CN102798349A - Three-dimensional surface extraction method based on equal-gray line search - Google Patents

Three-dimensional surface extraction method based on equal-gray line search Download PDF

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CN102798349A
CN102798349A CN2011101347788A CN201110134778A CN102798349A CN 102798349 A CN102798349 A CN 102798349A CN 2011101347788 A CN2011101347788 A CN 2011101347788A CN 201110134778 A CN201110134778 A CN 201110134778A CN 102798349 A CN102798349 A CN 102798349A
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dimensional
body surface
mesh lines
dimensional surface
straight line
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沈安祺
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Shanghai Ruibode Intelligent System Sci & Tech Co Ltd
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Shanghai Ruibode Intelligent System Sci & Tech Co Ltd
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Abstract

The invention discloses a three-dimensional surface extraction method based on equal-gray line search. Two orthogonal stripe laser sources project grid lines on the surface of a molded product in an automobile stamping production line; a camera is used for acquiring an image comprising the grid lines on the surface of an object; the grid lines projected to the surface of the object are determined from a background according to the gray scale; the height of each intersection of the grid lines projected to the surface of the object relative to each intersection of the grid lines on a reference plane is calculated according to deformation of transverse straight lines and longitudinal straight lines in the grid lines, so that three-dimensional position data of each intersection of the grid lines projected to the surface of the object can be acquired; and finally, a final three-dimensional surface can be reconstructed through a three-dimensional surface reconstruction method and the three-dimensional position data of each intersection of the grid lines. By the method, tiny change of the surface of the object to be measured can be effectively detected, and a machine vision system is completely integrated to the conventional production line and used for on-line detection, so that the efficiency for checking the quality of a product is greatly improved.

Description

A kind of three-dimensional surface method for distilling based on the equi intensity curve search
Technical field:
The present invention relates to physical field, relate in particular to measuring technique, particularly the three-dimensional data of body surface is measured, and concrete is a kind of three-dimensional surface method for distilling based on the equi intensity curve search.
Background technology:
On the automobile stamping line, because the loss of grinding tool, in punching course, the product of moulding and the product of standard can't be in full accord, and have certain error.This error is to be present in three-dimensional miniature deformation, can't meet the needs of production through present existing manual detection method, and have to use the method for sampling observation, therefore can't guarantee the quality of all products.
Summary of the invention:
The object of the present invention is to provide a kind of three-dimensional surface method for distilling based on equi intensity curve search, described this three-dimensional surface method for distilling based on the equi intensity curve search will solve the technical matters of the miniature deformation that automobile stamping line in the prior art can't the fast detecting shaped article.
This three-dimensional surface method for distilling based on the equi intensity curve search of the present invention comprises that is utilized the process that video camera is obtained the body surface image and the object dimensional surface is rebuild in calculating from described body surface image; Wherein, Obtain the body surface image and from described body surface image, calculate in the process of rebuilding the object dimensional surface at the described video camera that utilizes; Utilize linear light source to described body surface projection mesh lines; Utilize video camera to obtain the projects images of described mesh lines at body surface; According to laterally straight line and the vertically deformation quantity of straight line in the mesh lines that is incident upon body surface; Calculate each intersection point in the mesh lines that is incident upon body surface and be incident upon the side-play amount of each intersection point in the mesh lines on the reference plane with respect to same linear light source; Again according to the angle of linear light source and camera lens optical axis; Calculate in the mesh lines that is incident upon body surface each intersection point with respect to the height of each intersection point in the mesh lines on the described reference plane, thereby obtain to be incident upon the three-dimensional location data of each intersection point in the mesh lines of body surface, utilize the final three-dimensional surface of three-dimensional location data reconstruction of each intersection point in three-dimensional surface rebuilding method and the mesh lines at last.
Further, described three-dimensional surface rebuilding method comprises a step that adopts the elevation information of the point between each straight line in the linear interpolation method fill-net ruling.
Further, include two striped laser projection light sources in the described linear light source, the projected light striped of described two striped laser projection light sources is vertical each other.
Further, utilize computing machine from the body surface image that video camera is obtained, from background, to judge the mesh lines that is incident upon body surface according to gray scale.
Further, utilize along the method for linear search and obtain laterally to reach elevation information longitudinally respectively, carry out the adjustment of height through both position relations, thereby obtain the three dimensional local information of mesh lines intersection point.
Further, thus described along in the method for linear search acquisition elevation information, adopt a search order to obtain the method for effective straight line information according to priority.
The present invention and prior art are compared, and its effect is actively with tangible.The present invention utilizes the surface projection mesh lines of striped LASER Light Source shaped article in the automobile stamping line of two quadratures; Utilize video camera to obtain the image that body surface comprises mesh lines; From background, judge the mesh lines that is incident upon body surface according to gray scale; According to laterally straight line and the vertically deformation quantity of straight line in the mesh lines; Calculate in the mesh lines that is incident upon body surface each intersection point with respect to the height of each intersection point in the mesh lines on the reference plane, thereby obtain to be incident upon the three-dimensional location data of each intersection point in the mesh lines of body surface, utilize the final three-dimensional surface of three-dimensional location data reconstruction of each intersection point in three-dimensional surface rebuilding method and the mesh lines at last; Can detect the subtle change on object under test surface effectively; And be fully integratible on the existing production line through NI Vision Builder for Automated Inspection, carry out online detection, thereby increased substantially the efficient of product quality inspection.
Description of drawings:
Fig. 1 is the synoptic diagram based on the high computational method in the three-dimensional surface method for distilling of equi intensity curve search of the present invention.
Fig. 2 is the synoptic diagram of the three-dimensional surface method for distilling based on equi intensity curve search of the present invention.
Fig. 3 is the synoptic diagram of an embodiment of the three-dimensional surface method for distilling based on equi intensity curve search of the present invention.
Fig. 4 is the synoptic diagram based on the linear search method in the three-dimensional surface method for distilling of equi intensity curve search of the present invention.
Fig. 5 is the synoptic diagram of the examined object among the embodiment of the three-dimensional surface method for distilling based on equi intensity curve search of the present invention.
Fig. 6 is the travers figure that video camera is obtained from the examined object surface among the embodiment of the three-dimensional surface method for distilling based on equi intensity curve search of the present invention.
Fig. 7 is the longitudinal stripe figure that video camera is obtained from the examined object surface among the embodiment of the three-dimensional surface method for distilling based on equi intensity curve search of the present invention.
Fig. 8 extracts the horizontal rectilinear that obtains among the embodiment of the three-dimensional surface method for distilling based on equi intensity curve search of the present invention from the travers figure of Fig. 7.
Fig. 9 extracts the vertical rectilinear that obtains among the embodiment of the three-dimensional surface method for distilling based on equi intensity curve search of the present invention from the longitudinal stripe figure of Fig. 8.
Figure 10 is the height map that obtains behind the search straight line among the embodiment of the three-dimensional surface method for distilling based on equi intensity curve search of the present invention.
Figure 11 is the surface height map that obtains after the height control among Figure 10.
Figure 12 is the three-dimension surface that obtains after Figure 11 fills through interpolation.
Figure 13 is the three-dimensional model of the standard object that extracts in advance among the embodiment of the three-dimensional surface method for distilling based on equi intensity curve search of the present invention.
Figure 14 is the image when there is foreign matter in body surface among the embodiment of the three-dimensional surface method for distilling based on equi intensity curve search of the present invention.
Figure 15 is the subject image that there is foreign matter in the surface of extracting among the embodiment of the three-dimensional surface method for distilling based on equi intensity curve search of the present invention.
Embodiment:
Embodiment 1:
Three-dimensional surface method for distilling based on the equi intensity curve search of the present invention comprises that is utilized the process that video camera is obtained the body surface image and the object dimensional surface is rebuild in calculating from described body surface image; Wherein, Obtain the body surface image and from described body surface image, calculate in the process of rebuilding the object dimensional surface at the described video camera that utilizes; Utilize linear light source to described body surface projection mesh lines; Utilize video camera to obtain the projects images of described mesh lines at body surface; According to laterally straight line and the vertically deformation quantity of straight line in the mesh lines that is incident upon body surface; Calculate each intersection point in the mesh lines that is incident upon body surface and be incident upon the side-play amount of each intersection point in the mesh lines on the reference plane with respect to same linear light source; Again according to the angle of linear light source and camera lens optical axis; Calculate in the mesh lines that is incident upon body surface each intersection point with respect to the height of each intersection point in the mesh lines on the described reference plane, thereby obtain to be incident upon the three-dimensional location data of each intersection point in the mesh lines of body surface, utilize the final three-dimensional surface of three-dimensional location data reconstruction of each intersection point in three-dimensional surface rebuilding method and the mesh lines at last.
Further, described three-dimensional surface rebuilding method comprises a step that adopts the elevation information of the point between each straight line in the linear interpolation method fill-net ruling.
Further, include two striped laser projection light sources in the described linear light source, the projected light striped of described two striped laser projection light sources is vertical each other.
Further, utilize computing machine from the body surface image that video camera is obtained, from background, to judge the mesh lines that is incident upon body surface according to gray scale.
Further, utilize along the method for linear search and obtain laterally to reach elevation information longitudinally respectively, carry out the adjustment of height through both position relations, thereby obtain the three dimensional local information of mesh lines intersection point.
Further, thus described along in the method for linear search acquisition elevation information, adopt a search order to obtain the method for effective straight line information according to priority.
As shown in Figure 1, C represents video camera, and P represents projected light; Q represents the point on the reference field, the point on Q ' the representative surface, and β represents the angle of projection optical axis and vertical direction; H represents the height of object at Q ', and on behalf of video camera, x1, x2 capture the pixel coordinate of the point on the picture.
Through geometric relationship, can obtain formula:
h = k · ( x 2 - x 1 ) tan β - - - ( 1 )
Wherein k representes to be tied to the coefficient that actual true coordinate is from pixel coordinate.This coefficient can obtain through system calibrating.
Can know in order to obtain height h from formula (1), must know the distance of pixel-shift, i.e. the value of (x2-x1).In order to measure this distance, can be through projection linear light source, the skew that records pixel from the deformation quantity of straight line.
As shown in Figure 2, in one embodiment of the invention, in order to obtain horizontal and vertical relative height respectively, and to require be the linear projection of quadrature, adopts the LASER Light Source Laser1 and the Laser2 of two bands, becomes 90 degree quadratures to put.Can obtain the orthogonal grid line projection of a rectangle thus in the central area that its straight line intersects.
As shown in Figure 3, video camera sampling obtain by deformation straight line.
In Fig. 3, find the intersection point of straight line anyhow,, search for four direction up and down respectively, find out point on the straight line with respect to the height of starting point along straight line then from intersection point.
Q I1, j1: the intersection point of known altitude, its coordinate be (i1, j1).
Q I2,2j: along the next intersection point that straight line finds, its coordinate be (i2, j2).
Therefore can obtain Q I2, j2Height h I2,2j
h i 2 , j 2 = k i 2 , j 2 Tan β i 2 , j 2 · ( i 2 - i 1 ) + h i 1 , j 1 - - - ( 2 ) (on the horizontal line)
h i 2 , j 2 = k i 2 , j 2 Tan β i 2 , j 2 · ( i 2 - i 1 ) + h i 1 , j 1 - - - ( 3 ) (on the ordinate)
Search order according to Fig. 4 begins to continue the next point of proximity of search from the known altitude point.
Among Fig. 40 representes current point, and 1 among Fig. 4,2,3,4,5,6,7,8,9 and 10 expression search are the order of any down.If 1, the point on 2,3,4,5,6,7,8,9 and 10 orders is not the point on the straight line, think that then linear search finishes.
All point on the traversing graph picture has all been searched for up to all intersection points.
Like Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, Figure 11, Figure 12, Figure 13, Figure 14, shown in Figure 15,
After finding the relative height of point on the straight line through linear search, be spliced into face to these straight lines that contain relative height based on some points with respect to initial intersection point separately.When promptly finding certain intersection point, be the height control of this intersection point known height, and, adjust the height of the line of this intersection point connection again from this intersection point.
Can know thus, for any some Q in the face In, jnHeight be some reference point Q I0, j0Function:
h i n , j n = Σ m = 0 n - 1 k i m + 1 , j m + 1 tan β i m + 1 , j m + 1 · δ m + 1 + h 0 (4)
Figure BSA00000502342300062
At last, use linear interpolation to fill the elevation information of the point between the straight line, obtain final three-dimensional surface.

Claims (6)

1. three-dimensional surface method for distilling based on equi intensity curve search; Comprise that is utilized the process that video camera is obtained the body surface image and the object dimensional surface is rebuild in calculating from described body surface image; It is characterized in that: obtain the body surface image and from described body surface image, calculate in the process of rebuilding the object dimensional surface at the described video camera that utilizes; Utilize linear light source to described body surface projection mesh lines; Utilize video camera to obtain the projects images of described mesh lines at body surface; According to laterally straight line and the vertically deformation quantity of straight line in the mesh lines that is incident upon body surface; Calculate each intersection point in the mesh lines that is incident upon body surface and be incident upon the side-play amount of each intersection point in the mesh lines on the reference plane with respect to same linear light source; Again according to the angle of linear light source and camera lens optical axis; Calculate in the mesh lines that is incident upon body surface each intersection point with respect to the height of each intersection point in the mesh lines on the described reference plane, thereby obtain to be incident upon the three-dimensional location data of each intersection point in the mesh lines of body surface, utilize the final three-dimensional surface of three-dimensional location data reconstruction of each intersection point in three-dimensional surface rebuilding method and the mesh lines at last.
2. the three-dimensional surface method for distilling based on the equi intensity curve search as claimed in claim 1 is characterized in that: described three-dimensional surface rebuilding method comprises a step that adopts the elevation information of the point between each straight line in the linear interpolation method fill-net ruling.
3. the three-dimensional surface method for distilling based on the equi intensity curve search as claimed in claim 1, it is characterized in that: include two striped laser projection light sources in the described linear light source, the projected light striped of described two striped laser projection light sources is vertical each other.
4. the three-dimensional surface method for distilling based on the equi intensity curve search as claimed in claim 1 is characterized in that: utilize computing machine from the body surface image that video camera is obtained, from background, to judge the mesh lines that is incident upon body surface according to gray scale.
5. the three-dimensional surface method for distilling based on the equi intensity curve search as claimed in claim 1; It is characterized in that: respectively on the direction of the horizontal straight line in edge and vertical straight line; According to the priority orders of setting, the some pixel coordinate position on the search straight line, the deformation quantity of acquisition straight line.
6. the three-dimensional surface method for distilling based on the equi intensity curve search as claimed in claim 1; It is characterized in that: the deformation quantity through horizontal straight line and vertical straight line concerns the adjustment of carrying out height in the position of its joining respectively, thereby obtains the three dimensional local information of mesh lines intersection point.
CN2011101347788A 2011-05-24 2011-05-24 Three-dimensional surface extraction method based on equal-gray line search Pending CN102798349A (en)

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Cited By (9)

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CN103697833A (en) * 2013-12-30 2014-04-02 北京农业智能装备技术研究中心 Agricultural product shape detecting method and device
CN104089585A (en) * 2014-07-28 2014-10-08 北京理工大学 Macro-micro three-dimensional deformation measurement method based on single-width orthogonal grid lines
CN108444390A (en) * 2018-02-08 2018-08-24 天津大学 A kind of pilotless automobile obstacle recognition method and device
CN111442739A (en) * 2020-04-02 2020-07-24 上海海洋大学 Calibration system for underwater three-dimensional imaging of moving water tank and construction method
CN111578858A (en) * 2020-05-26 2020-08-25 山东大学 Device and method for automatically monitoring crack deformation of large-scale retaining structure
CN111618150A (en) * 2020-07-28 2020-09-04 吴江市液铸液压件铸造有限公司 Double-station stamping equipment suitable for hardware
CN111854623A (en) * 2020-07-29 2020-10-30 南京工程学院 Rapid detection method and detection system for micro deformation of object
CN112102456A (en) * 2020-08-20 2020-12-18 佛山科学技术学院 Ceramic wafer height detection method and device and computer readable storage medium
CN113959347A (en) * 2021-08-10 2022-01-21 南京中车浦镇城轨车辆有限责任公司 Method and system for analyzing thickness of floor rubber pad suitable for subway vehicle

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Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103697833B (en) * 2013-12-30 2016-03-09 北京农业智能装备技术研究中心 Agricultural product shape detecting method and device
CN103697833A (en) * 2013-12-30 2014-04-02 北京农业智能装备技术研究中心 Agricultural product shape detecting method and device
CN104089585A (en) * 2014-07-28 2014-10-08 北京理工大学 Macro-micro three-dimensional deformation measurement method based on single-width orthogonal grid lines
CN104089585B (en) * 2014-07-28 2016-08-24 北京理工大学 Grand microscopic three-dimensional deformation measurement method based on the orthogonal grid line of single width
CN108444390A (en) * 2018-02-08 2018-08-24 天津大学 A kind of pilotless automobile obstacle recognition method and device
CN111442739B (en) * 2020-04-02 2022-03-01 上海海洋大学 Calibration system for underwater three-dimensional imaging of moving water tank and construction method
CN111442739A (en) * 2020-04-02 2020-07-24 上海海洋大学 Calibration system for underwater three-dimensional imaging of moving water tank and construction method
CN111578858A (en) * 2020-05-26 2020-08-25 山东大学 Device and method for automatically monitoring crack deformation of large-scale retaining structure
CN111618150A (en) * 2020-07-28 2020-09-04 吴江市液铸液压件铸造有限公司 Double-station stamping equipment suitable for hardware
CN111854623A (en) * 2020-07-29 2020-10-30 南京工程学院 Rapid detection method and detection system for micro deformation of object
CN111854623B (en) * 2020-07-29 2022-02-11 南京工程学院 Rapid detection method and detection system for micro deformation of object
CN112102456A (en) * 2020-08-20 2020-12-18 佛山科学技术学院 Ceramic wafer height detection method and device and computer readable storage medium
CN112102456B (en) * 2020-08-20 2023-12-26 佛山科学技术学院 Ceramic wafer height detection method and device and computer readable storage medium
CN113959347A (en) * 2021-08-10 2022-01-21 南京中车浦镇城轨车辆有限责任公司 Method and system for analyzing thickness of floor rubber pad suitable for subway vehicle
CN113959347B (en) * 2021-08-10 2024-09-20 南京中车浦镇城轨车辆有限责任公司 Floor rubber pad thickness analysis method and system suitable for metro vehicle

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Application publication date: 20121128