CN102798346A - Device and method used for on-line optical measurement of two-dimensional large size of roof battenwall material - Google Patents
Device and method used for on-line optical measurement of two-dimensional large size of roof battenwall material Download PDFInfo
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- CN102798346A CN102798346A CN2012102435920A CN201210243592A CN102798346A CN 102798346 A CN102798346 A CN 102798346A CN 2012102435920 A CN2012102435920 A CN 2012102435920A CN 201210243592 A CN201210243592 A CN 201210243592A CN 102798346 A CN102798346 A CN 102798346A
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Abstract
The invention discloses a device and method used for on-line optical measurement of two-dimensional large size of roof battenwall materials, and belongs to the field of optical measurement on large-size geometric quantities. The measuring device comprises an optical sensing system, a data acquisition circuit system, a computer information processing system, a record display system, a warning system and a sorting control system, wherein the optical sensing system is composed of a high-resolution surface-array CCD (charge coupled device) camera, a low-distortion small-viewing-field standard lens matched with the camera, a quadrangular pyramid secondary reflection plane mirror, a high-transmittivity glass cover and four primary reflection plane mirrors, and is used for detecting the image information of four corners of a measured piece; and after calibration, the measuring device processes and computes the image information, so that the actual sizes of the measured piece are obtained and displayed. With the adoption of he device and the method provided by the invention, the problems of calibration and synchronous acquisition by a plurality of cameras are solved; and the device has high measurement speed and large-size measurement precision, and is widely applied for measuring sizes of ceramic piles, floor boards, marble tiles and the like.
Description
Technical field
The present invention relates to a kind of online vision measurement device of two-dimentional large scale and method of roof boarding wall material, belong to large scale geometric sense vision measurement field.
Background technology
Two dimension large scale vision measurement technology is widely used in ceramic tile, floor, in the online quality testing of roof boarding wall materials such as marble.Along with the limitation of measured size increase, accuracy requirement raising and size sensor, simple one camera dimension measuring device can not satisfy the measurement demand.At present polyphaser synchronous collection methods that adopt more, promptly each camera edge of being placed on tested surface is respectively gathered each corner image simultaneously, and the following adopted image process method extracts each angle point volume coordinate, realizes that then size and dimension measures in real time.This method need be carried out parameter calibration to each camera, and requires the camera synchronization collection during online detection.Above-mentioned polyphaser installation cost is higher, and the technical requirement restriction is many, and precision is influenced.
Summary of the invention
To above-mentioned prior art; The present invention provides a kind of two-dimentional large-scale metrology apparatus and method of roof boarding wall material; In order to solve in the prior art, have higher measuring speed and large-scale metrology precision for the existing technical matters of the online vision measurement of large scale.
In order to solve the problems of the technologies described above, the technical scheme that the online vision measurement device of two-dimentional large scale of roof boarding wall material of the present invention is achieved is: comprise optics and sensor-based system, data acquisition circuit system, computer information processing system, record display system, warning system and letter sorting control system; Said optics and sensor-based system are used to detect the image information of four corners of measured piece, and convert the size characteristic amount of measured piece to light signal, light signal is converted to pass to said data acquisition circuit system behind the analog electrical signal again; Said data acquisition circuit system is used for the analog electrical signal sample quantization is digital electric signal and is transferred to computer information processing system; Said computer information processing system is used for the digital image information that collects is done the data analysis computing, and sends result to record display system, warning system and letter sorting control system respectively; The size numerical value of said record display system record and demonstration measured piece; When the size of measured piece exceeds production specification, said warning system will be reported to the police automatically; Said letter sorting control system is divided product hierarchy according to the detection data of measured piece to measured piece, picks out substandard product, and by product hierarchy measured piece is transported to the various flows waterline;
Said optics and sensor-based system comprise: a high resolving power area array CCD camera, a low distortion small field of view standard lens, a quadrangular pyramid body secondary reflection level crossing, a high-transmission rate cloche and four primary event level crossings; Said high resolving power area array CCD camera, low distortion small field of view standard lens are connected with said high-transmission rate cloche successively; Said quadrangular pyramid body secondary reflection level crossing is arranged in the said high-transmission rate cloche; Four primary event level crossings are separately positioned on four edges of measured piece; And it is parallel with four corresponding flats of said quadrangular pyramid body secondary reflection level crossing respectively; Be used for giving said quadrangular pyramid body secondary reflection level crossing with measured piece four corner image reflections; What collect on the said high resolving power area array CCD camera image planes is that said I image, II image, III image and IV image occupy 1/4 phase place of image planes respectively by the piece image of I image, II image, III image and the IV image construction of measured piece four corners, thereby on said high resolving power area array CCD camera image planes, shows the visual field of four corners of measured piece.
The online vision measuring method of two-dimentional large scale of roof boarding wall material of the present invention may further comprise the steps:
The demarcation of step 1, optics and sensor-based system:
Geometric configuration and size according to measured piece provide a master body, post the grid target that spacing is 5mm at the upper surface of this master body, and the print resolution of target is 1200 * 1200DPI, is that initial point is set up world coordinate system with this master body upper left corner;
Equation of constraint to parameter outside each virtual camera foundation in optics and sensor-based system is:
In the outer restriction on the parameters equation of each virtual camera 7 outer parameters are arranged, be respectively: r
11, r
12, r
21, r
22, t
1, t
2And t
3
Because the intrinsic parameter of four virtual cameras is identical, the equation of constraint of then shared intrinsic parameter is:
4 intrinsic parameters are arranged in the intrinsic parameter equation of constraint, be respectively: dx, dy, u
0, v
0
Adopt Corner Detection Algorithm in I image, II image, III image and IV image, respectively to extract the image coordinate of 30 points; The world coordinates of selected each point is known, and above-mentioned equation of constraint of simultaneous (1) and equation of constraint (2) are tried to achieve 28 outer parameters and 4 intrinsic parameters;
Be worth the world coordinates of four virtual cameras according to the outer parameter value of trying to achieve and intrinsic parameter, try to achieve relative coordinate (the △ x of former relatively camera then
1, △ y
1), (△ x
2, △ y
2), (△ x
3, △ y
3) and (△ x
4, △ y
y);
In the on-line measurement process, it is vertical with the measurement device face that high resolving power area array CCD camera camera lens primary optical axis is set, and measured piece passes through before high resolving power area array CCD camera camera lens evenly; Optics and sensor-based system are gathered each two field picture in real time, and send computer information processing system to by the data acquisition circuit system;
In computer information processing system, judge whether four corners of measured piece get in the current frame image simultaneously; If counter adds one, and preserve image; If not, the next frame image is gathered in counter O reset;
Image to preserving is done rim detection, and the both sides intersection point is considered to the measured piece angle point, as the some benchmark that detects the measured piece size; Four angular coordinates are subtracted each other in twos, try to achieve four length of sides and the two diagonal angle line lengths of measured piece and preserve;
Judge then whether frame counter is zero down, if the corresponding data addition that then will preserve is before asked on average, and through record display system record and demonstration, otherwise handle the next frame view data;
The letter sorting control system is divided product hierarchy according to the detection data of measured piece to measured piece, picks out substandard product, and by product hierarchy measured piece is transported to the various flows waterline.
Compared with prior art, the invention has the beneficial effects as follows:
The present invention adopts flat mirror reflects to change the optical imagery path of camera, and having solved the roof boarding wall material increases the problem that measuring accuracy reduces with size.This measurement mechanism only needs a camera, and picture synchronization collection problem and the polyphaser having avoided measuring because of polyphaser are demarcated the problem errors caused, and measuring accuracy is further enhanced.Significantly reduce than polyphaser measurement mechanism cost simultaneously, be convenient to promote the use of in the roof boarding wall material productions such as marble tile on ceramic tile, floor.This measuring method is easy, similar member or similar different size member is had portable flexibly, and measuring speed and measuring accuracy have obtained significant raising.
Description of drawings
Fig. 1 is the system architecture composition frame chart of the online vision measurement device of the present invention;
Fig. 2 is the three-dimensional structure synoptic diagram of optics in the online vision measurement device of the present invention and sensor-based system;
Fig. 3 is the mounting arrangement synoptic diagram of quadrangular pyramid body primary event level crossing among the present invention and camera;
Two parallel plane mirror image-forming principle synoptic diagram that Fig. 4 adopts for the present invention;
The target figure that Fig. 5 gathers for camera calibration among the present invention;
Fig. 6 is the online vision measuring method main flow chart of the present invention.
Among the figure: 1-high resolving power area array CCD camera, the low distortion of 2-small field of view standard lens, 3-quadrangular pyramid body secondary reflection level crossing, 4-high-transmission rate cloche, 5-primary event level crossing, 6-measured piece.
Embodiment
Below in conjunction with embodiment the present invention is done to describe in further detail.
As shown in Figure 1; The online vision measurement device of two-dimentional large scale of roof boarding wall material of the present invention comprises optics and sensor-based system 10, data acquisition circuit system 20, computer information processing system 30, record display system 40, warning system 50 and letter sorting control system 60; Said optics and sensor-based system 10 are used to detect the image information of four corners of measured piece, and convert the size characteristic amount of measured piece to light signal, light signal is converted to pass to said data acquisition circuit system 20 behind the analog electrical signal again; Said data acquisition circuit system 20 is used for the analog electrical signal sample quantization is digital electric signal and is transferred to computer information processing system 30; Said computer information processing system 30 is used for the digital image information that collects is done the data analysis computing, and sends result to record display system 40, warning system 50 and letter sorting control system 60 respectively; The size numerical value of said record display system record and demonstration measured piece; When the size of measured piece exceeds production specification, said warning system 50 will be reported to the police automatically; Said letter sorting control system 60 is divided product hierarchy according to the detection data of measured piece to measured piece, picks out substandard product, and by product hierarchy measured piece is transported to the various flows waterline;
As shown in Figure 2, said optics and sensor-based system 10 comprise: the low distortion small field of view standard lens of high resolving power area array CCD camera 1,2, quadrangular pyramid body secondary reflection level crossing 3, high-transmission rate cloche 4 and four primary event level crossings 5; As shown in Figure 3, said high resolving power area array CCD camera 1, low distortion small field of view standard lens 2 are connected with said high-transmission rate cloche 4 successively, and said high resolving power area array CCD camera 1 is installed in measuring center; The bottom surface of said quadrangular pyramid body secondary reflection level crossing 3 is a square, and four sides of said quadrangular pyramid body secondary reflection level crossing 3 are congruent triangles; Said quadrangular pyramid body secondary reflection level crossing 3 is arranged in the said high-transmission rate cloche 4, and promptly said quadrangular pyramid body secondary reflection level crossing 3 is installed in through said high-transmission rate cloche 4 before the camera lens of said high resolving power area array CCD camera 1 and is coaxial with the camera lens primary optical axis; As shown in Figure 2; Four primary event level crossings 5 are separately positioned on four edges of measured piece; And parallel with four corresponding flats of said quadrangular pyramid body secondary reflection level crossing 3 respectively, be used for giving said quadrangular pyramid body secondary reflection level crossing 3 with measured piece four corner image reflections; As shown in Figure 5; What collect on said high resolving power area array CCD camera 1 image planes is the piece image by I image, II image, III image and the IV image construction of measured piece four corners; Said I image, II image, III image and IV image occupy 1/4 phase place of image planes respectively, thereby on said high resolving power area array CCD camera 1 image planes, show the visual field of four corners of measured piece.
The online vision measurement device measuring method of the present invention mainly is according to the constant theorem of radiation direction through two parallel mirrors; As shown in Figure 4; Parallel through adjusting four primary event level crossings 5 with the opposite planar of quadrangular pyramid body secondary reflection level crossing 3; Make that virtual camera C1 and former camera are that optical axis between the high resolving power area array CCD camera 1 is parallel, realize the effect that 4 camera synchronization are gathered thereby reach with a high resolving power area array CCD camera 1.
Embodiment:
Below in conjunction with accompanying drawing, and be 800 * 800mm with reference dimension
2Ceramic tile be that example further elaborates to the present invention:
The surface that ceramic tile is set is vertical with high resolving power area array CCD camera 1 camera lens primary optical axis, and ceramic tile passes through before high resolving power area array CCD camera 1 camera lens with the speed of 40m/min; High resolving power area array CCD camera 1 resolution is 4000 * 4000, is installed in the measuring table center vertically downward; Low distortion small field of view standard lens 2 visual fields of mating with camera are 10 ° * 10 °, and operating distance l is:
In the formula (3): R
a=R
b=800mm is the long and wide reference dimension of measured piece, and △ is the light path increment, is approximately equal to the vertical range of camera lens summit to tested surface.
Then can know that the measuring accuracy of system can reach:
l·sin5°/2000≈0.025mm （4）
Its measurement range is:
l·sin10°≈100mm （5）
Before quadrangular pyramid body secondary reflection level crossing 3 is fixed on low distortion small field of view standard lens 2 through a high-transmission rate cloche 4, as shown in Figure 3.The center line of quadrangular pyramid body secondary reflection level crossing 3 and the optical axis conllinear that hangs down distortion small field of view standard lens 2, its bottom surface is parallel with the target surface of high resolving power area array CCD camera 1, and four sides are parallel with four primary event level crossings 5 respectively.According to the measurement demand, quadrangular pyramid body secondary reflection level crossing 3 is designed to the bottom surface and is square, and the side becomes the congruent triangles of ω=140 ° with surface level.
Fixedly quadrangular pyramid body secondary reflection level crossing 3 is before low distortion small field of view standard lens 2 for high-transmission rate cloche 4, and its high transmission performance has reduced it primary event light is produced reflection, plays the influence that waits partially.The cloche collet is the desired light absorption surface, the H apart from the measured piece surface.
Four primary event level crossings 5 are placed on four corners of measuring table with high resolving power area array CCD camera optical axis equidistance.As shown in Figure 4, through the radiation direction unchangeability of two parallel mirrors, primary event level crossing 5 minute surfaces are parallel with secondary reflection level crossing 3 minute surfaces of quadrangular pyramid body relatively, then virtual camera c
1Former relatively camera 1 translation (△ x, △ y).
With the measured piece upper surface is that reference plane primary event level crossing 5 bases should satisfy condition:
In the formula (6), H gets 20mm, and the installation site that can cover quadrangular pyramid body secondary reflection level crossing 3 and primary event level crossing 5 with assurance primary event light can not influence the measured piece transmission.
Stick the high precision grid target that spacing is 5mm at the master body upper surface, the printing precision of target is 1200 * 1200DPI.With the master body upper left corner is that initial point is set up world coordinate system, and then the world coordinates of each grid intersection point is known.Because the positioning error of primary event level crossing 5, the mismachining tolerance of quadrangular pyramid body secondary reflection level crossing 3 and its matching precision with high resolving power area array CCD camera 1, the Camera extrinsic number that makes four components in same image characterize is also not quite identical.The target image that camera collects is as shown in Figure 5, because the rotation around the z axle possibly take place in the position of virtual camera, the grid of four components is also not parallel.The equation of constraint of Camera extrinsic number can be reduced to like this:
It is thus clear that in the outer restriction on the parameters equation of each virtual camera 7 outer parameters are arranged.And the intrinsic parameter of each virtual camera is identical, four shared intrinsic parameter equation of constraint of virtual camera:
28 outer parameters are arranged, 4 intrinsic parameters in the integral calibrating method of the online vision measurement device of the present invention.As shown in Figure 5, adopt Corner Detection Algorithm in I image, II image, III image and IV image, respectively to extract the image coordinate of 30 points; The world coordinates of selected each point is known, and the simultaneous equation of constraint is asked for 32 inside and outside parameters of camera like this.
As shown in Figure 5, the optical axis of four virtual cameras is projected in the point (xc on measured piece surface
1, yc
1), (xc
2, yc
2), (xc
3, yc
3) and (xc
4, yc
4) in image, coincide with picture centre.After having demarcated camera, image center is brought back to the relation equation of image coordinate system and world coordinate system:
Draw the world coordinates of four virtual cameras, try to achieve relative coordinate (the △ x of former relatively camera (high resolving power area array CCD camera 1) then
1, △ y
1), (△ x
2, △ y
2), (△ x
3, △ y
3) and (△ x
4, △ y
y).
The frame number of on-line measurement middle high-resolution area array CCD camera is 30fps; The split screen visual field is 50 * 50mm; The transfer rate of ceramic tile is 40m/min; Ceramic tile is when the detection platform like this, must have 2 ~ 3 two field pictures can collect four corner information (also can select for use high speed camera AP can be more) simultaneously.Utilize computer information processing system to judge and extract AP, and each width of cloth image is done Flame Image Process, obtain the corner volume coordinate (x of ceramic tile
i, y
i, z
i), with itself and (△ x
i, △ y
i) addition obtains four coordinate figures of corner under world coordinate system of measured piece:
(x
wi，y
wi，z
wi)＝(x
i+△x
i，y
i+△y
i，z
i) （8）
The world coordinates of angle point subtracted each other in twos ask mould, promptly obtain the dimension information of measured piece.
Optics and sensor-based system 10 are gathered each two field picture in real time, and send computer information processing system 30 to by data acquisition circuit system 20, in computer information processing system; Its main flow such as Fig. 6; Camera is gathered a two field picture, judges then whether four corners of ceramic tile get in the current frame image simultaneously, if; Counter adds one, and preserves image; If not, the next frame image is gathered in counter O reset;
Do rim detection to preserving image, the both sides intersection point is considered to the ceramic tile angle point, as the some benchmark that detects ceramic tile dimension; Four angular coordinates are subtracted each other in twos, try to achieve four length of sides and the diagonal angle line length and the preservation of ceramic tile;
Judge then whether frame counter is zero down, if, then the corresponding data addition of preserving is before asked on average, and through record display system (can be a PC) record and demonstration, otherwise processing next frame view data;
Letter sorting control system 60 is divided product hierarchy according to the detection data of ceramic tile to ceramic tile, picks out substandard product, and by product hierarchy measured piece is transported to the various flows waterline.
Among the present invention; The design of data acquisition circuit system 20, record display system 40, warning system 50 and letter sorting control system 60 all belongs to general knowledge well known in the art; Those skilled in the art can reproduce according to the specific requirement of test product, repeat no more at this.
Although invention has been described for top combination figure; But the present invention is not limited to above-mentioned embodiment, and above-mentioned embodiment only is schematically, rather than restrictive; Those of ordinary skill in the art is under enlightenment of the present invention; Under the situation that does not break away from aim of the present invention, can also make a lot of distortion, these all belong within the protection of the present invention.
Claims (5)
1. the online vision measurement device of two-dimentional large scale of a roof boarding wall material; It is characterized in that, comprise optics and sensor-based system (10), data acquisition circuit system (20), computer information processing system (30), record display system (40), warning system (50) and letter sorting control system (60); Said optics and sensor-based system (10) are used to detect the image information of four corners of measured piece, and convert the size characteristic amount of measured piece to light signal, pass to said data acquisition circuit system (20) after converting light signal to analog electrical signal again; Said data acquisition circuit system (20) is used for the analog electrical signal sample quantization is digital electric signal and is transferred to computer information processing system (30); Said computer information processing system (30) is used for the digital image information that collects is done the data analysis computing, and sends result to record display system (40), warning system (50) and letter sorting control system (60) respectively; The size numerical value of said record display system record and demonstration measured piece; When the size of measured piece exceeds production specification, said warning system (50) will be reported to the police automatically; Said letter sorting control system (60) is divided product hierarchy according to the detection data of measured piece to measured piece, picks out substandard product, and by product hierarchy measured piece is transported to the various flows waterline;
Said optics and sensor-based system (10) comprising: a high resolving power area array CCD camera (1), low distortion small field of view standard lens (2), a quadrangular pyramid body secondary reflection level crossing (3), a high-transmission rate cloche (4) and four primary event level crossings (5); Said high resolving power area array CCD camera (1), low distortion small field of view standard lens (2) are connected with said high-transmission rate cloche (4) successively; Said quadrangular pyramid body secondary reflection level crossing (3) is arranged in the said high-transmission rate cloche (4); Four primary event level crossings (5) are separately positioned on four edges of measured piece; And it is parallel with four corresponding flats of said quadrangular pyramid body secondary reflection level crossing (3) respectively; Be used for giving said quadrangular pyramid body secondary reflection level crossing (3) with measured piece four corner image reflections; What collect on said high resolving power area array CCD camera (1) image planes is the piece image by I image, II image, III image and the IV image construction of measured piece four corners; Said I image, II image, III image and IV image occupy 1/4 phase place of image planes respectively, thereby on said high resolving power area array CCD camera (1) image planes, show the visual field of four corners of measured piece.
2. according to the online vision measurement device of two-dimentional large scale of the said roof boarding wall material of claim 1; It is characterized in that; The bottom surface of said quadrangular pyramid body secondary reflection level crossing (3) is a square, and four sides of said quadrangular pyramid body secondary reflection level crossing (3) are congruent triangles.
3. according to the online vision measurement device of two-dimentional large scale of the said roof boarding wall material of claim 1; It is characterized in that said quadrangular pyramid body secondary reflection level crossing (3) is installed in through said high-transmission rate cloche (4) before the camera lens of said high resolving power area array CCD camera (1) and is coaxial with the camera lens primary optical axis.
4. according to the online vision measurement device of two-dimentional large scale of the said roof boarding wall material of claim 1, it is characterized in that said high resolving power area array CCD camera (1) is installed in measuring center.
5. the online vision measuring method of two-dimentional large scale of a roof boarding wall material is characterized in that, adopts according to claim 1 the online vision measurement device of two-dimentional large scale of roof boarding wall material to measure, and may further comprise the steps:
The demarcation of step 1, optics and sensor-based system:
Geometric configuration and size according to measured piece provide a master body, post the grid target that spacing is 5mm at the upper surface of this master body, and the print resolution of target is 1200 * 1200DPI, is that initial point is set up world coordinate system with this master body upper left corner;
Equation of constraint to parameter outside each virtual camera foundation in optics and sensor-based system is:
In the outer restriction on the parameters equation of each virtual camera 7 outer parameters are arranged, be respectively: r
11, r
12, r
21, r
22, t
1, t
2And t
3
Because the intrinsic parameter of four virtual cameras is identical, the equation of constraint of then shared intrinsic parameter is:
4 intrinsic parameters are arranged in the intrinsic parameter equation of constraint, be respectively: dx, dy, u
0, v
0
Adopt Corner Detection Algorithm in I image, II image, III image and IV image, respectively to extract the image coordinate of 30 points; The world coordinates of selected each point is known, and above-mentioned equation of constraint of simultaneous (1) and equation of constraint (2) are tried to achieve 28 outer parameters and 4 intrinsic parameters;
Be worth the world coordinates of four virtual cameras according to the outer parameter value of trying to achieve and intrinsic parameter, try to achieve relative coordinate (the △ x of former relatively camera then
1, △ y
1), (△ x
2, △ y
2), (△ x
3, △ y
3) and (△ x
4, △ y
y);
Step 2, based on the data computation of Flame Image Process:
In the on-line measurement process, it is vertical with the measurement device face that high resolving power area array CCD camera (1) camera lens primary optical axis is set, and measured piece passes through before high resolving power area array CCD camera (1) camera lens evenly; Optics and sensor-based system (10) are gathered each two field picture in real time, and send computer information processing system (30) to by data acquisition circuit system (20);
In computer information processing system (30), judge whether four corners of measured piece get in the current frame image simultaneously; If counter adds one, and preserve image; If not, the next frame image is gathered in counter O reset;
Image to preserving is done rim detection, and the both sides intersection point is considered to the measured piece angle point, as the some benchmark that detects the measured piece size; Four angular coordinates are subtracted each other in twos, try to achieve four length of sides and the two diagonal angle line lengths of measured piece and preserve;
Judge then whether frame counter is zero down, if the corresponding data addition that then will preserve is before asked on average, and through record display system record and demonstration, otherwise handle the next frame view data;
Letter sorting control system (60) is divided product hierarchy according to the detection data of measured piece to measured piece, picks out substandard product, and by product hierarchy measured piece is transported to the various flows waterline.
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