CN108562233B - Utilize the axis part diameter size On-line Measuring Method of conic section invariant - Google Patents
Utilize the axis part diameter size On-line Measuring Method of conic section invariant 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
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- G01B11/08—Measuring arrangements characterised by the use of optical techniques for measuring diameters
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Abstract
The invention discloses a kind of axis part diameter size On-line Measuring Method using conic section invariant, methods are as follows: Step 1: the inner parameter and distortion factor of calibration CCD camera；Step 2: one word line structure optical plane of calibration and top line parameter；Step 3: fitting perspective projection elliptic equation；Step 4: calculating the diameter of axle size of measured axis；The utility model has the advantages that when being measured using the method, it is only necessary to guarantee that the relative positional relationship of CCD camera and laser is constant, more conducively practical application；This invention takes structure light vision measuring techniques, therefore are able to achieve online non-cpntact measurement, guarantee higher measurement accuracy and measuring speed, and the axial workpiece of 200mm is less than for length, and measurement accuracy is less than or equal to ± 0.01mm.It is able to achieve online non-cpntact measurement, guarantees higher measurement accuracy and measuring speed, the axial workpiece of 200mm is less than for length, measurement accuracy is less than or equal to ± 0.01mm.
Description
Technical field
The present invention relates to a kind of axis part diameter size On-line Measuring Methods, in particular to a kind of to utilize conic section not
The axis part diameter size On-line Measuring Method of variable.
Background technique
Currently, axis is one of the important part for forming machine, is mainly used to the machine components and passing movement of support rotation
And power, axial workpiece have a very wide range of applications in numerous mechanical devices, including automobile gearbox, start
Machine, main shaft of lathe etc..With the rapid development of modern technologies, running speed and transmission accuracy to device are required increasingly
Height, therefore the accuracy of manufacture of axis and working performance will directly influence the behaviour in service and service life of machine.
It is mostly contact type measurement to the measurement of the diameter of axle in traditional processing, mainly uses vernier caliper, micrometer caliper and three
Tie up coordinate measuring apparatus etc..The disadvantages of that there are measurement efficiencies is low for contact measurement method, great work intensity, and contact type measurement is difficult
Realize the on-line checking of the diameter of axle.
With the continuous progress of science and technology and develop, the machine vision metrology based on photoelectricity, laser and computer technology
And image processing techniques becomes the important means of contemporary mechanical product quality detection.Based on computer vision measurement method and tradition
Contact measurement method compared to having the following prominent advantages:
1, measuring speed is fast, is able to achieve the integrated of image information；
2, it is able to achieve automatic measurement, the mankind can be replaced to measure under severe bad border or high-risk situation；
3, measurement range is wide, it can be achieved that the impossible measurement work of human eye, reduces human eye and measure bring error.
Currently, the measurement object of machine vision metrology method is limited to two-dimensional, the object table where measured size mostly
Face is exactly imaging plane, can use edge detection in machine vision and realizes measurement, or with edge detection and video camera mark
Surely it combines and completes high-acruracy survey.However, axial workpiece is 3D solid, the body surface where measuring size no longer is into
As plane, the measurement method of two-dimensional is just no longer applicable in.Also, since the reference dimension of tested part is often tens
To millimeters up to a hundred, much larger than the size of camera lens, at this point, machine vision metrology method is just no longer applicable in.
Summary of the invention
The main object of the present invention is to solve to utilize line-structured light technology existing during measuring dimension of object
Problem and a kind of axis part diameter size On-line Measuring Method using conic section invariant provided.
Axis part diameter size On-line Measuring Method provided by the invention using conic section invariant, method is such as
It is lower described:
Step 1: the inner parameter and distortion factor of calibration CCD camera, demarcate the inner parameter of CCD camera, are bases
Intrinsic parameters of the camera is calibrated using the different pose presentations of high-precision calibrating plate in camera plane calibration algorithm, to repair
Positive lens distortion distorting transformation caused by image, improves dimensional measurement precision, and detailed process includes the following steps:
1), CCD camera and laser projecting apparatus are fixed on bracket, holding position is constant, closes laser projecting apparatus, benefit
The scaling board image of nine width different positions and poses is acquired with CCD camera；
2) subpixel coordinates of angle point in scaling board image, are detected using camera calibration tool box；
3), according to camera plane calibration algorithm, the pixel coordinate and world coordinates of the angle point obtained using detection are solved
The initial value of video camera internal reference, distortion factor and outer ginseng；
4) right, using the pixel coordinate and world coordinates of the angle point extracted in the scaling board image of all different positions and poses
Intrinsic parameters of the camera matrix and distortion factor optimize refinement, using column Wen Baige-Ma Kuaertefa Optimization Solution；
Step 2: calibration one word line structure optical plane and top line parameter, detailed process the following steps are included:
1), by plane reference plate and a black print paper lie side by side and it is fixed in the same plane, constitute a new mark
Fixed board opens laser projecting apparatus, is irradiated to the light of structure light on black print paper, acquires the scaling board with CCD camera
The five width images under different positions and pose；
2) it, is based on plane reference method, utilizes the angular coordinate under each pose of new scaling board, it may be assumed that pixel coordinate and the world
Coordinate, the outer ginseng of plane where calculating new scaling board are established the world coordinates of measured point and its pixel on the pose lower plane and are sat
Target corresponding relationship；
3) subpixel coordinates of optical losses point, are obtained by the method that light stripe centric line detects, are established using step 2)
Relationship, coordinate of the target point in its corresponding target plane under camera coordinate system is calculated；
4), the corresponding target point of optical losses point in five width images being calculated using step 3) method is in video camera
Coordinate under coordinate system is fitted structure light plane equation using least square method；
5) by the new scaling board in step 2) be mounted on two it is top on, installation site is consistent with measured axis, close laser throw
Emitter acquires two images of the new scaling board under different positions and pose with CCD camera, calculates scaling board place according to angular coordinate
Plane equation, two plane equations of simultaneous obtain the top line equation of measured axis；
Step 3: fitting perspective projection elliptic equation, detailed process the following steps are included:
1), keep the position of CCD camera and laser constant, by measured axis be clamped in two it is top between, axis with
Top line coincident, it is assumed that there is no bendings for axis, i.e., without eccentric, the section of optical plane and measured axis is space ellipse, use CCD
Video camera acquires the optical strip image of the laser on measured axis；
2), acquired image is handled, the subpixel coordinates put on light stripe centric line is extracted, calculates the coordinate pair
The coordinate under camera coordinates system should be put；
3), the coordinate for the optical losses point for acquiring step 2) carries out least square fitting, acquires optical plane and intersects with axis
The elliptic equation of formation；
Step 4: calculate measured axis diameter of axle size, detailed process the following steps are included:
1), the oval coefficient obtained using fitting, calculates three invariants of conic section；
2) each coefficient for, analyzing conic section invariant, calculates the diameter of measured axis.
Beneficial effects of the present invention:
Axis part diameter size On-line Measuring Method provided by the invention using conic section invariant is based on classics
Plane reference method, in calibration process, effectively have modified the distortion distortion of light stripe centric line in image；According to optical plane and axis
The characteristics of surface intersection line is conic section (ellipse) utilizes the constant measurement diameter of axle of conic section on the theoretical plane of delineation, keeps away
Caused by having exempted from due to the intersection point of straight line and optical plane that optical strip image pixel coordinate is formed cannot be located at testee surface
Measure the problem of dimension of object inaccuracy；When being measured using the method, it is only necessary to guarantee the opposite position of CCD camera and laser
It is constant to set relationship, more conducively practical application；
This invention takes structure light vision measuring techniques, therefore are able to achieve online non-cpntact measurement, guarantee higher survey
Accuracy of measurement and measuring speed, are less than length the axial workpiece of 200mm, and measurement accuracy is less than or equal to ± 0.01mm.
Detailed description of the invention
Fig. 1 is that CCD camera of the present invention demarcates schematic diagram.
Fig. 2 is line-structured light plane reference schematic diagram of the present invention.
Fig. 3 is structured light vision detection schematic diagram of the present invention.
Scaling board schematic diagram Fig. 4 used when being camera calibration of intrinsic parameters of the present invention.
Fig. 5 is axis part diameter Size Measuring System model schematic of the present invention.
Fig. 6 is new scaling board schematic diagram of the present invention.
1, backlight 2, scaling board 4, measured axis 5, laser 7, CCD camera
8, computer.
Specific embodiment
It please refers to shown in Fig. 1 to Fig. 6:
Axis part diameter size On-line Measuring Method provided by the invention using conic section invariant, method is such as
It is lower described:
Step 1: the internal reference and distortion factor of calibration CCD camera, are demarcated based on the Zhang Zhengyou camera plane proposed and are calculated
Method calibrates the abnormal of intrinsic parameters of the camera and camera lens using high-precision calibrating plate in the angular coordinate of image in different positions
Variable coefficient, detailed process include the following steps:
1) nine width scaling boards, are acquired in image in different positions using CCD camera 7.When acquiring image, backlight 1,
Positional relationship between scaling board 2 and CCD camera 7 is as shown in Figure 1, the nine width scaling board images collected are as shown in Figure 4；
2) subpixel coordinates of angle point in 2 image of scaling board, are detected using 7 calibration tool case of CCD camera；
3), the camera plane calibration algorithm proposed based on Zhang Zhengyou, the pixel coordinate of angle point obtained using detection and
World coordinates solves the initial value of video camera internal reference, distortion factor and outer ginseng；
4), the pixel coordinate and world coordinates of the angle point extracted in 2 image of scaling board using all different postures, it is right
7 inner parameter matrix of CCD camera and distortion factor optimize, and column Wen Baige-Ma Kuaer can be used in this optimization problem
Special method solves.
During demarcating 7 internal reference of CCD camera and distortion factor, it is related to world coordinate system (OW,XW,YW,ZW)、
Camera coordinate system (Oc,Xc,Yc,Zc), image physical coordinates system (O1, x, y) and image pixel coordinates system (O0,u,v)。
The imaging process of CCD camera 7 is a series of conversion process of the dimensional target point in this four coordinate systems, is such as schemed
Shown in 5, the peg model that the present invention uses is as follows:
Wherein,(XW,YW,ZW) it is world coordinates, (Xc,Yc,Zc) it is camera coordinates, (xu,yu) and
(xd,yd) it is respectively ideal image coordinate and real image coordinate, (xp,yp) it is pixel coordinate, k1、k2For the radial distortion of camera lens
Coefficient, r1、r2It is outer ginseng, wherein r with t1And r2It is preceding the two of spin matrix R
Column, t is translation vector,
For video camera internal reference matrix.
Step 2: calibration structure optical plane and top line parameter, if utilizing doing on structure optical plane, it is established that light
Relationship between plane and camera plane, detailed process the following steps are included:
1), by plane reference plate 2 and a black print paper lie side by side and it is fixed in the same plane, constitute a new mark
Fixed board.Laser 5 is opened, is irradiated to structure light light on black print paper, acquires the scaling board 2 not with CCD camera 7
With five width images under pose.The pattern of new scaling board is as shown in fig. 6, CCD camera 7, backlight 1, new mark when acquisition image
The positional relationship of fixed board and laser 5 is as shown in Figure 2；
2), the plane reference method based on Zhang Zhengyou, using under each pose of new scaling board angular coordinate (pixel coordinate and
World coordinates) the outer ginseng of plane where the new scaling board of calculating, establish the world coordinates Yu its picture of measured point on the pose lower plane
The corresponding relationship of plain coordinate；
3) subpixel coordinates of optical losses point, are obtained by the method that light stripe centric line detects, are established using step 2)
Relationship, coordinate of the target point in its corresponding target plane under 7 coordinate system of CCD camera is calculated.
By the subpixel coordinates (x of optical losses pointp,yp) bring formula (4) into, acquire the real image coordinate of central point
(xd,yd), and coordinate (X of the target point under 7 coordinate system of CCD camera can be determined by formula (3), (2) and (1)c,
Yc,Zc)；
4), the corresponding target point of optical losses point in five width images being calculated using step 3) method is in video camera
Coordinate under coordinate system utilizes the plane equation of least square method fitting structure optical plane.
Structure light plane equation solution procedure is as follows:
If optical plane to be asked is in OCXCYCZCUnder equation are as follows:
AXC+BYC+CZC+ 1=0 (5)
In the new scaling board image shot every time, 40 points are chosen on light stripe centric line, then can obtain 200 altogether
A optical losses point is in OCXCYCZCUnder coordinate (XCj i,YCj i,ZCj i), i=1,2 ..., 5, j=1,2 ..., 20 utilizes this
A little points can establish following objective function:
Optical plane coefficient A, B, C can be solved by least square method；
5), by two of the new scaling board installation in step 2) it is top on, installation site and measured axis 4 are consistent, according to new mark
Angular coordinate under two different positions and poses of fixed board calculates 2 place plane equation of scaling board, and two plane equations of simultaneous are tested
The top line equation of axis:
Step 3: fitting perspective projection elliptic equation, detailed process the following steps are included:
1), keep the position of CCD camera 7 and laser 5 constant, by measured axis 4 be clamped in two it is top between, axis
With top line coincident (thinking axis, there is no bendings, i.e., without bias), the section of optical plane and measured axis 4 is space ellipse,
The laser optical strip image on measured axis 4 is acquired with CCD camera 7, as shown in Figure 3；
2), acquired image is sent in 8 system of computer and is handled, the sub-pix for extracting light stripe centric line is sat
Mark, calculates equation of the corresponding light of the coordinate under 7 coordinate system of CCD camera.According to the sub-pix of the measured point detected
Coordinate (xp,yp), formula (3) and (4) are substituted into, its ideal image coordinate (x at Oxy is calculatedu,yu)；
3), the coordinate for the optical losses point for acquiring step 2) carries out least square fitting, acquires optical plane and intersects with axis
The elliptic equation of formation.
Detailed process is as follows:
The intersection of optical plane and measured axis 4 is ellipse, if the world coordinates of elliptical center is (tx,ty,tz), it is imaged in CCD
Under 7 coordinate system of machine, using coordinate origin as vertex, the intersection on optical plane and axis surface is the Oblique elliptic cylinder equation that bottom surface is formed
Are as follows:
Wherein r is measured axis radius, and θ is top line and optical plane angle,In formula: For the direction number of top line.
In above formula in addition to the angle θ, all variables are defined under world coordinate system, therefore need to establish world coordinate system and camera shooting
The transformational relation of machine coordinate system.
Direction cosines of the Z axis of world coordinate system in camera coordinate system:
Direction cosines of the X-axis of world coordinate system in camera coordinate system:
Wherein
Direction cosines of the Y-axis of world coordinate system in camera coordinate system:
Wherein ey1=(e23e31-e33e21), ey2=(e33e11-e13e31), ey3=(e13e21-e23e11)。
The relationship that world coordinate transformation is camera coordinates is obtained by formula (9), (10) and (11):
(8) formula is turned into matrix form:
Wherein:
Optical plane and the expression formula of axis intersecting elliptical curve on the image plane:
Wherein:
It enables
Under camera coordinate system, plane of delineation equation z=1, formula (14) can be write as:
Above formula is equation of the oblique elliptic cone under camera coordinate system, the oval origin (t in B under world coordinate systemx ty
tz) oval origin (t can be converted under camera coordinate system by (12) formulax0 ty0 tz0), bring (15) Shi Ke get into:
If quadratic curve equation are as follows:
ax2+2bxy+cy2+ 2dx+2ey+f=0 (16)
Wherein a=w11, c=w22, f=w33, b=w12=w21, d=w13=w31, e=w23=w32。
Under camera coordinate system, the quadratic curve equation that optical plane intersects with axis is formula (16), utilizes least square
Fitting:
Quadratic curve equation can be solved.
Step 4: calculate measured axis diameter of axle size, detailed process the following steps are included:
1) the oval coefficient obtained using fitting, is calculated as follows three invariants of conic section,
2) each coefficient of (18) formula can be rewritten according to formula (16) are as follows:
Bring (18) Shi Ke get into:
Therefore the diameter of measured axis can be acquired
Above-mentioned scaling board, laser, CCD camera and computer is the assembling of existing equipment, therefore, concrete model
It is not repeated with specification.
Claims (1)
1. a kind of axis part diameter size On-line Measuring Method using conic section invariant, it is characterised in that: its method
It is as described below:
Step 1: the inner parameter and distortion factor of calibration CCD camera, demarcate the inner parameter of CCD camera, it is to be based on taking the photograph
Camera plane reference algorithm calibrates intrinsic parameters of the camera using the different pose presentations of high-precision calibrating plate, to correct mirror
Head distortion distorting transformation caused by image, improves dimensional measurement precision, detailed process includes the following steps:
1), CCD camera and laser projecting apparatus are fixed on bracket, holding position is constant, closes laser projecting apparatus, utilizes
CCD camera acquires the scaling board image of nine width different positions and poses；
2) subpixel coordinates of angle point in scaling board image, are detected using camera calibration tool box；
3), according to camera plane calibration algorithm, the pixel coordinate and world coordinates of the angle point obtained using detection solve camera shooting
The initial value of machine internal reference, distortion factor and outer ginseng；
4), using the pixel coordinate and world coordinates of the angle point extracted in the scaling board image of all different positions and poses, to camera shooting
Machine inner parameter matrix and distortion factor optimize refinement, using column Wen Baige-Ma Kuaertefa Optimization Solution；
Step 2: calibration one word line structure optical plane and top line parameter, detailed process the following steps are included:
1), by plane reference plate and a black print paper lie side by side and it is fixed constitute a new scaling board in the same plane,
Laser projecting apparatus is opened, the light of structure light is irradiated on black print paper, acquires the scaling board in difference with CCD camera
Five width images under pose；
2) it, is based on plane reference method, utilizes the angular coordinate under each pose of new scaling board, it may be assumed that pixel coordinate and world coordinates,
The outer ginseng of plane, establishes pair of the world coordinates Yu its pixel coordinate of measured point on the pose lower plane where calculating new scaling board
It should be related to；
3) subpixel coordinates of optical losses point, are obtained by the method that light stripe centric line detects, the pass established using step 2)
System, is calculated coordinate of the target point in its corresponding target plane under camera coordinate system；
4), the corresponding target point of optical losses point in five width images being calculated using step 3) method is in camera coordinates
Coordinate under system is fitted structure light plane equation using least square method；
5) by the new scaling board in step 2) be mounted on two it is top on, installation site is consistent with measured axis, close laser projecting apparatus,
Two images of the new scaling board under different positions and pose are acquired with CCD camera, plane where calculating scaling board according to angular coordinate
Equation, two plane equations of simultaneous obtain the top line equation of measured axis；
Step 3: fitting perspective projection elliptic equation, detailed process the following steps are included:
1), keep the position of CCD camera and laser constant, by measured axis be clamped in two it is top between, axis with it is top
Line coincident, it is assumed that there is no bendings for axis, i.e., without eccentric, the section of optical plane and measured axis is space ellipse, are imaged with CCD
Machine acquires the optical strip image of the laser on measured axis；
2), acquired image is handled, the subpixel coordinates put on light stripe centric line is extracted, calculates the coordinate corresponding points
Coordinate under camera coordinates system；
3), the coordinate for the optical losses point for acquiring step 2) carries out least square fitting, acquires optical plane and is crossed to form with axis
Elliptic equation；
Step 4: calculate measured axis diameter of axle size, detailed process the following steps are included:
1), the elliptic equation coefficient (a b c d e f) obtained using fitting presses three that relation of plane calculates conic section
Constant numerical quantity:
D3=a+c
Here: D1, D2, D3 are the measured values of three invariants of conic section；
2), according to the calibrating parameters of Vision Measuring System With Structured Light Stripe, axis surface striation curve (ellipse) equation coefficient is established
Expression formula:
3), the theoretical expression of the elliptic equation coefficient obtained using step 2), establishing calculating conic section, (ellipse is exactly secondary
Curve) three invariants theory relation:
4), according to the mathematical property of conic section invariant, using the measured value and theory relation of three invariants of conic section,
Calculate the diameter of measured axis:
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| CN113446952B (en) * | 2021-08-17 | 2022-08-02 | 华北科技学院(中国煤矿安全技术培训中心) | Online non-contact shaft diameter measuring method |
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