CN108596847A - Deep hole inner surface image geometric distortion correction method based on multi-line structured light - Google Patents
Deep hole inner surface image geometric distortion correction method based on multi-line structured light Download PDFInfo
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Abstract
The invention discloses a deep hole inner surface image geometric distortion correction method based on multi-line structured light, which comprises the following steps of: step one, establishing a deep hole inner surface model and a deep hole inner surface expansion model corresponding to the deep hole inner surface model; acquiring a curved surface acquisition image aiming at the deep hole inner surface model and a plane acquisition image aiming at the deep hole inner surface expansion model; designing a Gaussian structured light lattice pattern; step four, continuously interpolating the Gaussian points in the same row or column; step five, correcting image distortion by depending on image positions and deformation relations between corresponding Gaussian structure light spots in a curved surface acquisition image and a plane acquisition image acquired by scanning the inner surface of the deep hole by the Gaussian structure light spot array pattern; the method for correcting the geometric distortion of the image on the inner surface of the deep hole based on the multi-line structured light can be used for correcting the geometric distortion of the acquired image on the inner surface of the common deep hole part, and has the advantages of simple calculation, high precision, adoption of non-contact scanning and wide application range.
Description
Technical field
The deep hole inner surface piecture geometry fault bearing calibration based on multi-line structured light that the present invention relates to a kind of belonging to number
Image procossing and technical field of machine vision.
Background technology
Important component of the deep hole type component as modern industry manufacturing field, is widely used in oil-gas pipeline, fire
In the production process of the components such as barrel pipe.For this purpose, being periodically detected to the deep hole type component during use, become very
Necessity, and most important one detection content is aiming at the three dimensional detection of deep hole inner surface geometry.It is directed to deep hole at present
The correlation technique detected for testee outer surface is mainly transformed, is applied by the detection of type component inner surface,
In the optical detecting method for being namely based on structure light that is most widely used.This method can be divided into structure light according to light source difference and throw
Shadow method and laser projection method；In view of the limited physical space of deep hole type component inner surface, structure light laser detection equipment is more
It is easy to be integrated, compress, be more suitable for carrying out three dimensional detection inside deep hole.
Detection method based on structure ray laser is exactly by incident line structure light laser stripe to testee surface, profit
The structural light stripes deformed because testee morphology is modulated are acquired with camera, are analyzed striped deformation extent and are tested
Correlation between body surface geometry, reverse go out the variation physical message of testee morphology, finally
It completes to restore for the dimensional measurement of industrial deep hole type component and three-dimensional appearance.
But currently, during structure light is detected for deep hole inner surface geometry, mainly do not considering depth
It is vertical between the striped that fractures after being modulated by calculating on the basis of internal surface of hole radian, depth of groove variation error factors
Image distance, and then derive the depth information of actual geometric configuration.However actually it is being directed to what deep hole inner surface was detected
In the process, CCD camera is collected exactly has difference through the modulated structure light image of inner surface because of above-mentioned error component
The geometric dislocation of degree.Main there are geometric dislocation is presented with：First, because of non-deep hole inner surface radian characteristic, cause in image
Bending shape is presented after being modulated in structural light stripes, leads directly to the linear fit for striped, deviation as a result occurs；Second is that
The confined space being limited to inside deep hole causes project structured light equipment to be difficult to laser being vertically projected to deep hole inner surface；Three
It is the characteristic distributions of deep hole inner surface geometry, is the correlative detail information for clearly showing these geometries as far as possible, leads
Causing structure light to need at a certain angle, sideling projection is come in, but this also results in striped in image and diffusion phenomena are presented；Fourth, with
The continuous expansion of camera fields of view, inner surface radian and depth of groove, the existing distortion of acquisition image is bigger, for inner surface
The measurement accuracy of geometric parameter is lower.To further increase the precision of structure light detection, for deep hole type component inner surface
Geometric distortion existing for structure light image is corrected, and is increasingly attracted people's attention and is participated in.
Invention content
To solve the above problems, the present invention proposes a kind of deep hole inner surface piecture geometry fault based on multi-line structured light
Bearing calibration can be applied to geometric distortion existing for the acquisition image of common a plurality of types of deep hole type component inner surfaces
Correction, calculates that simple, precision is high, using non-contact scanning and applied widely.
The deep hole inner surface piecture geometry fault bearing calibration based on multi-line structured light of the present invention, includes the following steps：
Step 1 establishes deep hole inner surface model and corresponding deep hole inner surface expansion model；
Step 2 is obtained for the curved surface acquisition image of deep hole inner surface model and the plane for deep hole inner surface expansion model
Acquire image；
Step 3 designs Gaussian structures optical lattice case；
Step 4 continues interpolation to the Gauss point of same row or column；
Step 5, the curved surface acquisition image and plane acquisition figure for relying on Gaussian structures optical lattice case scanning deep hole inner surface to obtain
Picture position and the deformation relationship between Gaussian structures luminous point are corresponded to as in, and pattern distortion is corrected.
Further, its concrete operation method of the step 1 is as follows：For common deep hole type component, using 3D MAX
Software establishes its deep hole inner surface model（DIM models）；Then corresponding deep hole inner surface expansion model is established.
Still further, the deep hole inner surface expansion model in the step 1 is by will be in deep hole inner surface model
Surface relative axis is launched into plane, obtains the areal model after the expansion of deep hole inner surface（DIPM models）.
Further, its concrete operation method of the step 2 is as follows：Utilize the multiple line structure striations pre-set
Pattern sideling projects testee surface, while structure light scan region is sideling shot using camera, obtains required acquisition
Structure light laser stripe is projected the same position that two classes correspond to model by image respectively specifically, under software emulation environment
The surface at place obtains corresponding acquisition image respectively.
Further, its concrete operation method of the step 3 is as follows：By the structure light point according to Gaussian Profile according to row
Column matrix formation is arranged, according to the densities of points of light after the transformation arrangement of testee morphology complexity, surface geometry
Complex-shaped, then densities of points of light increases, otherwise density reduces.
Further, its concrete operation method of the step 4 is as follows：According to cubic spline interpolation algorithm, from horizontal direction
All Gauss points in interpolation, the respective direction uniline of fitting obtain in two class models acquisition image and correspond to matched curve after interpolation
Between correspondence.
Further, its concrete operation method of the step 5 is as follows：Gaussian structures optical lattice case is projected respectively
Areal model after deep hole inner surface model and the expansion of deep hole inner surface, obtains corresponding curved surface acquisition image respectively and plane is adopted
Collect image；The picture position on respective image between Gaussian structures luminous point and mutual correspondence are analyzed, then by inserting
Value-based algorithm is configured to complete deformation function curve, to know the correction for acquiring contained geometric distortion in image to curved surface.
Still further, being handled curved surface acquisition image and plane acquisition image in the step 5, processing side
Method is as follows：Using the edge detection algorithm pretreatment image based on gray scale difference, it is shown below：
；（1）
All Gauss points in image are identified, the abscissa matrix V x and ordinate square of record Gauss point picture position are sought
Battle array Vy, is shown below respectively：
；（2）
；（3）
Using cubic spline difference arithmetic to all Gaussian structures luminous points of same a line into row interpolation；It compares corresponding in two class images
Picture position between Gaussian structures luminous point calculates mutual deformation relationship.
Still further, the geometric image correction method in the step 5 is as follows：It is right in the two class images obtained to rely on
The mutual image positional relationship of Gauss point is answered, image is acquired to the curved surface of the multi-line structured light collected during actual emulation
It is corrected, original curved surface acquisition image is corrected；Lateral coordinates correct and longitudinal coordinate correction is respectively such as following formula institute
Show：
；（4）
.（5）
Compared with prior art, the deep hole inner surface piecture geometry fault of the invention based on multi-line structured light corrects the present invention
Method scans deep hole inner surface to obtain its 3D shape by using multi-line structured light candy strip；Pass through Gaussian structures light
Dot pattern scans deep hole inner surface and corresponding expansion model to determine Deformation Law existing for inner surface model；
In analyzing extensible surface model, by using cubic spline interpolation algorithm, interpolation, fitting are respective from horizontal direction
All Gauss points on the uniline of direction, and then construct distortion model existing for deep hole inner surface, convenient for being subsequently compared, school
Just.
Description of the drawings
Fig. 1 is the deep hole inner surface model structure schematic diagram of the present invention.
Fig. 2 is the deep hole inner surface expansion model structural schematic diagram of the present invention.
Fig. 3 is the curved surface acquisition picture structure schematic diagram of the present invention.
Fig. 4 is the areal model structural schematic diagram of the present invention.
Fig. 5 is the Gaussian structures photo structure schematic diagram of the present invention.
Fig. 6 is the Gauss point curved surface acquisition picture structure schematic diagram of the present invention.
Fig. 7 is the Gauss point plane acquisition picture structure schematic diagram of the present invention.
Fig. 8 is the curved surface acquisition image Gauss point interpolation structure schematic diagram of the present invention.
Fig. 9 is the plane acquisition image Gauss point interpolation structure schematic diagram of the present invention.
Figure 10 is the curved surface acquisition picture structure schematic diagram after the correction of the present invention.
Figure 11 is the original plane acquisition picture structure schematic diagram of the original plane acquisition image comparison of the present invention.
Figure 12 is the original plane acquisition picture structure schematic diagram of the curved surface acquisition image comparison after the correction of the present invention.
Specific implementation mode
Embodiment 1：
The deep hole inner surface piecture geometry fault bearing calibration based on multi-line structured light of the present invention, includes the following steps：
Step 1, model buildings,
As shown in Figure 1, being directed to common deep hole type component, its model, i.e. deep hole inner surface model are established using 3D MAX softwares,
DIM models；As shown in Fig. 2, corresponding deep hole inner surface expansion model is established, DIPM models, i.e., by deep hole inner surface mould
The inner surface relative axis of type is launched into plane；
Step 2 obtains acquisition image,
As shown in figure 3, under software emulation environment, structure light laser stripe is projected into DIM models certain surface, is obtained bent
Face acquires image；As shown in figure 4, identical structure light laser stripe is projected the surface at the same position of DIPM models, obtain
Take plane acquisition image；
Step 3, Gauss dot matrix characteristic pattern,
According to the actual features of above-mentioned model surface geometry, special Gaussian structures optical lattice case, each Gauss are designed
Structure luminous point, as shown in Figure 5；
Step 4, characteristic pattern scan testee,
Designed Gaussian structures optical lattice case is projected into DIM models and DIPM model same positions surface respectively, is acquired
Image difference is as shown in Figure 6 and Figure 7；Using the edge detection algorithm pretreatment image based on gray scale difference, such as formula（1）It is shown；It is right
All Gauss points are identified in image, seek the abscissa matrix of record Gauss point picture positionV x With ordinate matrixV y , point
Not such as formula（2）And formula（3）It is shown；Using cubic spline difference arithmetic to all Gaussian structures luminous points of same a line into row interpolation,
It is as shown in Figure 8 and Figure 9 respectively；The picture position corresponded in two class images between Gaussian structures luminous point is compared, is calculated mutual
Deformation relationship；
；（1）
；（2）
.（3）
Step 5, the geometric correction of imagery,
It relies in the two class images obtained and corresponds to the mutual image positional relationship of Gauss point, to being collected during actual emulation
The curved surface acquisition image of multi-line structured light be corrected, original curved surface acquisition image is corrected, as shown in Figure 10；It is former
The original plane acquisition image of the plane acquisition image comparison of beginning, as shown in figure 11；Curved surface acquisition image comparison after correction is former
The plane acquisition image of beginning, as shown in figure 12；Wherein lateral coordinates correction is such as formula（4）Shown, longitudinal coordinate is corrected such as formula（5）Institute
Show：
；（4）
.（5）
Comparison diagram 11 and Figure 12 are it is found that the curved surface after correction acquires image and original plane acquisition image basic on slope
Unanimously, striped essentially coincides, and lays the foundation next to calculate the vertical range between diagnosing striped.
The deep hole inner surface piecture geometry fault bearing calibration based on multi-line structured light of the present invention, by using multi-thread knot
Structure striations pattern scan deep hole inner surface obtains its 3D shape；Table in deep hole is scanned by Gaussian structures optical lattice case
Face and corresponding expansion model determine Deformation Law existing for inner surface model；To extensible surface model into
In row analysis, by using cubic spline interpolation algorithm, interpolation, all Gausses on the respective direction uniline of fitting from horizontal direction
Point, and then distortion model existing for deep hole inner surface is constructed, convenient for being subsequently compared, correcting.
The acquisition image that the embodiment of the present invention can be applied to common a plurality of types of deep hole type component inner surfaces exists
Geometric distortion correction, calculate that simple, precision is high, using non-contact scanning and applied widely.
Above-described embodiment is only the better embodiment of the present invention, therefore all structures according to described in present patent application range
It makes, the equivalent change or modification that feature and principle are done, is included within the scope of present patent application.
Claims (9)
1. a kind of deep hole inner surface piecture geometry fault bearing calibration based on multi-line structured light, it is characterised in that：Including following
Step：
Step 1 establishes deep hole inner surface model and corresponding deep hole inner surface expansion model；
Step 2 is obtained for the curved surface acquisition image of deep hole inner surface model and the plane for deep hole inner surface expansion model
Acquire image；
Step 3 designs Gaussian structures optical lattice case；
Step 4 continues interpolation to the Gauss point of same row or column；
Step 5, the curved surface acquisition image and plane acquisition figure for relying on Gaussian structures optical lattice case scanning deep hole inner surface to obtain
Picture position and the deformation relationship between Gaussian structures luminous point are corresponded to as in, and pattern distortion is corrected.
2. the deep hole inner surface piecture geometry fault bearing calibration according to claim 1 based on multi-line structured light, special
Sign is that its concrete operation method of the step 1 is as follows：For common deep hole type component, it is established using 3D MAX softwares
Deep hole inner surface model；Then corresponding deep hole inner surface expansion model is established.
3. the deep hole inner surface piecture geometry fault bearing calibration according to claim 2 based on multi-line structured light, special
Sign is, the deep hole inner surface expansion model in the step 1 is by by the inner surface relative axis of deep hole inner surface model
It is launched into plane, obtains the areal model after the expansion of deep hole inner surface.
4. the deep hole inner surface piecture geometry fault bearing calibration according to claim 1 based on multi-line structured light, special
Sign is that its concrete operation method of the step 2 is as follows：It is sideling thrown using the multi-line structured light candy strip pre-set
It is mapped to testee surface, while sideling shooting structure light scan region using camera, obtains required acquisition image, specifically
, under software emulation environment, structure light laser stripe is projected into two classes respectively and corresponds to surface at the same position of model,
Corresponding acquisition image is obtained respectively.
5. the deep hole inner surface piecture geometry fault bearing calibration according to claim 1 based on multi-line structured light, special
Sign is that its concrete operation method of the step 3 is as follows：By the structure light point according to Gaussian Profile according to line-column matrix form
Arrangement, according to the densities of points of light after the transformation arrangement of testee morphology complexity, morphology is complicated, then
Densities of points of light increases, otherwise density reduces.
6. the deep hole inner surface piecture geometry fault bearing calibration according to claim 1 based on multi-line structured light, special
Sign is that its concrete operation method of the step 4 is as follows：According to cubic spline interpolation algorithm, from horizontal direction interpolation, fitting
All Gauss points on the uniline of respective direction obtain the correspondence between matched curve after corresponding to interpolation in two class models acquisition image
Relationship.
7. the deep hole inner surface piecture geometry fault bearing calibration according to claim 1 based on multi-line structured light, special
Sign is that its concrete operation method of the step 5 is as follows：Gaussian structures optical lattice case is projected into deep hole inner surface respectively
Areal model after model and the expansion of deep hole inner surface obtains corresponding curved surface acquisition image and plane acquisition image respectively；Point
The picture position on respective image between Gaussian structures luminous point and mutual correspondence are analysed, then is constructed by interpolation algorithm
At complete deformation function curve, to know the correction for acquiring contained geometric distortion in image to curved surface.
8. the deep hole inner surface piecture geometry fault bearing calibration according to claim 7 based on multi-line structured light, special
Sign is, acquires image to curved surface in the step 5 and plane acquisition image is handled, processing method is as follows：Using base
In the edge detection algorithm pretreatment image of gray scale difference, it is shown below：
；（1）
All Gauss points in image are identified, the abscissa matrix V x and ordinate square of record Gauss point picture position are sought
Battle array Vy, is shown below respectively：
；（2）
；（3）
Using cubic spline difference arithmetic to all Gaussian structures luminous points of same a line into row interpolation；It compares corresponding in two class images
Picture position between Gaussian structures luminous point calculates mutual deformation relationship.
9. the deep hole inner surface piecture geometry fault bearing calibration according to claim 7 based on multi-line structured light, special
Sign is that the geometric image correction method in the step 5 is as follows：It is mutual that Gauss point is corresponded in the two class images that support obtains
Between image positional relationship, the curved surface acquisition image of the multi-line structured light collected during actual emulation is corrected, it is right
Original curved surface acquisition image is corrected；Lateral coordinates correct and longitudinal coordinate correction is shown below respectively：
；（4）
（5）.
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| CN110020997A (en) * | 2019-04-09 | 2019-07-16 | 苏州乐佰图信息技术有限公司 | The restoring method and alignment method of pattern distortion correcting method, image |
| CN112747673A (en) * | 2020-12-25 | 2021-05-04 | 中国人民解放军陆军工程大学 | Calibration method of monocular multiline structured light sensor based on calibration cylinder |
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| CN102565081A (en) * | 2012-01-12 | 2012-07-11 | 北京化工大学 | Method for detecting pipeline defects based on three-dimensional data points acquired through circle structured light vision detection |
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| CN112747673A (en) * | 2020-12-25 | 2021-05-04 | 中国人民解放军陆军工程大学 | Calibration method of monocular multiline structured light sensor based on calibration cylinder |
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