CN100343625C - Measuring splice method and device of large three-dimensional body shape based on splicing target - Google Patents
Measuring splice method and device of large three-dimensional body shape based on splicing target Download PDFInfo
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- CN100343625C CN100343625C CNB2005101221657A CN200510122165A CN100343625C CN 100343625 C CN100343625 C CN 100343625C CN B2005101221657 A CNB2005101221657 A CN B2005101221657A CN 200510122165 A CN200510122165 A CN 200510122165A CN 100343625 C CN100343625 C CN 100343625C
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Abstract
The present invention relates to a high-precision measuring device, more specifically a measuring splice method and a device of a large three-dimensional body shape based on a splicing target. In order to provide the measuring splice method and the device of a large three-dimensional body shape, which has no requirement of large field depth of a shooting device, raises measurement precision and ensures high measuring speed and efficiency, the present invention uses the technical scheme that the measuring splice device of a large three-dimensional body shape based on a splice target is provided with a global control point, a reference rule, high-precision shooting device and a probe. In addition, the present invention also comprises a splice target arranged on the front end of a measured object, and the splice target is provided with a fixing control point. A splice target coordinate system Ot Xt Yt Zt is defined based on the fixing control point, and a relationship which can be determined by measuring coordinates of control points in the splice target in measuring coordinate system Om Xm Ym Zm exists between the splice target coordinate system and a probe measuring coordinate system Om Xm Ym Zm. The present invention is mainly used for measuring and splicing shapes of large-scale three-dimensional bodies based on splice targets.
Description
Technical field
The present invention relates to precision measurement apparatus, particularly a kind of joining method and device based on large-sized object (body) topography measurement that splices target.
Background technology
The body shape measurement is meant the measurement of body surface topography, it is the shoring of foundation technology of modern reverse-engineering and product Design of digital, management and manufacturing, also be a product of the future detection means, formerly system is made the background that is widely used in the field, has caused people's great attention.
Tradition realizes that the body shape measurement mainly contains two big class schemes: directly utilize coordinate measuring machine (CMM) and indirect utilization CMM measuring principle.The former directly uses CMM, testee is placed on the CMM, with the CMM gauge head object is sampled, obtain the topographic data of object, but because the restriction of CMM line slideway forms of motion, efficient is very low, and measuring a bigger object needs several days even tens day time usually, and can not be applied to site environment; Latter's indirect utilization CMM principle, with the CMM of standard with forms of motion (comprising rotary freedom) flexibly, simplified structure replaces cheaply, cooperate high-precision laser scanning device (being equivalent to the CMM gauge head), during measurement, body places on the worktable, and worktable drives the testee rotation or laser scanning device rotates around worktable, realizes the quick scanning survey in a plurality of sides of object.Than directly utilizing CMM, latter's speed is fast, and cost is low, and it is little to be particularly suitable for volume, to the not too strict application scenario of accuracy requirement.
Developed a kind of novel portable type measuring method now, adopt splicing, big tested pattern is divided into a plurality of zonules, single zone adopts the non-contact optical gauge head to measure, measurement result with All Ranges is stitched together (being unified in the global coordinate system) then, forms complete pattern.For realizing whole splicing, two kinds of solutions are arranged at present: based on adhesive mark with not based on the measurement scheme of adhesive mark.The former pastes a lot of gauge points (being the adhesive mark point) on the testee surface, at least comprise three gauge points in each zone, the volume coordinate of all gauge points adopts global measuring technology (measuring as transit survey system, digital close shot) to measure, volume coordinate according to all gauge points, in measurement data unification to a measurement coordinate system with (local coordinate system) in each zone, realize whole splicing.The limitation of this scheme is: 1) measures for the large-sized object looks, a lot of gauge points must be set, and very loaded down with trivial details, and along with the gauge point number increases, the mistake of identification increases automatically; 2) a large amount of gauge points must stick on the testee surface, have destroyed tested pattern unique characteristics, the authenticity that impact is measured.The latter does not adopt the adhesive mark point, adopt gauge head reference mark and global control point technology, its splicing is divided into three steps: at first, in that being set on the gauge head, 3 (or more than 3) fixedly (are fixed on the gauge head at the reference mark, and the spatial relationship between the gauge head is fixed), relation between gauge head control coordinate system and the gauge head measurement coordinate system obtains in advance by calibration technique, and 4 above global control points are set in measurement space, and their volume coordinate and mutual alignment are measured by digital camera; Secondly, gauge head is measured the zones of different of testee pattern, when measuring certain zone, digital camera is taken the image that a width of cloth comprises gauge head reference mark and at least 3 global control points simultaneously, because of relation between the gauge head reference mark is fixing known, and the spatial relationship between the global control point also obtains, by these constraint condition, can solve the coordinate of global control point (more than 3) in camera head (digital camera) coordinate system that occurs in gauge head reference mark and the image simultaneously, thereby obtain concerning between gauge head control coordinate system and the global coordinate system, and then obtain transformation relation between gauge head measurement coordinate system and the global coordinate system; At last, for each zone, because of relation between gauge head measurement coordinate system and the global coordinate system obtains, the measurement data of gauge head can be transformed in the global coordinate system, thereby the measurement data unification that realizes each measured zone is finished single area measure data to whole splicing in global coordinate system.This scheme has solved the limitation based on the topography measurement splicing scheme of adhesive mark, but when measuring certain zone, digital camera need be taken the image that a width of cloth comprises gauge head reference mark and at least 3 global control points simultaneously.Because the gauge head control point is fixed near the gauge head, with global control point (testee) bigger distance is arranged, when taking with digital camera, require camera that the bigger depth of field is arranged.And the definition range of lens shooting scenery has certain limit, and the range difference of gauge head reference mark and global control point will produce bigger influence to the blur-free imaging of object.Even camera head can satisfy depth of field requirement, under the prerequisite that focal length, aperture remain unchanged, essential increase object distance, thus the visual field that has increased camera head causes the significant wastage of visual field, and then influence measuring accuracy.
Summary of the invention
For overcoming the deficiencies in the prior art, the object of the present invention is to provide based on the large three-dimensional body shape of splicing target and measure joining method and device, do not require that camera head has the bigger depth of field, make full use of the visual field of camera head, and the equal energy of splicing target and global calibration point blur-free imaging is on the camera head image planes, thereby the raising measuring accuracy, and measuring speed is fast, efficient is high.
The technical solution used in the present invention is:
Large three-dimensional body shape based on the splicing target is measured splicing apparatus, be provided with global control point, station meter, high accuracy camera head and gauge head, comprise in addition the splicing target that is placed on the measured object front end, be provided with fixedly control point at the splicing target, by a splicing of aforementioned fixedly control point definition target coordinate system O
tX
tY
tZ
t, splicing target coordinate system and gauge head are measured coordinate system O
mX
mY
mZ
mBetween exist by measuring in the splicing target control point and measuring coordinate system O
mX
mY
mZ
mIn the confirmable relation of coordinate.
Wherein, global control point is meant and is provided with that the close-range photogrammetry principle is adopted in its volume coordinate and mutual alignment in measurement space, in conjunction with station meter, and 4 above global control points that can measure by camera head;
Arranging fixedly at the splicing target, the number at control point is 3.
Large three-dimensional body shape based on the splicing target is measured joining method, comprises the following steps:
(1) in measurement space, places a station meter, comprise two gauge points, distance is fixing between the gauge point, be reference range, adopt high-resolution pick-up device from a plurality of different angles, take the image that comprises global control point and station meter with different attitudes, by photogrammetric principle, can obtain all global control points at global coordinate system O
gX
gY
gZ
gUnder D coordinates value and space correlation;
(2) gauge head is measured the zones of different of testee pattern, and when measuring certain zone, the splicing target places the testee front end, because of splicing target coordinate system O
tX
tY
tZ
tKnown, measuring coordinate system O by control point in the measurement splicing target
mX
mY
mZ
mIn coordinate, thereby can determine that gauge head measures the relation between coordinate system and the splicing target coordinate system;
(3) keep the relative testee invariant position of splicing target, camera head is taken the image that a width of cloth comprises splicing target and at least 3 global control points simultaneously, solves the coordinate of 3 above global control points in the camera head coordinate system that occurs in splicing target control point and the image;
(4) by the transitional function of camera head coordinate system, obtain splicing target coordinate system O
tX
tY
tZ
tWith global coordinate system O
gX
gY
gZ
gRelations Among, and then obtain gauge head measurement coordinate system O
mX
mY
mZ
mWith global coordinate system O
gX
gY
gZ
gBetween transformation relation;
(5) remove the splicing target, gauge head is measured testee pattern in the zone, repeats aforesaid operations, and the measurement data of gauge head is transformed in the global coordinate system, the measurement data unification that realizes each measured zone is finished single area measure data to whole splicing in global coordinate system.
The present invention possesses following effect:
Owing to adopt the splicing target to replace the gauge head reference mark, the splicing target places global control point (testee) the place ahead, thereby do not require that camera head has the bigger depth of field, made full use of the visual field of camera head, and the equal energy of splicing target and global calibration point blur-free imaging is on the camera head image planes, thereby improved measuring accuracy, and measuring speed is fast, efficient is high.
Description of drawings
Fig. 1 is global control point and gauge head control point schematic diagram, and 1 is global control point among the figure, and 2 are the splicing target, and 3 is station meter, and 4 is camera head.
Fig. 2 is an area measure data splicing synoptic diagram, and 5 is testee.
Embodiment
Further specify the present invention below in conjunction with drawings and Examples.
Present patent application is invented a kind of splicing and device of brand-new measurement large-sized object pattern, its unique distinction is: adopt the splicing target to replace the gauge head reference mark, the splicing target places global control point (testee) the place ahead, do not require the bigger depth of field, made full use of the visual field of camera head, and splicing target and global calibration point all the energy blur-free imaging on the camera head image planes, thereby improved measuring accuracy, and measuring speed is fast, efficient is high, and concrete technical scheme is:
Form by splicing target, several global control points, station meter and a high precision camera head.At the splicing target 3 (or more than 3) fixedly control point is set, fixedly defines a splicing target coordinate system O in the control point by three (or more than three)
tX
tY
tZ
t, by measuring the coordinate of control point in measuring coordinate system in the splicing target, can obtain splicing target coordinate system O
tX
tY
tZ
tMeasure coordinate system O with gauge head
mX
mY
mZ
mBetween relation.4 above global control points are set in measurement space, and the close-range photogrammetry principle is adopted in their space coordinates and mutual alignment, in conjunction with station meter, by measuring.
Shown in figure one, global control point G fixing more than four is set in the testee space
1, G
2... G
n, before testee, place the splicing target in the end spaces.The centre of sphere location of standard ball can be adopted in the control point, chooses global control point G
1, G
2... G
nIn any point-blank global coordinate system O of 3 somes definition not
gX
gY
gZ
g, choose equally control point L on the splicing target
1, L
2, L
3... L
nIn any point-blank a splicing of 3 somes definition target coordinate system O not
tX
tY
tZ
t
During measurement, adopt the high precision digital camera to take simultaneously and comprise the image of measuring global control point and splicing target, by known splicing target and global control point spatial relation as constraint condition, solve their coordinates in camera coordinates system, obtain splicing the target coordinate thus and be tied to transformation relation between the global coordinate system, thereby the measurement data of gauge head in each position is transformed in the global coordinate system, realizes local to whole splicing.The method of testing detailed process is as follows:
At first, in measurement space, place a station meter and (comprise two gauge points, distance is fixing between the gauge point, be reference range), adopt high-resolution pick-up device from a plurality of different angles, take the image that comprises global mark point and station meter with different attitudes, by photogrammetric principle, can obtain all global control points at global coordinate system O
gX
gY
gZ
gUnder D coordinates value and space correlation; Secondly, gauge head is measured the zones of different of testee pattern.When measuring certain zone, the splicing target places the testee front end, because of splicing target coordinate system O
tX
tY
tZ
tKnown, measuring coordinate system O by control point in the measurement splicing target
mX
mY
mZ
mIn coordinate, thereby can determine to measure relation between coordinate system and the splicing target coordinate system; Again, keep the relative testee invariant position of splicing target, take simultaneously the image that a width of cloth comprises splicing target and at least 3 global control points, shown in figure two, because splicing target control point Relations Among is fixing known, and the spatial relationship between the global control point also obtains, and by these constraints, can solve simultaneously the coordinate of global control point (more than 3) in the camera head coordinate system that occurs in splicing target control point and the image; Again, by the transitional function of camera head coordinate system, can obtain splicing target coordinate system O
tX
tY
tZ
tWith global coordinate system O
gX
gY
gZ
gRelations Among, and then obtain gauge head measurement coordinate system O
mX
mY
mZ
mWith global coordinate system O
gX
gY
gZ
gBetween transformation relation; At last, remove the splicing target, gauge head is measured testee pattern in the zone.Repeat aforesaid operations.For each zone, because gauge head is measured coordinate system and the global coordinate system Relations Among obtains, the measurement data of gauge head can be transformed in the global coordinate system, thereby realize the measurement data unification of each measured zone in global coordinate system, finish single area measure data to whole splicing.
Specify the present invention as an example of optics non-contact measuring head measurement large-sized object pattern example below.
As shown in Figure 1, place 4 above global control points in detected space, what of global point quantity can determine that according to actual requirement (testee size) global control point adopts the centre of sphere location of microsphere.Fix 3 (or a plurality of) control points at the splicing target, the centre of sphere of microsphere or the location, the center of circle of flat circle are adopted in splicing target control point.
During measurement, at first, comprise the image of all global control points with digital camera from multi-angled shooting, obtain global control point at global coordinate system O
gX
gY
gZ
gIn spatial value; Secondly, measuring each regional S
iThe time, the splicing target places the testee front end, is measuring coordinate system O by control point in the measurement splicing target
mX
mY
mZ
mIn coordinate, obtain measuring the relation between coordinate system and the splicing target coordinate system; Then, such as Fig. 2, take simultaneously the image that comprises splicing target and three above global control points under the current location with digital camera; Again, by the known spatial relationship of global control point and splicing target control point, can calculate under the current location, global control point and the splicing target control point coordinate figure in the digital camera coordinate system, by these coordinate figures, can set up the transformation relation between gauge head measurement coordinate system and the global coordinate system; At last, remove the splicing target, gauge head is measured testee pattern in the zone, with current tested regional S
iMeasurement data transform in the global coordinate system.Repeat above-mentioned steps, can with the measurement data unification in all tested zones in global coordinate system, realize the integral body splicing of large-sized object pattern.
Claims (1)
1. the large three-dimensional body shape based on the splicing target is measured joining method, it is characterized in that, comprises the following steps:
(1) in measurement space, places a station meter, comprise two gauge points, distance is fixing between the gauge point, be reference range, adopt high-resolution pick-up device from a plurality of different angles, take the image that comprises global control point and station meter with different attitudes, by photogrammetric principle, can obtain all global control points at global coordinate system O
gX
gY
gZ
gUnder D coordinates value and space correlation;
(2) gauge head is measured the zones of different of testee pattern, and when measuring certain zone, the splicing target places the testee front end, because of splicing target coordinate system O
tX
tY
tZ
tKnown, measuring coordinate system O by control point in the measurement splicing target
mX
mY
mZ
mIn coordinate, thereby can determine that gauge head measures the relation between coordinate system and the splicing target coordinate system;
(3) keep the relative testee invariant position of splicing target, camera head is taken the image that a width of cloth comprises splicing target and at least 3 global control points simultaneously, solves the coordinate of 3 above global control points in the camera head coordinate system that occurs in splicing target control point and the image;
(4) by the transitional function of camera head coordinate system, obtain splicing target coordinate system O
tX
tY
tZ
tWith global coordinate system O
gX
gY
gZ
gRelations Among, and then obtain gauge head measurement coordinate system O
mX
mY
mZ
mWith global coordinate system O
gX
gY
gZ
gBetween transformation relation;
(5) remove the splicing target, gauge head is measured testee pattern in the zone, repeats aforesaid operations, and the measurement data of gauge head is transformed in the global coordinate system, the measurement data unification that realizes each measured zone is finished single area measure data to whole splicing in global coordinate system.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005101221657A CN100343625C (en) | 2005-12-05 | 2005-12-05 | Measuring splice method and device of large three-dimensional body shape based on splicing target |
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| CNB2005101221657A CN100343625C (en) | 2005-12-05 | 2005-12-05 | Measuring splice method and device of large three-dimensional body shape based on splicing target |
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| CN100343625C true CN100343625C (en) | 2007-10-17 |
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| CN110672029A (en) * | 2019-08-30 | 2020-01-10 | 合肥学院 | Flexible measuring system of large-scale complex curved surface three-dimensional shape robot |
| CN111076674B (en) * | 2019-12-12 | 2020-11-17 | 天目爱视（北京）科技有限公司 | Closely target object 3D collection equipment |
| CN112665523B (en) * | 2020-11-24 | 2022-04-19 | 北京星航机电装备有限公司 | Combined measurement method for complex profile |
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