CN104613922B - The measuring system and method for a kind of contour of object - Google Patents
The measuring system and method for a kind of contour of object Download PDFInfo
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- CN104613922B CN104613922B CN201510088953.2A CN201510088953A CN104613922B CN 104613922 B CN104613922 B CN 104613922B CN 201510088953 A CN201510088953 A CN 201510088953A CN 104613922 B CN104613922 B CN 104613922B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/20—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring contours or curvatures, e.g. determining profile
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/32—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring the deformation in a solid
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- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of contour of object measuring system and method, the system includes：Control module, displacement sensor module, image module and supporting module, wherein：Supporting module is used to adjust image detection visual field；Displacement sensor module is fixed in supporting module, for detecting the displacement data for multiple measurement sampled points that testee is on the outer portion of visual field, and data is issued into control module；The image and sensor deflection angle image of visible part in image module collection testee visual field, and image is issued into control module；Control module is handled gathered data, obtains the deformation data and profile parameters of testee.The present invention combines contact type measurement and contactless measurement, measurement point polar coordinates are constituted using the measured value and sensor deflection angle of sensor, and the profile of testee is fitted using the polar data of multiple measurement points, it is achieved thereby that the elastomer profile measurement in image failed areas.
Description
Technical field
The invention belongs to measure application field, and in particular to one kind measurement contour of object system and method.
Background technology
Traditional contour of object measurement extracting method can be divided into two classes substantially：Using Image detection as the contactless of representative
Measuring method and using three coordinate measuring machine as the contact measurement method of representative.Contactless measurement refers to do not contacting quilt
Accurately measuring for profile is carried out on the premise of surveying object.For example, image detection method therein is to utilize visible ray or laser
The modes such as induced fluorescence obtain the image data of testee, then recycle image processing techniques to extract the wheel for obtaining object
It is wide；And contact measurement method is then to need to contact body surface using instrument to obtain its outline data, most represent
Property is three coordinate measuring machine, and the measurement of tested geometric element is converted on these geometric elements by three coordinate measuring machine first
The measurement of some point set coordinate positions, after the coordinate position of these points is measured, further according to the spatial value of these points, passes through
Its size and Form and position error are tried to achieve after mathematical operation.
This two classes measuring method cuts both ways, and all played an important role in fields of measurement.Wherein, contact type measurement side
Method has certain requirement for key elements such as surface roughness, the Young's modulus of testee, and contactless measurement, especially
It is the modes such as image processing, then requires that light can reach and not penetrate the surface of testee.For elastomer at other
The profile of the measurement of stress deformation profile in medium, such as tire stress and deformation in muddy road, traditional measuring method is all deposited
In certain limitation.In addition, the problem of both measuring methods all have with high costs, it is for inferior grade precision measure
One kind is wasted.
The content of the invention
It is an object of the invention to provide a kind of new contour of object measuring system and method, measuring method of the present invention will be contacted
Formula measuring method is combined with contactless measurement, it is proposed that a kind of new can fail for elastomer in Image detection
The method that profile in region during stress deformation is measured in real time.
According to an aspect of the invention, it is proposed that a kind of contour of object measuring system, the system includes：Control module, displacement
Sensor assembly, image module and supporting module, wherein：
Testee at least a portion is outside image detection visual field；
The supporting module is used to be adjusted for image detection visual field before image collection；
Institute's displacement sensor modules are fixed in the supporting module, for detecting that testee is regarded in image detection
The displacement data of multiple measurement sampled points on part outside the venue, and the displacement data collected is sent to the control mould
Block is handled；
The image module is located at the side of testee, for gathering the testee in real time exposed to image detection
The image and sensor of visible part in visual field deflection fixed point deflection angle image, and by the image collected
The control module is sent to be handled；
The control module is connected with institute's displacement sensor modules and image module, for for institute's displacement sensors
Module and image module are controlled, and the gathered data received is handled, and obtain the texturing variables of the testee
According to and profile parameters.
Alternatively, the supporting module at least includes support frame, wherein：The supporting plate is fixed on fixed mesa, is used
In fixed institute displacement sensor modules.
Alternatively, institute's displacement sensor modules include multiple displacement transducers.
Alternatively, institute's displacement sensors are stay-supported type displacement sensor, the bracing wire of the stay-supported type displacement sensor
End is fixed on multiple measurement sampled points on the part that testee is in outside image detection visual field.
Alternatively, the system also includes multiple conduits, and the conduit is fixed in the supporting module, for for
The bracing wire that the stay-supported type displacement sensor stretches out provides deflection fixing point.
Alternatively, the image module at least includes image capture device, memory and regulation fixed mechanism.
According to another aspect of the present invention, it is also proposed that a kind of contour of object measuring method, this method comprises the following steps：
Step 1, image module and displacement sensor module are placed in the side of testee；
Step 2, the figure of visible part of the testee in image detection visual field is gathered in real time using image module
Picture, and the visible part image collected is sent to control module；
Step 3, institute's displacement sensor modules detection testee is in multiple on the part outside image detection visual field
The displacement data of sampled point is measured, that is, measures polar diameter data of the sampled point in local polar coordinate system, and send it to control
Module；
Step 4, the image of multiple predetermined deflection fixed point sensor deflections is gathered using the image module, and will be inclined
Turn image and be sent to control module；
Step 5, the control module is handled for the visible part image progress obtains being exposed to image detection visual field
The deformation data and profile parameters of interior object under test part, handle for the deflection image progress and obtain being in image detection
The deformation data and profile parameters of object under test part outside visual field.
Alternatively, institute's displacement sensor modules include multiple stay-supported type displacement sensors.
Alternatively, noise filtering, image binaryzation are included but is not limited to for the processing that the visible part image is carried out
Processing, the rim detection of contour of object, obtain the profile parameters of the object under test part in image detection visual field after treatment,
The profile parameters of contrast not in the same time are that can obtain the deformation data that the object under test is in image detection visual field outer portion.
Alternatively, the deformation for obtaining the object under test part outside image detection visual field is handled for deflection image progress
Data and profile parameters further comprise the steps：Step 51, obtain solid with each deflection respectively according to the deflection image
Pinpoint polar angle data of the multiple measurement sampled points for origin in local polar coordinate system, the measurement obtained with reference to the step 3
Polar diameter data of the sampled point in local polar coordinate system, obtain each measurement sampled point using each deflection fixing point as the pole of origin
Coordinate data；Step 52, coordinate transform is carried out for the polar data, obtains the testee and regarded in image detection
The absolute change parameter of part outside the venue, therefrom extracts the shape for obtaining the part that the testee is in outside image detection visual field
Become data and profile parameters.
Using the above-mentioned technical proposal of the present invention, when testee invades the medium that light can not be passed through, in stay-supported
Under displacement transducer, conduit, the collective effect of camera, can obtain it is several measurement sampled points respectively with multiple deflection fixing points
For the polar data of the origin of coordinates, and the locus for deflecting fixing point is known and fixed, so may infer that and effectively intend
Close out testee deformation in media as well and profile.And the object remainder in Image detection visual field, then directly
Its deformation and outline data can be obtained by camera calibration.Therefore, the present invention realizes contact type measurement and non-cpntact measurement side
The combination of formula, can obtain the deformation of elastomer and outline data in Image detection failed areas with relatively low cost.
Brief description of the drawings
Fig. 1 is the structural representation of contour of object measuring system according to an embodiment of the invention；
Fig. 2 is the flow chart of contour of object measuring method according to an embodiment of the invention.
Embodiment
For the object, technical solutions and advantages of the present invention are more clearly understood, below in conjunction with specific embodiment, and reference
Accompanying drawing, the present invention is described in more detail.
According to an aspect of the invention, it is proposed that a kind of contour of object measuring system, Fig. 1 is according to an embodiment of the invention
The structural representation of contour of object measuring system, wherein, 1 is testee, and 2 be processor, and 3 be supporting plate, and 4,5,6 be three
Stay-supported type displacement sensor, 7 be conduit, and 8 represent the line of demarcation of image detection visual field, and 9 be chamber wall, and 10 represent Image detection
Failed areas, such as sand, muddy water, 11 be image module.As shown in figure 1, the contour of object measuring system includes：Control mould
Block, displacement sensor module, image module and supporting module, wherein：
At least a portion of testee 1 is in outside image detection visual field, such as a part for testee 1 is hindered by silt etc.
Thing is hindered to cover, another part is then directly exposed in image detection visual field；
The supporting module at least include the grade construction package of support frame 3, for before image collection for image detection
Visual field is adjusted, wherein：
The supporting plate 3 is fixed on ground or other fixed mesas, the displacement sensor modules for fixing.
In an embodiment of the present invention, the supporting module is also including shell, the displacement sensor modules for accommodating,
To prevent the impurity such as dust or mud mixture from entering.
Institute's displacement sensor modules are fixed in the supporting plate 3 of the supporting module, for detecting that testee 1 is in
The displacement data of multiple measurement sampled points on part outside image detection visual field, and the displacement data collected is sent to
The control module is handled；
Wherein, institute's displacement sensor modules include multiple displacement transducers, in an embodiment of the present invention, the multiple
Displacement transducer is installed in parallel.
Wherein, the quantity of the measurement sampled point is corresponding with the quantity of institute displacement sensors, in fact, the displacement
The quantity of sensor is more, and measurement sampled point is more intensive, and the measurement of outline data is more accurate, therefore, in actual applications, institute
The quantity of displacement sensors can be increased and decreased according to the requirement of Surveying Actual Precision and the complexity of testee profile
Regulation, the present invention is not limited in any way to it.
Wherein, fixed form of institute's displacement sensor modules in the supporting plate 3 can be splicing, riveting, also may be used
To be to be threadedly coupled or other connected modes, the present invention is not restricted for specific fixed form, it should be understood that all
Possible, the rational fixed form for fixing displacement sensor module on the supporting plate each falls within protection scope of the present invention
It is interior.
Wherein, institute's displacement sensors be stay-supported type displacement sensor or other can be transformed into stay-supported type displacement sensor
Displacement transducer, such as rod-pulling type displacement transducer are by the available structure similar with stay-supported sensor of transformation, the drawing
The shift value that wire type displacement sensor is obtained represents polar diameter of the measurement sampled point in local polar coordinate system, bracing wire
Deflection angle represents polar angle of the measurement sampled point in local polar coordinate system, it is generally the case that the deflection angle of bracing wire is by right
Handled to obtain in deflection angle image, the polar diameter and polar angle obtained according to measurement can set up local polar coordinate system, from
And determine the point coordinates of measurement sampled point.
When institute's displacement sensors are stay-supported type displacement sensor, the system also includes multiple conduits 7, described to lead
Spool 7 is also secured in the supporting plate 3, and the bracing wire for being stretched out for the stay-supported type displacement sensor provides deflection and fixed
Point, 3 points of A, B, C as shown in Figure 1, the fulcrum that the deflection fixing point is deflected as displacement transducer bracing wire is also served as
The origin of local polar coordinate system.The stay-supported type displacement sensor (4,5,6) is drawstring through after corresponding conduit 7, bracing wire
End be separately fixed at testee 1 be in image detection visual field outside part on multiple measurement sampled points on, so, quilt
Bracing wire length and the bracing wire of stay-supported type displacement sensor will be caused by surveying the deformation for the part that object 1 is in outside image detection visual field
Angle change.
Wherein, the quantity of the stay-supported type displacement sensor is corresponding to the quantity of the conduit, and both are fixed on institute
The position stated in supporting plate 3 is also corresponding.
For convenience of description, it will be hereinafter described by taking stay-supported type displacement sensor as an example for the present invention.
The image module is located at the side of testee 1, is examined for gathering the testee 1 in real time exposed to image
The deflection angle image of the image and sensor bracing wire of the visible part in visual field at deflection fixing point A, B, C is surveyed, and will be adopted
The image that collection is obtained is sent to the control module and handled；
Wherein, the image module at least includes the image capture devices such as camera, video camera, memory and regulation fixation
Mechanism.The different measurement accuracy requirement of correspondence, the camera can be that high speed camera can also be general camera.Wherein, camera
Electronic shutter be connected with the control module, to realize the control for IMAQ.In addition, the image such as camera, video camera
The view data of collecting device collection can be stored in its internal memory, can also be sent to outside by coffret
Stored in memory.The regulation fixed mechanism is used to fix the photographing module, and the adjustment photography before measurement starts
The angle of visual field.
The control module is connected with institute's displacement sensor modules and image module, for for institute's displacement sensors
Module and image module are controlled, and the gathered data received is handled, and obtain the texturing variables of the testee 1
According to and profile parameters.
As described above, the gathered data at least includes the visible part image, sensor bracing wire deflection angle image
And displacement data.
Wherein, the control module at least includes processor 2, multiple independent data acquisition channels and controlling switch, institute
Stating processor 2 is used to send communication instruction to institute's displacement sensor modules and image module, with the displacement to displacement transducer
The IMAQ of data acquisition and image module is controlled；The data acquisition channel is used to transmit gathered data；The control
System switch is for acquisition operations of the communication instruction according to the processor 2 for institute's displacement sensor modules and image module
It is controlled.
According to another aspect of the present invention, it is also proposed that a kind of contour of object measurement based on the contour of object measuring system
Method, as shown in Fig. 2 the described method comprises the following steps：
Step 1, image module and displacement sensor module are placed in the side of testee 1；
Wherein, the image module and displacement sensor module are located at the homonymy or not homonymy of the testee 1, specifically
Ground, if the supporting plate 3 is made up of transparent materials such as lucite, the image module and displacement sensor module are located at
The homonymy of the testee 1 or not homonymy；But if the supporting plate 3 is made up of opaque material, then the image
Module and displacement sensor module must be positioned at the homonymy of the testee 1.
Wherein, institute's displacement sensor modules include multiple displacement transducers, in an embodiment of the present invention, the multiple
Displacement transducer is installed in parallel.
Wherein, institute's displacement sensors be stay-supported type displacement sensor or other can be transformed into stay-supported type displacement sensor
Displacement transducer, such as rod-pulling type displacement transducer are by the available structure similar with stay-supported sensor of transformation.When described
When displacement transducer is stay-supported type displacement sensor, the end of the bracing wire of multiple stay-supported type displacement sensors is separately fixed at tested
Object 1 be in image detection visual field outside part on multiple measurement sampled points on, wherein, it is described measurement sampled point quantity with
The quantity of the stay-supported type displacement sensor is corresponding, in fact, the quantity of stay-supported type displacement sensor is more, measures sampled point
More intensive, the measurement of outline data is more accurate.Therefore, in actual applications, the quantity of institute's displacement sensors can be according to reality
The requirement of border measurement accuracy and the complexity of testee profile carry out increase and decrease regulation, and the present invention does not make any limit to it
It is fixed.
Step 2, the figure of visible part of the testee 1 in image detection visual field is gathered in real time using image module
Picture, and the visible part image collected is sent to control module；
Step 3, institute's displacement sensor modules detection testee 1 is in multiple on the part outside image detection visual field
The displacement data of sampled point is measured, that is, measures polar diameter data of the sampled point in local polar coordinate system, and send it to control
Module；
Step 4, the image of multiple predetermined deflection fixed point sensor bracing wire deflections is gathered using the image module, and
Bracing wire deflection image is sent to control module；
Wherein, the fulcrum that the deflection fixing point is deflected as displacement transducer bracing wire, also serves as local polar coordinate system
Origin, that is, the images for gathering multiple deflection fixed points are to obtain the change of stay-supported type displacement sensor bracing wire angle, institute
Other positions can also be taken as by stating deflection fixing point and can be taken as the location of conduit 7 (as shown in 3 points of A, B, C in Fig. 1)
Put, as long as the position of the point is relatively fixed, with reference to property.
Step 5, the control module is handled for the visible part image progress obtains being exposed to image detection visual field
The deformation data and profile parameters of interior object under test part, handle for the bracing wire deflection image progress and obtain being in image
The deformation data and profile parameters of object under test part outside field of detection.
Wherein, noise filtering is included but is not limited to, at image binaryzation for the processing that the visible part image is carried out
The processing such as reason, rim detection of contour of object, can obtain the object under test portion in image detection visual field after above-mentioned processing
The profile parameters divided, the profile parameters of contrast not in the same time are that can obtain the object under test to be in image detection visual field outer portion
Deformation data.
Wherein, the shape for obtaining the object under test part outside image detection visual field is handled for the progress of bracing wire deflection image
Become data and profile parameters further comprise the steps：
Step 51, the multiple measurements obtained according to the bracing wire deflection image respectively using each deflection fixing point as origin are adopted
Polar angle data of the sampling point in local polar coordinate system, the measurement sampled point obtained with reference to the step 3 is in local polar coordinate system
Polar diameter data, obtain it is each measurement sampled point using it is each deflection fixing point as origin polar data；
Wherein, sampled point can be measured in office with the deflection angle of detection sensor bracing wire according to the bracing wire deflection image
Polar angle in portion's polar coordinate system, this point belongs in the prior art, and here is omitted.
Step 52, coordinate transform is carried out for the polar data, obtains the testee and regarded in image detection
The absolute change parameter of part outside the venue, then depends from extracting the part for obtaining the testee outside image detection visual field
Deformation data and profile parameters.
Due to known to the locus of the deflection fixing point in absolute coordinate system and immobilizing, thus pass through and sit
Mark conversion, can be by local pole coordinate system transformation respectively using each deflection fixing point as origin to using same point as the absolute of origin
On coordinate system, coordinate value of the sampled point in local polar coordinate system will be measured and be converted to the coordinate value in absolute coordinate system,
Then the polar data again to each measurement sampled point in absolute coordinate system carries out geometrical fit, such as mathematic curve is fitted,
The outline data and absolute deformation parameter of testee in space can be obtained, and then extracts it and is in image detection visual field
The deformation data and profile parameters of outer part.From there as can be seen that the setting quantity of displacement transducer is more, measurement sampling
Point is more intensive, and the fitting of data is more accurate.
To sum up, above-mentioned technical proposal of the invention can be used for quilt of the detection at least a portion outside image detection visual field
Survey the outline data of object, naturally it is also possible to which detection is completely in the outline data of the testee outside image detection visual field, such as
The complete invaded image detection failed areas of fruit testee, then can be directly obtained the shape of testee by above-mentioned polar data
Become data and profile parameters.In addition, the above-mentioned technical proposal of the present invention can be carried out for the testee of many materials of polymorphic type
Profile measurement, both can be rigid body or elastomer, such as rubber testee, irony testee, rigidity are tested
Object, elastomer testee etc..
Particular embodiments described above, has been carried out further in detail to the purpose of the present invention, technical scheme and beneficial effect
Describe in detail it is bright, should be understood that the foregoing is only the present invention specific embodiment, be not intended to limit the invention, it is all
Within the spirit and principles in the present invention, any modification, equivalent substitution and improvements done etc., should be included in the guarantor of the present invention
Within the scope of shield.
Claims (10)
1. a kind of contour of object measuring system, it is characterised in that the system includes：Control module, displacement sensor module, image
Module and supporting module, wherein：
Testee at least a portion is outside image detection visual field；
The supporting module is used to be adjusted for image detection visual field before image collection；
Institute's displacement sensor modules are fixed in the supporting module, for detecting that testee is in outside image detection visual field
Part on multiple measurement sampled points displacement data, and the displacement data collected be sent to the control module entered
Row processing；
The image module is located at the side of testee, for gathering the testee in real time exposed to image detection visual field
The image and sensor of interior visible part are deflecting the deflection angle image of fixed point, and the image collected is sent
Handled to the control module；
The control module is connected with institute's displacement sensor modules and image module, for for institute's displacement sensor modules
Be controlled with image module, and the gathered data received handled, obtain the testee deformation data and
Profile parameters.
2. system according to claim 1, it is characterised in that the supporting module at least includes support frame, wherein：
Support frame as described above is fixed on fixed mesa, the displacement sensor modules for fixing.
3. system according to claim 1, it is characterised in that institute's displacement sensor modules include multiple displacement sensings
Device.
4. system according to claim 3, it is characterised in that institute's displacement sensors are stay-supported type displacement sensor, institute
State the bracing wire of stay-supported type displacement sensor end be fixed on testee be in image detection visual field outside part on it is multiple
Measure on sampled point.
5. system according to claim 4, it is characterised in that the system also includes multiple conduits, the conduit
It is fixed in the supporting module, the bracing wire for being stretched out for the stay-supported type displacement sensor provides deflection fixing point.
6. system according to claim 1, it is characterised in that the image module at least includes image capture device, deposited
Reservoir and regulation fixed mechanism.
7. a kind of contour of object measuring method, it is characterised in that this method comprises the following steps：
Step 1, image module and displacement sensor module are placed in the side of testee；
Step 2, the image of visible part of the testee in image detection visual field is gathered in real time using image module, and
The visible part image collected is sent to control module；
Step 3, institute's displacement sensor modules detection testee is in multiple measurements on the part outside image detection visual field
The displacement data of sampled point, that is, measure polar diameter data of the sampled point in local polar coordinate system, and send it to control module；
Step 4, the image of multiple predetermined deflection fixed point sensor deflections is gathered using the image module, and deflection is schemed
As being sent to control module；
Step 5, the control module is handled for the visible part image progress obtains in image detection visual field
The deformation data and profile parameters of object under test part, handle for the deflection image progress and obtain being in image detection visual field
The deformation data and profile parameters of outer object under test part.
8. method according to claim 7, it is characterised in that institute's displacement sensor modules include multiple stay-supported displacements
Sensor.
9. method according to claim 7, it is characterised in that include for the processing that the visible part image is carried out but
Noise filtering, image binaryzation processing, the rim detection of contour of object are not limited to, is obtained after treatment in image detection visual field
Object under test part profile parameters, contrast profile parameters not in the same time are that can obtain the object under test to be in image inspection
Survey the deformation data of part in visual field.
10. method according to claim 7, it is characterised in that handle and obtained in image inspection for deflection image progress
The deformation data and profile parameters for the object under test part surveyed outside visual field further comprise the steps：
Step 51, obtained according to the deflection image respectively using each multiple measurement sampled points for deflecting fixing point as origin in office
Polar angle data in portion's polar coordinate system, polar diameter number of the measurement sampled point obtained with reference to the step 3 in local polar coordinate system
According to, obtain it is each measurement sampled point using it is each deflection fixing point as origin polar data；
Step 52, coordinate transform is carried out for the polar data, obtains the testee and be in outside image detection visual field
Part absolute change parameter, therefrom extract obtain the testee be in image detection visual field outside part texturing variables
According to and profile parameters.
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| CN109916391B (en) * | 2019-03-27 | 2021-02-02 | 山东大学 | Mechanical equipment space position real-time acquisition device and measurement system and method thereof |
| CN110986858A (en) * | 2019-11-30 | 2020-04-10 | 深圳市裕展精密科技有限公司 | Measuring device and measuring method |
| CN113359692B (en) * | 2020-02-20 | 2022-11-25 | 杭州萤石软件有限公司 | Obstacle avoidance method and movable robot |
| CN112268646B (en) * | 2020-07-30 | 2021-08-06 | 北京航空航天大学 | Residual stress measuring device based on creep profile method |
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