CN109000572A - A kind of body diameter detection method - Google Patents
A kind of body diameter detection method Download PDFInfo
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- CN109000572A CN109000572A CN201811080871.3A CN201811080871A CN109000572A CN 109000572 A CN109000572 A CN 109000572A CN 201811080871 A CN201811080871 A CN 201811080871A CN 109000572 A CN109000572 A CN 109000572A
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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
- G01B11/08—Measuring arrangements characterised by the use of optical techniques for measuring diameters
Abstract
The invention discloses a kind of body diameter detection methods, comprising the following steps: the line-structured light system that S1. forms laser emitter and video camera is demarcated；S2. the laser rays for projecting two intersections to cylindrical body by laser, leaves the curve of two intersections on the cylinder, acquires the corresponding visual pattern of two curves using video camera；S3. two curves are calculated when intersecting on cylindrical surface, normal vector of the cylindrical surface in crosspoint；S4. the diameter of cylinder is calculated.The present invention provides a kind of body diameter detection methods, it is only necessary to which a camera and the line-structured lights of any direction two intersections just can detect that the diameter of cylindrical body, have easy to operate, at low cost, advantage with high accuracy.
Description
Technical field
The present invention relates to body diameter detections, detect more particularly to a kind of body diameter based on active optical measurement
Method.
Background technique
Coil in daily life, axis, cup and other items can be approximately cylindrical body.In processing, to cylinder
The automatic detection of body diameter of part is very important link, is individualized intelligent manufacture, important component.To guarantee circle
The accuracy of cylinder part often needs to detect cylinder diameter, and current cylinder diameter measurement method is broadly divided into
Contact type measurement and non-contact measurement.
The major way of contact type measurement is that technical staff is measured using the measuring instrument of profession at present, such as vernier calliper
Ruler, micrometer etc., contact type measurement need people to complete measurement tasks, and low efficiency has seriously affected the efficiency of production and processing.This
Outside, in certain processings, do not allow contact workpiece, therefore cannot be widely used in production and processing.It is contactless at present
The major way of measurement includes laser triangulation, electric vortex method, ultrasonic method of measuring, machine vision metrology etc., but to measuring instrument
Device sheet is at high cost, has strict requirements to measurement environment.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of body diameter detection methods, it is only necessary to one
A camera and the line-structured lights of any direction two intersections just can detect that the diameter of cylindrical body, have it is easy to operate, it is at low cost,
Advantage with high accuracy.
The purpose of the present invention is achieved through the following technical solutions: a kind of body diameter detection method, including following
Step:
S1. the line-structured light system formed to laser emitter and video camera is demarcated；
S2. the laser rays for projecting two intersections to cylindrical body by laser, leaves the song of two intersections on the cylinder
Line acquires the corresponding visual pattern of two curves using video camera；
S3. two curves are calculated when intersecting on cylindrical surface, normal vector of the cylindrical surface in crosspoint
S301. measurement obtains the three-dimensional coordinate of series of points on first curve: according to machine vision technique, space is any
The three-dimensional coordinate of series of points on one section of curve that cylindrical surface is intersected with space arbitrary plane are as follows:
o1=(Xw1,Yw1,Zw1),o2=(Xw2,Yw2,Zw2),...,on=(Xwn,Ywn,Zwn)；
S302. according to the three-dimensional coordinate of measurement arrived, using least square method fit Plane, i.e., in space with cylindrical surface phase
Hand over the plane for forming the curve, plane equation Z=AX+BY+CZ+D, normal vector
S303. appoint in space and take two o'clock O=(X0,Yo,Zo), W=(Xw,Yw,Zw) meet plane equation Z=A X+B Y+
C-；
If O is origin, using OW as X-axis, normal thereto is Y-axis, normal vectorA new three-dimensional system of coordinate is established for Z axis
XYZ, with world coordinate system XwYwZwBetween meet following relationship:
In formula, the spin matrix that R is 3 × 3, the translation matrix that T is 3 × 1；
S304. again using O as origin in plane Z, OW is x-axis, and Y-axis is that y-axis establishes coordinate system xoy, o1,o2,...,onPoint
Coordinate in xoy is o1=(x1,y1), o2=(x2,y2), o3=(x3,y3),...,on=(xn,yn), it is obtained by geometrical relationship
X1=x1,X2=x2,...,Xn=xn, and o1,o2,...,onCurve in plane Z is ellipse, fitting obtain as
Lower equation:
ax2+bxy+cy2+ dx+ey+f=0；
If a S305. point o on curvem=(xt,yt), meet ax2+bxy+cy2+ dx+ey+f=0 finds out the o in plane Zm
Tangent vector (the x of pointq,yq)；
S306. by omPoint tangent vector is expressed as (x in XYZ coordinate systemq,yq, 0), o is acquired by R and TmIn XwYwZwIt sits
Tangent vector under mark system
S307. obtain the three-dimensional coordinate of series of points on Article 2 curve according to step S3 measurement, and according to step S4~
S8 then acquires the normal vector of its plane SAny point o on curvenIn XwYwZwTangent vector under coordinate systemWork as omWith onIt is overlapped, i.e. two curves acquire cylindrical surface in the method for crosspoint when intersecting on cylindrical surface
Vector
S4. it is obtained by geometrical relationship: the center vector of cylinderWithIt is built for the random length length of normal vector
A plane is found, then o1,o2,...,onSubpoint on this plane is fitted to obtain a round equation, and then acquires the circle
Radius r, the radius are the radius R of cylindrical body, body diameter D=2R.
Further, the calibration content in the step S1 includes the position of video camera internal reference and optical plane relative camera
It sets.
Further, the video camera internal reference includes camera focus, principal point and distortion factor.
The beneficial effects of the present invention are: the present invention only needs a camera and any direction two line-structured lights intersected just
It can detect that the diameter of cylindrical body, there is easy to operate, at low cost, advantage with high accuracy.
Detailed description of the invention
Fig. 1 is line-structured light instrumentation plan；
Fig. 2 is flow chart of the method for the present invention.
Specific embodiment
Technical solution of the present invention is described in further detail with reference to the accompanying drawing, but protection scope of the present invention is not limited to
It is as described below.
In the present invention, body diameter detection is carried out based on method of structured light, method of structured light is a kind of active optical survey
Amount technology, basic principle are to project controllable luminous point, striation or smooth surface structure from structured light projector to testee surface,
And image is obtained by imaging sensor (such as video camera), object is calculated using triangle principle by system geometrical relationship
Three-dimensional coordinate；Line-structured light system is made of laser emitter and video camera, and measurement method is as shown in Figure 1；The present invention is based on knots
The process that structure light method carries out body diameter detection is as follows.
As shown in Fig. 2, a kind of body diameter detection method, comprising the following steps:
S1. the line-structured light system formed to laser emitter and video camera is demarcated；
S2. the laser rays for projecting two intersections to cylindrical body by laser, leaves the song of two intersections on the cylinder
Line acquires the corresponding visual pattern of two curves using video camera；
S3. two curves are calculated when intersecting on cylindrical surface, normal vector of the cylindrical surface in crosspoint
S301. measurement obtains the three-dimensional coordinate of series of points on first curve: according to machine vision technique, space is any
The three-dimensional coordinate of series of points on one section of curve that cylindrical surface is intersected with space arbitrary plane are as follows:
o1=(Xw1,Yw1,Zw1),o2=(Xw2,Yw2,Zw2),...,on=(Xwn,Ywn,Zwn)；
S302. according to the three-dimensional coordinate of measurement arrived, using the methods of least square method fit Plane, i.e., in space with circle
Cylinder is crossed to form the plane of the curve, plane equation Z=AX+BY+CZ+D, normal vector
S303. appoint in space and take two o'clock O=(X0,Yo,Zo), W=(Xw,Yw,Zw) meet plane equation Z=A X+B Y+
C-；
If O is origin, using OW as X-axis, normal thereto is Y-axis, normal vectorA new three-dimensional system of coordinate is established for Z axis
XYZ, with world coordinate system XwYwZwBetween meet following relationship:
In formula, the spin matrix that R is 3 × 3, the translation matrix that T is 3 × 1；
S304. again using O as origin in plane Z, OW is x-axis, and Y-axis is that y-axis establishes coordinate system xoy, o1,o2,...,onPoint
Coordinate in xoy is o1=(x1,y1), o2=(x2,y2), o3=(x3,y3),...,on=(xn,yn), it is obtained by geometrical relationship
X1=x1,X2=x2,...,Xn=xn, and o1,o2,...,onCurve in plane Z is ellipse, fitting obtain as
Lower equation:
ax2+bxy+cy2+ dx+ey+f=0；
If a S305. point o on curvem=(xt,yt), meet ax2+bxy+cy2+ dx+ey+f=0 finds out the o in plane Zm
Tangent vector (the x of pointq,yq)；
S306. by omPoint tangent vector is expressed as (x in XYZ coordinate systemq,yq, 0), o is acquired by R and TmIn XwYwZwIt sits
Tangent vector under mark system
S307. obtain the three-dimensional coordinate of series of points on Article 2 curve according to step S3 measurement, and according to step S4~
S8 then acquires the normal vector of its plane SAny point o on curvenIn XwYwZwTangent vector under coordinate systemWork as omWith onIt is overlapped, i.e. two curves acquire cylindrical surface in the method for crosspoint when intersecting on cylindrical surface
Vector
S4. it is obtained by geometrical relationship: the center vector of cylinderWithIt is built for the random length length of normal vector
A plane is found, then o1,o2,...,onSubpoint on this plane is fitted to obtain a round equation, and then acquires the circle
Radius r, the radius are the radius R of cylindrical body, body diameter D=2R.
In embodiments herein, the calibration content in the step S1 includes video camera internal reference and line-structured light sensing
Device structural parameters (optic plane equations)；Calibration in the embodiment refers mainly to the calibration of structural parameters, i.e., optical plane is opposite images
The position of machine；In the embodiment, the video camera internal reference includes camera focus, principal point and distortion factor.
To sum up, the present invention only needs a camera and any direction two line-structured lights intersected just to can detect that cylindrical body
Diameter, have easy to operate, at low cost, advantage with high accuracy.
It should be noted that those of ordinary skill in the art will understand that the embodiments described herein is to help
Reader is helped to understand implementation method of the invention, it should be understood that protection scope of the present invention is not limited to such special statement
And embodiment.Those skilled in the art disclosed the technical disclosures can make various do not depart from originally according to the present invention
Various other specific variations and combinations of essence are invented, these variations and combinations are still within the scope of the present invention.
Claims (3)
1. a kind of body diameter detection method, it is characterised in that: the following steps are included:
S1. the line-structured light system formed to laser emitter and video camera is demarcated；
S2. the laser rays for projecting two intersections to cylindrical body by laser leaves the curve of two intersections, benefit on the cylinder
The corresponding visual pattern of two curves is acquired with video camera；
S3. two curves are calculated when intersecting on cylindrical surface, normal vector of the cylindrical surface in crosspoint
S301. measurement obtains the three-dimensional coordinate of series of points on first curve: according to machine vision technique, any cylinder in space
The three-dimensional coordinate of series of points on one section of curve that face is intersected with space arbitrary plane are as follows:
o1=(Xw1,Yw1,Zw1),o2=(Xw2,Yw2,Zw2),...,on=(Xwn,Ywn,Zwn)；
S302. shape is intersected with cylindrical surface in space using least square method fit Plane according to the three-dimensional coordinate of measurement arrived
At the plane of the curve, plane equation Z=AX+BY+CZ+D, normal vector
S303. appoint in space and take two o'clock O=(X0,Yo,Zo), W=(Xw,Yw,Zw) meet plane equation
If O is origin, using OW as X-axis, normal thereto is Y-axis, normal vectorA new three-dimensional system of coordinate XYZ is established for Z axis,
Itself and world coordinate system XwYwZwBetween meet following relationship:
In formula, the spin matrix that R is 3 × 3, the translation matrix that T is 3 × 1；
S304. again using O as origin in plane Z, OW is x-axis, and Y-axis is that y-axis establishes coordinate system xoy, o1,o2,...,onPoint exists
Coordinate in xoy is o1=(x1,y1), o2=(x2,y2), o3=(x3,y3),...,on=(xn,yn), X is obtained by geometrical relationship1
=x1,X2=x2,...,Xn=xn, and o1,o2,...,onCurve in plane Z is ellipse, and fitting obtains following equation:
ax2+bxy+cy2+ dx+ey+f=0；
If a S305. point o on curvem=(xt,yt), meet ax2+bxy+cy2+ dx+ey+f=0 finds out the o in plane ZmPoint
Tangent vector (xq,yq)；
S306. by omPoint tangent vector is expressed as (x in XYZ coordinate systemq,yq, 0), o is acquired by R and TmIn XwYwZwUnder coordinate system
Tangent vector
S307. the three-dimensional coordinate of series of points on Article 2 curve is obtained according to step S3 measurement, and then according to step S4~S8
Acquire the normal vector of its plane SAny point o on curvenIn XwYwZwTangent vector under coordinate system
Work as omWith onIt is overlapped, i.e. two curves acquire cylindrical surface in the normal vector of crosspoint when intersecting on cylindrical surface
S4. it is obtained by geometrical relationship: the center vector of cylinderWithOne is established for the random length length of normal vector
A plane, then o1,o2,...,onSubpoint on this plane is fitted to obtain a round equation, and then acquires the radius of the circle
R, the radius are the radius R of cylindrical body, body diameter D=2R.
2. a kind of body diameter detection method according to claim 1, it is characterised in that: in the calibration in the step S1
Hold the position including video camera internal reference and optical plane relative camera.
3. a kind of body diameter detection method according to claim 2, it is characterised in that: the video camera internal reference includes phase
Machine focal length, principal point and distortion factor.
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Cited By (5)
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| CN109708583A (en) * | 2019-03-05 | 2019-05-03 | 洛阳德晶智能科技有限公司 | A kind of cylinder diameter measuring system and measurement method based on line-structured light |
| CN109883443A (en) * | 2019-02-19 | 2019-06-14 | 北京工业大学 | A kind of line structure optical sensor spatial attitude scaling method |
| CN112288823A (en) * | 2020-10-15 | 2021-01-29 | 武汉工程大学 | Calibration method of standard cylinder curved surface point measuring equipment |
| CN113446952A (en) * | 2021-08-17 | 2021-09-28 | 华北科技学院(中国煤矿安全技术培训中心) | Online non-contact shaft diameter measuring method |
| CN114322802A (en) * | 2021-12-30 | 2022-04-12 | 苏州中科行智智能科技有限公司 | Line diameter measuring method based on 3D line laser camera |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109883443A (en) * | 2019-02-19 | 2019-06-14 | 北京工业大学 | A kind of line structure optical sensor spatial attitude scaling method |
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| CN109708583A (en) * | 2019-03-05 | 2019-05-03 | 洛阳德晶智能科技有限公司 | A kind of cylinder diameter measuring system and measurement method based on line-structured light |
| CN112288823A (en) * | 2020-10-15 | 2021-01-29 | 武汉工程大学 | Calibration method of standard cylinder curved surface point measuring equipment |
| CN113446952A (en) * | 2021-08-17 | 2021-09-28 | 华北科技学院(中国煤矿安全技术培训中心) | Online non-contact shaft diameter measuring method |
| CN113446952B (en) * | 2021-08-17 | 2022-08-02 | 华北科技学院(中国煤矿安全技术培训中心) | Online non-contact shaft diameter measuring method |
| CN114322802A (en) * | 2021-12-30 | 2022-04-12 | 苏州中科行智智能科技有限公司 | Line diameter measuring method based on 3D line laser camera |
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