CN107202553B - Full view scanning measurement system and its target measurement method - Google Patents
Full view scanning measurement system and its target measurement method Download PDFInfo
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- CN107202553B CN107202553B CN201710511780.XA CN201710511780A CN107202553B CN 107202553 B CN107202553 B CN 107202553B CN 201710511780 A CN201710511780 A CN 201710511780A CN 107202553 B CN107202553 B CN 107202553B
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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
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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Abstract
The present invention relates to the field of measuring technique of 3 d space coordinate, a kind of full view scanning measurement system and its target measurement method are disclosed.The full view scanning measurement system includes at least two measuring stations, each measuring station obtained using eight prism drums as scanning mirror synchronous scanning measuring station towards measurement field overall space in same tested target image, which comprises the image of acquisition is handled to obtain coordinate information of the same tested target under each measuring station coordinate system；The level angle and vertical angle of relatively each measuring station of same tested target are calculated according to coordinate information of the same tested target under each measuring station coordinate system；Three-dimensional coordinate resolving is carried out to the orientation angles information of relatively each measuring station of same tested target under particular measurement model, obtains tested 3 d space coordinate value of the target under system spatial coordinates system.This method is adapted to the measuring station using eight prism drums as scanning mirror, moreover, the three-dimensional coordinate precision of the target obtained by this method measurement is higher.
Description
Technical field
The present invention relates to the field of measuring technique of 3 d space coordinate more particularly to a kind of full view scanning measurement system and
Its target measurement method.
Background technique
Currently, large-scale component and Condition Detection mainly include contact and two kinds contactless.The inspection of contact state
Survey technology specifically includes that manually using fixture measurement and three coordinate measuring machine.Non-contact detection technology mainly has laser tracking
Instrument, 3D laser range finder, total station, theodolite, vision detection technology etc..Laser tracker, 3D laser range finder, total station and
Theodolite is suitable for general field condition, but generally existing field angle is small, measurement efficiency is low, can only once realize spot measurement, nothing
Method realizes the surface information measurement of large-scale component or equipment.Therefore, there are no more can effectively supervise in real time in the prior art
Control the measurement means of the motion state of object in the deformation and large space of heavy parts.
Moreover, in terms of space intersection's measurement, existing method low measurement accuracy cannot achieve extra space three-dimensional coordinate
Measurement precise measurement, so that technical support advantageously can not be provided.
Summary of the invention
Goal of the invention: the first technical problem to be solved by the present invention is to provide a kind of full view scanning measurement system, should
The measurable field angle of system is big, once can be realized multimetering.On the other hand it is also required to provide one kind to sweep applied to full view
The target measurement method of measuring system is retouched, this method is adapted to the measuring station using polygon prism drum as scanning mirror, moreover, passing through
Three-dimensional coordinate precision locating for the target that this method measurement obtains is higher.
A kind of scheme of the invention: full view scanning measurement system, which is characterized in that the measuring system includes: target and survey
Amount station
3 d space coordinate obtains module；
Target is measuring target point；
Measuring station by scanning mirror, line-scan digital camera, optical lens, image processing module, is constituted；Wherein scanning mirror by
Eight prism drums and single axle table are constituted, the function of image processing module be according to same tested target under each measuring station coordinate system
Image pixel coordinates calculate the level angle and vertical angle of relatively each measuring station of same tested target；
The function that 3 d space coordinate obtains module is respectively to be measured relatively under particular measurement model same tested target
The level angle and vertical angle stood carry out three-dimensional coordinate resolving, obtain tested space three of the target under system spatial coordinates system
Dimensional coordinate values；
Full view scanning measurement system includes at least two measuring stations, and each measuring station is using polygon prism drum as scanning mirror
Synchronous scanning obtains the image of same tested target；
The particular measurement model is that single axle table rotation axis turns along vertical direction, eight prism drum central axes and single shaft
Platform rotation axis coincident, line-scan digital camera imaging plane is vertical with optical lens optical axis, line-scan digital camera imaging plane and single axle table
Rotation axis is parallel；
The single axle table uses single-shaft vertical turntable, and rotation of rotary table uses high-precision air bearing.
The rotational angle of eight prism drums can be obtained by the rotational angle of the single axle table.
The optical lens is f- θ lens.
According to another aspect of the present invention, a kind of target measurement side applied to full view scanning measurement system is additionally provided
Method, which is characterized in that establish measurement coordinate system, be measurement coordinate origin with the center of left side measuring station, X-axis is two measuring stations
The line of centres horizontal plane projection and be directed toward right side measuring station, Z axis is by the vertical axis of origin, and direction is upward, Y direction
It is obtained by right-hand rule, passes through the level angle and the three-dimensional seat of vertical angle progress to relatively each measuring station of same tested target
Mark resolves, and obtains tested 3 d space coordinate value of the target under system spatial coordinates system；
Using the rotational angle of eight prism drum and the equivalent scanning angle relationship of eight prism drums, same tested target is determined
The level angle of relatively each measuring station, calculation expression are as follows:
Wherein, α indicates the equivalent scanning angle of mirror drum of eight prism drums, the i.e. corresponding level angle of target, and θ indicates eight prisms
Bulging mirror drum rotational angle, L indicate scanning object plane to the distance of eight prism drum reflecting surface central points, the rib of D eight prism drums of expression
It is long.
The vertical angle of relatively each measuring station of same tested target is calculated according to following expression:
β=(y1-y0)/f
Wherein, β indicates vertical angle, y1Indicate ordinate of the target in measuring station image pixel coordinates, unit:
Pixel；y0Indicate principal point for camera ordinate value, unit: pixel；y1-y0If positive value, indicate target in the positive axis direction of Z axis,
If negative value, target is indicated in minus half axis direction of Z axis, f indicates focal length.
The three-dimensional coordinate calculation method of the same tested target is that single axle table rotation axis is along vertical direction, eight ribs
Mirror drum central axes and single axle table rotation axis coincident, line-scan digital camera imaging plane is vertical with optical lens optical axis, line-scan digital camera
Imaging plane is parallel with single axle table rotation axis, and three-dimensional coordinate resolving is carried out under above-mentioned measurement model, obtains tested target
3 d space coordinate value in the case where measuring coordinate system.Three-dimensional coordinate calculation method is as follows:
Wherein, x, y, z indicates that tested 3 d space coordinate of the target under system spatial coordinates system, b and h respectively indicate double
Horizontal distance and difference in height between measuring station A, B, αA、βARespectively indicate the level angle of same tested target relative measurement station A
And vertical angle, αB、βBRespectively indicate the level angle and vertical angle of same tested target relative measurement station B.
The utility model has the advantages that the full view scanning measurement system includes at least two measuring stations, each measuring station is with eight prisms
Drum as scanning mirror synchronous scanning obtain measuring station towards measure field overall space in same tested target figure
Picture, which comprises the image of acquisition is handled to obtain coordinate of the same tested target under each measuring station coordinate system
Information；Same relatively each measuring station of tested target is calculated according to coordinate information of the same tested target under each measuring station coordinate system
Level angle and vertical angle；To the orientation angles information of relatively each measuring station of same tested target under particular measurement model
Three-dimensional coordinate resolving is carried out, tested 3 d space coordinate value of the target under system spatial coordinates system is obtained.This method is adapted to
Using eight prism drums as the measuring station of scanning mirror, moreover, the three-dimensional coordinate precision of the target obtained by this method measurement compared with
It is high.
Detailed description of the invention
Fig. 1 shows the structure charts of present invention measurement work station；
Fig. 2 indicates that the present invention is applied to the flow chart of the target measurement method of full view scanning measurement system；
Fig. 3 indicates that the present invention is three-dimensional and resolves measurement model schematic diagram；
Specific embodiment
Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings and examples, how to apply to the present invention whereby
Technological means solves technical problem, and the realization process for reaching relevant art effect can fully understand and implement.This Shen
Please each feature in embodiment and embodiment, can be combined with each other under the premise of not colliding, be formed by technical solution
It is within the scope of the present invention.
In addition, the process of attached drawing can be in the computer system of such as a group of computer-executable instructions the step of illustrating
Middle execution.Also, although logical order is shown in flow charts, and it in some cases, can be to be different from herein
Sequence executes shown or described step.
As shown in figure 3, measurement work station includes scanning mirror, line-scan digital camera 101, optical lens 102, image procossing mould
Block, 3 d space coordinate obtain module composition, and wherein scanning mirror is made of eight prism drums 103 and single axle table 104；
In embodiments of the present invention, single axle table rotation axis is along vertical direction, eight prism drum central axes and single axle table
Rotation axis coincident, octahedral prism are installed on single axle table table top, drive continuous rotation by single axle table.Single axle table rotation
Angle is exported by motor driver to electric machine control system by encoder, and can obtain eight according to the angle that turntable rotates
The rotational angle of prism drum, line-scan digital camera imaging plane is vertical with optical lens optical axis, and line-scan digital camera imaging plane and single shaft turn
Platform rotation axis is parallel；
The resolution ratio of line-scan digital camera 101 be 8192 × 1,5 μm of pixel dimension, line frequency 100kHz.
Optical lens 102 uses telecentricity F- theta structure, and focal length 26.07mm, it is clear to carry out in certain field depth
Imaging, visual field are 90 °.Optical lens can work in 480nm-650nm wave band.
Single axle table structure uses existing single-shaft vertical turntable technology.Eight prism drums and the integral installation of mirror drum tooling are in work
Make on platform.The mesa material of workbench is steel alloy, is fixed on air bearing end face with screw group, and revolution is empty using high-precision
Gas bearing.The dimensional accuracy in the hole of main shaft and bearing fit, geometric tolerance and roughness requirements are higher, primary using machining center
It completes the process, to meet the job requirement of main shaft and workbench.Stage body rotation is directly driven by torque motor, by flange with
Main shaft is connected, and guarantees that gapless movement is realized in transmission and feedback.The shafting design of turntable be guarantee shaft rotating accuracy and
The committed step of table top rigidity will have moment of friction as small as possible and higher rotating accuracy, it is therefore desirable to select high-precision
Bearing.Since this system required precision is high, select air bearing as pivoted member.Air bearing passes through compressed air
To bear load.Since, without Mechanical Contact, abrasion is preferably minimized between stator and rotor, so as to ensure that accuracy is stablized
Be maintained at higher level.Due to the difference of its structure, high-precision when air spindle rotates innately has.With traditional bearing phase
Than air bearing has following advantages naturally: high-precision, high revolving speed, service life are long, with small vibration, temperature rise is slow etc..
Single measurement work station can cover 90 ° × 90 ° big field ranges, can satisfy wanting for 3m~100m measurement range
It asks.Multiple measurement points are identified and are positioned by the acquisition and processing for completing image data, output target point it is corresponding horizontal and
Vertical angle information.
According to another aspect of the present invention, a kind of target measurement applied to the full view scanning measurement system is additionally provided
Method.
Fig. 2 indicates the flow chart of the target measurement method applied to full view scanning measurement system of the embodiment of the present invention.
As shown in Fig. 2, carrying out the acquisition and processing of target image in Image Acquisition and processing stage, target is obtained in each measurement work
Image pixel coordinates (step 201) under station coordinates system, then, according to figure of the same tested target under each measuring station coordinate system
As pixel coordinate calculates the orientation angles information (step 202) of relatively each measuring station of same tested target, orientation angles packet
Include the vertical angle in the level angle and vertical field of view in horizontal field of view.Finally, to same tested under particular measurement model
The orientation angles information of relatively each measuring station of target carries out three-dimensional coordinate resolving, obtains tested target under system spatial coordinates system
3 d space coordinate value (step 203).
When the measuring station for measuring same tested target is two, three-dimensional shown in available Fig. 3 resolves measurement model and shows
It is intended to.Measurement coordinate system is established, is measurement coordinate origin with the center A of left side measuring station, X-axis is the two measuring station lines of centres
Horizontal plane projection and be directed toward right side measuring station, Z axis is by the vertical axis of origin, and direction is upward, and Y direction passes through the right hand
Rule obtains, and the station meter of a known length is measured after two measuring station Accurate Calibrations, acquires double surveys by space analysis calculating
Measure the horizontal distance b and difference in height h at station.The then seat of 3 d space coordinate value of any observed object point P in the case where measuring coordinate system
Mark may be expressed as:
Wherein, x, y, z indicates tested 3 d space coordinate of the target under system spatial coordinates system, and b and h respectively indicate a left side
Horizontal distance and difference in height between side measuring station center A and right side measuring station center B, αA、βARespectively indicate same tested target
The level angle and vertical angle of relative measurement station A, αB、βBRespectively indicate the level angle of same tested target relative measurement station B
And vertical angle.
In step 202, the image pixel coordinates according to same tested target under each measuring station coordinate system calculate same
The level angle and vertical angle of relatively each measuring station of tested target.
It is relatively each to illustrate how to calculate same tested target below by taking the scanning mirror of measuring station is eight prism drums as an example
The level angle and vertical angle of measuring station.It should be noted that being calculated same when scanning mirror is other polygon prism drums
The principle of the orientation angles information of relatively each measuring station of tested target is identical as eight prism drums.
The characteristic of line-scan digital camera is as follows: the light angle into line-scan digital camera is unique.It is filled in eight prism drums and line-scan digital camera
After fixation, the mirror drum rotational angle of eight prism drums rotation corresponds to unique equivalent scanning angle of eight prism drums.Acquiring every frame
The turntable encoder numerical value that the image frame grabber moment is recorded when linear array images, in the same tested target obtained according to image procossing
After being marked on the image pixel coordinates under each measuring station coordinate system, and then obtain eight prism drum rotational angles.
Using the rotational angle of eight prism drum and the equivalent scanning angle relationship of eight prism drums, same tested target is determined
The level angle of relatively each measuring station, calculation expression are as follows:
Wherein, α indicates the equivalent scanning angle of mirror drum of eight prism drums, the i.e. corresponding level angle of target, and θ indicates eight prisms
Bulging mirror drum rotational angle, L indicate scanning object plane to the distance of eight prism drum reflecting surface central points, the rib of D eight prism drums of expression
It is long.
The vertical angle of relatively each measuring station of same tested target is calculated according to following expression:
β=(y1-y0)/f
Wherein, β indicates vertical angle, y1Indicate ordinate of the target in measuring station image pixel coordinates, unit:
Pixel；y0Indicate principal point for camera ordinate value, unit: pixel；y1-y0If positive value, indicate target in the positive axis direction of Z axis,
If negative value, target is indicated in minus half axis direction of Z axis, f indicates focal length.
Disclosed embodiment of this invention is not limited to specific structure, processing step or material disclosed herein, and should
Extend to the equivalent substitute for these features that those of ordinary skill in the related art are understood.Term as used herein is only used for retouching
The purpose of specific embodiment is stated, and is not intended to limit.
While it is disclosed that embodiment content as above but described only to facilitate understanding the present invention and adopting
Embodiment is not intended to limit the invention.Any those skilled in the art to which this invention pertains are not departing from this
Under the premise of the disclosed spirit and scope of invention, any modification and change can be made in the implementing form and in details,
But scope of patent protection of the invention, still should be subject to the scope of the claims as defined in the appended claims.
Claims (2)
1. a kind of target measurement method applied to full view scanning measurement system, which is characterized in that measurement coordinate system is established, with
The center of left side measuring station is measurement coordinate origin, and X-axis is the two measuring station lines of centres in the projection of horizontal plane and is directed toward the right side
Side measuring station, Z axis are the vertical axis by origin, and direction is upward, and Y direction is obtained by right-hand rule, by same quilt
The level angle and vertical angle for surveying relatively each measuring station of target carry out three-dimensional coordinate resolving, obtain tested target in system space
3 d space coordinate value under coordinate system；
Using the rotational angle of eight prism drums and the equivalent scanning angle relationship of eight prism drums, determine that same tested target is respectively surveyed relatively
The level angle at station is measured, calculation expression is as follows:
Wherein, α indicates the equivalent scanning angle of mirror drum of eight prism drums, the i.e. corresponding level angle of target, and θ indicates eight prism drums
Mirror drum rotational angle, the distance of L expression scanning object plane to eight prism drum reflecting surface central points, D indicate that the rib of eight prism drums is long；
The vertical angle of relatively each measuring station of same tested target is calculated according to following expression:
β=(y1-y0)/f
Wherein, β indicates vertical angle, y1Indicate ordinate of the target in measuring station image pixel coordinates, unit: pixel；
y0Indicate principal point for camera ordinate value, unit: pixel；y1-y0If positive value, indicate target in the positive axis direction of Z axis, if
Negative value indicates target in minus half axis direction of Z axis, and f indicates focal length.
2. the target measurement method of full view scanning measurement system according to claim 1, which is characterized in that described same
The three-dimensional coordinate calculation method of tested target is that single axle table rotation axis is along vertical direction, eight prism drum central axes and single shaft
Turntable rotation axis coincident, line-scan digital camera imaging plane is vertical with optical lens optical axis, and line-scan digital camera imaging plane and single shaft turn
Platform rotation axis is parallel, and three-dimensional coordinate resolving is carried out under above-mentioned measurement model, obtains tested target in the case where measuring coordinate system
3 d space coordinate value, three-dimensional coordinate calculation method are as follows:
Wherein, x, y, z indicates that tested 3 d space coordinate of the target under system spatial coordinates system, b and h respectively indicate double measurements
The horizontal distance and difference in height stood between A, B, αA、βAIt respectively indicates the level angle of same tested target relative measurement station A and hangs down
Squareness, αB、βBRespectively indicate the level angle and vertical angle of same tested target relative measurement station B.
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| CN109443243A (en) * | 2018-12-19 | 2019-03-08 | 孙志军 | A kind of equipment and measurement method measuring body form |
| CN109945795B (en) * | 2019-04-03 | 2021-08-31 | 山西省汾河二库管理局 | Device and method for testing performance of measuring robot |
| CN114485396B (en) * | 2022-01-10 | 2023-06-20 | 上海电气核电设备有限公司 | Nuclear power evaporator tube plate deep hole geometric quantity measuring system and measuring method |
| CN114838668B (en) * | 2022-05-10 | 2023-04-18 | 湖北工业大学 | Tunnel displacement monitoring method and system |
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