CN107478172B - Laser three-D curved profile positioning projection method based on binocular vision - Google Patents
Laser three-D curved profile positioning projection method based on binocular vision Download PDFInfo
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- CN107478172B CN107478172B CN201710470268.5A CN201710470268A CN107478172B CN 107478172 B CN107478172 B CN 107478172B CN 201710470268 A CN201710470268 A CN 201710470268A CN 107478172 B CN107478172 B CN 107478172B
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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
- G01B11/2433—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures for measuring outlines by shadow casting
Abstract
The laser three-D curved profile positioning projection method based on binocular vision that the present invention provides a kind of, by obtaining space coordinate of the discrete point sequence for the three-D profile curve being projected on object under biocular systems coordinate system by Binocular Stereo Vision System, and then a series of required control signals of projection are found out to complete laser three-D curved profile positioning projection by the calibration result of these coordinates and laser galvanometer scanning system, this method drop shadow effect is good, positioning accuracy is high, and cost is relatively low for required hardware device, is easy to be applied in every profession and trade.
Description
Technical field
The present invention relates to laser positioning projection art, specifically a kind of laser three-D curve wheel based on binocular vision
Wide positioning projection's method.
Background technique
Laser three-D curved profile positioning projection is that one kind relies on laser to have the characteristics that good collimation and directionality,
By scanning device by the corresponding position of laser beam high-velocity scanning to space curved surface, human eye vision persistence effect is recycled to be formed
The Color Laser Projection Technology that complete picture is produced to support staff.Since focus issues, nothing is not present in the laser beam of collimation
The shadow casting technique can be the three-dimensional curve contour pattern in known CAD digital-to-analogue according to the throwing accurate in scale of 1:1 under circumstance of occlusion
To the corresponding outline position in surface in kind, the solid for realizing digital-to-analogue contour pattern in practical three-dimensional space is presented shadow.These are thrown
On shadow to space curved surface it is bright, clearly visible laser line is able to the profile information in CAD digital-to-analogue in realistic space
It intuitively shows, it is thus possible to which the operation that the specific region for being operator on practical curved surface carries out efficiently and accurately provides
With reference to and guide.Laser 3D locations of contours shadow casting technique has relatively broad application, such as airplane component in Field of Aviation Manufacturing
Assembly, composite plys, pattern spraying etc..
Current existing high-precision laser 3D locations of contours optical projection system is achieved in that galvanometer and high-precision laser radar
The scanning system of composition, the system have many advantages, such as that precision is high, scanning speed is fast, but since the implementation is needed by valence
The very expensive high-precision laser radar of lattice, and this technology is monopolized (such as the U.S. by external several companies always
LPT company), thus high-precision laser positioning optical projection system is limited to a certain extent in the popularization and application of every profession and trade.Depending on
Measurement is felt as one of typical non-contact measurement means, and measurement accuracy can reach 0.01mm magnitude, and convenient for primary
Property acquisition mass data, thus the present invention be introduced into laser galvanometer 3D profile be accurately positioned projection.Determining galvanometer
During model parameter, vision measurement technology can provide a large amount of high-precision sampled datas, thus to solve galvanometer itself
Model parameter provides effective information source；When laser galvanometer system is aligned with the three dimensional practicality progress spatial position being projected,
It can achieve the purpose that both unified coordinate system by the way that the three dimensional practicality being projected to be also placed in camera coordinates system.And depending on
Feel that measuring technique popularity is higher, the laser radar price of required hardware facility relative good accuracy is also much lower.Thus
As it can be seen that the combination of vision measurement and laser galvanometer can be accurately positioned projection for laser 3D profile provides a kind of realization side well
Formula, and which is easier to be promoted in every profession and trade.
Summary of the invention
The present invention in order to solve problems in the prior art, provides a kind of laser three-D curved profile based on binocular vision
Positioning projection's method, the discrete point sequence for being projected contour curve on object by Binocular Stereo Vision System acquisition are vertical in binocular
Space coordinate under body vision system coordinate system, and then found out by these coordinates and the calibration result of laser galvanometer scanning system
A series of control signals needed for laser galvanometer projection, to complete the projection of laser 3D locations of contours.This method positioning projection essence
Degree is high, and at low cost, strong operability.
The method that the present invention uses is based on a kind of laser three-D curved profile positioning projection system based on binocular vision, packet
Include laser galvanometer scanning system and vision positioning device；The vision positioning device is a Binocular Stereo Vision System；
The laser galvanometer scanning system includes a laser scanning galvanometer, a laser emitter, a control panel
Card, a host computer, wherein Control card is inserted on the mainboard of host computer and uses；
The Binocular Stereo Vision System includes left and right two industrial cameras, camera fixing device, sweeps with laser galvanometer
The shared host computer of system is retouched, wherein left and right camera is fixed in advance by camera fixing device.
Laser three-D curved profile positioning projection method provided by the invention based on binocular vision, comprising the following steps:
Step 1 demarcates Binocular Stereo Vision System, and calibrating parameters is saved；
Step 2 obtains digital controlled signal D using Binocular Stereo Vision System Calibration of Laser galvanometer scanning systemiIt is right
The emergent light l answerediPosition vector v under Binocular Stereo Vision System coordinate systemiBetween mapping relations, and keep binocular vision
Feel system and the relative positional relationship of laser galvanometer scanning system are constant；
Step 3, arrangement can characterize the N number of vision positioning point for being projected object coordinates system on being projected object, will be by
Projection objects are placed in Binocular Stereo Vision System visual field, and control camera shooting is projected object, remember what left camera took
Image is PL, the image that right camera takes is PR；
Step 4, the image P shot according to Binocular Stereo Vision SystemLAnd PR, it is calculated by binocular stereo vision algorithm
Space coordinate of N number of vision positioning point under Binocular Stereo Vision System coordinate system, is denoted as
Step 5 remembers that this N number of vision positioning point is in the space coordinate being projected under object local Coordinate SystemWith N number of vision positioning space of points coordinate under Binocular Stereo Vision System coordinate systemConstitute N number of space
Point corresponds toObject local Coordinate System is projected to binocular stereo vision coordinate system by the corresponding determination of this N number of spatial point again
Spin matrix R and translation vector T；
Step 6, according to positioning projection's permissible accuracy, at regular intervals sequentially by the full curve profile for needing to project
It is separated into series of points, these are in the space coordinate being projected in object coordinates systemWherein M be from
The sum of scatterplot；
Step 7, the spin matrix R found out by step 5 and translation vector T can be obtained discrete point sequence in step 6 and exist
Coordinate under Binocular Stereo Vision System coordinate system is
Step 8, to U control digital signal of laser galvanometer scanning system stochastic inputs, by step 2 laser galvanometer scanning
The result of system calibrating obtains the corresponding laser rays l of this U control digital signal under biocular systems coordinate systemm, the orientation m=1 ... U
Vector vm, two are arbitrarily selected from this U laser beam, according to their corresponding position vectors under biocular systems coordinate system
The midpoint space coordinate for calculating two laser rays common vertical line sections, is obtained in this mannerA space coordinate, by thisIt is a
Optics of myopia projection centre of the average point space coordinate of space coordinate as laser galvanometer scanning system, is denoted as O；
Step 9, a bit using the optics of myopia projection centre O in step 8 as straight line, the discrete point of step 7As
Straight line another point constitutes M straight line under biocular systems coordinate system, calculates the position vector v of this M straight linek, k=1 ... M, fortune
It is obtained being projected out this M discrete point required input control digital quantity with the result of laser galvanometer scanning system calibrating in step 2
Initial value is
Step 10 will control the initial value of digital quantity obtained in step 9As search initial value, setting step-size in search is 1
Recursive search is carried out, until discrete pointTo control digital quantity DkCorresponding laser rays distance stops search when no longer reducing, and presses
Search obtains being projected out the exact value of this M discrete point required input control digital quantity being D in this wayk, k=1,2 ... M；
Step 11, a series of input control digital quantity D that step 10 is found outk, k=1,2 ... M are sequentially inputted to swash
Light galvanometer scanning system, and suitable scanning speed is selected according to the physical length of curved profile, it is fixed to complete three-dimensional curve profile
Position projection.
The beneficial effects of the invention are that:
The present invention combines Binocular Stereo Vision System and laser galvanometer, is responsible for completion by Binocular Stereo Vision System
The calibration of laser galvanometer system is also responsible for completing to be projected the centering of object, to make that whole system configuration is simple, is easy to real
It is existing, at low cost, and laser three-D locations of contours projection accuracy is high, strong operability.
Detailed description of the invention
Fig. 1 is that the present invention is based on the laser three-D curved profile positioning projection system structure diagrams of binocular vision；
Fig. 2 is that the present invention is based on the schematic diagrames of the laser three-D curved profile positioning projection Method And Principle of binocular vision；
Fig. 3 is that the present invention is based on the step flow charts of the laser three-D curved profile positioning projection method of binocular vision；
Fig. 4 is that the present invention is based on a specific embodiments of the laser three-D curved profile positioning projection method of binocular vision
In be projected object and its own CAD model；
Fig. 5 is that the present invention is based on a specific embodiments of the laser three-D curved profile positioning projection method of binocular vision
In the profile to be projected that is projected on object and 8 vision positioning points using；
Fig. 6 is that the present invention is based on a specific embodiments of the laser three-D curved profile positioning projection method of binocular vision
In be projected positioning projection's effect of object.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and specific embodiments.
Laser three-D curved profile positioning projection method proposed by the present invention based on binocular vision is by binocular solid
Vision system acquisition is projected space coordinate of the three-D profile curve discrete point sequence under biocular systems coordinate system on object, into
And a series of control signals needed for finding out projection by the calibration result of these coordinates and laser galvanometer scanning system, thus complete
At laser three-D curved profile positioning projection.
The method that the present invention uses is based on a kind of laser three-D curved profile positioning projection system based on binocular vision, knot
Structure is as shown in Figure 1, include laser galvanometer scanning system and vision positioning device；The vision positioning device is a binocular
Stereo visual system；
The laser galvanometer scanning system includes a laser scanning galvanometer, a laser emitter, a control panel
Card, a host computer, wherein Control card is inserted on the mainboard of host computer and uses；
The Binocular Stereo Vision System includes left and right two industrial cameras, camera fixing device, sweeps with laser galvanometer
The shared host computer of system is retouched, wherein left and right camera is fixed in advance by camera fixing device.
As shown in figures 2-3, the present invention is based on the laser three-D curved profile positioning projection methods of binocular vision, specific to walk
It is rapid as follows:
Step 1 demarcates Binocular Stereo Vision System, and calibrating parameters is saved；
Step 2 obtains digital controlled signal D using Binocular Stereo Vision System Calibration of Laser galvanometer scanning systemiIt is right
The emergent light l answerediPosition vector v under Binocular Stereo Vision System coordinate systemiBetween mapping relations, and keep binocular vision
Feel system and the relative positional relationship of laser galvanometer scanning system are constant；
Step 3, arrangement can characterize the N number of vision positioning point for being projected object coordinates system on being projected object, will be by
Projection objects are placed in Binocular Stereo Vision System visual field, and control camera shooting is projected object, remember what left camera took
Image is PL, the image that right camera takes is PR；
Step 4, the image P shot according to Binocular Stereo Vision SystemLAnd PR, it is calculated by binocular stereo vision algorithm
Space coordinate of N number of vision positioning point under Binocular Stereo Vision System coordinate system, is denoted as
Step 5 remembers that this N number of vision positioning point is in the space coordinate being projected under object local Coordinate SystemWith N number of vision positioning space of points coordinate under Binocular Stereo Vision System coordinate systemConstitute N number of space
Point corresponds toObject local Coordinate System is projected to binocular stereo vision coordinate system by the corresponding determination of this N number of spatial point again
Spin matrix R and translation vector T；
Step 6, according to positioning projection's permissible accuracy, at regular intervals sequentially by the full curve profile for needing to project
It is separated into series of points, these are in the space coordinate being projected in object coordinates systemWherein M be from
The sum of scatterplot；
Step 7, the spin matrix R found out by step 5 and translation vector T can be obtained discrete point sequence in step 6 and exist
Coordinate under Binocular Stereo Vision System coordinate system is
Step 8, to U control digital signal of laser galvanometer scanning system stochastic inputs, by step 2 laser galvanometer scanning
The result of system calibrating obtains the corresponding laser rays l of this U control digital signal under biocular systems coordinate systemm, the orientation m=1 ... U
Vector vm, two are arbitrarily selected from this U laser beam, according to their corresponding position vectors under biocular systems coordinate system
The midpoint space coordinate for calculating two laser rays common vertical line sections, is obtained in this mannerA space coordinate, by thisIt is a
Optics of myopia projection centre of the average point space coordinate of space coordinate as laser galvanometer scanning system, is denoted as O；
Step 9, a bit using the optics of myopia projection centre O in step 8 as straight line, the discrete point of step 7As
Straight line another point constitutes M straight line under biocular systems coordinate system, calculates the position vector v of this M straight linek, k=1 ... M, fortune
It is obtained being projected out this M discrete point required input control digital quantity with the result of laser galvanometer scanning system calibrating in step 2
Initial value is
Step 10 will control the initial value of digital quantity obtained in step 9As search initial value, setting step-size in search is 1
Recursive search is carried out, until discrete pointTo control digital quantity DkCorresponding laser rays distance stops search when no longer reducing, and presses
Search obtains being projected out the exact value of this M discrete point required input control digital quantity being D in this wayk, k=1,2 ... M；
Step 11, a series of input control digital quantity D that step 10 is found outk, k=1,2 ... M are sequentially inputted to swash
Light galvanometer scanning system, and suitable scanning speed is selected according to the physical length of curved profile, it is fixed to complete three-dimensional curve profile
Position projection.
A kind of specific embodiment of the present invention is as follows:
The laser three-D curved profile positioning projection system based on binocular vision is built at scene, with a known CAD model
White cup be projected object, and on cup arrange circular markers as vision positioning point (shown in Fig. 4).Using two
A vimba MG 419B camera and two focal lengths are that 50mm camera lens constitutes Binocular Stereo Vision System, and it is double to be projected object distance
Mesh system 2.5m.After Binocular Stereo Vision System regulates, using zhang camera calibration method (camera classics scaling method, ginseng
Examine document: Z.Zhang.A flexible new technique for camera calibration [J] .IEEE
Trans.Pattern Anal.Mach.Intell., 2000,22 (11), 1330-1334.) field calibration biocular systems, calibration
Parameter is as follows:
Left camera internal reference:
Right camera internal reference:
The left and right camera distortion considered has one, second order radial distortion and one, second order tangential distortion design parameter as follows:
δL=[0.001692373 1.600865-0.007052864 0.0009698981]
δR=[0.04421003 0.323322-0.007741335 0.00369994434]
The coordinate conversion of left camera coordinates system to right camera coordinates system is as follows:
T=[362.3866133 0.01384602927 71.72984997]
After biocular systems are demarcated, laser galvanometer scanning system is demarcated, scaling method can be with application reference people
Submitted on January 19th, 2017 application No. is 201710038353.4 Chinese patents.It can establish input after the completion of calibration
General mapping relations of the digital quantity signal with corresponding shoot laser beam between the position vector under biocular systems coordinate system.
Pass through anchor point according to step 3-5 in the above-mentioned laser three-D curved profile positioning projection method based on binocular vision
The coordinate (table 1) under the coordinate and itself CAD model coordinate system under biocular systems coordinate system, calculates and is projected object itself
CAD model coordinate system is converted with respect to a coordinate of biocular systems coordinate system, as a result as follows:
T=[19.85988909466-74.485680344869 1910.30715907]
Space coordinate of the profile discrete point to be projected under biocular systems coordinate system can be obtained according to the transformational relation, according to
Step 8-11 completion laser positioning projects in laser three-D curved profile positioning projection method based on binocular vision, in Fig. 5
The drop shadow effect of profile to be projected is as shown in Figure 6.
Table 1 is projected object anchor point coordinate
Profile width maximum to be projected in the present embodiment is no more than 2mm, and the drop shadow effect in Fig. 6 shows of the invention
Laser three-D curved profile positioning projection's method based on binocular vision projects effect in the projection of practical three-dimensional curve locations of contours
Fruit is good, positioning accuracy is high.
There are many concrete application approach of the present invention, the above is only a preferred embodiment of the present invention, it is noted that for
For those skilled in the art, without departing from the principle of the present invention, it can also make several improvements, this
A little improve also should be regarded as protection scope of the present invention.
Claims (1)
1. a kind of laser three-D curved profile positioning projection method based on binocular vision, it is characterised in that the following steps are included:
Step 1 demarcates Binocular Stereo Vision System, and calibrating parameters is saved；
Step 2 obtains digital controlled signal D using Binocular Stereo Vision System Calibration of Laser galvanometer scanning systemiIt is corresponding go out
Penetrate light liPosition vector v under Binocular Stereo Vision System coordinate systemiBetween mapping relations, and keep binocular vision system
It is constant with the relative positional relationship of laser galvanometer scanning system；
Step 3, arrangement can characterize the N number of vision positioning point for being projected object coordinates system on being projected object, will be projected
Object is placed in Binocular Stereo Vision System visual field, and control camera shooting is projected object, remembers the image that left camera takes
For PL, the image that right camera takes is PR；
Step 4, the image P shot according to Binocular Stereo Vision SystemLAnd PR, it is calculated by binocular stereo vision algorithm N number of
Space coordinate of the vision positioning point under Binocular Stereo Vision System coordinate system, is denoted as
Step 5 remembers that this N number of vision positioning point is in the space coordinate being projected under object local Coordinate System
With N number of vision positioning space of points coordinate under Binocular Stereo Vision System coordinate systemIt is corresponding to constitute N number of spatial point
Again by this N number of spatial point it is corresponding determine be projected object local Coordinate System to the spin matrix R of binocular stereo vision coordinate system and
Translation vector T；
Step 6, according to positioning projection's permissible accuracy, by the full curve profile for needing to project, sequence is discrete at regular intervals
At series of points, these are in the space coordinate being projected in object coordinates systemWherein M is discrete point
Sum；
Discrete point sequence can be obtained in step 6 in binocular in step 7, the spin matrix R found out by step 5 and translation vector T
Coordinate under stereo visual system coordinate system is
Step 8, to U control digital signal of laser galvanometer scanning system stochastic inputs, by step 2 laser galvanometer scanning system
The result of calibration obtains the corresponding laser rays l of this U control digital signal under biocular systems coordinate systemm, m=1 ... U position vector
vm, two are arbitrarily selected from this U laser beam, is calculated under biocular systems coordinate system according to their corresponding position vectors
The midpoint space coordinate of two laser rays common vertical line sections out, is obtained in this mannerA space coordinate, by thisA space
Optics of myopia projection centre of the average point space coordinate of coordinate as laser galvanometer scanning system, is denoted as O；
Step 9, a bit using the optics of myopia projection centre O in step 8 as straight line, the discrete point of step 7As straight line
Another point constitutes M straight line under biocular systems coordinate system, calculates the position vector v of this M straight linek, k=1 ... M, with step
The result of laser galvanometer scanning system calibrating obtains the initial value for being projected out this M discrete point required input control digital quantity in rapid two
For
Step 10 will control the initial value of digital quantity obtained in step 9As search initial value, setting step-size in search is 1 progress
Recursive search, until discrete pointTo control digital quantity DkCorresponding laser rays distance stops search when no longer reducing, according to this
It is D that mode, which searches for obtain and is projected out this M discrete point required input to control the exact value of digital quantity,k, k=1,2 ... M；
Step 11, a series of input control digital quantity D that step 10 is found outk, k=1,2 ... M are sequentially inputted to laser galvanometer
Scanning system, and suitable scanning speed is selected according to the physical length of curved profile, complete the projection of three-dimensional curve locations of contours.
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| CN108542408A (en) * | 2018-01-26 | 2018-09-18 | 潍坊学院 | A kind of 3 D stereo femoral head dimension measuring device |
| CN111367138A (en) * | 2020-04-14 | 2020-07-03 | 长春理工大学 | Novel laser scanning projection device |
| CN112666703B (en) * | 2021-03-18 | 2021-06-04 | 光量信息科技(宁波)有限公司 | Space curve joint positioning projection system and method based on multiple laser galvanometers |
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