CN118840369B - A method, system and storage medium for detecting double-axis docking deviation - Google Patents

The application discloses a method, a system and a storage medium for detecting double-shaft butt joint deviation, and relates to the technical field of image processing. The method comprises the steps of obtaining a visual plane diagram capable of representing the relative position of the first end face and the second end face in focal plane projection, obtaining a first elliptic contour curve representing the first end face and a second elliptic contour curve representing the second end face from the visual plane diagram based on an elliptic detection algorithm, and obtaining docking deviation data based on the first elliptic contour curve and the second elliptic contour curve. The application is not limited by visual accessibility, and even if the visual accessibility between two shafts is small (even 0), the butt joint deviation of the two shafts can be obtained based on the application.

Method, system and storage medium for detecting double-shaft butt joint deviation

Technical Field

The application relates to the technical field of image processing, in particular to a method, a system and a storage medium for detecting double-shaft butt joint deviation.

Background

The docking deviation of the biaxial refers to a gap between an actual position after the two axes (for example, a first axis and a second axis hereinafter) are docked and a preset position. If the butt-joint deviation of the two shafts is larger, the difference between the actual position and the preset position after the two shafts are in butt joint is also larger. In the prior art, since the butt-joint deviation of the shaft-like object (cylindrical shaft or bearing, etc.) is generally transmitted through the outer circumferential surface, the inner circumferential surface or the end surface of the shaft, the butt-joint deviation detection of the shaft-like object is also generally realized through the detection of the outer circumferential surface, the inner circumferential surface or the end surface of the shaft. In the prior art, a contact detection method (for example, a direct measurement method or an optical projection detection method) can be adopted to detect the deviation between the actual positions of the detected shaft objects, so as to determine the butt joint deviation of the two shafts. If the position of the biaxial is limited (for example, the space for detection is small), the butt-joint deviation of the biaxial cannot be measured by a contact detection method, and a noncontact detection method (for example, a 3D camera detection method) may be used. Under the application scene allowed by the operation space, a plurality of 3D cameras are arranged at proper positions and view angles, the space 3D measurement is carried out on the measured shaft object and the space position thereof, the obtained 3D measurement data are processed by using professional software, a 3D model of the measured shaft object and the space position reference thereof is established, and the double-shaft butt joint deviation of the measured shaft object in the 3D model is calculated.

It is clear that the existing non-contact detection method can only be applied to application scenes with larger operation space and visual accessibility, and cannot meet the use requirements in many use environments. For example, the shaft of a cockpit lid firing actuator of a certain type (hereinafter referred to as the first shaft) is offset from the mounting position of the cockpit receiver shaft (hereinafter referred to as the second shaft), and none of the prior art detection methods is applicable because of the small visual accessibility of the cockpit operating space and the shaft in the mounted position (i.e., the first and second shafts can only be seen from certain angles).

Disclosure of Invention

The application aims to provide a method, a system and a storage medium for detecting double-shaft butt joint deviation, which are used for solving the technical problem that the butt joint deviation between two shafts with smaller visual accessibility cannot be detected in the prior art.

In order to achieve the above purpose, the present application provides the following technical solutions:

in a first aspect, the application provides a method for detecting double-shaft butt joint deviation, wherein the double shaft comprises a first shaft and a second shaft, a first end face of the first shaft and a second end face of the second shaft are opposite, and the method comprises the following steps:

Acquiring a visual plan view capable of characterizing the relative positions of the first end face and the second end face in a focal plane projection;

acquiring a first elliptic contour curve representing the first end face and a second elliptic contour curve representing the second end face from the visual plan based on an elliptic detection algorithm;

And obtaining butt joint deviation data based on the first elliptic contour curve and the second elliptic contour curve, wherein the butt joint deviation data comprises angle deviation data and/or position deviation data, the angle deviation data is at least used for representing the space included angle between the axes of the first shaft and the second shaft, and the position deviation data is at least used for representing the space distance between the center point of the first end face and the center point of the second end face.

As a specific scheme in the technical scheme of the application, the butting deviation data comprise angle deviation data, the axial lead of the first shaft is a first axial lead, the axial lead of the second shaft is a second axial lead, and the acquisition of the butting deviation data based on the first elliptic contour curve and the second elliptic contour curve comprises the following steps:

projecting the first elliptic contour curve and the second elliptic contour curve to a three-dimensional coordinate system, wherein the first elliptic contour curve and the second elliptic contour curve are positioned in a plane formed by an x axis and a y axis in the three-dimensional coordinate system;

acquiring a first included angle and a second included angle, wherein the first included angle is an included angle formed by the first axial lead and the z-axis, and the second included angle is an included angle formed by the long axis of the first elliptic contour curve and the x-axis;

acquiring a first unit vector based on the first included angle and the second included angle, wherein the first unit vector is used for representing the extending direction of the first axial lead in the three-dimensional coordinate system;

acquiring a third included angle and a fourth included angle, wherein the third included angle is an included angle formed by the second axial lead and the z-axis, and the fourth included angle is an included angle formed by the long axis of the second elliptic contour curve and the x-axis;

Acquiring a second unit vector based on the third included angle and the fourth included angle, wherein the second unit vector is used for representing the extending direction of the second axis in the three-dimensional coordinate system;

and acquiring the angle deviation data based on the first unit vector and the second unit vector.

As a specific scheme in the technical scheme of the application, the docking deviation data comprises position deviation data, the central point of the first end face is a first central point, the central point of the second end face is a second central point, and the obtaining of the docking deviation data based on the first elliptic contour curve and the second elliptic contour curve comprises the following steps:

projecting the first elliptic contour curve and the second elliptic contour curve to a three-dimensional coordinate system, wherein the first elliptic contour curve and the second elliptic contour curve are positioned in a plane formed by an x axis and a y axis in the three-dimensional coordinate system;

acquiring a third center point of the first elliptic contour curve and a fourth center point of the second elliptic contour curve;

and acquiring the position deviation data based on the third center point and the fourth center point.

As a specific solution in the present application, the calculation formula for obtaining the position deviation data based on the third center point and the fourth center point is as follows:

Wherein, Representing position deviation data, wherein delta represents a space included angle formed by the first axial lead and the second axial lead; Representing a first distance; representing the actual diameter of the first end face; representing the length of the major axis of the first elliptical profile; A minor axis length representing a first elliptical profile; Representing a vector pointing from the third center point to the fourth center point; a unit vector representing the major axis direction of the first elliptic contour curve; representing a unit vector in the short axis direction of the first elliptical profile curve.

As a specific aspect of the present application, the obtaining the position deviation data based on the third center point and the fourth center point includes:

Acquiring a first distance based on the third center point and the fourth center point, wherein the first distance represents the projection distance of the first center point and the second center point in the same plane along a first direction;

acquiring a space included angle between the axial leads of the first shaft and the second shaft;

and acquiring the position deviation data based on the first distance and the space included angle.

As a specific scheme in the technical scheme of the application, the method uses a guide tool, wherein the guide tool at least comprises a guide ring, and the obtaining of the visual plan capable of representing the relative positions of the first end face and the second end face in focal plane projection comprises the following steps:

A first guide tool is arranged on the first shaft, so that the axial lead of a first guide ring in the first guide tool is overlapped with the axial lead of the first shaft;

and/or a second guide tool is arranged on the second shaft, so that the axial lead of a second guide ring in the second guide tool is overlapped with the axial lead of the second shaft;

If the first guiding tool and the second guiding tool are used at the same time, a visual plan with the first guiding circular ring and the second guiding circular ring is obtained, if the first guiding tool is used only, a visual plan with the first guiding circular ring and the second end face is obtained, and if the second guiding tool is used only, a visual plan with the first end face and the second guiding circular ring is obtained.

As a specific scheme in the technical scheme of the application, the guide tool further comprises a fastening circular ring and a plurality of connecting rods, the axial leads of the fastening circular ring and the guide circular ring are overlapped, one end of each connecting rod is connected with the fastening circular ring, and the other end of each connecting rod is connected with the guide circular ring.

As a specific scheme in the technical scheme of the application, when the first guide ring is used, the first end face is positioned in a first face, the gravity center of the first guide ring belongs to the first face, and the axial lead of the first guide ring is perpendicular to the first face;

When the second guide ring is used, the second end face is positioned in the second face, the center of gravity of the second guide ring belongs to the second face, and the axial lead of the second guide ring is perpendicular to the second face.

In a second aspect, the application provides a system for detecting a double-shaft butt joint deviation, wherein the double shaft comprises a first shaft and a second shaft, a first end face of the first shaft and a second end face of the second shaft are opposite, and the system comprises:

the shooting device is used for obtaining a visual plan view capable of representing the relative positions of the first end face and the second end face in focal plane projection;

the processing device acquires a first elliptic contour curve representing the first end face and a second elliptic contour curve representing the second end face from the visual plane graph based on an elliptic detection algorithm;

The method comprises the steps of obtaining butt joint deviation data based on a first elliptic contour curve and a second elliptic contour curve, wherein the butt joint deviation data comprise angle deviation data and/or position deviation data, the angle deviation data are at least used for representing the space included angle between the first shaft axis and the second shaft axis, and the position deviation data are at least used for representing the space distance between the first end face center point and the second end face center point.

As a specific scheme in the technical scheme of the application, the docking deviation data comprise angle deviation data, wherein the axial lead of the first shaft is a first axial lead, the axial lead of the second shaft is a second axial lead, the processing device is also used for projecting the first elliptic contour curve and the second elliptic contour curve to a three-dimensional coordinate system, and the first elliptic contour curve and the second elliptic contour curve are positioned in a plane formed by an x axis and a y axis in the three-dimensional coordinate system;

the method comprises the steps of obtaining a first included angle and a second included angle, wherein the first included angle is an included angle formed by a first axial lead and a z-axis, and the second included angle is an included angle formed by a long axis of a first elliptic contour curve and an x-axis;

The first unit vector is used for representing the extending direction of the first axial lead in the three-dimensional coordinate system;

the third included angle is an included angle formed by the second axial lead and the z axis, and the fourth included angle is an included angle formed by the long axis of the second elliptic contour curve and the x axis;

The second unit vector is used for representing the extending direction of the second axis in the three-dimensional coordinate system;

and acquiring the angle deviation data based on the first unit vector and the second unit vector.

The processing device is further used for projecting the first elliptic contour curve and the second elliptic contour curve to a three-dimensional coordinate system, wherein the first elliptic contour curve and the second elliptic contour curve are positioned in a plane formed by an x axis and a y axis in the three-dimensional coordinate system;

acquiring a third center point of the first elliptic contour curve and a fourth center point of the second elliptic contour curve;

And acquiring the position deviation data based on the third center point and the fourth center point.

As a specific solution in the technical solution of the present application, the calculation formula for obtaining the position deviation data by the processing device based on the third center point and the fourth center point is as follows:

Wherein, Representing position deviation data, wherein delta represents a space included angle formed by the first axial lead and the second axial lead; Representing a first distance; representing the actual diameter of the first end face; representing the length of the major axis of the first elliptical profile; A minor axis length representing a first elliptical profile; Representing a vector pointing from the third center point to the fourth center point; a unit vector representing the major axis direction of the first elliptic contour curve; representing a unit vector in the short axis direction of the first elliptical profile curve.

The processing device is further used for acquiring a first distance based on the third center point and the fourth center point, wherein the first distance represents the projection distance of the first center point and the second center point in the same plane along a first direction;

Acquiring a space included angle between the axial leads of the first shaft and the second shaft;

And acquiring the position deviation data based on the first distance and the space included angle.

As a specific scheme in the technical scheme of the application, the application further comprises guide tools, wherein each guide tool at least comprises a guide circular ring, and the guide tools comprise a first guide tool and a second guide tool;

the first guide tool is arranged on the first shaft so that the axial lead of a first guide ring in the first guide tool coincides with the axial lead of the first shaft;

the second guide tool is arranged on the second shaft so that the axial lead of a second guide ring in the second guide tool coincides with the axial lead of the second shaft;

The shooting device is further used for acquiring a visual plan with the first guide ring and the second guide ring if the first guide tool and the second guide tool are used at the same time, acquiring a visual plan with the first guide ring and the second end face if the first guide tool is used only, and acquiring a visual plan with the first end face and the second guide ring if the second guide tool is used only.

As a specific scheme in the technical scheme of the application, the guide tool further comprises a fastening circular ring and a plurality of connecting rods, the axial leads of the fastening circular ring and the guide circular ring are overlapped, one end of each connecting rod is connected with the fastening circular ring, and the other end of each connecting rod is connected with the guide circular ring.

In a third aspect, the present application proposes a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method of detecting a biaxial butt joint deviation according to any of the first aspects.

Compared with the prior art, the application has the beneficial effects that:

The application is not limited by visual accessibility, and even if the visual accessibility between two shafts is small (even 0), the butt joint deviation of the two shafts can be obtained based on the application.

Drawings

FIG. 1 is a flowchart of a method for detecting a dual-axis butt-joint deviation according to an embodiment of the present application;

FIG. 2 is a schematic diagram of a dual-axis butt joint according to an embodiment of the present application;

FIG. 3 is a schematic view of another embodiment of a dual-axis butt joint according to the present application;

FIG. 4 is a schematic illustration of another dual-axis butt joint according to an embodiment of the present application;

Fig. 5 is a schematic diagram illustrating installation of a guide tool according to an embodiment of the present application;

Fig. 6 is a schematic structural diagram of a guiding tool according to an embodiment of the present application;

FIG. 7 is a schematic diagram of a camera position obtained from a visual plan according to an embodiment of the present application;

FIG. 8 is a schematic view of a visual plan view of an embodiment of the present application;

FIG. 9 is a schematic diagram of an elliptical contour curve obtained based on a visual plan view according to an embodiment of the present application;

FIG. 10 is a schematic diagram of a three-dimensional structure of a first elliptic contour curve projected into a three-dimensional coordinate system according to an embodiment of the present application;

FIG. 11 is a schematic diagram illustrating a three-dimensional structure of a second elliptic contour curve projected into a three-dimensional coordinate system according to an embodiment of the present application;

Fig. 12 is a schematic structural diagram of a dual-axis docking deviation detecting system according to an embodiment of the present application.

In the figure, 1, a first shaft, 11, a first shaft axis, 12, a first end face, 13, a first center point, 2, a second shaft, 21, a second shaft axis, 22, a second end face, 23, a second center point, 3, a shielding object, 4, a guiding tool, 401, a first guiding tool, 402, a second guiding tool, 41, a fastening ring, 42, a guiding ring, 421, a first guiding ring, 422, a second guiding ring, 423, a first elliptic contour curve, 424, a second elliptic contour curve, 43 and a connecting rod.

Detailed Description

The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. It will be apparent that the described embodiments are only some, but not all, embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

The terms "first," "second," and the like in the description of embodiments of the application and in the above-described figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order, e.g., a first central point and a second central point, as hereinafter described, that may be referred to as different central points. It is to be understood that the centerpoints so used may be interchanged where appropriate such that the embodiments described herein may be implemented in other sequences than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or modules is not necessarily limited to those explicitly listed but may include other steps or modules not expressly listed or inherent to such process, method, article, or apparatus, such that the partitioning of modules by embodiments of the application is only one logical partitioning, may be implemented with additional partitioning, such as a plurality of modules may be combined or integrated in another system, or some features may be omitted, or not implemented, and further, such that the coupling or direct coupling or communication connection between modules may be via some interfaces, indirect coupling or communication connection between modules may be electrical or otherwise similar, none of which are limited in embodiments of the application. The modules or sub-modules described as separate components may or may not be physically separate, may or may not be physical modules, or may be distributed in a plurality of circuit modules, and some or all of the modules may be selected according to actual needs to achieve the purposes of the embodiment of the present application.

It should be clear that, in order to enable those skilled in the art to clearly understand the deviation of the biaxial butt joint according to the embodiments of the present application, in one embodiment of the present application, it is assumed that fig. 2 is a schematic diagram of the preset position of the biaxial butt joint, and fig. 3 is a schematic diagram of the actual position of the biaxial butt joint.

As shown in fig. 2, in an ideal state, after the two shafts (i.e., the first shaft 1 and the second shaft 2 shown in fig. 2) are abutted, the axial line of the first shaft 1 (i.e., the first axial line 11 shown in fig. 2) coincides with the axial line of the second shaft (i.e., the second axial line 21 shown in fig. 2) (i.e., the space angle between the first axial line 11 and the second axial line 21 is 0 °), and the center point of the first end surface 12 on the first shaft 1 (i.e., the first center point 13 shown in fig. 2) coincides with the center point of the second end surface 22 on the second shaft 2 (i.e., the second center point 23 shown in fig. 2). In the present embodiment, the first end face 12 of the first shaft 1 and the second end face 22 of the second shaft 2 are opposite faces.

As shown in fig. 3, in the actual abutting process, after the biaxial (i.e., the first shaft 1 and the second shaft 2 shown in fig. 3) abutting, since the first shaft 1 and/or the second shaft 2 are not at the preset position, the first shaft axis 11 and the second shaft axis 21 do not coincide, and the first center point 13 and the second center point 23 do not coincide. It will be readily appreciated that the larger the difference between the first axis 11 and the second axis 21 and 0 °, the larger the double-axis butt-joint deviation, and the larger the space distance between the first center point 13 and the second center point 23, the larger the double-axis butt-joint deviation. That is, in embodiments of the present application, the biaxial butt-joint deviation may be characterized by the spatial angle of the first axis 11 and the second axis 21 and/or the spatial distance between the first center point 13 and the second center point 23.

It should be noted that fig. 2 illustrates only one biaxial butt joint state most common in the prior art, and does not mean that the embodiment of the present application is only applicable to the detection of biaxial butt joint deviation in the butt joint state illustrated in fig. 2. The embodiment of the application is also applicable to detection of a double-shaft butt-joint deviation in which the first axis line and the second axis line are not coincident in a preset position (for example, a spatial angle of the first axis line and the second axis line is 20 ° or 30 ° or the like in the preset position), and also applicable to detection of a double-shaft butt-joint deviation in which the first center point and the second center point are not coincident in the preset position (for example, a spatial distance of the first center point and the second center point is 2mm or 10mm or the like in the preset position). In order to avoid redundancy, the present application will be described with reference to the application scenario of fig. 2.

In order to solve the technical problem that in the prior art, the butt-joint deviation between two shafts with smaller visual accessibility cannot be detected, the application provides an embodiment of a method for detecting double-shaft butt-joint deviation, as shown in fig. 2 and 3, wherein the double shaft comprises a first shaft 1 and a second shaft 2. Wherein the first end face 12 of the first shaft 1 and the second end face 22 of the second shaft 2 are opposite faces. In an embodiment of the present application, the shaft may be any part having a cylindrical shape, for example, the shaft may be a cylinder, a round tube, a bearing, or the like. As shown in fig. 1, the method for detecting the dual-axis butt-joint deviation includes steps S100 to S300.

Step S100 is to obtain a visual plan view capable of characterizing the relative positions of the first end face 12 and the second end face 22 in the focal plane projection.

Specifically, in photography, the focal plane refers to a plane in which a clear image formed by focusing light rays after passing through a lens is located. This plane is perpendicular to the optical axis of the lens and is at a distance from the lens exactly equal to the focal length of the lens. Since the focal plane is mature, the technology is not described in detail here. ‌ A

As is clear from fig. 2 and 3 (the photographing position and photographing angle of the camera are the same), if the positions of the biaxial (i.e., the first axis 1 and the second axis 2) after the butt joint are different, the relative positions of the first end face 12 and the second end face 22 in the visual plan view obtained based on the same photographing position and photographing angle are also different. As shown in fig. 2, when the first axis 11 and the second axis 21 overlap, the first end face 12 and the second end face 22 are concentric ellipses in a visual plan view regardless of imaging from any angle. As shown in fig. 3, if the first axis 11 and the second axis 21 do not overlap, the first end face 12 and the second end face 22 are non-concentric ellipses in a visual plan view from any angle. As will be seen hereinafter, in embodiments of the present application, the butt-joint deviation of the first shaft 1 and the second shaft 2 may be obtained based on the relative positions of the first end face 12 and the second end face 22 in the visual plan view.

In the embodiment of the present application, a visual plan view of the first end face 12 and the second end face 22 at opposite positions in the focal plane projection may be obtained based on an arbitrary photographing angle and photographing position, as long as the visual plan view has both the first end face 12 and the second end face 22, or has both the first guide ring 421 characterizing the first end face 12 and the second guide ring 422 characterizing the second end face 22 as described below. As shown in fig. 7, in the embodiment of the present application, if the first shaft 1 and the second shaft 2 are disposed in the vertically downward direction in order, a visual plan view is obtained based on the lower right corner of the first end face 12 (i.e., the position a shown in fig. 7), or a visual plan view is obtained based on the lower left corner of the first end face 12 (i.e., the position B shown in fig. 7), or a visual plan view is obtained based on the upper left corner of the first end face 12 (i.e., the position C shown in fig. 7), or the like. That is, the method for detecting the double-axis butt-joint deviation according to the present application is not limited by the visual accessibility (see step S300 below), and even if the visual accessibility is very small, the butt-joint deviation of the first axis 1 and the second axis 2 can be obtained as long as the visual plan having both the first end face 12 and the second end face 22 can be obtained. Of course, in other embodiments of the present application, in order to unify the detection criteria of each product, a visual plan of each product may be obtained based on the same visually accessible location (e.g., location A, location B, or location C as shown in FIG. 7, etc.).

As known from the background art, the application scene of the detection method of the biaxial butt joint deviation provided by the embodiment of the application can be an application scene with smaller visual accessibility, and of course, can also be an application scene with larger visual accessibility. It is assumed that during the assembly process, as shown in fig. 4, both the first end face 12 and the second end face 22 are blocked by the blocking object 3, that is, the visual accessibility of the first axis 1 and the second axis 2 in the application scene is minimized (that is, the visual accessibility is 0). That is, a visual plan view of the first end face 12 and/or the second end face 22 cannot be obtained.

In order to be able to obtain the biaxial butt-joint deviation in the application scene with visual reachability of 0 based on the biaxial butt-joint deviation detection method provided by the embodiment of the application. In one embodiment of the application, the method may use a guiding tool 4, the guiding tool 4 comprising at least a guiding ring 42. After the guide tooling 4 is used, step S100, a visual plan view is obtained that characterizes the relative positions of the first end face 12 and the second end face 22 in the focal plane projection, including steps S110 to S130.

In step S110, a first guiding tool 401 is set on the first shaft 1, so that the axis of a first guiding ring 421 in the first guiding tool 401 coincides with the axis of the first shaft 1.

It should be clear that in the embodiment of the present application, the thickness and width of the first guiding ring 421 are ignored, and the first guiding ring 421 is understood as a linear ring in the three-dimensional space, and the plane surrounded by the linear ring is a circular plane. Since the axis of the first guide ring 421 coincides with the axis of the first shaft 1, the first end face 12 is parallel to the circular face, or the first end face 12 belongs to the circular face. That is, in the present embodiment, the above-described circular surface may be employed as the first end surface 12 in the present embodiment. In other words, the circular face can characterize the first end face 12 in a subsequently acquired visual plan view.

In the embodiment of the present application, the first guiding tool 401 may be set on the first shaft 1 in any manner, so long as the axis of the first guiding ring 421 is ensured to coincide with the axis of the first shaft 1. It should be clear that, in the embodiment of the present application, the first guiding ring 421 may be welded to the exposed portion of the first shaft 1 through a plurality of struts, and after the measurement is completed, the first guiding ring 421 may be cut and separated from the first shaft 1. In order to ensure that the first guiding ring 421 or the first shaft 1 is not damaged, in one embodiment of the present application, as shown in fig. 6, the guiding tool 4 further includes a fastening ring 41 and a plurality of connecting rods 43, axial lines of the fastening ring 41 and the guiding ring 42 are coincident, one end of each connecting rod 43 is connected to the fastening ring 41, the other end of each connecting rod 43 is connected to the guiding ring 42, and the fastening ring 41 and the guiding ring 42 are provided with notches. When in use, as shown in fig. 5, the fastening ring 41 can pass through the exposed part of the first shaft 1 through the notch on the fastening ring 41, and then is clamped with the exposed part of the first shaft 1, and the fastening ring 41 has elasticity. The notch on the guiding ring 42 enables the guiding ring 42 to pass through the shielding object 3 smoothly. Of course, in other embodiments of the present application, the fastening ring 41 and the guiding ring 42 may be formed by two semicircular ring splices (for example, screw-connected, riveted or bonded, etc.) (not shown in the drawings).

In the embodiment of the present application, in order to make the axis of the fastening ring 41 coincide with the axis of the shaft (i.e., the first shaft 1 or the second shaft 2) stably. The inner diameter of the fastening ring 41 may be equal to the outer diameter of the shaft, and the higher the height of the fastening ring 41 in the axial direction (for example: 5cm, 10cm, 20cm, etc.), the larger the height, the larger the contact area formed by the fastening ring 41 and the exposed portion of the first shaft 1, the easier it is to keep the axes of the fastening ring 41 and the shaft (i.e., the first shaft 1 or the second shaft 2) coincident.

. In order to adjust the position and shape of the guide ring 42, two ends of the connecting rod 43 are provided with threads (not shown) with opposite lines, and one end of the connecting rod 43 is in threaded connection with the fastening ring 41, and the other end is in threaded connection with the guide ring 42. In use, if the connecting rod 43 is rotated in the forward direction, the length of the connecting rod 43 between the fastening ring 41 and the guide ring 42 becomes longer, and if the connecting rod 43 is rotated in the reverse direction, the length of the connecting rod 43 between the fastening ring 41 and the guide ring 42 becomes shorter. Since the position of the fastening ring 41 is not variable, the position and shape of the guide ring 42 can be adjusted by rotating the respective connection rods 43.

In step S120, a second guiding tool 402 is set on the second shaft 2, so that the axis of the second guiding ring 422 in the second guiding tool 402 coincides with the axis of the second shaft 2.

In this embodiment, the second guiding fixture 402 may be the same as the first guiding fixture 401, or the diameter of the second guiding ring 422 in the second guiding fixture 402 may be scaled equally (according to the diameter of the second shaft 2: the diameter of the first shaft 1 = the diameter of the second guiding ring 422: the diameter of the first guiding ring 421) based on the ratio of the diameters of the second shaft 2 and the first shaft 1. The second guiding tool 402 functions in a similar manner to the first guiding tool 401 described above, and is not described here.

In the embodiment of the present application, if neither the first end face 12 nor the second end face 22 can be obtained, the first guide tool 401 and the second guide tool 402 can be used simultaneously, that is, steps S110 to S120 are performed. It will be understood from the following that, if the diameter of the first guiding ring 421 is greater than the diameter of the first end face 12, the diameter of the second guiding ring 422 is greater than the diameter of the second end face 22, and there is a butt joint deviation between the first shaft 1 and the second shaft 2, the first guiding ring 421 and the second guiding ring 422 can amplify the deviation in the subsequently acquired visual plan, so as to facilitate the subsequent detection accuracy, that is, the small butt joint deviation between the first shaft 1 and the second shaft 2 can be detected. That is, in some embodiments of the present application, even if the first end face 12 and the second end face 22 can be made clear, the first guide tool 401 and the second guide tool 402 can be used to improve the subsequent detection accuracy.

It is to be readily understood that, in the embodiment of the present application, if the first end face 12 cannot be photographed due to the shielding, but the second end face 22 can be photographed, only the first guiding tool 401 may be used, and the second guiding tool 402 may not be used, that is, only the step S110 may be performed, and the step S120 may not be performed. In the embodiment of the present application, if the second end face 22 cannot be photographed due to the shielding, but the first end face 12 can be photographed, the first guide tool 401 may not be used, only the second guide tool 402 may be used, that is, step S110 may not be performed, and only step S120 may be performed.

It should be noted that, in the embodiment of the present application, the sequence number of each step does not represent the sequential execution order of the steps, which is only for distinguishing between different steps. For example, in the embodiment of the present application, step S110 may be performed first and then step S120 may be performed, step S120 may be performed first and then step S110 may be performed, step S110 and step S120 may be performed simultaneously, and only step S110 may be performed without performing step S120. In the embodiment of the present application, the other step numbers are also the same, and the following description is omitted.

In step S130, if the first guide tool 401 and the second guide tool 402 are used at the same time, a visual plan having the first guide ring 421 and the second guide ring 422 is obtained, if the first guide tool 401 is used only, a visual plan having the first guide ring 421 and the second end face 22 is obtained, and if the second guide tool 402 is used only, a visual plan having the first end face 12 and the second guide ring 422 is obtained.

It should be clear that in this embodiment, as described above, a visual plan view may be obtained based on any visually accessible angle as shown in fig. 7. In this embodiment, the first end face 12 is represented by the first guiding ring 421, the second end face 22 is represented by the second guiding ring 422, and even if the visual accessibility of the first end face 12 and the second end face 22 is 0, the butt joint deviation of the first shaft 1 and the second shaft 2 can still be obtained based on the detection method of the double-shaft butt joint deviation provided by the embodiment of the application.

Step S200, obtaining a first elliptic contour curve 423 representing the first end face 12 and a second elliptic contour curve 424 representing the second end face 22 from the visual plan view based on the elliptic detection algorithm.

It should be clear that in embodiments of the present application, the ellipse detection algorithm may be obtained in advance. Ellipse detection algorithms are an important technique in computer vision and image processing for identifying points in an image where brightness changes are significant. These points are connected into a curve, reflecting the boundary of the object in the image. The ellipse detection algorithm highlights these boundaries by performing specific operations on the image, making subsequent image analysis and processing (e.g., image segmentation, feature extraction, etc.) easier and more accurate. In an embodiment of the present application, the first elliptical contour 423 characterizing the first end surface 12 and the second elliptical contour 424 characterizing the second end surface 22 may be obtained from a visual plan view using any elliptical detection algorithm. For example, sobel algorithm, canny algorithm, laplacian algorithm, prewitt algorithm, openCV algorithm or Roberts Cross algorithm, etc., and the details are not repeated herein because of the numerous mature ellipse detection algorithms.

It should be noted that, in the embodiment of the present application, the first elliptic contour curve 423 shown in fig. 9 may be obtained from the first end surface 12 shown in fig. 3 or from the first guide ring 421 shown in fig. 8 based on an elliptic detection algorithm. In an embodiment of the present application, the second elliptical profile 424 shown in fig. 9 may be obtained from the second end face 22 shown in fig. 3 or from the second guide ring 422 shown in fig. 8 based on an elliptical detection algorithm.

From the foregoing, the principle of the ellipse detection algorithm is to identify points with significant brightness variation in an image, and connect the points into a curve, so as to reflect the boundary of an object in the image. That is, if the contour of the first end face 12, the first guide ring 421, the second end face 22, or the second guide ring 422 in the visual plan view is not significant, or although the first guide ring 421 and the second guide ring 422 are significant, the first guide ring 421 and the second guide ring 422 are thick, it is difficult to obtain the accurate first elliptic contour curve 423 and the second elliptic contour curve 424 based on the elliptic detection algorithm. In order to obtain an elliptical profile more precisely, in one embodiment of the present application, the first end face 12, the first guide ring 421, the second end face 22, or the second guide ring 422 may be painted with a corresponding circular profile using a pigment or paint having a significantly different color.

In order to enable the first guiding ring 421 to accurately represent the spatial position of the first end face 12, and the second guiding ring 422 to accurately represent the spatial position of the second end face 22, in one embodiment of the present application, when the first guiding ring 421 is used, the first end face 12 is located in the first plane, the center of gravity of the first guiding ring 421 belongs to the first plane, and the axis of the first guiding ring 421 is perpendicular to the first plane. When the second guiding ring 422 is used, the second end face 22 is positioned in the second face, the center of gravity of the second guiding ring 422 belongs to the second face, and the axial lead of the second guiding ring 422 is perpendicular to the second face. Because the first end face 12 and the first face are located in the same plane, and the second end face 22 and the second face are located in the same plane, the first guiding ring 421 can accurately represent the spatial position of the first end face 12, and the second guiding ring 422 can accurately represent the spatial position of the second end face 22. Of course, in other embodiments of the application, the first face may have a slight distance from the first end face 12 (as may the second face and the second end face 22), for example, the slight distance may be 1.0mm, 5.0mm, 10.0mm, or the like.

In the embodiment of the present application, the diameters of the first and second guide rings 421 and 422 are not limited at all. As can be seen from fig. 2, if there is no deviation after the first shaft 1 and the second shaft 2 are abutted, the first end face 12 and the second end face 22 are located in the same plane. To avoid interference between the first and second guide rings 421 and 422 when the first and second faces are in the same plane (i.e., the first and second end faces 12 and 22 are in the same plane), in an embodiment of the present application, the inner diameter of the first guide ring 421 may be greater than the outer diameter of the second guide ring 422, or the outer diameter of the first guide ring 421 may be smaller than the inner diameter of the second guide ring 422. In use, as shown in fig. 7, the first and second guide rings 421 and 422 do not interfere with each other even if the first and second surfaces are located in the same plane.

Step S300, obtaining docking deviation data based on the first elliptic contour curve 423 and the second elliptic contour curve 424.

From the foregoing, it will be appreciated that in embodiments of the present application, the docking deviation data is data that characterizes the magnitude of the docking deviation of the first axis 1 and the second axis 2. That is, in the embodiment of the present application, any data related to the magnitude of the docking deviation may be employed as the docking deviation data. For example, angular deviation data and/or positional deviation data are presented below. In the embodiment of the application, the angle deviation data is at least used for representing the space included angle between the axial lines of the first shaft 1 and the second shaft 2, and the position deviation data is at least used for representing the space distance between the center point of the first end face 12 and the center point of the second end face 22.

As can be seen from the foregoing, if the axes of the first axis 1 and the second axis 2 are coincident (i.e., the space angle between the first axis 11 and the second axis 21 is 0 °), the long axis of the obtained first elliptic contour curve 423 should be coincident with the long axis of the second elliptic contour curve 424, and the center point of the first elliptic contour curve 423 and the center point of the second elliptic contour curve 424 should also be substantially coincident. If the axes of the first axis 1 and the second axis 2 overlap more poorly (i.e., the spatial angle between the first axis 11 and the second axis 21 is not 0 °), as shown in fig. 9, the larger the angle formed by the long axis of the obtained first elliptical profile 423 (a ₁ shown in fig. 9, hereinafter referred to as the first long axis) and the long axis of the second elliptical profile 424 (a ₂ shown in fig. 9, hereinafter referred to as the second long axis), the larger the distance between the center point of the first elliptical profile 423 (point O ₁ shown in fig. 9, hereinafter referred to as the third center point) and the center point of the second elliptical profile 424 (point O ₂ shown in fig. 9, hereinafter referred to as the fourth center point) is. That is, in the embodiment of the present application, an angle formed between the first long axis and the second long axis (i.e., an angle β as shown in fig. 9) may be used as the angle deviation data, and a distance between the third center point and the fourth center point may be used as the position deviation data.

In order to accurately calculate the space included angle formed by the first axis 11 and the second axis 21 after the first axis 1 and the second axis 2 are butted. In one embodiment of the present application, as shown in fig. 3, the axis of the first shaft 1 is a first axis 11, and the axis of the second shaft 2 is a second axis 21. Step S300, obtaining docking deviation data (i.e. angle deviation data) based on the first elliptic contour curve 423 and the second elliptic contour curve 424, includes steps S310 to S360.

In step S310, the first elliptic contour curve 423 and the second elliptic contour curve 424 are projected to a three-dimensional coordinate system.

It should be clear that in the present application, the first elliptic contour curve 423 and the second elliptic contour curve 424 are not simultaneously shown in the three-dimensional coordinate system of the same drawing for the convenience of those skilled in the art to observe and understand. Instead, a first elliptical profile 423 is shown in the three-dimensional coordinate system shown in FIG. 10, and a second elliptical profile 424 is shown in the three-dimensional coordinate system shown in FIG. 11. It should be clear that in the present application, the three-dimensional coordinate system shown in fig. 10 and the three-dimensional coordinate system shown in fig. 11 are actually the same three-dimensional coordinate system.

In the embodiment of the present application, there is no limitation on the origin and the arrangement of the x, y, and z axes in the three-dimensional coordinate system. In a specific embodiment of the present application, the origin may be the midpoint of the focal plane of the visual plan view, the z-axis may be the lens viewing axis, and the plane formed by the x-axis and the y-axis may be the focal plane. That is, as shown in fig. 10 and 11, the first elliptic contour curve 423 and the second elliptic contour curve 424 are located in a plane formed by the x-axis and the y-axis in the three-dimensional coordinate system.

Step S320, obtaining a first included angle and a second included angle.

It should be clear that, in this embodiment, the first included angle is a spatial included angle formed by the first axis 11 and the z-axis (i.e. an angle α1 shown in fig. 10). The second included angle is an included angle formed by the long axis of the first elliptic contour curve 423 and the x-axis (i.e., an angle β1 shown in fig. 10). It is readily understood that the angle β1 can be directly calculated based on the long axis function of the first elliptic contour curve 423 modeled by the elliptic detection algorithm. Assuming that in the present embodiment, the lens visual axis is perpendicular to the first end face 12 shown in fig. 2 (i.e., the angle α1 is equal to 0), the subsequently acquired first elliptical profile 423 is approximately circular, that is, the ratio of the short-axis length (i.e., b ₁ shown in fig. 10) and the long-axis length (i.e., a ₁ shown in fig. 10) of the first elliptical profile 423 at this time is approximately equal to 1. If the angle α1 is larger, the shorter the short axis length of the first elliptical profile curve 423, the longer the long axis length of the first elliptical profile curve 423 is, that is, in the embodiment of the present application, the angle α1 can be calculated by the ratio of the short axis length and the long axis length of the first elliptical profile curve 423. Specifically, angle α1 is approximately equal to arccos (b ₁/a₁), where arccos represents an inverse cosine function.

Step S330, based on the first included angle and the second included angle, a first unit vector is obtained.

In an embodiment of the application, the first unit vector is used to characterize the direction of extension of the first axis 11 in the three-dimensional coordinate system. Specifically, the calculation formula of the first unit vector according to the projection theorem is as follows:

Wherein, Α1 represents a space angle formed by the first axis 11 and the z axis, β1 represents an angle formed by the long axis of the first elliptic contour curve 423 and the x axis; a unit vector representing an x-axis direction in the three-dimensional coordinate system; a unit vector representing a y-axis direction in the three-dimensional coordinate system; a unit vector representing the z-axis direction in the three-dimensional coordinate system.

In particular, due toThe length of (2) is equal to 1, so that the vector is a unit vector, that is, the length of the vector is calculated as follows:

and S340, acquiring a third included angle and a fourth included angle.

It should be clear that, in the present embodiment, the third included angle is an included angle formed by the second axis line 21 and the z-axis (i.e., an angle α2 shown in fig. 11). The fourth included angle is the included angle formed by the long axis of the second elliptic contour curve 424 and the x-axis (i.e. the angle β2 shown in fig. 11). Similar to step S320, the angle β2 may be directly calculated, and the angle α2 may be based on the ratio of the minor axis length (i.e., b ₂ as shown in FIG. 11) and the major axis length (i.e., a ₂ as shown in FIG. 11) of the second elliptical profile 424. That is, angle α2 is approximately equal to arccos (b ₂/a₂), where arccos represents an inverse cosine function.

And S350, acquiring a second unit vector based on the third included angle and the fourth included angle.

In an embodiment of the application, the second unit vector is used to characterize the direction of extension of the second axis 21 in the three-dimensional coordinate system. Specifically, the calculation formula of the second unit vector according to the projection theorem is as follows:

Wherein, And (2) represents a space included angle formed by the second axial line 21 and the z axis, and (beta 2) represents an included angle formed by the long axis of the second elliptic contour curve 424 and the x axis; a unit vector representing an x-axis direction in the three-dimensional coordinate system; a unit vector representing a y-axis direction in the three-dimensional coordinate system; a unit vector representing the z-axis direction in the three-dimensional coordinate system.

In particular, due toThe length of (2) is equal to 1, so that the vector is a unit vector, that is, the length of the vector is calculated as follows:

step S360, based on the first unit vector and the second unit vector, angle deviation data are acquired.

It should be clear that the angular deviation data in this embodiment may be the spatial angle formed by the first axis 11 and the second axis 21. Specifically, the spatial included angle formed by the first axis 11 and the second axis 21 may be calculated according to the first unit vector and the second unit vector. The calculation formula is as follows:

wherein delta represents a space included angle formed by the first axis 11 and the second axis 21, arccos represents an inverse cosine function; representing a first unit vector; Representing a second unit vector; A modulus representing a first unit vector; a modulus representing a second unit vector; representing the dot product of the first unit vector and the second unit vector. Specifically, the dot product of the first unit vector and the second unit vector is calculated as follows:

That is, in the embodiment of the present application, the angle δ is closer to the real space angle between the first axis 11 and the second axis 21 than the angle β shown in fig. 9 is used as the angle deviation data, so that the angle δ can more accurately reflect the space angle formed by the first axis 11 and the second axis 21 after the first axis 1 and the second axis 2 are abutted together as the angle deviation data.

In one embodiment of the present application, as shown in fig. 3, the center point of the first end surface 12 is a first center point 13, and the center point of the second end surface 22 is a second center point 23. Step S300, obtaining docking deviation data (i.e. position deviation data) based on the first elliptic contour curve 423 and the second elliptic contour curve 424, may further include steps S370 to S390.

And step S370, projecting the first elliptic contour curve and the second elliptic contour curve to a three-dimensional coordinate system.

It should be clear that, in the present embodiment, step S370 is similar to step S310, and will not be described again.

Step S380 obtains a third center point of the first elliptical contour curve 423 (i.e., point O ₁ as shown in fig. 9 and 10) and a fourth center point of the second elliptical contour curve 424 (i.e., point O ₂ as shown in fig. 9 and 11).

Step S390, acquiring position deviation data based on the third center point and the fourth center point.

From the foregoing, it can be seen that in the embodiment of the present application, the distance between the point O ₁ and the point O ₂ can be directly used as the positional deviation data.

In order to be able to precisely characterize the spatial distance between the first and second center points 13, 23 after the first and second axes 1, 2 have been brought into abutment. In one embodiment of the present application, step S390, acquiring position deviation data based on the third center point and the fourth center point, includes steps S391 to S393.

Step S391, acquiring the first distance based on the third center point and the fourth center point.

In particular, in an embodiment of the application, the first distance characterizes a distance by which the first center point 13 and the second center point 23 are projected in the same plane along a first direction, which is parallel to the axis of the first shaft 1. As is clear from the foregoing, although the elliptical contour curves obtained from the respective directions (the distances from the camera to the focal plane are uniform) are different in shape, the major axis lengths of the respective elliptical contour curves are substantially uniform. That is, in the embodiment of the present application, the first distance may be acquired based on the third center point and the fourth center point by orthogonal decomposition. Specifically, the calculation formula of the first distance is as follows:

Wherein, A first distance is indicated by the first distance,Representing the actual diameter of the first end face 12 or the first guiding tooling 401; a major axis length representing the first elliptical profile curve 423; a short axis length representing the first elliptical profile curve 423; Representing a vector pointing from the third center point to the fourth center point; a unit vector representing the major axis direction of the first elliptical profile curve 423; a unit vector in the short axis direction of the first elliptical profile curve 423 is represented.

It should be clear that in the present embodimentAndThe calculation formulas of (a) are respectively as follows:

Wherein, A unit vector representing an x-axis direction in the three-dimensional coordinate system; and beta 1 represents an included angle formed by the long axis of the first elliptic contour curve 423 and the x axis.

Step S392, obtaining the space included angle between the axial leads of the first shaft 1 and the second shaft 2.

It should be clear that the spatial angles between the axes of the first shaft 1 and the second shaft 2 (i.e. the first axis 11 and the second axis 21) are obtained as described in the above steps S320 to S360, and are not described here.

In step S393, position deviation data is acquired based on the first distance and the spatial angle.

In the present embodiment, the above first distance may be used as the positional deviation data. Of course, in order to make the positional deviation data closer to the actual distance between the first center point 13 and the second center point 23 in the stereoscopic space, the calculation formula of the positional deviation data may be as follows according to the projection theorem:

Wherein, Representing positional deviation data, δ representing a spatial angle formed by the first axis 11 and the second axis 21; Representing the first distance.

It should be clear that the position deviation data (i.e. the distance S) calculated in this embodiment is close to the real spatial distance between the first center point 13 and the second center point 23, i.e. the spatial distance between the first center point 13 and the second center point 23 after the first axis 1 and the second axis 2 are butted can be accurately represented.

As can be seen from the foregoing, in the embodiment of the present application, the acquired position deviation data is not limited to the shooting angle or distance at which the visual plan is acquired by the camera, that is, in the embodiment of the present application, a plurality of position deviation data may be acquired through a plurality of visual plan with different angles or distances, and an average value of the plurality of position deviation data is obtained, so as to further improve the accuracy of the dual-axis docking deviation detection.

It should be clear that the method for detecting the double-shaft butt-joint deviation provided by the embodiment of the application is not limited by visual accessibility, and even if the visual accessibility between two shafts is smaller (even 0), the method for detecting the double-shaft butt-joint deviation provided by the embodiment of the application can be used for obtaining the butt-joint deviation of the two shafts.

After describing the method for detecting the double-shaft butt-joint deviation according to the embodiment of the present application, a system for detecting the double-shaft butt-joint deviation according to the embodiment of the present application is described below, where the double-shaft includes a first shaft 1 and a second shaft 2, a first end face 12 of the first shaft 1 and a second end face 22 of the second shaft 2 are opposite to each other, and as shown in fig. 12, the system for detecting the double-shaft butt-joint deviation 50 includes:

A camera 51 for obtaining a visual plan view capable of characterizing the relative positions of the first end face 12 and the second end face 22 in a focal plane projection;

Processing means 52 for obtaining, from said visual plan, a first elliptical profile representative of said first end face 12 and a second elliptical profile representative of said second end face 22 based on an elliptical detection algorithm, said elliptical detection algorithm being pre-obtained;

And acquiring docking deviation data based on the first elliptic contour curve and the second elliptic contour curve, wherein the docking deviation data comprises angle deviation data and/or position deviation data, the angle deviation data is at least used for representing a space included angle of the axial leads of the first shaft 1 and the second shaft 2, and the position deviation data is at least used for representing a space distance between the center point of the first end face 12 and the center point of the second end face 22.

As a specific embodiment of the present application, the docking deviation data includes angle deviation data, the axis of the first shaft 1 is a first axis 11, the axis of the second shaft 2 is a second axis 21, the processing device 52 is further configured to project the first elliptic contour curve and the second elliptic contour curve to a three-dimensional coordinate system, and the first elliptic contour curve and the second elliptic contour curve are located in a plane formed by an x axis and a y axis in the three-dimensional coordinate system;

The method comprises the steps of obtaining a first included angle and a second included angle, wherein the first included angle is an included angle formed by a first axial lead 11 and a z axis, and the second included angle is an included angle formed by a long axis of a first elliptic contour curve and an x axis;

the first unit vector is used for representing the extending direction of the first axial lead 11 in the three-dimensional coordinate system;

the third included angle and the fourth included angle are obtained, wherein the third included angle is an included angle formed by the second axial lead 21 and the z axis, and the fourth included angle is an included angle formed by the long axis of the second elliptic contour curve and the x axis;

And acquiring a second unit vector based on the third included angle and the fourth included angle, wherein the second unit vector is used for representing the extending direction of the second axis 21 in the three-dimensional coordinate system;

and acquiring the angle deviation data based on the first unit vector and the second unit vector.

As a specific embodiment of the present application, the processing device 52 obtains the calculation formula of the angle deviation data based on the first unit vector and the second unit vector as follows:

wherein delta represents a space included angle formed by the first axis 11 and the second axis 21, arccos represents an inverse cosine function; representing a first unit vector; Representing a second unit vector; A modulus representing a first unit vector; a modulus representing a second unit vector; representing the dot product of the first unit vector and the second unit vector.

As a specific embodiment of the present application, the docking deviation data includes position deviation data, the center point of the first end surface 12 is a first center point 13, the center point of the second end surface 22 is a second center point 23, and the processing device 52 is further configured to project the first elliptic contour curve and the second elliptic contour curve to a three-dimensional coordinate system, where the first elliptic contour curve and the second elliptic contour curve are located in a plane formed by an x axis and a y axis in the three-dimensional coordinate system;

acquiring a third center point of the first elliptic contour curve and a fourth center point of the second elliptic contour curve;

And acquiring the position deviation data based on the third center point and the fourth center point.

As a specific embodiment of the present application, the processing device 52 obtains the calculation formula of the position deviation data based on the third center point and the fourth center point as follows:

Wherein, Representing positional deviation data, δ representing a spatial angle formed by the first axis 11 and the second axis 21; Representing a first distance; representing the actual diameter of the first end face; representing the length of the major axis of the first elliptical profile; A minor axis length representing a first elliptical profile; Representing a vector pointing from the third center point to the fourth center point; a unit vector representing the major axis direction of the first elliptic contour curve; representing a unit vector in the short axis direction of the first elliptical profile curve.

As a specific embodiment of the present application, the processing device 52 is further configured to obtain a first distance based on the third center point and the fourth center point, where the first distance characterizes a distance that the first center point 13 and the second center point 23 are projected in a same plane along a first direction, where the first direction is parallel to an axis of the first shaft 1;

Acquiring a space included angle between the axial leads of the first shaft 1 and the second shaft 2;

And acquiring the position deviation data based on the first distance and the space included angle.

As a specific embodiment of the application, the application further comprises guide tools 4, wherein each guide tool 4 at least comprises a guide circular ring 42, and the guide tools 4 comprise a first guide tool 401 and a second guide tool 402;

the first guiding tool 401 is configured to be disposed on the first shaft 1, so that an axis of a first guiding ring 421 in the first guiding tool 401 coincides with an axis of the first shaft 1;

the second guiding tool 402 is configured to be disposed on the second shaft 2, so that an axis of the second guiding ring 422 in the second guiding tool 402 coincides with an axis of the second shaft 2;

The photographing device 51 is further configured to obtain a visual plan having the first guide ring 421 and the second guide ring 422 if the first guide tool 401 and the second guide tool 402 are used at the same time, obtain a visual plan having the first guide ring 421 and the second end face 22 if only the first guide tool 401 is used, and obtain a visual plan having the first end face 12 and the second guide ring 422 if only the second guide tool 402 is used.

As a specific embodiment of the present application, the guiding tool 4 further includes a fastening ring 41 and a plurality of connecting rods 43, the axes of the fastening ring 41 and the guiding ring 42 are coincident, one end of each connecting rod 43 is connected to the fastening ring 41, and the other end of each connecting rod 43 is connected to the guiding ring 42.

It should be clear that the detection system for the double-shaft butt-joint deviation provided by the embodiment of the application is not limited by visual accessibility, and even if the visual accessibility between two shafts is smaller (even 0), the butt-joint deviation of the two shafts can be obtained based on the detection method for the double-shaft butt-joint deviation provided by the embodiment of the application.

Having introduced the system for detecting a dual-axis butt-joint deviation according to the embodiment of the present application, the following describes a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method for detecting a dual-axis butt-joint deviation according to any of the embodiments described above.

It should be apparent that computer-readable storage media of the present application, including both permanent and non-permanent, removable and non-removable media, may be used to implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transitorymedia), such as modulated data signals and carrier waves.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to related descriptions of other embodiments.

It will be clearly understood by those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described method, apparatus and device may refer to corresponding procedures in the foregoing method embodiments, which are not repeated herein.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus, device and method may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, and for example, the division of the modules is merely a logical function division, and there may be additional divisions when actually implemented, for example, multiple modules or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or modules, which may be in electrical, mechanical, or other forms.

The modules described as separate components may or may not be physically separate, and components shown as modules may or may not be physical modules, i.e., may be located in one place, or may be distributed over a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional module in each embodiment of the present application may be integrated into one processing module, or each module may exist alone physically, or two or more modules may be integrated into one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium.

In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product.

The computer program product includes one or more computer instructions. When the computer program is loaded and executed on a computer, the flow or functions according to the embodiments of the present application are fully or partially produced. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by a wired (e.g., coaxial cable, fiber optic, digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer readable storage medium may be any available medium that can be stored by a computer or a data storage device such as a server, data center, etc. that contains an integration of one or more available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid state disk SolidStateDisk (SSD)), etc.

Although embodiments of the present application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made hereto without departing from the principles of the present application.