Probe non-destructive space posture automatic calibration method and device and storage medium

Abstract

The present application relates to Probe non-destructive space attitude automatic calibration method, device and storage medium, the method includes camera module camera gathers probe point press head module press head image, obtains press head coordinate image; if the press head in press head coordinate image imaging is oval, and the long axis a of the oval is not parallel and not perpendicular with the X axis of the plane rectangular coordinate system, the long axis a of the oval is measured, and two endpoint coordinates, the servo motor controller adjusts the position and the rotation angle to make the long axis parallel with the X axis; if the long axis is parallel with the Z axis, control Z axis rotation module and XZ axis displacement module movement, make press head image be circular and the center of circle coincide with the origin.The present application installs press head on the probe press head module of calibration module, and places camera module on product test site, obtains press head coordinate image through camera module to the press head image of shooting press head, calculates position adjustment data transmission to servo motor controller and carries out position calibration.

Description

Technical Field

[0001] This invention relates to the field of equipment calibration, and in particular to a probe-based non-destructive automatic spatial attitude calibration method, apparatus, and storage medium. Background Technology

[0002] With the rapid development of electronic product technology and the increasing demands for process efficiency and yield, the electronics industry is not only improving the process efficiency of electronic products but also gradually strengthening the research and optimization of product functional testing equipment. Among these challenges, the ability to perform non-destructive automatic attitude calibration of test probes has become a key technical hurdle in the industry.

[0003] During the testing of electronic products, it is often necessary to use a test probe to test the position of product buttons. The biggest factor affecting the success of this button-pressing test is the accuracy of the test probe's spatial orientation relative to the product buttons. If the accuracy of the test probe's orientation relative to the product buttons is too poor, it can cause damage to both the test probe and the product. Therefore, a corresponding calibration system is needed to automatically calibrate the spatial orientation of the test probe to improve the success rate and efficiency of product testing.

[0004] Traditional probe orientation calibration methods typically involve manually adjusting the module mechanism and using a simulated test fixture to calibrate the probe's orientation. This traditional method suffers from three major drawbacks: First, since most button testing in the electronics testing industry is automated, manual calibration cannot keep up with the fast-paced demands of automated testing, significantly impacting testing efficiency. Second, the manual calibration method results in suboptimal calibration accuracy. Third, manual calibration requires aligning the probe with the simulated test fixture, which can cause wear and tear on the probe over time, potentially leading to damage. Summary of the Invention

[0005] This invention provides a probe-based non-destructive automatic spatial attitude calibration method, apparatus, and storage medium, aiming to at least solve one of the technical problems existing in the prior art.

[0006] The technical solution of this invention is a Probe non-destructive spatial attitude automatic calibration method. This method is applied to a Probe non-destructive spatial attitude automatic calibration device. The device includes a camera module mounted on a test bench and a calibration module disposed opposite to the camera module. The camera module includes a camera and an image analysis device connected in sequence. The calibration module includes a base, an X-axis rotation module, a Z-axis rotation module, an XZ-axis displacement module, and a Probe point module. The Probe non-destructive spatial attitude automatic calibration method includes the following steps:

[0007] S100. Place the camera module and calibration module in a preset working position. The camera of the camera module acquires the pressing head image of the Probe pressing head module and sends the pressing head image to the image analysis device. The image analysis device superimposes the pressing head image with a Cartesian coordinate system to obtain the pressing head coordinate image.

[0008] S200. If the image of the touch-sensitive head in the coordinate image is elliptical, and the major axis a of the ellipse is neither parallel nor perpendicular to the X-axis of the Cartesian coordinate system, the image analysis device measures the major axis a of the ellipse and the coordinates e(X) of the two endpoints of the major axis a. e Z e ) and f(X f Z f The servo motor controller of the calibration module adjusts the position and rotation angle to make the major axis a parallel to the X-axis of the Cartesian coordinate system;

[0009] S300. If the major axis a is parallel to the Z-axis of the Cartesian coordinate system, rotate it by an angle θ based on the Z-axis. Z Control the movement of the Z-axis rotation module and the XZ-axis displacement module so that the tap image is circular and the center of the circle coincides with the origin of the Cartesian coordinate system;

[0010] S400. If the image of the pressing head in the coordinate image of the pressing head is circular and the center of the circle coincides with the origin of the plane rectangular coordinate system, then the calibration operation is complete.

[0011] Furthermore, step S200 includes:

[0012] S210. Select the coordinates e(X) of the two endpoints of the major axis a. e Z e ) and f(X f Z f The point with the smaller Z-axis coordinate value in the ().

[0013] S220. Determine the tilt direction of the major axis a by comparing the coordinates e(X) of the two endpoints of the major axis a. e Ze ) and f(X f Z f In the process, if the X-axis coordinate value of a point with a smaller Z-axis coordinate value is larger than the X-axis coordinate value of the other endpoint, then the major axis a tilts in 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 in the negative direction of the X-axis until the major axis a is parallel to the X-axis, and then the second motor stops rotating.

[0014] S230. If the X-axis coordinate value of the point with the smaller Z-axis coordinate value is smaller than the X-axis coordinate value of the other endpoint, then the major axis a tilts in the negative X-axis direction. At this time, the servo motor controller controls the second motor of the Z-axis rotation module to rotate in the positive X-axis direction until the major axis a is parallel to the X-axis, and then the second motor stops rotating.

[0015] S240. The image analysis device measures the minor axis b of the ellipse, and 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 forward by a first rotation angle θ. X During the rotation, the real-time coordinate image of the tap head is acquired and the length of the real-time minor axis b is extracted. If the length of the minor axis b increases, the first motor continues to rotate. If the length of the minor axis b decreases, the first motor of the X-axis rotation module rotates in the opposite direction until the tap head image is a circle with a standard diameter length of a.

[0017] S260. Obtain the latest dot coordinate image and calculate the coordinate value of the center. If the center does not coincide with the origin of the Cartesian coordinate system, the servo motor controller controls the third and fourth motors of the XZ axis displacement module to move so that the center of the latest dot coordinate image coincides with the origin of the Cartesian coordinate system.

[0018] Furthermore, in step S240, the X-axis rotation angle θ X for:

[0019]

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

[0021] Furthermore, in step S200, if the image of the tapped head in the coordinate image is elliptical, but its major axis a is parallel to the X-axis of the Cartesian coordinate system,

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

[0023] Furthermore, 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 During the rotation, the real-time coordinate image of the tap head is acquired and the length of the real-time minor axis b is extracted. If the length of the minor axis b increases, the first motor continues to rotate. If the length of the minor axis b decreases, the second motor of the X-axis rotation module rotates in the opposite direction until the tap head image is a circle with a standard diameter length of a.

[0026] S330. Obtain the latest dot coordinate image and calculate the coordinate value of the center. If the center does not coincide with the origin of the Cartesian coordinate system, the servo motor controller controls the third and fourth motors of the XZ axis displacement module to move so that the center of the latest dot coordinate image coincides with the origin of the Cartesian coordinate system.

[0027] Furthermore, in step S310, the Z-axis rotation angle θ Z for:

[0028]

[0029] Where a is the major axis of the ellipse and b is the minor axis of the ellipse.

[0030] Furthermore, the present invention also proposes a Probe non-destructive spatial attitude automatic calibration device for performing the Probe non-destructive spatial attitude automatic calibration method. The Probe non-destructive spatial attitude automatic calibration device includes a camera module and a calibration module arranged opposite to each other, and the camera module is set on a test bench.

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

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

[0033] The X-axis rotation module is used to drive the Probe tapping head module to adjust the rotation angle along the X-axis. The X-axis rotation module is positioned above the base.

[0034] The Z-axis rotation module is configured to drive the Probe button module to adjust the rotation angle along the Z-axis. The Z-axis rotation module is positioned along the extension direction of the X-axis rotation module along the Y-axis.

[0035] The XZ-axis displacement module is used to drive the Probe click head module to adjust its translational position along the XZ axis. The XZ-axis displacement module is positioned above the Z-axis rotation module.

[0036] The probe head module is used to align with the test position of the product under test, and the probe head module is set in the extension direction of the XZ axis displacement module along the Y axis.

[0037] Furthermore, the X-axis rotation module includes at least a first motor, a first motion conversion mechanism that converts the linear motion output of the first motor into rotational motion, and a first rotary output disk connected to the output of the first motion conversion mechanism, wherein the first rotary output disk is connected to one end of the Z-axis rotation module.

[0038] The Z-axis rotation module includes at least a first adapter plate connected to a first rotary output disk, a second motor, a second motion conversion mechanism that converts the linear motion output of the second motor into rotational motion, and a second rotary output disk connected to the second motion conversion mechanism, wherein the second rotary output disk is connected to one end of the XZ-axis displacement module.

[0039] The XZ-axis displacement module includes at least a second adapter plate connected to the second rotary output disk, 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, all connected in sequence.

[0040] The Probe button module includes at least a third adapter plate, a fifth motor, a coupling, a screw drive mechanism, and a pressing mechanism connected in sequence.

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

[0042] Furthermore, the first adapter plate includes a first side plate and a second side plate that are perpendicular to each other. The normal vector of the first side plate is in the direction extending along the X-axis, and the normal vector of the second side plate is in the direction extending along the Z-axis. The first side plate is connected to the first rotary output disk, and the second side plate is connected to the second motor.

[0043] The second adapter plate includes a third side plate and a fourth side plate that are perpendicular to each other. The normal vector of the third side plate is in the direction extending along the Z-axis, and the normal vector of the fourth side plate is in the direction extending along the Y-axis. The third side plate is connected to the second rotary output disk, and the fourth side plate is connected to the third motor.

[0044] The third adapter plate includes a fifth side plate and a sixth side plate that are perpendicular to each other. The normal vector of the fifth side plate is in the direction extending along the Y-axis, and the normal vector of the sixth side plate is in the direction extending along the Z-axis. The fifth side plate is connected to the X-axis displacement output plate, and the Probe push-button module is set on the sixth side plate.

[0045] The first motor, the second motor, the third motor, the fourth motor, and the fifth motor are all servo motors, and the system also includes a servo motor controller. The first motor, the second motor, the third motor, the fourth motor, and the fifth motor are electrically connected to the servo motor controller, and the servo motor controller is electrically connected to the image analysis device.

[0046] Furthermore, the present invention also proposes a computer-readable storage medium storing program instructions thereon, which, when executed by a processor, implement the aforementioned Probe lossless spatial attitude automatic calibration method.

[0047] The beneficial effects of this invention are:

[0048] The aforementioned Probe non-destructive spatial attitude automatic calibration method, device, and storage medium involves installing a probe on the Probe probe module of the calibration module and placing a camera module on the product test position. The camera module captures images of the probe to obtain the coordinate images of the probe, calculates the position adjustment data, and transmits it to the servo motor controller for position calibration.

[0049] (1) The calibration module uses a servo motor to adjust the test posture position. Unlike the traditional manual calibration method, automatic calibration is more suitable for use in automated testing systems, which improves the success rate and efficiency of product testing.

[0050] (2) Since the calibration module uses a servo motor system, it achieves higher adjustment accuracy than the manual calibration adjustment structure, thus solving the problem of low adjustment accuracy of the traditional calibration structure.

[0051] (3) The calibration module does not need to contact other test fixtures. It uses a camera module to capture images of the push-button, and uses an image analysis system to analyze and calculate the coordinates of the captured push-button images to adjust the data, thus avoiding damage to the test probe. Attached Figure Description

[0052] Figure 1 This is a flowchart of the Probe non-destructive automatic spatial attitude calibration method.

[0053] Figure 2 This is a schematic diagram illustrating the imaging state of the Probe pointing head module aligned with the camera module in the Probe non-destructive spatial attitude automatic calibration method.

[0054] Figure 3 This is a schematic diagram illustrating the imaging state where the probe head module is not aligned with the camera module in the Probe non-destructive spatial attitude automatic calibration method.

[0055] Figure 4 This is a point-and-press coordinate image and coordinate points and major axis labels acquired in the Probe non-destructive spatial attitude automatic calibration method (the major axis a of the point-and-press image is elliptical and is neither parallel nor perpendicular to the X-axis of the Cartesian coordinate system).

[0056] Figure 5 In the Probe non-destructive spatial attitude automatic calibration method, Figure 4 A schematic diagram showing the adjustment so that the major axis a is parallel to the X-axis.

[0057] Figure 6 In the Probe non-destructive spatial attitude automatic calibration method, Figure 5 A schematic diagram showing the Probe head's image in the coordinate system as a circle with a standard diameter of length 'a'.

[0058] Figure 7 In the Probe non-destructive spatial attitude automatic calibration method, Figure 6 A schematic diagram showing how the center of the circular image is aligned with the origin of the coordinate system.

[0059] Figure 8 This is a schematic diagram showing that the major axis a of Probe imaging is parallel to the Z-axis in the Probe non-destructive spatial attitude automatic calibration method.

[0060] Figure 9 In the Probe non-destructive spatial attitude automatic calibration method, Figure 8 A schematic diagram showing the Probe head's image in the coordinate system as a circle with a standard diameter of length 'a'.

[0061] Figure 10 In the Probe non-destructive spatial attitude automatic calibration method, Figure 9 A schematic diagram showing how the center of the circular image is aligned with the origin of the coordinate system.

[0062] Figure 11 This is a schematic diagram of the Probe non-destructive spatial attitude automatic calibration device.

[0063] Figure 12 This is a schematic diagram of the X-axis rotation module in the Probe non-destructive spatial attitude automatic calibration device.

[0064] Figure 13 This is a schematic diagram of the Z-axis rotation module in the Probe non-destructive spatial attitude automatic calibration device.

[0065] Figure 14 This is a schematic diagram of the XZ axis displacement module in the Probe non-destructive spatial attitude automatic calibration device.

[0066] Figure 15 This is a schematic diagram of the Probe tapping head module in the Probe non-destructive spatial attitude automatic calibration device.

[0067] Reference numerals in the attached figures: 100, camera module; 110, camera; 120, test platform; 200, calibration module; 210, base; 220, X-axis rotation module; 221, first motor; 222, first motion conversion mechanism; 223, first rotary output disk; 230, Z-axis rotation module; 231, first adapter plate; 232, first side plate; 233, second side plate; 234, second motor; 235, second motion conversion mechanism; 236, second rotary output disk; 240 241. XZ axis displacement module; 242. Second adapter plate; 243. Third side plate; 244. Fourth side plate; 245. Third motor; 246. Z-axis displacement output plate; 247. Fourth motor; 248. X-axis displacement output plate; 259. Probe pressing head module; 250. Third adapter plate; 251. Fifth side plate; 252. Sixth side plate; 253. Fifth motor; 254. Coupling; 255. Screw drive mechanism; 256. Pressing mechanism; 257. Pressing head. Detailed Implementation

[0068] The following will provide a clear and complete description of the concept, specific structure, and technical effects of the present invention in conjunction with the embodiments and accompanying drawings, so as to fully understand the purpose, solution, and effects of the present invention. It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0069] It should be noted that, unless otherwise specified, when a feature is referred to as "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. Furthermore, the descriptions of "upper," "lower," "left," "right," "top," and "bottom" used in this invention are only relative to the relative positional relationships of the various components of the invention in the accompanying drawings.

[0070] Furthermore, unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in this specification is for the purpose of describing particular embodiments only and not for limiting the invention. The term "and / or" as used herein includes any combination of one or more of the associated listed items.

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

[0072] Reference Figures 1 to 15 In some embodiments, the technical solution of the present invention is a probe-based non-destructive spatial attitude automatic calibration method. This method is applied to a probe-based non-destructive spatial attitude automatic calibration device. The device includes a camera module 100 mounted on a test bench 120 and a calibration module 200 disposed opposite to the camera module 100. The camera module 100 includes a camera 110 and an image analysis device connected in sequence. The calibration module 200 includes 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 module 250. (Refer to...) Figure 1 The proposed non-destructive spatial attitude automatic calibration method includes the following steps:

[0073] S100: Place the camera module 100 and calibration module 200 in a preset working position. The camera 110 of the camera module 100 acquires the pressing head image of the Probe pressing head module 250 and sends the pressing head image to the image analysis device. The image analysis device superimposes the pressing head image with a Cartesian coordinate system to obtain a pressing head coordinate image.

[0074] S200. If the image of the touch point 258 in the coordinate image of the touch point is elliptical, and the major axis a of the ellipse is neither parallel nor perpendicular to the X-axis of the Cartesian coordinate system, the image analysis device measures the major axis a of the ellipse and the coordinates e(X) of the two endpoints of the major axis a. e Z e ) and f(X f Z f The servo motor controller of the calibration module 200 adjusts the position and rotation angle to make the major axis a parallel to the X-axis of the Cartesian coordinate system;

[0075] S300. If the major axis a is parallel to the Z-axis of the Cartesian coordinate system, rotate it by an angle θ based on the Z-axis. Z Control the movement of the Z-axis rotation module 230 and the XZ-axis displacement module 240 so that the tap image is circular and the center of the circle coincides with the origin of the plane rectangular coordinate system;

[0076] S400. If the image of the 258th point in the coordinate image of the 258th point is circular and its center coincides with the origin of the Cartesian coordinate system, then the calibration operation is complete.

[0077] The beneficial effects of this invention are:

[0078] The aforementioned Probe non-destructive spatial attitude automatic calibration method, device, and storage medium involves installing the probe 258 on the Probe probe module 250 of the calibration module 200, placing the camera module 100 on the product test position, obtaining the probe coordinate image by capturing the probe image through the camera module 100, calculating the position adjustment data, and transmitting it to the servo motor controller for position calibration.

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

[0080] (2) Since the calibration module 200 adopts a servo motor system, it achieves higher adjustment accuracy than the manual calibration adjustment structure, thus solving the problem of low adjustment accuracy of the traditional calibration structure.

[0081] (3) The calibration module 200 does not need to contact other test fixtures. It uses the camera module 100 to capture images of the push head and uses the image analysis system to analyze and calculate the coordinate data of the captured push head images to avoid damaging the test probe.

[0082] Specifically, in step S100, before operating the Probe non-destructive spatial attitude automatic calibration device, the camera module 100 and the Probe pressing module need to be installed in the preset position. After the camera module 100 and the Probe pressing head module 250 are installed, the camera 110 in the camera module 100 first takes a picture of the Probe pressing head 258 and transmits the picture to the image analysis device. The image analysis device analyzes the state of the Probe pressing head 258 picture in the coordinate system to obtain the pressing head coordinate image.

[0083] Reference Figure 2 If the Probe tap module 250 is aligned with the camera module 110, that is, aligned with the center position of the button on the product, then the imaging state of the tap 258 of the Probe tap module 250 in the tap coordinate image, that is, the Probe forms a standard circle in the coordinate system, and the center of the circle is located at the origin of the coordinate system.

[0084] However, refer to Figure 3Under normal circumstances, if the Probe tapping module 250 is not properly positioned, the camera 110 will transmit the image to the image analysis device in a coordinate system after taking a picture of it. Obviously, in the coordinate system diagram, the Probe tapping head 258 is imaged as an ellipse, and its center is not at the origin of the coordinate system. This indicates that the Probe tapping module 250 has an angular and positional offset. It is necessary to calculate the coordinate image of the tapping head to drive the Probe tapping module 250 to adjust the angle and position of the Probe.

[0085] When the Probe tapping module 250 experiences angular and positional shifts, the angle needs to be adjusted first, followed by the position. This is because when the Probe experiences angular shifts, the image it produces in the coordinate system after being captured by the camera 110 is elliptical. The angle of the Probe needs to be adjusted so that the front of the Probe is parallel to the lens plane of the camera 110. When the Probe is captured again, the image of the Probe in the coordinate system will be a standard circle. Of course, the center of the circle is not at the origin of the coordinate system at this time. Image analysis and calculation are needed to adjust the position of the Probe tapping module, ultimately completing the posture adjustment of the Probe tapping module 250.

[0086] Furthermore, step S200 includes:

[0087] S210. Select the coordinates e(X) of the two endpoints of the major axis a. e Z e ) and f(X f Z f The point with the smaller Z-axis coordinate value in the ().

[0088] S220. Determine the tilt direction of the major axis a by comparing the coordinates e(X) of the two endpoints of the major axis a. e Z e ) and f(X f Z f In the process, if the X-axis coordinate value of a point with a smaller Z-axis coordinate value is larger than the X-axis coordinate value of the other endpoint, then the major axis a tilts in 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 in the negative direction of the X-axis until the major 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 the smaller Z-axis coordinate value is smaller than the X-axis coordinate value of the other endpoint, then the major axis a tilts in the negative X-axis direction. At this time, the servo motor controller controls the second motor 234 of the Z-axis rotation module 230 to rotate in the positive X-axis direction until the major axis a is parallel to the X-axis, and the second motor 234 stops rotating.

[0090] S240. The image analysis device measures the minor axis b of the ellipse, and 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 coordinate image of the tap head is acquired and the length of the real-time minor axis b is extracted. If the length of the minor axis b increases, the first motor 221 continues to rotate. If the length of the minor axis b decreases, the first motor 221 of the X-axis rotation module 220 rotates in the opposite direction until the tap head image is a circle with a standard diameter length of a.

[0092] S260. Obtain the latest dot coordinate image and calculate the coordinate value of the center. If the center does not coincide with the origin of the Cartesian 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 dot coordinate image coincides with the origin of the Cartesian coordinate system.

[0093] In one specific embodiment, refer to Figure 4 ,

[0094] (1) In step S210, after the camera 110 captures the image of the Probe head and projects it onto the coordinate system, the image is in the form of a tilted ellipse. At this time, the camera calculates and analyzes to determine whether the Probe head has a posture shift. If a posture shift is determined, the camera calculates and analyzes to identify the major axis a of the ellipse on the coordinate system, which is the longest straight line inside the ellipse. This straight line is consistent with the diameter of the Probe head 258. At the same time, the camera analyzes and obtains the coordinates e(X) of the two endpoints of the major axis a. e Z e ) and f(X f Z f ).

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

[0096] (3) In step S230, the tilt direction of the major axis a is determined by comparing the X-axis coordinates of point e and point f. The X-axis coordinate of point f is greater than that of point e, meaning that line a is tilted in the positive X-axis direction. At this time, a command is sent to the servo motor of the Z-axis rotation module 230, and the rotation motor rotates in the negative X-axis direction (conversely, the motor rotates in the positive X-axis direction). The camera 110 will synchronously and in real time identify the major axis a in the Probe head image until the major axis a is parallel to the X-axis, and the rotation motor stops moving.

[0097] (4)Reference Figure 5In step S240, the major axis a and minor axis b of the elliptical image are simultaneously identified, and the rotation angle θ of the X-axis rotation module 220 is calculated. X .

[0098] (5)Reference Figure 6 In step S250, the first motor 221 drives the Probe pointing head module 250 to make corresponding angle adjustments. At this time, the camera 110 identifies the minor axis b in the elliptical image of the Probe head in the coordinate system in real time. The X-axis rotation module 220 first rotates in the positive direction of the Z-axis. If the length of the minor axis b gradually increases, the rotation module continues to adjust according to the obtained rotation angle value θ. X Angle adjustment is performed; conversely, if the length of the minor axis b becomes shorter, the camera 110 will send a command to the motor via the computer after recognition, and the motor will drive the rotating module to rotate in the opposite direction until the Probe head forms an image of a circle with a standard diameter length a in the coordinate system, thus completing the angle adjustment.

[0099] (6)Reference Figure 7 In step S260, the camera 110 will finally identify and calculate the center of the circular image and determine whether the center coincides with the origin of the coordinate system. If they do not coincide, the XZ axis displacement module 240 will be calculated and driven to adjust the position in the X and Z axis directions until the center of the circular image coincides with the origin of the coordinate system, thus completing the final posture adjustment of the Probe tap module.

[0100] Furthermore, in step S240, the X-axis rotation angle θ X for:

[0101]

[0102] Where a is the major axis of the ellipse and b is the minor axis of the ellipse.

[0103] Furthermore, in step S200, if the image of the tap 258 in the tap coordinate image is elliptical, but its major axis a is parallel to the X-axis of the Cartesian coordinate system,

[0104] Skip steps S210 to S230, and only execute steps S240 to S260.

[0105] Specifically, after the camera 110 captures an image from the probe and identifies the major axis 'a' in the image, if the major axis 'a' is parallel to the X-axis, it directly rotates the image by an angle θ along the X-axis. X The calculation of XZ axis displacement adjustment is performed, and the angle adjustment of the X axis is completed. Finally, the XZ axis displacement adjustment is performed to complete the posture adjustment of the Probe click module.

[0106] Furthermore, step S300 includes:

[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 the rotation, the real-time coordinate image of the tap head is acquired and the length of the real-time minor axis b is extracted. If the length of the minor axis b increases, the first motor 221 continues to rotate. If the length of the minor axis b decreases, the second motor 234 of the X-axis rotation module 220 rotates in the opposite direction until the tap head image is a circle with a standard diameter length of a.

[0109] S330. Obtain the latest dot coordinate image and calculate the coordinate value of the center. If the center does not coincide with the origin of the Cartesian 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 dot coordinate image coincides with the origin of the Cartesian coordinate system.

[0110] Specifically, in one particular embodiment, reference is made to... Figure 8 ,

[0111] (1) If the major axis a of the Probe image in the coordinate system is parallel to the Z-axis, then the computer system directly rotates the Z-axis by an angle θ. Z The calculation.

[0112] (2)Reference Figure 9 In step S320, after obtaining the angular offset θ Z Then, the computer transmits the calculated data to the servo motor, which drives the Probe head module 250 to make corresponding angle adjustments. At this time, the camera 110 identifies the minor axis b in the elliptical image of the Probe head in the coordinate system in real time. The Z-axis rotation module 230 first rotates in the positive X-axis direction. If the length of the minor axis b gradually increases, the rotation module continues to adjust according to the obtained rotation angle value θ. Z Angle adjustment is performed; conversely, if the length of the minor axis b becomes shorter, the camera 110 will send a command to the motor via the computer after recognition, and the motor will drive the rotating module to rotate in the opposite direction until the Probe head forms an image of a circle with a standard diameter length a in the coordinate system, thus completing the angle adjustment.

[0113] (3)Reference Figure 10In step S330, the camera 110 finally identifies and calculates the center of the circular image and determines whether the center coincides with the origin of the coordinate system. If they do not coincide, the XZ axis displacement module 240 is calculated and driven to adjust the position in the X and Z axis directions until the center of the circular image coincides with the origin of the coordinate system, thus completing the final posture adjustment of the Probe tap module.

[0114] Furthermore, in step S310, the Z-axis rotation angle θ Z for:

[0115]

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

[0117] Furthermore, refer to Figure 11 The present invention also proposes a Probe non-destructive spatial attitude automatic calibration device for performing the Probe non-destructive spatial attitude automatic calibration method. The Probe non-destructive spatial attitude automatic calibration device includes a camera module 100 and a calibration module 200 arranged opposite to each other. The camera module 100 is arranged on the test bench 120.

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

[0119] The calibration module 200 includes 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 module 250.

[0120] The X-axis rotation module 220 is used to drive the Probe tapping head module 250 to adjust the rotation angle along the X-axis. The X-axis rotation module 220 is positioned above the base 210.

[0121] The Z-axis rotation module 230 is configured to drive the Probe tapping head module 250 to adjust the rotation angle along the Z-axis. The Z-axis rotation module 230 is positioned along the extension direction of the X-axis rotation module 220 along the Y-axis.

[0122] The XZ-axis displacement module 240 is used to drive the Probe click head module 250 to adjust its translational position along the XZ axis. The XZ-axis displacement module 240 is positioned above the Z-axis rotation module 230.

[0123] The Probe push-button module 250 is used to align with the test position of the product under test, and the Probe push-button module 250 is arranged in the extension direction of the XZ axis displacement module 240 along the Y axis.

[0124] Furthermore, refer to Figure 12 The X-axis rotation module 220 includes at least a first motor 221, a first motion conversion mechanism 222 that converts the linear motion output of the first motor 221 into rotational motion, and a first rotational output disk 223 connected to the output of the first motion conversion mechanism 222 in sequence. The first rotational output disk 223 is connected to one end of the Z-axis rotation module 230.

[0125] Reference Figure 13 The Z-axis rotation module 230 includes at least a first adapter plate 231 connected to the first rotation output disk 223, a second motor 234, a second motion conversion mechanism 235 that converts the linear motion output of the second motor 234 into rotational motion, and a second rotation output disk 236 connected to the second motion conversion mechanism 235, wherein the second rotation output disk 236 is connected to one end of the XZ axis displacement module 240;

[0126] Reference Figure 14 The XZ axis displacement module 240 includes at least a second adapter plate 241 connected to the second rotary output disk 236, a third motor 244 for output shaft displacement along the Z axis, a Z axis displacement output plate 245, a fourth motor 246 for output shaft displacement along the X axis, and an X axis displacement output plate 247, which are connected in sequence.

[0127] Reference Figure 15 The Probe tapping head module 250 includes at least a third adapter plate 251, a fifth motor 254, a coupling 255, a lead screw transmission mechanism 256 and a tapping mechanism 257 connected in sequence.

[0128] The end of the pressing mechanism 257 is provided with a pressing head 258.

[0129] Furthermore, refer to Figure 11 and Figure 13 The first adapter plate 231 includes a first side plate 232 and a second side plate 233 that are perpendicular to each other. The normal vector of the first side plate 232 is in the direction of extending along the X-axis, and the normal vector of the second side plate 233 is in the direction of extending along the Z-axis. The first side plate 232 is connected to the first rotating output disk 223, and the second side plate 233 is connected to the second motor 234.

[0130] Reference Figure 11 and Figure 14 The second adapter plate 241 includes a third side plate 242 and a fourth side plate 243 that are perpendicular to each other. The normal vector of the third side plate 242 is in the direction of extending along the Z-axis, and the normal vector of the fourth side plate 243 is in the direction of extending along the Y-axis. The third side plate 242 is connected to the second rotary output disk 236, and the fourth side plate 243 is connected to the third motor 244.

[0131] Reference Figure 11 and Figure 15 The third adapter plate 251 includes a fifth side plate 252 and a sixth side plate 253 that are perpendicular to each other. The normal vector of the fifth side plate 252 is in the direction of extending along the Y-axis, and the normal vector of the sixth side plate 253 is in the direction of extending along the Z-axis. The fifth side plate 252 is connected to the X-axis displacement output plate 247, and the Probe push-button module 250 is disposed 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 also included. The first motor 221, the second motor 234, the third motor 244, the fourth motor 246, and the fifth motor 254 are electrically connected to the servo motor controller, and the servo motor controller is electrically connected to the image analysis device.

[0133] Specifically, the camera module 100 is placed at the test position of the product, the lens position of the camera 110 is consistent with the button position of the product, and the camera 110 is connected to an external image analysis device via a cable; the probe head module 250 is fixed to the XZ axis displacement module 240 with screws, and the probe is aligned with the button position of the product; the XZ axis displacement module 240 is connected to the probe head module 250 with screws and fixed to the Z axis rotation module 230 with screws. This module is driven by a motor to adjust the translation position of the probe head module 250 in the XZ axis direction; the Z axis rotation module 230 is connected to the XZ axis displacement module 240 with screws and fixed to the X axis rotation module 220 with screws. This module is driven by a motor to adjust the angle of rotation of the probe head module 250 in the Z axis. The X-axis rotation module 220 is connected to the Z-axis rotation module 230 by screws and fixed to the support module by screws. This module is driven by a motor, thereby driving the Probe push-button module 250 to adjust the X-axis rotation angle. The base 210 acts as a base and is connected by screws to secure the X-axis rotation module 220, Z-axis rotation module 230, XZ-axis displacement module 240, and Probe push-button module 250.

[0134] The camera module 100 is placed at the test position of the product, and the lens position of the camera 110 is consistent with the button position of the product. The camera 110 is connected to an external image analysis device via a cable. When the camera module 100 is placed at the test position, the camera 110 will capture an image of the probe head 258 and transmit the image to the image analysis device for analysis and calculation. The calculation results are then transmitted to the 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 push-button module 250 is fixed to the XY axis displacement module by screws. The Probe push-button module 250 is used to press the buttons on the product. The Probe part is driven by a motor, which moves the Probe in the Y-axis direction.

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

[0137] The Z-axis rotation module 230 is connected to the XZ-axis displacement module 240 by screws. The XZ-axis displacement module 240 is fixed to the rotation adjustment module of the Z-axis rotation module 230 by screws. The motor module drives the rotation adjustment module to rotate along the Z-axis, thereby driving the Probe push-head module 250 on the XZ-axis displacement module 240 to adjust the Z-axis angle.

[0138] The X-axis rotation module 220 is connected to the Z-axis rotation module 230 by screws. The Z-axis rotation module 230 is fixed to the rotation adjustment module of the X-axis rotation module 220 by screws. The motor module drives the rotation adjustment module to rotate along the X-axis, thereby driving the Probe push-head module 250 on the XZ-axis displacement module 240 to adjust the X-axis angle.

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

[0140] Furthermore, the present invention also proposes a computer-readable storage medium storing program instructions thereon, which, when executed by a processor, implement the aforementioned Probe lossless spatial attitude automatic calibration method.

[0141] The above description is merely a preferred embodiment of the present invention. The present invention is not limited to the above-described embodiments. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure, as long as they achieve the technical effects of the present invention by the same means, should be included within the scope of protection of this disclosure.

Claims

1. A probe-based non-destructive spatial attitude automatic calibration method, wherein the probe-based non-destructive spatial attitude automatic calibration method is applied to a probe-based non-destructive spatial attitude automatic calibration device, the probe-based non-destructive spatial attitude automatic calibration device comprising a camera module mounted on a test bench and a calibration module disposed opposite to the camera module, the camera module comprising a camera and an image analysis device connected in sequence; the calibration module comprising a base, an X-axis rotation module, a Z-axis rotation module, an XZ-axis displacement module, and a probe point module, characterized in that, The aforementioned Probe-based non-destructive spatial attitude automatic calibration method includes the following steps: S100. Place the camera module and calibration module in a preset working position. The camera of the camera module acquires the pressing head image of the Probe pressing head module and sends the pressing head image to the image analysis device. The image analysis device superimposes the pressing head image with a Cartesian coordinate system to obtain the pressing head coordinate image. S200. If the image of the pressed head in the coordinate image is elliptical, and the major axis a of the ellipse is neither parallel nor perpendicular to the X-axis of the Cartesian coordinate system, the image analysis device measures the major axis a of the ellipse and the coordinates e of the two endpoints of the major axis a. ) and f( The servo motor controller of the calibration module adjusts the position and rotation angle to make the major axis a parallel to the X-axis of the Cartesian coordinate system; step S200 includes: S210, Select the coordinates e of the two endpoints of the major axis a ( ) and f( The point with the smaller Z-axis coordinate value in the ( ); S220. Determine the tilt direction of the major axis a, and compare the coordinates e of the two endpoints of the major axis a. ) and f( In the process, if the X-axis coordinate value of a point with a smaller Z-axis coordinate value is larger than the X-axis coordinate value of the other endpoint, then the major axis a tilts in 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 in the negative direction of the X-axis until the major axis a is parallel to the X-axis, and then the second motor stops rotating. S230. If the X-axis coordinate value of the point with the smaller Z-axis coordinate value is smaller than the X-axis coordinate value of the other endpoint, then the major axis a tilts in the negative X-axis direction. At this time, the servo motor controller controls the second motor of the Z-axis rotation module to rotate in the positive X-axis direction until the major axis a is parallel to the X-axis, and then the second motor stops rotating. S240, The image analysis device measures the minor axis b of the ellipse, and the image analysis device calculates the X-axis rotation angle. ; S250, The servo motor controller controls the first motor of the X-axis rotation module to rotate forward by a first rotation angle. During the rotation, the real-time coordinate image of the tap head is acquired and the length of the real-time minor axis b is extracted. If the length of the minor axis b increases, the first motor continues to rotate. If the length of the minor axis b decreases, the first motor of the X-axis rotation module rotates in the opposite direction until the tap head image is a circle with a standard diameter length of a. S260. Obtain the latest dot coordinate image and calculate the coordinate value of the center. If the center does not coincide with the origin of the Cartesian coordinate system, the servo motor controller controls the third and fourth motors of the XZ axis displacement module to move so that the center of the latest dot coordinate image coincides with the origin of the Cartesian coordinate system. S300. If the major axis a is parallel to the Z-axis of the Cartesian coordinate system, rotate based on the Z-axis angle. Control the movement of the Z-axis rotation module and the XZ-axis displacement module so that the tap image is circular and the center of the circle coincides with the origin of the Cartesian coordinate system; step S300 includes: S310, The image analysis device calculates the Z-axis rotation angle. S320, The servo motor controller controls the second motor of the Z-axis rotation module to rotate forward by a second rotation angle. During the rotation, the real-time coordinate image of the tap head is acquired and the length of the real-time minor axis b is extracted. If the length of the minor axis b increases, the first motor continues to rotate. If the length of the minor axis b decreases, the second motor of the X-axis rotation module rotates in the opposite direction until the tap head image is a circle with a standard diameter length of a. S330. Obtain the latest dot coordinate image and calculate 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 and fourth motors of the XZ axis displacement module to move so that the center of the latest dot coordinate image coincides with the origin of the plane rectangular coordinate system. S400. If the image of the pressing head in the coordinate image of the pressing head is circular and the center of the circle coincides with the origin of the plane rectangular coordinate system, then the calibration operation is complete.

2. The Probe-based non-destructive automatic spatial attitude calibration method according to claim 1, characterized in that, In step S240, the X-axis rotation angle for: Where a is the major axis of the ellipse and b is the minor axis of the ellipse.

3. The Probe-based non-destructive automatic spatial attitude calibration method according to claim 1, characterized in that, In step S200, if the image of the tapped head in the coordinate image is elliptical, but its major axis a is parallel to the X-axis of the Cartesian coordinate system, Skip steps S210 to S230, and only execute steps S240 to S260.

4. The Probe-based non-destructive automatic spatial attitude calibration method according to claim 1, characterized in that, In step S310, the Z-axis rotation angle for: Where a is the major axis of the ellipse and b is the minor axis of the ellipse.

5. A probe-based non-destructive automatic spatial attitude calibration device, used to perform the probe-based non-destructive automatic spatial attitude calibration method as described in any one of claims 1 to 4, characterized in that, The Probe non-destructive spatial attitude automatic calibration device includes a camera module and a calibration module arranged opposite to each other, with the camera module mounted on a test bench; The camera module includes a camera and an image analysis device connected in sequence; The calibration module includes a base, an X-axis rotation module, a Z-axis rotation module, an XZ-axis displacement module, and a Probe point module. The X-axis rotation module is used to drive the Probe tapping head module to adjust the rotation angle along the X-axis. The X-axis rotation module is positioned above the base. The Z-axis rotation module is configured to drive the Probe button module to adjust the rotation angle along the Z-axis. The Z-axis rotation module is positioned along the extension direction of the X-axis rotation module along the Y-axis. The XZ-axis displacement module is used to drive the Probe click head module to adjust its translational position along the XZ axis. The XZ-axis displacement module is positioned above the Z-axis rotation module. The probe head module is used to align with the test position of the product under test, and the probe head module is set in the extension direction of the XZ axis displacement module along the Y axis.

6. The Probe non-destructive spatial attitude automatic calibration device according to claim 5, characterized in that, The X-axis rotation module includes at least a first motor, a first motion conversion mechanism that converts the linear motion output of the first motor into rotational motion, and a first rotary output disk connected in sequence to the output of the first motion conversion mechanism. The first rotary output disk is connected to one end of the Z-axis rotation module. The Z-axis rotation module includes at least a first adapter plate connected to a first rotary output disk, a second motor, a second motion conversion mechanism that converts the linear motion output of the second motor into rotational motion, and a second rotary output disk connected to the second motion conversion mechanism, wherein the second rotary output disk is connected to one end of the XZ-axis displacement module. The XZ-axis displacement module includes at least a second adapter plate connected to the second rotary output disk, 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, all connected in sequence. The Probe button module includes at least a third adapter plate, a fifth motor, a coupling, a screw drive mechanism, and a pressing mechanism connected in sequence. The end of the pressing mechanism is provided with a pressing head.

7. The Probe non-destructive spatial attitude automatic calibration device according to claim 6, characterized in that, The first adapter plate includes a first side plate and a second side plate that are perpendicular to each other. The normal vector of the first side plate is in the direction extending along the X-axis, and the normal vector of the second side plate is in the direction extending along the Z-axis. The first side plate is connected to the first rotary output disk, and the second side plate is connected to the second motor. The second adapter plate includes a third side plate and a fourth side plate that are perpendicular to each other. The normal vector of the third side plate is in the direction extending along the Z-axis, and the normal vector of the fourth side plate is in the direction extending along the Y-axis. The third side plate is connected to the second rotary output disk, and the fourth side plate is connected to the third motor. The third adapter plate includes a fifth side plate and a sixth side plate that are perpendicular to each other. The normal vector of the fifth side plate is in the direction extending along the Y-axis, and the normal vector of the sixth side plate is in the direction extending along the Z-axis. The fifth side plate is connected to the X-axis displacement output plate, and the Probe push-button module is set on the sixth side plate. The first motor, the second motor, the third motor, the fourth motor, and the fifth motor are all servo motors, and the system also includes a servo motor controller. The first motor, the second motor, the third motor, the fourth motor, and the fifth motor are electrically connected to the servo motor controller, and the servo motor controller is electrically connected to the image analysis device.

8. A computer-readable storage medium, characterized in that, It stores program instructions, which, when executed by a processor, implement the Probe non-destructive spatial attitude automatic calibration method as described in any one of claims 1 to 4.

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