CN103759647B - Module sectional construction face member geometric properties measuring method - Google Patents

Abstract

The invention discloses module sectional construction face member geometric properties measuring method, it comprises the following steps: (1) sets up the end face design load feature database of the module built, and the end face design load characteristic information of module is packaged and sets up the lookup corresponding relation of the end face design load characteristic information of module and the end surface features information of the module of shooting；(2) end face of the module that shooting has been built, the image of shooting includes the whole characteristic information of the end face of required identification, and image is passed to computer；(3) computer extracts image outline, then to image outline coarse positioning；(4) by the design load information comparison of image outline characteristic information and feature database to find the end face design load information of module, can be determined that whether there occurs skew compared with the module root design load that image outline is corresponding and rotate, output module needs the positional value readjusted simultaneously.Use this method that the reasonability of actual module attitude is judged.

Description

Module sectional construction face member geometric properties measuring method

Technical field

The present invention relates to component geometric properties new method of measuring, the invention particularly relates to module sectional construction face member several What pattern measurement new method.

Background technology

In industry manufacture field, sometimes due to fabrication is the hugest, need building to be carried out sectional construction, for often , can there is a lot of pipelines and other geometric properties in one module, for the ease of the docking of module, identify end in the place on border The feature in face is particularly important, and the most conventional recognition methods is measuring method, but due to the interference of the signals such as noise, The 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

It is an object of the invention to overcome the deficiency of prior art, it is provided that a kind of module that can quick and precisely identify feature Sectional construction face member geometric properties measuring method.

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

The module sectional construction face member geometric properties measuring method of the present invention, it comprises the following steps:

(1) the end face design load feature database of the module built, the end face design load characteristic information to module are set up It is packaged and sets up the end face design load characteristic information pass corresponding with the lookup of the end surface features information of the module of shooting of module System, end face design load feature database includes geometry and the dimension information of module；The end face design load characteristic information of module and bat The lookup corresponding relation of the end surface features information of the module taken the photograph is: first carried out by the end face design load feature database opsition dependent of module Classification, after taking photo in certain position, goes to go in characteristic of correspondence storehouse to search according to position, will set in each storehouse The information of evaluation feature database is divided into three grades, if assembly is then one-level, if parts are then two grades, if part is then three Level；

(2) using photographic equipment to shoot the end face of the module built, the image of shooting includes required identification The whole characteristic information of end face, and image is passed to computer；

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

(4) according to the lookup of the end surface features information of the module of end face design load characteristic information and the shooting of the module set up Corresponding relation, by the design load information comparison of image outline characteristic information and feature database to find the end face design load of module to believe Breath, can be determined that simultaneously and whether there occurs skew with the module that image outline is corresponding and rotate, if there occurs compared with design load Skew, according to matrix conversion, sets up the relation of the coordinate on image and world coordinate system, and output module needs the position readjusted Put value, until the feature in the image outline extracted is consistent with the design load information characteristics of feature database, image outline characteristic information With the design load information comparison method of feature database it is: after first finding involved assembly corresponding part according to position, then look for The parts belonged to it, then proceed to one-level one-level and look for, until finding its part feature information.

The invention has the beneficial effects as follows: contrasted with the image information in feature database by actual image, can obtain To the specific features information of currently practical object, the reasonability of actual module attitude is judged, actual engineering is made Industry has the effect of guidance.

Accompanying drawing explanation

Accompanying drawing is the Coordinate Conversion schematic diagram of the module sectional construction face member geometric properties measuring method of the present invention.

Detailed description of the invention

The module sectional construction face member geometric properties measuring method of the present invention, it comprises the following steps:

(1) the end face design load feature database of the module built, the end face design load characteristic information to module are set up It is packaged and sets up the end face design load characteristic information pass corresponding with the lookup of the end surface features information of the module of shooting of module System, end face design load feature database mainly includes geometry and the dimension information of module；

The information of design load feature database is complicated and diversified, and including assembly, parts, (parts are the most also assemblings Body, the most artificially specifies the sub-assemblies of general assembly part) and part.So searching extremely inconvenient, various information can be entered Go certain layout to search.A kind of implementation as the present invention: the end face design load characteristic information of module and shooting The lookup corresponding relation of the end surface features information of module: first by the end face design load feature database of module by front, side equipotential Put and classify, after taking photo in certain position, can go characteristic of correspondence storehouse to be gone search according to position；Respectively The information of design load feature database is divided into three grades by individual storehouse.If assembly is then one-level, form is ZP-numbering.If parts Being then two grades, form is BJ-numbering, if part is then three grades, form is LJ-numbering, if giving an example numbered ZP01- BJ01-LJ01, is No. 01 part of 01 work song assembly of No. 01 assembly.Certainly the end face of other module can also be used The lookup corresponding relation method of the end surface features information of the module of design load characteristic information and shooting.

(2) using photographic equipment to shoot the end face of the module built, the image of shooting includes required identification The whole characteristic information of end face, and image is passed to computer；

(3) computer extracts image outline, then to image outline coarse positioning；Computer extracts image outline and generally includes Step be: a. first has to image denoising, selects the denoising method of total variation, because it is a kind of non-linear Regularization method Removing while noise, there is good seamed edge retention performance, be one of the effective ways in current image denoising field.B. adopt Edge extracting is carried out with Canny operator；C. finally by contours segmentation, profile is split, the image after being split.

The figures such as rectangle frame are used to be surrounded by image exactly image outline coarse positioning.

(4) according to the lookup of the end surface features information of the module of end face design load characteristic information and the shooting of the module set up Corresponding relation, by the design load information comparison of image outline characteristic information and feature database to find the end face design load of module to believe Breath, can be determined that whether there occurs skew with the module that image outline is corresponding compared with design load and rotate, if there occurs simultaneously Skew, according to matrix conversion, sets up the relation of the coordinate on image and world coordinate system, and output module needs the position readjusted Put value, until the feature in the image outline extracted is consistent with the design load information characteristics of feature database.Image outline characteristic information With the design load information comparison method of feature database can be: after first finding involved assembly corresponding part according to position, The parts finding it to belong to again, then proceed to one-level one-level and look for, until finding its part feature information.

According to matrix conversion in this step, set up on image the detailed process of the relation of Coordinate Conversion in June, 2009 north Capital university of communications Master's thesis " moving object position and attitude measures a systematic study " literary composition is described in detail.

As it is 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 figure₀For relative to O_TPosition Vector, η_x,η_y,η_zBe three axles not parallel produce draw angle, m is the inconsistent scale ratio produced of scale ratio, between them There is following relation:

(r_i)=r₀+(1+m)R_x(η_x)R_y(η_y)R_z(η_z)(r_i)_S (1)

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

R in formula (1)_x(η_x),R_y(η_y),R_z(η_z) it is the spin matrix of three coordinate axess, owing to all angles are general the most very Little, therefore can launch to take first order, then formula (2) can simplify:

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

Native system sets [X, Y, Z]_TFor modular character point coordinate in world coordinate system, [X, Y, Z]_SIt is characterized and a little exists Coordinate in actual object coordinate system, and in actual object, the coordinate of characteristic point has one to one with the pixel in photograph Relation.ΔX₀,ΔY₀,ΔZ₀,η_x,η_y,η_zBy the object surveyed relative to the side-play amount of world coordinate system six-freedom degree.Pass through Changing module coordinate in world coordinate system and change the attitude being easy to change module, adjusting module is to correct position, so After again to needing the place identifying feature to take pictures, then compare with packaged feature contour, be so repeated, directly Till reaching the attitude of needs.

Embodiment 1

(1) the end face design load feature database of the module built, the end face design load characteristic information to module are set up It is packaged and sets up the end face design load characteristic information pass corresponding with the lookup of the end surface features information of the module of shooting of module System, design load feature database mainly includes geometry and the dimension information of module；The end face design load characteristic information of module and bat The lookup corresponding relation of the end surface features information of the module taken the photograph is: first by the end face design load feature database of module by front, side Classifying in the positions such as face, after taking photo in certain position, can go to go to look in characteristic of correspondence storehouse according to position Look for；In each storehouse, the information of design load feature database is divided into three grades.If assembly is then one-level, form is ZP-numbering.If Being then two grades for parts, form is BJ-numbering, if part is then three grades, form is LJ-numbering, if numbered ZP01- BJ01-LJ01, is No. 01 part of 01 work song assembly of No. 01 assembly.

(2) using photographic equipment to shoot the end face of the module built, the image of shooting includes required identification The whole characteristic information of end face, and image is passed to computer；

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

(4) according to the lookup of the end surface features information of the module of end face design load characteristic information and the shooting of the module set up Corresponding relation, by the design load information comparison of image outline characteristic information and feature database to find the end face design load of module to believe Breath, can be determined that whether there occurs skew with the module that image outline is corresponding compared with design load and rotate, if there occurs simultaneously Skew, according to matrix conversion, sets up the relation of the coordinate on image and world coordinate system, and output module needs the position readjusted Put value, until the feature in the image outline extracted is consistent with the design load information characteristics of feature database.Image outline characteristic information With the design load information comparison method of feature database it is: after first finding involved assembly corresponding part according to position, then look for The parts belonged to it, then proceed to one-level one-level and look for, until finding its part feature information.

Contrasted with the image information in feature database by actual image, the concrete of currently practical object can be obtained Characteristic information, judges the reasonability of actual works module attitude, has the work of guidance to actual engineer operation With.

Claims (1)

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

(1) set up the end face design load feature database of the module built, the end face design load characteristic information of module is carried out Encapsulate and set up the lookup corresponding relation of the end face design load characteristic information of module and the end surface features information of the module of shooting, end Face design load feature database includes geometry and the dimension information of module；The end face design load characteristic information of module and the mould of shooting The lookup corresponding relation of the end surface features information of block is: first classified by the end face design load feature database opsition dependent of module, After taking photo in certain position, go characteristic of correspondence storehouse to be gone search, by design load in each storehouse according to position The information of feature database is divided into three grades, if assembly is then one-level, if parts are then two grades, if part is then three grades；

(2) using photographic equipment to shoot the end face of the module built, the image of shooting includes the end of required identification The whole characteristic information in face, and image is passed to computer；

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

(4) the end face design load characteristic information according to the module set up is corresponding with the lookup of the end surface features information of the module of shooting Relation, by the design load information comparison of image outline characteristic information and feature database to find the end face design load information of module, with Time can be determined that with the module that image outline is corresponding with whether there occurs skew compared with design load and rotating, if there occurs skew, According to matrix conversion, setting up the relation of the coordinate on image and world coordinate system, output module needs the positional value readjusted, Until the feature in the image outline extracted is consistent with the design load information characteristics of feature database, image outline characteristic information and feature The design load information comparison method in storehouse is: after first finding involved assembly corresponding part according to position, then find it to belong to In parts, then proceed to one-level one-level and look for, until finding its part feature information.