CN105606026B - A kind of sphere centre coordinate measuring device and its measurement method - Google Patents
A kind of sphere centre coordinate measuring device and its measurement method Download PDFInfo
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- CN105606026B CN105606026B CN201610087209.5A CN201610087209A CN105606026B CN 105606026 B CN105606026 B CN 105606026B CN 201610087209 A CN201610087209 A CN 201610087209A CN 105606026 B CN105606026 B CN 105606026B
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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
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
Abstract
The invention discloses a kind of sphere centre coordinate measuring device and its measurement methods, sphere centre coordinate for measurement standard ball, the measuring device includes narrow-band light source, the first image capture module, the second image capture module and main control unit, first image capture module and the second image capture module are used to the measurement image in the station acquisition standard ball close to standard ball and are sent to main control unit, main control unit is used to carry out measurement image image procossing, and the sphere centre coordinate of standard ball is obtained by projecting the method calculating that normal crosses.The present invention is at low cost, measurement error is small, measurement accuracy is high, and easy to operate, substantially increases measuring speed, can be widely applied in the fields of measurement of sphere centre coordinate.
Description
Technical field
The present invention relates to measurement of coordinates fields, more particularly to a kind of sphere centre coordinate measuring device and its measurement method.
Background technique
Coordinate measuring machine abbreviation CMM is one of the most important measuring device for dimensional measurement, and measurement accuracy is most
For an important technical indicator.In order to detect the measurement accuracy of coordinate measuring machine, a kind of measurement method is fixed structure battle array
Method measures to calculate coordinate using coordinate measuring machine that is, using the point on standard component as length standard to these points
The measurement error of measuring machine itself.And the measurement to standard ball is typically embodied as to the measurement of these points, thus it is directed to standard ball
Measurement had developed different measurement schemes.
There are mainly two types of the schemes measured at present to standard ball, one is being measured using capacitance sensor, leads to
Three capacitance type sensors crossed in X, Y, Z-direction arrangement measure the sensor in three directions at a distance from tested ball respectively, from
And the three-dimensional coordinate of the centre of sphere is obtained, this scheme measurement accuracy is very high, but due to the requirement of the installation accuracy of three capacitance sensors
It is very high, there is a problem of that processing is difficult to install, operation difficulty is larger, and the cost of high precision capacitive sensing device is also very high.Separately
One is contact measurement method, by by spatially intersect at a point three telescopic length measuring rods and standard ball
Lower semisphere contact, to obtain the stroke of three telescopic rods, and then is obtained by calculation sphere centre coordinate, this scheme specific capacitance
Sensor measurement mode operates relatively simple, but there are the danger of criterion of failure ball surface, cause subsequent measurement error larger.
Summary of the invention
In order to solve the above technical problems, the object of the present invention is to provide a kind of sphere centre coordinate measuring device, the present invention
Another object be to provide the measurement method of sphere centre coordinate measuring device a kind of.
The technical solution adopted by the present invention to solve the technical problems is:
A kind of sphere centre coordinate measuring device is adopted for the sphere centre coordinate of measurement standard ball, including narrow-band light source, the first image
It is equal to collect module, the second image capture module and main control unit, the first image acquisition module and the second image capture module
For close to standard ball station acquisition standard ball measurement image and be sent to main control unit, the main control unit for pair
It measures image and carries out image procossing, and calculate the sphere centre coordinate of acquisition standard ball by projecting the method that normal crosses.
Further, the main control unit is specifically used for: respectively by the first image capture module and the second image capture module
Measurement image collected carries out edge extracting after being converted to grayscale image, and then concentric by two groups of acquisition of least square method fitting
Circle, and then after obtaining the central coordinate of circle of every group of concentric circles respectively, according to two central coordinate of circle, the method that is crossed by projecting normal
It calculates and obtains sphere centre coordinate.
It further, further include for installing narrow-band light source, the first image capture module and the second image capture module
Mounting bracket.
Further, the narrow-band light source includes the first narrow-band light source and the second narrow-band light source, and the first image acquires mould
The front end of block is equipped with the first optical filter, and the front end of second image capture module is equipped with the second optical filter.
Further, the mounting bracket includes pedestal and four side fixing pieces, and four side fixing pieces are equal
It is mounted on the base and forms one for accommodating the bucket-shaped structure of standard ball in measurement, first narrow-band light source and second narrow
Band light source is relatively installed therein on two side fixing pieces, the first image acquisition module and the second image capture module
It is relatively mounted on other two side fixing piece.
Another technical solution adopted by the present invention to solve the technical problem thereof is that:
A kind of measurement method of sphere centre coordinate measuring device, comprising:
S1, standard ball to be measured is irradiated using narrow-band light source, while by the first image capture module and the second Image Acquisition
Module is moved adjacent to the position of standard ball；
S2, the first measurement image for obtaining standard ball is acquired using the first image capture module, while using the second image
Acquisition module acquisition obtains the second measurement image of standard ball；
S3, after carrying out image procossing to the first measurement image and the second measurement image respectively, two central coordinate of circle are obtained；
S4, two central coordinate of circle that acquisition corresponding to image is measured according to the first measurement image and second, pass through sciagraphy
The method that line crosses calculates the sphere centre coordinate for obtaining standard ball.
Further, the step S3, comprising:
S31, image is measured for the first measurement image and second, progress edge mentions after being converted into grayscale image respectively
It takes, and then is grouped according to pixel of the gray value to grayscale image, obtain the pixel that multiple groups represent different gray values；
S32, after being fitted by least square method to multiple groups pixel, one group of concentric circles is obtained, and then obtained concentric
Round central coordinate of circle.
Further, the step S4, specifically:
According to first measurement image and second measurement image corresponding to acquisition two central coordinate of circle (x1, y1) and (x2,
Z2), offset of the plane in the system coordinates of measuring device where first in conjunction with acquisition measures image and the second measurement image
It measures (xo1, yo1) and (xo2, zo2), calculating and obtaining the sphere centre coordinate of standard ball is (xo1+x1, yo1+y1, zo2+z2).
Further, the first measurement image and the second measurement image place plane are in the system coordinates of measuring device
Offset is by the installation position between the first image capture module and the second image capture module and the mounting bracket of measuring device
Set decision.
The beneficial effects of the present invention are: a kind of sphere centre coordinate measuring device of the invention, the centre of sphere for measurement standard ball
Coordinate, including narrow-band light source, the first image capture module, the second image capture module and main control unit, the first Image Acquisition
Module and the second image capture module are used to the measurement image in the station acquisition standard ball close to standard ball and are sent to master
Unit is controlled, main control unit is used to carry out measurement image image procossing, and is marked by projecting the method calculating that normal crosses
The sphere centre coordinate of quasi- ball.This measuring device is at low cost, measurement error is small, measurement accuracy is high and easy to operate, substantially increases
Measuring speed.
Another beneficial effect of the present invention is: a kind of measurement method of sphere centre coordinate measuring device of the invention, comprising:
S1, standard ball to be measured is irradiated using narrow-band light source, while the first image capture module and the second image capture module is mobile
To the position close to standard ball；S2, the first measurement image for obtaining standard ball is acquired using the first image capture module, adopt simultaneously
The the second measurement image for obtaining standard ball is acquired with the second image capture module；S3, the first measurement image and second are surveyed respectively
After spirogram picture carries out image procossing, two central coordinate of circle are obtained；S4, it is measured corresponding to image according to the first measurement image and second
Two central coordinate of circle obtained calculate the sphere centre coordinate of acquisition standard ball by projecting the method that normal crosses.This measurement method
It is at low cost, measurement error is small, measurement accuracy is high, and easy to operate, substantially increase measuring speed.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is a kind of structural block diagram of sphere centre coordinate measuring device of the invention；
Fig. 2 is a kind of perspective view of the mounting bracket of sphere centre coordinate measuring device of the invention；
Fig. 3 is a kind of side view of the mounting bracket of sphere centre coordinate measuring device of the invention；
Fig. 4 is a kind of bottom view of the mounting bracket of sphere centre coordinate measuring device of the invention；
Fig. 5 be in the embodiment of the present invention one image capture module and standard ball close to when schematic diagram；
Fig. 6 is the schematic diagram for intersecting to obtain sphere center position by the normal in two centers of circle in the embodiment of the present invention one；
Fig. 7 is the measurement image pattern that acquisition is acquired in the embodiment of the present invention two；
Fig. 8 is that the measurement image to Fig. 7 carries out the result after edge extracting；
Fig. 9 is the result for carrying out obtaining after round fitting to the pixel of Fig. 8.
Specific embodiment
Referring to Fig.1~Fig. 4, the present invention provides a kind of sphere centre coordinate measuring device, the centre of sphere for measurement standard ball 1 is sat
Mark, including narrow-band light source, the first image capture module 3, the second image capture module 4 and main control unit, the first image
Acquisition module 3 and the second image capture module 4 be used to close to standard ball 1 station acquisition standard ball 1 measurement image simultaneously
It is sent to main control unit, the main control unit is used for the side for carrying out image procossing to measurement image, and crossing by projecting normal
Method calculates the sphere centre coordinate for obtaining standard ball 1.
It is further used as preferred embodiment, the main control unit is specifically used for: respectively by the first image capture module 3
Edge extracting is carried out after being converted to grayscale image with the measurement image collected of the second image capture module 4, and then passes through minimum two
Multiplication fitting obtains two groups of concentric circles, and then after obtaining the central coordinate of circle of every group of concentric circles respectively, according to two central coordinate of circle, leads to
It crosses the method that projection normal crosses and calculates acquisition sphere centre coordinate.
Be further used as preferred embodiment, as shown in Fig. 2, further include for installing narrow-band light source, the first image is adopted
Collect the mounting bracket 6 of module 3 and the second image capture module 4.
It is further used as preferred embodiment, as shown in figure 4, the narrow-band light source includes the first narrow-band light source 21 and the
Two narrow-band light sources 22, as shown in figure 3, the front end of the first image acquisition module 3 is equipped with the first optical filter 51, described second
The front end of image capture module 4 is equipped with the second optical filter 52.
It is further used as preferred embodiment, as shown in figure 3, the mounting bracket 6 includes pedestal 61 and four sides
Face fixing piece, four side fixing pieces are installed on pedestal 61 and form one for accommodating standard ball 1 in measurement
Bucket-shaped structure, first narrow-band light source 21 and the second narrow-band light source 22 are relatively installed therein two side fixing pieces
On, the first image acquisition module 3 and the second image capture module 4 are relatively mounted on other two side fixing piece.
It is further used as preferred embodiment, four side fixing pieces are respectively first side fixing piece 62,
Two side faces fixing piece 63, third side fixing piece 64 and the 4th side fixing piece 65, the first side fixing piece 62 and second
Side fixing piece 63 is opposite to be installed, third side fixing piece 64 and the opposite installation of the 4th side fixing piece 65, the first narrow-band light source
21 are mounted on first side fixing piece 62, and the second narrow-band light source 22 is mounted on second side fixing piece 63, and the first image is adopted
Collection module 3 is mounted on 64 upper bed-plate 61 of third side fixing piece, and the second image capture module 4 is mounted on the 4th side fixing piece
On 65.
It is further used as preferred embodiment, the first image acquisition module 3 and the second image capture module 4 are in sky
Between on angle be 60 °.
It is further used as preferred embodiment, the measuring device further includes usb hub, the first image
Acquisition module 3 and the second image capture module 4 are connect by usb hub with main control unit.
It is further used as preferred embodiment, the first image acquisition module 3 and the second image capture module 4 wrap
Include imaging sensor and peripheral circuit unit.
The present invention also provides a kind of measurement methods of sphere centre coordinate measuring device, comprising:
S1, standard ball 1 to be measured is irradiated using narrow-band light source, while the first image capture module 3 and the second image is adopted
Collection module 4 is moved adjacent to the position of standard ball 1；
S2, the first measurement image for obtaining standard ball 1 is acquired using the first image capture module 3, while using the second figure
As acquisition module 4 acquires the second measurement image of acquisition standard ball 1；
S3, after carrying out image procossing to the first measurement image and the second measurement image respectively, two central coordinate of circle are obtained；
S4, two central coordinate of circle that acquisition corresponding to image is measured according to the first measurement image and second, pass through sciagraphy
The method that line crosses calculates the sphere centre coordinate for obtaining standard ball 1.
It is further used as preferred embodiment, the step S3, comprising:
S31, image is measured for the first measurement image and second, progress edge mentions after being converted into grayscale image respectively
It takes, and then is grouped according to pixel of the gray value to grayscale image, obtain the pixel that multiple groups represent different gray values；
S32, after being fitted by least square method to multiple groups pixel, one group of concentric circles is obtained, and then obtained concentric
Round central coordinate of circle.
It is further used as preferred embodiment, the step S4, specifically:
According to first measurement image and second measurement image corresponding to acquisition two central coordinate of circle (x1, y1) and (x2,
Z2), offset of the plane in the system coordinates of measuring device where first in conjunction with acquisition measures image and the second measurement image
It measures (xo1, yo1) and (xo2, zo2), calculating and obtaining the sphere centre coordinate of standard ball 1 is (xo1+x1, yo1+y1, zo2+z2).
It is further used as preferred embodiment, plane where the first measurement image and the second measurement image is measuring
Offset in the system coordinates of device is by the first image capture module 3 and the second image capture module 4 and measuring device
What the installation site between mounting bracket 6 determined.
It elaborates below in conjunction with specific embodiment to the present invention.
Embodiment one
Referring to Fig.1~Fig. 4, a kind of sphere centre coordinate measuring device, for the sphere centre coordinate of measurement standard ball 1, including narrowband
Light source, the first image capture module 3, the second image capture module 4, mounting bracket 6, usb hub and main control unit, first
Image capture module 3 and the second image capture module 4 are used to the measurement figure in the station acquisition standard ball 1 close to standard ball 1
Picture is simultaneously sent to main control unit by usb hub, and main control unit is used for respectively by the first image capture module 3 and the second image
The measurement image collected of acquisition module 4 carries out edge extracting after being converted to grayscale image, and then is obtained by least square method fitting
Two groups of concentric circles, and then after obtaining the central coordinate of circle of every group of concentric circles respectively, according to two central coordinate of circle, pass through projection normal
The method to cross, which calculates, obtains sphere centre coordinate.The present invention uses narrow-band light source, can remove influence of the environment light to measurement result.
Main control unit can be using computer or microprocessor etc..
Since an image capture module can only measure two-dimensional coordinate, present invention employs two image capture modules to carry out
Image Acquisition realizes correction calibration in fact, more than two image capture modules can also be used while measurement, into
One step improves measurement accuracy.
In the present embodiment, referring to Fig. 3 and Fig. 4, narrow-band light source includes the first narrow-band light source 21 and the second narrow-band light source 22, the
The front end of one image capture module 3 is equipped with the first optical filter 51, and the front end of the second image capture module 4 is equipped with the second optical filtering
Piece 52.Mounting bracket 6 include pedestal 61 and four side fixing pieces, four side fixing pieces be installed on pedestal 61 simultaneously
One is formed for accommodating the bucket-shaped structure of standard ball 1 in measurement, the first narrow-band light source 21 and the second narrow-band light source 22 are relatively
It is installed therein on two side fixing pieces, the first image capture module 3 and the second image capture module 4 are relatively mounted on separately
On outer two side fixing pieces.Specifically, four side fixing pieces are respectively first side fixing piece 62, second side fixing piece
63, third side fixing piece 64 and the 4th side fixing piece 65, first side fixing piece 62 and second side fixing piece 63 are opposite
Installation, third side fixing piece 64 and the opposite installation of the 4th side fixing piece 65, the first narrow-band light source 21 are mounted on first side
On fixing piece 62, the second narrow-band light source 22 is mounted on second side fixing piece 63, and the first image capture module 3 is mounted on third
On 64 upper bed-plate 61 of side fixing piece, the second image capture module 4 is mounted on the 4th side fixing piece 65.First Image Acquisition
The optimal value of the angle of module 3 and the second image capture module 4 spatially is 60 °, can also be appropriate on the basis of this angle
Adjustment, equally may be implemented measurement effect.
Specifically, the first image capture module 3 and the second image capture module 4 include imaging sensor and peripheral circuit
Unit.Ccd sensor or cmos sensor etc. can be used in imaging sensor, and the present invention is using imaging sensor as measurement sensing
Device is not necessarily to optical lens, can simplify system structure, and avoid the additional measurement error of optical element bring.
The measuring principle of this measuring device is as follows:
As shown in figure 5, illustrating the space geometry relationship between single image acquisition module and standard ball 1 in Fig. 5.Work as figure
As acquisition module is when close to the position of standard ball 1, when deep position D takes different value on spherical surface, spherical surface is adopted with image
The distance H of plane where collecting module also can be different, meet following mathematical relationship:
D2+(R-H)2=R2
Wherein, R is the radius of standard ball 1.It can be seen that further away from center, plane where spherical surface and image capture module
Distance it is bigger.In the case where light distribution rule is constant, the received light of location drawing picture acquisition module closer to center is got over
Few, the received light of location drawing picture acquisition module further away from center is more, then image capture module can collect one
Measurement image with change of gradient, this change of gradient can be reflected as the variation of gray scale, also can reflect as the change of RGB numerical value
Change, illustrates by taking gray scale as an example below.After image capture module acquires, in the pixel of different location, it can obtain different
Image grayscale, the identical pixel coordinate of gray scale is grouped, on same gray values, just there is several different pixels coordinates
Point, then be fitted by point of the least square method to these different pixels coordinates and to obtain image capture module institute in the plane
Circle, by calculating different gray values, so that it may one group of concentric circles is obtained, to can be obtained by an accurate circle
Heart projection coordinate, this coordinate precision are sub- prime number rank.
As shown in fig. 6, by calculating available two central coordinate of circle above, to obtain two image capture module institutes
The normal by the center of circle in the plane, the relevant intersection point of two normals are the centre of sphere of standard ball 1.It is located at the first Image Acquisition mould
Block (as shown is O in the plane1X1Y1Plane) coordinate in the obtained center of circle is fitted as (x1,y1), in the second Image Acquisition
Module (as shown is O in the plane2X2Z2Plane) coordinate in the obtained center of circle is fitted as (x2,z2), and O1X1Y1Plane and
O2X2Z2Offset of the plane on system coordinates (OXYZ coordinate system) is respectively (xo1,yo1) and (xo2,zo2) (this offset is by pacifying
The installation site for filling bracket 6 and image capture module determines, refers to the distance of image capture module deviation from origin O), then two centers of circle exist
Coordinate in OXY and OXZ plane is respectively (xo1+x1,yo1+y1) and (xo2+x2,zo2+z2), due to throwing of two centers of circle in X-axis
Shadow should be same point, so xo1+x1=xo2+x2, thus the sphere centre coordinate for finally obtaining standard ball 1 is (xo1+x1,yo1+y1,
zo2+z2)。
Embodiment two
The present embodiment is a kind of measurement method of sphere centre coordinate measuring device of embodiment one, comprising:
S1, standard ball 1 to be measured is irradiated using narrow-band light source, while the first image capture module 3 and the second image is adopted
Collection module 4 is moved adjacent to the position of standard ball 1.When operation, standard ball 1 is motionless, will by the movement mechanism of coordinate measuring machine
This measuring device is moved adjacent to the position of standard ball 1, and here, the status requirement close to standard ball 1 makes the first Image Acquisition
Module 3 and the second image capture module 4 as close as possible to standard ball 1 but do not contact and to avoid deformation.It is also understood that will
First image capture module 3 and the second image capture module 4 are moved to the position that the position of criterion distance ball 1 is l, the value of l
Range are as follows: 0 < l < lmax, lmax are default maximum range value.
S2, the first measurement image for obtaining standard ball 1 is acquired using the first image capture module 3, while using the second figure
As acquisition module 4 acquires the second measurement image of acquisition standard ball 1.
S3, after carrying out image procossing to the first measurement image and the second measurement image respectively, two central coordinate of circle is obtained, are had
Body includes step S31 and S32:
S31, image is measured for the first measurement image and second, progress edge mentions after being converted into grayscale image respectively
It takes, and then is grouped according to pixel of the gray value to grayscale image, obtain the pixel that multiple groups represent different gray values；
S32, after being fitted by least square method to multiple groups pixel, one group of concentric circles is obtained, and then obtained concentric
Round central coordinate of circle.
S4, two central coordinate of circle that acquisition corresponding to image is measured according to the first measurement image and second, pass through sciagraphy
The method that line crosses calculates the sphere centre coordinate for obtaining standard ball 1, specifically:
According to first measurement image and second measurement image corresponding to acquisition two central coordinate of circle (x1, y1) and (x2,
Z2), offset of the plane in the system coordinates of measuring device where first in conjunction with acquisition measures image and the second measurement image
It measures (xo1, yo1) and (xo2, zo2), calculating and obtaining the sphere centre coordinate of standard ball 1 is (xo1+x1, yo1+y1, zo2+z2).Its
In, as described in embodiment one, plane is in the system coordinates of measuring device where the first measurement image and the second measurement image
Offset is by the installation between the first image capture module 3 and the second image capture module 4 and the mounting bracket 6 of measuring device
What position determined.
The process for being fitted acquisition circle using least square method is as follows:
Assuming that (X, Y) is central coordinate of circle, (x, y) is the coordinate of the point on circumference, and R is radius, then round equation are as follows:
(x-X)2+(y-Y)2=R2
Setting three parameters a, b, c is respectively a=-2X, b=-2Y, c=X2+Y2-R2, then round equation can convert are as follows:
x2+y2+ ax+by+c=0
And indicate that central coordinate of circle (X, Y) and the formula of R are as follows using a, b, c:
Assuming that point (the X of fittingi,Yi), i ∈ (1,2,3 ..., N) distance of the center of circle (X, Y) is arrived as di, wherein N is fitting
Point sum, then have:
di 2=(Xi-X)2+(Yi-Y)2
Enable δiFor point (Xi,Yi) to the square distance of the edge of the circle and the difference of radius squared, then have:
δi=di 2-R2=Xi 2+Yi 2+aXi+bYi+c
And building objective function are as follows: Q (a, b, c)=∑ δi 2, local derviation is asked to objective function Q (a, b, c), to meet following
When condition, there are minimum values by Q (a, b, c):
Solution acquisition is carried out to equation group:
Wherein C=N Σ Xi 2-ΣXiΣXi,
D=N Σ XiYi-ΣXiΣYi,
E=N Σ Xi 3+NΣXiYi 2-ΣXiΣ(Xi 2+Yi 2),
G=N Σ Yi 2-ΣYiΣYi,
H=N Σ Xi 2Yi+NΣYi 3-ΣYiΣ(Xi 2+Yi 2)
Substitute into the formula that central coordinate of circle (X, Y) and R is indicated using a, b, c, the then central coordinate of circle and radius that can must be fitted
Value.
Fig. 7 is the measurement image of the standard ball 1 obtained in the present embodiment using the acquisition of the first image capture module 3, by scheming
In can be seen that, projection of the standard ball 1 on the first image capture module 3 is high-visible.Fig. 8 is the measurement image conversion to Fig. 7
To carry out after edge extracting after grayscale image as a result, Fig. 9 is obtained after carrying out round fitting to the pixel of Fig. 8 using least square method
As a result, to can get the central coordinate of circle of the circle.Therefore, the present invention can be by using two or more Image Acquisition
After module acquires the measurement image of standard ball 1, image procossing is carried out, to obtain the sphere centre coordinate of standard ball 1.
The present invention, as main measurement sensor, is not necessarily to other optical elements, cost by using image capture module
Low and measurement error is small, and calculates sphere centre coordinate by the method that projection line crosses, and measurement accuracy is high, finally, the present invention is only
It needs through single measurement, can be calculated by main control unit and obtain sphere centre coordinate, it is easy to operate, substantially increase measurement speed
Degree.
It is to be illustrated to preferable implementation of the invention, but the invention is not limited to embodiment above, it is ripe
Various equivalent deformation or replacement can also be made on the premise of without prejudice to spirit of the invention by knowing those skilled in the art, these
Equivalent variation or replacement are all included in the scope defined by the claims of the present application.
Claims (7)
1. a kind of sphere centre coordinate measuring device, the sphere centre coordinate for measurement standard ball, which is characterized in that including narrow-band light source,
First image capture module, the second image capture module and main control unit, the first image acquisition module and the second image
Acquisition module is used to the measurement image in the station acquisition standard ball close to standard ball and is sent to main control unit, the master control
Unit is used to carry out measurement image image procossing, and is sat by the centre of sphere that the method calculating that projection normal crosses obtains standard ball
Mark；The main control unit is specifically used for: respectively by the first image capture module and the measurement collected of the second image capture module
Image carries out edge extracting after being converted to grayscale image, and then is fitted by least square method and obtains two groups of concentric circles, and then respectively
After the central coordinate of circle for obtaining every group of concentric circles, according to two central coordinate of circle, acquisition ball is calculated by projecting the method that normal crosses
Heart coordinate.
2. a kind of sphere centre coordinate measuring device according to claim 1, which is characterized in that further include for installing narrow band light
Source, the first image capture module and the second image capture module mounting bracket.
3. a kind of sphere centre coordinate measuring device according to claim 2, which is characterized in that the narrow-band light source includes first
Narrow-band light source and the second narrow-band light source, the front end of the first image acquisition module are equipped with the first optical filter, second figure
As the front end of acquisition module is equipped with the second optical filter.
4. a kind of sphere centre coordinate measuring device according to claim 3, which is characterized in that the mounting bracket includes pedestal
And four side fixing pieces, four side fixing pieces are installed on pedestal and form one for the receiving in measurement
The bucket-shaped structure of standard ball, first narrow-band light source and the second narrow-band light source are relatively installed therein two side fixing pieces
On, the first image acquisition module and the second image capture module are relatively mounted on other two side fixing piece.
5. a kind of measurement method of sphere centre coordinate measuring device characterized by comprising
S1, standard ball to be measured is irradiated using narrow-band light source, while by the first image capture module and the second image capture module
It is moved adjacent to the position of standard ball；
S2, the first measurement image for obtaining standard ball is acquired using the first image capture module, while using the second Image Acquisition
Module acquisition obtains the second measurement image of standard ball；
S3, after carrying out image procossing to the first measurement image and the second measurement image respectively, two central coordinate of circle are obtained；
S4, two central coordinate of circle that acquisition corresponding to image is measured according to the first measurement image and second pass through projection normal and hand over
The method of remittance calculates the sphere centre coordinate for obtaining standard ball；
The step S3, comprising:
S31, image is measured for first, carries out edge extracting after being converted into grayscale image, and then according to gray value to gray scale
The pixel of figure is grouped, and obtains the pixel that multiple groups represent different gray values；
S32, after being fitted by least square method to multiple groups pixel, one group of concentric circles is obtained, and then by the concentric of acquisition
Round central coordinate of circle is as the corresponding central coordinate of circle of the first measurement image；
Step S31 and S32 are carried out for the second measurement image, to obtain the corresponding central coordinate of circle of the second measurement image.
6. a kind of measurement method of sphere centre coordinate measuring device according to claim 5, which is characterized in that the step
S4, specifically:
According to two central coordinate of circle (x of acquisition corresponding to the first measurement image and the second measurement image1,y1) and (x2,z2), in conjunction with
Offset (x of the plane in the system coordinates of measuring device where the first measurement image and the second measurement image that obtaino1,
yo1) and (xo2,zo2), calculating and obtaining the sphere centre coordinate of standard ball is (xo1+x1,yo1+y1,zo2+z2)。
7. a kind of measurement method of sphere centre coordinate measuring device according to claim 6, which is characterized in that described first surveys
Offset of the plane in the system coordinates of measuring device where spirogram picture and the second measurement image is by the first Image Acquisition mould
What the installation site between block and the second image capture module and the mounting bracket of measuring device determined.
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| CN201610087209.5A CN105606026B (en) | 2016-02-16 | 2016-02-16 | A kind of sphere centre coordinate measuring device and its measurement method |
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