CN108759714A - A kind of multi-thread laser profile sensor coordinate system fusion and rotating axis calibration method - Google Patents
A kind of multi-thread laser profile sensor coordinate system fusion and rotating axis calibration method Download PDFInfo
- Publication number
- CN108759714A CN108759714A CN201810497328.7A CN201810497328A CN108759714A CN 108759714 A CN108759714 A CN 108759714A CN 201810497328 A CN201810497328 A CN 201810497328A CN 108759714 A CN108759714 A CN 108759714A
- Authority
- CN
- China
- Prior art keywords
- coordinate system
- profile sensor
- laser profile
- area array
- array cameras
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
Abstract
The invention discloses a kind of multi-thread laser profile sensor coordinate system fusion and rotating axis calibration methods, this method is by means of multiple area array cameras, complete the fusion of multiple line laser profile sensor measuring coordinates, and the calibration of line laser profile sensor measuring coordinate system lower rotary shaft, it is measured for realizing quick, the high-precision rotated three dimensional of large revolving body part.A kind of fusion of multi-thread laser profile sensor coordinate system and rotating axis calibration method based on polyphaser auxiliary proposed by the present invention greatly reduce equipment installation requirement independent of the installation accuracy of mechanical structure, improve the precision of measurement.Meanwhile by coordinate system fusion and rotating axis calibration, the measuring speed and precision of line laser profile sensor are effectively played, the measuring speed than traditional area array cameras ledger line laser model is higher by several times, is conducive to the on-line measurement of large revolving body part.
Description
Technical field
The invention belongs to three-dimensional measurement technical fields, more particularly, to a kind of multi-thread laser based on polyphaser auxiliary
Profile sensor coordinate system merges and rotating axis calibration method.
Background technology
Large revolving body part is the core of the large projects such as water conservancy and hydropower, smelting, petrochemical industry, nuclear power, railway
One of parts.With the continuous expansion to Large-Scale Equipment demand of modern industry, the processing quality of these core parts is carried
Higher requirement is gone out, many vital parts are required for carrying out geometric dimension detection before use of dispatching from the factory.But due to these cores
Heart accessory size is big, curved surface is complicated, detection beat requires height, is difficult to meet the requirements using traditional three coordinate measuring machine, in life
It is completed in producing line or by artificial detection.In workshop work is measured using wheel footpath ruler, slide calliper rule, feeler gauge etc. are simple by staff
Have to measure the relative dimensions of wheel.This method efficiency is very low, is easy operating method, qualification etc. by staff
Factor influences, and the accuracy of detection is high, low precision.
In order to quickly and effectively detect that the critical size of large revolving body part, domestic and international manufacturing enterprise start to introduce non-
Contact optical three-dimensional measurement technology realizes the measurement of part quick high accuracy.Wherein, structural light three-dimensional, which measures, has resolution ratio
High, fireballing advantage is particularly suitable for the three-dimensional measurement of complex free curved surface.Area-structure light three-dimensional measurement is by measured object
Surface projects light and dark strip encoding, and the three-dimensional coordinate information on testee surface is obtained by being decoded to striped.By
What it is in projection is visible light, and therefore, to measuring article surface vein, light-reflecting property has higher requirement.Line laser three-dimensional measurement
It is to project a high brightness laser striped to body surface, by extracting the laser stripe information of deformation, calculates on measured object
The physical coordinates of light belt.Large parts is mostly metal parts, and reflective is strong, and area-structure light three-dimensional measurement technology is difficult to well
It realizes and measures, and line laser three-dimensional measurement technology is since its optical maser wavelength is constant, brightness is high, it is anti-to environment and testee surface
It penetrates that characteristic is insensitive, can be good at the three-dimensional measurement for realizing metal parts.
Used at present line laser contourgraph measurement range is smaller, and existing based on line laser profile sensor
Technology mostly uses line laser profile sensor and high-accuracy line slide rail is coordinated to carry out three-dimensional measurement, and works as and be related to multiple lines
Laser profile sensor measurement coordinate system merge when, ensure by installation accuracy when main multiple line laser profile sensors it
Between measurement accuracy, accurately can not effectively calibrate the relative position relation between multiple line laser profile sensors.Therefore,
When measuring heavy parts, precision is often difficult to ensure.For the three-dimensional measurement of large revolving body part, single line laser wheel
Wide sensor cannot achieve all standing of part outer surface, and line laser profile sensor cooperation the linear guide cannot achieve complexity again
The measurement of curved surface.The solution that measurement is optimal is carried out at the same time using multiple line laser profile sensors cooperation rotating platform,
But the Precise fusion and rotating axis calibration of measuring coordinate system become the critical issue faced between multiple line laser profile sensors.
Other than the above-mentioned mode ensured by installation accuracy, another kind be realized by the way of image calibration it is more
Line laser profile sensor measuring coordinate system merges and rotating axis calibration.But the line laser profile of mainstream senses both at home and abroad at present
Device improves measuring speed and measurement accuracy, is all made of the camera of husky nurse camera lens to increase measurement field depth.This tilting mirror
The camera of head makes a big difference with traditional national forest park in Xiaokeng camera：When imaging, laser plane position imaging compared with
Clearly, it is out-of-focus image to deviate the image that laser plane obtains, and larger essence can be caused when carrying out feature extraction to out-of-focus image
The loss of degree.Therefore, this camera lens be rely solely on the line laser profile sensor camera of itself carry out coordinate system fusion and
The realization of rotating axis calibration brings huge obstruction.
In recent years, it is returned although also there is related manufacturing enterprise to develop some large sizes using line laser profile sensor both at home and abroad
Part workmanship detection device is turned, but due to above-mentioned high-precision coordinate system fusion and the problem of rotating axis calibration, is measured
Mode remains in the two-dimensional measurement based on the lateral a certain section of part, and the dimension data number of detection is limited, testing result
It can not reflect the quality condition of part entirety in time, comprehensively, and SHAPE DETECTION can not be completed to the high curved surface of some shape needs.
Invention content
For the disadvantages described above or Improvement requirement of the prior art, the present invention provides a kind of based on the multi-thread of polyphaser auxiliary
Laser profile sensor coordinate system merges and rotating axis calibration method, and its object is to high-precision can calibrate multi-thread laser wheel
Wide sensor coordinate system relationship and shaft posture realize that the quickly and accurately rotated three dimensional of large revolving body part measures.
To achieve the goals above, it merges and turns according to the present invention provides a kind of multi-thread laser profile sensor coordinate system
Axis scaling method is merged for multiple line laser profile sensor coordinate systems in revolving parts laser scanner,
And the calibration of the shaft of rotating platform, include the following steps：
Step 1：Equal with the quantity of line laser profile sensor and one-to-one area array cameras is set, using mutually it is right
The line laser profile sensor and area array cameras answered, while the same first three-dimensional target is shot, to obtain each line laser profile
Transformational relation of the measuring coordinate system of sensor to corresponding area array cameras coordinate system；
Step 2：The second three-dimensional target is placed on rotating platform, and the second three-dimensional mark is shot using multiple area array cameras
Target solves the coordinate system transformational relation between each area array cameras, to merge each area array cameras coordinate system；And then root
The measuring coordinate system of each line laser profile sensor obtained according to step 1 to corresponding area array cameras coordinate system transformational relation,
The measuring coordinate system of each line laser profile sensor is merged；
Step 3：So that the second three-dimensional target of step 2 is rotated in situ, often rotates an angle, one is acquired using each area array cameras
The image of secondary second target；According to multi collect as a result, fitting the shaft of rotating platform in area array cameras coordinate system
Three-dimensional coordinate completes turning for rotating platform in conjunction with the fusion results of the measuring coordinate system of each line laser profile sensor in step 2
Calibration under the measuring coordinate system of the online laser profile sensor of axis.
Further, the first target in step 1 is ladder block, is arranged on each step surface of ladder block mutually different
Coded target, and set on same step surface there are two different coded targets, all coded targets are in ladder block itself
Three-dimensional coordinate under coordinate system is it is known that step 1 includes following sub-step：
1.1) for any one line laser profile sensor and corresponding area array cameras, area array cameras coordinate is calculated
It is the posture relative to ladder block coordinate system；Laser stripe is projected to the step surface of ladder block using line laser profile sensor,
The intersection point for extracting laser stripe and two coded target lines of centres on each step of ladder block, in conjunction with each area array cameras coordinate
System goes out a series of this three-dimensional coordinate of intersection points under area array cameras coordinate system relative to the Attitude Calculation of ladder block coordinate system；Pass through
These intersection points are fitted, plane equation of the laser plane of line laser profile sensor under area array cameras coordinate system is calibrated；
1.2) laser stripe of step 1.1 forms broken line along the steps at different levels of ladder block, and area array cameras obtains the laser strip
The inflection point for the broken line that line is formed, the laser plane of the line laser profile sensor obtained in conjunction with step 1.1 is in area array cameras coordinate
Plane equation under system, solves three-dimensional coordinate of each inflection point under camera coordinates system, and then calculates line laser profile sensing
Device measuring coordinate system repeats the above steps to area array cameras coordinate system transformational relation and completes the survey of each line laser profile sensor
Measure conversion of the coordinate system to corresponding area array cameras coordinate system.
Further, multiple different coded targets, and each coding mark are set in the side of the second three-dimensional target
Will point is not on the same circle using rotating platform shaft as axis, and each coded target is in the second stereo target local Coordinate System
Under three-dimensional coordinate it is known that step 3 include following sub-step：
3.1) start rotating platform and drive the second three-dimensional target rotation, it is primary every the rotation of θ degree, while each area array cameras is same
When the primary three-dimensional target image of acquisition, you can extract D coordinates value of one group of coded target under camera coordinates system, it is more
Secondary rotation then can extract multigroup coded target coordinate value；
3.2) coordinate points of the one and same coding index point under each different angle are fitted to a circle, then the center of circle is
In the shaft of rotating platform a bit；
3.3) step 3.2 is repeated, the track of each coded target on the second three-dimensional target is fitted to circle, extracts institute
There is the round center of circle, obtain the series of points in shaft, to fit shaft, obtains parameter side of the shaft under camera coordinates system
Journey, in conjunction with the fusion results of the measuring coordinate system of each line laser profile sensor in step 2, the shaft for completing rotating platform is online
Calibration under the measuring coordinate system of laser profile sensor.
Further, different coded targets is pasted on the surface of the second three-dimensional target at random, and each coded target is equal
Even distribution.
In general, the present invention is utilizing multiple line laser profile sensors by by multiple area array cameras, realizing
In the case of cooperation rotating platform is to the carry out rotated three dimensional measurement of large revolving body part, to multiple line laser profile sensors
The Accurate Calibration of measuring coordinate system relationship and shaft posture.Compared with prior art, following advantageous effect can be obtained：
1) present invention completes the accurate of multiple line laser profile sensor measuring coordinate systems by means of multiple area array cameras
Fusion and rotating axis calibration greatly reduce equipment installation requirement independent of the installation accuracy of mechanical structure, improve the essence of measurement
Degree.
2) present invention has effectively played the measuring speed and measurement accuracy of line laser profile sensor, than traditional camera
The measuring speed of ledger line laser model improves several times, is conducive to the on-line measurement of large revolving body part.
Description of the drawings
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the ladder block target of the present invention；
Fig. 3 is the flow chart of the present invention.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
It does not constitute a conflict with each other and can be combined with each other.
A kind of fusion of multi-thread laser profile sensor coordinate system and shaft based on polyphaser auxiliary provided by the present invention
Scaling method, the rotated three dimensional that can be used to implement large revolving body part measure.It is realized first by multiple area array cameras more
The measuring coordinate system fusion of a line laser profile sensor and rotating axis calibration problem；Then, so that it may to pass through multiple line laser wheels
The single cross section profile of wide sensor synchronous acquisition large revolving body part, in conjunction with the rotary encoder for being installed on rotating platform shaft
Polar coordinates are converted into rectangular co-ordinate by the angular position information of offer, and the three-dimensional appearance for completing part is rebuild.
As shown in Figure 1, a kind of multi-thread laser profile sensor coordinate system based on polyphaser auxiliary provided by the invention melts
Close and rotating axis calibration method in primary structure include：The line laser profile sensor 2, five of portal frame 1, five area array cameras 3,
Rotating platform 4, cross supporting frame 5 and other fixed structures.Wherein, line laser profile sensor 2 and area array cameras 3 pass through spiral shell
Bolt is fixed on portal frame 1, and a line laser profile sensor and a camera closed on constitute a combination；Portal frame 3 is straight
It connects and fixes on the ground；Line laser profile sensor 2 and area array cameras 3 can according to actual needs be moved on portal frame
It is dynamic, and being capable of angle-adjustable position.Cross supporting frame 5 and rotating platform 4 are fixed together, and are used for support part and drive
Its smoothly rotary motion.Cross supporting frame 5 using right-angled intersection structure, primarily to reduce mounting structures give zero
What part measurement was brought blocks.High-precision rotary encoder is installed, the resolution ratio of encoder reaches in rotating platform shaft
0.01 °, rotary angle position information must be obtained convenient for accurate.
A kind of fusion of multi-thread laser profile sensor coordinate system and rotating axis calibration side based on polyphaser auxiliary of the present invention
The concrete operation step of method is as follows：
When three-dimensional measuring apparatus using the present invention carries out large revolving body part three-dimensional vision information, according to measured zero
Part shape and size adjust position and the angle of line laser profile sensor 2, keep the laser of line laser profile sensor 2 flat
The part position of face irradiation can obtain complete part section profile.I.e. each line laser profile sensor can measure part
One last divided data in section, multiple line laser profile sensors respectively obtain retrieval section transversal and combine and can constitute
One complete part section profile.Then position and the height of area array cameras 3 are adjusted, can clearly be taken sharp
Striations.
Next, realizing that multi-panel array camera assists multi-thread laser profile sensor coordinate system to merge and turn by following steps
The method of axis calibration is described in detail according to fig. 3.
Step 1：Conversion of each line laser profile sensor measuring coordinate system to corresponding area array cameras coordinate system.
The specific calibration that laser plane is carried out using the ladder block (the i.e. first three-dimensional target) for being pasted with coded target,
As shown in Figure 2.Ladder block 6 shares 10 steps, is pasted on each step there are two coding maker 7, all coding makers
Encoded radio is unique, and known to the three-dimensional coordinate of coded target.
1.1, ladder block is placed in line laser profile sensor visual field, forms the laser strip of a folding on ladder block
Line.The image of the coded target on the laser stripe and ladder block is acquired using the corresponding area array cameras for having demarcated internal reference, it is right
Coded target is decoded and extracts the center of circle, establishes the corresponding pass between coded target two-dimensional pixel coordinate and three-dimensional coordinate
System.Further by EPNP algorithms, ladder block target coordinate system is solved to [R, t] relationship between camera coordinates system, R is rank
To the spin matrix of camera coordinates system, t is translation vector for terraced block target co-ordinates system.So i.e. establish from pixel (u, v) to
The transformational relation of ladder block target coordinate points (x, y, z)：
Wherein A is camera internal reference matrix, and s is scale factor.
Light stripes center extraction is carried out to the optical strip image of above-mentioned acquisition, then calculates optical losses and each step of ladder block
The intersection point of upper two coded target lines, can obtain altogether 10 pixel intersection points.This 10 pixel intersection points are passed through above-mentioned
Formula (1) is transformed under camera coordinates system, and the plane parameter for being fitted the acquisition of this 10 intersection points is laser plane in camera coordinates
Parametric equation under system：
Ax+by+cz+d=0 (2)
A, b, c, d are fitting coefficient.
1.2, to the striation information extracted in the area array cameras in step 1.1, laser stripe is in addition calculated in ladder block
The inflection point bent on step.The corresponding three-dimensional coordinate of each pixel on laser stripe can be solved according to formula (1), (2),
Based on this as a result, the intersection point (i.e. inflection point) of ladder block corner angle and laser stripe can be calculated under area array cameras coordinate system
Three-dimensional coordinate Pc.Meanwhile for same laser stripe, line laser contourgraph can be directly obtained three dimensions of the laser stripe
According to solving the online laser profile sensor measurement of intersection point (i.e. inflection point) of ladder block corner angle and laser stripe by fitting a straight line
Three-dimensional coordinate P under coordinate systems.In the present embodiment, least square solution is carried out to this 10 corresponding characteristic points (i.e. inflection point)：
Line laser profile sensor measuring coordinate system is calculated to [the R between camera coordinates systemcs,tcs] matrix, RcsFor line
Laser sensor measuring coordinate system is to the spin matrix of camera coordinates system, tcsFor line laser profile sensor measuring coordinate system to phase
Translation vector between machine coordinate system.
Step 2：Each line laser profile sensor measuring coordinate system is completed according to each area array cameras coordinate system syncretic relation
Fusion.
Since the present embodiment measurement object is large parts, the region of measurement is very big, so in order to which cap piece measures
Region and using minimum camera number, reduce cost, just have to make overlapping region between each area array cameras as far as possible
It is small.In the case, since public view field is smaller between area array cameras or does not have, it is therefore desirable to use large-scale target into rower
It is fixed.One second three-dimensional target, the solid target revolving body in disk form are built in system, surface mount has coded target,
And known to coded target D coordinates value.After second three-dimensional target is fixed, each camera respectively shoots one second three-dimensional target
Image established using EPNP algorithms each by the two-dimensional pixel information and three-dimensional coordinate information of coded target in image
Camera with respect to the posture relationship of the second three-dimensional target, close by the coordinate system conversion that further can then solve between multiple area array cameras
System, to complete the fusion of multiple area array cameras coordinate systems.
Meanwhile simultaneous step 1 center line laser profile sensor measurement coordinate system is to the transformational relation of camera coordinates system, you can
Realize the fusion of multiple line laser profile sensor measuring coordinate systems.
Step 3：The lower rotary shaft calibration of line laser profile sensor measuring coordinate system.
Above-mentioned steps have been set up line laser profile sensor measuring coordinate system and are closed to the conversion between camera coordinates system
System, specific rotating axis calibration process：
3.1, the three-dimensional target in step 2 is rotated, it is primary every 30 degree of rotations, while camera acquisition is primary three-dimensional
Target image, you can extract D coordinates value of one group of coded target under camera coordinates system.12 can be acquired by rotating a circle
It is secondary, it also can get the coordinate value of 12 groups of coded targets.
3.2, since the rotational trajectory of each coded target is a circle around rotating platform axis, according to volume
The encoded radio of code mark point can very easily find corresponding coding maker point coordinates in 12 groups of data, by one and same coding mark
Coordinate fitting of the will o'clock under 12 different locations is a bit in shaft at a circle, the then center of circle.
3.3, the track of each coded target on three-dimensional target is fitted to a circle in this way, extracts the center of circle, so that it may
To obtain series of points in shaft.A series of this center of circle using least square fitting obtain shaft under camera coordinates system
Parametric equation.Again since the measuring coordinate system of line laser profile sensor has unified under camera coordinates system, that is, realize line
The calibration of laser profile sensor measurement coordinate system lower rotary shaft.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, all within the spirits and principles of the present invention made by all any modification, equivalent and improvement etc., should all include
Within protection scope of the present invention.
Claims (4)
1. a kind of multi-thread laser profile sensor coordinate system fusion and rotating axis calibration method, are surveyed for revolving parts laser scanning
Measure the calibration of the shaft of the fusion of multiple line laser profile sensor coordinate systems and rotating platform in device, which is characterized in that
Include the following steps：
Step 1：Equal with the quantity of line laser profile sensor and one-to-one area array cameras is set, and utilization is mutual corresponding
Line laser profile sensor and area array cameras, while the same first three-dimensional target is shot, to obtain each line laser profile sensing
Transformational relation of the measuring coordinate system of device to corresponding area array cameras coordinate system；
Step 2：The second three-dimensional target is placed on rotating platform, is shot the second three-dimensional target using multiple area array cameras, is asked
The coordinate system transformational relation between each area array cameras is solved, to merge each area array cameras coordinate system；And then according to step
The measuring coordinate system of rapid 1 obtained each line laser profile sensor, will be each to the transformational relation of corresponding area array cameras coordinate system
The measuring coordinate system of line laser profile sensor merges；
Step 3：So that the second three-dimensional target of step 2 is rotated in situ, often rotate an angle, utilizes each area array cameras acquisition one time the
The image of two targets；According to multi collect as a result, fitting three-dimensional of the shaft of rotating platform in area array cameras coordinate system
Coordinate, in conjunction with the fusion results of the measuring coordinate system of each line laser profile sensor in step 2, the shaft for completing rotating platform exists
Calibration under the measuring coordinate system of line laser profile sensor.
2. a kind of multi-thread laser profile sensor coordinate system fusion according to claim 1 and rotating axis calibration method, special
Sign is that the first target in step 1 is ladder block, and mutually different coding maker is arranged on each step surface of ladder block
Point, and set on same step surface there are two different coded targets, all coded targets are under ladder block local Coordinate System
Three-dimensional coordinate it is known that step 1 include following sub-step：
1.1) for any one line laser profile sensor and corresponding area array cameras, area array cameras coordinate system phase is calculated
For the posture of ladder block coordinate system；Using line laser profile sensor laser stripe, extraction are projected to the step surface of ladder block
The intersection point of laser stripe and two coded target lines of centres on each step of ladder block, in conjunction with each area array cameras coordinate system phase
A series of this three-dimensional coordinate of intersection points under area array cameras coordinate system is gone out for the Attitude Calculation of ladder block coordinate system；Pass through fitting
These intersection points calibrate plane equation of the laser plane of line laser profile sensor under area array cameras coordinate system；
1.2) laser stripe of step 1.1 forms broken line along the steps at different levels of ladder block, and area array cameras obtains the laser stripe shape
At broken line inflection point, the laser plane of the line laser profile sensor obtained in conjunction with step 1.1 is under area array cameras coordinate system
Plane equation, solve three-dimensional coordinate of each inflection point under camera coordinates system, so calculate line laser profile sensor survey
Coordinate system is measured to area array cameras coordinate system transformational relation, repeats the above steps and completes the measurement seat of each line laser profile sensor
Conversion of the mark system to corresponding area array cameras coordinate system.
3. a kind of multi-thread laser profile sensor coordinate system fusion according to claim 1 or 2 and rotating axis calibration method,
It is characterized in that, multiple different coded targets is set in the side of the second three-dimensional target, and each coded target does not exist
Using rotating platform shaft as on the same circle of axis, three-dimensional of each coded target under the second stereo target local Coordinate System
Coordinate is it is known that step 3 includes following sub-step：
3.1) start rotating platform and drive the second three-dimensional target rotation, it is primary every the rotation of θ degree, while each area array cameras is adopted simultaneously
The primary three-dimensional target image of collection, you can extract D coordinates value of one group of coded target under camera coordinates system, repeatedly revolve
Turn then to can extract multigroup coded target coordinate value；
3.2) coordinate points of the one and same coding index point under each different angle are fitted to a circle, then the center of circle is to rotate
In the shaft of platform a bit；
3.3) step 3.2 is repeated, the track of each coded target on the second three-dimensional target is fitted to circle, extracts all circles
The center of circle, obtain the series of points in shaft, to fit shaft, obtain parametric equation of the shaft under camera coordinates system,
In conjunction with the fusion results of the measuring coordinate system of each line laser profile sensor in step 2, the shaft for completing rotating platform swashs online
Calibration under the measuring coordinate system of light profile sensor.
4. a kind of multi-thread laser profile sensor coordinate system fusion according to claim 3 and rotating axis calibration method, special
Sign is that different coded targets is pasted on the surface of the second three-dimensional target at random, and each coded target is uniformly distributed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810497328.7A CN108759714B (en) | 2018-05-22 | 2018-05-22 | Coordinate system fusion and rotating shaft calibration method for multi-line laser profile sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810497328.7A CN108759714B (en) | 2018-05-22 | 2018-05-22 | Coordinate system fusion and rotating shaft calibration method for multi-line laser profile sensor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108759714A true CN108759714A (en) | 2018-11-06 |
| CN108759714B CN108759714B (en) | 2020-01-03 |
Family
ID=64004820
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810497328.7A Active CN108759714B (en) | 2018-05-22 | 2018-05-22 | Coordinate system fusion and rotating shaft calibration method for multi-line laser profile sensor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108759714B (en) |
Cited By (28)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110057314A (en) * | 2019-04-01 | 2019-07-26 | 唐山百川智能机器股份有限公司 | The coplanar adjustment system and method for Zaser contourgraph array |
| CN110487213A (en) * | 2019-08-19 | 2019-11-22 | 杭州电子科技大学 | Full view line laser structured light three-dimensional image forming apparatus and method based on spatial offset |
| CN110793458A (en) * | 2019-10-30 | 2020-02-14 | 成都安科泰丰科技有限公司 | Coplane adjusting method for two-dimensional laser displacement sensor |
| CN110793459A (en) * | 2019-10-30 | 2020-02-14 | 成都安科泰丰科技有限公司 | Calibration device for two-dimensional laser displacement sensor |
| CN111062992A (en) * | 2019-11-14 | 2020-04-24 | 杭州电子科技大学 | Double-view-angle line laser scanning three-dimensional imaging device and method |
| CN111578866A (en) * | 2020-06-16 | 2020-08-25 | 大连理工大学 | Spatial pose calibration method for multi-line laser sensor combined measurement |
| CN111721345A (en) * | 2019-03-20 | 2020-09-29 | 深圳市道通科技股份有限公司 | Calibration system and calibration support thereof |
| CN111932494A (en) * | 2020-07-01 | 2020-11-13 | 湖南省鹰眼在线电子科技有限公司 | Tire wear degree evaluation method and device |
| CN111981984A (en) * | 2020-08-28 | 2020-11-24 | 南昌航空大学 | Rotating shaft calibration method based on binocular vision |
| CN112179291A (en) * | 2020-09-23 | 2021-01-05 | 中国科学院光电技术研究所 | Calibration method of self-rotating scanning type line structured light three-dimensional measurement device |
| CN112800582A (en) * | 2020-12-30 | 2021-05-14 | 华南理工大学 | Method for generating simulated laser line of structured light vision sensor |
| CN113237434A (en) * | 2021-04-25 | 2021-08-10 | 湖南大学 | Stepped calibrator-based eye-in-hand calibration method for laser profile sensor |
| CN113324483A (en) * | 2021-05-14 | 2021-08-31 | 南京耘瞳科技有限公司 | Measuring device and measuring method for size of medium-thickness plate |
| CN113379844A (en) * | 2021-05-25 | 2021-09-10 | 成都飞机工业（集团）有限责任公司 | Large-range surface quality detection method for airplane |
| CN113414248A (en) * | 2021-06-04 | 2021-09-21 | 西北工业大学 | Method and device for detecting workpiece forming process |
| CN113494883A (en) * | 2020-03-20 | 2021-10-12 | 湖南科天健光电技术有限公司 | Turntable load pose measurement method and system based on external multi-view vision equipment |
| CN113494893A (en) * | 2021-09-09 | 2021-10-12 | 深圳广成创新技术有限公司 | Calibration method and device of three-dimensional laser scanning system and computer equipment |
| CN113551616A (en) * | 2021-07-23 | 2021-10-26 | 哈尔滨工业大学（威海） | Laser three-dimensional measuring instrument for conical array line |
| CN114018174A (en) * | 2021-11-05 | 2022-02-08 | 上海科技大学 | Complex curved surface profile measuring system |
| CN114216405A (en) * | 2021-11-29 | 2022-03-22 | 浙江工业大学 | Three-dimensional measuring device and method for straight shank type twist drill |
| CN114396873A (en) * | 2021-12-30 | 2022-04-26 | 郑州大学 | Method and device for measuring geometric dimension of trapezoidal steel wire |
| CN114509776A (en) * | 2022-04-08 | 2022-05-17 | 探维科技(北京)有限公司 | Synchronous measurement device, method, equipment and medium of hardware-level image fusion system |
| CN114549660A (en) * | 2022-02-23 | 2022-05-27 | 北京大学 | Multi-camera calibration method, device and equipment based on cylindrical self-identification marker |
| CN115507769A (en) * | 2022-05-24 | 2022-12-23 | 北京工业大学 | Gear rapid measurement method integrating vision and optical principles |
| CN116105662A (en) * | 2023-04-17 | 2023-05-12 | 天津宜科自动化股份有限公司 | Calibration method of multi-contour sensor |
| CN116704045A (en) * | 2023-06-20 | 2023-09-05 | 北京控制工程研究所 | Multi-camera system calibration method for monitoring starry sky background simulation system |
| CN116878419A (en) * | 2023-09-06 | 2023-10-13 | 南京景曜智能科技有限公司 | Rail vehicle limit detection method and system based on three-dimensional point cloud data and electronic equipment |
| CN117073581A (en) * | 2023-09-12 | 2023-11-17 | 梅卡曼德（北京）机器人科技有限公司 | Calibration method and device of line laser profilometer system and electronic equipment |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011002278A (en) * | 2009-06-17 | 2011-01-06 | Seiko Epson Corp | Optical measurement apparatus and optical measurement method |
| EP2828615A1 (en) * | 2012-03-24 | 2015-01-28 | Laser Projection Technologies | Lasergrammetry system and methods |
| CN106289106A (en) * | 2016-08-04 | 2017-01-04 | 北京航空航天大学 | Stereo vision sensor that a kind of line-scan digital camera and area array cameras combine and scaling method |
| CN107167079A (en) * | 2017-05-30 | 2017-09-15 | 常州高晟传感技术有限公司 | Height of materials and evenness measuring system, measuring method and its method for self-calibrating |
| CN107255443A (en) * | 2017-07-14 | 2017-10-17 | 北京航空航天大学 | Binocular vision sensor field calibration method and device under a kind of complex environment |
-
2018
- 2018-05-22 CN CN201810497328.7A patent/CN108759714B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011002278A (en) * | 2009-06-17 | 2011-01-06 | Seiko Epson Corp | Optical measurement apparatus and optical measurement method |
| EP2828615A1 (en) * | 2012-03-24 | 2015-01-28 | Laser Projection Technologies | Lasergrammetry system and methods |
| CN106289106A (en) * | 2016-08-04 | 2017-01-04 | 北京航空航天大学 | Stereo vision sensor that a kind of line-scan digital camera and area array cameras combine and scaling method |
| CN107167079A (en) * | 2017-05-30 | 2017-09-15 | 常州高晟传感技术有限公司 | Height of materials and evenness measuring system, measuring method and its method for self-calibrating |
| CN107255443A (en) * | 2017-07-14 | 2017-10-17 | 北京航空航天大学 | Binocular vision sensor field calibration method and device under a kind of complex environment |
Non-Patent Citations (3)
| Title |
|---|
| 周平等: "计算机单目视觉测量系统", 《光电工程》 * |
| 易宗超: "基于线激光的列车外轮廓三维测量和限界检测", 《中国优秀硕士学位论文全文数据库》 * |
| 易杰等: "多个单目线激光传感器旋转扫描系统高精度标定方法", 《铸造技术》 * |
Cited By (47)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111721345A (en) * | 2019-03-20 | 2020-09-29 | 深圳市道通科技股份有限公司 | Calibration system and calibration support thereof |
| CN111721345B (en) * | 2019-03-20 | 2024-05-07 | 深圳市道通科技股份有限公司 | Calibration system and calibration support thereof |
| CN110057314B (en) * | 2019-04-01 | 2020-12-15 | 唐山百川智能机器股份有限公司 | Coplanarity adjusting system and method for laser contourgraph array |
| CN110057314A (en) * | 2019-04-01 | 2019-07-26 | 唐山百川智能机器股份有限公司 | The coplanar adjustment system and method for Zaser contourgraph array |
| CN110487213A (en) * | 2019-08-19 | 2019-11-22 | 杭州电子科技大学 | Full view line laser structured light three-dimensional image forming apparatus and method based on spatial offset |
| CN110487213B (en) * | 2019-08-19 | 2022-01-11 | 杭州电子科技大学 | Full-view-angle line laser scanning three-dimensional imaging device and method based on spatial dislocation |
| CN110793459A (en) * | 2019-10-30 | 2020-02-14 | 成都安科泰丰科技有限公司 | Calibration device for two-dimensional laser displacement sensor |
| CN110793458A (en) * | 2019-10-30 | 2020-02-14 | 成都安科泰丰科技有限公司 | Coplane adjusting method for two-dimensional laser displacement sensor |
| CN110793459B (en) * | 2019-10-30 | 2022-07-22 | 成都安科泰丰科技有限公司 | Calibration device for two-dimensional laser displacement sensor |
| CN111062992A (en) * | 2019-11-14 | 2020-04-24 | 杭州电子科技大学 | Double-view-angle line laser scanning three-dimensional imaging device and method |
| CN111062992B (en) * | 2019-11-14 | 2023-05-12 | 杭州电子科技大学 | Dual-view-angle line laser scanning three-dimensional imaging device and method |
| CN113494883B (en) * | 2020-03-20 | 2022-08-05 | 湖南科天健光电技术有限公司 | Turntable load pose measurement method and system based on external multi-view vision equipment |
| CN113494883A (en) * | 2020-03-20 | 2021-10-12 | 湖南科天健光电技术有限公司 | Turntable load pose measurement method and system based on external multi-view vision equipment |
| CN111578866A (en) * | 2020-06-16 | 2020-08-25 | 大连理工大学 | Spatial pose calibration method for multi-line laser sensor combined measurement |
| CN111932494B (en) * | 2020-07-01 | 2022-06-17 | 湖南省鹰眼在线电子科技有限公司 | Tire wear degree evaluation method and device |
| CN111932494A (en) * | 2020-07-01 | 2020-11-13 | 湖南省鹰眼在线电子科技有限公司 | Tire wear degree evaluation method and device |
| CN111981984B (en) * | 2020-08-28 | 2022-05-17 | 南昌航空大学 | Rotating shaft calibration method based on binocular vision |
| CN111981984A (en) * | 2020-08-28 | 2020-11-24 | 南昌航空大学 | Rotating shaft calibration method based on binocular vision |
| CN112179291A (en) * | 2020-09-23 | 2021-01-05 | 中国科学院光电技术研究所 | Calibration method of self-rotating scanning type line structured light three-dimensional measurement device |
| CN112800582A (en) * | 2020-12-30 | 2021-05-14 | 华南理工大学 | Method for generating simulated laser line of structured light vision sensor |
| CN113237434A (en) * | 2021-04-25 | 2021-08-10 | 湖南大学 | Stepped calibrator-based eye-in-hand calibration method for laser profile sensor |
| CN113237434B (en) * | 2021-04-25 | 2022-04-01 | 湖南大学 | Stepped calibrator-based eye-in-hand calibration method for laser profile sensor |
| CN113324483A (en) * | 2021-05-14 | 2021-08-31 | 南京耘瞳科技有限公司 | Measuring device and measuring method for size of medium-thickness plate |
| CN113379844A (en) * | 2021-05-25 | 2021-09-10 | 成都飞机工业（集团）有限责任公司 | Large-range surface quality detection method for airplane |
| CN113379844B (en) * | 2021-05-25 | 2022-07-15 | 成都飞机工业（集团）有限责任公司 | Method for detecting large-range surface quality of airplane |
| CN113414248A (en) * | 2021-06-04 | 2021-09-21 | 西北工业大学 | Method and device for detecting workpiece forming process |
| CN113551616A (en) * | 2021-07-23 | 2021-10-26 | 哈尔滨工业大学（威海） | Laser three-dimensional measuring instrument for conical array line |
| CN113494893B (en) * | 2021-09-09 | 2021-11-23 | 深圳广成创新技术有限公司 | Calibration method and device of three-dimensional laser scanning system and computer equipment |
| CN113494893A (en) * | 2021-09-09 | 2021-10-12 | 深圳广成创新技术有限公司 | Calibration method and device of three-dimensional laser scanning system and computer equipment |
| CN114018174A (en) * | 2021-11-05 | 2022-02-08 | 上海科技大学 | Complex curved surface profile measuring system |
| CN114018174B (en) * | 2021-11-05 | 2023-08-22 | 上海科技大学 | Complex curved surface contour measuring system |
| CN114216405A (en) * | 2021-11-29 | 2022-03-22 | 浙江工业大学 | Three-dimensional measuring device and method for straight shank type twist drill |
| CN114216405B (en) * | 2021-11-29 | 2024-02-23 | 浙江工业大学 | Straight shank type twist drill three-dimensional measuring device and measuring method thereof |
| CN114396873A (en) * | 2021-12-30 | 2022-04-26 | 郑州大学 | Method and device for measuring geometric dimension of trapezoidal steel wire |
| CN114549660B (en) * | 2022-02-23 | 2022-10-21 | 北京大学 | Multi-camera calibration method, device and equipment based on cylindrical self-identification marker |
| CN114549660A (en) * | 2022-02-23 | 2022-05-27 | 北京大学 | Multi-camera calibration method, device and equipment based on cylindrical self-identification marker |
| CN114509776A (en) * | 2022-04-08 | 2022-05-17 | 探维科技(北京)有限公司 | Synchronous measurement device, method, equipment and medium of hardware-level image fusion system |
| CN114509776B (en) * | 2022-04-08 | 2022-07-29 | 探维科技(北京)有限公司 | Synchronous measuring device, method, equipment and medium of hardware-level image fusion system |
| CN115507769A (en) * | 2022-05-24 | 2022-12-23 | 北京工业大学 | Gear rapid measurement method integrating vision and optical principles |
| CN115507769B (en) * | 2022-05-24 | 2023-09-22 | 北京工业大学 | Gear rapid measurement method integrating vision and optical principles |
| CN116105662A (en) * | 2023-04-17 | 2023-05-12 | 天津宜科自动化股份有限公司 | Calibration method of multi-contour sensor |
| CN116704045A (en) * | 2023-06-20 | 2023-09-05 | 北京控制工程研究所 | Multi-camera system calibration method for monitoring starry sky background simulation system |
| CN116704045B (en) * | 2023-06-20 | 2024-01-26 | 北京控制工程研究所 | Multi-camera system calibration method for monitoring starry sky background simulation system |
| CN116878419B (en) * | 2023-09-06 | 2023-12-01 | 南京景曜智能科技有限公司 | Rail vehicle limit detection method and system based on three-dimensional point cloud data and electronic equipment |
| CN116878419A (en) * | 2023-09-06 | 2023-10-13 | 南京景曜智能科技有限公司 | Rail vehicle limit detection method and system based on three-dimensional point cloud data and electronic equipment |
| CN117073581B (en) * | 2023-09-12 | 2024-01-26 | 梅卡曼德（北京）机器人科技有限公司 | Calibration method and device of line laser profilometer system and electronic equipment |
| CN117073581A (en) * | 2023-09-12 | 2023-11-17 | 梅卡曼德（北京）机器人科技有限公司 | Calibration method and device of line laser profilometer system and electronic equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108759714B (en) | 2020-01-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108759714A (en) | A kind of multi-thread laser profile sensor coordinate system fusion and rotating axis calibration method | |
| CN105783775B (en) | A kind of minute surface and class minute surface object surface appearance measuring device and method | |
| CN103528543B (en) | System calibrating method in a kind of optical grating projection three-dimensional measurement | |
| CN104034263B (en) | A kind of non-contact measurement method of forging's block dimension | |
| CN103267491B (en) | The method and system of automatic acquisition complete three-dimensional data of object surface | |
| CN105046746A (en) | Digital-speckle three-dimensional quick scanning method of human body | |
| CN101403606B (en) | Large visual field dual-shaft measuring apparatus based on line-structured light | |
| CN101509763A (en) | Single order high precision large-sized object three-dimensional digitized measurement system and measurement method thereof | |
| CN102944188B (en) | A kind of spot scan three dimensional shape measurement system scaling method | |
| CN105252341A (en) | Dynamic error vision measurement method for five-axis numerical control machine tool | |
| CN103759669A (en) | Monocular vision measuring method for large parts | |
| CN105526906B (en) | Wide-angle dynamic high precision laser angular measurement method | |
| CN109493422A (en) | A kind of substation's 3 D model construction method based on three-dimensional laser scanning technique | |
| CN105627948A (en) | Large-scale complex curved surface measurement system and application thereof | |
| CN104567666A (en) | Measuring method for roller bearing block spatial position | |
| CN105115560A (en) | Non-contact measurement method for cabin capacity | |
| CN106556826B (en) | Intelligent Mobile Robot location navigation two-dimensional laser Radar Calibration device and method | |
| CN110363707A (en) | A kind of more view three-dimensional point cloud joining methods based on bridle virtual feature | |
| CN104408762A (en) | Method for obtaining object image information and three-dimensional model by using monocular unit and two-dimensional platform | |
| CN105486235A (en) | A target measuring method in ball machine video images | |
| CN109297436A (en) | Binocular line laser measurement in space benchmark calibration method | |
| CN110849268A (en) | Quick phase-height mapping calibration method | |
| CN109017867A (en) | Rail corrugation dynamic measurement method | |
| Huang et al. | Overview on the profile measurement of turbine blade and its development | |
| CN106546192B (en) | A kind of high reflection Free-Form Surface and system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |