CN103438801A - Mobile platform type image measuring equipment and method - Google Patents
Mobile platform type image measuring equipment and method Download PDFInfo
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- CN103438801A CN103438801A CN2013104203640A CN201310420364A CN103438801A CN 103438801 A CN103438801 A CN 103438801A CN 2013104203640 A CN2013104203640 A CN 2013104203640A CN 201310420364 A CN201310420364 A CN 201310420364A CN 103438801 A CN103438801 A CN 103438801A
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Abstract
The invention relates to mobile platform type image measuring equipment and method. The mobile platform type image measuring equipment comprises a base, a measuring platform, an optical imaging system and a central control module, wherein the base comprises a driving device; the measuring platform is arranged on the base and is connected with the driving device to be driven by the driving device to move horizontally relative to the base; the optical imaging system is connected with the central control module and is used for imaging a workpiece on the measuring platform and transmitting image data to the central control module; the central control module comprises a control unit and a data processing unit; the data processing unit is used for processing the image data to acquire geometric parameters of the workpiece; the control unit is used for controlling actuation of the driving device. By adopting the mobile platform type image measuring equipment and method provided by the invention, the image in a larger range can be acquired through single operation, thus the workpiece in a larger range or the workpiece ith a larger size can be measured.
Description
Technical field
The present invention relates to a kind of measuring technique, be specifically related to a kind of mobile platform type radiographic measurement Apparatus and method for.
Background technology
In the contactless dimensional measurement field of precision workpiece, common surveying instrument has universal tool-measuring microscope, measuring projector and image measurer.Universal tool-measuring microscope and measuring projector developing history are longer, technology maturation, usable range is extensive, the market retention is high, but in measuring process the many factors of human intervention, measure efficiency low, the consistance of measurement data, poor reliability.Along with the progressively raising of manufacturing efficiency, this manual surveying instrument can't meet measurement demand day by day, in manufacturing each industry, is all facing progressively superseded destiny.
Image measurer is high precision, high-level efficiency, the multi-functional contactless precise measure surveying instrument just grown up in recent years, it is measured in conjunction with means such as geometric operations by digital image processing techniques, has the advantages such as total digitalization, measuring speed be fast.But the visual field of existing image measurer is all narrow, thus its being limited in scope of can measuring, measuring efficiency lower, for large-size workpiece, almost can't measure.Therefore, those skilled in the art need a kind of radiographic measurement equipment or the method that can large-range measuring developed badly.
Summary of the invention
In view of this, the present invention aims to provide a kind of radiographic measurement equipment and method that can large-range measuring.
In order to realize purpose of the present invention, the embodiment of the present invention provides a kind of mobile platform type radiographic measurement equipment on the one hand, it comprises base, measuring table, optical imaging system and central control module, described base comprises drive unit, described measuring table is arranged on described base, and with described drive unit, be connected with under the driving of described drive unit with respect to described base translation, described optical imaging system is connected with described central control module, for the workpiece on measuring table is carried out to imaging, and image data is transferred to described central control module, described central control module comprises control module and data processing unit, described data processing unit for the treatment of described image data to obtain the geometric parameter of described workpiece, described control module is for controlling described drive unit start.
Preferably, described data processing unit comprises the images match subelement and measures subelement, described images match subelement compares to select for image and a plurality of workpiece image that prestores of workpiece that described optical imaging system is obtained the workpiece image that prestores be complementary, described measurement subelement obtains translation and rotation parameter between the two for the workpiece image that prestores according to coupling with the workpiece image obtained, according to described translation and rotation parameter, obtained workpiece image is carried out to coordinate transform, and record the geometric parameter of described workpiece according to the workpiece image after coordinate transform.
Preferably, described mobile platform type radiographic measurement equipment also comprises alarm module, described control module is for failing to find prestoring during the workpiece image of being complementary to send alerting signal at described images match subelement, described alarm module is for receiving described alerting signal and reporting to the police.
Preferably, described mobile platform type radiographic measurement equipment also comprises memory module, and described memory module is for storing the geometric parameter of described prestore workpiece image and described workpiece.
Preferably, described control module is for controlling described drive unit by the predetermined policy start so that described measuring table moves by predefined paths, and controls in the process that described optical imaging system moves at measuring table measuring table is carried out to repeatedly imaging.
Preferably, described data processing unit also for several image joints that described optical imaging system is obtained at described measuring table moving process to obtain the image of described workpiece, and calculate the geometric parameter of workpiece according to the image of spliced workpiece.
The mobile platform type radiographic measurement equipment that the embodiment of the present invention provides, by drive unit is set on base, and measuring table is connected with drive unit, making when measuring can the traverse measurement platform, single operation can obtain wider image, thereby can be measured workpiece or larger sized workpiece in larger scope.
The embodiment of the present invention provides a kind of mobile platform type image measuring method on the other hand, and for the geometric parameter of measuring workpieces, it comprises the steps:
Described workpiece is placed on a measuring table;
Press the described measuring table of predefined paths translation, and obtain respectively the image in a plurality of zones on described measuring table in a plurality of positions of predefined paths;
The image that splices described a plurality of zones, and obtain the image of described workpiece from the image in spliced a plurality of zones;
Calculate the geometric parameter of described workpiece according to the image of described workpiece.
Preferably, the step that calculates the geometric parameter of described workpiece according to the image of described workpiece further comprises the steps:
The image of described workpiece and a plurality of workpiece image that prestores are compared to select the workpiece image that prestores be complementary;
Obtain translation and rotation parameter between the two according to the workpiece image that prestores of coupling with the workpiece image obtained;
According to translation and rotation parameter, obtained workpiece image is carried out to coordinate transform, then according to the workpiece image after coordinate transform, record the geometric parameter of described workpiece.
Preferably, described mobile platform type image measuring method also comprises alert step: fail to find prestoring during the workpiece image of being complementary to be reported to the police.
The mobile platform type image measuring method that the embodiment of the present invention provides, by making measuring table by predefined paths translation repeatedly imaging, therefore single operation can obtain wider image, thereby can be measured workpiece or larger sized workpiece in larger scope.
The accompanying drawing explanation
Fig. 1 is the structural representation of the mobile platform type radiographic measurement equipment that provides of the embodiment of the present invention.
Fig. 2 is the system framework schematic diagram of the mobile platform type radiographic measurement equipment that provides of the embodiment of the present invention.
Fig. 3 is the structural representation of the data processing unit in Fig. 2.
Embodiment
In order to make purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.
Please refer to Fig. 1 and Fig. 2, the embodiment of the present invention provides a kind of mobile platform type radiographic measurement equipment, and it comprises base 11, measuring table 12, optical imaging system 14 and central control module 15.
Measuring table 12 is for carrying workpiece for measurement, and it is arranged on base 11, and with drive unit, be connected with under the driving of drive unit with respect to base 11 translations.Particularly, measuring table 12 also roughly is rectangular shape, and the center of its upper surface is provided with measured zone 121, and workpiece for measurement should be positioned in measured zone 121.Measured zone 121 can be clear glass, below measured zone 121, transmitted light source can also be set, and its light can shine on the workpiece on measured zone 121 through measured zone 121, then projects on optical imaging system 14, thereby makes the workpiece imaging.
Please refer to Fig. 3, in a preferred embodiment, data processing unit 152 comprises images match subelement 1521 and measures subelement 1523.
Images match subelement 1521 compares to select for image and a plurality of workpiece image that prestores of workpiece that optical imaging system 14 is obtained the workpiece image that prestores be complementary.The image of the various workpieces that also can prestore in this mobile platform type radiographic measurement equipment, images match subelement 1521 is compared the image of the workpiece that obtains and the workpiece image that prestores, find out the prestore workpiece image identical with the image characteristic point of the image of obtained workpiece, and determine thus the kind of workpiece.Matching process can be divided into image characteristic point extraction, Feature Points Matching step.Image characteristic point extracts and specifically can carry out in the following way:
1) using the border circular areas that a radius is 4 pixels is the feature extraction template, with all location of pixels of template center's traversal image;
2) each position with the gray-scale value of template center's pixel and template in other pixels gray-scale value relatively, record the number of pixels that difference is less than certain threshold value, this numerical value, divided by the template area value, is usingd to this feature weight as the template center position;
3) rotate all feature weights and be less than 0.4 position as the primary election unique point;
4) centered by each primary election unique point, minister's platform feature extraction template of take is scope, and all feature weights in the template scope are sorted, inhomogeneous if these feature weights change, and has than macromutation, rejects this primary election unique point;
5) to the primary election unique point through rejecting, according to distributed areas, limited, Partial Feature point, the unique point that remaining primary election unique point is used as images match are rejected in the zone excessive for density.
Feature Points Matching adopts the maximal correlation matching algorithm, and the unique point of the unique point in the image of obtained workpiece and the workpiece image that prestores is mated, and the Feature Points Matching point of finding out in two width images is right.
Measure subelement 1523 and obtain translation and rotation parameter between the two for the workpiece image that prestores according to coupling with the workpiece image obtained, according to translation and rotation parameter, obtained workpiece image is carried out to coordinate transform, then according to the workpiece image after coordinate transform, record the geometric parameter of workpiece.Particularly, after images match subelement 1521 completes Feature Points Matching, measuring subelement 1523 uses least square method to be calculated the coordinate data of these character pair points, the rotation and the translation parameters that prestore between the workpiece image that obtain obtained workpiece image and match, then can carry out coordinate conversion in such a way:
Wherein, θ be prestore the workpiece image and the workpiece image that obtains between rotation amount, Δ x and Δ y be prestore the workpiece image and the workpiece image that obtains between translational movement, (x1, y1) be the position coordinates in workpiece image before coordinate transform, (x, y) is the position coordinates in workpiece image after coordinate transform.
Please refer to Fig. 2, in a preferred embodiment, this mobile platform type radiographic measurement equipment also comprises alarm module 18, when images match subelement 1521 fails to find and prestoring during the workpiece image that obtained workpiece image is complementary, control module 151 sends alerting signal, and alarm module 18 receives alerting signal and reports to the police.Alarm module 18 is specifically as follows hummer and/or warning lamp.In general, when workpiece has more serious incompleteness or sneaks into non-detection workpiece, images match subelement 1521 can not find the workpiece image that prestores be complementary, and this alarm is to remind the operator.
Please refer to Fig. 2, in a preferred embodiment, this mobile platform type radiographic measurement equipment also comprises memory module 16, and memory module 16 is for the prestore geometric parameter of workpiece image and workpiece of storage.Memory module 16 is specifically as follows hard disk, flash memory etc.Before starting detection, first in memory module 16, store the workpiece image that prestores.Concrete operation method can be that standard workpiece is placed on measuring table 12 and carries out imaging, and preserves become image; Or standard video is copied in memory module 16.
In a preferred embodiment, control module 151 for accessory drive by the predetermined policy start so that measuring table 12 moves by predefined paths, control in the process that optical imaging system 14 moves at measuring table 12 simultaneously measuring table 12 carried out to repeatedly imaging.Particularly, predefined paths can be serpentine or other forms of path.Because the area of measured zone 121 is larger, so optical imaging system 14 is difficult to disposable all workpiece in measured zone 121 be carried out to imaging.Measuring table 12 is moved by predefined paths, its objective is and make optical imaging system 14 complete as early as possible the imaging to the workpiece in whole measured zone 121.
Further, several images that 152 pairs of optical imaging systems 14 of data processing unit obtain in measuring table 12 moving process are spliced, and obtain the image of complete workpiece, and calculate the geometric parameter of workpiece according to the image of spliced workpiece.When workpiece size is larger, Polaroidly be difficult to cover whole workpiece, therefore by imaging repeatedly the mode of being spliced, obtain the complete image of workpiece, to calculate the geometric parameter of workpiece.Image split-joint method has been those skilled in the art's common practise, repeats no more herein.
Please refer to Fig. 2, in a preferred embodiment, this mobile platform type radiographic measurement equipment also comprises data outputting module 17, its output of geometric parameter for the workpiece by obtaining.Data outputting module 17 can be USB interface, and this USB interface is connected with computer.In general, within a period of time, the geometric parameter of the workpiece measured all can store in memory module 16, and stores with forms such as Word, Excel, CAD.After completing measurement, by computer and data outputting module 17, from memory module 16, read measurement result.Certainly, data outputting module 17 can be also display, its real-time display measurement result.
The mobile platform type radiographic measurement equipment that the embodiment of the present invention provides, by drive unit is set on base, and measuring table is connected with drive unit, making when measuring can the traverse measurement platform, single operation can obtain wider image, thereby can be measured workpiece or larger sized workpiece in larger scope.
The embodiment of the present invention also provides a kind of mobile platform type image measuring method, and for the geometric parameter of measuring workpieces, it comprises the steps:
Workpiece is placed on a measuring table 12;
Press predefined paths translation measurement platform 12, and obtain respectively the image in a plurality of zones on measuring table 12 in a plurality of positions of predefined paths;
The image that splices a plurality of zones, and obtain the image of workpiece from the image in spliced a plurality of zones;
Calculate the geometric parameter of workpiece according to the image of workpiece.
Because measuring table 12 is moving, and optical imaging system 14 is motionless, so optical imaging system 14 is all that the zones of different on measuring table 12 is carried out to imaging at every turn.Spliced by the image to a plurality of zones, obtained the complete image of whole measured zone 121, therefrom obtained the image of workpiece.When workpiece size is larger, the workpiece image that imaging obtains does not at every turn all complete, and now the complete image of workpiece obtains by splicing.And when workpiece size hour, the complete image of workpiece generally is included in one of them regional image.
In a preferred embodiment, the step that calculates the geometric parameter of workpiece according to the image of workpiece further comprises the steps:
The image of workpiece and a plurality of workpiece image that prestores are compared to select the workpiece image that prestores be complementary;
Obtain translation and rotation parameter between the two according to the workpiece image that prestores of coupling with the workpiece image obtained;
According to translation and rotation parameter, obtained workpiece image is carried out to coordinate transform, then according to the workpiece image after coordinate transform, record the geometric parameter of workpiece.
Specifically how to be mated and coordinate transform, introduced in detail in the embodiment of mobile platform type radiographic measurement equipment in the above, repeated no more herein.
In a preferred embodiment, this mobile platform type image measuring method also comprises alert step: when failing to find prestoring during the workpiece image of being complementary to be reported to the police.In general, when workpiece has more serious incompleteness or sneaks into non-detection workpiece, images match subelement 1521 can not find the workpiece image that prestores be complementary, and this alarm is to remind the operator.
The mobile platform type image measuring method that the embodiment of the present invention provides, by making measuring table by predefined paths translation repeatedly imaging, therefore single operation can obtain wider image, thereby can be measured workpiece or larger sized workpiece in larger scope.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any modifications of doing within the spirit and principles in the present invention, be equal to and replace and improvement etc., within all should being included in protection scope of the present invention.
Claims (9)
1. a mobile platform type radiographic measurement equipment, it is characterized in that, comprise base, measuring table, optical imaging system and central control module, described base comprises drive unit, described measuring table is arranged on described base, and with described drive unit, be connected with under the driving of described drive unit with respect to described base translation, described optical imaging system is connected with described central control module, for the workpiece on measuring table is carried out to imaging, and image data is transferred to described central control module, described central control module comprises control module and data processing unit, described data processing unit for the treatment of described image data to obtain the geometric parameter of described workpiece, described control module is for controlling described drive unit start.
2. mobile platform type radiographic measurement equipment according to claim 1, it is characterized in that, described data processing unit comprises the images match subelement and measures subelement, described images match subelement compares to select for image and a plurality of workpiece image that prestores of workpiece that described optical imaging system is obtained the workpiece image that prestores be complementary, described measurement subelement obtains translation and rotation parameter between the two for the workpiece image that prestores according to coupling with the workpiece image obtained, according to described translation and rotation parameter, obtained workpiece image is carried out to coordinate transform, and record the geometric parameter of described workpiece according to the workpiece image after coordinate transform.
3. mobile platform type radiographic measurement equipment according to claim 2, it is characterized in that, also comprise alarm module, described control module is for failing to find prestoring during the workpiece image of being complementary to send alerting signal at described images match subelement, described alarm module is for receiving described alerting signal and reporting to the police.
4. mobile platform type radiographic measurement equipment according to claim 2, is characterized in that, also comprises memory module, and described memory module is for storing the geometric parameter of described prestore workpiece image and described workpiece.
5. according to the described mobile platform type radiographic measurement of claim 1 to 4 any one equipment, it is characterized in that, described control module is for controlling described drive unit by the predetermined policy start so that described measuring table moves by predefined paths, and controls in the process that described optical imaging system moves at measuring table measuring table is carried out to repeatedly imaging.
6. according to the described mobile platform type radiographic measurement of claim 1 to 5 any one equipment, it is characterized in that, described data processing unit also for several image joints that described optical imaging system is obtained at described measuring table moving process to obtain the image of described workpiece, and calculate the geometric parameter of workpiece according to the image of spliced workpiece.
7. a mobile platform type image measuring method, the geometric parameter for measuring workpieces, is characterized in that, comprises the steps:
Described workpiece is placed on a measuring table;
Press the described measuring table of predefined paths translation, and obtain respectively the image in a plurality of zones on described measuring table in a plurality of positions of predefined paths;
The image that splices described a plurality of zones, and obtain the image of described workpiece from the image in spliced a plurality of zones;
Calculate the geometric parameter of described workpiece according to the image of described workpiece.
8. mobile platform type image measuring method according to claim 7, is characterized in that, the step that calculates the geometric parameter of described workpiece according to the image of described workpiece further comprises the steps:
The image of described workpiece and a plurality of workpiece image that prestores are compared to select the workpiece image that prestores be complementary;
Obtain translation and rotation parameter between the two according to the workpiece image that prestores of coupling with the workpiece image obtained;
According to translation and rotation parameter, obtained workpiece image is carried out to coordinate transform, then according to the workpiece image after coordinate transform, record the geometric parameter of described workpiece.
9. mobile platform type image measuring method according to claim 8, is characterized in that, also comprises alert step: fail to find prestoring during the workpiece image of being complementary to be reported to the police.
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| CN104316464A (en) * | 2014-09-30 | 2015-01-28 | 苏州天准精密技术有限公司 | Image measurement device with rim light illumination and detection method |
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| CN107478155A (en) * | 2017-08-24 | 2017-12-15 | 苏州光照精密仪器有限公司 | Product inspection method, apparatus and system |
| CN108871138A (en) * | 2018-06-25 | 2018-11-23 | 广州铮高精密机械有限公司 | A kind of device for fast detecting and its detection method of components |
| CN109099835A (en) * | 2018-07-02 | 2018-12-28 | 广西电网有限责任公司北海供电局 | Power line clamp measurement method and its system based on mobile telephone image |
| CN109146778A (en) * | 2018-07-02 | 2019-01-04 | 广西电网有限责任公司北海供电局 | Image split-joint method for workpiece size measurement |
| CN110132166A (en) * | 2019-05-05 | 2019-08-16 | 广州佳帆计算机有限公司 | It is a kind of can automatic light distribution product image detection method and comparison device |
| CN112200778A (en) * | 2020-09-27 | 2021-01-08 | 桂林量具刃具有限责任公司 | Non-contact multi-cable type parameter measurement method and system |
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