CN102564350A - Plane structured light and light pen-based precise three-dimensional measurement method for complex part - Google Patents
Plane structured light and light pen-based precise three-dimensional measurement method for complex part Download PDFInfo
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- CN102564350A CN102564350A CN2012100297470A CN201210029747A CN102564350A CN 102564350 A CN102564350 A CN 102564350A CN 2012100297470 A CN2012100297470 A CN 2012100297470A CN 201210029747 A CN201210029747 A CN 201210029747A CN 102564350 A CN102564350 A CN 102564350A
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Abstract
The invention belongs to the field of precise measurement and discloses a plane structured light and light pen-based precise three-dimensional measurement method for a complex part and a system for implementing the method. According to the method, the complex shape of the surface of the part is measured by a plane structured light three-dimensional measurement technology, the characteristic dimension such as an inner wall, a hole depth and the like of the part is measured by a light pen measurement technology, two digital cameras are shared by the technologies, and the three-dimensional data obtained by measuring can be automatically integrated to the same coordinate system, so a three-dimensional coordinate of an object point to be measured under a world coordinate system can be obtained. The system comprises a digital projection device, two digital cameras, a T-shaped rod, a measuring head and a computer. The advantages of high efficiency and accuracy and the like of the plane structured light three-dimensional measurement technology used for measuring the complex shape of the surface can be fully exerted, and the advantages of the light pen three-dimensional measurement technology used for measuring the characteristic dimension such as the inner wall, the hole depth and the like can be exerted. The special requirements of distribution of returned light reflection index points on the T-shaped rod are avoided, and the system has the advantages of high flexibility, convenience in carrying and the like.
Description
Technical field
The invention belongs to the precision measurement field; Be specifically related to accurate method for three-dimensional measurement of a kind of complex parts and system thereof based on area-structure light and light pen; The present invention uses the complicated surface of area-structure light three-dimensional measurement commercial measurement component surface, uses the light pen measuring technique to measure characteristic dimensions such as parts inwall and deep hole.
Background technology
The accurate three-dimensional measurement of complex parts has vital role in fields such as industrial design, quality testings, and metering system at present commonly used generally is divided into contact and contactless two kinds.Traditional contact three coordinate measuring engine measurement precision is very high, but costs an arm and a leg, and laboratory environment is required height, can not realize the industry spot measurement.Contactless like structured light measurement system, can obtain a large amount of somes clouds fast, but have no idea to obtain the three-dimensional coordinate of single unique point, more not the three-dimensional coordinate at object shading position such as energy measurement deep hole.The flexibility that joint arm is measured in subrange is higher relatively, but the flexible articulated arm complicated in mechanical structure involves great expense.Light pen measurement of coordinates (also be called as hand-held visual coordinate measure) is the New measuring technique in the field of measurement in recent years, can realize that industry spot measures.
At home the light pen Research on Measuring Technology has been obtained certain achievement; Be published in the document " the unique point imaging center obtains in the gauge head imaging vision coordinate measuring system " on periodical " optical precision engineering " the 5th phase 14-20 page or leaf and be published in 1999 in the document " modeling of single camera gauge head imaging vision coordinate measuring system " on " Chinese journal of scientific instrument " the 5th phase 59-62 page or leaf as 1998 and proposed a kind of one camera measuring system; But there is limitation, low like precision, can only find range, can not draw the three-dimensional coordinate of measured point; Be published in the hand-held vision measurement model that has proposed a kind of one camera in the document " modeling of light pen single camera three-dimensional coordinate vision measurement system " on periodical " photoelectron laser " the 1st phase 85-88 page or leaf in 2007; Having proved single camera light pen measuring system can the measurement space three-dimensional coordinate; And developed model machine; But its requirements of model hand-held light pen monumented point strictness point-blank, increased difficulty of processing, can bring some errors inevitably simultaneously; Be published in 2008 in the document " based on the light pen three-dimensional coordinates measurement system of binocular stereo vision " on periodical " Chinese mechanical engineering " the 8th phase 896-899 page or leaf and proposed a kind of binocular light pen measurement model; But the monumented point strictness that still requires to paste above the light pen point-blank, has equally that difficulty of processing is big, precision is difficult to shortcomings such as assurance.In addition, the light pen measuring technique once can only be measured a characteristic point data, and efficiency of measurement is lower, can't measure the three-dimensional data of component surface complicated surface efficiently.
Summary of the invention
The object of the present invention is to provide accurate method for three-dimensional measurement of a kind of complex parts and system thereof based on area-structure light and light pen; Efficiency of measurement of the present invention is higher; Can the three-dimensional data that measure be fused under the same coordinate system automatically, can efficiently measure the three-dimensional data of component surface complicated surface.
The accurate method for three-dimensional measurement of a kind of complex parts provided by the invention comprises the three-dimensional measurement of component surface complicated surface and the three-dimensional measurement of characteristic dimension;
The step of the three-dimensional measurement of component surface complicated surface is:
To tested zone projection one group coding raster image, utilize two digital cameras to take the raster image that is out of shape through the component surface modulation, obtain the raster image of two groups of distortion; Again these the two groups raster images that are out of shape were carried out for four steps and transfer from one place to another under escort phase mutually, obtain the phase place main value of raster image, adopt three frequency heterodyne principles to carry out phase unwrapping again, finally obtain corresponding continuous phase; Utilize the match point that obtains the captured image of two digital cameras based on the Stereo Matching Algorithm of limit constraint then; Use the binocular stereo vision principle to carry out a cloud reconstruct after coupling is accomplished, calculate the three-dimensional point coordinate on testee surface;
The step of the three-dimensional measurement of characteristic dimension is:
T shape bar and gauge head constitute light pen; At first at least three light echo reflective marker points on the T shape bar are demarcated; Set up the light pen coordinate system; And oneself is carried out in the center of gauge head demarcate; Obtain the three-dimensional coordinate of many group light echo reflective marker points under world coordinate system, last according to the transformational relation between world coordinate system and the light pen coordinate system, obtain rotation matrix R
iWith the translation matrix T
i, by P
gR
i+ T
i=P
c, obtain the coordinate P of gauge head under the light pen coordinate system
g, calculate the three-dimensional coordinate P of testee point under world coordinate system at last again
c
The system of the accurate method for three-dimensional measurement of the above-mentioned complex parts of realization provided by the invention; It comprises digital projection device, first, second digital camera, T shape bar; Gauge head and computing machine; First, second digital camera has identical parameter, and the photocentre axle clamp angle of its photocentre axle and digital projection device and keeps relative position constant all between 20 to 30 degree; The front of T shape bar is pasted with at least 3 light echo reflective marker points, and T shape bar and gauge head constitute light pen, and said first, second digital camera and digital projection device all are connected through data line with said computing machine.
Use the complicated surface of area-structure light three-dimensional measurement commercial measurement component surface during measurement; Use the light pen measuring technique to measure characteristic dimensions such as parts inwall, deep hole; Both shared two digital cameras, the three-dimensional data that measures can be fused under the same coordinate system automatically.
The present invention proposes accurate method for three-dimensional measurement of a kind of complex parts and system thereof based on area-structure light and light pen; Advantages such as efficient, the high precision that can either give full play to that area-structure light three-dimensional measurement technology has when the surface measurements complicated surface can be brought into play light pen three-dimensional measurement technology again in the advantage of measuring characteristic dimensions such as inwall, deep hole.In addition, the distribution on T shape bar does not have specific (special) requirements to institute of the present invention extracting method to light echo reflective marker point, has advantages such as flexibility is big, easy to carry.
Description of drawings
Fig. 1 is accurate method for three-dimensional measurement of complex parts and the system construction drawing thereof based on area-structure light and light pen;
Fig. 2 is a light pen structural drawing of taking back light reflective marker point;
Fig. 3 is that gauge head is from the calibration principle synoptic diagram.
Embodiment
Below in conjunction with accompanying drawing and instance the present invention is done further detailed explanation.
As shown in Figure 1, realize that the system of the inventive method comprises digital projection device 101, first, second digital camera 102,103, A-frame 104, T shape bar 105, gauge head 106 and computing machine 107.Wherein: digital projection device 101 is meant the various digital projector equipment that comprises projector; First, second digital camera 102,103 has identical parameter, and the photocentre axle clamp angle of its photocentre axle and digital projection device and keeps relative position constant all between 20 to 30 degree; The front of T shape bar 105 is pasted with at least 3 (preferred five) light echo reflective marker points.T shape bar 105 constitutes light pen with gauge head 106.Digital projection device 101, first, second digital camera 102,103 are installed on the A-frame 104.
When measuring; (1) to the complicated surface of component surface; Use area-structure light three-dimensional measurement technology to measure: to throw a group coding raster image to tested zone by computing machine 107 control figure projection arrangements 101; Take the raster image that is out of shape through the component surface modulation synchronously by two digital cameras 102 and 103; And be stored in the computing machine 107, use the Survey Software of phase measuring profilometer and exploitation from the raster image that shooting obtains, to calculate the three dimensional point cloud of component surface under world coordinate system then; (2) characteristic dimension that can't measure to area-structure light three-dimensional measurement technology such as inwall, deep holes; Use light pen three-dimensional measurement technology to measure: gauge head 106 contact measured surfaces; Computing machine two digital cameras 102 of 107 controls and 103 are taken the T shape bar 105 positive light echo reflective marker points of pasting synchronously; And the image that shooting obtains is stored in the computing machine 107; Use light pen three-dimensional measurement technology to carry out Flame Image Process with the Survey Software of exploitation then and obtain the three-dimensional coordinate of each monumented point under world coordinate system, the external parameter of 105 on gauge head 106 through demarcation in advance and T shape bar calculates the three-dimensional coordinate of measured point under world coordinate system at last.
The concrete steps of the inventive method are following:
(1) three-dimensional measurement of component surface complicated surface
Computing machine 107 control figure projection arrangements 101 are modulated and the raster image of distortion through component surface by two digital cameras 102 and 103 shooting synchronously, and are stored in the computing machine 107 to tested zone projection one group coding raster image.Just begin the Calculation of Three Dimensional data after data acquisition finishes, its detailed process is:
1. computing machine at first to shooting obtain through component surface modulation and the raster image of distortion carried out for four steps and transfers from one place to another under escort phase mutually.
The present invention adopts four step phase shift algorithm of standard to calculate the phase place main value of raster image, and the phase shift of four amplitude grating images is respectively: 0, pi/2, π and 3 pi/2s, and its light intensity expression is respectively:
I
1(x，y)＝I(x，y)+I(x，y)cos[φ(x，y)]，
I
2(x，y)＝I(x，y)+I(x，y)cos[φ(x，y)+π/2]，(1)
I
3(x，y)＝I(x，y)+I(x，y)cos[φ(x，y)+π]，
I
4(x，y)＝I(x，y)+I(x，y)cos[φ(x，y)+3π/2]，
Can calculate the phase place main value of raster image according to formula (1):
The phase place main value φ (x that goes out through the phase shift algorithm computation; Y) in a phase cycling, be unique, but a plurality of grating fringes, φ (x are arranged in the whole measuring quantity space; Y) indentation distributes, and must carry out phase unwrapping to the phase place main value of spatial point and obtain corresponding continuous phase.
The present invention adopts three frequency heterodyne principles to carry out phase unwrapping.If the frequency of three kinds of gratings is respectively λ
1, λ
2, λ
3, and λ
1, λ
2, λ
3Satisfy
Its corresponding phase place main value is respectively φ
1, φ
2And φ
3Use the heterodyne principle φ that superposes respectively
1, φ
2And φ
2, φ
3, obtaining frequency is λ
12, λ
23Phase place main value Φ
12And Φ
23And then be λ with frequency
12, λ
23Phase place stack, obtain in whole audience scope, having only the phase place main value Φ of one-period
123, the frequency of this phase place is: λ
123=1, at last by Φ
123Backwards calculation goes out, φ
1, φ
2And φ
3Continuous phase.
2. utilize the match point that obtains the captured image of two digital cameras based on the Stereo Matching Algorithm of limit constraint;
Adopt a kind of Stereo Matching Algorithm here based on the polar curve constraint.If the picture point of measured point P on the captured image of digital camera 102 is P
1, then can be through the some P on the captured image of digital camera 102
1Coordinate on the captured image of digital camera 103, obtain and P
1Corresponding polar curve equation, and on polar curve, find and put P
1The point P that the phase place main value is identical
2, P
2Simultaneously also be the picture point on the captured image of digital camera 103, then P
2Be P
1Match point.
3. coupling just can use the binocular stereo vision principle to carry out a cloud reconstruct after accomplishing, and calculates the three-dimensional point coordinate on testee surface.
Spatial point P is at world coordinate system O
wX
wY
wZ
wUnder coordinate figure be (X
w, Y
w, Z
w), the picture point P that P is ordered on the captured image of digital camera 102
1Image coordinate be (u
1, v
1), through the pinhole imaging system model, can list the transformational relation equation (3) of P point from the image coordinate to the world coordinates, wherein a
1x=f
1* S
X1And a
1y=f
1* S
Y1, f
1Be the focal length of camera 102, S
X1And S
Y1Be the pixel count (pixels/mm) on the digital camera 102 captured plane of delineation unit distances, (u
10, y
10) be the coordinate of image center, R
1And T
1For be tied to rotation matrix and the translation matrix between camera 102 coordinate systems from world coordinates.Picture point P on the captured image of digital camera 103
2Image coordinate be (u
2, v
2).Equally also can list equation (4), wherein a
2x=f
2* S
X2And a
2y=f
2* S
Y2, f
2Be the focal length of camera 103, S
2xAnd S
2yBe the pixel count (pixels/mm) on the camera 103 captured plane of delineation unit distances, (u
20, v
20) be the coordinate of image center, R
2And T
2For be tied to rotation matrix and the translation matrix between camera 103 coordinate systems from world coordinates.Calculate the three-dimensional coordinate (X of measured object according to equation (3) and (4)
w, Y
w, Z
w).
Wherein, parameter a
1x, a
2x, a
1y, a
2y, u
10, u
20, v
10, v
20, R
1, T
1, R
2, T
2All can obtain through Camera calibration; k
1And k
2Be scale factor, in the solution procedure of equation, obtain.
(2) three-dimensional measurement of characteristic dimensions such as parts inwall, deep hole
1. the demarcation of the external parameter of 105 on gauge head 106 and T shape bar
At first the light echo reflective marker point on the T shape bar 105 is demarcated.The present invention adopts in photogrammetric that very maturation and the high bundle adjustment technology of precision come the light echo reflective marker point 201 on the T shape bar 105 is demarcated; Thereby obtain the three dimensional space coordinate of each the light echo reflective marker point on the T shape bar 105; With five light echo reflective marker points is example, and its three dimensional space coordinate can be expressed as:
{ p
G1(x
G1, y
G1, z
G1), p
G2(x
G2, y
G2, z
G2), p
G3(x
G3, y
G3, z
G3), p
G4(x
G4, y
G4, z
G4), p
G5(x
G5, y
G5, z
G5), according to the three dimensional space coordinate of light echo reflection spot, just can set up the light pen coordinate system.
Secondly gauge head 106 centers are carried out from demarcating.The colourful attitude light pen probe location that the present invention proposes the position-based invariance principle is from calibration algorithm.As shown in Figure 3; Be placed on light pen in the same conical bore 301; Random angle of inclination; Computing machine 107 is controlled two digital cameras 102,103 simultaneously and is gathered the image of light pen under the different attitudes of n (n >=2) kind, just can obtain the three-dimensional coordinate of n group light echo reflective marker point under world coordinate system through the binocular stereo vision Measurement Algorithm:
{p
c1(x
ic1，y
ic1，z
ic1)，p
c2(x
ic2，y
ic2，z
ic2)，p
c3(x
ic3，y
ic3，z
ic3)，p
c4(x
ic4，y
ic4，z
ic4)，p
c5(x
ic5，y
ic5，z
ic5)}i＝1，2，…，n-1，n
Wherein i representes that light pen puts the group number of different attitudes, every group of three-dimensional coordinate that has all comprised whole light echo reflective marker points in same conical bore.
Utilize the three dimensional space coordinate of each light echo reflective marker point of light pen under the light pen coordinate that has obtained
{ p
G1(x
G1, y
G1, z
G1), p
G2(x
G2, y
G2, z
G2), p
G3(x
G3, y
G3, z
G3), p
G4(x
G4, y
G4, z
G4), p
G5(x
G5, y
G5, z
G5), the relation of monumented point this moment under different coordinates can be got in touch with formula (5) through rigid body translation.
R wherein
i, T
iBe respectively light pen and be tied to rotation matrix and translation matrix between world coordinate system from the light pen coordinate when in conical bore, being in i kind attitude.Decompose (being svd) method according to SVD and can calculate the R in the formula (5)
iWith T
i
If the three-dimensional coordinate of testee point under world coordinate system is P
c, establishing the coordinate of gauge head 106 centers under the light pen coordinate system is P
g, the rigid body variation relation of two coordinate systems then can setting up according to formula (5) equally can obtain following system of equations:
P
gR
1+T
1＝P
c
P
gR
2+T
2＝P
c
P
gR
3+T
3＝P
c (6)
......
P
gR
n+T
n＝P
c
In the formula (6), equation is reduced to a new system of equations in twos mutually:
P
g(R
1-R
2)＝T
2-T
1
P
g(R
2-R
3)＝T
3-T
2 (7)
......
P
g(R
n-1-R
n)＝T
n-T
n-1
Because system of equations (7) is a system of linear equations, unknown number is 3, therefore as long as n>=2 can calculate P
gIn order to increase stability and reliability, among the present invention about two digital cameras 102,103 take at least 6 groups totally 12 width of cloth images, find the solution the coordinate P of gauge head under the light pen coordinate system through least square method
g
2. the calculating of the three-dimensional coordinate of measured point under world coordinate system
Through the demarcation to the external parameter of 105 on gauge head 106 and T shape bar, can obtain the coordinate of gauge head 106 under the light pen coordinate system is P
g1. world coordinate system of obtaining in according to step when light pen is in certain position and rotation matrix and the translation matrix R between the light pen coordinate system
i, T
iCan be by P
gR
i+ T
i=P
c, obtain the three-dimensional coordinate P under the world coordinate system of testee point
cThereby, realized light pen three-dimensional measurement technology based on binocular stereo vision.
Instance:
The above is preferred embodiment of the present invention, but the present invention should not be confined to the disclosed content of this embodiment and accompanying drawing.So everyly do not break away from the equivalence of accomplishing under the disclosed spirit of the present invention or revise, all fall into the scope of the present invention's protection.
Claims (3)
1. the accurate method for three-dimensional measurement of complex parts comprises the three-dimensional measurement of component surface complicated surface and the three-dimensional measurement of characteristic dimension;
The step of the three-dimensional measurement of component surface complicated surface is:
To tested zone projection one group coding raster image, utilize two digital cameras to take the raster image that is out of shape through the component surface modulation, obtain the raster image of two groups of distortion; Again these the two groups raster images that are out of shape were carried out for four steps and transfer from one place to another under escort phase mutually, obtain the phase place main value of raster image, adopt three frequency heterodyne principles to carry out phase unwrapping again, finally obtain corresponding continuous phase; Utilize the match point that obtains the captured image of two digital cameras based on the Stereo Matching Algorithm of limit constraint then; Use the binocular stereo vision principle to carry out a cloud reconstruct after coupling is accomplished, calculate the three-dimensional point coordinate on testee surface;
The step of the three-dimensional measurement of characteristic dimension is:;
T shape bar and gauge head constitute light pen; At first at least three light echo reflective marker points on the T shape bar are demarcated; Set up the light pen coordinate system; And oneself is carried out in the center of gauge head demarcate; Obtain the three-dimensional coordinate of many group light echo reflective marker points under world coordinate system, last according to the transformational relation between world coordinate system and the light pen coordinate system, obtain rotation matrix R
iWith the translation matrix T
i, by P
gR
i+ T
i=P
c, obtain the coordinate P of gauge head under the light pen coordinate system
g, calculate the three-dimensional coordinate P of testee point under world coordinate system at last again
c
2. the accurate method for three-dimensional measurement of a kind of complex parts according to claim 1 is characterized in that the center of said gauge head is carried out from the process of demarcating following:
Light pen is placed in the same conical bore; Random angle of inclination; Utilize two digital cameras to gather the image of light pen under the different attitudes of n kind, n >=2 obtain the three-dimensional coordinate of n group light echo reflective marker point under world coordinate system through the binocular stereo vision Measurement Algorithm.
3. system that realizes the accurate method for three-dimensional measurement of the described complex parts of claim 1; It is characterized in that it comprises digital projection device, first, second digital camera, T shape bar; Gauge head and computing machine; First, second digital camera has identical parameter, and the photocentre axle clamp angle of its photocentre axle and digital projection device and keeps relative position constant all between 20 to 30 degree; The front of T shape bar is pasted with at least 3 light echo reflective marker points, and T shape bar and gauge head constitute light pen, and said first, second digital camera and digital projection device all are connected through data line with said computing machine.
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| CN102818535A (en) * | 2012-08-16 | 2012-12-12 | 哈尔滨理工大学 | Electromagnetic positioning splicing apparatus and method for coded light three-dimensional measurement |
| CN102818535B (en) * | 2012-08-16 | 2014-11-05 | 哈尔滨理工大学 | Electromagnetic positioning splicing apparatus and method for coded light three-dimensional measurement |
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