CN109297413A - A kind of large-size cylinder body Structural visual measurement method - Google Patents
A kind of large-size cylinder body Structural visual measurement method Download PDFInfo
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- CN109297413A CN109297413A CN201811450767.9A CN201811450767A CN109297413A CN 109297413 A CN109297413 A CN 109297413A CN 201811450767 A CN201811450767 A CN 201811450767A CN 109297413 A CN109297413 A CN 109297413A
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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 relates to a kind of large-size cylinder body Structural visual measurement methods, including image acquisition units and image processing unit, wherein, image acquisition units are made of industrial camera, optical lens, light source, camera and light source tooth pad and data transmission cable etc., and image processing unit is made of industrial personal computer, image pick-up card etc.；Camera is demarcated first, then the image of large-size cylinder body on corresponding station is acquired by the industrial camera in image acquisition units, processing analysis is carried out to acquired image by the parameter that image processing unit combining camera is demarcated, to obtain position and the posture of large-size cylinder body, calculated result is exported, measurement task is completed.Advantage of the invention is that completing pose measurement task using machine vision technique by computer binocular stereo vision in conjunction with monocular vision, work is ready for automatically grabbing for mechanical arm, this method reduces measurement cost, working efficiency is improved, it is easy to maintain, it can be achieved that all weather operations requires.
Description
Technical field
The invention belongs to computer vision measurement technology and area of pattern recognition, specifically a kind of large-size cylinder body structure
Vision measuring method.
Background technique
In recent years, also proposed higher and higher want to automatic technology level with the fast development of science and technology
It asks.For in a certain sense, the measurement of the superiority and inferiority and information of automatization level is closely bound up, currently, many measurement methods are
Contact measurement leverages working efficiency, and is easy that measurement result is made to generate relatively large deviation by external disturbance, this
When non-contact measurement play biggish advantage, wherein preferably a kind of mode of effect be can be used optical survey instrument progress
Measurement, although it has more satisfactory measurement accuracy, measurement range is subject to certain restrictions, and cannot achieve big model
Enclose the measurement of big target.
Summary of the invention
In view of the above-mentioned problems, being solved a wide range of big it is an object of that present invention to provide a kind of large-size cylinder body vision measuring method
The measurement problem of target, completes the measurement of large-size cylinder body.
To achieve the goals above, the technical solution adopted by the present invention are as follows: a kind of large-size cylinder body Structural visual measurement method,
Position and the posture of cylinder are obtained by binocular camera and monocular camera, comprising the following steps:
The calibration of industrial camera: setting known calibration plate as the acquisition target of uncalibrated image, be utilized respectively binocular camera and
Monocular camera acquires uncalibrated image, sets up the mapping of three-dimensional world coordinate to binocular camera and monocular camera image coordinate respectively
Relationship is demarcated to obtain calibrating parameters respectively；
Carry out positioning three-dimensional position by binocular vision: binocular camera acquires target image, and according to world coordinate system to figure
As the transforming relationship of coordinate system, the position measurement of tested cylinder is carried out；
Cylinder posture is obtained by monocular vision: feature extraction, characteristic image are carried out to target image by monocular camera
Pixel coordinate line constitute the vector for being parallel to cylinder axle center, the posture of the vector is considered as the posture of cylinder, and obtains
Angle of the vector in world coordinate system with each reference axis, i.e. acquisition cylinder posture.
The calibration of the industrial camera is specific as follows:
Firstly, installation binocular camera, monocular camera and light source, pass through image for binocular camera, monocular camera and industrial personal computer
Capture card is connected with data cable, respectively acquire different positions and pose under scaling board object image, respectively to binocular camera,
Monocular camera is demarcated, and the calibrating parameters of binocular camera, monocular camera are obtained；
For binocular camera, transforming relationship of the cylinder in world coordinate system to image coordinate system is obtained；
For monocular vision, transforming relationship of the arm end coordinate system for obtaining holding cylinder to camera coordinates system, root
According to the relationship between mechanical arm base coordinate system, mechanical arm tail end coordinate system and world coordinate system, and then obtain world coordinate system
With the transforming relationship of camera image coordinate system.
The Image Acquisition of binocular camera, monocular camera is controlled by industrial personal computer circle, and shows position and the posture of cylinder.
After this measurement, binocular camera and monocular camera waiting instruct next time；Measurement is such as completed to think, then closes
Close binocular camera, monocular camera.
A kind of large-size cylinder body Structural visual measuring system, comprising:
Image acquisition units, for acquiring target image by binocular camera, monocular camera, and being sent to image procossing list
Member；
Image processing unit, for the acquisition framing target three-dimensional position according to binocular camera, according to monocular camera
Acquisition image obtain cylinder posture.
Described image acquisition unit includes binocular camera, monocular camera.
Described image processing unit executes following steps:
The target image of binocular camera acquisition is obtained according to the transforming relationship of world coordinate system to image coordinate system
The position of tested cylinder；
For the target image of monocular vision acquisition, feature extraction is carried out, the pixel coordinate line of characteristic image constitutes one
The posture of a vector for being parallel to cylinder axle center, the vector is considered as the posture of cylinder, and obtains the vector in world coordinate system
With the angle of each reference axis, i.e. acquisition cylinder posture.
A kind of large-size cylinder body Structural visual measurement method of the invention, using computer vision technique, by computer binocular
Stereoscopic vision and monocular vision combine, the common measurement for completing large-size cylinder body position and posture on station, and measuring system includes
Image acquisition units and image processing unit, wherein industrial camera, optical lens, light source, camera and light source tooth pad
It is constituted at image with composition image centralized procurement unit, industrial personal computer, image pick-up card and image processing softwares etc. such as data transmission cables
Manage unit.First in working site mounting industrial camera and light source, determine equipment room connection and power it is errorless, after camera is fixed,
Adjusting camera makes its imaging clearly, and when acquiring image, camera and the relative pose of scaling board target want variation appropriate, respectively
Scaling board object image under different positions and pose is acquired, binocular calibration and hand and eye calibrating are carried out to camera, obtains corresponding calibration ginseng
Number, is then equipped with relevant image processing software inside industrial personal computer, has friendly user interface, can be adopted by image
Collect the image that the industrial camera in unit acquires large-size cylinder body on corresponding station, by it through data cable and image pick-up card
It is transmitted to image processing unit, processing analysis is carried out to acquired image by the parameter that image processing unit combining camera is demarcated,
To obtain position and the posture of large-size cylinder body, measurement result is exported.
The good effect of advantage and acquirement of the invention are as follows:
1, the present invention designs for blocking, comprising: image acquisition units and image processing unit, the design is conducive to failure inspection
It surveys and checks, be conducive to maintenance and upgrade.
2, the present invention by computer binocular stereo vision in conjunction with monocular vision, using the complementation of machine vision list binocular,
Improve pose measurement efficiency and accuracy.
3, measurement cost of the present invention is lower, has station monitoring function, it can be achieved that the round-the-clock requirement that changes jobs.
4, the present invention is be easily moved, strong operability, and operator can be controlled by interface.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention；
Fig. 2 is computer binocular stereo vision geometrical relationship schematic diagram of the present invention；
Fig. 3 is computer monocular vision geometrical relationship schematic diagram of the present invention；
Fig. 4 is operation principle schematic diagram of the present invention；
In Fig. 2: world coordinate system OWXWYWZW, camera coordinates system O1X1Y1And O2X2Y2, image coordinate system o1u1v1With
o2u2v2。
In Fig. 3: world coordinate system OWXWYWZW, camera coordinates system OXY, image coordinate system ouv.
Specific embodiment
The invention will be further described with reference to the accompanying drawing.
A kind of large-size cylinder body Structural visual measurement method, including image acquisition units and image processing unit, wherein described
Image centralized procurement unit by industrial camera, optical lens, light source, camera and light source tooth pad and data transmission cable etc.
It constitutes, the image processing unit is made of industrial personal computer, image pick-up card and image processing software etc., used method
It is: first in working site mounting industrial camera, camera is demarcated, using computer binocular stereo vision and monocular vision
Then the mode combined is equipped with relevant image processing software inside industrial personal computer, and by image acquisition units
Industrial camera acquires the image of large-size cylinder body on corresponding station, carries out through data cable and image pick-up card and industrial camera
Data exchange carries out processing analysis to acquired image by the parameter that image processing unit combining camera is demarcated, to obtain
The position of large-size cylinder body and posture export calculated result, complete measurement task.
Above-mentioned image acquisition units are made of computer binocular stereo vision and monocular vision, complete large-size cylinder body jointly
The measurement of position and posture is needed respectively accurately to demarcate binocular stereo vision and monocular vision before measuring, be obtained
Corresponding parameter, for the image analysis of image processing unit, calculating position and posture.
Industrial personal computer in above-mentioned image processing unit is equipped with image processing software, the energy with image processing and analyzing
Power can be calculated computer binocular stereo vision and monocular vision acquired image using image processing and analyzing corresponding thereto
Method can denoise binocular stereo vision with the methods of gaussian filtering, median filtering, to complete the pretreatment of image, can incite somebody to action
Image carries out binary conversion treatment and carrys out prominent features, can extract characteristic area with Canny edge detection algorithm, then carry out polar curve school
Just, Surf algorithm can be used and complete Stereo matching, calculate the corresponding world coordinates of image coordinate followed by principle of triangulation,
Derivation result is summarized as follows:
In formula, (u1,v1, 1) and (u2,v2, 1) and it is respectively p1With p2Image homogeneous coordinates of the point in respective image；(X,Y,
Z, 1) it is homogeneous coordinates of the P point under world coordinate system,Respectively the of projection matrix
I row jth column element.Zc1、Zc1The respectively scale factor of projection relation formula (1) and formula (2).
It can be derived from:
Enabling K is 4 × 3 matrix of the formula left side, and W is three-dimensional world coordinate vector；U is 4 × 1 vectors on the right of formula.K and U it is known to
Amount, obtains three-dimensional world coordinate by least square method:
W=(KTK)-1KTU (4)
Same image pre-processing method and feature extraction mode can be used for monocular vision, utilize image coordinate system to generation
The transformational relation of boundary's coordinate system acquires world coordinates value at certain position, and derivation process is summarized as follows:
M is 3 × 4 projection matrixes in formula, is enabled
ZcFor the scale factor of projection relation formula (5).
Z in the planew=0, ZwFor the coordinate for measuring plane；Because of m34, there is reality in 3 × 1 positions in translation matrix T
Meaning, so m34≠ 0, it can be derived from:
AX=B (6)
In formula
In formula (6), when providing value pixel u, v, A, B are known quantity, can obtain pixel coordinate pair by least square method
The world coordinates answered.
Image processing software has friendly program user interface, can show necessary image processing process and as a result,
The real-time processing of image, and output position and attitude measurement value can be achieved.
Above-mentioned image acquisition units and the image processing unit can realize the real-time monitoring and control to station, can incite somebody to action
Situation within the scope of station is real-time transmitted to industrial personal computer, and real-time display, realization visualization can satisfy complete on interface by it
Weather job requirement.
On the image sensor by Scenery Imaging, image digital signal acquires and transmission for above-mentioned industrial camera；Described
Scenery in field range is clearly imaged on a sensor optical lens；The light source provides environment light for Image Acquisition
According to auxiliary LED illumination in addition；The camera and light source tooth pad: the installation of camera and light source is provided, positioning connects
Mouthful.
Above-mentioned industrial personal computer provides the hardware platform of software operation, analysis of image data and processing；The Image Acquisition
Card has multichannel image signal acquisition and transmission, supporting bus PCI/PCIE interface；The operation of the image processing software
Hardware platform uses win7 operating system.
A kind of implementation method of large-size cylinder body Structural visual measurement method, comprising the following steps:
Step 1: the calibration of industrial camera.Known calibration plate is set as the acquisition target of uncalibrated image, is utilized respectively calculating
Machine binocular stereo vision and monocular vision acquire uncalibrated image, it is established that three-dimensional world coordinate is reflected to industrial camera image coordinate
Relational model is penetrated, is demarcated the parameter for obtaining calibration result respectively.Industrial camera is after completing primary calibration, in certain time
Without being demarcated again.
Step 2: in the operational order for receiving equipment, industrial camera in image acquisition units is by automatic trigger pair
The large-size cylinder body of specific station carries out Image Acquisition, then pre-processes to acquired image, computer binocular tri-dimensional
Feel that part immediately carries out image segmentation, feature extraction and limit correction, and according to world coordinate system to image coordinate system
Imaging relations complete position measurement, target image be analyzed and processed in conjunction with monocular vision in conjunction with binocular calibration parameter
And carry out feature extraction and etc. calculate cylinder posture, the process need in image processing unit equipped with image processing software
Industrial personal computer cooperation is completed, and necessary image processing process and result will show that equipment is all in work before this on industrial personal computer
Position monitor state.
Step 3: operator can fit image acquisition units and image processing unit according to actual requirement and operating condition
Work as adjustment, necessary control can be carried out to Image Acquisition and measurement by industrial personal computer interface.
Step 4: after the completion of above-mentioned steps, the industrial camera waiting in image acquisition units instructs next time, meets whole day
Work requirements are waited, measurement are such as completed, then pass hull closure.
As shown in Figure 1, the present invention includes: including image acquisition units and image processing unit, wherein the image is adopted
Collection unit is made of industrial camera, optical lens, light source, camera and light source tooth pad and data transmission cable etc., institute
The image processing unit stated is made of industrial personal computer, image pick-up card and image processing software etc..The effect of each equipment is as follows: work
On the image sensor by Scenery Imaging, image digital signal acquires and transmission for industry camera；Optical lens will be in field range
Scenery is clearly imaged on a sensor；Light source provides the illumination of the auxiliary LED other than ambient lighting for Image Acquisition；Camera and light
Installation, the locating interface of source tooth pad offer camera and light source；Industrial personal computer provides the hardware platform of software operation, image
Data analysis and processing；Image pick-up card has multichannel image signal acquisition and transmission, supporting bus PCI/PCIE interface；Figure
As the operation hardware platform of processing software uses win7 operating system.
In the present invention, image acquisition units are made of computer binocular stereo vision and monocular vision, common to complete large size
The measurement of cylinder position and posture needs respectively accurately to demarcate binocular stereo vision and monocular vision before measuring,
Corresponding parameter is obtained, for the image analysis of image processing unit, calculating position and posture；Industry control in image processing unit
Machine is equipped with image processing software, the ability with image processing and analyzing, can be to computer binocular stereo vision and monocular vision
Acquired image has friendly program user circle using image processing and analyzing algorithm corresponding thereto, image processing software
Face, can show necessary image processing process and as a result, the real-time processing of image can be realized, and output position and attitude measurement
Value；Image acquisition units and the image processing unit can realize the real-time monitoring and control to station, can will be within the scope of station
The case where be real-time transmitted to industrial personal computer, and by it on interface real-time display, realize visualization, can satisfy all weather operations and want
It asks.
Firstly, industrial camera and industrial personal computer are used by image pick-up card in working site mounting industrial camera and light source
Data cable is connected, it is ensured that the normal transmission and relevant device of image signal data are powered, it is ensured that camera is fixed
Afterwards, adjusting camera makes its imaging clearly, and when acquiring image, camera and the relative pose of scaling board target want variation appropriate, point
Not Cai Ji scaling board object image under different positions and pose, camera is demarcated, the calibrating parameters of camera are obtained, industrial camera exists
After completing primary calibration, without being demarcated again in certain time, wherein carry out binocular for computer binocular stereo vision
Calibration, spin matrix R and translation matrix T of the parameter sought between two cameras of binocular vision, combining target object large-size cylinder body
The conversion of projection relation in binocular camera, i.e. cylinder in world coordinate system to image coordinate system, as shown in Figure 2, so that it may
It determines its three-dimensional position in world coordinate system, for monocular vision, carries out hand and eye calibrating, the parameter sought is manipulator end
Hold transforming relationship of the coordinate system to camera coordinates system, projection of the process in addition to scaling board object in camera image coordinate system
Outside relationship, the relationship between mechanical arm base coordinate system, mechanical arm tail end coordinate system and world coordinate system is also related to, is being obtained
After the parameter of hand and eye calibrating, the transforming relationship of world coordinate system Yu camera image coordinate system is just established, as shown in figure 3, adopting
It can be obtained by its posture after collecting the image of large-scale entire body, so far complete the measurement task of large-size cylinder body, measurement result can be used for
Crawl of the mechanical arm to large-size cylinder body.
When receiving the operational order of equipment in above process, long distance positioning three-dimensional position is carried out by binocular vision first
It sets, determines its two-dimensional surface posture in such a way that vector calculates with monocular vision again when above manipulator motion to cylinder,
As shown in figure 4, large-size cylinder body of the automatic trigger to specific station is carried out Image Acquisition by the industrial camera in image acquisition units,
Then acquired image is pre-processed, computer binocular stereo vision part carries out image segmentation, feature extraction immediately
With polar curve correction, and according to the imaging relations of world coordinate system to image coordinate system, in conjunction with binocular calibration parameter, completion
Position measurement, mechanical arm move to above measurement target according to this position, carry out feature to target image in conjunction with monocular vision
It extracts, the pixel coordinate line of this feature image constitutes the vector for being parallel to cylinder axle center, and the posture of the vector can be considered
The posture of cylinder can calculate angle of the vector in world coordinate system with each reference axis, i.e. acquisition cylinder posture, the process
It needs to complete with the industrial personal computer cooperation that image processing software is housed in image processing unit, necessary image processing process and result
It will be shown on industrial personal computer, equipment is all in station monitor state before this.
Secondly, operator can carry out suitably image acquisition units and image processing unit according to actual requirement and operating condition
Adjustment can carry out necessary control to Image Acquisition and measurement by industrial personal computer interface.
Finally, the industrial camera waiting in image acquisition units instructs next time, equipment enters station monitoring herein at this time
State observes the variation of station current intelligence in real time, meets all weather operations demand, measurement is such as completed, then pass hull closure.
Claims (7)
1. a kind of large-size cylinder body Structural visual measurement method, which is characterized in that obtain cylinder by binocular camera and monocular camera
Position and posture, comprising the following steps:
The calibration of industrial camera: known calibration plate is set as the acquisition target of uncalibrated image, is utilized respectively binocular camera and monocular
Camera acquires uncalibrated image, and the mapping for setting up three-dimensional world coordinate to binocular camera and monocular camera image coordinate respectively is closed
System, is demarcated to obtain calibrating parameters respectively；
Carry out positioning three-dimensional position by binocular vision: binocular camera acquires target image, and is sat according to world coordinate system to image
The transforming relationship for marking system carries out the position measurement of tested cylinder；
Cylinder posture is obtained by monocular vision: feature extraction, the picture of characteristic image are carried out to target image by monocular camera
Plain coordinate line constitutes the vector for being parallel to cylinder axle center, and the posture of the vector is considered as the posture of cylinder, and obtain this to
The angle in world coordinate system with each reference axis is measured, i.e. acquisition cylinder posture.
2. a kind of large-size cylinder body Structural visual measurement method according to claim 1, which is characterized in that the industrial camera
Calibration it is specific as follows:
Firstly, installation binocular camera, monocular camera and light source, pass through Image Acquisition for binocular camera, monocular camera and industrial personal computer
Card is connected with data cable, scaling board object image under different positions and pose is acquired respectively, respectively to binocular camera, monocular
Camera is demarcated, and the calibrating parameters of binocular camera, monocular camera are obtained；
For binocular camera, transforming relationship of the cylinder in world coordinate system to image coordinate system is obtained；
For monocular vision, obtain holding the arm end coordinate system of cylinder to the transforming relationship of camera coordinates system, according to machine
Relationship between tool arm base coordinate system, mechanical arm tail end coordinate system and world coordinate system, and then obtain world coordinate system and phase
The transforming relationship of machine image coordinate system.
3. a kind of large-size cylinder body Structural visual measurement method according to claim 1, it is characterised in that: by industrial personal computer circle
The Image Acquisition of binocular camera, monocular camera is controlled, and shows position and the posture of cylinder.
4. a kind of large-size cylinder body Structural visual measurement method according to claim 1, it is characterised in that: this measurement finishes
Afterwards, binocular camera and monocular camera waiting instruct next time；Measurement is such as completed to think, then closes binocular camera, monocular camera.
5. a kind of large-size cylinder body Structural visual measuring system characterized by comprising
Image acquisition units, for acquiring target image by binocular camera, monocular camera, and being sent to image processing unit；
Image processing unit, for the acquisition framing target three-dimensional position according to binocular camera, according to adopting for monocular camera
Collect image and obtains cylinder posture.
6. a kind of large-size cylinder body Structural visual measuring system according to claim 5, which is characterized in that described image acquisition
Unit includes binocular camera, monocular camera.
7. a kind of large-size cylinder body Structural visual measuring system according to claim 5, which is characterized in that described image processing
Unit executes following steps:
The target image of binocular camera acquisition is obtained tested according to the transforming relationship of world coordinate system to image coordinate system
The position of cylinder；
For the target image of monocular vision acquisition, feature extraction is carried out, the pixel coordinate line of characteristic image constitutes one and puts down
For row in the vector in cylinder axle center, the posture of the vector is considered as the posture of cylinder, and it is in world coordinate system and each to obtain the vector
The angle of a reference axis, i.e. acquisition cylinder posture.
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| CN113211439A (en) * | 2021-05-10 | 2021-08-06 | 淮阴工学院 | Mechanical arm control system and method based on BM matching |
| CN113847970A (en) * | 2021-09-24 | 2021-12-28 | 无锡物联网创新中心有限公司 | Water level detection method, device and system |
| CN114001651A (en) * | 2021-10-21 | 2022-02-01 | 北京航空航天大学 | Large-scale long and thin cylinder type component pose in-situ measurement method based on binocular vision measurement and prior detection data |
| CN114001651B (en) * | 2021-10-21 | 2023-05-23 | 北京航空航天大学 | Large-scale slender barrel type component pose in-situ measurement method based on binocular vision measurement and priori detection data |
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