CN107421473A - The two beam laser coaxial degree detection methods based on image procossing - Google Patents
The two beam laser coaxial degree detection methods based on image procossing Download PDFInfo
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- CN107421473A CN107421473A CN201710386633.4A CN201710386633A CN107421473A CN 107421473 A CN107421473 A CN 107421473A CN 201710386633 A CN201710386633 A CN 201710386633A CN 107421473 A CN107421473 A CN 107421473A
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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
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
- G01B11/27—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing the alignment of axes
Abstract
The invention discloses a kind of two beam laser coaxial degree detection methods based on image procossing.Step is as follows：Place a vertical receiving surface in two laser line centre positions first, adjustment receiving surface is tried one's best vertical two lasers；Laser beam 1 is gathered in the image of receiving surface by camera and is transferred to embedded development platform；Laser beam 2 repeats previous action；Embedded platform is handled and analyzed to the two images collected（Including gray scale, gray scale selection, rim detection and center calculation）, obtain the position deviation of two beam laser；Finally by Coordinate Conversion and space geometry knowledge, it may be determined that the related data of two beam laser coaxial degree, be transmitted further to host computer and realize man-machine interaction.The inventive method is easy to operate, simple in construction, and test is efficient.
Description
Technical field
The invention belongs to non-contact measuring technology, particularly a kind of two beam laser coaxial degree detection based on image procossing
Method.
Background technology
Axiality refers to that tested axis is a kind of alignment tolerance to the coaxiality error of datum axis.The benchmark of axiality
Axis is theoretical correct position, and the criterion of axiality is the variable quantity of tested axis relative datum.Traditional measurement method is based on three
Measurement of coordinates, i.e., be put into three coordinate setting measurement spaces by part to be measured, and measurement obtains the sky of the different geometry profiles of measured object
Between coordinate.The position relationship of point, line is tried to achieve by mathematical computations further according to these coordinate values.It is but this non-solid for laser
Material, the more difficult measurement of traditional measuring method, therefore the research of new measuring method is with regard to significant.
Existing laser measurement method is mostly based on photoelectric detecting technology, and the device structure that this method needs is relatively multiple
It is miscellaneous, that is, need special hardware device to test.In recent years fast-developing image processing techniques helps to provide newly in fields of measurement
Thinking, in addition increasingly mature image processing techniques the guarantor of precision aspect is also provided for the measuring technology based on image procossing
Card.
Therefore from image procossing, it can propose that a kind of platform applicability is wider, the more easy laser of test equipment
Axiality method of testing.
The content of the invention
Technical problem solved by the invention is to provide that a kind of platform applicability is wider, test equipment it is more easy two
Beam laser coaxial degree measuring method.
The technical solution for realizing the object of the invention is：A kind of two beam laser coaxial degree detection sides based on image procossing
Method.Comprise the following steps：
Step 1, a semi-transparent receiving surface is set among the laser of two certain distances, this receiving surface needs
Adjustment is allowed to perpendicular to two laser positions lines, sets camera to beat figure in plane to gather laser in receiving surface side
Picture；
Step 2, position (this of first laser device 1 and the line of second laser 2 in receiving surface is determined using extra laser
When laser 1,2 close), and the laser spot position image is captured by camera and pre-processed；
Step 3, the position for confirming laser 1,2 axiss of reference in receiving surface is calculated by image procossing；
Step 4, the light beam for blocking laser 2, the image of laser 1 is captured by camera and carries out image preprocessing；
Step 5, the light beam of laser 1 is calculated by image procossing beats laser spot position in receiving surface；
Step 6, the light beam for blocking laser 1, the image of laser 2 is captured by camera and carries out image preprocessing；
Step 7, the light beam of laser 2 is calculated by image procossing beats laser spot position in receiving surface；
Step 8, system reference space coordinates is established, the relative shift, two laser distances to hot spot carry out space
Geometrical analysis, obtain angle deviator of two laser beams with respect to axis of reference.
A, to ensure that camera collects clearly both sides laser image, the receiving surface of step 1 is semi-transparent optical screen；
B, it is to image preprocessing in step 2,4,6：Image is first converted into gray level image, it is high using laser brightness
Feature carries out gray scale selection, obtains the image of the only hot spot of laser core bright spot, finally carries out rim detection；
C, step 3,5,7 methods for calculating spot center position (x, y) are grey scale centre of gravity method, and formula used is：
Wherein, x is the abscissa of receiving surface laser spot center, and the ordinate centered on y, f (x, y) is gray level image,
S is rim detection contour area.
Pixel coordinate is further changed as physical location (X, Y)：
X=k*x；Y=k*y
Wherein k is constant (actual physical size that each pixel of camera represents)；
D, the reference space coordinates that step 8 is established is described as：
Utilize the different objects of mathematical linguistics description this time experiment：I.e. laser 1,2 is represented by point A, B；A, B distances receive
The distance in face is respectively d1, d2；Axis of reference AB and receiving surface intersection point O；The central point difference that laser 1,2 is imaged in receiving surface
For A1, B1.
Three-dimensional coordinate is established as follows：Note O is three-dimensional coordinate origin, and the straight line that point O is crossed on parallel ground in receiving surface is x
Axle, a straight line for crossing point O in receiving surface perpendicular to the ground is y-axis, and AB lines are z-axis.
Showed, calculated in detail such as by the axiality for the i.e. laser 1,2 of angle that AA1, BB1 and axis of reference AB is calculated
Under：
φ 1=arctan (OA1/d1)
φ 2=arctan (OB1/d2)
The present invention compared with prior art, its remarkable advantage：
(1) equipment overall simple, form as a receiving surface, a lasing light emitter and an embedded system；
(2) method application platform is extensive, it is only necessary to is equipped with camera and receiving surface, the image processing platform of rear end may be selected
Property is extensive；
(3) it is simple to operate, it need to only be tested according to step, it is relative by the i.e. available two beam laser of the spatial coordinates calculation of structure
The deviation angle of axis, i.e. axiality show.
Brief description of the drawings
Fig. 1 is the system construction drawing of the two beam laser coaxial degree detection methods of the invention based on image procossing.
Fig. 2 is the flow chart of the two beam laser coaxial degree detection methods of the invention based on image procossing.
Fig. 3 is the space coordinates illustraton of model of the two beam laser coaxial degree detection methods of the invention based on image procossing.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings.
With reference to Fig. 1~3, the two beam laser coaxial degree detection method steps proposed by the present invention based on image procossing are as follows：
Step 1: equipment installation and image obtain
Image procossing precision and resolution ratio of camera head tight association, resolution ratio get over the precision reached after hi-vision processing
It is higher.The present invention is 1600*1200 from resolution ratio of camera head, and receiving surface 0.5m*0.5m, two testing laser sources are apart
10m, then testing laser and axis of reference included angle theoretical maximum are (it is assumed that receiving surface is placed on point midway)：
2 ° of 51' of Φ max=arctan (0.5/2/5) ≈
Consider that laser direction is good, deflection angle is smaller during two beam laser alignments, and Φ max=2 ° 51' meet general test need
Ask.
According to Fig. 1 place apparatus：Fixing receiving surface makes its distance of distance lasers 1,2 all be 5m, makes receiving surface vertical
Perpendicular to laser 1,2 location point lines, i.e., vertical rain axis of reference.By camera and the embedded device (NanoPi of rear end
ARM development boards) it is arranged on receiving surface side so that and video camera can obtain whole pictures rich in detail of receiving surface.
Step 2：Image preprocessing
With developing rapidly for image procossing, many ripe open-source cross-platform computer vision storehouses be present, can run
In Linux, Windows, Android and Mac OS operating systems.Present invention reference utilizes openCV (Open Source
Computer Vision Library) certain methods in this storehouse of increasing income realize image preprocessing.
It is the gray processing processing of image first, here with cvCvtColor functions, cvCvtColor (IplImage*
src, IplImage*dst,CV_BRG2GRAY)；Wherein parameter src is picture source, dst be conversion after gray level image target
(attention parameters src, dst must distribute memory headroom in advance).
Due to the high brightness of laser and the characteristic of good directionality, gray level image can substantially distinguish bright laser irradiation
Hot spot and dark background, therefore gray scale selection can be utilized quickly to choose bright (gray value is big) hot spot.It is suitable to choose
Gray scale, which separates threshold value, many methods (including method, maximum entropy threshold method etc. between Two-peak method, P parametric methods, maximum kind).The present invention
One-dimensional intersection Information Entropy is make use of, maximum variance is much like between this method and class, is to apply entropy in information theory by Li and Lee
Theoretical developments.Assuming that S represents original image, S ' represents the bianry image after segmentation, then can be derived according to entropy formula
Obtain their cross entropy quantitative expression：
Wherein h is statistic histogram, and L is number of greyscale levels, and u1, u2 represent the average gray in the region after two segmentations respectively
Value, wherein t are threshold value used by segmentation figure picture.So that t minimum D is the optimal threshold under minimum cross entropy meaning, this
Three width images of secondary test：Axis of reference location drawing picture, the image of laser 1, the threshold calculations of the image of laser 2 are respectively：To=154；
T1=156；T2=147.
Rim detection is that an important step before center of gravity detection is carried out in the inventive method, utilizes rim detection skill
Art, the information content in image to be processed needed for follow-up center of gravity detection can be greatly reduced, improve whole laser spot detection
The detection speed and detection efficiency of system.In OpenCV, function cvCanny has found the side of input picture using CANNY algorithms
Edge and these edges are identified in the output image.
Step 3：Center confirms
The method for first calculating hot spot pixel center (x, y) is grey scale centre of gravity method, and formula used is：
Wherein, x is the abscissa of receiving surface laser spot center, and the ordinate centered on y, f (x, y) is gray level image,
S is rim detection contour area.Three width images are obtained after calculating in the present invention the image after edge treated：Reference axis
Line position image, the image of laser 1, three pixel centers of the image of laser 2 are：
o(783、525)、a1(422、502)、b1(1168、741)
Pixel coordinate is further changed as physical location (X, Y)：
X=k*x；Y=k*y
Camera pixel of the present invention is in receiving surface position actual physical size conversion coefficient k ≈ 3.45*10^-4m/ pixels.
Convert to obtain three laser center actual size positions in receiving surface by above-mentioned calculation formula：
O(0.270、0.181)、A1(0.145、0.173)、B1(0.403、0.256)
Step 4：Angle calculation
The reference space coordinates of foundation are as shown in figure 3, the different objects this time tested using mathematical linguistics description：Swash
Light device 1,2 is represented by point A, B in a coordinate system；A, B is apart from receiving surface distance respectively d1, d2；Axis of reference AB and receiving surface
Intersection point O；The central point that laser 1,2 is imaged in receiving surface is respectively A1, B1.
Three-dimensional coordinate is established as follows：Note O is three-dimensional coordinate origin, and the straight line that point O is crossed on parallel ground in receiving surface is x
Axle, a straight line for crossing point O in receiving surface perpendicular to the ground is y-axis, and AB lines are z-axis.
Substitute into the relevant parameter of this simulated experiment：Wherein d1=d2=5m, the position step of three central points in receiving surface
Rapid three have calculated：
O(0.270、0.181)、A1(0.145、0.173)、B1(0.403、0.256)
Calculate laser 1 is with axis of reference included angle 1：
φ 1=arctan (OA1/d1)=1 ° of 25' of arctan (0.125/5) ≈
Consider deflection angle directionality, laser 1 is in x-axis negative direction deflection angle φ 1x：
φ 1x=arctan (| x1-x |/d1) 1 ° of 25' of ≈ arctan (0.125/5) ≈
Laser 1 is in y-axis negative direction deflection angle φ 1y：
φ 1y=arctan (| y1-y |/d1) 0 ° of 5' of=arctan (0.008/5) ≈
Laser 2 is with axis of reference included angle 2：
φ 2=arctan (OB1/d2)=1 ° of 44' of arctan (0.152/5) ≈
Consider deflection angle directionality, laser 2 is in x-axis positive direction deflection angle φ 2x：
φ 2x=arctan (| x2-x |/d1) 1 ° of 31' of ≈ arctan (0.133/5) ≈
Laser 2 is in y-axis positive direction deflection angle φ 2y：
φ 2y=arctan (| y2-y |/d1) 0 ° of 51' of=arctan (0.075/5) ≈
In order to analyze the method order of accuarcy, the location point that three laser of manual record are imaged in receiving surface, pass through scale
A1 is with respect to reference coordinate origin O real offset OA1 vector representations (- 0.132, -0.01) for chi measurement first laser imaging, and second
Laser imaging B1 is with respect to reference coordinate origin O real offset OB1 vector representations (0.135,0.068).
The relative displacement that contrast images processing calculates, calculate and find that x-axis, the max value of error in y-axis direction are 7mm, change
0 ° of 4' of angle φ=arctan (0.007/5) ≈ is calculated, i.e. angular error is less than 4'.
Claims (5)
1. a kind of two beam laser coaxial degree detection methods based on image procossing, it is characterised in that comprise the following steps：
Step 1, a receiving surface is set among two long distance laser devices, the receiving surface is perpendicular to the position of two lasers
Line, camera is set to beat image in plane to gather laser in receiving surface side；
Step 2, first laser device 1 and the line of second laser 2 are determined using extra laser in the position of receiving surface, now
First laser device 1 and second laser 2 are closed, and are captured the laser spot position image by camera and pre-processed；
Step 3, the position for confirming first laser device 1 and the axis of reference of second laser 2 in receiving surface is calculated by image procossing
Put；
Step 4, the light beam for blocking second laser 2, capture the image of first laser device 1 by camera and carry out image and locate in advance
Reason；
Step 5, the light beam of first laser device 1 is calculated by image procossing beats laser spot position in receiving surface；
Step 6, the light beam for blocking first laser device 1, capture the image of second laser 2 by camera and carry out image and locate in advance
Reason；
Step 7, the light beam of second laser 2 is calculated by image procossing beats laser spot position in receiving surface；
Step 8, system reference space coordinates is established, the relative shift, two laser distances to hot spot carry out space geometry
Analysis, obtains angle deviator of two laser beams with respect to axis of reference.
2. the two beam laser coaxial degree detection methods according to claim 1 based on image procossing, it is characterised in that：Step
The promising semi-transparent optical screen of receiving surface described in 1.
3. the two beam laser coaxial degree detection methods according to claim 1 based on image procossing, it is characterised in that：Step
2nd, described in 4,6 to image carry out pretreatment be：Image is first converted into gray level image, using laser brightness it is high the characteristics of
Gray scale selection is carried out, the image of the only hot spot of laser core bright spot is obtained, finally carries out rim detection.
4. the two beam laser coaxial degree detection methods according to claim 1 based on image procossing, it is characterised in that：Step
3rd, the method for the calculating facula position described in 5,7 is grey scale centre of gravity method, and formula used is：
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Wherein, x is the abscissa of receiving surface laser spot center, and the ordinate centered on y, f (x, y) is gray level image, and S is side
Edge detects contour area.
5. the two beam laser coaxial degree detection methods according to claim 1 based on image procossing, it is characterised in that：Step
The reference space coordinates of foundation described in 8 is described as：
This time different objects of experiment are described using mathematical linguistics and establish corresponding reference space coordinates：That is first laser
Device 1, second laser 2 are represented by point A, B；A, B is apart from receiving surface distance respectively d1, d2；Axis of reference AB hands over receiving surface
Point O；The central point that laser 1,2 is imaged in receiving surface is respectively A1, B1；
Three-dimensional coordinate is established as follows：Note O is three-dimensional coordinate origin, and the straight line that point O is crossed on parallel ground in receiving surface is x-axis,
A straight line for crossing point O in receiving surface perpendicular to the ground is y-axis, and AB lines are that axis of reference is z-axis；
Showed by the axiality for the i.e. laser 1,2 of angle that AA1, BB1 and axis of reference AB is calculated, be calculated as follows in detail：
φ 1=arctan (OA1/d1)
φ 2=arctan (OB1/d2).
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| CN108453564A (en) * | 2018-03-05 | 2018-08-28 | 上海理工大学 | Ball-screw in NC Machine Tools assembles the vision inspection apparatus and method of coaxiality error |
| CN109581795A (en) * | 2018-12-13 | 2019-04-05 | 深圳阜时科技有限公司 | A kind of optical projection mould group, sensing device and equipment |
| CN109781390A (en) * | 2019-01-18 | 2019-05-21 | 苏州迅镭激光科技有限公司 | A kind of detection method of laser export head light path coaxial |
| CN109877437A (en) * | 2019-03-26 | 2019-06-14 | 武汉百舸自动化工程有限责任公司 | A kind of Resistance welding gun to neutral detection device and method |
| CN110567403A (en) * | 2019-09-26 | 2019-12-13 | 华勤通讯技术有限公司 | code scanning equipment coaxiality detection method and system |
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Application publication date: 20171201 |