CN106705847A - Geometric size measuring method and device for slit inside free-form surface - Google Patents
Geometric size measuring method and device for slit inside free-form surface Download PDFInfo
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- CN106705847A CN106705847A CN201710037782.XA CN201710037782A CN106705847A CN 106705847 A CN106705847 A CN 106705847A CN 201710037782 A CN201710037782 A CN 201710037782A CN 106705847 A CN106705847 A CN 106705847A
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Classifications
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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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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformation in the plane of the image
- G06T3/40—Scaling the whole image or part thereof
- G06T3/4038—Scaling the whole image or part thereof for image mosaicing, i.e. plane images composed of plane sub-images
Abstract
The invention discloses a geometric size measuring method and a device for a slit inside free-form surface. The geometric size measuring method for the slit inside free-form surface comprises the steps of acquiring a slit image: conducting the segmented acquisition of the slit image of a to-be-measured free-form surface product; processing the slit image: processing each segment of the acquired slit image so as to obtain a slit cross-sectional profile, and positioning the edge feature points of each segment of the slit profile, the inflection point of the slit profile, the highest point of the slit profile and the lowest point of the slit profile; conducting the registering and splicing operation: registering and splicing all segments of the processed slit profile; conducting the segmented fitting operation: conducting the segmented fitting for the feature points of the slit profile after the registering and splicing operation so as to obtain an overall slit profile containing the lowest-point curve, the edge curve and the highest-point curve of a slit; and acquiring the geometric size of the slit: according to the fitted curve, acquiring the depth, the length and the width of the slit.
Description
Technical field
The present invention relates to a kind of product field of measuring technique, physical dimension measurement in gap in more particularly to a kind of free form surface
Method and device.
Background technology
In the advanced manufacture field such as Aero-Space, high ferro, ship, automobile, free form surface product is widely used.Freely
Curved face product is interior or gap often occurs in link is assembled in different product, and whether the physical dimension in gap meets design requirement will
The use quality and service life of final products are directly influenced, therefore is directed to the gap physical dimension between free form surface product
High-acruracy survey is completely crucial.Traditional free form surface Geometrical Parameter Testing often uses the three coordinate measuring machine of contact, this
Certainty of measurement very high can be reached, but measurement efficiency is relatively low, in particular by the material influence of measurand.Nowadays, base
Just widely paid attention in vision measuring method, be based particularly on the metering system of active light source due to can actively send light
Inside beam to gap, this substantially reduces collision occurs with interference, and can annex measurement efficiency and certainty of measurement, while
Meet metal, plastics, rubber, ceramics, synthesis, soft etc. unlike material Product checking demand.
Gap profile has non-regular shape feature in free form surface product so that the automatic measurement of gap physical dimension is difficult
Degree is larger.The automatic measurement system and device of gap physical dimension detect accuracy, reduction to improve in research freedom curved surface
Testing cost, the use for reducing professional and technical personnel have turned into the trend in future, soft operation, interaction, purifying, portable
Teleoperation mode will cause that the on-line checking in gap in free form surface is more safe and reliable, and this will preferably meet free form surface
Product fast and automatically, the requirement of high precision test.
The content of the invention
For above-mentioned the deficiencies in the prior art, the technical problems to be solved by the invention are：There is provided a kind of easy to operate, automatic
Gap physical dimension measuring method and device in the free form surface that change degree is high, measuring speed is quick, certainty of measurement is high.
In order to solve the above technical problems, the technical problem that the present invention is used is：Gap in a kind of free form surface is provided
Physical dimension measuring method, comprises the following steps：
Slot image acquisition step：The slot image of piecewise acquisition free form surface product to be measured；
Slot image process step：Every section of slot image to collecting is processed to obtain gap cross section profile, fixed
Position every section of Edge Feature Points of gap profile, gap inside corner, peak and minimum point；
Registration and connection step：Each section of gap profile after by treatment carries out Registration and connection；
Piecewise fitting step：Characteristic point to the gap profile after Registration and connection carries out piecewise fitting, to obtain having seam
The minimum point curve of gap, boundary curve, the overall gap profile of highest point curve；
Gap physical dimension obtaining step：The physical dimension in the curve acquisition gap according to fitting.
Further, in the slot image acquisition step, gap position according to free form surface product to be measured and
Length, by the piecewise acquisition slot image successively of head to tail, so that progressively automatic data collection obtains complete gap contour images.
Further, in image acquisition step, progressively gather to be measured by the image collecting device of " 3+1 " free degree
The slot image of free form surface product, and the slot image that will be collected sent to host computer, so that host computer is obtained successively
To each section of slot image of free form surface product to be measured.
Further, during the slot image of free form surface product to be measured is progressively gathered in image collecting device,
Host computer is based on software environment, and local virtual measuring basis is set up online, with the gap profile physical dimension that has obtained and works as
The pose of preceding image collecting device constrains the spatial pose at next place of image collecting device, keeps gap profile to be in effective
In field range, the automatic data collection to whole gap profile is done step-by-step.
Further, in image processing step, the host computer enters to the every section of slot image cloud data for getting
Row pretreatment, the pretreatment includes smoothing denoising, rejecting abnormalities point, edge segmentation, to obtain gap cross section profile；Further according to
The local virtual measuring basis of foundation is carried out to every section of slot edge characteristic point, gap inside corner, peak and minimum point
Identification positioning.
Further, in piecewise fitting step, host computer is first by each section of gap profile point cloud under local coordinate system
Data are converted in unified global coordinate system, and carry out table to splicing complete gap profile cloud data in global coordinate system
Face reconstruct, simplified, smooth, positioning feature point, then subsection curve drafting is carried out, minimum point curve, the edge that gap is depicted are bent
Line, highest point curve.
Further, in the physical dimension obtaining step of gap, the graphics in gap need to be carefully drawn under global virtual environment
Shape simultaneously calculates the physical dimension between corresponding gap characteristic.
Further, the slot image acquisition step includes following sub-step：
S11, initial acquisition pose obtain sub-step：Gap position according to free form surface product to be measured obtains the gap
Initial acquisition pose；
S13, initial acquisition device pose adjustment sub-step：According to the first of the initial acquisition pose adjustment harvester for obtaining
Beginning pose；
S15, present segment slot image collection sub-step：Gather the slot image of this section；
S17, the corresponding harvester pose adjustment sub-step in hypomere gap collection position：According to present segment and present segment
The preceding paragraph slot image information, the pose of corresponding image collecting device constrain next section of slot image position correspondence to be collected
Image collecting device pose, and accordingly adjust image collecting device pose.
Further, it is further comprising the steps of before image acquisition step：
Free form surface product to be measured is placed on an erecting bed；
Image collecting device is fixed on into one to be located in the mobile unit of the erecting bed side, wherein, mobile unit bag
Include X corresponding with the width in gap to be measured to base, be erected on X to can be according to the driving of one first motor on base
It is located on the Z-direction axostylus axostyle to mobile Z-direction axostylus axostyle corresponding with the short transverse in the gap to be measured, level and energy in X
Enough Y-direction axostylus axostyles corresponding with the length direction in the gap to be measured moved in Z-direction according to the driving of one second motor and
For the 3rd motor for driving Y-direction axostylus axostyle to be moved in Y-direction, described image collecting unit is corresponding on the Y-direction axostylus axostyle
In one end of the installation portion, the image collecting device can be according to the length side in the drives edge gap to be measured of one the 4th motor
To rotation, first motor, the second motor, the 3rd motor and the 4th motor are connected with the host computer signal；On described
Position machine control mobile unit work such that it is able to move image collecting device " 3+1 " free degree, to adjust image collecting device
Pose, make its gather slot image when, its collection direction and gap to be measured section near normal to be collected.
In order to solve the above technical problems, the technical problem that the present invention is used is：Gap in a kind of free form surface is provided
Geometrical size measuring device, including：
Slot image harvester：For the slot image of piecewise acquisition free form surface product to be measured；
Slot image processing module：Processed to obtain gap section wheel for every section of slot image to collecting
Exterior feature, positions every section of Edge Feature Points of gap profile, gap inside corner, peak and minimum point；
Registration and connection module：Registration and connection is carried out for each section of gap profile after by treatment；
Piecewise fitting module：Piecewise fitting is carried out for the characteristic point to the gap profile after Registration and connection, to be had
There are gap minimum point curve, boundary curve, the overall gap profile of highest point curve；
Gap physical dimension acquisition module：For the physical dimension in the curve acquisition gap according to fitting.
1st, using above-mentioned measuring method and device, can automatically, it is quick, in high precision to metal, plastics, rubber, ceramics, conjunction
The three-dimensional geometry dimensional measurement in gap, greatly reduces professional and technical personnel's in into, the free form surface of soft etc. different materials
Demand.
2nd, based on system software platform, online construction three-dimensional measuring environment, for analyzing description free form surface inseam
The key feature and physical dimension of gap；Combined with Human computer interface, it is easy to which image collector is setting in different positions to be measured
SECO, forms stabilization, safety, visualization, an easy-operating measuring system.
3rd, testing result understands intuitively, gap profile can Three-dimensional Display, and reach following performance indications：
25 μm of certainty of measurement during gap length 5~400mm of scope, 20 μm of certainty of measurement during gap width 3~50mm of scope,
15 μm of certainty of measurement, 3 μm of Measurement Resolution during gap depth 0~20mm of scope.
4th, measuring table builds science, simple and stable, it is easy to safeguard, easy to use and flexible；Accurate positioning, accuracy of detection
Height, it is reproducible, it is wide using scope.
Brief description of the drawings
Technical scheme in order to illustrate more clearly the embodiments of the present invention, below will be in embodiment or description of the prior art
The required accompanying drawing for using is briefly described, it should be apparent that, drawings in the following description are only some realities of the invention
Example is applied, for those skilled in the art, on the premise of not paying creative work, can also be obtained according to these accompanying drawings
Other accompanying drawings.
Fig. 1 is the flow chart of physical dimension measuring method first embodiment in gap in free form surface of the present invention.
Fig. 2 is the position relationship schematic diagram of image collecting device and free form surface product to be measured.
Fig. 3 is gap profile expression schematic diagram under global coordinate system of the present invention.
Fig. 4 is the flow chart of physical dimension measuring method second embodiment in gap in free form surface of the present invention
Fig. 5 is the flow chart of image acquisition step in third embodiment of the invention.
Fig. 6 is next section of Pose Control flow chart in fourth embodiment of the invention.
Fig. 7 is the pose of image collecting device space geometry relation schematic diagram corresponding between tested gap.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Fig. 1 is referred to, Fig. 1 is the flow of physical dimension measuring method first embodiment in gap in free form surface of the present invention
Figure.Gap physical dimension measuring method is comprised the following steps in the free form surface of the present embodiment：
S1, slot image acquisition step：The slot image of piecewise acquisition free form surface product to be measured；
In this step, in the slot image acquisition step, gap position according to free form surface product to be measured and
Length, by the piecewise collection slot image of head to tail；So as to progressively automatic data collection obtains complete gap contour images.
In this image acquisition step, IMAQ is realized by image collecting device and host computer, by " 3+1 " certainly
Gather the slot image of free form surface product to be measured paragraph by paragraph by the image collecting device spent, and the slot image hair that will be collected
Host computer is delivered to, so that host computer gets each section of slot image of free form surface product to be measured successively.Specifically：
The each section of collection pose and triggering image collecting device of PC control image collecting device carry out gap figure
As collection.Length and position according to gap, image collecting device is moved into initial position carries out adopting paragraph by paragraph by head to tail
Collection.Start position can be specifically input into host computer, PC control image collecting device is moved to the starting point in tested gap,
Click on continuous trigger button and start laser transmitting laser, manually or automatically control make Line beam approximate (such as 85~95 degree) or
Perpendicular is irradiated to inside gap to be measured；According to the gap profile adjust automatically IMAQ that image collecting device is currently gathered
The attitude of device；After the completion of present segment collection, host computer is according to the current pose of image collecting device and according to present segment figure
Picture and the last period view data control image collecting device at the uniform velocity to move forward, period distances triggering laser transmitting laser,
The sampling of taking pictures in the cycle such as image collecting device simultaneously is sent to host computer.
Described image harvester includes laser line generator and camera, the laser line generator emission lines laser strip beam vertical irradiation
To inside gap；The camera forms fixed angle placement with laser, to ensure that viewing field of camera can cover beam area, phase
The center line of machine camera lens faces the center of line laser light beam.
The pose of image collecting device of the invention is that host computer is automatically controlled, and is gathered paragraph by paragraph in image collecting device and treated
During measuring the slot image of free form surface product, host computer is based on software environment, and local virtual measurement base is set up online
Accurate (i.e. local virtual coordinates), are constrained with the gap profile physical dimension that has obtained and the pose of present image harvester
The spatial pose at next place of scanner, keeps gap profile to be in the range of available field of view, is done step-by-step and whole gap is taken turns
Wide automatic data collection.Local virtual coordinates can be set up as follows：
When first paragraph slot image is got, host computer sets up present segment local virtual three-dimensional system of coordinate, according to part
Gap contour edge characteristic point, gap inside corner, peak and the minimum point that virtual three-dimensional coordinate system positions this section are equilateral
Edge characteristic point；In follow-up one section of gap profile of often acquisition, a local virtual three-dimensional system of coordinate is updated, until final stage
Gap collection is finished.The pose and Edge Feature Points of present segment can be learnt by local virtual coordinates system.
Fig. 2, Fig. 2 are the position relationship schematic diagrams of image collecting device and free form surface product to be measured.In IMAQ
Before, first free form surface product to be measured is fixed on an erecting bed；Then image collecting device is fixed on one and is located at institute
State in the mobile unit of erecting bed side, finally, regulating and controlling the pose of line laser scanner makes its line laser vertical irradiation to be measured
Inside gap, and (it is initial that user can first carry out manual initial adjustment in the range of its available field of view to ensure gap in-profile
Pose, then finely tunes the position of image collecting device by the work of PC control mobile unit again；Whole can also gather
The initial acquisition position of PC control image collecting device).Wherein, mobile unit includes the width with gap to be measured
Corresponding X to base, be erected on X on base can according to the driving of one first motor in X to mobile to be measured with described
The corresponding Z-direction axostylus axostyle of short transverse in gap, level are located on the Z-direction axostylus axostyle and can be existed according to the driving of one second motor
The Y-direction axostylus axostyle corresponding with the length direction in the gap to be measured of Z-direction movement and for driving the Y-direction axostylus axostyle to be carried out in Y-direction
The 3rd mobile motor, described image collecting unit is on the Y-direction axostylus axostyle corresponding to one end of the installation portion, the image
Harvester can be rotated according to the length direction in the drives edge gap to be measured of one the 4th motor, first motor, second
Motor, the 3rd motor and the 4th motor are connected with the host computer signal；The PC control mobile unit work, so that
Can move image collecting device " 3+1 " free degree, to adjust the pose of image collecting device, make it in collection slot image
When, its collection direction is vertical with the face to be collected in gap to be measured.
S2, slot image process step：Every section of slot image to collecting is processed to obtain every section of gap profile,
Positioning every section of Edge Feature Points of gap profile, gap inside corner, peak and minimum point；
In this step, the host computer is pre-processed to the every section of slot image cloud data for getting, the pre- place
Reason includes smoothing denoising, rejecting abnormalities point, edge segmentation, to obtain every section of gap profile；Surveyed further according to the local virtual set up
Amount benchmark is positioned to every section of slot edge characteristic point, gap inside corner, peak and minimum point.
The gap cloud data a that collection is obtained every timei,j(i=1,2...M1；J=1,2 ... M2), M1It is times of collection,
M2It is the sampling number of scanning light beam, first passes around data filtering, smooth, segmentation, the edge in Edge Gradient Feature positioning gap
PointWithPeakMinimum pointAnd critical corner set ki, as shown in Figure 7.
Local virtual measuring basis is above-mentioned local virtual three-dimensional system of coordinate, and as above, here is omitted for its method for building up.
S3, Registration and connection step：After the completion of all collections, each section of gap profile is matched somebody with somebody under global coordinate system
Quasi- splicing；
After the completion of image procossing each time, image collecting device coordinate and attitude data are transformed into global coordinate system
It is interior；
Realized in global coordinate system to boundary curve, the piecewise fitting of minimum point curve and splicing.
S4, piecewise fitting step：Characteristic point to the gap profile after Registration and connection carries out piecewise fitting, to be had
The minimum point curve in gap, boundary curve, the overall gap profile of highest point curve；It is (global in global virtual environment in this step
Coordinate system) under, the dimensioning such as width, depth and length between the corresponding gap characteristic of the thin 3-D graphic for drawing gap, calculating
It is very little.
Be transformed into local coordinate system under global coordinate system by host computer, and to splicing complete gap in global coordinate system
Profile cloud data carries out surface reconstruction, simplification, smooth, positioning feature point, then carries out subsection curve drafting, and gap is depicted
Minimum point curve, boundary curve, highest point curve.
Fig. 3 is referred to, the global coordinate system is set up based on virtual software environment, registered first in virtual software environment
The initial acquisition pose of image collecting device is global coordinate system zero point；X, Y comprising register initial datum mark is set up again to put down
Face, wherein X are mutually orthogonal with Y-axis；Finally set up the Z axis perpendicular to X, Y plane；The length of each datum level is subject to marginal point
WithRelative maximum distance restraint, width is constrained by the sampling interval of neighbouring sample light beam and sample area.Virtual reference
Benchmark may be such that the more flexible change in shape for being flexibly adapted to free form surface of image collecting device.The foundation of global coordinate system with
Image collecting device is mutually corresponded to, and global coordinate system must calibrated before.Every section is completed in global coordinate system
The Registration and connection of gap profile, gap geometric parameters analysis.Gap physical dimension geometric sense description include relative height differential,
Stand out, angle, gap 3-D graphic of the user voluntarily to obtaining is demarcated and software systems are automatically generated.
During partial 3 d establishment of coordinate system, image collecting device global coordinate system OXYZ corresponding initial attitude with it is first
Known to beginning position；Using coordinate transformation method, the outline data of local coordinate system is transformed into global coordinate system.
S5, gap physical dimension obtaining step：The physical dimension in the curve acquisition gap according to fitting.
Gap physical dimension is compared and evaluation under global coordinate system, compare depth between key feature, width,
The geometric properties relation such as length, angle.Under global virtual environment, the thin 3-D graphic for drawing gap, calculating relative width, depth
The geometries characteristic relation such as degree and length.
Coordinate Conversion is carried out to local cloud data in global coordinate system, then is spliced and is fused into 3D gaps contour pattern,
In global coordinate system, using least square method by marginal pointWithPeakMinimum pointAnd critical corner set
kiPiecewise fitting.Utilization space projecting method is described between each sectional curve inward flange point, between marginal point and minimum point respectively
Space geometry relation, draw relative difference in height hi, displacement difference lij；Angular relationship η between each sectional curve is describedi；Mark
Outpour the geometrical relationship net of each key point in gap, calculate gap maximum length Lmax, depth capacity Hmax, Breadth Maximum Wmax。
Embodiment of the present invention, using above-mentioned measuring method, can realize that gap is several in the free form surface to unlike material
What size is automatic, quick, high-quality configuration sampling, reduces the artificial interference effect in measurement process.Online construction is three-dimensional empty
Intend measuring environment, for analyzing the physical dimension in gap in description free form surface, and combined with Human computer interface, be easy to pass
Sensor is located at the SECO of different positions to be measured, forms stabilization, safety, visualization, an easy-operating measuring system.Detection
Result understands intuitively, gap profile can Three-dimensional Display, and reach following performance indications：Measured during gap length 5~400mm of scope
25 μm of precision, 20 μm of certainty of measurement during gap width 3~50mm of scope, 15 μm of certainty of measurement during gap depth 0~20mm of scope,
3 μm of Measurement Resolution.Measuring table builds science, simple and stable, it is easy to safeguard, easy to use and flexible；Accurate positioning, detection essence
Degree is high, reproducible, wide using scope.
Fig. 4 is referred to, Fig. 4 is the flow of physical dimension measuring method second embodiment in gap in free form surface of the present invention
Figure.The present embodiment is comprised the following steps：
S1a, slot image acquisition step；
S2a, slot image process step；
S3a, absent region identification annotation step：Whether scanning present segment image cloud data has absent region, if so, mark
Enter S4a steps after knowing the absent region, if not having, be directly entered S4a steps；
S4a, Registration and connection step；
S5a, absent region section resurvey process step：By the section image with absent region re-start S1a, S2a,
The treatment of S4a, to obtain more fully image cloud data, improves the accuracy of dimensional measurement；
S6a, piecewise fitting step；
S7a, gap physical dimension obtaining step.
Embodiment of the present invention, compared with first embodiment, certain section or some section of image for absent region carry out weight
New collection and image procossing, obtain the new view data without absent region, so as in follow-up picture size obtaining step
In, more accurate picture size can be calculated.
Fig. 5 is referred to, Fig. 5 is that image is adopted in gap physical dimension measuring method 3rd embodiment in free form surface of the present invention
Collect the flow chart of step.The image acquisition step can apply to above-mentioned first embodiment and/or the size of second embodiment is surveyed
In amount method.The image acquisition step of the present embodiment includes following sub-step：
S11, initial acquisition pose obtain sub-step：Gap position according to free form surface product to be measured obtains the gap
Initial acquisition pose；
S12, terminal collection position acquisition sub-step：Gap position and length according to curved face product to be measured obtain the seam
The last time collection position of gap；
S13, initial acquisition device pose adjustment sub-step：According to the first of the initial acquisition pose adjustment harvester for obtaining
Beginning pose；
This step includes following sub-step：
S131, image collecting device is moved at initial acquisition position (i.e. p0(x0,y0,z0)) and adjust the image and adopt
The initial acquisition vector of acquisition means
In some embodiments, image collecting device can be moved at initial acquisition position manually and be adjusted again
Initial acquisition vectorIn the present embodiment, initial acquisition vectorTo manually adjust, user can first adjust initial acquisition
Behind direction, then image collecting device is controlled to move it to initial acquisition position, it is also possible to first pass through PC control image and adopt
After acquisition means are moved to initial acquisition position, then manual coarse adjustment initial acquisition vector
S132, slot image test acquisition；
After image collecting device is moved to initial acquisition position and coarse adjustment initial acquisition direction, PC control image is adopted
Acquisition means start slot image collection.
S133, gap profile is obtained according to the slot image of test acquisition；
As shown in fig. 6, after described image harvester test acquisition is to image information, the image of collection is sent to upper
Machine, host computer to the slot image for collecting process and obtains slot image profile, and then obtains present segment slot image wheel
Wide peakMinimum pointCritical corner set kiAnd two edges point (the i.e. left hand edge point in gap width direction
Right hand edge point)；
S134, the normal vector that profile cloud data is calculated according to the gap profile
S135, judge the normal vectorWith the initial acquisition direction vector of image collecting deviceAngle it is absolute
Whether value is more than or equal to first threshold, if being more than or equal to the first threshold, into S136 steps, if less than described the
One threshold value, then be considered as first section collection by the image of current test acquisition, is transferred to the next section of collection position adjustment step in gap to be collected
Suddenly；
If S136, be more than or equal to the first threshold, according to be more than or equal to angle adjustment described image collection
The pose (i.e. C is adjusted to Y-direction, the visible hereinafter S173 and S174 steps of specific adjustment mode) of device, so that its collection light
Shu Fangxiang is vertically injected in the gap of free form surface product to be measured, into present segment image acquisition step, to re-start
The first section collection of slot image.
Above-mentioned S132 steps to S135 steps are mainly used in being finely adjusted the pose of image collecting device, to make up manually
The inaccurate defect of coarse adjustment precision, also user when treatment obtains user's coarse adjustment precision reach standard after, headed by directly test acquisition is tried
Section collection, it is to avoid first section collection is repeated, simplifies acquisition step, collection complexity.It should be understood that in other examples,
The initial acquisition vectorWhole PC control adjust automatically can also be gathered, until initial acquisition is vectorialWith gather
The normal vector for arrivingAngle meet first threshold and (meet collection direction perpendicular with the face where gap or approximate vertical
Directly).
S15, present segment slot image collection sub-step：Gather the slot image of this section；
S17, the corresponding harvester pose adjustment sub-step in hypomere gap collection position：Judging next section of collection position is
It is no to gather position beyond terminal；Terminate if beyond terminal collection position；If without departing from according to the upper of present segment and present segment
One section of slot image information, pose of corresponding image collecting device constrain next section of slot image position correspondence to be collected
Image collecting device pose, and accordingly adjust image collecting device pose.
Fig. 6 and Fig. 7 is referred to, this step includes following sub-step：
S171, the flex point set k according to the gap profile of present segment slot imageijIt is calculated the point of current gap profile
The normal vector of cloud data
S172, judge the normal vectorThe cloud data of gap profile corresponding with the slot image that the preceding paragraph is gathered
Normal vectorAngle Δ θiAbsolute value whether be more than or equal to default first threshold；If more than or equal to default
First threshold, then into S173 steps, if being less than default first threshold Δ θ, be transferred to S176 steps；
S173, control described image harvester rotate Δ θ along the length direction (hereinafter referred to as C to) in gapiDegree；The step
Including following sub-step：
S173a, judge the angle Δ θiWhether positive first threshold+Δ θ is more than or equal to, if so, then entering S173b
Step, if it is not, being then transferred to S173c steps；
S173b, control image collecting device C are to rotating clockwise angle delta θi, it is transferred to S174a steps；
S173c, the angle Δ θiLess than or equal to negative first threshold-Δ θ；
S173d, control image collecting device C are to rotating counterclockwise angle delta θi, it is transferred to S174b steps；
S174, according to rotational angle Δ θiImage collecting device is calculated along corresponding displacement Y of gap length direction Y
Put, make image collecting device return, so that the collection direction of image collecting device is approximately perpendicular in gap, i.e. yi=yi, yi
It is image collecting device in gap length direction Y-coordinate, i.e. Y-direction coordinate；Then image collecting device is triggered again to gather again
Present segment image, that is, be in correct position with the collection for ensureing present segment image the step of be again introduced into present segment IMAQ
After being gathered under appearance, the former cloud data of covering so that ai,j=ai,jAfterwards, into S175 steps；
The S174 steps include following sub-step：
S174a, control described image harvester at the uniform velocity move Δ Y location along gap length direction positive direction, so that figure
As harvester return, i.e. yi=yi, it is transferred to S174c steps；
S174b, control described image harvester move Δ Y location along gap length direction opposite direction, so that image is adopted
Acquisition means return；
S174c, triggering image collecting device gather current outline again, and the former cloud data of covering causes ai,j=ai,j,
ai,jRepresent the cloud data of the image slot of present segment.
S175, next section of collection position y for judging image collecting devicei+1=yi+tyWhether terminal y is exceededfinal, i.e. yi+1
=yi+ty≤yfinal, the tyIt is the sampling interval；If exceeding terminal, terminate collection, if without departing from terminal, entering S176 steps
Suddenly；
S176, then image collecting device at the uniform velocity move sampling interval t along the length direction positive direction in gapySo that yi+1=
yi+ty；
S177, judge that the width (X-direction) and short transverse (Z-direction) of next section of gap to be collected in gap are
In the visual field acquisition range of the no regulation positioned at image collecting device, the visual field acquisition range of the regulation is in image collecting device
Effective acquisition field of view in the range of (see Fig. 7)；If being not located in the range of the regulation acquisition field of view of described image harvester,
Into S178 steps, if in the range of the regulation acquisition field of view of described image harvester, being transferred to S15 steps, to enter
The present image collection in next section of gap of row；
In the present embodiment, image collecting device can be adjusted in X-direction pose by following steps, to cause it in width
Direction is located in the range of effective acquisition field of view：
S1771, judgementWherein, xiRepresent the corresponding image collector in present segment gap
Put the coordinate of the width X in gap, i.e. X-direction coordinate, xi+1Represent X-direction during next section of collection of image collecting device
Coordinate,It is the edge mid-points of the gap profile of present segment slot image,It is the side of the gap profile of the preceding paragraph slot image
Edge midpoint, FwThe visual field width (see Fig. 7) of image collecting device；If being more than or equal to, into S1772 steps；If being less than,
It is transferred to S1773 steps；
S1772, the coordinate of the width X of next section of image collecting device are
S1773, judgementIf being less than or equal to, into S1774 steps, if being more than,
It is considered as the next section of visual field of the width X of image collecting device to be located in regulation acquisition field of view；
S1774, the coordinate of the width X of next section of image collecting device are for then
In the present embodiment, image collecting device can be adjusted in Z-direction pose by following steps, to cause it in height
Direction is located in the range of regulation acquisition field of view：
S1771 ', judgementWherein,For present segment slot image gap profile most
Low spot,It is the minimum point of the gap profile of the preceding paragraph slot image, FhIt is the field height (see Fig. 6) of image collecting device,
ziRepresent coordinate of the corresponding image collecting device in present segment gap in short transverse Z, i.e. Z-direction coordinate, zi+1Represent that image is adopted
Z-direction coordinate during next section of collection of acquisition means, if being more than or equal to, into S1772 ' steps, if being less than, is transferred to
S1773’；
S1772 ', the Z coordinate of next section of image collecting device are
S1773 ', judgementIf being less than or equal to, into S1774 ' steps, otherwise, depending on
For the next section of visual field of the short transverse Z of image collecting device is located in regulation acquisition field of view；
S1774 ', the coordinate of the short transverse Z of next section of image collecting device are then
The X-direction coordinate and/or Z-direction coordinate of S178, adjustment image collecting device, make its acquisition field of view be adopted positioned at regulation
In collection field range, after X-direction coordinate and Z-direction coordinate are respectively positioned in the range of regulation acquisition field of view, image is then triggered again
Harvester gathers the slot image of new position, i.e., present segment image acquisition step is transferred to again, to gather the gap of new position
Image.
The adjustment flow of above-mentioned X-direction and Z-direction coordinate has no sequencing, in certain embodiments, can first adjust Z
X-direction coordinate is adjusted after the coordinate of direction again, it is also possible to adjust Z-direction coordinate again after first adjusting X-direction coordinate.
In certain embodiments, as long as the S12 steps are before S17 steps.
Measured using the above method, high-quality adopting continuously can be carried out to free form surface inseam gap profile automatically
Sample, by the pretreatment to profile cloud data, splicing, piecewise fitting, can depict the solid figure in gap, by virtual
To the expression of the positioning and geometrical relationship of key feature points in gap under environment, the physical dimension in gap can be calculated.Only need
One key operation is to be capable of achieving the measurement to gap physical dimension in free form surface, and high degree of automation, measuring speed are fast, do not exist
Human error influences, and improves certainty of measurement.
The invention also discloses gap geometrical size measuring device in a kind of free form surface, including：
Slot image harvester：For the slot image of piecewise acquisition free form surface product to be measured；
Slot image processing module：Processed to obtain gap section wheel for every section of slot image to collecting
Exterior feature, positions every section of Edge Feature Points of gap profile, gap inside corner, peak and minimum point；
Registration and connection module：Registration and connection is carried out for each section of gap profile after by treatment；
Piecewise fitting module：Piecewise fitting is carried out for the characteristic point to the gap profile after Registration and connection, to be had
There are gap minimum point curve, boundary curve, the overall gap profile of highest point curve；
Gap physical dimension acquisition module：Depth, length and width for the curve acquisition gap according to fitting.
The function of gap geometrical size measuring device of the invention is described referring to the above method, is no longer repeated one by one herein.
Embodiments of the present invention are these are only, the scope of the claims of the invention is not thereby limited, it is every using the present invention
Equivalent structure or equivalent flow conversion that specification and accompanying drawing content are made, or directly or indirectly it is used in other related technologies
Field, is included within the scope of the present invention.
Claims (10)
1. gap physical dimension measuring method in a kind of free form surface, comprises the following steps：
Slot image acquisition step：The slot image of piecewise acquisition free form surface product to be measured；
Slot image process step：Every section of slot image to collecting is processed to obtain gap cross section profile, and positioning is every
The Edge Feature Points of section gap profile, gap inside corner, peak and minimum point；
Registration and connection step：Each section of gap profile after by treatment carries out Registration and connection；
Piecewise fitting step：Characteristic point to the gap profile after Registration and connection carries out piecewise fitting, to obtain with gap most
Low spot curve, boundary curve, the overall gap profile of highest point curve；
Gap physical dimension obtaining step：The physical dimension in the curve acquisition gap according to fitting.
2. gap physical dimension measuring method in free form surface as claimed in claim 1, it is characterised in that：In the gap figure
As in acquisition step, according to the gap position and length of free form surface product to be measured, being stitched by the piecewise acquisition successively of head to tail
Gap image, so that progressively automatic data collection obtains complete gap contour images.
3. gap physical dimension measuring method in free form surface as claimed in claim 2, it is characterised in that：
In image acquisition step, free form surface product to be measured is progressively gathered by the image collecting device of " 3+1 " free degree
Slot image, and the slot image that will be collected sent to host computer, so that host computer gets freedom to be measured successively
Each section of slot image of curved face product.
4. gap physical dimension measuring method in free form surface as claimed in claim 3, it is characterised in that：
During image collecting device progressively gathers the slot image of free form surface product to be measured, host computer is based on software
Environment, sets up local virtual measuring basis online, with the gap profile physical dimension and present image harvester that have obtained
Pose constrain the spatial pose at next place of image collecting device, keep the gap profile to be in the range of available field of view, by
Step realizes the automatic data collection to whole gap profile.
5. gap physical dimension measuring method in free form surface as claimed in claim 4, it is characterised in that：
In image processing step, the host computer is pre-processed to the every section of slot image cloud data for getting, described
Pretreatment includes smoothing denoising, rejecting abnormalities point, edge segmentation, to obtain gap cross section profile；It is local empty further according to what is set up
Intend measuring basis and positioning is identified to every section of slot edge characteristic point, gap inside corner, peak and minimum point.
6. gap physical dimension measuring method in free form surface as claimed in claim 5, it is characterised in that in piecewise fitting step
In rapid, host computer is first converted in unified global coordinate system each section of gap profile point cloud data under local coordinate system, and
Surface reconstruction, simplification, smooth, positioning feature point are carried out to splicing complete gap profile cloud data in global coordinate system,
Subsection curve drafting is carried out again, and minimum point curve, boundary curve, the highest point curve in gap is depicted.
7. gap physical dimension measuring method in free form surface as claimed in claim 6, it is characterised in that：
In the physical dimension obtaining step of gap, the 3-D graphic in gap need to be carefully drawn under global virtual environment and calculate corresponding
Gap characteristic between physical dimension.
8. gap physical dimension measuring method in free form surface as claimed in claim 3, it is characterised in that the slot image
Acquisition step includes following sub-step：
S11, initial acquisition pose obtain sub-step：Gap position according to free form surface product to be measured obtains the first of the gap
Begin collection pose；
S13, initial acquisition device pose adjustment sub-step：The initial bit of harvester is adjusted according to the initial acquisition pose for obtaining
Appearance；
S15, present segment slot image collection sub-step：Gather the slot image of this section；
S17, the corresponding harvester pose adjustment sub-step in hypomere gap collection position：According to upper the one of present segment and present segment
Section slot image information, the pose of corresponding image collecting device constrain the next section of corresponding figure in slot image position to be collected
As the pose of harvester, and the pose of image collecting device is adjusted accordingly.
9. gap physical dimension measuring method in free form surface as claimed in claim 3, it is characterised in that in IMAQ step
It is further comprising the steps of before rapid：
Free form surface product to be measured is placed on an erecting bed；
By image collecting device be fixed on one be located at the erecting bed side mobile unit on, wherein, mobile unit include with
The corresponding X of width in gap to be measured to base, be erected on X to can be according to the driving of one first motor in X on base
To mobile Z-direction axostylus axostyle corresponding with the short transverse in the gap to be measured, level on the Z-direction axostylus axostyle and being capable of root
The Y-direction axostylus axostyle corresponding with the length direction in the gap to be measured that is moved in Z-direction according to the driving of one second motor and it is used for
The 3rd motor for driving Y-direction axostylus axostyle to be moved in Y-direction, described image collecting unit corresponds to institute on the Y-direction axostylus axostyle
One end of installation portion is stated, the image collecting device can turn according to the length direction in the drives edge gap to be measured of one the 4th motor
Dynamic, first motor, the second motor, the 3rd motor and the 4th motor are connected with the host computer signal；The host computer
Control mobile unit work such that it is able to move image collecting device " 3+1 " free degree, to adjust the position of image collecting device
Appearance, make its gather slot image when, its collection direction and gap to be measured section near normal to be collected.
10. gap geometrical size measuring device in a kind of free form surface, it is characterised in that including：
Slot image harvester：For the slot image of piecewise acquisition free form surface product to be measured；
Slot image processing module：Processed to obtain gap cross section profile for every section of slot image to collecting, it is fixed
Position every section of Edge Feature Points of gap profile, gap inside corner, peak and minimum point；
Registration and connection module：Registration and connection is carried out for each section of gap profile after by treatment；
Piecewise fitting module：Piecewise fitting is carried out for the characteristic point to the gap profile after Registration and connection, to obtain that there is seam
The minimum point curve of gap, boundary curve, the overall gap profile of highest point curve；
Gap physical dimension acquisition module：For the physical dimension in the curve acquisition gap according to fitting.
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