CN108844459A - A kind of scaling method and device of leaf digital template detection system - Google Patents
A kind of scaling method and device of leaf digital template detection system Download PDFInfo
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- CN108844459A CN108844459A CN201810418349.5A CN201810418349A CN108844459A CN 108844459 A CN108844459 A CN 108844459A CN 201810418349 A CN201810418349 A CN 201810418349A CN 108844459 A CN108844459 A CN 108844459A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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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
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
- G01B21/042—Calibration or calibration artifacts
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Abstract
The present invention relates to technical field of visual measurement, specifically disclose a kind of scaling method of leaf digital template detection system, wherein including：Camera calibration is carried out respectively to First look sensor and the second visual sensor；Laser light knife plane reference is carried out respectively to two visual sensors；Direction of motion calibration is carried out respectively to two visual sensors according to camera parameter and measurement parameter；The camera parameter of the twoth visual sensor is transformed into measurement coordinate system respectively；Positional relationship calibration is carried out to two visual sensors；Measurement parameter under the measurement coordinate system of second visual sensor is transformed into the measurement coordinate system of First look sensor；Carry out system coordinate system calibration；Measurement coordinate system under First look sensor is transformed under system coordinate system.The invention also discloses a kind of caliberating devices of leaf digital template detection system.The scaling method of leaf digital template detection system provided by the invention provides a kind of complete scaling method.
Description
Technical field
The present invention relates to technical field of visual measurement more particularly to a kind of calibration sides of leaf digital template detection system
The caliberating device of method and leaf digital template detection system.
Background technique
Gas turbine is widely used in the fields such as Aeronautics and Astronautics, the energy, as the core part in gas turbine, thoroughly
Flat blade has the characteristics that structure is complicated, manufacturing process requires height, measurement parameter more, and form error influences entire gas turbine
Energy conversion efficiency, therefore claim to the accuracy of irregular type planar survey, validity.Different leaves measurement method
Calibration mode directly determines the precision entirely measured, has reacted the applicability, economy, high efficiency of measurement method.It is applicable
In the leaf that one kind can quickly scan blade profile, acquisition blade completely puts cloud, automatically analyzes measurement parameter, exports examining report
Piece digitizes the Blade measuring feature of template detection device, and a kind of accurate, convenient, quick, easy system mark need to be formulated for it
Determine method.
The method that contactless measurement mainly uses optical visual to detect.Utilize aser triangulation principle needs pair
Laser plane is demarcated.Tao Li etc. is with the three-dimensional target being made of 2 completely vertical planes while demarcating measuring system
Camera parameters and light-plane parameters, but need to make special calibration target.In addition binocular vision system shoots laser picture, uses
The method of stereoscopic vision carries out three-dimensional correction to double camera image, obtains laser stripe center, matches fringe center and camera
Correspondence can also calibrate laser plane parameter, but two cameras is needed not to be suitable in leaf digital template detection device.
The installation of monocular laser vision sensor and movement mechanism certainly exists error, measures between coordinate system and actual motion direction
Relationship is demarcated.It extracts characteristic point by the special calibration object of scan rebuilding using the calibration object of production special shape and exists
Information in three-dimensional space obtains visual sensor direction of motion information, and calibration process is relatively complicated, and demarcate the system of object
It is high, at high cost to make precision.For in the crop leaf measuring mechanism with turntable, the centre of gyration calibration result of turntable influences blade type
The coordinate transformation result of planar survey point.Rotation of rotary table center scaling method has line-of-sight course.Measuring device require be optical measuring head with
The combined type gauge head of contact measuring head.Spherical displacer is placed in a certain position of turntable by line-of-sight course, guarantees that gauge head z-axis is fixed, flat in xy
In face 3 points on measurement standard ball, 3 points are arranged in isosceles triangle, and the section central coordinate of circle of this position ball is found out using 3 points,
Then revolving-turret, and keep standard ball and turntable that opposite relative motion does not occur, the section circle of three positions is successively sought altogether
The heart solves rotation of rotary table center.This method needs to know that three points only have rotated 2 times and ask in the coordinate of x/y plane in standard ball
The section center of circle of 3 positions of standard ball is taken, stated accuracy is not high.
To sum up to laser plane, the direction of motion, the centre of gyration scaling method, existing scaling method defect has：(1) it marks
Determine low (3) calibration process of low efficiency (2) stated accuracy many and diverse (4) and needs to make the calibrating block (5) of specific shape for using non-
The device for contacting Blade measuring, without the complete scaling method of system.
Therefore, how a kind of technical problem that complete scaling method is urgently to be resolved as those skilled in the art is provided.
Summary of the invention
The present invention is directed at least solve one of the technical problems existing in the prior art, a kind of leaf digital template is provided
The scaling method of detection system and the caliberating device of leaf digital template detection system, to solve the problems of the prior art.
As the first aspect of the invention, a kind of scaling method of leaf digital template detection system is provided, wherein
The leaf digital template detection system includes First look sensor and the second visual sensor, the First look sensing
Device and second visual sensor are symmetrically oppositely arranged, and the scaling method of the leaf digital template detection system includes：
Camera calibration is carried out to the First look sensor and second visual sensor respectively and obtains camera seat
Camera parameter under mark system；
Laser light knife plane reference is carried out respectively to the First look sensor and second visual sensor to obtain
Measure the measurement parameter under coordinate system；
The First look sensor and second vision are passed according to the camera parameter and the measurement parameter
Sensor carries out direction of motion calibration respectively, respectively obtains the measurement of the First look sensor and second visual sensor
The Y-axis of coordinate system and the offset of actual motion direction；
Respectively by the First look sensor and the camera parameter of second visual sensor by the camera
Coordinate system is transformed into the measurement coordinate system, becomes the measurement parameter in the measurement coordinate system；
Positional relationship calibration is carried out to the First look sensor and second visual sensor；
Measurement parameter under the measurement coordinate system of second visual sensor is transformed into the First look sensor
Measurement coordinate system under；
System coordinate system calibration is carried out to leaf digital template detection system；
The system that measurement coordinate system under the First look sensor is transformed into leaf digital template detection system
Under coordinate system, the complete parameter under the system coordinate system of the leaf digital template detection system is obtained.
It is preferably, described that carry out laser light knife respectively to the First look sensor and second visual sensor flat
Face is demarcated to obtain the measurement parameter measured under coordinate system：
Multiple groups are shot respectively without laser stripe and the calibration for having laser stripe by the video camera after progress camera calibration
Plate image；
Obtain pose of the scaling board under the camera coordinates system；
Light stripes center extraction is carried out to the image for having laser stripe；
Calculate the physical coordinates value of the optical losses；
By the laser light knife plane being fitted where obtaining the physical coordinates value of the optical losses, measurement coordinate is obtained
System；
Export the transformation relation of the measurement coordinate system and the measurement coordinate system and the camera coordinates system.
Preferably, the pose for obtaining scaling board under the camera coordinates system includes：
Each control point n is calculated in camera with the picture point information at the n control point according to the spatial positional information at n control point
Position pose under coordinate system.
Preferably, the laser light knife plane packet by being fitted where obtaining the physical coordinates value of the optical losses
It includes：
The laser light knife plane being fitted by least square optimization where the physical coordinates value of the optical losses.
Preferably, it is described according to the camera parameter and the measurement parameter to the First look sensor and described
Second visual sensor carries out direction of motion calibration respectively, respectively obtains the First look sensor and second vision passes
The Y-axis of measurement coordinate system and the offset of actual motion direction of sensor include：
The First look sensor and second visual sensor are moved into multiple positions on moving mould group respectively,
And in the shooting of the mobile enterprising rower fixed board in each position；
Obtain the pose of scaling board；
Calculate separately each position of the First look sensor relative attitude transformation and with second vision
The relative attitude of each position of sensor converts；
Solve direction vector of the direction of motion under camera coordinates system；
Export the direction vector.
Preferably, described that positional relationship calibration packet is carried out to the First look sensor and second visual sensor
It includes：
Spherical displacer is several in the First look sensor and second visual sensor while scanning survey space
Position；
Three-dimensional reconstruction fits spherical displacer in the sphere centre coordinate of different location respectively；
The positional relationship between the First look sensor and second visual sensor is found out using rigid body variation.
Preferably, carrying out system coordinate system calibration to leaf digital template detection system includes：
Spherical displacer is placed on turntable edge；
The sphere centre coordinate of the spherical displacer is fitted by the First look sensor scan rebuilding；
Keep spherical displacer and turntable opposing stationary, revolving-turret, and the step of fitting is rebuild in multiple scanning obtains the mark
Ball is determined in the sphere centre coordinate of multiple positions；
Turntable rotary shaft and rotation center are fitted, system coordinate system is obtained, and obtains measurement coordinate system and system coordinates
The transformational relation of system.
Preferably, the camera coordinates system of the First look sensor includes Pc1(Xc1, Yc1, Zc1), the First look passes
The measurement coordinate system of sensor includes Pl1(Xl1, Yl1, Zl1), the camera coordinates system of second visual sensor includes Pc2(Xc2,
Yc2, Zc2), the measurement coordinate system of second visual sensor includes Pl2(Xl2, Yl2, Zl2)。
Preferably, the system coordinate system of the leaf digital template detection system includes Ps(Xs, Ys, Zs)。
As the second aspect of the invention, a kind of caliberating device of leaf digital template detection system is provided, wherein
The caliberating device of the leaf digital template detection system includes：
Camera calibration module, the camera calibration module are used for the First look sensor and second view
Feel that sensor carries out camera calibration respectively and obtains the camera parameter under camera coordinates system；
Laser light knife plane reference module, the laser light knife plane reference module are used for the First look sensor
Laser light knife plane reference is carried out respectively with second visual sensor obtains the measurement parameter under measurement coordinate system；
Direction of motion demarcating module, the direction of motion demarcating module are used for according to the camera parameter and the measurement
Parameter carries out direction of motion calibration to the First look sensor and second visual sensor respectively, respectively obtains described
The offset of the Y-axis and actual motion direction of First look sensor and the measurement coordinate system of second visual sensor；
First conversion module, first conversion module is for respectively by the First look sensor and second view
Feel that the camera parameter of sensor is transformed into the measurement coordinate system by the camera coordinates system, becomes the measurement coordinate system
In measurement parameter；
Positional relationship demarcating module, the positional relationship demarcating module are used for the First look sensor and described the
Two visual sensors carry out positional relationship calibration；
Second conversion module, second conversion module is used for will be under the measurement coordinate system of second visual sensor
Measurement parameter is transformed under the measurement coordinate system of the First look sensor；
System coordinate system demarcating module, the system coordinate system demarcating module are used for leaf digital template detection system
Carry out system coordinate system calibration；
Third conversion module, the third conversion module are used to turn the measurement coordinate system under the First look sensor
It changes under the system coordinate system of leaf digital template detection system, the system for obtaining the leaf digital template detection system
Complete parameter under coordinate system.
The scaling method of leaf digital template detection system provided by the invention, for can quickly scan blade type
Face obtains the leaf digital template detection device progress that blade completely puts cloud, automatically analyzes measurement parameter, exports examining report
System calibrating.Camera calibration, laser light knife plane reference, measurement fortune are rapidly completed to described device by general calibration target
Dynamic direction calibration, the calibration of device location relationship, system coordinate system calibration, so that accurately obtaining mutually converting between each coordinate system
Relationship reduces calibration cost, realizes complete calibration, and can be improved the calibration efficiency of whole system, simplifies system calibrating
Process realizes the applicability of leaf digital template measuring device.
Detailed description of the invention
The drawings are intended to provide a further understanding of the invention, and constitutes part of specification, with following tool
Body embodiment is used to explain the present invention together, but is not construed as limiting the invention.In the accompanying drawings：
Fig. 1 is the flow chart of the scaling method of leaf digital template detection system provided by the invention.
Fig. 2 is each coordinate system schematic diagram of leaf digital template detection system provided by the invention.
Fig. 3 is the specific demarcation flow figure of the scaling method of leaf digital template detection system provided by the invention.
Fig. 4 is laser light knife plane reference flow chart provided by the invention.
Fig. 5 is direction of motion demarcation flow figure provided by the invention.
Fig. 6 positional relationship demarcation flow figure between two visual sensors provided by the invention.
Fig. 7 is system coordinate system demarcation flow figure provided by the invention.
Fig. 8 is the structural schematic diagram of the caliberating device of leaf digital template detection system provided by the invention.
Specific embodiment
Below in conjunction with attached drawing, detailed description of the preferred embodiments.It should be understood that this place is retouched
The specific embodiment stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
As the first aspect of the invention, a kind of scaling method of leaf digital template detection system is provided, wherein
The leaf digital template detection system includes First look sensor and the second visual sensor, the First look sensing
Device and second visual sensor are symmetrically oppositely arranged, as shown in Figure 1, the calibration of the leaf digital template detection system
Method includes：
S110, it camera calibration is carried out to the First look sensor and second visual sensor respectively obtains phase
Camera parameter under machine coordinate system；
S120, laser light knife plane reference is carried out respectively to the First look sensor and second visual sensor
Obtain the measurement parameter under measurement coordinate system；
S130, the First look sensor and described second are regarded according to the camera parameter and the measurement parameter
Feel that sensor carries out direction of motion calibration respectively, respectively obtains the First look sensor and second visual sensor
Measure the Y-axis of coordinate system and the offset of actual motion direction；
S140, respectively by the First look sensor and the camera parameter of second visual sensor by described
Camera coordinates system is transformed into the measurement coordinate system, becomes the measurement parameter in the measurement coordinate system；
S150, positional relationship calibration is carried out to the First look sensor and second visual sensor；
S160, the measurement parameter under the measurement coordinate system of second visual sensor is transformed into the First look biography
Under the measurement coordinate system of sensor；
S170, system coordinate system calibration is carried out to leaf digital template detection system；
S180, the measurement coordinate system under the First look sensor is transformed into leaf digital template detection system
Under system coordinate system, the complete parameter under the system coordinate system of the leaf digital template detection system is obtained.
The scaling method of leaf digital template detection system provided by the invention, for can quickly scan blade type
Face obtains the leaf digital template detection device progress that blade completely puts cloud, automatically analyzes measurement parameter, exports examining report
System calibrating.Camera calibration, laser light knife plane reference, measurement fortune are rapidly completed to described device by general calibration target
Dynamic direction calibration, the calibration of device location relationship, system coordinate system calibration, so that accurately obtaining mutually converting between each coordinate system
Relationship reduces calibration cost, realizes complete calibration, and can be improved the calibration efficiency of whole system, simplifies system calibrating
Process realizes the applicability of leaf digital template measuring device.
Below with reference to shown in Fig. 2 and Fig. 3, to the scaling method of leaf digital template detection system provided by the invention
The course of work is described in detail.
The position of each coordinate system and transition diagram, P in leaf digital template detection device as shown in Figure 2c1(Xc1,
Yc1, Zc1)、Pl1(Xl1, Yl1, Zl1) be First look sensor camera coordinates system and measurement coordinate system, Pc2(Xc2, Yc2, Zc2)、
Pl2(Xl2, Yl2, Zl2) be the second visual sensor camera coordinates system and measurement coordinate system, Ps(Xs, Ys, Zs) it is system coordinates
System, [R, T]relativeThe transformation square that positional relationship is demarcated between the First look sensor and second visual sensor
Battle array, [R, T]svstemFor the transformation matrix of device measuring coordinate system and system coordinate system.The laser stripe picture of camera shooting passes through
Light stripes center extraction, the offset of measurement coordinate system Y-axis and actual motion direction obtained by calibrating by the direction of motion, by light
Center is transformed under measurement coordinate system under camera coordinates system, is passed through [R, T]relativeSecond visual sensor is measured into coordinate
Under striation point Cloud transform to the measurement coordinate system of First look sensor under system, then by [R, T]svstemEach turntable is rotated
The point cloud data measured afterwards is under the measurement coordinate system transformation to system coordinate system of First look sensor.System calibrating process is such as
Shown in Fig. 3, camera calibration, laser light knife plane reference, measurement direction of motion calibration only need a general vision scaling board,
The calibration of device location relationship, system coordinate system calibration only need a general calibration ball.Calibration process is covered by calibration software,
The function such as calibration software integrates complete calibration process, calibration picture is shown, three-dimensional point cloud is shown, user interactive operation, point-cloud fitting
Energy.After the completion of calibration, different visual sensors can directly obtain to be unified in and be after to different perspectives measured object scan rebuilding
The complete cloud united under coordinate system.
It is specifically, described that carry out laser light knife respectively to the First look sensor and second visual sensor flat
Face is demarcated to obtain the measurement parameter measured under coordinate system：
Multiple groups are shot respectively without laser stripe and the calibration for having laser stripe by the video camera after progress camera calibration
Plate image；
Obtain pose of the scaling board under the camera coordinates system；
Light stripes center extraction is carried out to the image for having laser stripe；
Calculate the physical coordinates value of the optical losses；
By the laser light knife plane being fitted where obtaining the physical coordinates value of the optical losses, measurement coordinate is obtained
System；
Export the transformation relation of the measurement coordinate system and the measurement coordinate system and the camera coordinates system.
The pose of the scaling board under the camera coordinates system that obtain include：
Each control point n is calculated in camera with the picture point information at the n control point according to the spatial positional information at n control point
Position pose under coordinate system.
Further specifically, described to be put down by being fitted the laser light knife where obtaining the physical coordinates value of the optical losses
Face includes：
The laser light knife plane being fitted by least square optimization where the physical coordinates value of the optical losses.
Laser light knife plane reference is described in detail below with reference to Fig. 4.
With the video camera demarcated, shooting multiple groups are used without laser and the scaling board image for having laser in measurement space respectively
PnP method obtains pose of the scaling board under camera coordinates system, carries out Light stripes center extraction to the picture for having laser stripe.PnP
Method is to calculate this n point by the spatial positional information and their picture point information at known n control point to sit in camera
Position and attitude under mark system.The physical coordinates value that optical losses can be resolved according to the plane restriction that scaling board provides, with minimum two
Multiply optimization method and fits light-knife plane Ax+By+Cz+D=0 where the physical coordinates of optical losses.The survey of visual sensor
It measures coordinate to establish in laser light knife plane, the intersection point of camera optical center to laser light knife plane is measurement coordinate origin, is put down
Row is z-axis in the direction of laser plane, and the base direction for being parallel to video camera and laser plane is y-axis, and the two multiplication cross is x-axis,
Obtain light-knife plane coordinate system.The internal reference matrix and light-knife plane coordinate system of combining camera can construct the image slices from laser stripe
Plain coordinate to actual physics coordinate value physical size transformed matrix.
Specifically, it is described according to the camera parameter and the measurement parameter to the First look sensor and described
Second visual sensor carries out direction of motion calibration respectively, respectively obtains the First look sensor and second vision passes
The Y-axis of measurement coordinate system and the offset of actual motion direction of sensor include：
The First look sensor and second visual sensor are moved into multiple positions on moving mould group respectively,
And in the shooting of the mobile enterprising rower fixed board in each position；
Obtain the pose of scaling board；
Calculate separately each position of the First look sensor relative attitude transformation and with second vision
The relative attitude of each position of sensor converts；
Solve direction vector of the direction of motion under camera coordinates system；
Export the direction vector.
Direction of motion calibration is described in detail below with reference to shown in Fig. 5.
Since the visual sensor of leaf digital template detection device certainly exists during the installation process with linear mould group
Error, the y-axis that not can guarantee measurement coordinate system is consistent with actual motion direction, so needing to calibrate the direction of motion.Linear mould
Group carries the mobile multiple positions of visual sensor and shoots scaling board, estimates the pose of scaling board, meter with PnP according to correspondence information
The relative attitude transformation for calculating visual sensor solves the direction of motion in video camera and measures the direction vector under coordinate system.If depending on
Feel that sensor is tilted according to measurement request to install, still calibrates actual motion direction using the above method.
Specifically, described that positional relationship calibration packet is carried out to the First look sensor and second visual sensor
It includes：
Spherical displacer is several in the First look sensor and second visual sensor while scanning survey space
Position；
Three-dimensional reconstruction fits spherical displacer in the sphere centre coordinate of different location respectively；
The positional relationship between the First look sensor and second visual sensor is found out using rigid body variation.
The positional relationship calibration between two visual sensors is described in detail below with reference to Fig. 6.
Several positions of spherical displacer, three-dimensional reconstruction fit spherical displacer in two visual sensors while scanning survey space
In the sphere centre coordinate of different location, the positional relationship between equipment is found out using the method for rigid body translation.
Specifically, carrying out system coordinate system calibration to leaf digital template detection system includes：
Spherical displacer is placed on turntable edge；
The sphere centre coordinate of the spherical displacer is fitted by the First look sensor scan rebuilding；
Keep spherical displacer and turntable opposing stationary, revolving-turret, and the step of fitting is rebuild in multiple scanning obtains the mark
Ball is determined in the sphere centre coordinate of multiple positions；
Turntable rotary shaft and rotation center are fitted, system coordinate system is obtained, and obtains measurement coordinate system and system coordinates
The transformational relation of system.
System coordinate system calibration is described in detail below with reference to Fig. 7.
Spherical displacer is placed on turntable edge, fits sphere centre coordinate with a visual sensor scan rebuilding, rotation turns
Platform repeats the above movement and obtains the sphere centre coordinate of multiple positions, fit turntable rotary shaft and rotation center, can find out turntable seat
Mark system is the z-axis and origin of system coordinate system, and camera light axis direction and z-axis multiplication cross direction are x-axis, z-axis and x-axis multiplication cross direction
For y-axis.Calibration obtains the transformational relation of measurement coordinate system and system coordinate system.
Preferably, the camera coordinates system of the First look sensor includes Pc1(Xc1, Yc1, Zc1), the First look passes
The measurement coordinate system of sensor includes Pl1(Xl1, Yl1, Zl1), the camera coordinates system of second visual sensor includes Pc2(Xc2,
Yc2, Zc2), the measurement coordinate system of second visual sensor includes Pl2(Xl2, Yl2, Zl2)。
Preferably, the system coordinate system of the leaf digital template detection system includes Ps(Xs, Ys, Zs)。
The specific implementation process of the scaling method of leaf digital template detection system provided by the invention is carried out below
Explanation.
As shown in figure 3, the calibration sequence of the scaling method of leaf digital template detection system is followed successively by iteration video camera
Calibration, laser light knife plane reference, the calibration of the measurement direction of motion, the calibration of sensor relative positional relationship, system coordinate system calibration.
Scaling board uses the ceramic scaling board of annulus pattern characteristics, and annulus ranks are distributed as 11 × 14, is spaced 15mm.Spherical displacer is theory
Diameter 50mm, the practical dumb light ceramics spherical displacer for being 49.978mm through three-dimensional coordinates measurement.
The particular content of above-mentioned iteration camera calibration is the scaling board picture shot under different positions and pose, utilizes OpenCV letter
Number obtains camera calibration data, obtains further according to Zhang Zhengyou camera marking method and joins inside and outside camera, original image is turned
It changes on the scaling board view parallel with the plane of delineation, manually select ROI region to the detection of circle ring center's point, by what is obtained
Circle ring center's point is transformed into original graph picture point, carries out camera calibration again using corresponding data.It repeats the above process until calibration
Precision no longer improves, and obtains the inside and outside parameter of camera.
Laser light knife plane reference detailed process is as shown in figure 4, shooting multiple groups without laser and have laser in measurement space
Scaling board image, every group of photo first shoot no laser calibration plate image, keep scaling board motionless with camera position, turn exposure down
Afterwards, the scaling board image that laser striation is had under identical pose is shot.Scaling board is obtained under camera coordinates system with PnP method
Pose carries out Light stripes center extraction to the picture for having laser stripe.It can be resolved in striation according to the plane restriction that scaling board provides
The physical coordinates value of the heart, the light-knife planar approach Ax where fitting the physical coordinates of optical losses with least square optimization
+ By+Cz+D=0.Establish expression of the measurement coordinate system under camera coordinates system, [R, T]LaserInCam=[Xaxis Yaxis Zaxis],
[Ox Oy Oz]T], wherein [Ox Oy Oz]TIt is expression of the camera optical center to laser light knife plane intersection point under camera coordinates system,
Intersection point passes through straight line [At Bt Ct]T, wherein t is free scalar, and bringing laser plane equation into isIt surveys
The Y-axis for measuring coordinate system is the direction direction camera coordinates system origin of laser plane, is expressed as Yaxis=sign (norm (A, B,
C)), X-axis is the multiplication cross of Y-axis and [0 0 1], is expressed as Xaxis=cross (Yaxis, [001]), Z axis is the multiplication cross of X-axis and Y-axis,
It is expressed as Zaxis=cross (Xaxis, Yaxis).It finally inverts and the transformation of camera coordinates system and measurement coordinate system can be obtainedlRTc=
[lRc,lTc]=invers ([R, T]LaserInCam)。
It is as shown in Figure 5 to measure direction of motion demarcation flow, in order to calibration measurement coordinate system Y-axis and actual motion side
To deviation, essence or establish visual sensor measure coordinate system.It keeps scaling board to be still in visual field, makes the number of blade
The linear mould group of word template measuring device carries the every mobile a small distance of visual sensor and just shoots picture, uses the side PnP
Method obtains visual sensor and is moved to the scaling board pose of different location, obtain direction of the direction of motion under camera coordinates system to
AmountcYm, it is expressed as in the case where measuring coordinate systemlYm=lRc cYm, wherein tying up to the rotation under laser measurement coordinate system for camera coordinates
AmountlRc.As the mobile L of linear mould group, measuring coordinate system relative to the transformation relation of actual scanning coordinate system isAnd it is P that theoretical measurement coordinate system, which is transformed into after direction of motion calibration under real scan coordinate system,sc
=lYm *M+P1。
Relative positional relationship demarcation flow between two visual sensors is as shown in fig. 6, be placed on blade for spherical displacer
Any position in the visual field of template detection device is digitized, while with the point cloud of two visual sensor scan rebuilding spherical displacers,
After respectively rebuilding multiple positions, it is fitted the centre of sphere with least square method, by under two visual sensor actual scanning coordinate systems
Three-dimensional coordinate establishes rigid body transformation relation.
System coordinate system demarcation flow utilizes the first view as shown in fig. 7, in turntable by the position of proximal edge placement spherical displacer
Feel sensor scan rebuilding spherical displacer point cloud, keep spherical displacer motionless with respect to revolving table position, is repeated after one angle of revolving-turret
The above operation is fitted turntable disk with the sphere centre coordinate minimum of multiple angles, is sat upwards as system using turntable plane normal direction
The Z axis for marking system, using camera optical axis direction and Z axis multiplication cross direction as X-axis, Y-axis is Z axis and X-axis multiplication cross.It obtains in turntable simultaneously
Heart coordinate S=[Xs Ys Zs] and system coordinates tie up to the transformation matrix under camera coordinates systemcRTs.As the mobile H of guide railcShi Xiangji
Coordinate system relative scanning coordinate system is transformed toScanning coordinate can be obtained and tie up to system coordinate system
Under transformation matrixsRTsc=(scRTc *cRTc)-1。
Being fitted centre of sphere interactive interface by calibration software can show that all calibrating functions are all integrated in one, and shoot
Picture in the point cloud of scan rebuilding can automatically save in corresponding demarcating file folder in.It, can be in real time to point after Three-dimensional Display point cloud
Cloud is saved, is fitted the centre of sphere, reselects a cloud, selected point and the interaction such as displaing coordinate, the information after fitting are shown in letter
It ceases in column.
The measurement range of leaf digital template detection device is (1000 × 400 × 250) mm, is fathomed as 200mm
To 400mm, CCD camera answers shooting frame rate with higher and higher resolution ratio, selection specification be 149fps and 1280 ×
1024, parallax range 240mm, 38.7 ° of angle of image, weight 3.5kg, it is 8.0mm that camera lens, which selects focal length, and resolution ratio is
120.001p/mm, aberration rate 0.60%, laser line generator power be 100mw, 60 ° of the angle of divergence.After the completion of system calibrating, to being
System makees the evaluation of visual sensor repeatability error and systematic measurement error evaluation.The evaluation of sensor repeatability error is to pass vision
The laser of sensor is fixed to be beaten in some position of standard ball, and shooting is extracted laser optical losses 200 times in the position, is calculated each
Worst error, mean value, the standard deviation that the Y-axis that laser stripe point is 200 times moves up and down, and SS ball is in turntable difference position
The striation set extracts repeatability.Use the standard ball material of test for conventional ceramic ball and dumb light Ceramic Balls, in same position pair
Two kinds of standard balls make Contrast on effect, and the anti-reflective light ability of dumb light Ceramic Balls is better than conventional ceramic ball, and laser extraction effect is more preferably.Light
It is 0.054 pixel that item, which detects y-coordinate repeatability conventional ceramic ball, and dumb light Ceramic Balls are 0.019 pixel.Systematic measurement error evaluation
Be scan rebuilding theoretical diameter be 50mm, the centre of sphere is away from the matched clubs multiple groups for 500mm, every group 15 times, through three-dimensional coordinates measurement ball
In stick sphere diameter be 49.978mm, 49.974mm, the centre of sphere away from be 500.303mm, fitting bulb diameter and two standard balls the centre of sphere away from.
The sphere diameter mean value of fitting is 50.028mm, and standard deviation 0.0558mm, the centre of sphere of fitting is 500.254mm, standard deviation away from mean value
For 0.071mm.To sum up state, after holonomic system is demarcated, the measuring precision < of leaf digital template detection device
0.08mm。
Therefore, the scaling method of leaf digital template detection system provided by the invention, easy to operate, operator is only
It needs to prepare a general calibration plate and spherical displacer, without making specific calibrating block, reduces calibration cost, shot using scaling board
The picture that camera calibration, laser plane calibration, the measurement direction of motion are demarcated, utilizes position between spherical displacer scan rebuilding equipment
The point cloud data file of relationship calibration, system coordinate system calibration prompts to operate, each calibration item can be obtained according to calibration software
Purpose exports result.
In addition, the scaling method of leaf digital template detection system provided by the invention, which has, demarcates high-efficient, measurement
Direction of motion calibration directly utilizes the movement of linear mould group, is not necessarily to additional high-precision motion mechanism.Positional relationship mark between equipment
Calmly, midpoint cloud shows, is fitted the centre of sphere, interactive operation is integrated in calibration software for system coordinate system calibration, without using third party
Software carries out a cloud centre of sphere fitting.All results demarcated are automatically added to the Survey Software of leaf digital template detection device
In, work can be measured by having demarcated.
As the second aspect of the invention, a kind of caliberating device of leaf digital template detection system is provided, wherein
As shown in figure 8, the caliberating device 10 of the leaf digital template detection system includes：
Camera calibration module 110, the camera calibration module 110 are used for the First look sensor and described
Second visual sensor carries out camera calibration respectively and obtains the camera parameter under camera coordinates system；
Laser light knife plane reference module 120, the laser light knife plane reference module 120 are used for the First look
Sensor and second visual sensor carry out laser light knife plane reference respectively and obtain the measurement parameter under measurement coordinate system；
Direction of motion demarcating module 130, the direction of motion demarcating module 130 are used for according to the camera parameter and institute
It states measurement parameter and direction of motion calibration is carried out respectively to the First look sensor and second visual sensor, respectively
To the offset of the Y-axis and actual motion direction of the First look sensor and the measurement coordinate system of second visual sensor
Amount；
First conversion module 140, first conversion module 140 is for respectively by the First look sensor and described
The camera parameter of second visual sensor is transformed into the measurement coordinate system by the camera coordinates system, becomes the measurement
Measurement parameter in coordinate system；
Positional relationship demarcating module 150, the positional relationship demarcating module 150 be used for the First look sensor and
Second visual sensor carries out positional relationship calibration；
Second conversion module 160, second conversion module 160 are used for the measurement coordinate of second visual sensor
Measurement parameter under system is transformed under the measurement coordinate system of the First look sensor；
System coordinate system demarcating module 170, the system coordinate system demarcating module 170 are used to examine leaf digital template
Examining system carries out system coordinate system calibration；
Third conversion module 180, the third conversion module 180 are used to sit the measurement under the First look sensor
Mark system is transformed under the system coordinate system of leaf digital template detection system, obtains the leaf digital template detection system
System coordinate system under complete parameter.
The caliberating device of leaf digital template detection system provided by the invention, for can quickly scan blade type
Face obtains the leaf digital template detection device progress that blade completely puts cloud, automatically analyzes measurement parameter, exports examining report
System calibrating.Camera calibration, laser light knife plane reference, measurement fortune are rapidly completed to described device by general calibration target
Dynamic direction calibration, the calibration of device location relationship, system coordinate system calibration, so that accurately obtaining mutually converting between each coordinate system
Relationship reduces calibration cost, realizes complete calibration, and can be improved the calibration efficiency of whole system, simplifies system calibrating
Process realizes the applicability of leaf digital template measuring device.
Before the working principle of caliberating device about leaf digital template detection system provided by the invention is referred to
The description of text, details are not described herein again.
It is understood that the principle that embodiment of above is intended to be merely illustrative of the present and the exemplary implementation that uses
Mode, however the present invention is not limited thereto.For those skilled in the art, essence of the invention is not being departed from
In the case where mind and essence, various changes and modifications can be made therein, these variations and modifications are also considered as protection scope of the present invention.
Claims (10)
1. a kind of scaling method of leaf digital template detection system, which is characterized in that the leaf digital template detection
System includes First look sensor and the second visual sensor, the First look sensor and second visual sensor
It is symmetrically oppositely arranged, the scaling method of the leaf digital template detection system includes：
Camera calibration is carried out to the First look sensor and second visual sensor respectively and obtains camera coordinates system
Under camera parameter；
Laser light knife plane reference is carried out respectively to the First look sensor and second visual sensor to be measured
Measurement parameter under coordinate system；
According to the camera parameter and the measurement parameter to the First look sensor and second visual sensor
Direction of motion calibration is carried out respectively, respectively obtains the measurement coordinate of the First look sensor and second visual sensor
The Y-axis of system and the offset of actual motion direction；
Respectively by the First look sensor and the camera parameter of second visual sensor by the camera coordinates
System is transformed into the measurement coordinate system, becomes the measurement parameter in the measurement coordinate system；
Positional relationship calibration is carried out to the First look sensor and second visual sensor；
Measurement parameter under the measurement coordinate system of second visual sensor is transformed into the survey of the First look sensor
It measures under coordinate system；
System coordinate system calibration is carried out to leaf digital template detection system；
Measurement coordinate system under the First look sensor is transformed into the system coordinates of leaf digital template detection system
Under system, the complete parameter under the system coordinate system of the leaf digital template detection system is obtained.
2. the scaling method of leaf digital template detection system according to claim 1, which is characterized in that described to institute
It states First look sensor and second visual sensor carries out laser light knife plane reference respectively and obtains under measurement coordinate system
Measurement parameter include：
Multiple groups are shot respectively without laser stripe and the scaling board figure for having laser stripe by the video camera after progress camera calibration
Picture；
Obtain pose of the scaling board under the camera coordinates system；
Light stripes center extraction is carried out to the image for having laser stripe；
Calculate the physical coordinates value of the optical losses；
By the laser light knife plane being fitted where obtaining the physical coordinates value of the optical losses, measurement coordinate system is obtained；
Export the transformation relation of the measurement coordinate system and the measurement coordinate system and the camera coordinates system.
3. the scaling method of leaf digital template detection system according to claim 2, which is characterized in that the acquisition
Pose of the scaling board under the camera coordinates system include：
Each control point n is calculated in camera coordinates with the picture point information at the n control point according to the spatial positional information at n control point
Position pose under system.
4. the scaling method of leaf digital template detection system according to claim 2, which is characterized in that described to pass through
Being fitted the laser light knife plane where obtaining the physical coordinates value of the optical losses includes：
Laser light knife where being fitted the physical coordinates value of the optical losses by least square optimization put down to.
5. the scaling method of leaf digital template detection system according to claim 1, which is characterized in that the basis
The camera parameter and the measurement parameter carry out the First look sensor and second visual sensor respectively
Direction of motion calibration respectively obtains the Y-axis of the measurement coordinate system of the First look sensor and second visual sensor
Offset with actual motion direction includes：
Mobile multiple positions in mobile mould group respectively by the First look sensor and second visual sensor, and
The shooting of the enterprising rower fixed board in mobile each position；
Obtain the pose of scaling board；
Calculate separately the relative attitude transformation and second visual sensor of each position of the First look sensor
Each position relative attitude transformation；
Solve direction vector of the direction of motion under camera coordinates system；
Export the direction vector.
6. the scaling method of leaf digital template detection system according to claim 1, which is characterized in that described to institute
It states First look sensor and second visual sensor progress positional relationship calibration includes：
Several positions of spherical displacer in the First look sensor and second visual sensor while scanning survey space；
Three-dimensional reconstruction fits spherical displacer in the sphere centre coordinate of different location respectively；
The positional relationship between the First look sensor and second visual sensor is found out using rigid body variation.
7. the scaling method of leaf digital template detection system according to claim 6, which is characterized in that the number of blade
Word template detection system carries out system coordinate system calibration：
Spherical displacer is placed on turntable edge；
The sphere centre coordinate of the spherical displacer is fitted by the First look sensor scan rebuilding；
Keep spherical displacer and turntable opposing stationary, revolving-turret, and the step of fitting is rebuild in multiple scanning obtains the spherical displacer
Sphere centre coordinate in multiple positions；
Turntable rotary shaft and rotation center are fitted, system coordinate system is obtained, and obtains measurement coordinate system and system coordinate system
Transformational relation.
8. the scaling method of leaf digital template detection system as claimed in any of claims 1 to 7, feature
It is, the camera coordinates system of the First look sensor includes Pc1(Xc1, Yc1, Zc1), the measurement of the First look sensor
Coordinate system includes Pl1(Xl1, Yl1, Zl1), the camera coordinates system of second visual sensor includes Pc2(Xc2, Yc2, Zc2), it is described
The measurement coordinate system of second visual sensor includes P12(X12, Y12, Z12)。
9. the scaling method of leaf digital template detection system according to claim 8, which is characterized in that the blade
The system coordinate system for digitizing template detection system includes Ps(Xs, Ys, Zs)。
10. a kind of caliberating device of leaf digital template detection system, which is characterized in that the leaf digital template detection
The caliberating device of system includes：
Camera calibration module, the camera calibration module are used to pass the First look sensor and second vision
Sensor carries out camera calibration respectively and obtains the camera parameter under camera coordinates system；
Laser light knife plane reference module, the laser light knife plane reference module are used for the First look sensor and institute
State the second visual sensor carry out respectively laser light knife plane reference obtain measurement coordinate system under measurement parameter；
Direction of motion demarcating module, the direction of motion demarcating module are used for according to the camera parameter and the measurement parameter
Direction of motion calibration is carried out to the First look sensor and second visual sensor respectively, respectively obtains described first
The Y-axis of the measurement coordinate system of visual sensor and second visual sensor and the offset of actual motion direction；
First conversion module, first conversion module is for respectively passing the First look sensor and second vision
The camera parameter of sensor is transformed into the measurement coordinate system by the camera coordinates system, becomes in the measurement coordinate system
Measurement parameter；
Positional relationship demarcating module, the positional relationship demarcating module are used for the First look sensor and second view
Feel that sensor carries out positional relationship calibration；
Second conversion module, second conversion module are used for the measurement under the measurement coordinate system by second visual sensor
Under Parameter Switch to the measurement coordinate system of the First look sensor；
System coordinate system demarcating module, the system coordinate system demarcating module are used to carry out leaf digital template detection system
System coordinate system calibration；
Third conversion module, the third conversion module is for the measurement coordinate system under the First look sensor to be transformed into
Under the system coordinate system of leaf digital template detection system, the system coordinates of the leaf digital template detection system are obtained
Complete parameter under system.
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| CN115507769B (en) * | 2022-05-24 | 2023-09-22 | 北京工业大学 | Gear rapid measurement method integrating vision and optical principles |
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Application publication date: 20181120 Assignee: Jiangsu Jihui Huake Intelligent Equipment Technology Co., Ltd. Assignor: Wuxi research institute of the Central China University of Science and Technology Contract record no.: X2019980000288 Denomination of invention: Calibration method and device of blade digitalized templet detection system License type: Common License Record date: 20191023 |
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Effective date of registration: 20210106 Address after: 214174 A216, No.2 Qingyan Road, Huishan Economic Development Zone, Wuxi City, Jiangsu Province Patentee after: Jiangsu Jihui Huake Intelligent Equipment Technology Co.,Ltd. Address before: 214100 no.329 Yanxin Road, Huishan District, Wuxi City, Jiangsu Province Patentee before: HUST-WUXI Research Institute |