordinate image.

[0083] Referring to Figure 2 , if the Probe stylus module 250 is aligned with the camera 110 module, that is, the center position of the product key is aligned, the imaging state of the stylus 258 of the Probe stylus module 250 in the stylus coordinate image is that the Probe is in a standard circular state in the coordinate system, and the center of the circle is located at the origin of the coordinate system.

[0084] However, referring to Figure 3In general, when the probe point press head module 250 is not adjusted to the right position, the camera 110 transmits the imaging in the coordinate system of the image analysis device after shooting, and obviously, the probe point press head 258 is imaged as an ellipse in the coordinate system, and the center is not at the origin of the coordinate system, indicating that the probe point press head module 250 has angle and position deviation, and the point press head coordinate image needs to be calculated to drive the probe point press head module 250 to adjust the angle and position of the probe.

[0085] When the probe point press head module 250 has angle and position deviation, the angle needs to be adjusted first and then the position is adjusted. The reason is that when the probe has angle deviation, the imaging in the coordinate system after shooting by the camera 110 is an ellipse, and the angle of the probe needs to be adjusted to make the front of the probe parallel to the lens plane of the camera 110. At this time, the imaging of the probe in the coordinate system is a standard circle, and of course the center of the circle is not at the origin of the coordinate system, and the position of the probe point press module needs to be adjusted through image analysis calculation to finally complete the posture adjustment of the probe point press head module 250.

[0086] Further, the step S200 comprises:

[0087] S210, selecting the point with smaller Z-axis coordinate value in the two end point coordinates e(X e ,Z e ) and f(X f ,Z f ) of the long axis a;

[0088] S220, judging the tilt direction of the long axis a, comparing the two end point coordinates e(X e ,Z e ) and f(X f ,Z f ) of the long axis a, if the X-axis coordinate value of the point with smaller Z-axis coordinate value is larger than the X-axis coordinate value of the other end point, the long axis a is tilted towards the positive direction of the X-axis, at this time, the servo motor controller controls the second motor 234 of the Z-axis rotation module 230 to rotate towards the negative direction of the X-axis until the long axis a is parallel to the X-axis, and the second motor 234 stops rotating;

[0089] S230, if the X-axis coordinate value of the point with smaller Z-axis coordinate value is smaller than the X-axis coordinate value of the other end point, the long axis a is tilted towards the negative direction of the X-axis, at this time, the servo motor controller controls the second motor 234 of the Z-axis rotation module 230 to rotate towards the positive direction of the X-axis until the long axis a is parallel to the X-axis, and the second motor 234 stops rotating;

[0090] S240, the image analysis device measures the short axis b of the ellipse, and the image analysis device calculates the X-axis rotation angle θ X ;

[0091] S250, the servo motor controller controls the first motor 221 of the X-axis rotation module 220 to rotate forward by a first rotation angle θ X . During the rotation, the real-time point press head coordinate image is obtained and the length of the real-time short axis b is extracted. If the length of the short axis b becomes longer, the first motor 221 continues to rotate. If the length of the short axis b becomes shorter, the first motor 221 of the X-axis rotation module 220 rotates reversely until the point press head image is a standard circular shape with a diameter of a.

[0092] S260, the latest point press head coordinate image is obtained, the coordinate value of the center of the circle is calculated, and if the center of the circle does not coincide with the origin of the plane rectangular coordinate system, the servo motor controller controls the third motor 244 and the fourth motor 246 of the XZ-axis displacement module 240 to move so that the center of the latest point press head coordinate image coincides with the origin of the plane rectangular coordinate system.

[0093] In one specific embodiment, with reference to Figure 4 ,

[0094] (1) In the step S210, the camera 110 images the Probe point press head image into the coordinate system after shooting, and the imaging state is an inclined ellipse. At this time, it is judged whether the Probe head appears posture deviation through calculation and analysis. If it is judged that the posture deviation appears, the long axis a of the ellipse on the coordinate system is calculated and analyzed and recognized, that is, the longest straight line in the ellipse, which is consistent with the diameter of the Probe point press head 258. At the same time, the two end point coordinates e(X e ,Z e ) and f(X f ,Z f ) of the long axis a are analyzed.

[0095] (2) In the step S220, the Z-axis coordinate value of the f point is less than the Z-axis coordinate value of the e point, and the f point is selected.

[0096] (3) In the step S230, it is further judged that the inclined direction of the long axis a, that is, the X-axis coordinate value of the f point is compared with the X-axis coordinate value of the e point. If the X-axis coordinate value of the f point is greater than the X-axis coordinate value of the e point, that is, the straight line a is inclined to the positive direction of the X-axis, the servo motor of the Z-axis rotation module 230 is sent a command to rotate the motor to the negative direction of the X-axis (and vice versa to rotate the motor to the positive direction of the X-axis). The camera 110 synchronously and in real time recognizes the long axis a in the Probe head image until the long axis a is parallel to the X-axis, and the rotation motor stops.

[0097] (4) With reference to Figure 5, to obtain the imaging of the probe head in the plane rectangular coordinate system, in the step S240, the long axis a and the short axis b of the elliptical imaging are identified synchronously, and the rotation angle θ of the X-axis rotation module 220 is calculated X .

[0098] (5) With reference to Figure 6 , in the step S250, the first motor 221 drives the probe point press head module 250 to make corresponding angle adjustment, at this time, the camera 110 identifies the short axis b in the elliptical imaging of the probe head in the coordinate system in real time, the X-axis rotation module 220 rotates first in the positive direction of the Z-axis, if the length of the short axis b gradually becomes longer, the rotation module continues to make angle adjustment according to the obtained rotation angle value θ X ; on the contrary, if the length of the short axis b becomes shorter, the camera 110 will send a command to the motor through the computer after identification, the motor drives the rotation module to rotate in the opposite direction, until the imaging of the probe head in the coordinate system is a standard circular image with a diameter of a, that is, the angle adjustment is completed.

[0099] (6) With reference to Figure 7 , in the step S260, finally, the camera 110 identifies and calculates the center of the circular image, and judges whether the center coincides with the origin of the coordinate system, if not, calculates and drives the XZ-axis displacement module 240 to make position adjustment in the X-axis and Z-axis directions, until the center of the circular image coincides with the origin of the coordinate system, and the final posture adjustment of the probe point press module is completed.

[0100] Further, in the step S240, the X-axis rotation angle θ X is:

[0101]

[0102] Wherein, a is the long axis of the ellipse, and b is the short axis of the ellipse.

[0103] Further, in the step S200, if the point press head 258 in the point press head coordinate image is imaged as an elliptical shape, but the long axis a is parallel to the X-axis of the plane rectangular coordinate system,

[0104] The steps S210 to S230 are skipped, and only the steps S240 to S260 need to be executed.

[0105] Specifically, after the camera 110 finishes shooting the image of the probe head and identifies the long axis a in the image, if the long axis a is parallel to the X-axis, the calculation of the X-axis rotation angle θ X and the XZ-axis displacement adjustment is directly performed, and the angle adjustment of the X-axis is completed, and finally the displacement adjustment of the XZ-axis is performed, and the posture adjustment of the probe point press module is completed.

[0106] Further, step S300 comprises:

[0107] S310, the image analysis device calculates the Z-axis rotation angle θ Z

[0108] S320, the servo motor controller controls the second motor 234 of the Z-axis rotation module 230 to rotate forward by a second rotation angle θ Z During rotation, a real-time point press head coordinate image is acquired and the length of the real-time minor axis b is extracted. If the length of the minor axis b becomes longer, the first motor 221 continues to rotate. If the length of the minor axis b becomes shorter, the second motor 234 of the X-axis rotation module 220 rotates reversely until the point press head image is a standard circular shape with a diameter of a.

[0109] S330, a latest point press head coordinate image is acquired, the coordinate value of the center of the circle is calculated, and if the center of the circle does not coincide with the origin of the plane rectangular coordinate system, the servo motor controller controls the third motor 244 and the fourth motor 246 of the XZ-axis displacement module 240 to move so that the center of the latest point press head coordinate image coincides with the origin of the plane rectangular coordinate system.

[0110] Specifically, in one specific embodiment, referring to Figure 8 ,

[0111] (1) If the major axis a of the Probe imaging in the coordinate system is parallel to the Z-axis, the computer system directly calculates the Z-axis rotation angle θ Z .

[0112] (2) Referring to Figure 9 , after the angle offset θ Z is obtained in step S320, the computer transmits the calculated data to the servo motor, and the motor drives the Probe point press head module 250 to make a corresponding angle adjustment. At this time, the camera 110 identifies the minor axis b in the elliptical imaging of the Probe head on the coordinate system in real time, and the Z-axis rotation module 230 rotates in the positive direction of the X-axis first. If the length of the minor axis b gradually becomes longer, the rotation module continues to make an angle adjustment according to the obtained rotation angle value θ Z . Conversely, if the length of the minor axis b becomes shorter, the camera 110 will send an instruction to the motor through the computer after identification, and the motor drives the rotation module to rotate in the opposite direction until the imaging of the Probe head in the coordinate system is a standard circular shape with a diameter of a, that is, the angle adjustment is completed.

[0113] (3) Referring to Figure 10, in step S330, the last camera 110 identifies the center of the circular image and judges whether the center of the circular image coincides with the origin of the coordinate system. If not, the XZ axis displacement module 240 is calculated and driven to adjust the position in the X axis and Z axis directions until the center of the circular image coincides with the origin of the coordinate system, that is, the final Probe point pressing module posture adjustment is completed.

[0114] Further, in step S310, the Z axis rotation angle θ Z is:

[0115]

[0116] Wherein a is the major axis of the ellipse, and b is the minor axis of the ellipse.

[0117] Further, with reference Figure 11 , the application also provides a Probe non-destructive space posture automatic calibration device for executing the Probe non-destructive space posture automatic calibration method. The Probe non-destructive space posture automatic calibration device comprises a camera module 100 and a calibration module 200 arranged oppositely, and the camera module 100 is arranged on a test table 120.

[0118] The camera module 100 comprises a camera 110 and an image analysis device connected in sequence.

[0119] The calibration module 200 comprises a base 210, an X axis rotation module 220, a Z axis rotation module 230, an XZ axis displacement module 240 and a Probe point pressing head module 250,

[0120] The X axis rotation module 220 is used to drive the Probe point pressing head module 250 to adjust the rotation angle of the X axis, and the X axis rotation module 220 is arranged above the base 210.

[0121] The Z axis rotation module 230 is arranged to drive the Probe point pressing head module 250 to adjust the rotation angle of the Z axis, and the Z axis rotation module 230 is arranged in the extension direction of the Y axis of the X axis rotation module 220.

[0122] The XZ axis displacement module 240 is used to drive the Probe point pressing head module 250 to adjust the translation position of the XZ axis, and the XZ axis displacement module 240 is arranged above the Z axis rotation module 230.

[0123] The Probe point pressing head module 250 is used to align the test position of the product to be tested, and the Probe point pressing head module 250 is arranged in the extension direction of the Y axis of the XZ axis displacement module 240.

[0124] Further, with referenceFigure 12 The X-axis rotation module 220 at least includes a first motor 221, a first motion conversion mechanism 222 converting linear motion output of the first motor 221 into rotary motion, and a first rotary output disc 223 connected with the output of the first motion conversion mechanism 222, which is connected with one end of the Z-axis rotation module 230;

[0125] With reference to Figure 13 The Z-axis rotation module 230 at least includes a first adapter plate 231 connected with the first rotary output disc 223, a second motor 234, a second motion conversion mechanism 235 converting linear motion output of the second motor 234 into rotary motion, and a second rotary output disc 236 connected with the second motion conversion mechanism 235, which is connected with one end of the XZ-axis displacement module 240;

[0126] With reference to Figure 14 The XZ-axis displacement module 240 at least includes a second adapter plate 241 connected with the second rotary output disc 236, a third motor 244 with an output shaft along the Z-axis displacement, a Z-axis displacement output plate 245, a fourth motor 246 with an output shaft along the X-axis displacement, and an X-axis displacement output plate 247,

[0127] With reference to Figure 15 The Probe point press module 250 at least includes a third adapter plate 251, a fifth motor 254, a shaft coupling 255, a screw drive mechanism 256, and a point press mechanism 257 connected in sequence;

[0128] The point press mechanism 257 is provided with a point press head 258 at the end thereof.

[0129] Further, with reference to Figure 11 and Figure 13 The first adapter plate 231 includes a first side plate 232 and a second side plate 233 perpendicular to each other, a normal vector of the first side plate 232 is a direction extending along the X-axis, a normal vector of the second side plate 233 is a direction extending along the Z-axis, the first side plate 232 is connected with the first rotary output disc 223, and the second side plate 233 is connected with the second motor 234;

[0130] With reference to Figure 11 and Figure 14 The second adapter plate 241 includes a third side plate 242 and a fourth side plate 243 perpendicular to each other, a normal vector of the third side plate 242 is a direction extending along the Z-axis, a normal vector of the fourth side plate 243 is a direction extending along the Y-axis, the third side plate 242 is connected with the second rotary output disc 236, and the fourth side plate 243 is connected with the third motor 244;

[0131] Referring to Figure 11 and Figure 15 The third adapter plate 251 includes a fifth side plate 252 and a sixth side plate 253 perpendicular to each other, the normal vector of the fifth side plate 252 is a direction extending along the Y axis, the normal vector of the sixth side plate 253 is a direction extending along the Z axis, the fifth side plate 252 is connected with the X axis displacement output plate 247, and the Probe point press head module 250 is arranged on the sixth side plate 253;

[0132] The first motor 221, the second motor 234, the third motor 244, the fourth motor 246 and the fifth motor 254 are all servo motors, and a servo motor controller is further included, the first motor 221, the second motor 234, the third motor 244, the fourth motor 246 and the fifth motor 254 are respectively electrically connected with the servo motor controller, and the servo motor controller is electrically connected with an image analysis device.

[0133] Specifically, the camera module 100 is placed on the position to be measured of the product, the lens position of the camera 110 is consistent with the key position of the product, and the camera 110 is linked with an external image analysis device through a cable; the Probe point press head module 250 is fixed on the XZ axis displacement module 240 through screws, and the Probe is aligned with the key position of the product; the XZ axis displacement module 240 is connected with the Probe point press head module 250 through screws, and is fixed on the Z axis rotation module 230 through screws, the module is driven by a motor to drive the Probe point press head module 250 to adjust the position in the XZ axis direction; the Z axis rotation module 230 is connected with the XZ axis displacement module 240 through screws, and is fixed on the X axis rotation module 220 through screws, the module is driven by a motor to drive the Probe point press head module 250 to adjust the angle of rotation in the Z axis direction. The X axis rotation module 220 is connected with the Z axis rotation module 230 through screws, and is fixed on the support module through screws, the module is driven by a motor to drive the Probe point press head module 250 to adjust the angle of rotation in the X axis direction. The base 210 serves as a base, is connected through screws, and is used to fasten the X axis rotation module 220, the Z axis rotation module 230, the XZ axis displacement module 240 and the Probe point press head module 250.

[0134] The camera module 100 is placed on the position to be tested of the product, the lens position of the camera 110 is consistent with the key position of the product, and the camera 110 is connected to an external image analysis device through a cable. When the camera module 100 is placed on the position to be tested, the camera 110 captures an image of the Probe point head 258 and transmits the image to the image analysis device for analysis and calculation, and the calculation result is transmitted to a servo motor controller to control the movement of the XZ axis displacement module 240, the Z axis rotation module 230 and the X axis rotation module 220.

[0135] The Probe point head module 250 is fixed to the XY axis displacement module by screws, and is used to press the keys of the product. The Probe part is driven by a motor to move in the Y axis direction.

[0136] The XZ axis displacement module 240 is connected to the Probe point head module 250 by screws, and the Probe point head module 250 is mainly fixed to the displacement adjustment module. The Probe point head module 250 on the displacement adjustment module is driven by a motor to adjust the position in the XZ axis direction.

[0137] The Z axis rotation module 230 is connected to the XZ axis displacement module 240 by screws, and the XZ axis displacement module 240 is fixed to the rotation adjustment module of the Z axis rotation module 230 by screws. The rotation adjustment module is driven by a motor module to rotate in the Z axis direction, so as to drive the Probe point head module 250 on the XZ axis displacement module 240 to adjust the angle in the Z axis direction.

[0138] The X axis rotation module 220 is connected to the Z axis rotation module 230 by screws, and the Z axis rotation module 230 is fixed to the rotation adjustment module of the X axis rotation module 220 by screws. The rotation adjustment module is driven by a motor module to rotate in the X axis direction, so as to drive the Probe point head module 250 on the XZ axis displacement module 240 to adjust the angle in the X axis direction.

[0139] The base 210 is connected to the X axis rotation module 220 by screws, and is used to carry the Probe point head module 250, the XZ axis displacement module 240, the Z axis rotation module 230 and the X axis rotation module 220.

[0140] Further, the application also provides a computer readable storage medium, which stores program instructions. When the program instructions are executed by a processor, the Probe non-destructive spatial posture automatic calibration method is implemented.

[0141] The above merely describes preferred embodiments of the present application, and the present application is not limited to the above-described embodiments, but any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A Probe non-destructive space posture automatic calibration method, which is applied to a Probe non-destructive space posture automatic calibration device, wherein the Probe non-destructive space posture automatic calibration device comprises a camera module (100) arranged on a test table (120) and a calibration module (200) arranged opposite to the camera module (100), the camera module (100) comprises a camera (110) and an image analysis device connected in sequence, and the calibration module (200) comprises a base (210), an X-axis rotation module (220), a Z-axis rotation module (230), an XZ-axis displacement module (240) and a Probe point pressing head module (250), characterized in that, The Probe non-destructive spatial posture automatic calibration method comprises the following steps: S100, placing a camera module (100) and a calibration module (200) on a preset working position, a camera (110) of the camera module (100) collects a point pressing head image of the Probe point pressing head module (250), and the point pressing head image is sent to an image analysis device, the image analysis device superimposes the point pressing head image on a plane rectangular coordinate system to obtain a point pressing head coordinate image; S200, if the stylus (258) in the stylus coordinate image is imaged as an ellipse, and the major axis a of the ellipse is neither parallel nor perpendicular to the X axis of the plane rectangular coordinate system, the image analysis device measures the major axis a of the ellipse, and the coordinates e(X e ,Z e ) and f(X f ,Z f ) of the two end points of the major axis a, and the servo motor controller of the calibration module (200) adjusts the position and the rotation angle so that the major axis a is parallel to the X axis of the plane rectangular coordinate system; S300, if the long axis a is parallel to the Z axis of the plane rectangular coordinate system, based on the rotation angle θ of the Z axis Z Controlling the motion of the Z-axis rotation module (230) and the XZ-axis displacement module (240) so that the dot pressing head image is circular and the center of the circle coincides with the origin of the plane rectangular coordinate system. S400, if the point pressing head (258) in the point pressing head coordinate image is imaged as a circle and the center of the circle coincides with the origin of the plane rectangular coordinate system, the calibration operation is completed.

2. The Probe non-destructive spatial pose auto-calibration method of claim 1, wherein, Step S200 comprises: S210, select the two end point coordinates e(X e ,Z e ) and f(X f ,Z f ) of the long axis a, and the point with smaller Z-axis coordinate value; S220, judging the tilt direction of the long axis a, comparing the X axis coordinate values of the two end point coordinates e(X e ,Z e ) and f(X f ,Z f ) of the long axis a, if the X axis coordinate value of the point with smaller Z axis coordinate value is larger than that of the other end point, the long axis a is tilted towards the positive direction of the X axis, at this time, the servo motor controller controls the second motor (234) of the Z axis rotation module (230) to rotate towards the negative direction of the X axis until the long axis a is parallel to the X axis, and the second motor (234) stops rotating; S230, if the X-axis coordinate value of the point with a smaller Z-axis coordinate value is smaller than the X-axis coordinate value of the other end point, the long axis a is inclined to the negative direction of the X-axis, at this time, the servo motor controller controls the second motor (234) of the Z-axis rotation module (230) to rotate to the positive direction of the X-axis until the long axis a is parallel to the X-axis, and the second motor (234) stops rotating; S240, the image analysis device measures the short axis b of the ellipse, and the image analysis device calculates the X-axis rotation angle θ X ; S250, the servo motor controller controls the first motor (221) of the X-axis rotation module (220) to rotate forward by a first rotation angle θ X In the process of rotation, real-time point press head coordinate images are acquired and the length of real-time short axis b is extracted. If the length of the short axis b becomes longer, the first motor (221) continues to rotate. If the length of the short axis b becomes shorter, the first motor (221) of the X-axis rotation module (220) rotates reversely until the point press head image is a standard circular shape with a diameter of a. S260, obtaining a latest point pressing head coordinate image, calculating the coordinate value of the center of the circle, if the center of the circle does not coincide with the origin of the plane rectangular coordinate system, the servo motor controller controls the third motor (244) and the fourth motor (246) of the XZ-axis displacement module (240) to move so that the center of the circle of the latest point pressing head coordinate image coincides with the origin of the plane rectangular coordinate system.

3. The Probe non-invasive spatial pose auto-calibration method of claim 2, wherein, In step S240, the X-axis rotation angle θ X is: Wherein, a is the long axis of the ellipse, and b is the short axis of the ellipse.

4. The Probe non-invasive spatial pose auto-calibration method of claim 2, wherein, In step S200, if the point pressing head (258) in the point pressing head coordinate image is imaged as an ellipse, but the long axis a is parallel to the X-axis of the plane rectangular coordinate system, Steps S210 to S230 are skipped, and only steps S240 to S260 need to be executed.

5. The Probe non-invasive spatial pose auto-calibration method of claim 1, wherein, Step S300 comprises: S310、the image analysis device calculates the Z-axis rotation angle θ Z S320, the servo motor controller controls the second motor (234) of the Z-axis rotation module (230) to rotate forward by a second rotation angle θ Z In the process of rotation, real-time point press head coordinate images are acquired and real-time short axis b length is extracted, if the short axis b length becomes longer, the first motor (221) continues to rotate, if the short axis b length becomes shorter, the second motor (234) of the X-axis rotation module (220) rotates reversely until the point press head image is a standard circular shape with a diameter of a. S330, obtaining a latest point pressing head coordinate image, calculating the coordinate value of the center of the circle, if the center of the circle does not coincide with the origin of the plane rectangular coordinate system, the servo motor controller controls the third motor (244) and the fourth motor (246) of the XZ-axis displacement module (240) to move so that the center of the circle of the latest point pressing head coordinate image coincides with the origin of the plane rectangular coordinate system.

6. The Probe non-invasive spatial pose auto-calibration method of claim 5, wherein, In step S310, the Z-axis rotation angle θ Z is: Wherein, a is the long axis of the ellipse, and b is the short axis of the ellipse.

7. A Probe non-destructive spatial attitude automatic calibration apparatus for performing the Probe non-destructive spatial attitude automatic calibration method according to any one of claims 1 to 6, characterized in that, The Probe non-destructive spatial posture automatic calibration device comprises a camera module (100) and a calibration module (200) arranged opposite to each other, the camera module (100) is arranged on a test table (120); The camera module (100) comprises a camera (110) and an image analysis device connected in sequence; The calibration module (200) comprises a base (210), an X-axis rotation module (220), a Z-axis rotation module (230), an XZ-axis displacement module (240) and a Probe point pressing head module (250), Wherein, the X-axis rotation module (220) is used for driving the Probe point pressing head module (250) to adjust the rotation angle of the X-axis, and the X-axis rotation module (220) is arranged above the base (210), The Z-axis rotation module (230) is arranged to drive the Probe point pressing head module (250) to adjust the rotation angle of the Z-axis, and the Z-axis rotation module (230) is arranged in the extension direction of the Y-axis of the X-axis rotation module (220), The XZ-axis displacement module (240) is arranged to drive the Probe point pressing head module (250) to adjust the translation position of the XZ-axis, and the XZ-axis displacement module (240) is arranged above the Z-axis rotation module (230), The Probe point pressing head module (250) is arranged to align the test position of the product to be tested, and the Probe point pressing head module (250) is arranged in the extension direction of the Y-axis of the XZ-axis displacement module (240).

8. The Probe non-destructive space posture automatic calibration device according to claim 7, wherein The X-axis rotation module (220) at least includes a first motor (221), a first motion conversion mechanism (222) for converting the linear motion output of the first motor (221) into rotary motion, and a first rotary output disc (223) connected with the output of the first motion conversion mechanism (222), and the first rotary output disc (223) is connected with one end of the Z-axis rotation module (230); The Z-axis rotation module (230) at least includes a first adapter plate (231) connected with the first rotary output disc (223), a second motor (234), a second motion conversion mechanism (235) for converting the linear motion output of the second motor (234) into rotary motion, and a second rotary output disc (236) connected with the second motion conversion mechanism (235), and the second rotary output disc (236) is connected with one end of the XZ-axis displacement module (240); The XZ-axis displacement module (240) at least includes a second adapter plate (241) connected with the second rotary output disc (236), a third motor (244) with an output shaft for displacement along the Z-axis, a Z-axis displacement output plate (245), a fourth motor (246) with an output shaft for displacement along the X-axis, and an X-axis displacement output plate (247), The Probe point pressing head module (250) at least includes a third adapter plate (251), a fifth motor (254), a shaft coupling (255), a lead screw transmission mechanism (256), and a pressing mechanism (257); The pressing mechanism (257) is provided with a pressing head (258) at the end.

9. The Probe non-destructive space posture automatic calibration device according to claim 8, wherein The first adapter plate (231) includes a first side plate (232) and a second side plate (233) perpendicular to each other, the normal vector of the first side plate (232) is the direction extending along the X-axis, the normal vector of the second side plate (233) is the direction extending along the Z-axis, the first side plate (232) is connected with the first rotary output disc (223), and the second side plate (233) is connected with the second motor (234). The second adapter plate (241) comprises a third side plate (242) and a fourth side plate (243) perpendicular to each other, a normal vector of the third side plate (242) is a direction extending along the Z axis, a normal vector of the fourth side plate (243) is a direction extending along the Y axis, the third side plate (242) is connected with the second rotary output disc (236), and the fourth side plate (243) is connected with a third motor (244); The third adapter plate (251) comprises a fifth side plate (252) and a sixth side plate (253) perpendicular to each other, a normal vector of the fifth side plate (252) is a direction extending along the Y axis, a normal vector of the sixth side plate (253) is a direction extending along the Z axis, the fifth side plate (252) is connected with the X-axis displacement output plate (247), and the Probe point pressing head module (250) is arranged on the sixth side plate (253); The first motor (221), the second motor (234), the third motor (244), the fourth motor (246) and the fifth motor are all servo motors, and a servo motor controller is further included, the first motor (221), the second motor (234), the third motor (244), the fourth motor and the fifth motor are respectively electrically connected with the servo motor controller, and the servo motor controller is electrically connected with an image analysis device.

10. A computer-readable storage medium, characterized in that, A program instruction is stored thereon, and the program instruction is executed by a processor to implement the Probe non-destructive space posture automatic calibration method in any one of claims 1 to 6. A program instruction is stored thereon, and the program instruction is executed by a processor to implement the Probe non-destructive space posture automatic calibration method in any one of claims 1 to 6.

Images