CN106996744A - A kind of real-time displacement device for accurately measuring and measuring method based on bar code ruler - Google Patents
A kind of real-time displacement device for accurately measuring and measuring method based on bar code ruler Download PDFInfo
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- CN106996744A CN106996744A CN201710260369.XA CN201710260369A CN106996744A CN 106996744 A CN106996744 A CN 106996744A CN 201710260369 A CN201710260369 A CN 201710260369A CN 106996744 A CN106996744 A CN 106996744A
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- bar code
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- ruler
- scale
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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
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30244—Camera pose
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- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of real-time displacement device for accurately measuring based on bar code ruler and measuring method.Described device includes bar code ruler and machine vision displacement measurement system, and it is the uninterrupted bar code combination rulers of 1mm, the effect with graduated scale that bar code ruler, which is arranged on guide rail,；Machine vision displacement measurement system is arranged on dolly, mainly including following part：CCD camera, enlarging lens, light source and image processing module, the system can carry out real-time coordinates to bar code ruler with the movement of camera and accurately measure.The measuring method to camera unit pixel by demarcating, and gather bar code graduated scale current position image, image pixel is divided into virtual vernier scale using vernier caliper reading principle, bar code ruler is used as main scale, the accurate dolly that reads is presently in coordinate, monitored in real time in dolly moving process, determine dolly displacement parameter.This method can apply one-dimensional rectilinear coordinates and displacement detecting in various industrial productions, and accumulated error is small, and measurement accuracy is high, can monitor in real time.
Description
Technical field
The present invention particularly belongs to a kind of displacement measuring device and measuring method, relates generally to a kind of based on bar code graduated scale
Line slideway dolly real-time displacement device for accurately measuring, further relates to a kind of Coordinate read method i.e. based on bar code graduated scale position
Move accurate measurement method.
Background technology
The measurement of one-dimensional straight-line displacement has a wide range of applications in industrial production line, such as production line accessory cart
Accurate parking.Measurement to rectilinear coordinates, currently conventional method is the measuring method based on grating or Principles of Laser, measurement essence
Degree is higher, but its is complicated, installs and debug relatively difficult, higher to use and maintenance environmental requirement, measures into it
This is higher, can not also be popularized in actual production.
With the development of the correlation techniques such as computer graphics, computer vision, digital image processing techniques are gradually
Detection field is applied to, is currently obtained extensively in the field such as shape of product and the non-cpntact measurement of size, appearance quality testing
General application.In recent years, digital image processing techniques were gradually applied to displacement measurement, but were due to have no idea to overcome measurement
During error accumulation problem, universal measurement accuracy is relatively low, it is impossible to applied in actual production.
The content of the invention
The problem of present invention is solves complicated existing line slideway dolly real-time displacement measuring method and low measurement accuracy, carries
For a kind of displacement device for accurately measuring detected based on machine vision bar code ruler and measuring method.First in absolute coordinate zero point profit
Image is carried out with camera pixel and bar code ruler actual graduation value to utilize the current bar code of camera acquisition in pixel demarcation, moving process
The image of chi, accurately reads changing coordinates, the system architecture is simple, accumulated error with the method simulation slide measure of image procossing
Small, measurement range is big, and monitoring dolly is presently in coordinate in real time.
Technical scheme is as follows：A kind of real-time displacement device for accurately measuring based on bar code ruler of the present invention, it is special
Levy and be to include NI Vision Builder for Automated Inspection and bar code graduated scale.The bar code ruler is horizontally fixed on track, and the bar code ruler is scale
Chi continuous arrangement, every two adjacent graduation marks include identical and unique code system bar code, and scale division value is 1mm, and bar code is neat
Arrangement；The NI Vision Builder for Automated Inspection includes CCD camera, enlarging lens, image processing module and light source, is obtained for monitoring on-line
Current location bar code ruler image is simultaneously decoded, and accurately reads current position coordinates, and precision can be increased to if needed up to 0.1mm
It is higher, such as 0.02mm.
Further, in orbit, the bar code ruler range can increase and decrease the parallel fixation of the bar code ruler as needed, you can use
Short distance measurement is can also be used in large range measuring.
Further, the NI Vision Builder for Automated Inspection is fixed on along along the dolly of track travel, camera distance bar code ruler 30-
150mm。
Further, the alignment pin is located at track and bar code ruler initial position, camera lens when dolly is locked to this
Bar code ruler zero graduation line is directed at, camera pixel is demarcated in the position, it is ensured that measurement accuracy.
Further, the camera is inexpensive CCD camera, and resolution ratio is 1280*960, and frame frequency is 15fps；The mirror
Head is 1-6 times of multiplication factor, can be focused on automatically；The light source is placed in camera lens front end, is that the acquisition of bar code image is carried
For no-reflection irradiation, machine vision definition is improved.
Further, described image processing module is integration block device, and the image collected is handled, and simulates vernier
Slide calliper rule reading mode understands Current camera correspondence bar code ruler, and current corresponding bar code is decoded, and data are analyzed,
Accurately read current dolly coordinate.
The method that a kind of use aforementioned means of the present invention realize displacement and coordinate on-line monitoring, comprises the following steps；
Step one：Start dolly real-time displacement measurement apparatus, empty data recovery original state, calibration dolly is located at coordinate
Axle zero point, i.e. bar code ruler zero graduation line position, the bar code ruler scale division value are 1mm, and the image and actual scale that camera is shot are carried out
Pixel scalar is asked in calibration, and image processing module by the actual corresponding decile of 9mm pixels 10 in image, is arranged to as needed
Vernier scale state, the displacement measurement accuracy reaches 0.1mm；
Step 2：Dolly control module drives carriage walking, and camera obtains and is presently in bar code ruler during walking
Information, and image information is sent to image processing module；
Step 3：Image processing module is analyzed image, and the detection method chooses suitable threshold value by image first
Gray processing processing, choose the rectangle template of medium filtering 3 × 3 to image noise reduction, following given threshold greyscale image transitions into
Bianry image, bar code graduated scale is maximized and reduced, and passes through the bar of set algorithm interception image pixel correspondence vernier scale zero point
Code；
Further, the bar code intercepted is decoded, calculating intercepts each pulse width of bar code, and is converted
Into a series of binary numerals, program is decoded according to the code character of the code system, obtains current bar code digital coding, it is determined that
The coordinate integers position of the position.
Further, then graduation mark in image equivalent to which bar graduation mark of the pixel of vernier scale and bar code ruler is judged
Alignment, decimal place attends school a few tenths of a mm, and integer-bit and decimal place are combined and are presently in coordinate value as dolly, should
Coordinates measurements are accurate to 0.1mm, and higher, such as 0.02mm can be accurate to as needed.
Further, program records coordinate transform of the dolly relative to absolute coordinate zero point, according to the coordinate difference of record
The absolute displacement of the dolly is calculated, finally sends the data after processing to displacement display screen, line slideway dolly is realized
Real-time displacement is accurately measured.
The present invention a kind of real-time displacement device for accurately measuring and measuring method based on bar code ruler, by dolly
NI Vision Builder for Automated Inspection and guide rail on bar code graduated scale occur relative displacement, using vernier caliper reading principle by shooting image
Pixel is according to bar code ruler actual size etc. point as vernier scale, and bar code ruler is as main scale, and the accurate dolly that reads is presently in sitting
Mark, is monitored in real time in dolly moving process.The measurement of the present invention is not influenceed by range, overcomes error in measurement process
Accumulation problem, it is ensured that measurement accuracy, can be not only used for coordinate measurement, it can also be used to displacement detecting, non-using Digital Image Processing
Contact type measurement, can in real time monitor, be widely used, practicality is stronger.
Brief description of the drawings
The present invention is further illustrated below in conjunction with the accompanying drawings.
Fig. 1 is the principle schematic of image method detection coordinates of the present invention.
Fig. 2 is the displacement measuring device structure schematic diagram of the invention based on bar code ruler.
Fig. 3 is absolute displacement detection algorithm flow chart of the present invention.
In figure：0-10 is virtual vernier scale scale value, 11, walking dolly, 12, image processing module, 13, camera, 14, put
Macro lens, 15, light source, 16, bar code ruler, 17, alignment pin, 18, guide rail, 19, control panel, 20, coordinate display, 21, bar shaped
Code, 22, graduated scale, 23, the virtual vernier scale based on pixel, 24-35 is bar code graduated scale scale value.
Specific implementation method
Presently preferred embodiments of the present invention is described in detail below in conjunction with the accompanying drawings, so that advantages and features of the invention energy
It is easier to be readily appreciated by one skilled in the art, apparent is clearly defined so as to be made to protection scope of the present invention.Below
The present invention is described in further detail with reference to accompanying drawing.
As illustrated, a kind of real-time displacement device for accurately measuring based on bar code ruler of this example is surveyed including machine vision displacement
Amount system and bar code ruler.Machine vision displacement measurement part (can use axis light by CCD camera 13, enlarging lens 14, light source 15
Source) and image processing module 12 constitute, machine vision displacement measurement system be arranged on along along the walking dolly 11 of track 18, magnifying glass
First 14 are arranged on before CCD camera 13, and auto-focusing can be achieved, the no-reflection of light source 15 irradiation before camera lens 14, fit very much
The reflective object of credit union is taken pictures, and is improved machine vision definition, dolly 11 was photographed the picture of bar code ruler 16 during movement
Position become apparent from precisely；The algorithm flow of image processing module 12 is as shown in Figure 3.Bar code ruler 16 is by bar code 21 and scale
Chi 22 is constituted, and is horizontally fixed on guide rail 18, and graduated scale 22 is the isometric graduation mark continuous arrangements of scale division value 1mm, and bar code 21 is embedding
It is identical code system between two graduation marks, is the reading of residing graduated scale 22 after any decoding of bar code 21.
Start dolly real-time displacement measurement apparatus, empty data recovery original state, dolly 11 is calibrated using alignment pin 17
On the alignment coordinates axle zero point of camera 13, i.e. the zero graduation line position of bar code ruler 16, the image comparison bar code ruler 16 that camera 13 is shot
Actual scale value carries out calibration and asks for pixel scalar, and image processing module 12 will actually correspond to scale as needed in shooting image
The decile of 9mm pixels 10 of chi 22, is arranged to the virtual vernier scale 23 based on pixel, the measurement accuracy of coordinate up to 0.1mm,
As shown in figure 1, it is 25.3mm currently to read coordinate value.
The camera 13 during walking of dolly 11, which is obtained, is presently in the image of bar code ruler 16, and by image information send to
Image processing module 12；12 pairs of image processing module obtains image and pre-processed, and suitable threshold value is chosen first by image ash
Degreeization processing, chooses the rectangle template of medium filtering 3 × 3 to its noise reduction, by threshold value setting greyscale image transitions into binary map
Picture, reduction is maximized by bar code ruler in image 16, followed by algorithm setting interception vernier scale zero point image slices vegetarian refreshments correspondence
Bar code 21.
Decoding program is decoded to the bar code 21 intercepted, calculates each pulse width of bar code 21, and by its
A series of binary numerals are converted into, are decoded according to the code character of the code system, obtaining current bar code digital coding is pair
The scale value answered, determines the coordinate integers position of the position, then judges which the bar graduation mark and bar of virtual vernier scale 23 in image
The graduation mark alignment of yardstick 16, decimal place attends school a few tenths of a mm, and it is the current institute of dolly 11 that integer-bit and decimal place, which are integrated,
Locate coordinate value.It is poor by coordinates computed relative to the coordinate transform of absolute coordinate zero point in the program record moving process of dolly 11
Absolute displacement is drawn, finally sends the data after processing to coordinate display 20, the real-time position of line slideway dolly 11 is realized
Move accurate measurement.
Claims (6)
1. a kind of real-time displacement device for accurately measuring based on bar code ruler, it is characterised in that
Bar code ruler 16 is understood by being fixed on machine vision displacement measurement system on walking dolly 11, vernier caliper reading mould is simulated
Formula accurately measures the changing coordinates of walking dolly 11.
2. a kind of real-time displacement device for accurately measuring based on bar code ruler according to claim 1, it is characterised in that
The machine vision displacement measurement system is fixed on walking dolly 11, by camera 13, enlarging lens 14, image procossing mould
Block 12 and light source 15 are constituted, and the camera enlarging lens 14 are corresponding with the position of bar code ruler 16.
3. a kind of real-time displacement device for accurately measuring based on bar code ruler according to claim 1, it is characterised in that
The bar code ruler 16 is the continuous arrangement of graduated scale 22, and the scale division value of bar code ruler 16 is to be wrapped in 1mm, every two adjacent graduation marks
Bar code 21 containing identical code system and unique code number, after the bar code 21 is decoded, its numeric sequence number is with being presently in scale
Value correspondence, the proper alignment of bar code 21.
4. a kind of real-time displacement device for accurately measuring based on bar code ruler according to claim 2, it is characterised in that：It is described
Machine vision displacement measurement system, when it is that camera 13 corresponds to the zero graduation line of the bar code ruler 16 that dolly, which is directed at alignment pin 17,
Image as unit pixel is demarcated according to the actual size of graduated scale 22, zero graduation line will be corresponded to by algorithm in the image of acquisition
Virtual vernier scale 23 zero point of the pixel calibrating coordinates based on pixel, using vernier caliper reading principle by image pixel etc.
It is divided into the virtual vernier scale 23 based on pixel, bar code ruler 16 carries out pixel alignment as main scale to image.
5. a kind of real-time displacement device for accurately measuring based on bar code ruler according to claim 2, it is characterised in that：It is described
Camera is inexpensive CCD camera, and resolution ratio is 1280 × 960, and frame frequency is 15fps；The camera lens is 1-6 times of multiplication factor；Institute
State light source and be fixed on camera lens front end, provide no-reflection irradiation for the acquisition of bar code image, improve machine vision definition；Institute
Image processing module is stated for integration block device, the image collected is handled, simulation vernier caliper reading pattern, which is understood, to be worked as
Preceding camera correspondence bar code ruler, is decoded to current bar code, and data are analyzed, and accurately reads current dolly coordinate.
6. a kind of real-time displacement device for accurately measuring and measurement side based on bar code ruler according to claim any one of 1-5
Method, measuring method comprises the following steps,
Step one：Start dolly real-time displacement measurement apparatus, empty data recovery original state, calibration dolly is located at reference axis zero
Point, i.e. bar code ruler zero graduation line position, the bar code ruler scale division value are 1mm, and the image and actual scale that camera is shot are calibrated
Pixel scalar is asked for, image processing module is arranged to trip as needed by the corresponding decile of graduated scale 9mm pixels 10 in image
Scale state, the displacement measurement accuracy reaches 0.1mm；
Step 2：Dolly control module drives carriage walking, and camera obtains current bar code ruler information during walking, and will
Image information is sent to image processing module；
Step 3：Image processing module is analyzed image, and the detection method chooses suitable threshold value by gradation of image first
Change is handled, and chooses the rectangle template of medium filtering 3 × 3 to image noise reduction, following given threshold is greyscale image transitions into two-value
Image, bar code graduated scale is maximized and reduced, and passes through the bar code of set algorithm interception image pixel correspondence vernier scale zero point；
Further, the bar code intercepted is decoded, calculating intercepts each pulse width of bar code, and converts thereof into one
Binary series numerical value, program is decoded according to the code character of the code system, is obtained current bar code digital coding, is determined the position
The coordinate integers position put；
Further, then judge which bar graduation mark of pixel vernier scale in image aligns with the graduation mark of bar code ruler, decimal place
A few tenths of a mm is attended school, integer-bit and decimal place are combined and are presently in coordinate value as dolly, the coordinates measurements
0.1mm is accurate to, higher, such as 0.02mm can be accurate to as needed；
Further, program records coordinate transform of the dolly relative to absolute coordinate zero point, according to the coordinate mathematic interpolation of record
Go out the absolute displacement of the dolly, finally send the data after processing to displacement display screen, realize the real-time of line slideway dolly
Displacement is accurately measured.
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| CN109427134A (en) * | 2017-08-31 | 2019-03-05 | 山东新北洋信息技术股份有限公司 | A kind of automatic vending machine and quantity in stock checking method |
| CN109427134B (en) * | 2017-08-31 | 2021-07-23 | 山东新北洋信息技术股份有限公司 | Automatic vending machine and inventory checking method |
| CN107782242A (en) * | 2017-09-26 | 2018-03-09 | 西安交通大学 | Main shaft axial direction thermal stretching measurement apparatus and method based on image processing techniques |
| CN109506900A (en) * | 2018-11-05 | 2019-03-22 | 苏州工业职业技术学院 | A kind of imaging frame rate detection system and its detection method near infrared camera |
| CN109506900B (en) * | 2018-11-05 | 2023-11-14 | 苏州工业职业技术学院 | Imaging frame rate detection system and detection method for near infrared camera |
| CN109990676A (en) * | 2019-04-28 | 2019-07-09 | 深圳市度彼电子有限公司 | A kind of Electronic tape measure |
| CN110992423A (en) * | 2019-11-15 | 2020-04-10 | 曾菊阳 | Driving positioning method, system and medium based on image matching |
| CN111829439A (en) * | 2020-07-21 | 2020-10-27 | 中山大学 | High-precision translation measuring method and device |
| CN112595239A (en) * | 2020-12-11 | 2021-04-02 | 中车长春轨道客车股份有限公司 | Positioning system for automatic coating operation of railway vehicle |
| CN112589534A (en) * | 2021-01-07 | 2021-04-02 | 中铁宝桥（南京）有限公司 | On-line detection equipment and detection method for numerical control drilling machining of turnout rail piece |
| CN113530740A (en) * | 2021-06-02 | 2021-10-22 | 中国长江电力股份有限公司 | Device and method for accurately measuring chord distance of stator positioning rib of hydroelectric generating set |
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