CN109916300A - The index point towards 3-D scanning based on online image procossing pastes indicating means - Google Patents
The index point towards 3-D scanning based on online image procossing pastes indicating means Download PDFInfo
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- CN109916300A CN109916300A CN201910211093.5A CN201910211093A CN109916300A CN 109916300 A CN109916300 A CN 109916300A CN 201910211093 A CN201910211093 A CN 201910211093A CN 109916300 A CN109916300 A CN 109916300A
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Abstract
The present invention provides a kind of, and the index point towards 3-D scanning based on online image procossing pastes indicating means, behind the virtual layout position of index point needed for calculating 3-D scanning according to the parameter information of the digital-to-analogue information of object being measured and spatial digitizer, judge whether present co-ordinate position has pasted index point by online image technique, the index point pasted is done and passes through processing, the index point coordinate position that do not paste is handled using warning, carry out the application work that real-time instruction technician carries out index point, guarantee the fluency of the 3-D scanning process in later period.The present invention is based on reliable online image processing techniques, for the bringing great convenience property of index point application work and accuracy during 3-D scanning, the influence that artificial objective factor pastes layout to index point position is avoided, provides a great convenience condition for the automation of 3-D scanning and process standardization development.
Description
Technical field
The invention belongs to the monocular structural light three-dimensional scanning based on machine vision, the scanning of binocular structural light three-dimensional, binoculars to swash
Light 3-D scanning field, is related to landmark technique, especially a kind of to carry out the acceptance of the bid of 3-D scanning process using online image procossing
The method of will point placement position instruction.
Technical background
With the development of the universal and industrial detection demand of non-contact three-dimensional scanning technique, the demand of 3-D scanning product by
Year increases, and the market demand for the automatized three-dimensional scanning product that spatial digitizer is combined with robot automation's technology
It is even more blowout situation to be presented, but current scanning product still can not be detached from the constraint of index point, need to rely on occupancy volume
The index point of common part, which carries out repeatedly splicing, to be spliced into a complete model for all single sweep operation results.
Since coming out from 3-D scanning technology, landmark technique has had highly developed and extensive in 3-D scanning
Using being that other technologies are unable to reach to the precision improvement repeatedly spliced.Although Ye You company is proposed the spelling of no marks point
The robot automation's 3-D scanning technology connect, but the repercussion in market is very bad, traces it to its cause and essentially consists in robot
Positioning accuracy is not high, causes such product that can only use under the not high occasion of required precision, is unable to satisfy current a large amount of high-precision
Spend the demand of detection.
Under the current situation of current robot, the splicing of 3-D scanning is carried out by the positioning accuracy of robot merely
Also it is unable to satisfy the demand of industrial high-precision detection, in original non-automated product, the layout paste position of index point is complete
Carried out by the experience of engineering personnel, subjectivity is stronger, be unable to reach optimal efficiency and as a result, with robot from
The development of dynamicization 3-D scanning technology, the placement position of index point has calculated generation via software algorithm, according to scanned
The model of body, software algorithm, which can automatically generate, needs to paste how many a index points, and the position of each index point will be attached to object
Which position, but current technology level can only provide the placement position of index point on mathematical model, can not but provide
Accurately index point can be pasted on the calculated position of software by engineer for the indicating means of effect, leads to different engineers
The position of patch and the error of Ideal calculated positions vary, and experience in practical applications is very bad, if mark point sticky
The position of patch is inaccurate, often results in virtual planning and is unable to complete in the scanning of actual path, needs to mend mark again again
Will point, is planned again, increases very big trouble to the application of automatic technology.
Summary of the invention
It is an object of the invention to overcome the shortcomings of existing index point technology for applying, providing one kind can be independent of engineering
The experience and qualification of teacher does not need to modify repeatedly in measurement process, eliminates the influence of precision caused by experience error
Index point layout pastes guidance method.
High-precision index point position guidance method of the invention, it the following steps are included:
(1) it is demarcated using image visual transducer of the calibration device to spatial digitizer, computation vision imaging sensor
Inside and outside parameter；
(2) spatial digitizer is navigated under calculated planned position, it is real-time continuous by image visual transducer
By in the Image Acquisition to host computer of testee, and shown on host computer；
(3) virtual mark point that can be observed under current spatial digitizer position is filtered out by geometrical relationship, passed through
The inside and outside parameter information of visual sensor calculates image coordinate location of these virtual mark points on image visual transducer
Information；
(4) mark for needing sticking sign point is made in calculated image coordinate；
(5) image of acquisition is subjected to intensity segmentation and edge extracting using online image processing techniques, by the wheel of extraction
Profile carries out ellipse fitting, extracts the image coordinate for the actual tag point pasted in present image；
(6) image coordinate of the actual tag point of extraction and the image coordinate of the virtual mark point of calculating are subjected to error ratio
Compared with judging which virtual location has pasted index point, the corresponding position prompt shown in image is completed, the corresponding stickup
The prompt warning of the image corresponding position of index point but not yet sticking sign point；
(7) all virtual mark points in real-time detection to the image visual transducer of current location are all in corresponding position
After setting the stickup for completing actual tag point, the application work of system prompt current location is completed, and spatial digitizer is moved to down
One measurement point position；
(8) step (2)~(7) are repeated, until the stickup of all position all complement mark points detects work, on
Position machine program is automatically stopped, and the index point allocation plan of entire 3-D scanning instructs work to complete.
Moreover, the index point includes and is not limited to the index point with the instruction of the symbols such as circle, cross hairs.
The advantages of the present invention:
1, method of the invention overcome at present sticking sign point can only rely on engineering in 3-D scanning product in the world
The shortcomings that teacher's experience, is obtained the paste information situation of index point by the method for real-time online image procossing, and utilizes acquisition
Information instructs the application work of engineer's complement mark point, greatly improves the property easy to use of 3-D scanning product, is
The further genralrlization of 3-D scanning product provides great support.
2, the present invention provides a kind of modes based on online image procossing come the method for real-time Warning Mark point position, energy
It is enough quickly, effectively, conveniently, the paste position of accurate position mark point, and the position that engineer is pasted carries out Real-time Feedback,
It helps engineer to calibrate, provides practicable guidance foundation for the development of automatized three-dimensional scanning technique.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Other attached drawings are obtained according to these figures.
Fig. 1 is the measurement according to the placement position and spatial digitizer of the calculated virtual mark point of digital-to-analogue of testee
Bit map/bitmap；
Fig. 2 is the pattern card of index point；
Fig. 3 is the flow chart of the method for the present invention；
Fig. 4 is the sign picture of all index points；
Fig. 5 is the sign picture that landmark portion is pasted；
Fig. 6 is the sign picture of index point paste List.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The method of the present invention carries out index point allocation plan to the spatial digitizer for carrying robot or other automation tools
The specific implementation process of guidance is as follows:
(1) spatial digitizer is fixed in robot system, according to the structural model of spatial digitizer and system, robot
Robot coordinate system and spatial digitizer coordinate system are transformed into a coordinate system by the positional relationship between the structural model of system
Under；
(2) automatic Calibration is carried out using image visual transducer of the robot to spatial digitizer, calculates visual pattern
The inside and outside parameter of sensor；
(3) the layout position of index point is carried out according to the inside and outside parameter of image visual transducer and the digital-to-analogue information of testee
The position and attitude repeatedly measured with spatial digitizer is set, is shown in virtual scene, as shown in Figure 1；
(4) spatial digitizer is navigated to first position for calculating planning, is calculated in virtual scene under this position
The index point that can be observed, the stickup situation of real-time display index point instructs engineering in host computer by the method for the invention
The stickup of Shi Jinhang index point；As shown in figure 4, indicate on the image it is in need labeling will point position, to indicate engineering
Teacher this toward which coordinate position sticking sign point；With engineer's sticking sign point work progress, real-time Warning Mark point
Situation is pasted, as shown in figure 5, green is to detect that index point has been pasted in this position as indicated, red is not yet
Sticking sign point；Fig. 6 performance under position thus.
(5) index point on all image visual transducers of current location is all completed after pasting detection, robot control
Spatial digitizer is moved to next position；
(6) step (4)~(5) are repeated, until the application work of all virtual planning index points is fully completed.
The spatial digitizer, transmitting and acquisition active light for active light are emitted to the figure formed on testee
Picture.Spatial digitizer includes active light emitting devices (projection module or laser) and image visual transducer, the host computer
It is connected respectively with active light emitting devices controller and image visual transducer；
The host computer, the index point for calculating testee is laid out and the point of spatial digitizer is laid out；For right
Image visual transducer is demarcated, the inside and outside parameter of computation vision imaging sensor；For being acquired to image visual transducer
Image carry out three-dimensional reconstruction；Calculating and statistics for ideal position of the index point on visual pattern sensor.
The image visual transducer is made of 1 or 1 or more optical camera.
The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to the foregoing embodiments
Invention is explained in detail, those skilled in the art should understand that；It still can be to aforementioned each implementation
Technical solution documented by example is modified or equivalent replacement of some of the technical features；And these modification or
Replacement, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (3)
1. a kind of index point towards 3-D scanning based on online image procossing pastes indicating means, it is characterised in that: firstly,
The inside and outside parameter for the image visual transducer for being laid out and having demarcated according to the virtual location of the index point of calculating, in spatial digitizer
Under any point, coordinate position of the including level information of index point on image visual transducer is calculated；Then, single
Position is fed back the stickup situation of index point with different symbol colors on image visual transducer in real time, automatic to unite
The comparative situation for counting the index point of the current index point pasted and planning, indicates the paste position of engineer's index point in real time
It is whether correct, if to have missing situation.
2. the index point towards 3-D scanning according to claim 1 based on online image procossing pastes indicating means,
It is characterized by: specific step is as follows:
(1) demarcated using image visual transducer of the calibration device to spatial digitizer, computation vision imaging sensor it is interior
Outer parameter；
(2) spatial digitizer is navigated under calculated planned position, by image visual transducer it is real-time continuous will be by
It surveys in the Image Acquisition to host computer of object, and is shown on host computer；
(3) virtual mark point that can be observed under current spatial digitizer position is filtered out by geometrical relationship, passes through vision
The inside and outside parameter information of sensor calculates image coordinate location information of these virtual mark points on image visual transducer；
(4) mark for needing sticking sign point is made in calculated image coordinate；
(5) image of acquisition is subjected to intensity segmentation and edge extracting using online image processing techniques, by the contour line of extraction
Ellipse fitting is carried out, the image coordinate for the actual tag point pasted in present image is extracted；
(6) image coordinate of the actual tag point of extraction and the image coordinate of the virtual mark point of calculating are subjected to application condition,
Judge which virtual location has pasted index point, is completed in the corresponding position prompt that image is shown, the corresponding label adhering
The prompt warning of the image corresponding position of will point but not yet sticking sign point；
(7) all virtual mark points in real-time detection to the image visual transducer of current location are all complete in corresponding position
After stickup at actual tag point, the application work of system prompt current location is completed, and spatial digitizer is moved to next
Measurement point position；
(8) step (2)~(7) are repeated, until the stickup of all position all complement mark points detects work, host computer
Program is automatically stopped, and the index point allocation plan of entire 3-D scanning instructs work to complete.
3. the index point towards 3-D scanning according to claim 1 or 2 based on online image procossing pastes instruction side
Method, it is characterised in that: the index point includes circular index point, coding type index point.
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| CN111998797A (en) * | 2020-07-20 | 2020-11-27 | 成都飞机工业（集团）有限责任公司 | Scanning track planning method of photographing type three-dimensional scanner |
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| CN113758423A (en) * | 2021-11-10 | 2021-12-07 | 风脉能源（武汉）股份有限公司 | Method for determining position of image acquisition equipment based on image inner scale |
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