CN109000558A - A kind of big visual field non-contact three-dimensional point coordinate measurement method and apparatus - Google Patents
A kind of big visual field non-contact three-dimensional point coordinate measurement method and apparatus Download PDFInfo
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- CN109000558A CN109000558A CN201810537805.8A CN201810537805A CN109000558A CN 109000558 A CN109000558 A CN 109000558A CN 201810537805 A CN201810537805 A CN 201810537805A CN 109000558 A CN109000558 A CN 109000558A
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- light pen
- range finder
- camera
- laser range
- laser
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of big visual field non-contact three-dimensional point coordinate measurement method and apparatus.The present invention is the arrangement target point on light pen, laser range finder is arranged onto the light pen, and pose parameter of the Calibration of Laser rangefinder under light pen coordinate system；Camera is provided and establishes camera coordinates system, determines position orientation relation of the light pen coordinate system under camera coordinates system；Using the distance of laser range finder irradiation measured point acquisition laser range finder to measured point, while utilizing the target image on camera acquisition light pen；Coordinate of the measured point under camera coordinates system is calculated in the position orientation relation of the pose parameter under light pen coordinate system, target image and light pen coordinate system on the collected light pen of camera under camera coordinates system according to the distance of laser range finder to measured point, laser range finder.The present invention can carry out non-cpntact measurement to target object, therefore may be implemented to flexible article and the inefficient measurement work of other contact type measurements.The object of oversize can be measured simultaneously.
Description
Technical field
The present invention relates to three-dimensional measurement technical fields, specifically, being a kind of big visual field non-contact three-dimensional point coordinate measurement
Method and apparatus.
Background technique
In the industrial production, the three-dimensional measurement of large-scale workpiece is modeled, and to the geometric dimensions of various device products
In-site measurement demand is more and more, for this purpose, having obtained more and more grinding based on photogrammetric noncontact optical measurement technology
Study carefully application.Wherein, based on the especially extensive of the portable light pen measuring technique of monocular vision or binocular vision application.Light pen measurement
System is generally made of vision system and measuring system two parts.Wherein vision system is used to obtain the image of measuring system, and one
As be industrial camera.Measuring system is made of the light pen of arrangement three or more vision target points, and spherical shape is equipped on light pen
Measuring head.When measurement, needs the gauge head of light pen contacting measured target point, image is obtained by vision system, passes through PnP
(Pespective-n-Point) method solves position orientation relation of the target under vision system on light pen, solves gauge head in vision system
The coordinate united under coordinate system is so that it is determined that measured point coordinate.Wherein, coordinate of the gauge head central point under target co-ordinates system need by
Accurate Calibration comes out in advance.It can be seen that the technology from light pen measuring technique and belong to contact type measurement, not to certain flexible parts
It can be carried out effective measurement, and since the visual field of measuring system is limited, be not capable of measuring the object of larger size.
Target construction, vision system calibration are mainly concentrated for the research of light pen measuring technique at present, measuring system improves
Precision aspect.There are no improving to the contact measurement method that light pen measures, and effectively improve light pen measuring system
Measurement range.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of big visual field non-contact three-dimensional point coordinate measurement method and apparatus,
Contact type measurement scheme can be changed into non-contact measurement scheme, the measurement of flexible subject matter can be suitable for, and can be real
Now to the measurement of the object of larger size.
In order to solve the above-mentioned technical problems, the present invention provides a kind of big visual field non-contact three-dimensional point coordinate measurement method,
Include:
A, target point is arranged on light pen, laser range finder is arranged onto the light pen, and Calibration of Laser rangefinder exists
Pose parameter under light pen coordinate system；
B, camera is provided and establishes camera coordinates system, determines position orientation relation of the light pen coordinate system under camera coordinates system；
C, it using the distance of laser range finder irradiation measured point acquisition laser range finder to measured point, while being adopted using camera
Collect the target image on light pen；
D, pose parameter, the phase according to the distance of laser range finder to measured point, laser range finder under light pen coordinate system
The position orientation relation of target image and light pen coordinate system under camera coordinates system on the collected light pen of machine is calculated tested
Coordinate of the point under camera coordinates system.
Further, in the step A, multiple auxiliary targets identical with the target on light pen are arranged on light pen
Mark.
Further, the laser range finder uses pulse laser laser welder or phase laser distance meter.
Further, in the step A, by measuring the calibration algorithm Calibration of Laser rangefinder of single-point multi-pose in light pen
Pose parameter under coordinate system.
Further, in the step A, laser range finder is under light pen coordinate system by its starting point and beam projecting direction
To indicate.
Further, in the step B, the camera is binocular camera, passes through stereo vision three-dimensional measurement method meter
Coordinate of the target point under camera coordinates system on light pen is calculated, finds out light pen coordinate system relative to camera coordinates further according to PnP method
The spin matrix R and T of system, so that it is determined that position orientation relation of the light pen coordinate system under camera coordinates system.
Further, in the step C, the laser range finder at least three postures irradiation space in same object point simultaneously
Obtain measurement distance；In the step D, determine that pose parameter of the laser range finder under light pen coordinate system is fixed according to linear solution
Point p (x, y, z) and radiation direction unit vector n.
The present invention also provides a kind of big visual field non-contact three-dimensional point coordinate measurement equipment, including light pen measuring instrument and phase
Machine is disposed with target, the laser ranging wherein the light pen measuring instrument is made of light pen and laser range finder on the light pen
Instrument is located in light pen coordinate system, and the light pen is located in camera coordinates system.
Further, the camera is binocular camera.
Further, laser range finder is pulse laser laser welder or phase laser distance meter.
Big visual field non-contact three-dimensional point coordinate measurement method of the invention, by laser ranging technique and light pen measuring technique phase
In conjunction with, it can be to target object progress non-cpntact measurement, therefore may be implemented that flexible article and other contact type measurements cannot be won
The measurement work appointed.Meanwhile the long distance and high precision measurement of laser range finder being applied in light pen measurement, super large can be measured
The object of size.Using the equipment of non-contact measurement scheme of the invention, with small in volume, measurement range is big, makes
With the advantages that flexible and convenient, easy to carry.
Detailed description of the invention
Fig. 1 is the schematic diagram of big visual field non-contact three-dimensional point coordinate measurement method and apparatus of the invention.
Wherein, 1, first camera, 2, second camera, 3, light pen, 4, laser range finder, 5, testee, 6, target point.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings and specific examples, so that those skilled in the art can be with
It more fully understands the present invention and can be practiced, but illustrated embodiment is not as a limitation of the invention.
As shown in Figure 1, in the present embodiment, big visual field non-contact three-dimensional point coordinate measurement method of the invention uses
Equipment include light pen measuring instrument and camera two parts, wherein light pen measuring instrument is made of light pen 3 and laser range finder 4, and phase
Machine is the binocular camera system being made of first camera 1 and second camera 2.The camera coordinates system established is { c }, and light pen is sat
System is marked as { g }, the position orientation relation of light pen coordinate system and camera coordinates system is expressed as RT.Laser range finder is under light pen coordinate system
Pose parameter is fixed point p (x, y, z) and radiation direction unit vector n.
Based on this, big visual field non-contact three-dimensional point coordinate measurement method of the invention, comprising:
A, target point 6 is arranged on light pen, laser range finder is arranged onto the light pen, and Calibration of Laser rangefinder exists
Pose parameter under light pen coordinate system；
B, camera is provided and establishes camera coordinates system, determines position orientation relation of the light pen coordinate system under camera coordinates system；
C, using laser range finder irradiation testee 5 on measured point obtain laser range finder to measured point distance,
The target image on camera acquisition light pen is utilized simultaneously；
D, pose parameter, the phase according to the distance of laser range finder to measured point, laser range finder under light pen coordinate system
The position orientation relation of target image and light pen coordinate system under camera coordinates system on the collected light pen of machine is calculated tested
Coordinate of the point under camera coordinates system.
Wherein, in the step A, multiple auxiliary targets identical with the target on light pen are arranged on light pen, it is auxiliary
The number and distribution shape for helping target are determined according to the shape of light pen.The laser range finder uses pulse laser laser welder or phase
Position laser range finder.
In the step A, light pen laser measuring apparatus establishes light pen coordinate system on light pen at target, single by measurement
Pose parameter of the calibration algorithm Calibration of Laser rangefinder of point multi-pose under light pen coordinate system.Wherein laser range finder is in light pen
Indicated under coordinate system by its starting point and beam projecting direction, that is, under light pen coordinate system using a point p and with light
The unit vector n of line exit direction indicates laser measuring apparatus.I.e. by the calibration algorithm of measurement single-point multi-pose, to calibrate
The point coordinate p that laser range finder is indicated under the light pen coordinate system and unit vector n for indicating beam projecting direction.
In the step B, the camera is binocular camera, establishes system geometrical relationship, establishes phase to binocular camera
Machine coordinate system calculates coordinate of the target point under camera coordinates system on light pen by stereo vision three-dimensional measurement method, further according to
PnP method finds out spin matrix R and T of the light pen coordinate system relative to camera coordinates system, so that it is determined that light pen coordinate system is in camera
Position orientation relation under coordinate system.Wherein, the coordinate representation of target point is p1(x1,y1,z1), p2(x2,y2,z2), pn(xn,
yn,zn).In the present invention, determine that position orientation relation of the light pen coordinate system under camera coordinates system can be realized real-time foundation.
In the step C, the laser range finder is with same object point at least three postures irradiation space and is measured
Distance；In the step D, according to linear solution determine laser range finder under light pen coordinate system pose parameter fixed point p (x, y,
And radiation direction unit vector n z).
Wherein, the measurement single-point multi-pose calibration algorithm is using the laser range finder in light pen measuring instrument from m
The same point of attitude measurement space object is demarcated.Two camera acquisitions obtain m light pen target image, by vertical
Body vision method for three-dimensional measurement can obtain the three-dimensional coordinate (target in this example of target point on m group light pen under camera coordinates system
Punctuate is arranged 5, i.e. n=5):
psij(xsij,ysij,zsij), i=1,2, n }, j=1,2, m }
Further according to three-dimensional coordinate of the known target point under light pen coordinate system:
pgi(xgi,ygi,zgi), i=1,2 ..., n
Coordinate of the target point under the coordinate and light pen coordinate system under camera coordinates system is represented by following relationship:
psij=Rj·pgi+Tj, i=1,2, n }, j=1,2, m } (1)
Solution formula (1) can determine that light pen coordinate system is relative to camera coordinates system in light pen measuring instrument each posture
Position orientation relation, spin matrix Rj, translation matrix Tj.The point and unit vector for indicating laser range finder are under light pen coordinate system
It is expressed as p (x, y, z) and n, due to being to carry out multi-pose measurement, measured point p to fixed point a certain in spacec(x,y,z)
It may be expressed as: under camera coordinates system
pc(x, y, z)=Rj·[tj·n+p]+Tj, j=1,2, m (2)
tjFor under each posture of light pen measuring instrument, the ranging length of laser range finder.Following equation can be obtained according to formula (2)
Group:
Since equation group (3) is linear equation, unknown number have 6 (3 unknown numbers in p (x, y, z), in n 3 it is unknown
Number), therefore at least m >=3 can find out p (x, y, z) and n.In order to increase robustness, light pen measuring instrument can be at least six appearances
State measurement space in the same object point carry out posture of the Calibration of Laser rangefinder under light pen coordinate system, that is, determine p (x, y,
And n z).
The present invention is when measurement, it is only necessary to the laser range finder in light pen measuring instrument be irradiated object point, and extracted
The distance of laser range finder measurement, determines light pen coordinate system and camera coordinates under this posture by stereo vision three-dimensional measurement method
The position orientation relation of system substitutes into formula (2) according to pose parameter of the laser range finder obtained by calibrating under light pen coordinate system
Determine three-dimensional coordinate of the object point under camera coordinates system.
Embodiment described above is only to absolutely prove preferred embodiment that is of the invention and being lifted, protection model of the invention
It encloses without being limited thereto.Those skilled in the art's made equivalent substitute or transformation on the basis of the present invention, in the present invention
Protection scope within.Protection scope of the present invention is subject to claims.
Claims (10)
1. a kind of big visual field non-contact three-dimensional point coordinate measurement method characterized by comprising
A, target point is arranged on light pen, laser range finder is arranged onto the light pen, and Calibration of Laser rangefinder is in light pen
Pose parameter under coordinate system；
B, camera is provided and establishes camera coordinates system, determines position orientation relation of the light pen coordinate system under camera coordinates system；
C, using the distance of laser range finder irradiation measured point acquisition laser range finder to measured point, while light is acquired using camera
Target image on pen；
D, the pose parameter according to the distance of laser range finder to measured point, laser range finder under light pen coordinate system, camera are adopted
The position orientation relation of target image and light pen coordinate system under camera coordinates system on light pen collected is calculated measured point and exists
Coordinate under camera coordinates system.
2. big visual field non-contact three-dimensional point coordinate measurement method as described in claim 1, which is characterized in that in the step A,
Multiple auxiliary targets identical with the target on light pen are arranged on light pen.
3. big visual field non-contact three-dimensional point coordinate measurement method as described in claim 1, which is characterized in that the laser ranging
Instrument uses pulse laser laser welder or phase laser distance meter.
4. big visual field non-contact three-dimensional point coordinate measurement method as described in claim 1, which is characterized in that in the step A,
By measuring pose parameter of the calibration algorithm Calibration of Laser rangefinder of single-point multi-pose under light pen coordinate system.
5. big visual field non-contact three-dimensional point coordinate measurement method as claimed in claim 4, which is characterized in that in the step A,
Laser range finder is indicated under light pen coordinate system by its starting point and beam projecting direction.
6. big visual field non-contact three-dimensional point coordinate measurement method as claimed in claim 5, which is characterized in that in the step B,
The camera is binocular camera, through target point on stereo vision three-dimensional measurement method calculating light pen under camera coordinates system
Coordinate finds out spin matrix R and T of the light pen coordinate system relative to camera coordinates system further according to PnP method, so that it is determined that light pen is sat
Mark ties up to the position orientation relation under camera coordinates system.
7. big visual field non-contact three-dimensional point coordinate measurement method as claimed in claim 6, which is characterized in that in the step C,
The laser range finder is with same object point at least three postures irradiation space and obtains measurement distance；In the step D, according to
Linear solution determines pose parameter fixed point p (x, y, z) and radiation direction unit vector of the laser range finder under light pen coordinate system
n。
8. a kind of big visual field non-contact three-dimensional point coordinate measurement equipment, which is characterized in that including light pen measuring instrument and camera, wherein
The light pen measuring instrument is made of light pen and laser range finder, and target is disposed on the light pen, and the laser range finder is located at
In light pen coordinate system, the light pen is located in camera coordinates system.
9. big visual field non-contact three-dimensional point coordinate measurement equipment as claimed in claim 8, which is characterized in that the camera is double
Lens camera.
10. big visual field non-contact three-dimensional point coordinate measurement equipment as claimed in claim 8, which is characterized in that laser range finder
For pulse laser laser welder or phase laser distance meter.
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109900253A (en) * | 2019-02-27 | 2019-06-18 | 武汉大学 | A kind of non-contact measurement modeling method and system |
| CN110081820A (en) * | 2019-05-05 | 2019-08-02 | 大连理工大学 | A kind of space coordinate real-time measurement apparatus based on laser designation method |
| CN110285756A (en) * | 2019-07-15 | 2019-09-27 | 烟台恩科智能装备有限公司 | Photo-electric automobile chassis measuring instrument |
| CN110349154A (en) * | 2019-07-26 | 2019-10-18 | 浙江医院 | A kind of pressure sore wound measurement methods and device based on machine vision |
| CN110455277A (en) * | 2019-08-19 | 2019-11-15 | 哈尔滨工业大学 | High-precision attitude measuring device and method based on internet of things data fusion |
| CN111750776A (en) * | 2020-06-22 | 2020-10-09 | 新拓三维技术(深圳)有限公司 | Measuring method and measuring device of checking fixture and probe light pen structure |
| CN111862238A (en) * | 2020-07-23 | 2020-10-30 | 中国民航大学 | Full-space monocular light pen type vision measurement method |
| CN112461125A (en) * | 2020-10-29 | 2021-03-09 | 北京空间机电研究所 | Optical measurement system and measurement method for position and attitude of closed floating air ball |
| CN113847872A (en) * | 2020-06-28 | 2021-12-28 | 中铁上海工程局集团有限公司 | Discrete single-point displacement static monitoring device and method based on laser ranging |
| CN114396872A (en) * | 2021-12-29 | 2022-04-26 | 哈尔滨工业大学 | Conversion measuring device and conversion measuring method for butt joint hidden characteristics of aircraft cabin |
| CN114459351A (en) * | 2022-02-11 | 2022-05-10 | 山西支点科技有限公司 | High-precision pen point calibration method capable of achieving on-site rapid calibration |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109900253A (en) * | 2019-02-27 | 2019-06-18 | 武汉大学 | A kind of non-contact measurement modeling method and system |
| CN110081820A (en) * | 2019-05-05 | 2019-08-02 | 大连理工大学 | A kind of space coordinate real-time measurement apparatus based on laser designation method |
| CN110285756A (en) * | 2019-07-15 | 2019-09-27 | 烟台恩科智能装备有限公司 | Photo-electric automobile chassis measuring instrument |
| CN110349154A (en) * | 2019-07-26 | 2019-10-18 | 浙江医院 | A kind of pressure sore wound measurement methods and device based on machine vision |
| CN110455277A (en) * | 2019-08-19 | 2019-11-15 | 哈尔滨工业大学 | High-precision attitude measuring device and method based on internet of things data fusion |
| CN110455277B (en) * | 2019-08-19 | 2023-04-07 | 哈尔滨工业大学 | High-precision attitude measurement device and method based on data fusion of Internet of things |
| CN111750776A (en) * | 2020-06-22 | 2020-10-09 | 新拓三维技术(深圳)有限公司 | Measuring method and measuring device of checking fixture and probe light pen structure |
| CN113847872A (en) * | 2020-06-28 | 2021-12-28 | 中铁上海工程局集团有限公司 | Discrete single-point displacement static monitoring device and method based on laser ranging |
| CN111862238A (en) * | 2020-07-23 | 2020-10-30 | 中国民航大学 | Full-space monocular light pen type vision measurement method |
| CN111862238B (en) * | 2020-07-23 | 2022-05-10 | 中国民航大学 | Full-space monocular light pen type vision measurement method |
| CN112461125A (en) * | 2020-10-29 | 2021-03-09 | 北京空间机电研究所 | Optical measurement system and measurement method for position and attitude of closed floating air ball |
| CN114396872A (en) * | 2021-12-29 | 2022-04-26 | 哈尔滨工业大学 | Conversion measuring device and conversion measuring method for butt joint hidden characteristics of aircraft cabin |
| CN114459351A (en) * | 2022-02-11 | 2022-05-10 | 山西支点科技有限公司 | High-precision pen point calibration method capable of achieving on-site rapid calibration |
| CN114459351B (en) * | 2022-02-11 | 2023-12-26 | 山西支点科技有限公司 | High-precision pen point calibration method capable of achieving on-site quick calibration |
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Application publication date: 20181214 |