CN105841606A - Three-dimensional vision measurement device based on line structured light - Google Patents
Three-dimensional vision measurement device based on line structured light Download PDFInfo
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- CN105841606A CN105841606A CN201610147888.0A CN201610147888A CN105841606A CN 105841606 A CN105841606 A CN 105841606A CN 201610147888 A CN201610147888 A CN 201610147888A CN 105841606 A CN105841606 A CN 105841606A
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- measuring device
- structured light
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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
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- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a three-dimensional vision measurement device based on line structured light. The three-dimensional vision measurement device comprises a rack, a horizontal position adjustment mechanism disposed on the rack, a vertical position adjustment mechanism disposed on the horizontal position adjustment mechanism, and a CMOS camera disposed on the vertical position adjustment mechanism. A laser emitter is disposed at the side below the CMOS camera. The invention has the beneficial effects of ensuring the measurement efficiency as high as possible while ensuring the measurement accuracy, and meanwhile solving the problems of too large system volume and measurement error at the current stage.
Description
Technical field
The present invention relates to a kind of non-contact vision imaging size measurement apparatus, tie based on line more particularly, to one
The three-dimensional measuring device of structure light.
Background technology
Contactless Size Measuring System based on the technology such as photoelectricity, electromagnetism, ultrasound wave, instrument measuring cell not
In the case of contacting with testee surface, the various appearances of testee or the sized data feature of inherence can be obtained.Non-
Precision is higher compared with traditional contact range-measurement system, more convenient operation, safety coefficient are higher for contact Size Measuring System,
Cleanliness factor is high, measure during little to the pollution level of measured object, thus be applied to the multiple of commercial production and scientific research
Field.
Typical contactless dimension measurement method such as laser triangulation, electric vortex method, ultrasonic method of measuring, visual imaging are surveyed
Mensuration, ultrasonic Method for Measuring etc., wherein visual imaging measurement method refer to by machine vision product (i.e. image-pickup device,
Point CMOS camera and CCD camera two kinds) Target Transformation will be ingested become picture signal, send special image processing system to,
According to pixel distribution and the information such as brightness, color, being transformed into digitized signal, picture system carries out various computing to these signals
Extract clarification of objective, and then control on-the-spot device action according to the result differentiated, measuring defect and preventing defect
Product is dispensed into the function aspects of consumer and has immeasurable value.
Linear structured light three-dimensional visual scenery or object 3D vision image-forming information extract in occupy critical role, it with
The features such as its wide range, big visual field, higher precision, light stricture of vagina information retrieval are simple, real-time and the most controlled, in three-dimensional article
Volume reconstruction, videogrammetry and robot autonomous guiding have obtained more and more being widely applied.
Linear structured light three-dimensional visual measurement is optically-based trigonometry principle, and the line-structured light using laser lighting passes
Sensor, by flap laser beam projects to testee surface, forms a projection bright line at body surface, from projection side
Observing this line to another different directions, owing to being modulated by object height, this bright line deforms, by image planes
Upper bright line can obtain the altitude information of a section on object plane as the calculating of coordinate.If adding one-dimensional scanning just can obtain
It is distributed to 3 d shape, just can reappear body surface shape exterior feature, constitute 3D vision.
But, on existing market, visual imaging measurement systemic-function is single, measures system bulk and takies excessive, for size
Structure size characteristic complicated, to be measured is various spends the time too much especially for the dimensional measurement with curved surface features, needs
Repeatedly to load and unload object to be measured, thus cause measurement process efficiency lowly and repeatedly to be dismantled and be easily caused object surface to be measured damage
Wound.
Summary of the invention
For weak point present in above-mentioned technology, it is an object of the invention to provide a kind of three-dimensional based on line-structured light
Vision measurement device, is optimized improvement to existing non-contact vision imaging size measurement apparatus, it is ensured that ensureing measurement
Measure efficiency on the premise of precision as much as possible, can solve that present stage system bulk is excessive and too high the asking of measurement error simultaneously
Topic.In order to realize according to object of the present invention and other advantages, it is provided that a kind of 3D vision based on line-structured light is surveyed
Amount device, it is characterised in that including:
Frame；
The horizontal position adjustment mechanism being located in described frame；
It is located at the vertical position guiding mechanism in described horizontal position adjustment mechanism；And
Being located at the CMOS camera on described vertical position guiding mechanism, wherein, the lower section side of described CMOS camera is provided with
Generating laser.
Preferably, in described horizontal position adjustment mechanism is included in horizontal plane, orthogonal lateral attitude adjusts motor
Motor is adjusted with lengthwise position.
Preferably, described vertical position guiding mechanism includes that vertical bracing frame and vertical position adjust motor, wherein,
One end of described vertical bracing frame is connected with described horizontal position adjustment mechanism, the other end of described vertical bracing frame and vertical position
Put adjustment motor to be connected.
Preferably, the driving direction place plane of described vertical position guiding mechanism and described horizontal position adjustment mechanism
Driving direction place plane be mutually perpendicular to.
Preferably, described CMOS camera is connected with described vertical position adjustment motor by camera tripod.
Preferably, it is provided with annular light source below the camera lens of described CMOS camera.
Preferably, described three-dimensional measuring device based on line-structured light also includes control system, described horizontal position
Put adjustment motor, lengthwise position adjusts motor, vertical position adjusts motor, CMOS camera, annular light source and generating laser
All electrically connect with described control system
Compared with prior art, it provides the benefit that the present invention:
1. being circumferentially positioned at the periphery of described revolving dial assembly due to described dimension measuring device, described dimensional measurement fills
Put and include the most successively around the first size measurement apparatus arranged and at least two the second dimension measuring device, thus
Making to be greatly reduced system and take volume, the metering system of pipeline system makes to measure many sizes uninterruptedly in addition
For possible；
2. include that discoid rotary disk, at least five are arranged equally spaced at described returning due to described revolving dial assembly
The radial direction of rotating disk and the determinand radially distributed fix groove and to be arranged on described rotary disk lower surface described for driving
The drive mechanism that rotary disk rotates, so that under the driving of described drive mechanism, described determinand fixes groove can be with described
The rotation of rotary disk and rotate；
3. include driver due to described first size measurement apparatus, be vertically arranged and can under the driving of described driver
Rotate about the axis thereof supports cylinder and the CMOS camera affixed with described support cylinder, so that described first size
The CMOS camera of measurement apparatus around supporting cylinder rotation under the driving effect of driver, thus can complete the position of horizontal direction
Adjust；
4. due to described second dimension measuring device include frame, the horizontal position adjustment mechanism that is located in described frame,
It is located at the vertical position guiding mechanism in described horizontal position adjustment mechanism and is located on described vertical position guiding mechanism
CMOS camera, so that the CMOS camera of the second dimension measuring device can be at described horizontal position adjustment mechanism and vertical position
The position adjustment of level and vertical direction is completed under the effect of guiding mechanism；
5. the lower section side of the CMOS camera of described second dimension measuring device it is arranged on due to described generating laser, from
And the laser triangulation function of feasible system；
6. owing to being equipped with annular light source below the camera lens of described CMOS camera so that can be by annular light source to determinand
Surface carries out light filling, thus obtains the preferable size photo of imaging effect, improves certainty of measurement, reduces measurement error.
Part is embodied by other advantages, target and the feature of the present invention by description below, and part also will be by this
Invention research and practice and be understood by the person skilled in the art.
Accompanying drawing explanation
Fig. 1 is the axle measuring system according to the 3D vision swinging based on line-structured light in one embodiment of the invention
Mapping；
Fig. 2 is to measure system according to the 3D vision swinging based on line-structured light in one embodiment of the invention to remove
Axonometric drawing after housing；
Fig. 3 is to measure system according to the 3D vision swinging based on line-structured light in one embodiment of the invention to remove
Front view after housing；
Fig. 4 is to measure system according to the 3D vision swinging based on line-structured light in one embodiment of the invention to remove
Top view after housing；
Fig. 5 is to measure returning of system according to the 3D vision swinging based on line-structured light in one embodiment of the invention
Turn the explosive view of platform assembly and dimension measuring device；
Fig. 6 is to measure returning of system according to the 3D vision swinging based on line-structured light in one embodiment of the invention
Turn the explosive view of platform assembly and another visual angle of dimension measuring device；
Fig. 7 is the of system of measuring according to the 3D vision swinging based on line-structured light in one embodiment of the invention
The front view of one dimension measuring device；
Fig. 8 is according in the 3D vision swinging measurement system based on line-structured light in one embodiment of the invention
The axonometric drawing of three-dimensional measuring device that is second dimension measuring device based on line-structured light；
Fig. 9 is according in the 3D vision swinging measurement system based on line-structured light in one embodiment of the invention
The front view of three-dimensional measuring device that is second dimension measuring device based on line-structured light；
Figure 10 is according to the determinand in an embodiment of the dimensional visual measurement system based on line-structured light of the present invention
Front view；
Figure 11 is according to the determinand in an embodiment of the dimensional visual measurement system based on line-structured light of the present invention
Front view；
Figure 12 is laser triangulation systematic schematic diagram.
Detailed description of the invention
The present invention is described in further detail below in conjunction with the accompanying drawings, the foregoing end other objects of the present invention, feature, side
Face and advantage will be apparent from, to make those skilled in the art can implement according to this with reference to description word.
With reference to Fig. 1 and Fig. 2, the 3D vision swinging based on line-structured light in an embodiment is measured system 100 and is included:
Control system (slightly drawing), housing unit 110, dimension measuring device 120, revolving dial assembly 130 and charging tray assembly 140, its
In, housing unit 110 includes workbench 111 and the protective casing with certain inner space being located on workbench 111
112, dimension measuring device 120 is circumferentially positioned at the periphery of revolving dial assembly 130, and workbench is located at by revolving dial assembly 130
On 111 and be positioned at protective casing 112, charging tray assembly 140 includes product to be tested charging tray 143, certified products charging tray 141 and defective work
Charging tray 142.
With reference to Fig. 2 to Fig. 4, dimension measuring device 120 includes the most successively around the first size measurement apparatus arranged
121 and at least two the second dimension measuring device, revolving dial assembly 130 and dimension measuring device 120 respectively with described control
System processed electrically connects.As a kind of mode, first size measurement apparatus 121 is provided with 1, and the second dimension measuring device is provided with 3,
Being provided with generating laser at least one of which the second dimension measuring device, as shown in Figure 2, the second dimension measuring device is
122,123 and 124, generating laser 124a are only located in the second dimension measuring device 124.
With reference to Fig. 5 and Fig. 6, revolving dial assembly 130 includes that discoid rotary disk 131, at least five set equally spacedly
Put and fix groove 132 in the radial direction of rotary disk 131 and the determinand that radially distributes and be arranged on rotary disk 131 lower surface
For be driven back to rotating disk 131 rotate drive mechanism, wherein said drive mechanism include driving motor 133, diverter 135 and
Be located at the speed probe 134 of diverter 135 side, as a kind of embodiment, the power transmission shaft 133a of driving motor 133 with change
To the power transmission shaft 135a of device 135 by connecting with transmission belt, the connection end 134a of speed probe 134 and described control system
Electrical connection.
With reference to Fig. 7, first size measurement apparatus 121 includes driver 121a, is vertically arranged and driving in driver 121a
Move the lower support cylinder 121b that can rotate about the axis thereof and by CMOS phase affixed with supporting cylinder 121b for fixed mount 121c
Machine 121d.As a kind of embodiment, below the camera lens of CMOS camera 121d, it is provided with annular light source 121e, by control system pair
Annular light source 121e is adjusted determinand surface can carry out suitable light filling, thus improves shooting precision, finally improves measurement
Precision.
With reference to Fig. 8 and Fig. 9, as a kind of embodiment, according to the dimensional visual measurement based on line-structured light of the present invention
Device is 3D vision swinging based on line-structured light and measures the second dimension measuring device 124, Qi Zhong in system 100
Two dimension measuring devices 124 include frame 124j, be located in frame 124j horizontal position adjustment mechanism, it is located at described level
Vertical position guiding mechanism on position adjusting mechanism and be located at the CMOS camera on described vertical position guiding mechanism
124e, as a kind of embodiment, in described horizontal position adjustment mechanism is included in horizontal plane, orthogonal lateral attitude is adjusted
Whole motor 124i adjusts motor 124h with lengthwise position, and described vertical position guiding mechanism includes vertical bracing frame 124g and erects
Straight position adjustment motor 124f, CMOS camera 124e adjust motor 124f by camera tripod 124d with vertical position and are connected
Connect, be provided with annular light source 124b below the camera lens of CMOS camera 124e, by control system, annular light source 124b be adjusted
Determinand surface can be carried out suitable light filling, thus improve shooting precision, finally improve certainty of measurement.At least one of which second
Being provided with generating laser 124a in dimension measuring device, as shown in Figure 2, the second dimension measuring device is 122,123 and 124,
Generating laser 124a is only located in the second dimension measuring device 124, and as a kind of embodiment, generating laser 124a passes through
Fixed mount 124c is located at the lower section side of CMOS camera 124e.
With reference to Fig. 5 and Fig. 6, it is six that determinand fixes the number of groove 131, the CMOS phase of first size measurement apparatus 121
Determinand homogeneously it is correspondingly provided with solid immediately below the camera lens of the CMOS camera of machine and the second dimension measuring device 122,123,124
Determine groove 131.
Referring again to Fig. 1 to Fig. 3, as a kind of embodiment, charging tray assembly 140 is located at workbench 111 with arranging always
Go up and be positioned at the opening inner side of protective casing 112.
Operation principle: the principle of Tilt In The Laser Triangulation Disp, Lacement is, focuses on measured object at an angle by beam of laser
Surface, then carries out imaging, the position of body surface illuminated laser spot from another angle to the laser facula body surface
Highly different, the angle being accepted scattering or reflection light is the most different, captures the position of laser image spot with CMOS, it is possible to calculate
The angle of chief ray, thus calculate the position height of body surface illuminated laser spot.Specifically, can refer to Figure 12, such as Figure 12
Shown in, laser impinges upon A point, reflexes to a point on CMOS photosurface, and the a' point on A' point reflection to CMOS is photosensitive, when being found range
The luminous point image position X being reflected on light-sensitive device when Y difference is the most different, and triangle relation formula can obtain pass between the two
System is:
In formula, Y is tested distance, and f is imaging system focal length, l be Laser emission mouth corresponding to imaging system center away from
From, i.e. the length of base, L is a certain known distance, generally takes the distance that photosurface receptor center is corresponding, i.e. reference range, X
For this tested distance on photosurface receptor with known distance distance of picture point on photosurface accepts, have positive and negative point.
In above formula: X=(MAXx-157) × 0.015mm, MAXx is hot spot central coordinate of circle.As long as therefore finding out the hot spot center of circle
Coordinate position, just can utilize above formula directly to obtain tested distance Y.
Now by the explanation of the dimensional measurement step of a determinand being explained three-dimensional based on line-structured light in the present invention
The working method of vision measurement device 100, reference Figure 10 and Figure 11, the shell structure of determinand 200 generally rectangular shape,
Including: rectangular body 210, the lobe 240,250 of being located at main body 210 two ends, wherein, main body 210 offers rectangular channel
230, it is provided with toward the internal transition arc curved surface 220 being gradually reduced of rectangular channel 230 between skirt wall and the rectangular channel 230 of main body 210,
The bottom of rectangular channel 230 is provided with by the looping pit of circular hole O1, O2 connection, and the right side of rectangular channel 230 is provided with about in symmetry
Two installing holes that heart Y-axis is symmetrical.With reference to Fig. 4, Fig. 7, Figure 10 and Figure 11, concrete measuring process is as follows: (1) is when determinand 200
When determinand under the camera lens of the CMOS camera 121d being positioned at first size measurement apparatus 121 fixes groove 132, CMOS camera
121d measures the distance between two ends thrust L1, L2 of determinand 200 and border, determinand about 200 both sides L3, L4
Width；(2), after completing first step measurement, determinand 200 turns to the second measurement apparatus 122 under the drive of rotary disk 131
Below the camera lens of CMOS camera, CMOS camera now measured before this between border, determinand 200 left and right sides L5, L6 away from
From, the distance between distance and L9, L10 between outside L7, the L8 of the skirt wall then measuring the main body 210 of determinand 200,
Then the distance between inner side up-and-down boundary L11, the L12 of the rectangular channel 230 measuring determinand 200；(3) second measurement is completed
After, below the camera lens of the CMOS camera that determinand 200 turns to the second measurement apparatus 123 under the drive of rotary disk 131, now
CMOS camera determined that determinand 200 was laterally and vertical by measuring the inboard boundary C1 of rectangular channel 230 of determinand 200 before this
To symmetrical centre X-axis, Y-axis, then measure determinand 200 annular through-hole coboundary D1 and Y-axis between distance, then
Circular hole O1, the O2 at two ends, measure annular hole distance in the X-axis direction and in the distance of Y direction, then measure annular hole
Both sides up and down D1, D2 between distance, finally measure installing hole distance in X-axis and Y direction；(4) by measuring P1
～the height and position of P6 point obtains the position data of curved surface S1, obtain curved surface S2's by measuring the height and position of P7～P9
Position data, thus obtain the position data between curved surface S1 and S2, finally measure the degree of depth of the rectangular channel 230 of determinand 200
Data.Data above step recorded contrast with the certified products data in data base, see the size number of determinand 200
According to whether meeting dimensional requirement, if being unsatisfactory for, control system sends control signal and defective work is positioned over defective work charging tray
142 is medium to be recycled；Otherwise then certified products are positioned in certified products charging tray 141 wait vanning or next step.
Number of devices described herein and treatment scale are used to the explanation of the simplification present invention.To the application of the present invention,
Modifications and variations will be readily apparent to persons skilled in the art.
As it has been described above, according to the present invention it is possible to obtain following beneficial effect:
1. it is circumferentially positioned at the periphery of revolving dial assembly 130, dimension measuring device 120 due to dimension measuring device 120
Including the first size measurement apparatus 121 that cincture is arranged the most successively and at least two the second dimension measuring device 122,
So that the system that is greatly reduced takies volume, the metering system of pipeline system makes to measure many chis uninterruptedly in addition
Very little it is possibly realized；
2. include that discoid rotary disk 131, at least five are arranged equally spaced at revolution due to revolving dial assembly 120
The radial direction of dish 131 and the determinand radially distributed are fixed groove 132 and are arranged on rotary disk 131 lower surface for driving
The drive mechanism that rotary disk 131 rotates, so that under the driving of described drive mechanism, determinand fixes groove 132 can be with returning
The rotation of rotating disk 131 and rotate；
3. measure 121 devices due to described first size and include driver 121a, be vertically arranged and in driver 121a
Drive the lower support cylinder 121b that can rotate about the axis thereof and the CMOS camera 121d affixed with supporting cylinder 121a, thus
Make first size measurement apparatus 121 CMOS camera 121d can under the driving effect of driver 121a around support cylinder 121b
Rotate, thus complete the position adjustment of horizontal direction；
4. the horizontal position adjustment machine including frame 124j due to the second dimension measuring device 124, being located in frame 124j
Structure 124i and 124j, vertical position guiding mechanism 124f and 124g being located on horizontal position adjustment mechanism 124i and 124j, with
And the CMOS camera 124e being located on vertical position guiding mechanism 124f and 124g, so that the second dimension measuring device 124
CMOS camera 124e can complete level and perpendicular under the effect of described horizontal position adjustment mechanism and vertical position guiding mechanism
Nogata to position adjustment；
5. it is arranged on by the lower section of CMOS camera 124e of the second dimension measuring device 124 due to generating laser 124a
Side, thus the laser triangulation function of feasible system；
6. owing to being equipped with annular light source below the camera lens of described CMOS camera so that can be by annular light source to be measured
Thing surface carries out light filling, thus obtains the preferable size photo of imaging effect, improves certainty of measurement, reduces measurement error.
Although embodiment of the present invention are disclosed as above, but it is not limited in description and embodiment listed fortune
With, it can be applied to various applicable the field of the invention completely, for those skilled in the art, and can be easily real
The most other amendment, therefore under the general concept limited without departing substantially from claim and equivalency range, the present invention is not limited to
Specific details and shown here as with the legend described.
Claims (7)
1. a three-dimensional measuring device based on line-structured light, it is characterised in that including:
Frame；
The horizontal position adjustment mechanism being located in described frame；
It is located at the vertical position guiding mechanism in described horizontal position adjustment mechanism；And
Being located at the CMOS camera on described vertical position guiding mechanism, wherein, the lower section side of described CMOS camera is provided with laser
Emitter.
2. three-dimensional measuring device based on line-structured light as claimed in claim 1, it is characterised in that described horizontal level
Guiding mechanism adjusts motor and lengthwise position adjustment motor in orthogonal lateral attitude in being included in horizontal plane.
3. three-dimensional measuring device based on line-structured light as claimed in claim 2, it is characterised in that described vertical position
Guiding mechanism includes that vertical bracing frame and vertical position adjust motor, wherein, one end of described vertical bracing frame and described water
Mean place guiding mechanism is connected, and the other end of described vertical bracing frame adjusts motor with vertical position and is connected.
4. three-dimensional measuring device based on line-structured light as claimed in claim 3, it is characterised in that described vertical position
The driving direction place plane of guiding mechanism is mutually perpendicular to the driving direction place plane of described horizontal position adjustment mechanism.
5. three-dimensional measuring device based on line-structured light as claimed in claim 4, it is characterised in that described CMOS camera
Adjust motor by camera tripod with described vertical position to be connected.
6. three-dimensional measuring device based on line-structured light as claimed in claim 5, it is characterised in that described CMOS camera
Camera lens below be provided with annular light source.
7. three-dimensional measuring device based on line-structured light as claimed in claim 5, it is characterised in that described based on line knot
The three-dimensional measuring device of structure light also includes control system, and described lateral attitude adjusts motor, lengthwise position adjustment motor, erects
Straight position adjustment motor, CMOS camera, annular light source and generating laser all electrically connect with described control system.
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| CN201610147888.0A CN105841606A (en) | 2016-03-16 | 2016-03-16 | Three-dimensional vision measurement device based on line structured light |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610147888.0A CN105841606A (en) | 2016-03-16 | 2016-03-16 | Three-dimensional vision measurement device based on line structured light |
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| CN109839065A (en) * | 2017-11-29 | 2019-06-04 | 刘松林 | A kind of vision measurement test platform |
| CN110186376A (en) * | 2019-06-18 | 2019-08-30 | 易视智瞳科技（深圳）有限公司 | A kind of three-dimensional position pick-up method and device |
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Application publication date: 20160810 |
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