CN109115113A - Based on the trigon round bar center position measurement method of linear laser and device - Google Patents
Based on the trigon round bar center position measurement method of linear laser and device Download PDFInfo
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- CN109115113A CN109115113A CN201810744679.3A CN201810744679A CN109115113A CN 109115113 A CN109115113 A CN 109115113A CN 201810744679 A CN201810744679 A CN 201810744679A CN 109115113 A CN109115113 A CN 109115113A
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- round bar
- top layer
- camera
- linear laser
- center position
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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
- 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
Abstract
The present invention provides one kind based on the trigon round bar center position measurement method of linear laser and device, and structure is simple, and method is efficient, quick, Measurement reliability is high.This method comprises: the measurement origin that the measuring unit that camera and linear laser form is moved to positioned at material frame side is started to measure using mechanical arm；Linear light is projeced into measured circle billet surface by linear laser, and camera shoots top layer round bar image herein；Measuring unit is driven to move along perpendicular to the step pitches such as axial direction progress horizontal cross in round bar using mechanical arm, camera successively shoots the image of top layer round bar in material frame；Calculate the pixel coordinate of all mark points in every image；Pixel coordinate is converted into top layer round bar circular section center position coordinate；The round bar position coordinates for being repeated shooting in the center position coordinate of top layer round bar circular section are deleted by conformity calculation again, obtain top layer round bar circular section central point continuous position coordinate.
Description
Technical field
The invention belongs to technical field of distance measurement, are related to a kind of based on the trigon round bar center point of linear laser
Set measurement method and device.
Background technique
Currently, common point type laser triangulation method be the position of point of use laser measurement object in a single direction away from
From.But needing to measure the positional distance of its vertical height and the two directions of horizontal cross to the positioning of bar, single set point swashs
Light device is unable to satisfy industrial requirement.Increase the difficulty and cost of measurement if measuring simultaneously using two sets of equipment.And
When mechanical arm and measuring unit work independently from each other, need to the position coordinates system to the two convert, increase calculation amount simultaneously
Wasting space.In addition, camera measurement range is limited by the field angle of camera lens.Material frame is wider compared with camera cross measure space, if
The measurement space for expanding camera need to buy the bigger camera lens of field angle, increase measurement cost.
Summary of the invention
The present invention is to carry out to solve the above-mentioned problems, and it is an object of the present invention to provide a kind of trigon based on linear laser
Round bar center position measurement method and device, structure is simple, and can accurately and efficiently measure more poles in material frame simultaneously
Expect the vertical height and position of central point and horizontal cross position.
The present invention to achieve the goals above, uses following scheme:
<method>
The present invention provides one kind based on the trigon round bar center position measurement method of linear laser, and feature exists
In including the following steps: step 1: being moved to the measuring unit that camera and linear laser form using mechanical arm and be located at
The measurement origin of material frame side starts to measure, and wherein camera is located at mechanical arm centre and camera lens straight down, linear to swash
The light device direction of the launch and the angled φ of vertical direction；A branch of linear light is projeced into measured circle billet surface, phase by linear laser
Machine shoots top layer round bar image herein；The convex shaped arc hot spot vertex that laser rays is formed on every round bar surface in note image
For mark point pi,j, i is picture numbers, and j is top layer bar serial number in image；Step 2: measuring unit is driven using mechanical arm
From measurement origin in identical height and position, moved along the step pitches such as horizontal cross are carried out perpendicular to axial direction in round bar
It is dynamic；In moving process, camera successively shoots the image of top layer round bar in material frame, total N images, N >=1；Step 3: calculating
All mark point p in every imagei,jPixel coordinate pi,j(xi,j,yi,j), xi,jFor pixel abscissa, yi,jIt is sat for pixel is vertical
Mark；By pixel coordinate pi,j(xi,j,yi,j) be converted to top layer round bar circular section center position coordinate Pi,j(Si,j,Hi,j), Si,j
For lateral position coordinate, size is the horizontal cross distance between bar central point and measurement origin；Hi,jFor height and position seat
Mark, size are the vertical height distance between bar central point and measurement origin；Top layer round bar is deleted by conformity calculation again
Circular section center position coordinate Pi,j(Si,j,Hi,j) in be repeated the round bar position coordinates of shooting, obtain top layer round bar circle
Kernel of section point continuous position coordinate Pk(Sk,Hk), k is top layer round bar serial number in material frame.
Preferably, the trigon round bar center position measurement method of linear laser is based on according to the present invention
In, it can also have the following features: in step 2, mobile step pitch size is twice of measured circle bar diameter length.
Preferably, the trigon round bar center position measurement method of linear laser is based on according to the present invention
In, also have a feature in that in step 3 it is that all mark point p in every image are calculated by image processing algorithmI, j's
Pixel coordinate pI, j(xI, j, yI, j)；
By pixel coordinate pI, j(xI, j, yI, j) be converted to top layer round bar circular section center position coordinate PI, j(SI, j,
HI, j) method are as follows: assuming that the linear laser angle of divergence is 0, top layer round bar circular section central point Height position co-ordinate HI, j, i.e., round
Height distance calculation formula between bar circular section central point and measurement origin are as follows:
In formula, KHFor camera heights proportionality coefficient, included angle phase is projected with camera lens longitudinal direction field angle θ and linear laser
It closes；BH1It is related to camera lens longitudinal direction field angle θ for camera heights intercept coefficient one；BH1For camera heights intercept coefficient two, with phase
Horizontal cross distance A between machine and linear laser is related；R is the radius of tested round bar；Parameter KH、BH、KSWith BSIt is both needed to
Its numerical value is calculated by camera calibration；
Top layer round bar circular section central point lateral position coordinate SI, j, i.e., round bar circular section center and measurement origin it
Between lateral distance calculation formula are as follows:
SI, j=KS·xI, j+BS+ iM (formula 2)
K in formulaSFor camera grid scale coefficient, with round bar circular section central point Height position co-ordinate HI, j, camera lens it is horizontal
It is related to camera horizontal pixel point sum to field angle δ；BSFor camera transverse direction intercept coefficient, with the round bar circular section central point
Height position co-ordinate HI, jAnd camera lens transverse field angle δ is related；M is mechanical arm moving step pitch length.
Preferably, the trigon round bar center position measurement method of linear laser is based on according to the present invention
In, it can also have the following features: in step 3, conformity calculation process are as follows: by top layer round bar center position coordinate
PI, j(SI, j, HI, j) according to SI, jNumerical values recited is arranged from small to large；Successively calculate adjacent two top layers round bar central point
Lateral position coordinate Si,jDifference Δ Si,j, and by Δ Si,jIt is compared with R；If Δ Si,jLess than R, then height position in the two is deleted
Set coordinate Hi,jThe biggish top layer round bar position coordinates P of numerical valuei,j(Si,j,Hi,j), remaining top layer round bar center position is sat
Mark Pi,j(Si,j,Hi,j) it is top layer round bar circular section central point continuous position coordinate Pk(Sk,Hk)。
Preferably, the trigon round bar center position measurement method of linear laser is based on according to the present invention
In, further includes: step 4: by top layer round bar circular section central point continuous position coordinate data Pk(Sk,Hk) it is sent to material grasping system
System.
<device>
The present invention also provides a kind of round bar center position measuring devices, according to described in above-mentioned<method>based on
The trigon round bar center position measurement method of linear laser measures characterized by comprising mechanical arm；Line
Property laser, be mounted on mechanical arm, towards round bar, and the direction of the launch and the angled φ of vertical direction；Camera, installation
In mechanical arm centre, and camera lens is straight down, shoots the image of round bar；Calculation processing unit calculates in every image
All mark point pi,jPixel coordinate pi,j(xi,j,yi,j), and by pixel coordinate pi,j(xi,j,yi,j) be converted to top layer round bar
Circular section center position coordinate Pi,j(Si,j,Hi,j), top layer round bar circular section central point is then obtained by conformity calculation and is connected
Continuous position coordinates Pk(Sk,Hk)；And control unit, control mechanical arm, linear laser, camera and calculation processing unit are according to base
In the trigon round bar center position measurement method operation of linear laser.The action and effect of invention
It is provided by the present invention to be based on the trigon round bar center position measurement method of linear laser and device, it can make
The measurement of more round bars vertical height and positions and horizontal cross position in large scale material frame is completed at the same time with set of device；It is high
Effect, quick, Measurement reliability is high, and measurement accuracy can reach 1mm；Measuring device structure is simple, and space utilization rate is high, user
Just, it ensure that the accuracy of final data measurement.
Detailed description of the invention
Fig. 1 be the present embodiments relate to round bar center position measuring device side view；
Fig. 2 be the present embodiments relate to round bar center position measuring device main view；
Fig. 3 be the present embodiments relate to image shot by camera and pixel coordinate system correspondence diagram.
Each label respectively indicates in figure: 10- round bar center position measuring device, 11- mechanical arm, 12- linear light
Source (linear laser), 13- camera, 13a- camera lens；20- round bar；30- material frame；O- measures origin；A- camera and linear laser
Horizontal cross distance between device.
Specific embodiment
It is lower to be based on linear laser trigon round bar center position measurement side to according to the present invention referring to attached drawing
Method and device are elaborated.
<embodiment>
As illustrated in fig. 1 and 2, round bar center position measuring device 10 includes mechanical arm 11, linear laser 12, phase
Machine 13, calculation processing unit and control unit.Wherein, linear laser 12 and camera 13 form measurement unit.
Mechanical arm 11 need to cover round bar 20, without covering material frame 30.Also, mechanical arm 11 can move up and down
It is dynamic, so that linear laser 12 and camera 13 be assisted to measure.
Linear laser 12 is mounted on the side (medial lateral) of mechanical arm 11, towards round bar 20, and sends out
Penetrate direction and the angled φ of vertical direction.
Camera 13 is fixed on 11 centre of mechanical arm with vertically downward direction, and camera lens 13a is straight down, shooting circle
The image of bar 20.
Calculation processing unit is for calculating all mark point p in every imagei,jPixel coordinate pi,j(xi,j,yi,j), and will
Pixel coordinate pi,j(xi,j,yi,j) be converted to 20 circular section center position coordinate P of top layer round bari,j(Si,j,Hi,j), then lead to
It crosses conformity calculation and obtains 20 circular section central point continuous position coordinate P of top layer round bark(Sk,Hk)。
Control unit and mechanical arm 11, linear laser 12, camera 13 and calculation processing unit communicate to connect, for controlling
Mechanical arm 11, linear laser 12, camera 13 and calculation processing unit are according to based on the trigon round bar center of linear laser
Point location measurement method operation.
Specifically, being based on the trigon round bar center position measurement method packet of linear laser provided by the present embodiment
Include following steps:
Step 1: being moved to camera 13 and linear laser 12 positioned at material frame as measuring unit using mechanical arm 11
The measurement origin O (referring to fig. 2) of side starts to measure, wherein the camera lens of camera 13 straight down, 12 launch party of linear laser
To with the angled φ of vertical direction；A branch of linear light is projeced into tested 20 surface of round bar by linear laser 12, and camera 13 is clapped
Take the photograph 20 image of top layer round bar herein；The convex shaped arc hot spot vertex that laser rays is formed on every 20 surface of round bar in note image
For mark point pi,j(i is picture numbers, and j is top layer bar serial number in image).
Step 2: drive measuring unit from measurement origin O in identical height and position using mechanical arm 11 (1), along
Carrying out the movement of the step pitches such as horizontal cross perpendicular to axial direction in round bar, (step pitch size is that twice of measured circle bar diameter is long
Degree)；In moving process, camera 13 successively shoots the image of top layer round bar 20 in material frame 30, and total N opens image (N >=1).
Step 3: all mark point p in every image are calculated by image processing algorithmI, jPixel coordinate pI, j(xI, j,
yI, j), as shown in figure 3, xI, jFor pixel abscissa, yI, jFor pixel ordinate；
Then, by pixel coordinate pI, j(xI, j, yI, j) be converted to 20 circular section center position coordinate P of top layer round barI, j
(SI, j, HI, j), SI, jFor lateral position coordinate, size is the horizontal cross distance between bar central point and measurement origin O；HI, j
For Height position co-ordinate, size is the vertical height distance between bar central point and measurement origin O；Specific conversion method are as follows:
Assuming that the linear laser angle of divergence is 0,20 circular section central point Height position co-ordinate H of top layer round barI, j, i.e., round
Height distance calculation formula between 20 circular section central point of bar and measurement origin O are as follows:
In formula, KH is camera heights proportionality coefficient, projects included angle phase with camera lens longitudinal direction field angle θ and linear laser
It closes；BH1It is related to camera lens longitudinal direction field angle θ for camera heights intercept coefficient one；BH1For camera heights intercept coefficient two, with phase
Horizontal cross distance A between machine and linear laser is related；R is the radius of tested round bar 20；Parameter KH、BH、KSWith BS?
It is difficult to directly measure, its numerical value need to be calculated by camera calibration；
20 circular section central point lateral position coordinate S of top layer round barI, j, i.e. 20 circular section center of round bar and measurement be former
Lateral distance calculation formula between point O are as follows:
SI, j=Ks·xI, j+Bs+ iM (formula 2)
K in formulaSFor camera grid scale coefficient, with 20 circular section central point Height position co-ordinate H of the round barI, j, camera lens
Transverse field angle δ is related to camera horizontal pixel point sum；BSFor in camera transverse direction intercept coefficient, with 20 circular section of round bar
Heart point height position coordinates HI, jAnd camera lens transverse field angle δ is related；M is 11 moving step pitch length of mechanical arm.
20 circular section center position coordinate P of top layer round bar is deleted by conformity calculation againi,j(Si,j,Hi,j) in weighed
The round bar position coordinates shot again obtain 20 circular section central point continuous position coordinate P of top layer round bark(Sk,Hk), k is material
Top layer round bar serial number in frame.Specific conformity calculation process are as follows: by 20 center position coordinate P of top layer round bari,j(Si,j,
Hi,j) according to Si,jNumerical values recited is arranged from small to large；Successively calculate adjacent two top layer round bars, 20 central point transverse direction position
Set coordinate Si,jDifference Δ Si,j, and by Δ Si,jIt is compared with R；If Δ Si,jLess than R, then Height position co-ordinate in the two is deleted
Hi,jThe biggish 20 position coordinates P of top layer round bar of numerical valuei,j(Si,j,Hi,j), remaining 20 center position coordinate of top layer round bar
Pi,j(Si,j,Hi,j) it is 20 circular section central point continuous position coordinate P of top layer round bark(Sk,Hk)。
Step 4: by 20 circular section central point continuous position coordinate data P of top layer round bark(Sk,Hk) it is sent to material grasping system
System.
Above is only the illustration done to technical solution of the present invention.It is according to the present invention to be based on linear laser three
The round bar center position measurement method and device of horn cupping are not merely defined in the structure described in above, but with
Subject to claim limited range.Any modification or benefit that those skilled in the art of the invention are made on the basis of this
It fills or equivalence replacement, all in claim range claimed of the invention.
Claims (6)
1. one kind is based on the trigon round bar center position measurement method of linear laser, which is characterized in that including walking as follows
It is rapid:
Step 1: linear laser (12) and camera (13) measuring unit being moved to positioned at material frame using mechanical arm (11)
(30) the measurement origin of side starts to measure, and wherein camera (13) is located at mechanical arm (11) centre and camera lens (13a) is perpendicular
It is straight downward, linear laser (12) direction of the launch and the angled φ of vertical direction；Linear laser (12) throws a branch of linear light
It penetrates in tested round bar (20) surface, camera (13) shoots top layer round bar (20) image herein；Remember that laser rays is every in image
The convex shaped arc hot spot vertex that root round bar (20) surface is formed is mark point pi,j, i is picture numbers, and j is top layer circle in image
Bar (20) serial number；
Step 2: drive measuring unit from measurement origin in identical height and position using mechanical arm (11), along perpendicular to
It is mobile to carry out the step pitches such as horizontal cross for axial direction in round bar (20)；In moving process, camera (13) successively shoots material frame
(30) image of top layer round bar (20) in, total N images, N >=1；
Step 3: calculating all mark point p in every imagei,jPixel coordinate pi,j(xi,j,yi,j)；By pixel coordinate pi,j
(xi,j,yi,j) be converted to top layer round bar (20) circular section center position coordinate Pi,j(Si,j,Hi,j), Si,jFor lateral position seat
Mark, size are the horizontal cross distance between bar central point and measurement origin；Hi,jFor Height position co-ordinate, size is stick
Expect central point and measures the vertical height distance between origin；Top layer round bar (20) circular section center is deleted by conformity calculation again
Point position coordinates Pi,j(Si,j,Hi,j) in be repeated round bar (20) position coordinates of shooting, obtain top layer round bar (20) circle and cut
Face central point continuous position coordinate Pk(Sk,Hk), k is top layer round bar (20) serial number in material frame (30).
2. according to claim 1 be based on the trigon round bar center position measurement method of linear laser, feature
It is:
Wherein, in step 2, mobile step pitch size is twice of tested round bar (20) diameter length.
3. according to claim 1 be based on the trigon round bar center position measurement method of linear laser, feature
It is:
It wherein, is that all mark point p in every image are calculated by image processing algorithm in step 3i,jPixel coordinate pi,j
(xi,j,yi,j)；
By pixel coordinate pi,j(xi,j,yi,j) be converted to top layer round bar (20) circular section center position coordinate Pi,j(Si,j,
Hi,j) method are as follows: assuming that linear laser (12) angle of divergence is 0, top layer round bar (20) circular section central point Height position co-ordinate
Hi,j, i.e., round bar (20) circular section central point and measurement origin between height distance calculation formula are as follows:
In formula, KHFor camera (13) height ratio coefficient, pressed from both sides with camera lens (13a) longitudinal direction field angle θ and linear laser (12) projection
Angle φ is related；BH1It is related to camera lens (13a) longitudinal direction field angle θ for camera (13) celestial intercept coefficient one；BH1For camera (13)
Celestial intercept coefficient two, the horizontal cross distance (A) between camera (13) and linear laser (12) are related；R is measured circle
The radius of bar (20)；Parameter KH、BH、KSWith BSIt is both needed to go out its numerical value by camera (13) calibrated and calculated；
Top layer round bar (20) circular section central point lateral position coordinate Si,j, i.e. round bar (20) circular section center and measurement be former
Lateral distance calculation formula between point are as follows:
Si,j=KS·xi,j+BS+ iM (formula 2)
K in formulaSFor camera (13) grid scale coefficient, with round bar (20) circular section central point Height position co-ordinate Hi,j, mirror
Head (13a) transverse field angle δ is related to camera (13) horizontal pixel point sum；BSFor the lateral intercept coefficient of camera (13), with this
Round bar (20) circular section central point Height position co-ordinate Hi,jAnd camera lens (13a) transverse field angle δ is related；M is mechanical arm
(11) moving step pitch length.
4. according to claim 1 be based on the trigon round bar center position measurement method of linear laser, feature
It is:
Wherein, in step 3, conformity calculation process are as follows: by top layer round bar (20) center position coordinate Pi,j(Si,j,Hi,j)
According to Si,jNumerical values recited is arranged from small to large；Successively calculate adjacent two top layer round bars (20) central point lateral position
Coordinate Si,jDifference Δ Si,j, and by Δ Si,jIt is compared with R；If Δ Si,jLess than R, then Height position co-ordinate in the two is deleted
Hi,jBiggish top layer round bar (20) the position coordinates P of numerical valuei,j(Si,j,Hi,j), remaining top layer round bar (20) center position
Coordinate Pi,j(Si,j,Hi,j) it is top layer round bar (20) circular section central point continuous position coordinate Pk(Sk,Hk)。
5. according to claim 1 be based on the trigon round bar center position measurement method of linear laser, feature
It is, further includes:
Step 4: by top layer round bar (20) circular section central point continuous position coordinate data Pk(Sk,Hk) it is sent to material grasping system.
6. a kind of round bar center position measuring device, according to as described in any one of claim 1 to 5 based on linear
The round bar center position measurement method of laser triangulation measures characterized by comprising
Mechanical arm (11)；
Linear laser (12) is mounted on mechanical arm (11), towards round bar (20), and the direction of the launch and vertical direction
Angled φ；
Camera (13) is mounted in mechanical arm (11) centre, and camera lens (13a) is straight down, is shot round bar (20)
Image；
Calculation processing unit calculates all mark point p in every imagei,jPixel coordinate pi,j(xi,j,yi,j), and by pixel coordinate
pi,j(xi,j,yi,j) be converted to top layer round bar (20) circular section center position coordinate Pi,j(Si,j,Hi,j), then pass through integration
Top layer round bar (20) circular section central point continuous position coordinate P is calculatedk(Sk,Hk)；And
Control unit, control mechanical arm (11), linear laser (12), camera (13) and calculation processing unit are based on according to described
The trigon round bar center position measurement method operation of linear laser.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810744679.3A CN109115113B (en) | 2018-07-09 | 2018-07-09 | Method and device for measuring position of central point of round bar based on linear laser triangulation method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810744679.3A CN109115113B (en) | 2018-07-09 | 2018-07-09 | Method and device for measuring position of central point of round bar based on linear laser triangulation method |
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| CN109115113B CN109115113B (en) | 2020-05-12 |
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| CN110986759A (en) * | 2019-10-21 | 2020-04-10 | 湖北工业大学 | Round bar center point measuring device and method based on infrared distance measuring sensor |
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| CN109115113B (en) | 2020-05-12 |
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