Uvw platform angle calibration method, device, equipment and storage medium

Abstract

The application relates to the technical field of mechanical vision, in particular to a UVW platform angle calibration method and device, equipment and a storage medium. The application obtains a preset rotation angle, determines a theoretical angle value of a UVW platform according to the preset rotation angle, establishes a coordinate system based on a preset calibration piece and the UVW platform, determines a measurement angle value of the UVW platform according to the calibration piece and the coordinate system, determines a first angle deviation value according to the theoretical angle value and the measurement angle value, obtains a rated parameter of the UVW platform, wherein the rated parameter at least includes an effective radius, determines an effective radius deviation of the UVW platform according to the first angle deviation value, the preset rotation angle and the effective radius, determines an actual radius of the UVW platform according to the effective radius deviation, and calibrates a workpiece to be processed on the UVW platform based on the actual radius. The application solves the problem of insufficient calibration precision of the UVW platform caused by the effective radius deviation, mechanical clearance and the like, and improves the control precision of the UVW platform.

Description

Technical Field

[0001] This application relates to the field of machine vision technology, and in particular to a UVW platform angle calibration method, apparatus, equipment and storage medium. Background Technology

[0002] The UVW platform is a precision positioning device with three degrees of freedom (X-axis translation, Y-axis translation, and θ-angle rotation). Its core function is to achieve high-precision position adjustment and attitude calibration of the workpiece within a plane, making it a crucial piece of equipment in precision manufacturing and electronic assembly. As the core mechanism for realizing planar three-degree-of-freedom motion, the UVW platform's angular control accuracy directly determines the final product's assembly quality. Precision manufacturing demands extremely high angular accuracy, especially in the processing and assembly of large-size workpieces (such as the assembly of large-size, high-resolution screens). Due to the large size of the workpieces, even minute angular errors can be amplified into significant displacement errors through the mechanical structure, leading to a decrease in product yield.

[0003] The angular accuracy of the UVW platform is constrained by multiple factors, and independent compensation methods are adopted for different error sources: for example, mechanical backlash error is simply offset by a preset fixed compensation value; motor positioning error is mitigated by increasing encoder resolution or optimizing servo parameters; and visual measurement error is improved by increasing camera accuracy or optimizing image algorithms.

[0004] However, existing technologies rely solely on machining tolerance control—for the critical error source of the difference between the effective radius and the actual radius caused by machining—such as ensuring radius errors are within the 0.1mm range. There is a lack of specialized calibration methods for precise quantification and compensation. This leads to the deviation amplifying angular errors through the coupling relationship between angle and radius, ultimately resulting in insufficient angular accuracy and assembly errors exceeding the requirements of high-end precision manufacturing. Therefore, a method is urgently needed to specifically calibrate and compensate for effective radius deviation to improve the angle control accuracy of the UVW platform. Summary of the Invention

[0005] In view of the above, this application provides a UVW platform angle calibration method, apparatus, device and storage medium, aiming to solve the problem of low angle control accuracy of UVW platforms.

[0006] A first aspect of this application provides a UVW platform angle calibration method, the method comprising:

[0007] Obtain a preset rotation angle, and determine the theoretical angle value of the UVW platform based on the preset rotation angle;

[0008] A coordinate system is established based on the preset calibration component and the UVW platform. The measurement angle value of the UVW platform is determined according to the calibration component and the coordinate system.

[0009] The first angle deviation value is determined based on the theoretical angle value and the measured angle value;

[0010] Obtain the rated parameters of the UVW platform, wherein the rated parameters include at least the effective radius;

[0011] The effective radius deviation of the UVW platform is determined based on the first angle deviation value, the preset rotation angle, and the effective radius.

[0012] The actual radius of the UVW platform is determined based on the effective radius deviation.

[0013] On the UVW platform, the workpiece to be processed is calibrated based on the actual radius.

[0014] Furthermore, determining the theoretical angle value of the UVW platform based on the preset rotation angle includes:

[0015] Based on the preset number of divisions of the UVW platform, the preset rotation angle is divided into multiple sub-angle units, and the division number of each sub-angle unit is determined.

[0016] Based on the preset rotation angle and the graduation number, the theoretical angle value corresponding to each graduation number is determined, resulting in multiple theoretical angle values.

[0017] Furthermore, determining the measurement angle value of the UVW platform based on the calibration component and the coordinate system includes:

[0018] Based on the theoretical angle value corresponding to each graduation number, the position of the UVW platform under each graduation number in the coordinate system is determined, and the displacement data of the UVW platform under each graduation number is obtained.

[0019] Based on the displacement data and the calibration component, the measurement angle value corresponding to each graduation number is determined, resulting in multiple measurement angle values.

[0020] Furthermore, determining the effective radius deviation of the UVW platform based on the first angle deviation value, the preset rotation angle, and the effective radius includes:

[0021] The initial scale number is determined based on the scale number and the number of scales.

[0022] Based on the preset rotation angle and the initial graduation number, determine the initial values ​​of the theoretical angle and the initial values ​​of the measured angle;

[0023] The initial angle deviation value is determined based on the theoretical initial angle value and the measured initial angle value;

[0024] The second angle deviation value is determined based on the first angle deviation value and the initial angle deviation value;

[0025] The theoretical difference is determined based on the initial theoretical angle value and the theoretical angle value corresponding to each graduation number;

[0026] The effective radius deviation of the UVW platform is determined based on the second angle deviation value, the theoretical difference, and the effective radius.

[0027] Furthermore, determining the effective radius deviation of the UVW platform based on the second angle deviation value, the theoretical difference, and the effective radius includes:

[0028] Based on the second angle deviation value, the theoretical difference, and the effective radius, determine the effective radius deviation corresponding to each graduation number;

[0029] The effective radius deviation corresponding to each of the aforementioned graduation numbers is averaged to obtain the average effective radius deviation.

[0030] The effective radius deviation of the UVW platform is determined based on the average effective radius deviation.

[0031] Furthermore, after determining the effective radius deviation of the UVW platform based on the average effective radius deviation, the method further includes:

[0032] By comparing the effective radius deviation corresponding to each of the graduation numbers with the average effective radius deviation, a deviation threshold is obtained, and an angle deviation anomaly value is determined based on the deviation threshold.

[0033] Based on the effective radius deviation corresponding to each of the graduation numbers, determine the effective radius deviation set, and determine whether the effective radius deviation set has any abnormal values ​​of the angle deviation;

[0034] If so, after removing the outliers of the angle deviation from the effective radius deviation set, the effective radius deviation set after removing the outliers of the angle deviation is taken as the effective radius deviation set, and the process of averaging the effective radius deviation corresponding to each graduation number is returned to obtain the average effective radius deviation.

[0035] Furthermore, determining the position of the UVW platform in the coordinate system according to the theoretical angle value corresponding to each graduation number, and obtaining the displacement data of the UVW platform under each graduation number, includes:

[0036] Acquire the collected images of the calibration component to obtain the image data of the UVW platform under each of the specified index numbers;

[0037] Based on the coordinate system, feature point recognition and coordinate transformation are performed on the image data to determine the displacement data of the UVW platform in the coordinate system.

[0038] A second aspect of this application provides an angle calibration device for a UVW platform, the device comprising:

[0039] The calculation module is used to obtain a preset rotation angle and determine the theoretical angle value of the UVW platform based on the preset rotation angle.

[0040] A coordinate system establishment module is used to establish a coordinate system based on a preset calibration component and the UVW platform;

[0041] The image acquisition module is used to determine the measurement angle value of the UVW platform based on the calibration component and the coordinate system.

[0042] The calculation module is also used to determine a first angle deviation value based on the theoretical angle value and the measured angle value;

[0043] An acquisition module is used to acquire the rated parameters of the UVW platform, wherein the rated parameters include at least the effective radius;

[0044] The calculation module is also used to determine the effective radius deviation of the UVW platform based on the first angle deviation value, the preset rotation angle, and the effective radius.

[0045] The calculation module is also used to determine the actual radius of the UVW platform based on the effective radius deviation;

[0046] A calibration module is used to calibrate the workpiece to be processed on the UVW platform based on the actual radius.

[0047] A third aspect of this application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the UVW platform angle calibration method.

[0048] A fourth aspect of this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the UVW platform angle calibration method described above.

[0049] In summary, this application includes at least one of the following beneficial technical effects:

[0050] 1. This application uses a coordinate system established based on the calibration part and the UVW platform as an absolute reference system. With a preset rotation angle as the reference, the first angle deviation value is obtained by calculating the difference between the measured angle value and the theoretical angle value of the UVW platform. Then, the effective radius deviation is calculated based on the effective radius of the UVW platform. The effective radius value is corrected based on the effective radius deviation to obtain the actual radius of the UVW platform. The workpiece to be processed is then calibrated based on the actual radius, which improves the angle control accuracy of the UVW platform.

[0051] 2. By setting the initial graduation number, the initial value of the measured angle is obtained. Based on the difference between the first angle deviation value and the initial angle deviation value, the second angle deviation value is obtained. Then, based on the second angle deviation value and the effective radius, the effective radius deviation is calculated. By removing the gap error, the interference of nonlinear errors, including the gap error, on the effective radius deviation is avoided, thereby further improving the accuracy of the UVW platform angle calibration.

[0052] 3. The effective radius deviation corresponding to each of the graduation numbers is averaged to obtain the average effective radius deviation. Then, the effective radius deviation of the UVW platform is determined. This reduces the impact of random errors such as image noise and mechanical vibration on the calculation of the effective radius deviation, thereby making the calculated actual radius more accurate and improving the angle control accuracy of the UVW platform. Attached Figure Description

[0053] Figure 1 This is a schematic flowchart illustrating the UVW platform angle calibration method in an embodiment of this application;

[0054] Figure 2 This is a functional block diagram of the UVW platform angle calibration device shown in the embodiments of this application;

[0055] Figure 3 This is a schematic diagram of the structure of an electronic device shown in an embodiment of this application. Detailed Implementation

[0056] The terminology used in the following embodiments of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. As used in the specification of this application, the singular expressions “a,” “an,” “the,” “the,” “the,” and “this” are intended to include the plural expressions as well, unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used in this application refers to any or all possible combinations including one or more of the listed items.

[0057] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting relative importance or implicitly indicating the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature, and in the description of the embodiments of this application, unless otherwise stated, "multiple" means two or more.

[0058] Reference Figure 1 As shown, Figure 1 This is a flowchart illustrating a UVW platform angle calibration method, which includes the following steps:

[0059] S11, Obtain a preset rotation angle, and determine the theoretical angle value of the UVW platform based on the preset rotation angle;

[0060] The preset rotation angle refers to an angle value pre-set by the UVW platform and calibration components to calculate and derive the effective radius deviation. It is a preset angle constant and serves as the basis for calculating and obtaining measured and theoretical angle values. The theoretical angle value refers to an ideal rotation angle achieved by the UVW platform at the preset rotation angle, determined based on that preset rotation angle. It is the target value for platform motion control.

[0061] It should be noted that, for ease of calculation, the UVW platform typically uses the origin of the coordinate system as the center of rotation. Specifically, a preset line segment can be defined on the UVW platform with its endpoint at the origin of the coordinate system and parallel to the positive X-axis. The length of the preset line segment is set according to the known geometric dimensions of the calibration component and the effective radius of the UVW platform. The length of the preset line segment can be equal to the length of the effective radius. After the UVW platform rotates by a specified angle with the origin of the coordinate system as the rotation point, the angle between the preset line segment and the positive X-axis is the preset rotation angle.

[0062] In some embodiments, the theoretical angle value can be a value equal to a preset rotation angle. For example, if the preset rotation angle is 0.01°, the UVW platform will rotate 0.01° around the endpoint of the coordinate system origin, and the theoretical angle value at this time will also be 0.01°.

[0063] Since the angle control error of the UVW platform accumulates with the rotation angle, if the theoretical angle value is determined solely based on the preset rotation angle, the calculated angle control error will be significant. Therefore, it is necessary to discretize the preset rotation angle into multiple uniformly spaced graduations using a number of graduations. Each graduation corresponds to a unique theoretical angle value. Specifically, the theoretical angle value can be determined as follows: Based on the preset number of graduations of the UVW platform, the preset rotation angle is divided into multiple sub-angle units, and the graduation number of each sub-angle unit is determined. Based on the preset rotation angle and the graduation number, the theoretical angle value corresponding to each graduation number is determined, resulting in multiple theoretical angle values.

[0064] The number of divisions refers to the number of evenly spaced sub-angle units into which the preset rotation angle needs to be divided. In other words, the number of divisions determines the number of evenly spaced sub-angle units. The value of the number of divisions is determined by the required angle control accuracy; the higher the accuracy requirement, the larger the number of divisions, and the denser the division numbers. The division number is the number assigned to each sub-angle unit after the preset rotation angle is evenly divided according to the number of divisions, and it is an integer not less than 0.

[0065] The formula for calculating the theoretical angle value is as follows:

[0066]

[0067] in, It is the graduation number. This is a preset rotation angle, in radians. It is the number of divisions. This refers to the scale number being The corresponding theoretical angle value.

[0068] The following explanation is based on a specific embodiment: Assume that the preset rotation angle of the UVW platform is 0.1°, the number of divisions is 20, each sub-angle unit is 0.005°, the 10th theoretical angle value is 0.05°, and the 15th theoretical angle value is 0.075°.

[0069] It should be noted that the preset rotation angle in this embodiment is for ease of description and division by graduation number, and the unit used is angle. However, when calculating the preset rotation angle, the unit of the preset rotation angle needs to be converted to radians. In addition, in this application, the unit of all angles involved in the calculation, such as the measured angle value, theoretical angle value, first angle deviation value, and second angle deviation value, is radians. In this embodiment, for ease of description and division, the unit may be angle when describing, but when involved in the calculation, it is necessary to uniformly convert the angle system to radians before substituting it into the formula for calculation.

[0070] S12, establish a coordinate system based on the preset calibration component and the UVW platform, and determine the measurement angle value of the UVW platform according to the calibration component and the coordinate system;

[0071] A calibration component is a rigid reference component with known, fixed geometric dimensions, which is fixed above the UVW platform and does not move with the UVW platform. The geometric parameters of the calibration component are precisely calibrated and can be used to provide a physical reference for the displacement and angle measurements of the UVW platform.

[0072] A coordinate system is a two-dimensional static reference system set with a fixed datum. It is established to quantify the position, displacement, and angle of the UVW platform and calibration components. The coordinate system axes include the origin, X-axis, Y-axis, and unit scale, used to uniformly describe the positional changes of points on the UVW and calibration components at different angles. For example, in some embodiments, the calibration component is fixedly installed in the measurement area of ​​the UVW platform. The reference point of the calibration component is defined as the origin of the coordinate axes. A straight line passing through the reference point is defined as the positive direction of the X-axis of the coordinate system, and the direction perpendicular to the X-axis and following the right-hand rule is defined as the positive direction of the Y-axis. Once the coordinate axis directions are determined, they remain fixed and are not adjusted with the translation or rotation of the UVW platform. In other words, the coordinate system uses the calibration component as a reference datum and, once set, serves as an absolute reference system, no longer adjusting with the translation or rotation of the UVW platform.

[0073] The measured angle value refers to the angle change value of the preset line segment of the UVW platform in the coordinate system. It is a rotation angle calculated by measuring the corresponding position of the preset line segment after rotating it around the origin by a specified angle through the calibration component. It is used to compare with the theoretical angle value to determine the angle deviation.

[0074] In some embodiments, when the theoretical angle value is equal to the preset rotation angle, after the preset line segment on the UVW platform rotates by the preset rotation angle, the distance between the preset endpoint of the UXW platform away from the origin in the coordinate system and the X-axis is measured by the calibration component, and then the measured angle value is calculated by the arcsine function.

[0075] To further improve the precision of angle measurement, the preset rotation angle is divided into multiple sub-angle units based on the number of graduations. Each sub-angle unit corresponds to a unique graduation number and a theoretical angle value. Simultaneously, each graduation number also has a corresponding measured angle value. These measured angle values ​​are obtained as follows: based on the theoretical angle value corresponding to each graduation number, the position of the UVW platform under each graduation number in the coordinate system is determined, obtaining the displacement data of the UVW platform under each graduation number; based on the displacement data and the calibration component, the measured angle value corresponding to each graduation number is determined, resulting in multiple measured angle values.

[0076] Displacement data refers to the positional change data of preset feature points of preset line segments on the UVW platform in the coordinate system after rotation of the UVW platform at each index number, including the X and Y coordinate offsets of the preset line segments relative to the initial position.

[0077] The formula for calculating the measured angle value is as follows:

[0078]

[0079] in, This is the Y-value of the endpoint of the preset line segment that is far from the origin in the coordinate system. For the preset length of the line segment, For the scale number, For the scale number is The measured angle value at that time.

[0080] It should be noted that, in this application, the displacement data is obtained through the following method: acquiring the collected image of the calibration component to obtain the image data of the UVW platform corresponding to each of the graduation numbers; performing feature point recognition and coordinate transformation on the image data based on the coordinate system to determine the displacement data of the UVW platform in the coordinate system.

[0081] Image acquisition refers to the optical images obtained by taking pictures of calibration parts and UVW platforms under different graduation numbers through visual measurement devices, such as industrial cameras and laser profilometers. The images must clearly contain the preset feature points of the calibration parts and the position of the UVW platform, and are the original carriers for extracting displacement information.

[0082] Image data refers to pixel matrix data obtained after acquiring images and digitizing them. It contains pixel coordinate information of feature points of the calibration component and can be parsed into physical coordinates, such as the values ​​of the X and Y axes, through image processing algorithms.

[0083] S13, determine the first angle deviation value based on the theoretical angle value and the measured angle value;

[0084] The first angle deviation value refers to the difference between the measured angle value and the theoretical angle value. It is the deviation between the actual rotation angle of the UVW platform after rotating a specified angle and the ideal target angle.

[0085] The formula for calculating the first angle deviation is as follows:

[0086]

[0087] in, This is the first angular deviation value. It measures the angle value. It is a theoretical value.

[0088] S14, obtain the rated parameters of the UVW platform, wherein the rated parameters include at least the effective radius;

[0089] The rated parameters of the UVW platform refer to the design calibration parameters of the UVW platform at the time of manufacture. These are the benchmark data for the theoretical operation of the platform, including but not limited to core parameters such as the effective radius, motor drive parameters, and mechanical structure design dimensions. In this application, the effective radius refers to the theoretical distance from the rotation center of the UVW platform to the motor drive point (i.e., the installation reference point of the calibration component). It is the core geometric parameter for establishing the relationship between angle and displacement, and also the basic benchmark value for deriving the radius deviation and correcting the actual radius in the embodiments of this application.

[0090] S15, determine the effective radius deviation of the UVW platform based on the first angle deviation value, the preset rotation angle, and the effective radius;

[0091] Effective radius deviation refers to the difference between the actual effective radius of the UVW platform and the effective radius of the rated parameters. It is the core factor causing angle control error and a key parameter that needs to be calculated and derived in this calibration method. The effective radius deviation is used to correct the deviation of the effective radius to improve the angle control accuracy, thereby improving the accuracy of angle calibration.

[0092] The formula for calculating the effective radius deviation is as follows:

[0093]

[0094] in, It is the effective radius deviation. First angular deviation value, C is the effective radius, and C is the preset rotation angle.

[0095] After the UVW platform is installed, the clearance between the lead screw and coupling will produce a non-linear clearance error, causing the actual displacement to differ from the commanded displacement. This error is difficult to compensate for directly through control. The original formula for calculating the effective radius deviation did not consider the clearance error, which affects calibration accuracy. In other words, the measured angle value obtained through calibration components includes clearance error. Taking clearance error into account, the formula for calculating the effective radius deviation is as follows:

[0096]

[0097] in, It is the effective radius deviation. It measures the angle value. This is a theoretical value. It is the effective radius. It is a preset rotation angle. This refers to the gap error.

[0098] To optimize the gap error, the formula will be modified. To reasonably eliminate gap errors and avoid their impact on the effective radius deviation, in some embodiments, the preset rotation angle is evenly divided into multiple sub-angle units according to the number of graduations, and then an initial graduation number is set to eliminate the interference of gap errors. The specific scheme is as follows: An initial graduation number is determined based on the graduation number and the number of graduations; an initial theoretical angle value and an initial measured angle value are determined based on the preset rotation angle and the initial graduation number; an initial angle deviation value is determined based on the initial theoretical angle value and the initial measured angle value; a second angle deviation value is determined based on the first angle deviation value and the initial angle deviation value; a theoretical difference is determined based on the initial theoretical angle value and the theoretical angle value corresponding to each graduation number; and the effective radius deviation of the UVW platform is determined based on the second angle deviation value, the theoretical difference, and the effective radius.

[0099] The initial subdivision number refers to the starting subdivision node selected from all subdivision numbers for capturing and eliminating gap errors. For ease of calculation, subdivision number 1 is usually selected. For ease of description, the initial subdivision number in this embodiment is 1.

[0100] The initial theoretical angle value refers to the theoretical angle value corresponding to the initial graduation number. The initial measured angle value refers to the measured angle value corresponding to the initial graduation number.

[0101] The theoretical difference refers to the difference between the theoretical angle value corresponding to each graduation number and the initial theoretical angle value. It reflects the ideal angle increment of the number relative to the initial node and is an ideal angle value without error.

[0102] The formula for calculating the theoretical difference is as follows:

[0103]

[0104] in, The scale number is The theoretical difference at that time It is the number of divisions. It is the graduation number, indicating the first... indivual.

[0105] The initial angle deviation value refers to the difference between the theoretical initial angle value and the measured initial angle value. When the initial graduation number is 1, the initial angle deviation value is... The calculation formula is as follows:

[0106]

[0107] in, This is the initial angle deviation value. This is the measured angle value when the graduation number is 1. It is the theoretical angle value when the graduation number is 1.

[0108] The second angle deviation value refers to the difference between the first angle deviation value and the initial angle deviation value. It is a quantified value that includes only the effective radius deviation after eliminating gap errors.

[0109] The formula for calculating the second angle deviation is as follows:

[0110]

[0111] Taking into account gap error, the formula for calculating the effective radius deviation is as follows:

[0112]

[0113] in, It is the effective radius deviation. The scale number is The first angular deviation value at that time, This is the initial angle deviation value. It is the effective radius. The scale number is The theoretical difference over time.

[0114] The above technical solution obtains the initial value of the measured angle by setting the initial graduation number. Then, the second angle deviation value is obtained by the difference between the first angle deviation value and the initial angle deviation value. Since both the first deviation value and the initial angle deviation value include gap error, the second angle deviation value obtained by subtracting the two only contains the core linear error. The effective radius deviation derived from the second angle deviation value is closer to the actual situation, which solves the derivation deviation problem caused by the original formula not considering gap error. It avoids the interference of nonlinear error, including gap error, on the effective radius deviation, thereby further improving the accuracy of UVW platform angle calibration.

[0115] After removing nonlinear gap errors through the initial graduation number and obtaining the second angle deviation value containing only the linear error related to the effective radius, the second angle deviation value corresponding to a single graduation number may still be affected by random errors such as image noise and mechanical vibration, resulting in different effective radius deviations derived from different graduation numbers. To further improve the accuracy of the effective radius deviation derivation, statistical optimization of multiple sets of data is needed to reduce these random interferences. The specific scheme is as follows: Based on the second angle deviation value, the theoretical difference, and the effective radius, determine the effective radius deviation corresponding to each graduation number; perform mean processing on the effective radius deviation corresponding to each graduation number to obtain the average effective radius deviation; determine the effective radius deviation of the UVW platform based on the average effective radius deviation.

[0116] Mean processing refers to calculating the arithmetic mean of the effective radius deviation corresponding to each division number. By using statistical methods to reduce random errors in a single set of data, a more robust average effective radius deviation is obtained. This average effective radius deviation is also the effective radius deviation of the UVW platform.

[0117] The formula for calculating the effective radius deviation after mean averaging is as follows:

[0118]

[0119] The effective radius deviation corresponding to each graduation number may contain extreme random errors caused by sudden vibrations, image interference, etc. These outliers will distort the mean result and affect the accuracy of the effective radius deviation derivation. To further improve the accuracy of the effective radius deviation, the effective radius deviation set needs to be filtered and optimized. That is, after determining the effective radius deviation of the UVW platform based on the average effective radius deviation, the following steps are also included:

[0120] By comparing the effective radius deviation corresponding to each graduation number with the average effective radius deviation, a deviation threshold is obtained, and anomalies in angle deviation are determined based on the deviation threshold.

[0121] Based on the effective radius deviation corresponding to each graduation number, determine the effective radius deviation set, and determine whether the effective radius deviation set has any abnormal values ​​of the angle deviation;

[0122] If so, after removing the outliers of the angle deviation from the effective radius deviation set, the effective radius deviation set after removing the outliers of the angle deviation is taken as the effective radius deviation set, and the process of averaging the effective radius deviations corresponding to each graduation number is returned to obtain the average effective radius deviation.

[0123] The effective radius deviation set refers to the set of effective radius deviations corresponding to all graduation numbers after excluding the initial graduation number.

[0124] The deviation threshold is a preset value set at the boundary of the allowable fluctuation range, based on the effective radius deviation corresponding to each division number and the average effective radius deviation. It is used to distinguish between normal and abnormal deviations. The deviation threshold can be set according to actual conditions. For example, if only a few division numbers in the effective radius deviation set have effective radius deviations less than the average effective radius deviation, the deviation threshold is defined as 0. If the effective radius deviation corresponding to a certain division number is less than the average effective radius deviation, then the effective radius deviation corresponding to that division number is defined as an abnormal deviation value. Alternatively, the deviation threshold can be defined as one-tenth of the average effective radius deviation. If the absolute value of the difference between the effective radius deviation corresponding to a certain division number and the average effective radius deviation is greater than one-tenth of the average effective radius deviation, then the effective radius deviation corresponding to that division number is defined as an abnormal deviation value.

[0125] Angle deviation outliers refer to effective radius deviations in the effective radius deviation set that exceed the deviation threshold range. These outliers are mostly caused by extreme and accidental factors such as sudden mechanical vibrations and image acquisition interference, and have a significant impact on the calculation of effective radius deviations. Therefore, they need to be removed.

[0126] S16, Determine the actual radius of the UVW platform based on the effective radius deviation;

[0127] The actual radius refers to the real physical distance from the rotation center of the UVW platform to the drive point (or the feature point of the calibration part). It is the angle value obtained by superimposing the effective radius in the rated parameters of the UVW platform with the effective radius deviation, and it is also the final reference for subsequent calibration of the workpiece to be processed.

[0128] The effective radius of the UVW platform is the theoretically designed radius value, which has inherent deviations due to production, installation, etc. The effective radius deviation is a more accurate angle value derived from the deviation of the effective radius after multi-step error stripping. The actual radius, which is more in line with the actual physical state of the platform, is obtained by directly superimposing the effective radius and the effective radius deviation.

[0129] S17, The UVW platform is calibrated for the workpiece based on the actual radius.

[0130] The workpiece to be processed refers to the object to be processed by the UVW platform, such as a 120-inch 16K display screen or precision electronic components. One of the core objectives of UXW platform calibration is to ensure the processing accuracy of the workpiece. Calibration refers to correcting the motion control commands of the UVW platform based on the actual radius, so that the platform's rotation angle and translation displacement match the processing requirements of the workpiece, thereby ensuring the processing accuracy of the workpiece.

[0131] In some embodiments, the angle calibration device 20 of the UVW platform may include multiple functional modules composed of computer program segments. The computer programs for each program segment of the angle calibration device 20 of the UVW platform may be stored in the memory of an electronic device and executed by at least one processor to perform (see details). Figure 1 (Description) Function of the UVW platform angle calibration method.

[0132] Reference Figure 2 As shown, Figure 2 This is a functional block diagram illustrating the UVW platform angle calibration method according to an embodiment of this application. In this embodiment, the UVW platform angle calibration device 20 can be divided into multiple functional modules according to its functions. The functional modules may include: a calculation module 201, a coordinate system establishment module 202, an image acquisition module 203, an acquisition module 204, and a calibration module 205. The term "module" in this application refers to a series of computer program segments that can be executed by at least one processor and perform a fixed function, and which are stored in memory. In this embodiment, the functions of each module will be described in detail in subsequent embodiments.

[0133] The calculation module 201 is used to obtain a preset rotation angle and determine the theoretical angle value of the UVW platform based on the preset rotation angle.

[0134] The calculation module 201 is further configured to determine a first angle deviation value based on the theoretical angle value and the measured angle value;

[0135] The calculation module 201 is further configured to determine the effective radius deviation of the UVW platform based on the first angle deviation value, the preset rotation angle, and the effective radius.

[0136] The calculation module 201 is also used to determine the actual radius of the UVW platform based on the effective radius deviation;

[0137] The coordinate system establishment module 202 is used to establish a coordinate system based on a preset calibration component and the UVW platform;

[0138] The image acquisition module 203 is used to determine the measurement angle value of the UVW platform based on the calibration component and the coordinate system.

[0139] The acquisition module 204 is used to acquire the rated parameters of the UVW platform, wherein the rated parameters include at least the effective radius;

[0140] The calibration module 205 is used to calibrate the workpiece to be processed on the UVW platform based on the actual radius.

[0141] Reference Figure 3 As shown, Figure 3 This is a schematic diagram of the structure of an electronic device shown in an embodiment of this application. In a preferred embodiment of this application, the electronic device 3 includes a memory 31, at least one processor 32, and at least one communication bus 33.

[0142] Those skilled in the art should understand that Figure 3 The structure of the electronic device shown does not constitute a limitation of the embodiments of this application. It can be a bus structure or a star structure. The electronic device 3 may also include more or fewer other hardware or software than shown, or different component arrangements.

[0143] In some embodiments, the electronic device 3 is a device capable of automatically performing numerical calculations and / or information processing according to pre-set or stored instructions. Its hardware includes, but is not limited to, microprocessors, application-specific integrated circuits (ASICs), programmable gate arrays (FPGAs), digital processors, and embedded devices. The electronic device 3 may also include user equipment, which includes, but is not limited to, any electronic product capable of human-computer interaction with a user via a keyboard, mouse, remote control, touchpad, or voice control device, such as a personal computer, tablet computer, smartphone, or digital camera.

[0144] It should be noted that the electronic device 3 is merely an example. Other existing or future electronic products that are suitable for this application should also be included within the scope of protection of this application and are incorporated herein by reference.

[0145] In some embodiments, the memory 31 stores a computer program that, when executed by the at least one processor 32, implements all or part of the steps in the UVW platform angle calibration method described above. The memory 31 includes read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically-erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, disk storage, magnetic tape storage, or any other computer-readable medium capable of carrying or storing data. Further, the computer-readable storage medium may primarily include a program storage area and a data storage area, wherein the program storage area may store an operating system, at least one application program required for a function, etc.; and the data storage area may store data created based on the use of blockchain nodes, etc. The blockchain referred to in this application is a novel application model of computer technologies such as distributed data storage, peer-to-peer transmission, consensus mechanisms, and encryption algorithms. Essentially, a blockchain is a decentralized database, a chain of data blocks linked together using cryptographic methods. Each data block contains information about a batch of network transactions, used to verify the validity of the information (anti-counterfeiting) and generate the next block. A blockchain can include an underlying blockchain platform, a platform product service layer, and an application service layer.

[0146] In some embodiments, the at least one processor 32 is the control unit of the electronic device 3, connecting various components of the electronic device 3 via various interfaces and lines. It executes programs or modules stored in the memory 31 and calls data stored in the memory 31 to perform various functions and process data. For example, when the at least one processor 32 executes a computer program stored in the memory, it implements all or part of the steps of the angle calibration method for the UVW platform described in this embodiment; or it implements all or part of the functions of the angle calibration device for the UVW platform. The at least one processor 22 can be composed of integrated circuits, such as a single-packaged integrated circuit or multiple integrated circuits with the same or different functions, including combinations of one or more central processing units (CPUs), microprocessors, digital processing chips, graphics processors, and various control chips.

[0147] In some embodiments, the at least one communication bus 33 is configured to enable communication between the memory 31 and the at least one processor 32, etc. Although not shown, the electronic device 3 may also include a power supply (e.g., a battery) to power the various components. Preferably, the power supply can be logically connected to the at least one processor 32 via a power management device, thereby enabling functions such as charging, discharging, and power consumption management. The power supply may also include one or more DC or AC power supplies, recharging devices, power fault detection circuits, power converters or inverters, power status indicators, and other arbitrary components. The electronic device 3 may also include various sensors, Bluetooth modules, Wi-Fi modules, etc., which will not be described in detail here.

[0148] The integrated unit implemented as a software functional module described above can be stored in a computer-readable storage medium. This software functional module, stored in a storage medium, includes several instructions to cause an electronic device (which may be a personal computer, electronic device, or network device, etc.) or processor to execute portions of the methods described in the various embodiments of this application.

[0149] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and other division methods may be used in actual implementation.

[0150] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical units; they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0151] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A UVW platform angle calibration method, characterized in that, The method includes: Obtain a preset rotation angle, and determine the theoretical angle value of the UVW platform based on the preset rotation angle; A coordinate system is established based on the preset calibration component and the UVW platform. The measurement angle value of the UVW platform is determined according to the calibration component and the coordinate system. The first angle deviation value is determined based on the theoretical angle value and the measured angle value; Obtain the rated parameters of the UVW platform, wherein the rated parameters include at least the effective radius; The effective radius deviation of the UVW platform is determined based on the first angle deviation value, the preset rotation angle, and the effective radius. The actual radius of the UVW platform is determined based on the effective radius deviation. On the UVW platform, the workpiece to be processed is calibrated based on the actual radius.

2. The UVW platform angle calibration method according to claim 1, characterized in that, The step of determining the theoretical angle value of the UVW platform based on the preset rotation angle includes: Based on the preset number of divisions of the UVW platform, the preset rotation angle is divided into multiple sub-angle units, and the division number of each sub-angle unit is determined. Based on the preset rotation angle and the graduation number, the theoretical angle value corresponding to each graduation number is determined, resulting in multiple theoretical angle values.

3. The UVW platform angle calibration method according to claim 2, characterized in that, The step of determining the measurement angle value of the UVW platform based on the calibration component and the coordinate system includes: Based on the theoretical angle value corresponding to each graduation number, the position of the UVW platform under each graduation number in the coordinate system is determined, and the displacement data of the UVW platform under each graduation number is obtained. Based on the displacement data and the calibration component, the measurement angle value corresponding to each graduation number is determined, resulting in multiple measurement angle values.

4. The UVW platform angle calibration method according to claim 3, characterized in that, The step of determining the effective radius deviation of the UVW platform based on the first angle deviation value, the preset rotation angle, and the effective radius includes: The initial scale number is determined based on the scale number and the number of scales. Based on the preset rotation angle and the initial graduation number, determine the initial values ​​of the theoretical angle and the initial values ​​of the measured angle; The initial angle deviation value is determined based on the theoretical initial angle value and the measured initial angle value; The second angle deviation value is determined based on the first angle deviation value and the initial angle deviation value; The theoretical difference is determined based on the initial theoretical angle value and the theoretical angle value corresponding to each graduation number; The effective radius deviation of the UVW platform is determined based on the second angle deviation value, the theoretical difference, and the effective radius.

5. The UVW platform angle calibration method according to claim 4, characterized in that, The step of determining the effective radius deviation of the UVW platform based on the second angle deviation value, the theoretical difference, and the effective radius includes: Based on the second angle deviation value, the theoretical difference, and the effective radius, determine the effective radius deviation corresponding to each graduation number; The effective radius deviation corresponding to each of the aforementioned graduation numbers is averaged to obtain the average effective radius deviation. The effective radius deviation of the UVW platform is determined based on the average effective radius deviation.

6. The UVW platform angle calibration method according to claim 5, characterized in that, After determining the effective radius deviation of the UVW platform based on the average effective radius deviation, the method further includes: By comparing the effective radius deviation corresponding to each of the graduation numbers with the average effective radius deviation, a deviation threshold is obtained, and an angle deviation anomaly value is determined based on the deviation threshold. Based on the effective radius deviation corresponding to each of the graduation numbers, determine the effective radius deviation set, and determine whether the effective radius deviation set has any abnormal values ​​of the angle deviation; If so, after removing the outliers of the angle deviation from the effective radius deviation set, the effective radius deviation set after removing the outliers of the angle deviation is taken as the effective radius deviation set, and the process of averaging the effective radius deviation corresponding to each graduation number is returned to obtain the average effective radius deviation.

7. The UVW platform angle calibration method according to claim 3, characterized in that, The step of determining the position of the UVW platform in the coordinate system according to the theoretical angle value corresponding to each graduation number, and obtaining the displacement data of the UVW platform under each graduation number, includes: Acquire the collected images of the calibration component to obtain the image data of the UVW platform under each of the specified index numbers; Based on the coordinate system, feature point recognition and coordinate transformation are performed on the image data to determine the displacement data of the UVW platform in the coordinate system.

8. An angle calibration device for a UVW platform, characterized in that, The device includes: The calculation module is used to obtain a preset rotation angle and determine the theoretical angle value of the UVW platform based on the preset rotation angle. A coordinate system establishment module is used to establish a coordinate system based on a preset calibration component and the UVW platform; The image acquisition module is used to determine the measurement angle value of the UVW platform based on the calibration component and the coordinate system. The calculation module is also used to determine a first angle deviation value based on the theoretical angle value and the measured angle value; An acquisition module is used to acquire the rated parameters of the UVW platform, wherein the rated parameters include at least the effective radius; The calculation module is also used to determine the effective radius deviation of the UVW platform based on the first angle deviation value, the preset rotation angle, and the effective radius. The calculation module is also used to determine the actual radius of the UVW platform based on the effective radius deviation; A calibration module is used to calibrate the workpiece to be processed on the UVW platform based on the actual radius.

9. An electronic device, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the UVW platform angle calibration method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the UVW platform angle calibration method according to any one of claims 1 to 7.

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