CN109724531A - 360 ° of contour measuring methods - Google Patents
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Abstract
The present invention relates to a kind of 360 ° of contour measuring methods, the following steps are included: S1, offer at least four groups of lasers and laser camera, one week of the tested surface of workpiece for measurement is completely covered in the laser rays that laser issues, and the angle between the laser camera and the laser rays plane of laser is 30~60 °；S2, the laser camera is demarcated, obtains reduction formula, the workpiece for measurement is carried out by laser camera to take figure, obtains original image；S3, the laser rays in identification original image and the center that the laser rays is extracted by laser center extraction algorithm；S4, the actual coordinate that the laser rays is calculated by reduction formula, obtain profile initial data.360 ° of contour measuring methods use at least four groups of lasers and laser camera, workpiece for measurement is measured simultaneously from least four different directions, and it combines data into together, it realizes the extraction to the complete outer profile in a certain section of workpiece for measurement, obtains the critical dimension informations such as the profile initial data of workpiece for measurement.
Description
Technical field
The present invention relates to a kind of 360 ° of contour measuring methods, belong to laser measurement field.
Background technique
Laser triangulation is that a kind of method of object 3D information is obtained by the cooperation of line laser and area array cameras.Mesh
Preceding industrial 3D camera most of on the market is all the basic principle using laser triangulation.The limitation of these products exists
In: the dimension information on one, object independent surface can only be measured, so dimension of object can not be measured exhaustively.Also, it passes
System 3D camera can only measure the elevation information on single surface, so the thickness information for the accurate measurement product of having no idea.However
What plate class product producer was most focused in quality inspection links is exactly the thickness information of product, so tradition 3D camera cannot meet
Their requirement.
Most domestic is all by manually using the manufacturer that extrusion forming process produces profile or adhesive tape at present
It spot-check the size of product of production line: using machine output sub-fraction product before production daily, cut down and utilize projector, Quadratic Finite Element
Measuring instrument etc. measures, and machine starts to produce again after size qualification.The process has following obvious deficiency
1. the inspection before each machine startup is time-consuming and laborious, skilled engineer is not only needed, and many times
Time of measuring wastes a large amount of raw material all at 1 hour or more in the process；
2. having no idea to realize on-line monitoring: if product size is changed in production process, having exceeded tolerance model
It encloses, the product of this line is just all scrapped, because staff cannot stop production adjustment machine in time, can not also be learnt
The specific time of the variation beyond tolerance has occurred in product size.
Summary of the invention
The purpose of the present invention is to provide a kind of 360 ° of contour measuring methods, the measurement method is from least four different directions
Workpiece for measurement is measured simultaneously, and is combined data into together, is realized to the complete outer profile in a certain section of workpiece for measurement
It extracts, obtains the critical dimension informations such as the profile initial data of workpiece for measurement.
In order to achieve the above objectives, the invention provides the following technical scheme: a kind of 360 ° of contour measuring methods, including following step
It is rapid:
S1, at least four groups of lasers and at least four groups of laser cameras are provided, the laser rays that the laser issues covers completely
Angle between the laser rays plane of one week of the tested surface of lid workpiece for measurement, the laser camera and laser is 30~60 °；
S2, the laser camera is demarcated, obtains reduction formula, by the laser camera to the workpiece for measurement
It carries out taking figure, obtains original image；
S3, the laser rays in the identification original image are simultaneously extracted in the laser rays by laser center extraction algorithm
The heart；
S4, the actual coordinate that the laser rays is calculated by the reduction formula, obtain profile initial data.
Further, in step S1, at least four groups of lasers are provided with, the laser is arranged around the same center of circle, institute
It states workpiece for measurement and is placed in the center point, each laser measures the partial contour of the tested surface.
Further, in step S2, in the calibration treatment process, comprising the following steps:
It calculates inner parameter: providing scaling board and N number of laser camera, wherein N >=4；By the scaling board with different postures
It is placed near the laser rays plane, multiple groups figure is taken to the scaling board by the laser camera, needs to meet:
A. at least one set of scaling board and the laser rays co-planar, and the dot matrix of the scaling board is in all
In the laser camera visual field；
B. every group of camera laser at least two groups or less images: 1) a scaling board image, the dot matrix are high-visible；2)
The corresponding one laser line image beaten on the scaling board, the laser line image obtain by adjusting polishing and camera parameter
It arrives；
And it is further desired that meeting between two groups of described images, the laser rays beaten in the scaling board has apparent space
Position difference；The image according to required by b calculates the opposite position in the space between every laser camera and laser rays plane
It sets, the image according to required by a calculates the relative space position between laser camera described in N platform, is calculated according to information above
N number of projective transformation between the imaging plane and laser rays plane out；
Obtain reduction formula: calibration is installed in equipment to Shi Jinhang on production line, using cylindrical scaling board, to its profile
It extracts, and according to the profile point fitted ellipse of extraction, then characterized by the elliptical long axis and short-axis direction that fit
Vector, size are characterized value, calculate affine matrix by fixed point of picture centre.
Further, in step S2, in the calibration treatment process, comprising the following steps: cylinder calibrating block and N are provided
A laser camera, wherein N >=4；The cylinder calibrating block is equipped with 9 pillars, the cylinder calibrating block is placed in described sharp
Near light plane, so that 9 pillars and laser rays plane are there are intersection, the pillar is oriented device measuring process
The method direction of middle tested surface；N group image is taken by N number of laser camera, extract laser rays plane and the pillar can
See the intersection point of seamed edge, N number of projective transformation is then calculated by the corresponding relationship of point and point.
Further, in step S3, the laser center extraction algorithm is specifically included:
S31, using each column pixel of the original image as independent signal, obtain the maximum gradation value of the column pixel
CmaxAnd position, given threshold, if the maximum gradation value CmaxGreater than the threshold value, then defining the column pixel, there are laser letters
Number；
S32, search window is set near the location of pixels of the maximum gradation value, and calculate in described search window
Grey scale centre of gravity Cp；
S33, setting percent continuity, if the grey scale centre of gravity CpWith the gray scale center C of previous column pixel(p-1)The distance between
Less than the percent continuity, then the grey scale centre of gravity of the column pixel and previous column pixel is regarded in same profile；
S34, each column pixel for successively handling the original image set noise coefficient, and size is less than noise coefficient
Profile is given up；
S35, setting link coefficient, merge two profiles that neighbor distance is less than the link coefficient.
Further, the grey scale centre of gravity CpCalculation formula are as follows:
Wherein, x is the point in described search window, and R (x) is line number where it, and I (x) is its gray value, and F is photosensitive system
Number.
Further, 360 ° of contour measuring methods further include:
S5, data processing is carried out to the profile initial data, the data processing is selected from linear unit fitting, secondary song
One of line fitting or Akima curve are a variety of.
It further, in step s 5, further include by workpiece for measurement described in point cloud matching algorithm keeps track in measurement process
In direction and position, thus automatically correct user configuration measuring tool position and orientation.
Further, linear unit fitting the following steps are included:
S51, the profile initial data is fitted into a profile point set, the profile point set is ranked up, identified
Characteristic point { x in the profilei}；
S52, according to xpAnd x(p+1)Straight line is calculated, and is acquired in xpAnd x(p+1)Between invocation point x ' farthest from the straight line and
Its distance；
S53, setting error of fitting terminate the linear list if the distance that step S52 is acquired is less than the error of fitting
First fit procedure；If the distance that step S52 is acquired is more than or equal to above-mentioned error of fitting, it is directed to xpWith x ', x(p+1)Respectively with x '
Repeat the linear unit fit procedure.
Further, in step S1, be provided with four groups described in laser described in laser camera and four groups, laser described in four groups
Camera and laser are circumferentially symmetrical, and the angle between the laser camera and laser rays plane is 45 °.
Compared with prior art, the beneficial effects of the present invention are: 360 ° of contour measuring methods of the invention are using at least
Four groups of lasers and laser camera simultaneously measure workpiece for measurement from least four different directions, and combine data into
Together, it realizes the extraction to the complete outer profile in a certain section of workpiece for measurement, obtains the keys such as the profile initial data of workpiece for measurement
Dimension information.360 ° of contour measuring methods have the advantage that
1, by demarcation flow, cooperating with each other at least four groups of laser cameras and laser is realized, synchro measure extracts
Complete continuous profile is gone out, has made it possible measurement to workpiece for measurement key message；
2, make entire calculating process there is no extra step from the algorithm that the bottom of principal level is developed, ensure that fortune
The efficiency of calculation；
3, the improvement in laser center extraction process improves the reliability and stability of the process, puts into product real
Border industrial application is most important；
4, the fitting algorithm of Data processing can be such that 360 ° of contour measuring methods of the invention are used in software,
Such as: CAD, and the fitting algorithm reduces complexity, improves function, improves efficiency；Also protected by point cloud matching algorithm
Card measurement data is not influenced by the randomized jitter of measured object, is improved the reliability of equipment, is reduced the door of user configuration equipment
Sill.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And can be implemented in accordance with the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention and the accompanying drawings.
Detailed description of the invention
Fig. 1 is the process step figure of 360 ° of contour measuring methods of the invention；
Fig. 2 is the structural schematic diagram of cylinder calibrating block during demarcating in 360 ° of contour measuring methods of the invention；
Fig. 3 and Fig. 4 is for 360 ° of contour measuring methods of the invention to the processing of laser rays in laser center extraction process
Process schematic；
Fig. 5 and Fig. 6 is the overall structure diagram of 360 ° of laser measuring device for measuring shown in one embodiment of the invention；
Fig. 7 to Fig. 9 is the schematic diagram of internal structure in 360 ° of laser measuring device for measuring shown in fig. 5；
Figure 10 is the schematic diagram for the aser triangulation principle that 360 ° of contour measuring methods of the invention use.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiments of the present invention will be described in further detail.Implement below
Example is not intended to limit the scope of the invention for illustrating the present invention.
It should be understood that the terms such as "upper" of the invention, "lower", "left", "right", "inner", "outside" only refer to attached drawing
The present invention will be described, not as restriction term.
The aser triangulation principle that 360 ° of contour measuring methods of the invention use is as shown in Figure 10, wherein a is
Laser plane, i.e., plane where the tested surface of workpiece for measurement, b is imaging plane, i.e., the image seen from 4 visual angle of laser camera,
And the corresponding relationship of a and b is provided by the laser that laser camera 4 issues.This corresponding relationship, Ji Ketong are found out by calibration process
The image (i.e. flat image on imaging plane b) for crossing the acquirement of laser camera 4 calculates laser plane a (plane where tested surface)
In corresponding image.
Referring to Figure 1,360 ° of contour measuring methods of the invention the following steps are included:
S1, at least four groups of lasers and at least four groups of laser cameras are provided, the laser rays that the laser issues covers completely
Angle between the laser rays plane of one week of the tested surface of lid workpiece for measurement, the laser camera and laser is 30~60 °；
The laser is arranged around the same center of circle, and the workpiece for measurement is placed in the center point, and each laser measures institute
State the partial contour of tested surface；
S2, the laser camera is demarcated, obtains reduction formula, by the laser camera to the workpiece for measurement
It carries out taking figure (pass through hardware trigger while figure being taken to measure), obtains original image；
S3, the laser rays in the identification original image are simultaneously extracted in the laser rays by laser center extraction algorithm
The heart；
S4, the actual coordinate that the laser rays is calculated by the reduction formula, obtain profile initial data.
Specifically, in step S2, in the calibration treatment process, comprising the following steps:
It calculates inner parameter: providing scaling board and N number of laser camera, wherein N >=4；By the scaling board with different postures
It is placed near the laser rays plane, multiple groups figure is taken to the scaling board by the laser camera, needs to meet:
A. at least one set of scaling board and the laser rays co-planar, and the dot matrix of the scaling board is in all
In the laser camera visual field；
B. every group of camera laser at least two groups or less images: 1) a scaling board image, the dot matrix are high-visible；2)
The corresponding one laser line image beaten on the scaling board, the laser line image obtain by adjusting polishing and camera parameter
It arrives；
And it is further desired that meeting between two groups of described images, the laser rays beaten in the scaling board has apparent space
Position difference；The image according to required by b calculates the opposite position in the space between every laser camera and laser rays plane
It sets, the image according to required by a calculates the relative space position between laser camera described in N platform, is calculated according to information above
N number of projective transformation between the imaging plane and laser rays plane out；
Obtain reduction formula: calibration is installed in equipment to Shi Jinhang on production line, using cylindrical scaling board, to its profile
It extracts, and according to the profile point fitted ellipse of extraction, then characterized by the elliptical long axis and short-axis direction that fit
Vector, size are characterized value, calculate affine matrix by fixed point of picture centre.
The scaling board of above-mentioned scaling method used in calculating inner parameter is tessellate or puts formation, and, respectively
Using OpenCV provide cv::findChessboardCorners and cv::findCirclesGrid extract square corner or
Person's dot center.Although above-mentioned scaling method theoretical precision is high, process is complicated, therefore, inventor also provide a kind of operation,
Time, material cost are lower, and scaling method easy to operate, and the cylinder calibrating block which uses is as shown in Figure 3.Specific mistake
Journey are as follows: provide cylinder calibrating block and N number of laser camera, wherein N >=4；The cylinder calibrating block is equipped with 9 pillars, will be described
Cylinder calibrating block is placed near the laser rays plane, so that there are intersection, the columns with laser rays plane for 9 pillars
The method direction for being oriented tested surface during device measuring of son；N group image is taken by N number of laser camera, is extracted sharp
Then the intersection point of the visible seamed edge of light plane and the pillar calculates N number of projective transformation by the corresponding relationship of point and point.
The calibration process precision depends on the production precision of calibrating block, and not as good as the production precision of scaling board, therefore theoretically precision is slightly lower, but
It is that its operating process is simpler.
Specifically, the laser center extraction algorithm specifically includes in step S3:
S31, using each column pixel of the original image as independent signal, obtain the maximum gradation value of the column pixel
CmaxAnd position, given threshold, if the maximum gradation value CmaxGreater than the threshold value, then defining the column pixel, there are laser letters
Number；
S32, search window is set near the location of pixels of the maximum gradation value, and calculate in described search window
Grey scale centre of gravity Cp；
S33, setting percent continuity, if the grey scale centre of gravity CpWith the gray scale center C of previous column pixel(p-1)The distance between
Less than the percent continuity, then the grey scale centre of gravity of the column pixel and previous column pixel is regarded in same profile；
S34, each column pixel for successively handling the original image set noise coefficient, and size is less than noise coefficient
Profile is given up；
S35, setting link coefficient, merge two profiles that neighbor distance is less than the link coefficient.
Further, the grey scale centre of gravity CpCalculation formula are as follows:
Wherein, x is the point in described search window, and R (x) is line number where it, and I (x) is its gray value, and F is photosensitive system
Number.
In the above laser center extraction algorithm, threshold value, search window, percent continuity, noise coefficient and link coefficient are
User's setup parameter, threshold value and search window in algorithm flow play the role of the miscellaneous point of filter background, limit and practical calculate model
The influence generated for laser position, the light source to alleviate complicated variation in industrial production to measurement is enclosed, while also being promoted
Operation efficiency.
And percent continuity, noise coefficient and link coefficient then have the effect that and refer to Fig. 3, the laser in diagram is real
Border is a line, however because of the environment light or flickering laser of variation, has lacked one piece among laser rays, and more two
Block noise, this is the case where actual extracting often has in the process.Due to the control of percent continuity, which has been divided into four not
Same profile (10,20,30,40): incorporated by reference to Fig. 4.By adjusting noise coefficient, two pieces for can getting rid of profile 20 and 30 are miscellaneous
Point.Coefficient is linked by adjusting, we can link up profile 10 and 40 two section laser to form a complete laser rays.?
In practical application, since the sensitometric curve of different photosensitive elements is different, the reflecting rate of unlike material is also different, so gray scale
Value can not quantitatively indicate the intrinsic brilliance of laser, this causes the laser center found out by original gray value to be not to swash
The maximum point of light intensity.By photosensitive function F, gray value I (x) can be zoomed in and out, according to different material and camera
It is modified, is further ensured that the accuracy that laser center extracts.
The original contour data extracted in the above process can satisfy many measurement needs, such as size, angle, circle
The measurement of angular radius, but the efficient area for calculating profile encirclement and importing CAD figure are automatically to profile progress for convenience
With comparison, inventor will fit an abstract profile with original contour data point and further calculate processing.Therefore, described
360 ° of contour measuring methods further include:
S5, data processing is carried out to the profile initial data, the data processing is selected from linear unit fitting, secondary song
One of line fitting or Akima curve are a variety of.
For using linear unit to be fitted, linear unit fitting the following steps are included:
S51, the profile initial data is fitted into a profile point set, the profile point set is ranked up, identified
Characteristic point { x in the profilei}；
S52, according to xpAnd x(p+1)Straight line is calculated, and is acquired in xpAnd x(p+1)Between invocation point x ' farthest from the straight line and
Its distance；
S53, setting error of fitting terminate the linear list if the distance that step S52 is acquired is less than the error of fitting
First fit procedure；If the distance that step S52 is acquired is more than or equal to above-mentioned error of fitting, it is directed to xpWith x ', x(p+1)Respectively with x '
Repeat the linear unit fit procedure.
By the above fitting algorithm, the basic function of following software kit may be implemented:
A. CAD design figure is imported, outline is carried out automatically, calculates error amount；
B. outside caliper, inside caliper, half caliper tool measure size information；
C. the straight line on profile is chosen, is aligned figure by user demand automatically according to the direction of the straight line；
D. angle measurement tool；
E. radius of corner measuring tool；
F. area measurement tool.
In step s 5, further include by workpiece for measurement described in point cloud matching algorithm keeps track in measurement process direction with
Position, to correct the position and orientation of the measuring tool (such as caliper tool) of user configuration, automatically to guarantee measurement data
It is not influenced by the randomized jitter of measured object, improves the reliability of equipment, reduce the threshold of user configuration equipment.
Preferably, in step S1, be provided with four groups described in laser camera and laser, laser camera described in four groups and laser
Device is circumferentially symmetrical, and the angle between the laser camera and laser rays plane is 45 °.
Refer to Fig. 5 to Fig. 9, it is of the invention shown in 360 ° of contour measuring methods using 360 ° of Laser Measurings as shown in the figure
Measure device comprising bracket 1, mounting plate 2, at least four groups of lasers 3, at least four groups of laser cameras 4 and power supply 5, the peace
Loading board 2 is arranged on the bracket 1, and the laser 3, laser camera 4 and power supply 5 are arranged on the mounting plate 2, and institute
It states laser 3 and 4 activity of laser camera is mounted on the mounting plate 2；The laser rays that the laser 3 issues is completely covered
The laser rays plane of one week of the tested surface of workpiece for measurement (not shown), the imaging plane of the laser camera 4 and laser 3 it
Between angle be 30~60 °, preferably 45 °；The laser 3 and laser camera 4 are electrically connected with the power supply 5, are attached
Electric wire may be arranged at and be mounted on the terminal 21 of mounting plate 2.
In the present embodiment, the laser 3 and laser camera 4 have four groups, laser 3 and laser phase described in four groups
Machine 4 is circumferentially symmetrical.And the laser 3 is arranged around the same center of circle, the workpiece for measurement is placed in the center point,
Each laser 3 measures the partial contour of the tested surface.
In the present embodiment, the mounting plate 2 is equipped with round slide 22, and the laser 3 and the setting of laser camera 4 exist
On the round slide 22.By such design, can be used for carrying out laser 3 and laser camera 4 it is integrally-regulated, so as to full
The angle of the in place and laser camera 4 of sufficient workpiece for measurement adjusts.
In the present embodiment, each laser camera 4 is corresponding with a laser 3, and each laser phase
Machine 4 is arranged above corresponding laser 3.It is equipped with eyeglass 41 at the top of each laser camera 4, from the laser camera
4 light issued reflect after being radiated on the eyeglass 41.Utilize mirror-reflection principle, it is possible to reduce laser camera 4 is direct
Inner space needed for shooting, reduces equipment size, also provides convenience to be assembled to the process of production line.Also, each institute
It states and is additionally provided with glass 42 on laser camera 4, the glass 42 is other than playing dust-proof effect, it may also be used for laser projection: from institute
The light after reflecting on eyeglass 41 is stated to be incident upon on the workpiece for measurement across the glass 42.
In the present embodiment, transmission bracket 11 is additionally provided on the bracket 1, the workpiece for measurement setting is in transmission branch
On frame 11, in order to which the transmission of workpiece for measurement is transported.
360 ° of above-mentioned laser measuring device for measuring are right simultaneously in different directions using at least four laser cameras and laser
Workpiece for measurement measures, and obtains the critical dimension informations such as the profile initial data of workpiece for measurement, can measure without dead angle to be measured
The integrity profile of workpiece, structure is simple, detection accuracy is high, high-efficient, at low cost, can be widely applied to every field, right
The object detection effect of irregular shape is especially apparent.Also, it is anti-using mirror surface at the top of laser camera by setting eyeglass
Principle is penetrated to save inner space, reduces equipment size, also provides convenience to be assembled to the process of production line.
In summary: 360 ° of contour measuring methods of the invention are using at least four groups of lasers and laser camera, from least
Four different directions simultaneously measure workpiece for measurement, and combine data into together, realize to a certain section of workpiece for measurement
The extraction of complete outer profile, obtains the critical dimension informations such as the profile initial data of workpiece for measurement.360 ° of contour measuring methods
It has the advantage that
1, by demarcation flow, cooperating with each other at least four groups of laser cameras and laser is realized, synchro measure extracts
Complete continuous profile is gone out, has made it possible measurement to workpiece for measurement key message；
2, make entire calculating process there is no extra step from the algorithm that the bottom of principal level is developed, ensure that fortune
The efficiency of calculation；
3, the improvement in laser center extraction process improves the reliability and stability of the process, puts into product real
Border industrial application is most important；
4, the fitting algorithm of Data processing can be such that 360 ° of contour measuring methods of the invention are used in software,
Such as: CAD, and the fitting algorithm reduces complexity, improves function, improves efficiency；Also protected by point cloud matching algorithm
Card measurement data is not influenced by the randomized jitter of measured object, is improved the reliability of equipment, is reduced the door of user configuration equipment
Sill.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of 360 ° of contour measuring methods, which comprises the following steps:
S1, at least four groups of lasers and at least four groups of laser cameras are provided, the laser rays that the laser issues be completely covered to
One week for surveying the tested surface of workpiece, the angle between the laser camera and the laser rays plane of laser are 30~60 °；
S2, the laser camera is demarcated, obtains reduction formula, the workpiece for measurement is carried out by the laser camera
Figure is taken, original image is obtained；
S3, the laser rays in the identification original image and the center that the laser rays is extracted by laser center extraction algorithm；
S4, the actual coordinate that the laser rays is calculated by the reduction formula, obtain profile initial data.
2. 360 ° of contour measuring methods as described in claim 1, which is characterized in that in step S1, be provided at least four groups and swash
Light device, the laser are arranged around the same center of circle, and the workpiece for measurement is placed in the center point, and each laser is surveyed
Measure the partial contour of the tested surface.
3. 360 ° of contour measuring methods as described in claim 1, which is characterized in that processed in the calibration in step S2
Cheng Zhong, comprising the following steps:
It calculates inner parameter: providing scaling board and N number of laser camera, wherein N >=4；The scaling board is placed with different postures
Near the laser rays plane, multiple groups figure is taken to the scaling board by the laser camera, needs to meet:
A. at least one set of scaling board and the laser rays co-planar, and the dot matrix of the scaling board is in all described
In the laser camera visual field；
B. every group of camera laser at least two groups or less images: 1) a scaling board image, the dot matrix are high-visible；2) corresponding
A laser line image beaten on the scaling board, the laser line image obtains by adjusting polishing and camera parameter；
And it is further desired that meeting between two groups of described images, the laser rays beaten in the scaling board has apparent spatial position
Difference；The image according to required by b calculates the relative space position between every laser camera and laser rays plane, root
The relative space position between laser camera described in N platform is calculated according to image required by a, is calculated according to information above described
N number of projective transformation between imaging plane and laser rays plane；
Obtain reduction formula: calibration is installed in equipment to Shi Jinhang on production line, using cylindrical scaling board, is carried out to its profile
It extracts, and according to the profile point fitted ellipse of extraction, then using the elliptical long axis and short-axis direction fitted as feature vector,
Size is characterized value, calculates affine matrix by fixed point of picture centre.
4. 360 ° of contour measuring methods as described in claim 1, which is characterized in that processed in the calibration in step S2
Cheng Zhong, comprising the following steps: provide cylinder calibrating block and N number of laser camera, wherein N >=4；The cylinder calibrating block is equipped with 9
The cylinder calibrating block is placed near the laser rays plane by root pillar, so that 9 pillars are deposited with laser rays plane
In intersection, the method direction for being oriented tested surface during device measuring of the pillar；N group is taken by N number of laser camera
Image extracts the intersection point of the visible seamed edge of laser rays plane and the pillar, is then calculated by the corresponding relationship of point and point
N number of projective transformation out.
5. 360 ° of contour measuring methods as described in claim 1, which is characterized in that in step S3, the laser center is extracted
Algorithm specifically includes:
S31, using each column pixel of the original image as independent signal, obtain the maximum gradation value C of the column pixelmaxWith
Position, given threshold, if the maximum gradation value CmaxGreater than the threshold value, then defining the column pixel, there are laser signals；
S32, search window is set near the location of pixels of the maximum gradation value, and calculate the gray scale in described search window
Center of gravity Cp；
S33, setting percent continuity, if the grey scale centre of gravity CpWith the gray scale center C of previous column pixel(p-1)The distance between be less than
The percent continuity then regards the grey scale centre of gravity of the column pixel and previous column pixel in same profile；
S34, each column pixel for successively handling the original image set noise coefficient, size are less than the profile of noise coefficient
Give up；
S35, setting link coefficient, merge two profiles that neighbor distance is less than the link coefficient.
6. 360 ° of contour measuring methods as claimed in claim 5, which is characterized in that the grey scale centre of gravity CpCalculation formula are as follows:
Wherein, x is the point in described search window, and R (x) is line number where it, and I (x) is its gray value, and F is photosensitive coefficient.
7. such as 360 ° of contour measuring methods described in any one of claims 1 to 6, which is characterized in that 360 ° of profiles are surveyed
Amount method further include:
S5, data processing is carried out to the profile initial data, the data processing is selected from linear unit fitting, conic section is intended
One of conjunction or Akima curve are a variety of.
8. 360 ° of contour measuring methods as claimed in claim 7, which is characterized in that further include by a cloud in step s 5
Matching algorithm tracks direction and position of the workpiece for measurement in measurement process, to correct the measurement work of user configuration automatically
The position and orientation of tool.
9. 360 ° of contour measuring methods as claimed in claim 7, which is characterized in that the linear unit fitting includes following step
It is rapid:
S51, the profile initial data is fitted into a profile point set, the profile point set is ranked up, described in identification
Characteristic point { x in profilei}；
S52, according to xpAnd x(p+1)Straight line is calculated, and is acquired in xpAnd x(p+1)Between invocation point x ' farthest from the straight line and its away from
From；
It is quasi- to terminate the linear unit if the distance that step S52 is acquired is less than the error of fitting for S53, setting error of fitting
Conjunction process；If the distance that step S52 is acquired is more than or equal to above-mentioned error of fitting, it is directed to xpWith x ', x(p+1)It is repeated respectively with x '
The linear unit fit procedure.
10. 360 ° of contour measuring methods as described in claim 1, which is characterized in that in step S1, be provided with four groups described in swash
Laser described in light camera and four groups, laser camera described in four groups and laser are circumferentially symmetrical, the laser camera with
Angle between laser rays plane is 45 °.
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| CN115371564B (en) * | 2022-10-24 | 2023-03-07 | 南京航空航天大学 | Method and system for calibrating relative pose of linear laser sensor and robot flange plate |
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