CN106813570B - The identification of elongated cylindrical object dimensional and localization method based on line-structured light scanning - Google Patents
The identification of elongated cylindrical object dimensional and localization method based on line-structured light scanning Download PDFInfo
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Abstract
Object manipulator automatic charging of the present invention, propose it is a kind of based on line-structured light scanning elongated cylindrical object dimensional identification and localization method: the elongated cylindrical body surface divided in m axial scan hopper using structural light measurement sensor with fixed step size obtains the structural light measurement data of m section；Data segmentation is carried out respectively to the structural light measurement data of each section, so that the data for belonging to same object are segmented in one section of circular arc；Circular fitting is carried out to every section of segmentation data, obtains central coordinate of circle；Each circular arc center of circle of m section is matched, so that belonging to the circular arc matching of same object together；The three-dimensional coordinate of object is calculated by linear interpolation algorithm；Determine the label of crawl object.Online, real-time, the automatic, non-cpntact measurement of elongated cylindrical object dimensional coordinate may be implemented in the present invention, and measuring speed is fast, precision is high；Small to object itself constraint, radius and length can arbitrarily change；Object placement position is random in hopper, can tilt, intersect；There is robustness to noise.
Description
Technical field
The invention belongs to computer vision fields, more particularly to a kind of elongated cylindrical object based on line-structured light scanning
The identification of body three-dimensional and localization method.
Background technique
With the rapid development of the national economy, automation has become following developing direction.People is replaced using robot
Work realizes automatic loading/unloading, not only saves production cost, improves production efficiency, while improving safety coefficient, reduces worker's labour
Intensity becomes the ideal chose of more and more companies.
In order to realize robot automatic loading/unloading, needs to measure the position of material, be then passed to robot, guidance is mechanical
Hand is grabbed.And structural light measurement method because equipment is simple, strong real-time due to be highly valued, especially to measuring device
Volume, the stringent application of weight, power consumption requirements, structural light measurement more embodies its advantage.
Structural light measurement method is a kind of active optical measuring technique, the basic principle is that by structured light projector to
Testee surface projects controllable luminous point, striation or smooth surface structure, and obtains image by imaging sensor (such as video camera),
Then by system geometrical relationship, the three-dimensional coordinate of object is calculated using triangle principle.According to structured light projector to quilt
It surveys body surface and projects controllable luminous point, striation or smooth surface structure, structure light can be divided into structure light, line-structured light and face knot
Structure light.Since structure light measurement method needs point by point scanning object to measure, with the increase of testee, image capture
It can be sharply increased with image processing time, it is difficult to realize real-time measurement；And to obtain three-dimensional coordinate point data volume very big for area-structure light,
Calculation amount can also increase therewith, and therefore, the application of line-structured light in engineering is more universal.
Serious by noise pollution since production environment is severe, the radius of elongated cylindrical object, length arbitrarily become again in hopper
Change, and put disorderly and unsystematic, the precision of general measurement method is extremely difficult to actual requirement.
Summary of the invention
Serious for noise pollution in solution production environment, elongated cylindrical object radius, length arbitrarily change in hopper, and put
Put it is mixed and disorderly arbitrarily situations such as influence to measurement accuracy, the present invention provides that a kind of measuring speed is fast, and precision is high, strong robustness, real
When, be automatically realized elongated cylindrical object dimensional identification with positioning method.
Present invention technical solution used for the above purpose is: a kind of elongated cylindrical based on line-structured light scanning
Object dimensional identification and localization method, for realizing the measurement of elongated cylindrical object space in hopper, comprising the following steps:
M progress is divided axially to sweep with fixed step size on the elongated cylindrical object in hopper using line-structured light measurement sensor
It retouches, obtains the structural light measurement data of m section；
Data segmentation is carried out respectively to the structural light measurement data of each section, so that belonging to the data segmentation of same object
In one section of circular arc；
Circular fitting is carried out to every section of segmentation data, obtains central coordinate of circle；
According to the constraint condition that the circular arc on same object should meet, the circular arc center of circle of m section is matched；
The three-dimensional coordinate of elongated cylindrical object is calculated using linear interpolation algorithm；
Determine the object number of crawl.
The setting section of the m can cover the axial direction of entire elongated cylindrical object substantially, need according to the actual situation certainly
Row determines.
The ray that the line-structured light measurement sensor is projected is 1.
In the data cutting procedure, the data point of same section of circular arc should meet simultaneously the following conditions:
|xi-xi-1|+|zi-zi-1| < k1 (1)
|zi-zi-5| < k2 (2)
(zi-10-zi≤k3)||(zi+10-zi≤k3) (3)
Wherein, (xi,zi) it is coordinate value of the structural light measurement data at i-th point on the direction x, z, (xi-1,zi-1) it is structure
Coordinate value of the light measurement data at (i-1)-th point on the direction x, z, zi-5、zi-10、zi+10Be divided into structural light measurement data i-th -5,
Coordinate value at i-10, i+10 point on the direction z, k1、k2、k3It is preset constant.
The data segmentation heel row removes the interference for meeting the structural light measurement data of the following conditions:
Wherein, (xi,zi) it is coordinate value of the structural light measurement data at i-th point on the direction x, z,For on circular arc
The structural light measurement data of last point, k4、k5It is preset constant, and there are k4< k5。
The progress circular fitting requires the points of data on same section of circular arc while meeting the following conditions:
N > r/Tsample (6)
N < 2*r/Tsample (7)
Wherein, n is the points of data on same section of circular arc, and r is arc radius, TsampleFor structure light resolution ratio.
The circular fitting is carried out using Gaussian-Newton method, objective function are as follows:
f(x0,z0)=(x-x0)2+(z-z0)2-r2 (8)
Wherein, x, z are the data point coordinate on circular arc, x0、z0For center coordinate of arc, parameter as to be asked was solved
Journey is as follows:
Step 1: setting x0、z0Initial value
Wherein, xkFor k-th of data on circular arc on the direction x, n is the data volume on circular arc, zkFor the data side z on circular arc
Upward maximum value, r are arc radius；
Step 2: to function f (x0,z0) seek second-order partial differential coefficient, i.e.,
With season
b11Δ1+b12Δ2=B1 (16)
b21Δ1+b22Δ2=B2 (17)
Wherein, fkFor the target function value of k-th of data on circular arc, Δ1、Δ2The respectively increment of central coordinate of circle, according to
Formula (16), (17), can obtain:
Step 3: updating x0、z0, it may be assumed that
Wherein,Center coordinate of arc when respectively (i-1)-th iteration,Respectively i-th
Center coordinate of arc when secondary iteration；
Step 4: calculating mean square error:
If MS < T, T are maximum square mean error amount, stop iteration, obtain center coordinate of arc x0、z0；Otherwise is gone to
Two steps.
The constraint condition that circular arc on the same object should meet are as follows:
Wherein, (xq,zq) it is last matched center coordinate of arc,For the center coordinate of arc for not matching section,
k6、k7It is preset constant.
Behind the circular arc center of circle of m section of the matching, the corresponding object of this section of circular arc is candidate crawl object.
The three-dimensional coordinate that elongated cylindrical object is calculated using linear interpolation algorithm, specifically:
Y value at known object crawl position calculates two sections nearest from the value, it is corresponding to obtain corresponding section object
Central coordinate of circle (the x of circular arc1,z1)、(x2,z2), corresponding x, z value of y value is calculated using linear interpolation method and is respectively as follows:
Wherein, y1、y2The corresponding y value of respectively two sections.
The object number of the determining crawl, specifically:
The object that random selection top layer can grab, if set up with lower inequality:
It is so object to be captured marked as the object of s；Wherein, rand () is random number,Respectively mark
Number for s two crawl positions of object at corresponding z value,At two crawl positions of object respectively marked as k pair
The z value answered, m are candidate crawl number of objects.
The present invention has the following advantages and beneficial effects:
1. realizing the three-dimensional identification and positioning of elongated cylindrical object using structural light measurement sensor and PC machine, there is equipment
Simply, the characteristics of measurement accuracy height, strong real-time.
2. although data itself, which exist, connects arc structural light measurement data are serious by noise pollution, and have straight line interference again
Situation, but be still able to accurately divide segmental arc, there is good interference free performance.
3. the constraint of pair elongated cylindrical object itself is small, radius and length can arbitrarily change.
4. elongated cylindrical object in hopper is there are under the various display cases such as multilayer, cross-layer and intersection, Neng Gouzhun
Object to be captured really is positioned, there is preferable robustness.
Detailed description of the invention
Fig. 1 is overall flow figure of the invention；
Fig. 2 is the line-structured light schematic diagram data that some profile scanning obtains；
Fig. 3 is segmental arc segmentation result schematic diagram；
Fig. 4 is circular fitting result schematic diagram.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and embodiments.
A kind of identification of elongated cylindrical object dimensional and localization method based on line-structured light scanning of the invention, utilizes structure
Light measuring sensor axial scan body surface obtains structural light measurement data, is split to data, justifies fitting, obtains the center of circle
Coordinate, and matched, calculate the three-dimensional coordinate of object.As shown in Figure 1, specifically comprising the following steps:
1. structural light measurement data acquisition
M progress is divided axially to sweep with fixed step size on the elongated cylindrical object in hopper using structural light measurement sensor
It retouches, obtains the structural light measurement data of m section, the data of one of section are as shown in Fig. 2, abscissa and ordinate difference
For the length data of X-direction and Z-direction；The ray that the structural light measurement sensor is projected is 1.
2. data are divided
By the data characteristics in analysis structural light measurement data on same section of circular arc, find they should meet simultaneously with
Lower condition:
|xi-xi-1|+|zi-zi-1| < k1 (1)
|zi-zi-5| < k2 (2)
(zi-10-zi≤k3)||(zi+10-zi≤k3) (3)
Wherein, (xi,zi) it is coordinate value of the structural light measurement data at i-th point on the direction x, z, k1、k2、k3It is constant,
It can analyze according to sample data, and be verified by the experiment under a large amount of actual conditions, it is ensured that same section of circular arc
On data segmentation it is correct.It is illustrated in figure 3 segmental arc segmentation result schematic diagram on a section, in figure+number indicate each segmentation segmental arc
Beginning and end.
But since there are much noises in measurement data, so that one section of circular arc is divided into two sections or multistage, influence next
Circular fitting process.The noise jamming that data cutting procedure is subject to includes big noise and small noise, wherein big noise refers to pair
Structural light measurement data (x at the i-th pointi,zi), if itself and the structural light measurement data at last point on current circular arcThe big Mr. Yu's number of the absolute value of difference in the direction z, then it is assumed that be big noise at this；Small noise refers at the i-th point
Structural light measurement data (xi,zi), if itself and the structural light measurement data at last point on current circular arcDirection difference
The small Mr. Yu's number of the absolute value of value, then it is assumed that the point is small noise spot.Therefore the noise data for meeting the following conditions should be excluded
Interference continues arc fragmenting process, it may be assumed that
Wherein,For the coordinate value of the structural light measurement data at last point on current circular arc in a z-direction, k4、k5It is
Constant can be analyzed according to sample data, and be verified by the experiment under a large amount of actual conditions, and noise is excluded
Interference, to guarantee that data segmentation is correct.The data that definition herein meets (4) formula are big noise, and it is small for meeting the data of (5) formula
Noise.
3. circular fitting
Circular fitting is carried out if the points of data on same section of circular arc meet the following conditions:
N > r/Tsample (6)
N < 2*r/Tsample (7)
Wherein, n is the points of data on same section of circular arc, and r is arc radius, TsampleFor axial scan step-length.This literary grace
The circular arc center of circle is fitted with Gaussian-Newton method.The expression formula of standard round are as follows:
(x-x0)2+(z-z0)2=r2 (30)
In formula, x, z are the point coordinate on circle, x0、z0For central coordinate of circle.It enables
f(x0,z0)=(x-x0)2+(z-z0)2 (31)
So Gaussian-Newton method obtains central coordinate of circle (x by making following expressions obtain minimum value0,z0), i.e.,
The specific steps of which are as follows:
Step 1: setting x0、z0Initial value, wherein x0For the average value on circular arc on the direction data x, z0For on circular arc
Maximum value on the direction data z subtracts arc radius, i.e.,
Step 2: to function f (x0,z0) about x0、z0Second-order partial differential coefficient is sought,
With season
b11Δ1+b12Δ2=B1 (16)
b21Δ1+b22Δ2=B2 (17)
Wherein, Δ1、Δ2The respectively increment of central coordinate of circle can be obtained according to (16), (17) two formulas:
Step 3: updating x0、z0, it may be assumed that
Step 4: calculating mean square error:
If MS < T, stops iteration, obtain center coordinate of arc x0、z0；Otherwise second step is gone to.Wherein, T is maximum equal
Square error amount.It is illustrated in figure 4 circular fitting result schematic diagram, the round circle for indicating segmentation segmental arc and being fitted in figure ,+number table
Show the center of circle for the circle that fitting obtains.
4. circular arc matches
If first all center coordinate of arc for not matching section is
It is (x for matched all center coordinate of arc1,z1),(x2,z2),...,(xq,zq),...,(xm,zm).It is consequently belonging to same
Two circular arcs of object should meet simultaneously the following conditions:
Wherein, k6、k7It is constant, can be analyzed according to sample data, and passes through the experiment under a large amount of actual conditions
It is verified to obtain.After meeting above-mentioned two formula, updates and is used for matched center coordinate of arc, it may be assumed that
5. calculating object dimensional coordinate
If certain section of circular arc matching times are equal to scanning times m, the corresponding elongated cylindrical object of this section of circular arc is
Candidate's crawl object.Y value at known object crawl position calculates two sections nearest from the value, obtains corresponding section object
Central coordinate of circle (the x of the corresponding circular arc of body1,z1)、(x2,z2), then there is following linear relationship:
Corresponding x, z value of y value can be finally obtained to be respectively as follows:
Wherein, y1、y2The corresponding y value of respectively two sections.
6. determining crawl object number
If determined from candidate elongated cylindrical object the mode of object to be captured be it is fixed, and this object by
It can not grab in some reasons, then system will repeat the above process, paralyse.Therefore select random method true herein
Fixed object to be captured.If set up with lower inequality:
Elongated cylindrical object so marked as s is object to be captured.Wherein, rand () is random number, z1、z2Point
It Wei corresponding z value, m be not candidate crawl number of objects at two crawl positions.
Claims (10)
1. a kind of identification of elongated cylindrical object dimensional and localization method based on line-structured light scanning, for realizing oval in hopper
The measurement of cylindrical objects position, which comprises the following steps:
Divide m progress axial scan to the elongated cylindrical object in hopper using line-structured light measurement sensor with fixed step size,
Obtain the structural light measurement data of m section；
Data segmentation is carried out respectively to the structural light measurement data of each section, so that the data for belonging to same object are segmented in one
In section circular arc；
Circular fitting is carried out to every section of segmentation data, obtains central coordinate of circle；
According to the constraint condition that the circular arc on same object should meet, the circular arc center of circle of m section is matched；
The three-dimensional coordinate of elongated cylindrical object is calculated using linear interpolation algorithm；
Determine the object number of crawl；
The circular fitting is carried out using Gaussian-Newton method, objective function are as follows:
f(x0,z0)=(x-x0)2+(z-z0)2-r2 (8)
Wherein, x, z are the data point coordinate on circular arc, x0、z0For center coordinate of arc, parameter as to be asked, solution procedure is such as
Under:
Step 1: setting x0、z0Initial value
Wherein, xkFor k-th of data on circular arc on the direction x, n is the data volume on circular arc, zkFor on circular arc on the direction data z
Maximum value, r is arc radius；
Step 2: to function f (x0,z0) seek second-order partial differential coefficient, i.e.,
With season
b11Δ1+b12Δ2=B1 (16)
b21Δ1+b22Δ2=B2 (17)
Wherein, fkFor the target function value of k-th of data on circular arc, Δ1、Δ2The respectively increment of central coordinate of circle, according to formula
(16), (17) can obtain:
Step 3: updating x0、z0, it may be assumed that
Wherein,Center coordinate of arc when respectively (i-1)-th iteration,Respectively i-th changes
For when center coordinate of arc；
Step 4: calculating mean square error:
If MS < T, T are maximum square mean error amount, stop iteration, obtain center coordinate of arc x0、z0；Otherwise second step is gone to.
2. the identification of elongated cylindrical object dimensional and localization method according to claim 1 based on line-structured light scanning,
It is characterized in that, the setting of the m section can cover the axial direction of entire elongated cylindrical object substantially, need according to the actual situation certainly
Row determines.
3. the identification of elongated cylindrical object dimensional and localization method according to claim 1 based on line-structured light scanning,
It is characterized in that, the ray that the line-structured light measurement sensor is projected is 1.
4. the identification of elongated cylindrical object dimensional and localization method according to claim 1 based on line-structured light scanning,
It is characterized in that, in the data cutting procedure, the data point of same section of circular arc should meet simultaneously the following conditions:
|xi-xi-1|+|zi-zi-1| < k1 (1)
|zi-zi-5| < k2 (2)
(zi-10-zi≤k3)||(zi+10-zi≤k3) (3)
Wherein, (xi,zi) it is coordinate value of the structural light measurement data at i-th point on the direction x, z, (xi-1,zi-1) it is structure flash ranging
Measure coordinate value of the data at (i-1)-th point on the direction x, z, zi-5、zi10、zi+10It is divided into structural light measurement data in i-th -5, i-
10, the coordinate value at i+10 point on the direction z, k1、k2、k3It is preset constant.
5. the identification of elongated cylindrical object dimensional and localization method according to claim 4 based on line-structured light scanning,
It is characterized in that, the data segmentation heel row removes the interference for meeting the structural light measurement data of the following conditions:
Wherein, (xi,zi) it is coordinate value of the structural light measurement data at i-th point on the direction x, z,It is last on circular arc
The structural light measurement data of a bit, k4、k5It is preset constant, and there are k4< k5。
6. the identification of elongated cylindrical object dimensional and localization method according to claim 1 based on line-structured light scanning,
It is characterized in that, the progress circular fitting requires the points of data on same section of circular arc while meeting the following conditions:
N > r/Tsample (6)
N < 2*r/Tsample (7)
Wherein, n is the points of data on same section of circular arc, and r is arc radius, TsampleFor structure light resolution ratio.
7. the identification of elongated cylindrical object dimensional and localization method according to claim 1 based on line-structured light scanning,
It is characterized in that, the constraint condition that the circular arc on the same object should meet are as follows:
Wherein, (xq,zq) it is last matched center coordinate of arc,For the center coordinate of arc for not matching section, k6、k7
It is preset constant.
8. the identification of elongated cylindrical object dimensional and localization method according to claim 1 based on line-structured light scanning,
It is characterized in that, behind the circular arc center of circle of m section of the matching, the corresponding object of this section of circular arc is candidate crawl object.
9. the identification of elongated cylindrical object dimensional and localization method according to claim 1 based on line-structured light scanning,
It is characterized in that, the three-dimensional coordinate that elongated cylindrical object is calculated using linear interpolation algorithm, specifically:
Y value at known object crawl position calculates two sections nearest from the value, obtains corresponding section object and correspond to circular arc
Central coordinate of circle (x1,z1)、(x2,z2), corresponding x, z value of y value is calculated using linear interpolation method and is respectively as follows:
Wherein, y1、y2The corresponding y value of respectively two sections.
10. the identification of elongated cylindrical object dimensional and localization method according to claim 1 based on line-structured light scanning,
It is characterized in that, the object number of the determining crawl, specifically:
The object that random selection top layer can grab, if set up with lower inequality:
It is so object to be captured marked as the object of s；Wherein, rand () is random number,Respectively marked as s
Two crawl positions of object at corresponding z value,Corresponding z at two crawl positions of object respectively marked as k
Value, m are candidate crawl number of objects.
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| CN111402411A (en) * | 2020-04-10 | 2020-07-10 | 贵刚 | Scattered object identification and grabbing method based on line structured light |
| CN111474516B (en) * | 2020-04-17 | 2022-01-11 | 华中科技大学 | Multi-level indoor positioning method and system based on crowdsourcing sample surface fitting |
| CN111322950B (en) * | 2020-04-17 | 2021-08-17 | 易思维（杭州）科技有限公司 | Method for positioning cylinder position by line structured light sensor and its use |
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