CN108444383B - The box-like process integral measurement method of view-based access control model laser group - Google Patents
The box-like process integral measurement method of view-based access control model laser group Download PDFInfo
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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
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
- G01B11/005—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates coordinate measuring machines
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Abstract
The present invention is based on the box-like process integral measurement methods of vision laser group to belong to geometric measurement field, is related to a kind of process integral measurement method that view-based access control model laser group is box-like.This method realizes the online guiding of the end measuring device pose of mechanical arm in such a way that left and right camera is by visual servo, is in the local feature of part to be measured in the measurement range of laser scanner.And high-acruracy survey is carried out to local feature using laser scanner, tracking and positioning is carried out to end measuring device with laser tracker；The pose for adjusting end measuring device carries out subregion to part to be measured and repeatedly measures, and the local laser scan data repeatedly measured is uniformly arrived under the global coordinate system established based on laser tracker.This method efficiently solves the problems, such as high-precision process integrated measuring within the scope of large space, has the characteristics that measurement accuracy is high, range is wide and high robust, realizes large space, across scale, high-precision process integrated measuring.
Description
Technical field
The invention belongs to geometric measurement fields, are related to a kind of process integrated test that view-based access control model laser group is box-like
Amount method.
Background technique
In aerospace field, with the propulsion of automation, mechanical arm is gradually adopted to carry out large parts whole
Processing, and high-precision integrated measuring is the important technology guarantee for realizing high quality processing in process.Large parts
Size up to several meters to tens of rice, when measurement, had both needed the positioning of full-scale range to realize that precision is micron-sized part again
Measurement, measurement scale cross over multiple orders of magnitude.Measured object size is larger and structure is complicated, its geological information of accurately measure tool
There is very big difficulty.Therefore, one kind is invented to have great importance towards large space, across scale, high-precision measurement method.
The measurement of large-sized object at present mainly passes through total station, large space laser scannings instrument, indoor GPS, laser radar etc.
Equipment is completed.Total powerstation popularity rate height, far measuring distance, but measuring speed is slow, function is limited, is only suitable for the big of tens of rice or more
Dimensional measurement；Large space laser scannings measuring speed is fast, data volume is big, but low measurement accuracy, measurement dead angle it is more, be not suitable for
High-acruracy survey.The equipment that indoor GPS method needs is more, and layout is complicated, cumbersome, so that measurement efficiency is lower.Laser radar
Method needs point by point scanning, and measurement efficiency is lower and is unable to measure local complex region.
Dongguan Xin Ji kelvin measuring technique Co., Ltd Tu Chengsheng, Patent No. CN104316007A is " based on measurement reference
The low cost large-sized precision physical dimension measurement system of dot matrix " determines traverse measurement using the witness mark battle array by calibration
Position of the equipment in measurement space, and then mobile measuring equipment institute measured data is transformed into the measurement preset world coordinates in space
System realizes the large scale accurate measurement of low cost, but this method needs arrange big measurement on fixed ground and metope
Reference point simultaneously demarcates it, and its measurement accuracy is influenced by reference point extraction accuracy, and system answers production scene
Miscellaneous environmental suitability is poor.High Buddha's warrior attendant of Changchun Institute of Technology etc., the Patent No. CN107024175A " large size based on multi-vision visual
Bus body critical size detection system solution " is uniformly arrived the measurement data of multiple groups binocular camera using laser tracker
Under global coordinate system, the stitching measure within the scope of large space is realized, but the position of multiple groups binocular camera is fixed not in the program
It moves and needs certain installation space, it is difficult to meet the integrated measuring demand in process.The Liu Jianwei of Xi'an Communications University
Et al. delivered article " large scale videogrammetry system " in " optical precision engineering " first phase in 2010, propose one
Portable industrial measuring system of the kind based on stereovision technique, the system is by global flag point measuring system and local point off density
Scanning system composition, large-scale workpiece can be measured in production scene, but this method need object under test surface and around
Region sticking sign point reduces the efficiency of measurement, and the overall measurement accuracy of the system is 112 μm/3m, is not able to satisfy still
The high-acruracy survey demand of aerospace field large scale components.
Summary of the invention
The problem to be solved in the present invention is to overcome prior art insufficient to processing site bad adaptability, measurement accuracy
Defect invents a kind of process integral measurement method that view-based access control model laser group is box-like.This method, first with binocular phase
Machine guides the pose that mechanical arm adjusts its end measuring device online by way of visual servo, sweeps measured object in laser
It retouches in the measurement range of instrument；Then high-acruracy survey is carried out using local feature of the laser scanner to measured object；Adjustment measurement
The pose of device to measured object carry out subregion domain measurement, finally by the data that multiple local laser scans uniformly arrive based on laser with
Under the global coordinate system that track instrument is established, the high-acruracy survey of large space range is realized.The method is by partial high-precision scanning and greatly
The positioning of spatial domain real-time tracking combines, and the online guiding of mechanical arm tail end measuring device posture is realized by visual servo,
It improves measurement efficiency and can adapt to the complex environment of processing site, realize large space, across scale, high-precision processed
Journey integrated measuring.
The technical solution adopted by the present invention is that a kind of process integral measurement method that view-based access control model laser group is box-like,
It is characterized in that this method is swept using local laser essence tracks the technical approach combined with visual servo and global laser；First
Two CCD camera measure system is built, realizes the end measurement dress of mechanical arm in the way of visual servo by left and right camera 7,9
The online guiding for setting I pose is in the local feature of part 1 to be measured in the measurement range of laser scanner 5；Then using sharp
Photoscanner 5 carries out high-acruracy survey to local feature, while being tracked using laser tracker 2 to end measuring device I
Positioning；The pose for adjusting end measuring device carries out subregion to part 1 to be measured and repeatedly measures, the part that finally will repeatedly measure
Laser scanning data is uniformly arrived under the global coordinate system established based on laser tracker 2, realizes large space, across scale, high-precision
Process integrated measuring；Specific step is as follows for measurement method:
The first step builds measuring system；
It builds measuring system: precise mobile platform 10, laser scanner 5 is installed in the cabinet 11 of end measuring device I
It is fixed on a mobile platform 10 by fixture 6, precise mobile platform moving direction is vertical with line laser plane, realizes laser scanning
Instrument 5 along the y axis on translational motion；Left and right camera 7,9 is installed on cabinet 11, during installation, it is ensured that left and right phase
Machine 7,9 one-tenth it is symmetrically placed and have certain angle, left and right camera is demarcated；Multiple laser tracking are installed on cabinet 11
Instrument target ball 8, and ensure that laser is not blocked in measurement process；Laser tracker 2 is fixedly placed in the side of part 1 to be measured,
The tracking and positioning for carrying out multi-measuring point to laser tracker target ball 8 with laser tracker 2, using not on the same line three or
The coordinate of the above laser target ball 8 determines the pose of mechanical arm tail end measuring device I in space；
Second step establishes coordinate system；
Establish coordinate system: in world coordinate system OwXwYwZwUnder a characteristic point P on part to be measuredw, coordinate is (Xw,Yw,
Zw), the coordinate system of Zuo Xiangji is OlXlYlZl, focal length fl, the coordinate system of right camera is OrXrYrZr, focal length fr, olxlyl
And orxryrIt is coordinate system of the left and right as plane respectively；PwCoordinate under left camera and right camera coordinates system is respectively (Xl,Yl,
Zl) and (Xr,Yr,Zr), coordinate of the imaging point under the camera photo coordinate system of left and right is respectively (xl,yl) and (xr,yr), left and right
The relative positional relationship of two cameras can be indicated by formula (1):
In above formula, R is the spin matrix of two camera positions conversion, and T is the translation matrix of two camera positions conversion, rijFor
The value that the i-th row jth arranges in spin matrix R, tiFor the value of i-th of number in translation matrix T；If world coordinate system OwXwYwZwWith left phase
Machine coordinate system OlXlYlZlIt coincides, then can obtain coordinate of the object point under world coordinate system and left and right by the imaging model of camera
Camera is as the transformational relation between the picpointed coordinate in plane, with left camera as the relationship between the picpointed coordinate in plane is formula
(2), with right camera as the relationship between the picpointed coordinate in plane is formula (3):
The more than simultaneous various three-dimensional coordinate for acquiring measured point is formula (4):
Third step carries out high-acruracy survey to local feature using laser scanner；
By image procossing and coordinate of the characteristic point under world coordinate system on acquisition part 1 to be measured is calculated, by be measured
The coordinate of multiple characteristic points can determine the relative pose of end measuring device I Yu part 1 on part 1；Then, according to opposite position
Appearance calculates expected pose and the track of the end measuring device I of mechanical arm, and the phase of mechanical arm 3 is exported by inverse kinematics
It should it is expected that joint angles, control mechanical arm 3 are moved, and using the real-time measuring data of binocular vision system as feedback, lead to
Visual servoing control is crossed, local feature to be measured is in the measurement range of laser scanner 5, utilizes laser scanner 5
The accurate two-dimensional position information of measured object, the i.e. location information of X-axis and Z-direction are obtained, in order to obtain the three-dimensional letter of measured object
Breath needs auxiliary laser scanner progress translational motion in the Y-axis direction；It is guided by visual servo, part to be measured is special
Sign has been in the measurement range of laser scanner 5, drives laser scanner 5 to move realization pair along the y axis by platform 10
Thus the measurement of 1 three-dimensional information of measured object obtains the partial high-precision geological information in region to be measured；
4th step, laser tracker tracking and positioning
What laser scanner 5 scanned every time is limited in scope, and needs the position of the multiple mobile measuring equipment in measurement space
Large-sized measurement is realized by data splicing；The tracking of multi-measuring point is carried out to laser tracker target ball 8 using laser tracker 2
Positioning can determine the end measurement dress of mechanical arm using the coordinate of three or more laser target balls 8 not on the same line
I pose in space is set, and then measurement the data obtained is transformed into the global coordinate system based on laser tracker 2；
5th step obtains the measurement data under global coordinate system；
If a point P is in mechanical arm tail end Mechanics coordinates O on 1 surface of part to be measuredAXAYAZAUnder coordinate be (XA,YA,
ZA), point P is in the global coordinate system O established based on laser tracker 2HXHYHZHUnder coordinate be (XH,YH,ZH), the two coordinates
It can be converted by formula (5):
Wherein, RAAnd TAThe respectively mechanical arm tail end Mechanics coordinates spin matrix that is transformed into laser tracker coordinate system
And translation matrix, RAAnd TAMatrix can be tracked by 3 or more multiple laser target balls 8 not on the same line in laser
Coordinate value under instrument coordinate system acquires；The data that laser scanner more than 5 times measure are transformed into the world coordinates of laser tracker 2
It is OHXHYHZHUnder, realize the global high-precision joining of laser scanning.
Large space is realized, across scale, high-precision process integrated measuring by above step.
The high-precision process one within the scope of large space is efficiently solved the beneficial effects of the invention are as follows this method
Change measurement problem, and visual servo, local laser essence swept and global laser tracking technology combines, have measurement accuracy it is high,
The advantages of measurement range is wide and high robust, is guided the posture of mechanical arm tail end measuring device online by visual servo, makes to survey
Amount is more intelligent, efficient.
Detailed description of the invention
Fig. 1 is the box-like process integrated measuring system of view-based access control model laser group.Wherein, 1- tested part, 2- swash
Optical tracker system, 3- mechanical arm, 4- mobile platform, I-end measuring device, OHXHYHZHThe world coordinates established for laser tracker
System.
Fig. 2 is the partial enlarged view of the end measuring device I of mechanical arm in Fig. 1.Wherein, 5- laser scanner, 6- fixture,
The left camera of 7-, 8- laser tracker target ball, the right camera of 9-, 10- precise mobile platform, 11- cabinet, OlXlYlZlFor left camera seat
Mark system, OrXrYrZrFor right camera coordinates system, OwXwYwZwFor world coordinate system, OXYZ is laser scanner coordinate system, OAXAYAZA
For mechanical arm tail end Mechanics coordinates.
Fig. 3 is the flow chart of the box-like process integral measurement method of view-based access control model laser group.
Specific embodiment
A specific embodiment of the invention is described in detail below in conjunction with technical solution and attached drawing.
The laser scanner 5 that the present embodiment is selected is the LJ-V7060 model measuring instrument of Keyemce company, in X-direction
Repeatable accuracy be 5 μm, Z-direction repeatable accuracy be 0.4 μm.Electric control platform 10 uses the M521.DD model of PI Corp.
Precise mobile platform, repetitive positioning accuracy are 0.2 μm.Laser tracker 2 is the AT960 of Leica company, and measurement is uncertain
Degree is ± 15 μm+6 μm/m.Camera 7,9 model vieworks VC-12MC-M/C, 65 camera in binocular vision system are differentiated
Rate: 4096 × 3072, imaging sensor: CMOS, frame per second: silent frame, highest 64.3fps.Camera lens model EF16-35mmf/
2.8LIIUSM, lens focus: f=16-35, APS focal length: 25.5-52.5, aperture: F2.8.Shooting condition is as follows: picture pixels
It is 4096 × 3072, lens focus 24mm.
The present invention is swept using local laser essence and is combined with global laser tracking, is guided online by way of visual servo
Mechanical arm adjusts the pose of its end measuring device, realizes the high-acruracy survey within the scope of large scale, the specific step of measurement method
It is rapid as follows:
The first step builds measuring system；
Measuring system is made of mobile platform 4, mechanical arm 3, end measuring device I and laser tracker 2, as shown in Figure 1.
In end measuring device I, left and right camera 7,9 is mounted on cabinet 11, when installation to guarantee left and right camera 7,9 one-tenth symmetrically put
It sets, and with 30 ° of angle.7 laser tracker target balls 8 are mounted on cabinet 11, and laser scanner 5 is fixed by fixture 6
In precise electric control platform 10, as shown in Figure 2.Laser scanner 5 is driven to carry out translation fortune along Y-axis by precise electric control platform 10
It is dynamic.
Binocular camera is demarcated using gridiron pattern scaling board, gridiron pattern scaling board is full of binocular camera as far as possible when calibration
Visual field, put 16 different positions, using Zhang Shi standardization carry out binocular camera calibration, obtain its translation, spin moment
Battle array are as follows:
Second step establishes coordinate system, as shown in Fig. 2.In world coordinate system OwXwYwZwUnder a characteristic point on part to be measured
Pw, coordinate is (Xw,Yw,Zw), the coordinate system of Zuo Xiangji is OlXlYlZl, the coordinate system of right camera is OrXrYrZr, laser with
Track instrument establishes global coordinate system OHXHYHZH, as shown in Fig. 1.
Third step carries out high-acruracy survey to local feature using laser scanner；
Three-dimensional coordinate of the measured point under world coordinate system, i.e., left camera coordinates system can be derived according to formula (1)-(3)
Formula (4) acquires three-dimensional coordinate of the measured point under world coordinate system according to formula (4), passes through multiple features on part 1 to be measured
The coordinate of point determines the relative pose of end measuring device I Yu part 1.Obtain the figure of part 1 to be measured in real time using left and right camera
Picture solves real-time relative pose of the mechanical arm tail end measuring device I relative to part 1 to be measured.
Expected pose and the track of the end measuring device I of mechanical arm are calculated according to relative pose, and by reversely transporting
The dynamic corresponding expectation joint angles for learning export mechanical arm 3, control mechanical arm 3 are moved.And by the real-time of binocular vision system
Measurement data, by Visual servoing control, makes local feature to be measured be in the measurement range of laser scanner 5 as feedback
It is interior, the accurate two-dimensional position information of measured object, the i.e. location information of X-axis and Z-direction are obtained using laser scanner 5.In order to
The three-dimensional information for obtaining measured object needs auxiliary laser scanner progress translational motion in the Y-axis direction；It is led by visual servo
Draw, local feature to be measured has been in the measurement range of laser scanner 5, drives laser scanner 5 along Y by platform 10
Axis direction movement, realizes the measurement to 1 three-dimensional information of measured object, thus obtains the partial high-precision geometry letter in region to be measured
Breath；
4th step, laser tracker tracking and positioning
What laser scanner 5 scanned every time is limited in scope, and needs the position of the multiple mobile measuring equipment in measurement space
Large-sized measurement is realized by data splicing；The tracking of multi-measuring point is carried out to laser tracker target ball 8 using laser tracker 2
Positioning, can determine the end measuring device I of mechanical arm in sky using the coordinate of 3 laser target balls 8 not on the same line
Between in pose, and then by measurement the data obtained be transformed into the global coordinate system based on laser tracker 2；
5th step obtains the measurement data under global coordinate system；
If tail house coordinate system O of the point P in mechanical arm on 1 surface of part to be measuredAXAYAZAUnder coordinate be (XA,YA,
ZA), point P is in the global coordinate system O established based on laser tracker 2HXHYHZHUnder coordinate be (XH,YH,ZH), the two coordinates
It is converted by formula (5).The data that laser scanner more than 5 times measure are transformed into the global coordinate system of laser tracker 2
OHXHYHZHUnder, realize the global high-precision joining of laser scanning.Large space is realized, across scale, high-precision by above step
Process integrated measuring.
Laser scanner partial high-precision is measured and is combined with the positioning of laser tracker global follow by the present invention, and is passed through
Visual servo guides the posture of mechanical arm tail end measuring device online, and the high-acruracy survey efficiently solved within the scope of large space is asked
Topic.This method is flexibly, efficient, robustness is high, realizes large space, across scale, high-precision process integrated measuring.
Claims (1)
1. a kind of process integral measurement method that view-based access control model laser group is box-like, characterized in that this method is using part
Laser essence, which is swept, tracks the technical approach combined with visual servo and global laser；Two CCD camera measure system is built first, benefit
The online guiding for realizing mechanical arm tail end measuring device (I) pose by way of visual servo with left and right camera (7,9), from
And it is in the local feature of part to be measured (1) in the measurement range of laser scanner (5)；Then laser scanner (5) are utilized
High-acruracy survey is carried out to local feature, while tracking and positioning is carried out to end measuring device (I) using laser tracker (2)；
The pose for adjusting end measuring device (I) carries out subregion to part to be measured (1) and repeatedly measures, the part that finally will repeatedly measure
Under the unified global coordinate system established to laser tracker (2) of laser scanning data, realization large space, across scale, high-precision
Process integrated measuring；Specific step is as follows for measurement method:
The first step builds measuring system；
It builds measuring system: precise mobile platform (10) being installed in the cabinet (11) of measuring device (I) in end, laser scanner
(5) it is fixed on mobile platform (10) by fixture (6), precise mobile platform moving direction is vertical with line laser plane, realizes
Laser scanner (5) along the y axis on translational motion；Left and right camera (7,9) is installed on cabinet (11), during installation,
Guarantee that left and right camera (7,9) at symmetrically placed and have certain angle, and is demarcated left and right camera；In cabinet (11)
The upper multiple laser tracker target balls (8) of installation, and ensure that laser is not blocked in measurement process；Laser tracker (2) is fixed
It is placed in the side of part to be measured (1), the tracking for carrying out multi-measuring point to laser tracker target ball (8) with laser tracker (2) is fixed
Position, determines that mechanical arm tail end measuring device (I) exists using the coordinate of three or more laser target balls (8) not on the same line
Pose in space；
Second step establishes coordinate system；
Establish coordinate system: in world coordinate system OwXwYwZwUnder a characteristic point P on part to be measuredw, coordinate is (Xw,Yw,Zw), it is left
The coordinate system of camera is OlXlYlZl, focal length fl, the coordinate system of right camera is OrXrYrZr, focal length fr, olxlylWith
orxryrIt is coordinate system of the left and right as plane respectively；PwCoordinate under left camera and right camera coordinates system is respectively (Xl,Yl,Zl)
(Xr,Yr,Zr), coordinate of the imaging point under the camera photo coordinate system of left and right is respectively (xl,yl) and (xr,yr), left and right phase
The relative positional relationship of machine is indicated by formula (1):
In above formula, R is the spin matrix of two camera positions conversion, and T is the translation matrix of two camera positions conversion, rijFor rotation
The value that the i-th row jth arranges in matrix R, tiFor the value of i-th of number in translation matrix T；If world coordinate system OwXwYwZwIt is sat with left camera
Mark system OlXlYlZlIt coincides, then can obtain coordinate of the object point under world coordinate system and left and right camera by the imaging model of camera
As the transformational relation between the picpointed coordinate in plane, with left camera as the relationship between the picpointed coordinate in plane is formula (2),
With right camera as the relationship between the picpointed coordinate in plane is formula (3):
The more than simultaneous various three-dimensional coordinate for acquiring measured point is formula (4):
Third step carries out high-acruracy survey to local feature using laser scanner；
By image procossing and coordinate of the characteristic point under world coordinate system on acquisition part (1) to be measured is calculated, passes through to be measured zero
The coordinate of multiple characteristic points determines the relative pose of end measuring device (I) Yu part (1) on part (1)；Then, according to opposite position
Appearance calculates expected pose and the track of mechanical arm tail end measuring device (I), and passes through inverse kinematics export mechanical arm (3)
Corresponding expectation joint angles, control mechanical arm (3) are moved, and using the real-time measuring data of binocular vision system as anti-
Feedback, by Visual servoing control, is in local feature to be measured in the measurement range of laser scanner (5)；Utilize laser
Scanner (5) obtains the accurate two-dimensional position information of measured object, the i.e. location information of X-axis and Z-direction, in order to obtain measured object
Three-dimensional information, need in the Y-axis direction auxiliary laser scanner carry out translational motion；It is guided by visual servo, it is to be measured
Local feature be in the measurement range of laser scanner (5), by platform (10) drive laser scanner (5) along Y-axis
The measurement to measured object (1) three-dimensional information is realized in direction movement, thus obtains the partial high-precision geological information in region to be measured；
4th step, laser tracker tracking and positioning
What laser scanner (5) scanned every time is limited in scope, and needs the position of the repeatedly mobile measuring equipment in measurement space logical
It crosses data splicing and realizes large-sized measurement；Using laser tracker (2) to laser tracker target ball (8) carry out multi-measuring point with
Track positioning can determine that the end of mechanical arm is surveyed using the coordinate of three or more laser target balls (8) not on the same line
The pose of device (I) in space is measured, and then measurement the data obtained is transformed into the world coordinates based on laser tracker (2)
System；
5th step obtains the measurement data under global coordinate system；
If a point P is in mechanical arm tail end Mechanics coordinates O on part (1) surface to be measuredAXAYAZAUnder coordinate be (XA,YA,
ZA), the global coordinate system O that point P is established in laser tracker (2)HXHYHZHUnder coordinate be (XH,YH,ZH), the two coordinates are logical
Formula (5) is crossed to be converted:
Wherein, RAAnd TARespectively mechanical arm tail end Mechanics coordinates be transformed into laser tracker coordinate system spin matrix peace
Move matrix, RAAnd TAMatrix is by 3 or 3 or more laser target balls (8) not on the same line in laser tracker coordinate system
Under coordinate value acquire；The data that laser scanner (5) repeatedly measures are transformed into the global coordinate system of laser tracker (2)
OHXHYHZHUnder, realize the global high-precision joining of laser scanning.
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