CN103759647A - New method for measuring geometrical features of module segmentation construction end face component - Google Patents

Abstract

The invention discloses a new method for measuring geometrical features of a module segmentation construction end face component. The method comprises the following steps: (1) establishing an end face design value feature library of constructed modules, packaging end face design value feature information of the modules, and establishing a lookup corresponding relation between the end face design value feature information and the end face feature information of the shot modules; (2) shooting the end faces of the constructed modules, and transmitting a shot image to a computer, wherein the shot image comprises the whole feature information of the end faces needing to be recognized; (3) extracting the counter of the image by the computer, and then conducting coarse positioning on the counter of the image; (4) comparing feature information of the counter of the image with the design value information of the feature library so as to find the end face design value information of the modules, meanwhile, judging whether the modules corresponding to the counter of the image offset or rotate or not compared with the design value, and outputting the position value, needing to be readjusted, of the modules. By the adoption of the method, the reasonability of the actual postures of the modules can be judged.

Description

Module sectional construction end face member geometric properties new method of measuring

Technical field

The present invention relates to member geometric properties new method of measuring, the invention particularly relates to module sectional construction end face member geometric properties new method of measuring.

Background technology

In industry manufacture field, sometimes because fabrication is too huge, need to carry out sectional construction to buildings, for each module, in the place on border, can have a lot of pipelines and other geometric properties, docking for the ease of module, the feature of identification end face seems particularly important, and at present conventional recognition methods is measuring method, but due to the interference of the signals such as noise, make photo that optical measurement is measured can not clearly embody the actual characteristic of object, can cause the wrong identification of feature.

Summary of the invention

The object of the invention is to overcome the deficiency of prior art, a kind of module sectional construction end face member geometric properties new method of measuring of quick and precisely recognition feature is provided.

In order to achieve the above object, the technical solution used in the present invention is:

Module sectional construction end face member geometric properties new method of measuring of the present invention, it comprises the following steps:

(1) set up the end face design load feature database of the module of having built, the end face design load characteristic information of module is encapsulated and is set up the end face design load characteristic information of module and the module of shooting end face characteristic information search corresponding relation, end face design load feature database mainly comprises geometric configuration and the dimension information of module;

(2) adopt photographic equipment to take the end face of the module of having built, the image of shooting comprises the whole characteristic information of the end face of required identification, and by image transfer to computing machine;

(3) computing machine extracts image outline, then to image outline coarse positioning;

(4) according to the corresponding relation of searching of the end face characteristic information of the end face design load characteristic information of module of setting up and the module of shooting, the design load information of image outline characteristic information and feature database is compared to find to the end face design load information of module, whether can judge that the module root design load corresponding with image outline compared there is skew and has rotated simultaneously, if there is skew, according to matrix conversion, set up coordinate on image and the relation of world coordinate system, the positional value that output module need to be readjusted, until the feature in the image outline extracting is consistent with the design load information characteristics of feature database.

The invention has the beneficial effects as follows: by actual image and the image information in feature database, contrast, can obtain the specific features information of current actual object, rationality to actual module attitude judges, and actual engineer operation is had to the effect of guidance.

Accompanying drawing explanation

Accompanying drawing is the coordinate conversion schematic diagram of module sectional construction end face member geometric properties new method of measuring of the present invention.

Embodiment

Module sectional construction end face member geometric properties new method of measuring of the present invention, it comprises the following steps:

(1) set up the end face design load feature database of the module of having built, the end face design load characteristic information of module is encapsulated and is set up the end face design load characteristic information of module and the module of shooting end face characteristic information search corresponding relation, end face design load feature database mainly comprises geometric configuration and the dimension information of module;

The information of design load feature database is complicated and diversified, comprising assembly, parts (parts are also assembly in fact, artificially stipulate the sub-assemblies of general assembly part here) and part.So search extremely inconveniently, can carry out certain layout to search to various information.As a kind of implementation method of the present invention: the end face characteristic information of the end face design load characteristic information of module and the module of shooting search corresponding relation: first the end face design load feature database of module is classified by positions such as front, sides, after taking photo in certain position, can go to go to search in characteristic of correspondence storehouse according to position; In each storehouse, the information of design load feature database is divided into three grades.If assembly is one-level, form is ZP-numbering.If parts are secondary, form is BJ-numbering, if part is for LJ-numbering, is numbered ZP01-BJ01-LJ01 if give an example, and is No. 01 part of 01 work song assembly of No. 01 assembly.Certainly can also adopt the corresponding relation method of searching of other the end face design load characteristic information of module and the end face characteristic information of the module of shooting.

(2) adopt photographic equipment to take the end face of the module of having built, the image of shooting comprises the whole characteristic information of the end face of required identification, and by image transfer to computing machine;

(3) computing machine extracts image outline, then to image outline coarse positioning; The step that computing machine extraction image outline generally includes is: a. first will be to image denoising, select the denoising method of total variation, because it is a kind of non-linear Regularization method, when removing noise, having good seamed edge retention performance, is one of the effective ways in current image denoising field.B. adopt Cann _yoperator carries out edge extracting; C. finally by profile, cut apart profile is cut apart, the image after can being cut apart.

To image outline coarse positioning, adopt exactly the figures such as rectangle frame that image is surrounded.

(4) according to the corresponding relation of searching of the end face characteristic information of the end face design load characteristic information of module of setting up and the module of shooting, the design load information of image outline characteristic information and feature database is compared to find to the end face design load information of module, whether can judge that the module corresponding with image outline compared with design load there is skew and has rotated simultaneously, if there is skew, according to matrix conversion, set up coordinate on image and the relation of world coordinate system, the positional value that output module need to be readjusted, until the feature in the image outline extracting is consistent with the design load information characteristics of feature database.The design load information comparison method of image outline characteristic information and feature database can be: first according to position, find after related assembly corresponding part, then find the parts that it belongs to, then continue one-level one-level and look for, until find its part feature information.

In this step, according to matrix conversion, the detailed process of setting up the relation of coordinate conversion on image is described in detail in June, 2009 Beijing Jiaotong University's Master's thesis " research of moving object position and attitude measuring system " literary composition.

As shown in Figure 1, two rectangular coordinate system in space are O _t-X _ty _tz _tand O _s-X _sy _sz _s, r in figure ₀for with respect to O _tposition vector, η _x, η _y, η _zbe three axles not parallel produce draw angle, m is the inconsistent scale ratio producing of scale ratio, has following relation between them:

(r _i)＝r ₀+(1+m)R _x(η _x)R _y(η _y)R _z(η _z)(r _i) _S （1）

${\left[\begin{array}{c}X\\ Y\\ Z\end{array}\right]}_T=\left[\begin{array}{c}{\mathrm{\ΔX}}_0\\ \mathrm{\Δ}{Y}_0\\ \mathrm{\Δ}{Z}_0\end{array}\right](1+m)R_x\left({\mathrm{\η}}_x\right)R_y\left({\mathrm{\η}}_x\right)R_y\left({\mathrm{\η}}_y\right)R_z\left({\mathrm{\η}}_z\right){\left[\begin{array}{c}X\\ Y\\ Z\end{array}\right]}_S---\left(2\right)$

R in formula (1) _x(η _x), R _y(η _y), R _z(η _z) be the rotation matrix of three coordinate axis, because all angles are generally all very little, therefore can launch to get once item, formula (2) can be simplified:

${\left[\begin{array}{c}X\\ Y\\ Z\end{array}\right]}_T=\begin{array}{}\end{array}\left[\begin{array}{c}\mathrm{\Δ}{X}_0\\ \mathrm{\Δ}{Y}_0\\ \mathrm{\Δ}{Z}_0\end{array}\right]+\left[\begin{array}{ccc}1& {\mathrm{\η}}_z& {-\mathrm{\η}}_y\\ {-\mathrm{\η}}_z& 1& {\mathrm{\η}}_x\\ {\mathrm{\η}}_y& {-\mathrm{\η}}_x& 1\end{array}\right]{\left[\begin{array}{c}X\\ Y\\ Z\end{array}\right]}_S---\left(3\right)$

Native system is set [X, Y, Z] _tfor the coordinate of module unique point in world coordinate system, [X, Y, Z] _sfor the coordinate of unique point in actual object coordinate system, and in actual object, the coordinate of unique point and the pixel in photograph have relation one to one.Δ X ₀, Δ Y ₀, Δ Z ₀, η _x, η _y, η _zfor the side-play amount of surveyed object with respect to world coordinate system six-freedom degree.By changing the coordinate of module in world coordinate system, change the attitude that is easy to change module, adjusting module arrives correct position, and then to needing the place of recognition feature to take pictures, then compare with packaged feature contour, so repeatedly carry out, until reach the attitude needing.

Embodiment 1

(1) set up the end face design load feature database of the module of having built, the end face design load characteristic information of module is encapsulated and is set up the end face design load characteristic information of module and the module of shooting end face characteristic information search corresponding relation, design load feature database mainly comprises geometric configuration and the dimension information of module; The corresponding relation of searching of the end face characteristic information of the end face design load characteristic information of module and the module of shooting is: first the end face design load feature database of module is classified by positions such as front, sides, after taking photo in certain position, can go to go to search in characteristic of correspondence storehouse according to position; In each storehouse, the information of design load feature database is divided into three grades.If assembly is one-level, form is ZP-numbering.If parts are secondary, form is BJ-numbering, if part is for LJ-numbering, if be numbered ZP01-BJ01-LJ01, is No. 01 part of 01 work song assembly of No. 01 assembly.

(2) adopt photographic equipment to take the end face of the module of having built, the image of shooting comprises the whole characteristic information of the end face of required identification, and by image transfer to computing machine;

(3) computing machine extracts image outline, then to image outline coarse positioning;

(4) according to the corresponding relation of searching of the end face characteristic information of the end face design load characteristic information of module of setting up and the module of shooting, the design load information of image outline characteristic information and feature database is compared to find to the end face design load information of module, whether can judge that the module corresponding with image outline compared with design load there is skew and has rotated simultaneously, if there is skew, according to matrix conversion, set up coordinate on image and the relation of world coordinate system, the positional value that output module need to be readjusted, until the feature in the image outline extracting is consistent with the design load information characteristics of feature database.The design load information comparison method of image outline characteristic information and feature database is: first according to position, find after related assembly corresponding part, then find the parts that it belongs to, then continue one-level one-level and look for, until find its part feature information.

By actual image and the image information in feature database, contrast, can obtain the specific features information of current actual object, the rationality of actual works module attitude is judged, actual engineer operation is had to the effect of guidance.

Claims (1)

1. module sectional construction end face member geometric properties new method of measuring, is characterized in that it comprises the following steps:

(1) set up the end face design load feature database of the module of having built, the end face design load characteristic information of module is encapsulated and is set up the end face design load characteristic information of module and the module of shooting end face characteristic information search corresponding relation, end face design load feature database mainly comprises geometric configuration and the dimension information of module;

(2) adopt photographic equipment to take the end face of the module of having built, the image of shooting comprises the whole characteristic information of the end face of required identification, and by image transfer to computing machine;

(3) computing machine extracts image outline, then to image outline coarse positioning;

(4) according to the corresponding relation of searching of the end face characteristic information of the end face design load characteristic information of module of setting up and the module of shooting, the design load information of image outline characteristic information and feature database is compared to find to the end face design load information of module, whether can judge that the module root design load corresponding with image outline compared there is skew and has rotated simultaneously, if there is skew, according to matrix conversion, set up coordinate on image and the relation of world coordinate system, the positional value that output module need to be readjusted, until the feature in the image outline extracting is consistent with the design load information characteristics of feature database.

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