CN107121079B - A kind of curved surface elevation information measuring device and method based on monocular vision - Google Patents
A kind of curved surface elevation information measuring device and method based on monocular vision Download PDFInfo
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- CN107121079B CN107121079B CN201710447508.XA CN201710447508A CN107121079B CN 107121079 B CN107121079 B CN 107121079B CN 201710447508 A CN201710447508 A CN 201710447508A CN 107121079 B CN107121079 B CN 107121079B
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- 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
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
- G01B11/0608—Height gauges
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Abstract
The invention belongs to machine vision imaging technology related fieldss, and disclose a kind of curved surface elevation information measuring device and method based on monocular vision, including measurement rack, source of parallel light component, detection camera and range sensor, wherein source of parallel light component is collectively constituted by mounting box, parallel light tube and transmission grating, and the alternate parallel scores of width are carved on transmission grating, so that the collimated light beam that parallel light tube issues can project to form light and dark parallel stripes on curved surface to be measured；In addition, detection camera quantity be only one and matched with source of parallel light component, thus to be formed by curved surface to be measured parallel stripes execution adopt figure to obtain image.The invention also discloses corresponding curved surface elevation information measurement methods.Through the invention, do not need only using single camera can high efficiency complete curved surface elevation information and measure, and compact overall structure rationally, convenient for operation, it is adaptable, while significantly improving final obtainable measurement accuracy.
Description
Technical field
The invention belongs to machine vision imaging technology related fieldss, more particularly, to a kind of song based on monocular vision
Face elevation information measuring device and method.
Background technique
In vision technique, in order to measure the elevation information of curved surface, at least need to obtain tested curved surface from multiple angles
Multiple images.Existing method is usually to carry out adopting figure using two or more cameras, and obtain using geometry constraint conditions
The three-dimensional information of tested curved surface；Or it carries out adopting figure from multiple angles merely with a camera.However for the former, due to must
Multiple cameras need to be utilized, while improving cost, there is also camera inside and outside parameter calibration in multicamera system is very cumbersome
Problem, and be often also affected for final measurement accuracy.For which, although having only used a camera,
But the spatial position for frequently changing camera is usually required when operating, it is cumbersome and often not can guarantee accurate shift position,
Final measurement accuracy can be equally unfavorable for.
It is found by retrieval, CN201510248456.4 discloses a kind of monocular vision sensing with range of triangle function
Device issues laser beam by laser, forms a branch of collimated laser beam later by focusing microscope group, is formed on measured target surface
Laser facula；Measured target (together with laser facula) is imaged on image device surface by imaging microscope group, then passes through meter
It calculates to obtain the two-dimensional signal and range information of measured target, obtains measured target using monocular vision sensor to realize
Three-dimensional information.
However, further investigations have shown that, above-mentioned existing scheme is only applicable to the measurement for planar object, and in curved surface
Object measurement application is difficult effectively to use；Especially, it can only measure testee to the range information of camera, and can not
Testee is obtained in the deformation information from face direction, and the latter is very crucial index for measurement of curved surface application.
Correspondingly, this field needs to seek more perfect solution in view of the above technical problems, increasing at present to meet
Technique requirement.
Summary of the invention
Aiming at the above defects or improvement requirements of the prior art, the present invention provides a kind of, and the curved surface based on monocular vision is high
Information measurement apparatus and method are spent, wherein combining the particular demands and actual condition feature of all kinds of measurement of curved surface applications, needle
The many aspects such as the concrete composition of overall construction layout and multiple key components to the measuring device and set-up mode are again
Design is made, while its Measurement Algorithm is studied and improved, accordingly compared with existing measurement of curved surface scheme, not only
Need using single camera can high efficiency complete curved surface elevation information measure, and compact overall structure rationally, convenient for operation,
It is adaptable, while final obtainable measurement accuracy is significantly improved, it is therefore particularly suitable for the application of surface information measurement
Occasion.
To achieve the above object, according to one aspect of the present invention, a kind of curved surface height based on monocular vision is provided
Information measurement apparatus, the device include measurement rack, source of parallel light component, detection camera and range sensor, it is characterised in that:
The measurement rack is in the form of horizontally disposed symmetrical cross frame, and the installation foundation as other assemblies；
The quantity of the source of parallel light component is four, and each is mounted on four identical arms knots of the measurement rack
Below the end of structure, and it can drive rotated so that its projected angle changes via matched motor respectively；It is each flat
Line light source component sets up parallel light tube and common group of transmission grating inside this mounting box separately by mounting box and successively respectively
At wherein the parallel light tube is used for the transmission grating emitting parallel light beam, and it is alternate to be then carved with width on the transmission grating
Two kinds of parallel scores namely have the alternate light transmission gap of width so that the collimated light beam that issues of the parallel light tube to
Surveying on curved surface can project to form light and dark parallel stripes；
It is described detection camera quantity be only one, it be fixedly mounted on it is described measurement rack center lower section, and with it is each
A source of parallel light component matches, for parallel stripes execution is formed by curved surface to be measured, to adopt figure required to obtain
Two dimensional image；
In addition, establish a camera rectangular coordinate system XYZ as origin using the optical center of lens of the detection camera, the wherein phase
The optical axis coincidence of the Z axis of machine rectangular coordinate system and the detection camera and the lower section for being directed toward the detection camera, X-axis, Y-axis meet
The right-hand rule, and two holdings in four source of parallel light components are symmetrically in this X-axis, remaining two same guarantors
It holds and is symmetrically in this Y-axis；Similarly, as origin to establish an image using the center of the imaging plane of the detection camera straight
Angular coordinate system X ' Y ' Z, wherein the Z axis of the image rectangular coordinate system and the Z axis of the camera rectangular coordinate system coincide, X '
Axis, Y ' axis equally meet the right-hand rule；Then, one is established immediately below the detection camera refers to rectangular coordinate system X " Y "
Z, wherein this refers to the Z axis of rectangular coordinate system and the optical axis coincidence of the detection camera, and it is fixed that X " axis, Y " axis equally meets the right hand
Then, and its X " Y " plane keeps being parallel to each other with the X/Y plane of the camera rectangular coordinate system；
The range sensor corresponds respectively to each source of parallel light component and is arranged, and when by adjusting described
When the height of measurement rack makes the detection camera can get the clearly two dimensional image, it is used under this position to described
The optical center of lens of detection camera is measured to the vertical range H between the X " Y " plane, while for detecting camera to this
Imaging plane and X " Y " plane between the depth of parallelism detected.
As it is further preferred that for each source of parallel light component, between optical axis and the X/Y plane
Initial projections angle α acquisition is preferably calculated by following formula:
α=sin-1(d/d0)
In formula, d indicates the grating constant that the transmission grating itself of each source of parallel light component has；d0Described in expression
Be formed by light and dark parallel stripes in X " Y " plane, the center between two stripeds adjacent to each other away from.
As it is further preferred that for two source of parallel light components in the X-axis, the two to
Survey curved surface on project formation striped it is parallel to each other and composition the first striped group；For described in two in the Y-axis
For source of parallel light component, it is same parallel to each other and constitute the second striped that the two projects the striped formed on curved surface to be measured
Group；In addition, being mutually perpendicular between the first striped group and the second striped group.
As it is further preferred that the wide seam of light transmission and light transmission in the light transmission gap being each provided with for the transmission grating
For narrow slit, their position carries out coding and sorting order by n binary modes, and preferably to this n × 2nLight penetrating slit is compiled
Code；Wherein the value of n is determined according to the visual field size of the detection camera, and is ensured so that the detection camera is obtained
Fringe number should meet m > 3n-1 in image；In addition, the light transmission narrow slit d2With the wide seam d of the light transmission1Between wide-to-narrow ratio it is preferably full
Sufficient formula d1/d2≥2。
As it is further preferred that for two source of parallel light components in the X-axis, to be measured
The X axis coordinate x that any point P to be formed on striped is projected on curved surface is preferably calculated by following equation respectively:
X=x ' × (D × tanax)/(f-x’tanax)
In formula, D indicates that the optical center of lens of the parallel light tube of each source of parallel light component detects the saturating of camera to described
The distance between mirror optical center；F is the focal length of the detection camera；axRespectively indicate each source of parallel light being located in the X-axis
Projected angle between the optical axis of component and the X/Y plane；X ' is illustrated respectively in detection camera two dimensional image obtained
In, the X ' axial coordinate value of corresponding pixel P ' is kept with the point P.
As it is further preferred that for two source of parallel light components in the Y-axis, to be measured
The Y axis coordinate y that any point P to be formed on striped is projected on curved surface is preferably calculated by following equation respectively:
Y=y ' × (D × tanay)/(f-y’tanay)
In formula, D indicates that the optical center of lens of the parallel light tube of each source of parallel light component detects the saturating of camera to described
The distance between mirror optical center；F is the focal length of the detection camera；ayRespectively indicate each source of parallel light being located in the Y-axis
Projected angle between the optical axis of component and the X/Y plane；Y ' is illustrated respectively in detection camera two dimensional image obtained
In, the Y ' axial coordinate value of corresponding pixel P ' is kept with the point P.
As it is further preferred that for two source of parallel light components in the X-axis, to be measured
The deflection h of any point P in the Z-axis direction on curved surface on formed stripedxIt is preferred that being calculated respectively by following equation:
hx=| x-{ (H cotax-D)±(kx×d/sinax)}|×tanax
In formula, x indicates that each source of parallel light component being located in the X-axis projects to be formed on striped on curved surface to be measured
Any point P X axis coordinate value；H expression is when the detection camera can get the clearly two dimensional image, the detection camera
Lens centre to the vertical range between the X " Y " plane；axRespectively indicate each source of parallel light being located in the X-axis
Projected angle between the optical axis of component and the X/Y plane；D indicates the optical center of lens of the parallel light tube of each source of parallel light
To the distance between the optical center of lens of the detection camera；D indicates transmission grating itself tool of each source of parallel light component
Standby grating constant；In addition, kxIndicate that each source of parallel light component being located in the X-axis projects formation on curved surface to be measured
Multiple parallel stripes in comprising P point striped serial number, kxFor natural number, and started counting from the striped along X-axis bosom.
As it is further preferred that for two source of parallel light components in the Y-axis, to be measured
The deflection h of any point P in the Z-axis direction on curved surface on formed stripedyIt is preferred that being calculated respectively by following equation:
hy=| y-{ (H cotay-D)±(ky×d/sinay)}|×tanay
In formula, y indicates that each source of parallel light component being located in the Y-axis projects to be formed on striped on curved surface to be measured
Any point P Y axis coordinate value；H expression is when the detection camera can get the clearly two dimensional image, the detection camera
Lens centre to the vertical range between the X " Y " plane；ayRespectively indicate each source of parallel light being located in the Y-axis
Projected angle between the optical axis of component and the X/Y plane；D indicates the optical center of lens of the parallel light tube of each source of parallel light
To the distance between the optical center of lens of the detection camera；D indicates transmission grating itself tool of each source of parallel light component
Standby grating constant；In addition, kyIndicate that each source of parallel light component being located in the Y-axis projects formation on curved surface to be measured
Multiple parallel stripes in comprising P point striped serial number, kyFor natural number, and started counting from the striped along Y-axis bosom.
It is another aspect of this invention to provide that additionally providing corresponding curved surface elevation information measurement method, which is characterized in that should
Method includes the following steps:
Step 1: measuring its range information for arriving the X " Y " plane first with four range sensors respectively,
X " Y " plane pose is adjusted according to gained range information, makes itself and the detection camera imaging plane keeping parallelism；Meanwhile it is right
Difference between the range sensor and the detection camera photocentre in Z-direction compensates, and then measures and determines institute
The optical center of detection camera is stated to the vertical range H between the X " Y " plane；
Step 2: projecting the alternate bright fringes of width using one group of source of parallel light component on curved surface to be measured,
And drive the source of parallel light component to rotate using the motor, so that the slow inswept entire region to be measured of striped；The detection phase
Machine adopts figure, and writes down the projected angle α of each image；Then, above-mentioned step successively is repeated using source of parallel light component described in three groups of residue
Suddenly, four groups of images in the region to be measured under the striped that four groups of source of parallel light components are projected are respectively obtained；
Step 3: obtained four groups of images are directed to, calculate separately to obtain each source of parallel light component in song to be measured
Any point P to be formed on striped is projected on face in the deflection of Z-direction, and then count in such a way that weighting is averaged
Calculation finds out practical distortion amount；
Step 4: traverse measurement rack, successively complete curved surface to be measured of traversal repeat step 1 to step 3, directly
Until the elevation information for obtaining entire curved surface all the points to be measured, whole curved surface height measurement process is thus completed.
In general, through the invention it is contemplated above technical scheme is compared with the prior art, mainly have below
Technological merit:
1, design has been re-started by the overall construction layout to curved surface elevation information measuring device in the present invention, especially
Be some key components such as measure rack, source of parallel light component and detect camera concrete composition structure and set-up mode make and changing
Into accordingly the whole measurement process of curved surface elevation information can not only tightly can be completed using single camera, and set with existing
It is standby compared to its structure more compact and reasonable, convenient for manipulation, and significantly improve final obtainable measurement accuracy；
2, the parameter selection of each component can be selected according to required measurement accuracy in the present invention, accordingly in practical applications
Has strong applicability and convenient for according to the specific of operating condition efficient operation；For example, increase can be passed through when measurement accuracy is of less demanding
The mode of the fringe spacing of source of parallel light component according to the invention is operated, and measurement data is thus reduced, and improves measurement
Speed, while also helping and increasing viewing field of camera range, substantially increase measuring speed；And when measurement accuracy requires high, then
It can be operated by way of reducing fringe spacing, measurement data increases, and precision improves；Reduction camera is also helped simultaneously
Field range increases image pixel, equally substantially increases measurement accuracy；
3, design is optimized to its striped coding mode in the construction features in the present invention herein in connection with source of parallel light component,
Accordingly make during image processing can each striped of rapid identification, accelerate detection speed；In addition, groups of in the present invention
Source of parallel light can form multiple groups striped, not only avoid curved surface variation cause greatly side striped project less than the problem of, can also be right
Same point repeatedly measures, and more accurate elevation information is obtained by calculation；
4, the characteristics of in the present invention herein in connection with apparatus above tectonic sieving, further to each measurement point on XYZ multiaxis
Coordinate value and Deformation calculation formula made specific aim measurement, actual test shows not only simplify calculation process process,
Acquisition data can be calculated and have the features such as precision is high, convenient for subsequent processing compared with real data, thus calculated with conventional process
Method compares the final precision for being remarkably improved curved surface elevation carrection.
Detailed description of the invention
Fig. 1 is according to the curved surface elevation information measuring device constructed by the preferred embodiment of the present invention based on monocular vision
Overall construction schematic diagram；
Fig. 2 is measurement rack and the source of parallel light component being installed on it shown in Fig. 1, range sensor and detection camera
Specific arrangement schematic diagram；
Fig. 3 is the schematic diagram for the exemplary illustrated multiple coordinate systems constructed for the ease of later period calculation processing；
Fig. 4 is the composed structure schematic diagram according to the source of parallel light component of preferred embodiment of the present invention design；
Fig. 5 is that the schematic diagram to form multiple stripeds is projected for exemplary illustrated source of parallel light component；
Fig. 6 be preferably implemented according to the present invention it is adoptable, be formed by multiple stripeds to source of parallel light component and compile
Code handles schematic diagram obtained；
Fig. 7 is for illustrating centered on detecting camera, executing curved surface height letter with triangulation geometrical principle
Cease the schematic diagram of measurement；
Fig. 8 is the striped for projecting formation in X " Y " plane for exemplary illustrated above-mentioned measuring device according to the invention
Schematic diagram.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
Not constituting a conflict with each other can be combined with each other.
Fig. 1 is according to the curved surface elevation information measuring device constructed by the preferred embodiment of the present invention based on monocular vision
Overall construction schematic diagram, Fig. 2 are measurement rack and the source of parallel light component, range sensor and the inspection that are installed on it shown in Fig. 1
Survey the specific arrangement schematic diagram of camera.As depicted in figs. 1 and 2, which mainly includes measurement rack 10, source of parallel light component
30, the components such as camera 20 and range sensor 40 are detected, it will be specifically described one by one below.
Measurement rack 10 may be designed as in the form of horizontally disposed symmetrical cross frame in the present invention, and as other groups
The installation foundation of part.
The quantity of source of parallel light component 30 is four, and each is mounted on four identical arms knots of the measurement rack 10
Below the end of structure, and it can drive rotated so that its projected angle changes via matched motor 50 respectively, wherein
Motor 50 is fixed in measurement rack, and source of parallel light component 30 is connected with motor shaft, i.e., motor 50 can drive source of parallel light group
Part 30 rotates；More specifically, as shown in Figure 2.As one of key improvements of the invention, each source of parallel light component difference is equal
By mounting box 31 and successively set up parallel light tube 32 and transmission grating 33 inside this mounting box separately to collectively constitute, wherein should
Parallel light tube 32 is used to emit to the transmission grating 33 monochromatic collimated light beam, and it is alternate to be then carved with width on the transmission grating 33
Two kinds of parallel scores namely have the alternate light transmission gap of width so that the parallel light tube 32 issue collimated light beam
It can project to form light and dark parallel stripes on curved surface to be measured.
For referring also to Fig. 4 as it can be seen that in source of parallel light component 30, parallel light tube 32 and transmission grating 33 are fixed on mounting box 30
It is interior.Parallel light tube 32 can produce parallel homogeneous beam；Opaque parallel scores as shown in Figure 5 are carved on transmission grating 33, from
And the different light penetrating slit of width is formed between indentation.Light penetrating slit center line is that grating is normal to distance between adjacent indentations center line
Number d, the wide slit width degree of light transmission are d1, light transmission slit width is d2.Parallel light tube 32 issue directional light after transmission grating 33
The different striped of width is formed on curved surface to be measured.To guarantee not generating the diffraction phenomena of light, the monochromatic wavelength λ of parallel light tube 32
It should be chosen according to light penetrating slit width, but be necessarily less than light penetrating slit width, is i.e. λ < min { d1,d2}.Further according to required precision
It is selected, wavelength X is smaller, and diffraction phenomena is more unobvious.
In addition, a preferred embodiment according to the invention, as shown in fig. 6, the fringe light that source of parallel light component 30 generates
Beam can form multiple stripeds in X " Y " plane, wherein indicating stria with " 1 ", indicate cord with " 0 ".Pass through such coding
Mode can distinguish that detection camera 20 shoots the corresponding relationship of striped and striped in X " Y " plane on the curved surface to be measured in image.
It is " 001010011 " when detection camera 20 takes striped on curved surface to be measured, there are three types of possible outcomes: " 0 " " 010 " " 100 "
" 11 ", " 00 " " 101 " " 001 " " 1 " and " 001 " " 010 " " 011 ", respectively correspond serial number " x123x2”、“x351x4”、“123”。
Wherein, x1It is not 1 and x2Greater than 4, therefore first group of mistake；Second group of sequence also mistake；Therefore only surplus third group sequence, and meet
Coding rule.Every stripe can be identified correctly in visual field.
As another key improvements of the invention, the quantity for detecting camera 20 is only one, it is fixedly mounted on the survey
The center lower section for measuring rack 10, and matches with each source of parallel light component 30, for being formed by curved surface to be measured
Parallel stripes execution adopts figure to obtain required two dimensional image.
In addition, as Fig. 3 demonstration shown in, can the detection camera 20 optical center of lens be origin it is straight to establish a camera
Angular coordinate system XYZ, wherein the camera gives advice the optical axis coincidence of the Z axis of coordinate system and the detection camera 20 and is directed toward the detection phase
The lower section of machine, X-axis, Y-axis meet the right-hand rule, and two holdings in four source of parallel light components 30 are symmetrically located in
In in this X-axis, remaining two same holdings are symmetrically in this Y-axis；Similarly, with the imaging plane of the detection camera 20
Center be origin establish an image rectangular coordinate system X ' Y ' Z, wherein the Z axis of the image rectangular coordinate system refers to the camera
The Z axis of religion coordinate system coincides, and X ' axis, Y ' axis equally meet the right-hand rule；Then, in the underface of the detection camera 20
It establishes one and refers to rectangular coordinate system X " Y " Z, wherein the optical axis weight of the Z axis with reference to rectangular coordinate system and the detection camera
It closes, X " axis, Y " axis equally meets the right-hand rule, and its X " Y " plane keeps flat with the XY of the camera rectangular coordinate system
Face is parallel to each other.
Referring again to Fig. 2, four range sensors 40 correspond respectively to each source of parallel light component 30 and are arranged, and
And when the height by adjusting the measurement rack 10 makes the detection camera (20) can get the clearly described two dimensional image
When, for being carried out to the optical center of lens of the detection camera 20 to the vertical range H between the X " Y " plane under this position
Measurement, while the depth of parallelism between the imaging plane and X " Y " plane to this detection camera 20 detects.The electricity
The motor shaft of machine 50 and detection 20 optical center of camera are on the parallel surface of X/Y plane, and the optical center of lens of parallel light tube 32 is in motor
Axis institute on straight line, thus guarantee motor 50 rotate change projected angle α angle when, 32 optical center of lens of parallel light tube with detect phase
The relative position of 20 optical center of machine is constant, therefore its horizontal distance D is remained unchanged.
Measurement technical process according to the invention will be explained below.
Firstly, as shown in Figure 7, it is shown that execute curved surface height centered on detecting camera, with triangulation geometrical principle
Spend the schematic diagram of information measurement.Wherein, the source of parallel light component 30 in X-axis is only drawn, the projected item on curved surface to be measured
Line is parallel with Y-axis, therefore only needs its X axis coordinate information；And two groups of source of parallel light components 30 in Y-axis, on curved surface to be measured
Projected striped is parallel with X-axis, therefore only needs its Y axis coordinate information.The collimated light beam issued by parallel light tube 32 is by transmitted light
Light and dark strip encoding is formed after grid 33 on curved surface to be measured, covers entire region to be measured.It is carried out with wherein a certain striped
It illustrates, stripe centerline passing point P.At this point, in projection between 30 optical axis of source of parallel light component and X/Y plane that are located in X-axis
Angle α.
Postulated point P camera coordinates be (x, y, z), detection camera 20 clap two dimensional image midpoint P as coordinate P ' is
(x′,y′).The then point P coordinate in the X-axis direction on projected striped on curved surface to be measured of the source of parallel light component 30 in X-axis
Are as follows:
X=x ' × (D × tanax)/(f-x’tanax) (1-1)
In formula, D indicates the optical center of lens of the parallel light tube of each source of parallel light component to the lens light of the detection camera
The distance between heart；F is the focal length of the detection camera；axRespectively indicate each source of parallel light component being located in the X-axis
Optical axis and the X/Y plane between projected angle；X ' is illustrated respectively in detection camera two dimensional image obtained, with
The point P keeps the X ' axial coordinate value of corresponding pixel P '.
And the point P coordinate in the Y-axis direction on the projected striped of curved surface to be measured of the source of parallel light component 30 in Y-axis are as follows:
Y=y ' × (D × tanay)/(f-y’tanay) (1-2)
In formula, D indicates that the optical center of lens of the parallel light tube of each source of parallel light component detects the saturating of camera to described
The distance between mirror optical center；F is the focal length of the detection camera；ayRespectively indicate each source of parallel light being located in the Y-axis
Projected angle between the optical axis of component and the X/Y plane；Y ' is illustrated respectively in detection camera two dimensional image obtained
In, the Y ' axial coordinate value of corresponding pixel P ' is kept with the point P.
Fig. 8 is the striped for projecting formation in X " Y " plane for exemplary illustrated above-mentioned measuring device according to the invention
Schematic diagram.Further, it is also necessary to for finding out two source of parallel light components in the X-axis and Y-axis respectively,
The deflection of any point P in the Z-axis direction on curved surface to be measured on formed striped.
As shown in Figure 8, the projected striped on curved surface to be measured of the source of parallel light component 30 in X-axis is only drawn, with Y
Axis is parallel, therefore only needs its X axis coordinate information；And the source of parallel light component 30 in Y-axis projected striped and X on curved surface to be measured
Axis is parallel, therefore only needs its Y axis coordinate information.Assuming that a certain striped of transmission grating 33 is in source of parallel light component 30 in X-axis
Center striped then puts coordinate in the X-axis direction on projected striped are as follows:
x0=H × cotax-D (1-3)
And a certain striped of transmission grating 33 is center striped, then projected striped in the source of parallel light component 30 in Y-axis
Upper point coordinate in the Y-axis direction are as follows:
y0=H × cotay-D (1-4)
Since each striped is equidistant (i.e. grating constant) on transmission grating 33, then the source of parallel light component 30 in X-axis
The X axis coordinate of each striped is projected in X " Y " plane are as follows:
xk=x0±(k×d/sinax) (1-5)
In formula, d is grating constant；K be zero striped of distance center kth stripe, X-axis positive direction be+, negative direction be-；
And then the source of parallel light component 30 in Y-axis projects the Y axis coordinate of each striped in X " Y " plane are as follows:
yk=y0±(k×d/sinay) (1-6)
Combine the above calculating formula, can correspondingly acquire, for two source of parallel light components in the X-axis
Speech, the deflection h of any point P in the Z-axis direction on curved surface to be measured on formed stripedxIt is preferred that passing through following public affairs respectively
Formula is calculated:
hx=| x-{ (H cotax-D)±(kx×d/sinax)}|×tanax
In formula, x indicates that each source of parallel light component being located in the X-axis projects to be formed on striped on curved surface to be measured
Any point P X axis coordinate value；H indicates the detection when the detection camera (20) can get the clearly two dimensional image
The lens centre of camera is to the vertical range between the X " Y " plane；axIt respectively indicates each parallel in the X-axis
Projected angle between the optical axis of light source assembly and the X/Y plane；D indicates the lens of the parallel light tube of each source of parallel light
Optical center of lens the distance between of the optical center to the detection camera；D indicates the transmission grating of each source of parallel light component certainly
The grating constant that body has；In addition, kxIndicate that each source of parallel light component being located in the X-axis is projected on curved surface to be measured
The serial number of striped in the multiple parallel stripes formed comprising P point, kxFor natural number, and since the striped along X-axis bosom
It counts.
Similarly, in two source of parallel light components in the Y-axis, institute's shape on curved surface to be measured
At the deflection h of any point P on striped in the Z-axis directionyIt is preferred that being calculated respectively by following equation:
hy=| y-{ (H cotay-D)±(ky×d/sinay)}|×tanay
In formula, y indicates that each source of parallel light component being located in the Y-axis projects to be formed on striped on curved surface to be measured
Any point P Y axis coordinate value；H indicates the detection when the detection camera (20) can get the clearly two dimensional image
The lens centre of camera is to the vertical range between the X " Y " plane；ayIt respectively indicates each parallel in the Y-axis
Projected angle between the optical axis of light source assembly and the X/Y plane；D indicates the lens of the parallel light tube of each source of parallel light
Optical center of lens the distance between of the optical center to the detection camera；D indicates the transmission grating of each source of parallel light component certainly
The grating constant that body has；In addition, kyIndicate that each source of parallel light component being located in the Y-axis is projected on curved surface to be measured
The serial number of striped in the multiple parallel stripes formed comprising P point, kyFor natural number, and since the striped along Y-axis bosom
It counts.
Above curved surface elevation information measurement process can be summarized as follows key step:
Step 1: it is measured respectively first with four range sensors 40 and is believed to the distance of the X " Y " plane
Breath, X " Y " plane pose is adjusted according to gained range information, makes itself and the 20 imaging plane keeping parallelism of detection camera；Together
When, the difference between the range sensor 40 and detection 20 optical center of camera in Z-direction is compensated, is then measured
And determine the optical center for detecting camera 20 to the vertical range H between the X " Y " plane；
Step 2: the alternate bright item of width is projected on curved surface to be measured using one group of source of parallel light component 30
Line, and the source of parallel light component 30 rotation is driven using the motor 50, so that the slow inswept entire region to be measured of striped；It is described
Detection camera 20 adopts figure, and writes down the projected angle α of each image；Then, source of parallel light component 30 described in three groups of residue is successively used,
It repeats the above steps, respectively obtains four group pictures in the region to be measured under the striped that four groups of source of parallel light components 30 are projected
Picture；
Step 3: obtained four groups of images are directed to, calculate separately to obtain each source of parallel light component in song to be measured
Any point P to be formed on striped is projected on face in the deflection of Z-direction, and then count in such a way that weighting is averaged
Calculation finds out practical distortion amount；
Step 4: traverse measurement rack 10, successively complete curved surface to be measured of traversal repeat step 1 to step 3,
Until the elevation information for obtaining entire curved surface all the points to be measured, whole curved surface height measurement process is thus completed.
To sum up, can not only song tightly can be completed using single camera in curved surface elevation information measuring device according to the invention
The whole measurement process of face elevation information, and compared with existing equipment its structure more compact and reasonable, convenient for manipulation, Er Qiexian
Work improves final obtainable measurement accuracy；Its also application range is more extensive simultaneously, convenient for the high efficiency under various working
Operating parameter is adjusted, thus is more applicable for all kinds of curved surface elevation carrections application of high-efficiency high-precision.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include
Within protection scope of the present invention.
Claims (5)
1. a kind of curved surface elevation information measuring device based on monocular vision, which includes measurement rack (10), source of parallel light
Component (30), detection camera (20) and range sensor (40), it is characterised in that:
The measurement rack (10) is in the form of horizontally disposed symmetrical cross frame, and the installation foundation as other assemblies；
The quantity of the source of parallel light component (30) is four, and it is identical that each is mounted on four for measuring rack (10)
Below the end of arm configuration, and it can drive rotated so that its projected angle changes via matched motor (50) respectively
Become；Each source of parallel light component sets up the parallel light tube inside this mounting box separately by mounting box (31) and successively respectively
(32) it is collectively constituted with transmission grating (33), wherein the parallel light tube (32) is used to emit in parallel to the transmission grating (33)
Homogeneous beam is then carved with opaque parallel scores on the transmission grating (33) and forms the different light penetrating slit of width between indentation
Namely light transmission it is wide seam and light transmission narrow slit so that the parallel light tube (32) issue collimated light beam can be thrown on curved surface to be measured
It penetrates to form light and dark parallel stripes；
The quantity of detection camera (20) is only one, it is fixedly mounted on the center lower section of measurement rack (10), and
Matched with each source of parallel light component (30), for be formed by curved surface to be measured parallel stripes execution adopt figure to obtain
Obtain required two dimensional image；
In addition, establish a camera rectangular coordinate system XYZ as origin using the optical center of lens of the detection camera (20), the wherein phase
The Z axis of machine rectangular coordinate system and the optical axis coincidence of detection camera (20) and the lower section for being directed toward the detection camera, X-axis, Y-axis
Meet the right-hand rule, and two holdings in four source of parallel light components (30) are symmetrically in this X-axis, residue two
A same holding is symmetrically in this Y-axis；Similarly, it is built using the center of the imaging plane of detection camera (20) as origin
An image rectangular coordinate system X ' Y ' Z is found, wherein the Z axis of the Z axis of the image rectangular coordinate system and the camera rectangular coordinate system
It coincides, X ' axis, Y ' axis equally meet the right-hand rule；Then, a ginseng is established immediately below the detection camera (20)
Rectangular coordinate system X " Y " Z is examined, wherein the optical axis coincidence of the Z axis with reference to rectangular coordinate system and the detection camera, X " axis, Y "
Axis equally meets the right-hand rule, and its X " Y " plane keeps being parallel to each other with the X/Y plane of the camera rectangular coordinate system；
The range sensor (40) corresponds respectively to each source of parallel light component (30) and is arranged, and when by adjusting
When the height of measurement rack (10) makes the detection camera (20) can get the clearly two dimensional image, for herein
The optical center of lens of detection camera (20) is measured to the vertical range H between the X " Y " plane under position, simultaneously
It is detected for the depth of parallelism between the imaging plane and X " Y " plane to this detection camera (20)；The motor (50)
Motor shaft is on the parallel surface of the X/Y plane together with the optical center of detection camera (20), and the parallel light tube
(32) optical center of lens is in the motor shaft institute on straight line, to guarantee to rotate when the motor (50) to change projected angle
Angle when, the optical center of lens of the parallel light tube (32) and it is described detection camera (20) optical center between keep relative position not
Become；
In addition, in two source of parallel light components in the X-axis, the two projected shape on curved surface to be measured
At striped it is parallel to each other and constitute the first striped group；For in two source of parallel light components in the Y-axis,
It is same parallel to each other and constitute the second striped group that the two projects the striped formed on curved surface to be measured, and first striped
It is mutually perpendicular between group and the second striped group；For seam wide for the light transmission with for light transmission narrow slit, their position presses n
Binary mode carries out coding and sorting order, and to this n × 2nLight penetrating slit is encoded, and wherein the value of n is according to the detection phase
The visual field size of machine determines, and ensures so that fringe number m should meet m > 3n-1 in detection camera image obtained；This
Outside, the light transmission narrow slit d2With the wide seam d of the light transmission1Between wide-to-narrow ratio meet formula d1/d2≥2。
2. a kind of curved surface elevation information measuring device based on monocular vision as described in claim 1, which is characterized in that for
For each source of parallel light component (30), the initial projections angle α between optical axis and the X/Y plane is counted by following formula
It calculates and obtains:
α=sin-1(d/d0)
In formula, d indicates the grating constant that the transmission grating itself of each source of parallel light component has；d0Indicate the X " Y "
Be formed by plane in light and dark parallel stripes, the center between two stripeds adjacent to each other away from.
3. a kind of curved surface elevation information measuring device based on monocular vision as claimed in claim 2, which is characterized in that for
For two source of parallel light components in the X-axis, any to be formed on striped is projected on curved surface to be measured
The X axis coordinate x of point P is calculated by following equation respectively:
X=x ' × (D × tanax)/(f-x’tanax)
In formula, D indicates the optical center of lens of the parallel light tube of each source of parallel light component to the lens light of the detection camera
The distance between heart；F is the focal length of the detection camera；axRespectively indicate each source of parallel light component being located in the X-axis
Optical axis and the X/Y plane between projected angle；X ' is illustrated respectively in detection camera two dimensional image obtained, with
The point P keeps the X ' axial coordinate value of corresponding pixel P '；
And in two source of parallel light components in the Y-axis, it projects to form item on curved surface to be measured
The Y axis coordinate y of any point P on line is calculated by following equation respectively:
Y=y ' × (D × tanay)/(f-y’tanay)
In formula, D indicates the optical center of lens of the parallel light tube of each source of parallel light component to the lens light of the detection camera
The distance between heart；F is the focal length of the detection camera；ayRespectively indicate each source of parallel light component being located in the Y-axis
Optical axis and the X/Y plane between projected angle；Y ' is illustrated respectively in detection camera two dimensional image obtained, with
The point P keeps the Y ' axial coordinate value of corresponding pixel P '.
4. a kind of curved surface elevation information measuring device based on monocular vision as claimed in claim 3, which is characterized in that for
For two source of parallel light components in the X-axis, any point P on curved surface to be measured on formed striped exists
Deflection h in Z-directionxIt is calculated respectively by following equation:
hx=| x-{ (H cotax-D)±(kx×d/sinax)}|×tanax
In formula, x indicates that each source of parallel light component being located in the X-axis projects to form appointing on striped on curved surface to be measured
The X axis coordinate value of one point P；H expression is when the detection camera (20) can get the clearly two dimensional image, the detection camera
Lens centre to the vertical range between the X " Y " plane；axRespectively indicate each source of parallel light being located in the X-axis
Projected angle between the optical axis of component and the X/Y plane；D indicates the optical center of lens of the parallel light tube of each source of parallel light
To the distance between the optical center of lens of the detection camera；D indicates transmission grating itself tool of each source of parallel light component
Standby grating constant；In addition, kxIndicate that each source of parallel light component being located in the X-axis projects formation on curved surface to be measured
Multiple parallel stripes in comprising P point striped serial number, kxFor natural number, and started counting from the striped along X-axis bosom；
And in two source of parallel light components in the Y-axis, on curved surface to be measured on formed striped
Any point P deflection h in the Z-axis directionyIt is calculated respectively by following equation:
hy=| y-{ (H cotay-D)±(ky×d/sinay)}|×tanay
In formula, y indicates that each source of parallel light component being located in the Y-axis projects to form appointing on striped on curved surface to be measured
The Y axis coordinate value of one point P；H expression is when the detection camera (20) can get the clearly two dimensional image, the detection camera
Lens centre to the vertical range between the X " Y " plane；ayRespectively indicate each source of parallel light being located in the Y-axis
Projected angle between the optical axis of component and the X/Y plane；D indicates the optical center of lens of the parallel light tube of each source of parallel light
To the distance between the optical center of lens of the detection camera；D indicates transmission grating itself tool of each source of parallel light component
Standby grating constant；In addition, kyIndicate that each source of parallel light component being located in the Y-axis projects formation on curved surface to be measured
Multiple parallel stripes in comprising P point striped serial number, kyFor natural number, and started counting from the striped along Y-axis bosom.
5. a kind of method for executing the measurement of curved surface elevation information using device as claimed in claim 4, which is characterized in that should
Method includes the following steps:
Step 1: measuring its range information for arriving the X " Y " plane first with four range sensors (40) respectively,
X " Y " plane pose is adjusted according to gained range information, makes itself and detection camera (20) the imaging plane keeping parallelism；Together
When, the difference between the range sensor (40) and described detection camera (20) optical center in Z-direction is compensated, then
It measures and determines the optical center for detecting camera (20) to the vertical range H between the X " Y " plane；
Step 2: projecting the alternate bright fringes of width using one group of source of parallel light component (30) on curved surface to be measured,
And drive the source of parallel light component (30) to rotate using the motor (50), so that the slow inswept entire region to be measured of striped；Institute
It states detection camera (20) and adopts figure, and write down the projected angle α of each image；Then, successively using source of parallel light group described in three groups of residue
Part (30), repeats the above steps, and respectively obtains the region to be measured under the striped that four groups of source of parallel light components (30) are projected
Four groups of images；
Step 3: obtained four groups of images are directed to, calculate separately to obtain each source of parallel light component on curved surface to be measured
Any point P to be formed on striped is projected in the deflection of Z-direction, and then ask in such a way that weighting is averaged to calculate
Practical distortion amount out；
Step 4: traverse measurement rack 10, successively complete curved surface to be measured of traversal repeat step 1 to step 3, until
Until the elevation information for obtaining entire curved surface all the points to be measured, whole curved surface height measurement process is thus completed.
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