CN103471531B - The online non-contact measurement method of axial workpiece linearity - Google Patents
The online non-contact measurement method of axial workpiece linearity Download PDFInfo
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Abstract
The present invention relates to the online non-contact measurement method of a kind of axial workpiece linearity, belong to image measurement technology field.The present invention can the linearity of Parts Measurement in real time.First, set up the structure light vision measurement model of axial workpiece straight line degree measurement, make striation direction be approximately parallel to axis direction; Secondly, the internal reference of plane reference method demarcation ccd video camera, distortion factor and structured light plane parameter is adopted; Again, to the demarcation axle of a known diameter, by peg model, spatial point reverse is carried out to the point on the intersection on structured light optical plane and axle surface, utilizes these spatial point to simulate demarcation axis; Finally, the spatial point of trying to achieve and axial equation is utilized can to solve the linearity obtaining measured axis.This invention takes machine vision metrology technology, achieve online non-cpntact measurement, ensure higher measuring speed and good measuring accuracy.Length is less than to the axial workpiece of 200mm, its measuring accuracy is less than or equal to ± 0.015mm.
Description
Technical field
The present invention relates to image measurement technology field, particularly the online non-contact measurement method of a kind of axial workpiece linearity.
Background technology
The various axial workpiece of a large amount of use in the industries such as machinery, automobile, motor, comprising transmission shaft, gear shaft, the main shaft of lathe, the roller shaft, twist drill, broaching tool, drilling rod etc. of weaving loom of automobile.But these parts are in processing, in manufacture process or inevitably various flexural deformation in various degree after thermal treatment, the total amount that China produces axle per year is according to statistics about 1,000,000,000, and what need could to use after alignment accounts for 70%.If the flexural deformation that axial workpiece occurs in machining or heat treatment process can not obtain alignment effectively, many and diverse influences will be brought in follow-up finishing passes, directly can affect the quality of product, even directly affect the ascending velocity of rejection rate.Therefore, in order to the rate of reducing the number of rejects and seconds, improve yield rate, saving processing and raw-material cost and ensure that workpiece can reach the requirement of final design tolerance, after thermal treatment, alignment is the important procedure ensureing product quality in Machining of Shaft-type Parts process.
Ancient aligning method is exactly rely on the experience of workman, carry out craft and knock, not only efficiency is low for this method, alignment precision is low, and labour cost is high to needing the workpiece of alignment.Along with the progress of science and technology, automatic alignment machine instead of manual alignment.Automatic alignment machine mainly comprises the part such as linearity testing apparatus, compressed correction device, automatic loading and unloading device, control device of workpiece.Wherein linearity testing apparatus is the key component in axle class automatic alignment machine.Its measurement efficiency and accuracy directly affect efficiency and the quality of straightening technology.
At present, the main measurement method of linearity according to measurement mechanism whether with tested part joint, be usually divided into contact measurement and non-cpntact measurement.Contact measurement method comprises: the methods such as error separation method, light gap method, dial gauge method and three-dimensional method, and the working strength of these measuring methods is large, efficiency is low, be difficult to realize on-line measurement.Non-contact measurement method mainly refers to the measuring method based on optical principle, comprises the methods such as laser collimator method, machine vision metrology method, structural light measurement method.Compared with traditional contact measurement method, can on-line measurement be realized in process of production, can in real time by the information feed back of part to control system, there is noncontact, full filed measure and the high feature of automaticity.
Computer vision measurement technology utilizes the image of object as the carrier detected, at present, the measuring object of machine vision metrology method is limited to two-dimensional mostly, the body surface at measured size place is exactly imaging plane, rim detection in machine vision can be utilized to realize measuring, or to have combined high-acruracy survey with rim detection and camera calibration.But axial workpiece is 3D solid, the body surface at measurement size place is no longer imaging plane, and the measuring method for two-dimensional is just no longer applicable.Further, because the reference dimension of tested part often arrives millimeter up to a hundred tens, much larger than the size of camera lens, now, machine vision metrology method is just no longer applicable.
Summary of the invention
The object of the present invention is to provide the online non-contact measurement method of a kind of axial workpiece linearity, overcome the deficiency that existing detection method exists, realize on-line checkingi, ensure lower cost, higher detection efficiency and good measuring accuracy simultaneously.Structure based light visual imaging model, set up the measurement model of axial workpiece linearity, the measurement of the linearity of axial workpiece is realized in conjunction with light stripe centric line detection technique, Corner Detection and camera calibration technology etc., to be the online non-contact measurement method of a kind of more effective axial workpiece linearity be adopts structural light measurement method, consider the imaging geometry of part, and integrated application camera calibration, the methods such as the detection of light strip center of structured light line, Corner Detection realize measuring.The light spot position utilizing ccd video camera detection laser to be irradiated on axial workpiece changes, and calculates the linearity of axial workpiece according to the peg model of system.In calibration process, this method considers the distortion of optical strip image, effectively can improve stated accuracy.In measuring process, laser instrument direction of paralleling to the axis is irradiated, and measured axis only needs to rotate and just can obtain enough data points several times and carry out calculated line degree, is more conducive to practical application.
The online non-contact measurement method of axial workpiece linearity of the present invention, by setting up the line-structured light measuring system imaging model based on machine vision technique, realize the linearity on-line measurement of axial workpiece in conjunction with methods such as camera calibration technology, image feature extraction techniques, it comprises the following steps:
(1) inner parameter and the distortion factor of ccd video camera is demarcated;
(2) relation between optical plane and camera image plane is set up;
(3) axial equation demarcating axle is asked for;
(4) linearity of measured axis is measured.
The inner parameter of the demarcation ccd video camera described in above-mentioned steps (1) and distortion factor, it is the camera plane calibration algorithm proposed based on Zhang Zhengyou, utilize the image of the different attitudes of high-precision calibrating plate, calibrate intrinsic parameters of the camera, to revise the distorting transformation that lens distortion causes image, improve dimensional measurement precision, detailed process comprises the following steps:
(1.1) ccd video camera and laser projecting apparatus are fixed on support, holding position is constant; Close laser projecting apparatus, utilize ccd video camera to gather the scaling board image of 9 width different positions and poses;
(1.2) camera calibration tool box is used to detect the subpixel coordinates of angle point in scaling board image;
(1.3) based on the camera plane calibration algorithm that Zhang Zhengyou proposes, the pixel coordinate of the angle point utilizing detection to obtain and world coordinates solve the initial value of video camera internal reference, distortion factor and outer ginseng;
(1.4) pixel coordinate and the world coordinates of the angle point extracted in the scaling board image of all different positions and poses is utilized, refinement is optimized to intrinsic parameters of the camera matrix and distortion factor, adopts Levenberg-Marquardt (L-M) method Optimization Solution.
The relation set up between optical plane and camera image plane described in above-mentioned steps (2), detailed process comprises the following steps:
(2.1) by plane reference plate and a black print paper lie side by side and fixing at grade, form a new scaling board; Open laser projecting apparatus, make structured light light be irradiated on black print paper, with the 5 width images of the new scaling board of ccd video camera collection under different positions and pose;
(2.2) based on the plane reference method of Zhang Zhengyou, utilize the angular coordinate under each pose of new scaling board, i.e. pixel coordinate and world coordinates, calculates the outer ginseng of new scaling board place plane, sets up the world coordinates of measured point and the corresponding relation of its pixel coordinate on this pose lower plane;
(2.3) method detected by light stripe centric line obtains the subpixel coordinates of optical losses point, the relation utilizing step (2.2) to set up, and calculates the coordinate of impact point under camera coordinate system in the target plane of its correspondence;
(2.4) coordinate of impact point under camera coordinate system that the optical losses point in the 5 width images using step (2.3) method to calculate is corresponding, utilizes the plane equation of least square fitting structured light plane;
(2.5) image coordinate of optical plane and impact point is combined, set up the relation between optical plane and camera image plane.
The axial equation asking for demarcation axle described in above-mentioned steps (3), detailed process comprises the following steps:
(3.1) keep the invariant position of ccd video camera and laser instrument, installed by the axial workpiece of a known diameter size, using this as demarcation axle, installation site is consistent with measured axis, demarcates the image of axle with ccd video camera collection;
(3.2) open laser projecting apparatus, make structured light light demarcate on axle to be irradiated to close to the direction that parallels to the axis, demarcate the laser optical strip image on axle with ccd video camera collection;
(3.3) make demarcation axle rotate once around every 60 degree of axis, gather this location drawing picture by the method for step (3.2);
(3.4) the 6 width images collected are processed, extract the subpixel coordinates that light stripe centric line is put, calculate the coordinate of these coordinate corresponding point under camera coordinates system;
(3.5) coordinate that step (3.4) is tried to achieve is carried out coordinate transform, obtain the coordinate of the measured point of actual distribution on axle under camera coordinate system;
(3.6) under camera coordinate system, least square method is utilized to solve face of cylinder equation and the axial equation of demarcation axle.
The linearity of the measurement measured axis described in above-mentioned steps (4), detailed process comprises the following steps:
(4.1) keep the invariant position of ccd video camera and laser instrument, installed by measured axis, installation site is consistent with demarcation axle;
(4.2) open laser projecting apparatus, make structured light light demarcate on axle to be irradiated to close to the direction that parallels to the axis, demarcate the optical strip image on axle with ccd video camera collection;
(4.3) make demarcation axle rotate once around every 60 degree of axis, gather this location drawing picture by the method for step (4.2);
(4.4) the 6 width images collected are processed, extract the subpixel coordinates of light stripe centric line, calculate the equation of light corresponding to this coordinate under camera coordinate system;
(4.5) coordinate that step (4.4) is tried to achieve is carried out coordinate transform, obtain the coordinate of the measured point of actual distribution on axle under camera coordinate system;
(4.6) under camera coordinate system, the axial equation of the point on measured axis and demarcation axle is utilized to solve the linearity of measured axis.
Beneficial effect of the present invention is:
1, based on the plane reference method of classics, in calibration process, effectively have modified the distortion distortion of light stripe centric line in image.
2, by calibration structure light-plane parameters, the position relationship between optical plane and camera image plane is established.
3, structured light light is irradiated on measured axis with the direction that parallels to the axis, can the enough measurement point of quick obtaining, improves measuring speed.
When 4, adopting the method to measure, only need to ensure that the relative position relation of ccd video camera and laser instrument is constant, be more conducive to practical application.
This invention takes structure light vision measuring technique, therefore can realize online non-cpntact measurement, ensure higher measuring accuracy and measuring speed, length is less than to the axial workpiece of 200mm, its measuring accuracy is less than or equal to ± 0.015mm.
Accompanying drawing explanation
Accompanying drawing described herein is used to provide a further understanding of the present invention, forms a application's part, and illustrative example of the present invention and explanation thereof, for explaining the present invention, do not form inappropriate limitation of the present invention.
Fig. 1 is that ccd video camera of the present invention demarcates schematic diagram;
Fig. 2 is line-structured light plane reference schematic diagram of the present invention;
Fig. 3 is axial workpiece structured light vision detection schematic diagram of the present invention;
Scaling board image used when Fig. 4 is camera calibration of intrinsic parameters of the present invention;
Fig. 5 is axial workpiece straight line degree measurement system model figure of the present invention;
Fig. 6 is new scaling board schematic diagram of the present invention.
Embodiment
Detailed content of the present invention and embodiment thereof is further illustrated below in conjunction with accompanying drawing.
See Fig. 1, the online non-contact measurement method of axial workpiece linearity of the present invention, structure based light Vision imaging system, set up the measurement model of axle class linearity, the light stripe centric line detection technique of joint line structured light, Corner Detection and camera calibration technology etc. realize the measurement of measured axis linearity, and it comprises the following steps:
1. demarcate internal reference and the distortion factor of ccd video camera.Based on the camera plane calibration algorithm that Zhang Zhengyou proposes, utilize the angular coordinate of the image of the different positions and pose of high-precision calibrating plate, calibrate the distortion factor of intrinsic parameters of the camera and camera lens, detailed process comprises the following steps:
1.1 utilize ccd video camera 7 to gather the image of 9 width scaling boards 2 under different positions and pose.As shown in Figure 1, when gathering image, scaling board 2 is placed between the camera lens 6 on backlight 1 and ccd video camera 7, and ccd video camera 7 is connected with computing machine 8; The 9 width scaling board images collected as shown in Figure 4;
1.2 use camera calibration tool box to detect the subpixel coordinates of angle point in scaling board image;
The 1.3 camera plane calibration algorithms proposed based on Zhang Zhengyou, the pixel coordinate of the angle point utilizing detection to obtain and world coordinates solve the initial value of video camera internal reference, distortion factor and outer ginseng;
1.4 pixel coordinate and the world coordinatess utilizing the angle point extracted in the scaling board image of all different positions and poses, are optimized refinement to intrinsic parameters of the camera matrix and distortion factor, set up following optimization object function:
Wherein
world coordinate point M
ijaccording to the pixel coordinate of video camera nonlinear imaging model subpoint in the picture, m
ijit is the pixel coordinate that Corner Detection obtains subpoint.This optimization problem can adopt Levenberg-Marquardt (L-M) method to solve.
In the process of calibrating camera internal reference and distortion factor, relate to world coordinate system (
o w x w y w z w ), camera coordinate system (
o c ,
x c ,
y c ,
z c ), image physical coordinates system (
o 1,
x,
y) and image pixel coordinates system (
o 0 ,
u,
v), namely the process of imaging is a series of conversion processes of dimensional target point in these four coordinate systems, and as shown in Figure 5, the peg model that the present invention adopts is as follows:
(1)
(2)
(3)
(4)
Wherein: (
x w ,
y w ,
z w ) be world coordinates, (
x c ,
y c ,
z c ) be camera coordinates, (
x u ,
y u ) ideal image coordinate, (
x d ,
y d ) real image coordinate, (
x p ,
y p ) be pixel coordinate.
k 1 ,
k 2 for the coefficient of radial distortion of camera lens,
,
r 1 ,
r 1 with
tfor outer ginseng, wherein
r 1 with
r 1 it is rotation matrix
rfirst two columns,
tfor translation vector
for video camera internal reference matrix.
2. set up the relation between optical plane and camera image plane, utilize the some points in structured light plane, set up the relation between optical plane and camera image plane, detailed process comprises the following steps:
2.1 by plane reference plate and a black print paper lie side by side and fixing at grade, form a new scaling board.Open laser projecting apparatus, make structured light light be irradiated on black print paper, gather the 5 width images of this scaling board under different positions and pose with ccd video camera.The pattern of new scaling board as shown in Figure 6.As shown in Figure 2, when gathering image, ccd video camera 7, laser instrument 5 and new scaling board 3 is triangular in shape puts, backlight 1 is placed in the rear side of new scaling board 3.
2.2 based on the plane reference method of Zhang Zhengyou, utilize the angular coordinate under each pose of new scaling board (pixel coordinate and world coordinates) to calculate the outer ginseng of new scaling board place plane, set up the world coordinates of calibration point and the corresponding relation of its pixel coordinate on this pose lower plane;
2.3 methods detected by light stripe centric line obtain the subpixel coordinates of optical losses point, utilize the relation that step 2.2 is set up, calculate the coordinate of impact point under camera coordinate system in the target plane of its correspondence:
By the subpixel coordinates of optical losses point (
x p ,
y p ) bring formula (4) into, try to achieve central point real image coordinate (
x u ,
y u ), and by formula (3), (2) and (1) just can determine the coordinate of this impact point under camera coordinate system (
x c ,
y c ,
z c ).
The coordinate of impact point under camera coordinate system that optical losses point in the 2.4 5 width images using step 2.3 method to calculate is corresponding, utilizes the plane equation of least square fitting structured light plane.
The plane equation solution procedure of structured light plane is as follows:
If optical plane to be asked exists
o c x c y c z c under equation be:
(5)
In the new scaling board image of each shooting, light stripe centric line is chosen 20 points, then can obtain altogether 100 optical losses points and exist
o c x c y c z c under coordinate (
x cj i ,
y cj i ,
z cj i ),
i=1,2 ..., 5,
j=1,2 ..., 20, utilize these points can set up following objective function:
Each point is to fit Plane distance:
(6)
By Least square-fit
solve A, B, C
5) by optical plane with
combine, just can set up the relation between optical plane and camera image plane:
(7)
And then can release:
(8)
3. ask for the axial equation demarcating axle.Detailed process comprises the following steps:
The invariant position of 3.1 maintenance ccd video cameras 7 and laser instrument 5, installs the axial workpiece of a known diameter size, and using this as demarcation axle, installation site is consistent with measured axis 4, demarcates the image of axle with ccd video camera 7 collection.As shown in Figure 3, when gathering image, ccd video camera 7, demarcate axle and laser instrument 5 three is triangular in shape puts.
3.2 open laser projecting apparatus, and make structured light light demarcate on axle to be irradiated to close to the direction that parallels to the axis, laser instrument projecting direction as shown in Figure 3, demarcates the laser optical strip image on axle with ccd video camera collection.
3.3 make demarcation axle rotate once every 60 degree around axis, gather this position optical strip image, altogether rotate 5 times, gather 6 width striation pictures by the method for step 3.2;
The 6 width images collected to be delivered in software systems and are processed by 3.4, extract light stripe centric line subpixel coordinates (
x p ,
y p ), substituted into formula (3) and (4), calculate its
oxyunder ideal image coordinate (
x u ,
y u ), this coordinate is substituted into formula (8) and can determine the coordinate of this impact point under camera coordinate system, this point is also on optical plane simultaneously.
3.5 in the optical strip image of each shooting, light stripe centric line is chosen 50 points, then can obtain altogether 300 optical losses points and exist
o c x c y c z c under coordinate (
x cj i ,
y cj i ,
z cj i ),
i=1,2 ..., 6,
j=1,2 ..., 50.Due to video camera and laser projecting apparatus invariant position, these points are on same position all the time, therefore under camera coordinate system, the coordinate solved is carried out coordinate transform according to the corresponding anglec of rotation (0 °, 60 °, 120 °, 180 °, 240 °, 300 °), obtains the measured point coordinate of actual distribution on axle.
Detailed process is as follows:
The axial equation under camera coordinates system of bidding fiducial axis is:
(9)
Then axle is put on the surface and is rotated about the axis under camera coordinate system
after new coordinate be:
(10)
Wherein
3.6 under camera coordinates system, utilizes least square method to solve face of cylinder equation and the axial equation of demarcation axle.
The axial equation under camera coordinate system of standard axle is formula (9), then measured point, axle surface
distance to axis is:
(11)
Least square
solve the axial equation of standard axle
4. measure the linearity of measured axis.Detailed process comprises the following steps:
The invariant position of 4.1 maintenance ccd video cameras and laser instrument, installs measured axis, and installation site is consistent with demarcation axle.The image of measured axis is gathered with ccd video camera.Ccd video camera, position relationship between measured axis and laser instrument are as shown in Figure 3;
4.2 open laser projecting apparatus, and make structured light light to be irradiated on measured axis close to the direction that parallels to the axis, laser instrument projecting direction as shown in Figure 3, gathers the laser optical strip image on measured axis with ccd video camera.
4.3 make measured axis rotate once every 60 degree around axis, gather this position optical strip image, altogether rotate 5 times, gather 6 width striation pictures by the method for step 4.2;
The 6 width images collected to be delivered in software systems and are processed by 4.4, extract light stripe centric line subpixel coordinates (
x p ,
y p ), substituted into formula (3) and (4), calculate its
oxyunder ideal image coordinate (
x u ,
y u ), this coordinate is substituted into formula (8) and can determine the coordinate of this impact point under camera coordinate system, this point is also on optical plane simultaneously.
4.5 in the optical strip image of each shooting, light stripe centric line is chosen 50 points, then can obtain altogether 300 optical losses points and exist
o c x c y c z c under coordinate (
x cj i ,
y cj i ,
z cj i ),
i=1,2 ..., 6,
j=1,2 ..., 50.Due to video camera and laser projecting apparatus invariant position, these points are on same position all the time, therefore under camera coordinate system, the coordinate solved is carried out coordinate transform according to the corresponding anglec of rotation (0 °, 60 °, 120 °, 180 °, 240 °, 300 °), obtains the measured point coordinate of actual distribution on axle.
4.6 under camera coordinate system, utilizes the axial equation of the point on measured axis and demarcation axle to solve the linearity of measured axis.
The axial equation under camera coordinate system of standard axle solves in the third step, and measured axis surface point is to the distance r of axis
itried to achieve by formula (11), then the straightness error of axle to be measured
, D is the diameter of axle to be measured.
The foregoing is only preferred embodiment of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.All any amendments made for the present invention, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (4)
1. the online non-contact measurement method of axial workpiece linearity, it is characterized in that: by setting up the line-structured light measuring system imaging model based on machine vision technique, realize the linearity on-line measurement of axial workpiece in conjunction with camera calibration technology, image feature extraction techniques, it comprises the following steps:
(1) inner parameter and the distortion factor of ccd video camera is demarcated;
(2) relation between optical plane and camera image plane is set up;
(3) axial equation demarcating axle is asked for;
(4) linearity of measured axis is measured;
The inner parameter of the demarcation ccd video camera described in step (1) and distortion factor, based on camera plane calibration algorithm, utilize the image of the different attitudes of high-precision calibrating plate, calibrate intrinsic parameters of the camera, to revise the distorting transformation that lens distortion causes image, improve measuring accuracy, detailed process comprises the following steps:
(1.1) ccd video camera and laser projecting apparatus are fixed on support, holding position is constant; Close laser projecting apparatus, utilize ccd video camera to gather the scaling board image of 9 width different positions and poses;
(1.2) camera calibration tool box is used to detect the subpixel coordinates of angle point in scaling board image;
(1.3) based on camera plane calibration algorithm, the pixel coordinate of the angle point utilizing detection to obtain and world coordinates solve the initial value of video camera internal reference, distortion factor and outer ginseng;
(1.4) pixel coordinate and the world coordinates of the angle point extracted in the scaling board image of all different positions and poses is utilized, refinement is optimized to intrinsic parameters of the camera matrix and distortion factor, adopts Levenberg-Marquardt (L-M) method Optimization Solution.
2. the online non-contact measurement method of axial workpiece linearity according to claim 1, it is characterized in that: the relation set up between optical plane and camera image plane described in step (2), detailed process comprises the following steps:
(2.1) by plane reference plate and a black print paper lie side by side and fixing at grade, form a new scaling board; Open laser projecting apparatus, make structured light light be irradiated on black print paper, with the 5 width images of the new scaling board of ccd video camera collection under different positions and pose;
(2.2) based on plane reference method, utilize the angular coordinate under each pose of new scaling board, i.e. pixel coordinate and world coordinates, calculates the outer ginseng of new scaling board place plane, sets up the world coordinates of measured point and the corresponding relation of its pixel coordinate on this pose lower plane;
(2.3) method detected by light stripe centric line obtains the subpixel coordinates of optical losses point, the relation utilizing step (2.2) to set up, and calculates the coordinate of impact point under camera coordinate system in the target plane of its correspondence;
(2.4) coordinate of impact point under camera coordinate system that the optical losses point in the 5 width images using step (2.3) method to calculate is corresponding, utilizes the plane equation of least square fitting structured light plane;
(2.5) image coordinate of optical plane and impact point is combined, set up the relation between optical plane and camera image plane.
3. the online non-contact measurement method of axial workpiece linearity according to claim 1, is characterized in that: the axial equation asking for demarcation axle described in step (3), and detailed process comprises the following steps:
(3.1) keep the invariant position of ccd video camera and laser instrument, installed by the axial workpiece of a known diameter size, using this as demarcation axle, installation site is consistent with measured axis, demarcates the image of axle with ccd video camera collection;
(3.2) open laser projecting apparatus, make structured light light demarcate on axle to be irradiated to close to the direction that parallels to the axis, demarcate the laser optical strip image on axle with ccd video camera collection;
(3.3) demarcation axle is made to rotate once, by the method collection position image of step (3.2) around every 60 degree of axis;
(3.4) the 6 width images collected are processed, extract the subpixel coordinates that light stripe centric line is put, calculate the coordinate of these coordinate corresponding point under camera coordinates system;
(3.5) coordinate that step (3.4) is tried to achieve is carried out coordinate transform, obtain the coordinate of the measured point of actual distribution on axle under camera coordinate system;
(3.6) under camera coordinate system, least square method is utilized to solve face of cylinder equation and the axial equation of demarcation axle.
4. the online non-contact measurement method of axial workpiece linearity according to claim 1, it is characterized in that: the linearity of the measurement measured axis described in step (4), detailed process comprises the following steps:
(4.1) keep the invariant position of ccd video camera and laser instrument, installed by measured axis, installation site is consistent with demarcation axle;
(4.2) open laser projecting apparatus, make structured light light demarcate on axle to be irradiated to close to the direction that parallels to the axis, demarcate the optical strip image on axle with ccd video camera collection;
(4.3) demarcation axle is made to rotate once, by the method collection position image of step (4.2) around every 60 degree of axis;
(4.4) the 6 width images collected are processed, extract the subpixel coordinates of light stripe centric line, calculate the equation of light corresponding to this coordinate under camera coordinate system;
(4.5) coordinate that step (4.4) is tried to achieve is carried out coordinate transform, obtain the coordinate of the measured point of actual distribution on axle under camera coordinate system;
(4.6) under camera coordinate system, the axial equation of the point on measured axis and demarcation axle is utilized to solve the linearity of measured axis.
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