CN110017770A - A kind of vision-based detection scaling method applied to three coordinate measuring machine - Google Patents
A kind of vision-based detection scaling method applied to three coordinate measuring machine Download PDFInfo
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- CN110017770A CN110017770A CN201910316403.XA CN201910316403A CN110017770A CN 110017770 A CN110017770 A CN 110017770A CN 201910316403 A CN201910316403 A CN 201910316403A CN 110017770 A CN110017770 A CN 110017770A
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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
- G01B11/005—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates coordinate measuring machines
Abstract
The invention belongs to dimensional visual measurement fields, are related to a kind of vision-based detection scaling method applied to three coordinate measuring machine.This method measures three dumb light Ceramic Balls by three coordinate measuring machine and binocular three-dimensional scanner respectively, calculate separately sphere centre coordinate of three dumb light Ceramic Balls under binocular three-dimensional scanner coordinate system and three coordinate measuring machine coordinate system, find out the spin matrix and translation matrix between two coordinate systems, to complete to the calibration between binocular three-dimensional scanner and three coordinate measuring machine, this method may be implemented binocular scanner and measure instead of three coordinate measuring machine to the three-dimensional information of workpiece, make measuring speed faster, measurement result is more accurate, improves the production efficiency of production line.
Description
Technical field
The present invention devises a kind of vision-based detection scaling method applied to three coordinate measuring machine, more specifically, this hair
It is bright to be related to a kind of vision-based detection scaling method of three coordinate measuring machine based on dumb light Ceramic Balls.
Background technique
With the progress of modern detecting, three-dimensional measurement technology gradually becomes the research emphasis of people, and optical 3-dimensional is surveyed
Amount belongs to non-contact measurement, and optical three-dimensional measuring method is widely used to industrial detection, reverse-engineering, body scans, text
The multiple fields such as object protection, have that speed is fast, advantage with high accuracy to the detection of free form surface, can obtain workpiece perfect three
Tie up point cloud information.The application of traditional three coordinate measuring machine in the industry is quite extensive, it is that one kind is designed and developed, detects, counted
The effective tool of the impayable quality technology guarantee of the intelligence tool of the modernization of analysis, even more mould product, but surveying
It needs to pay close attention to the selection of measuring basis, the calibration of gauge head and selection during amount, the planning of measuring point number and measurement position, sit
Various factors such as foundation, the influence of environment, the influence of local geometric features, the CNC control parameter of system are marked, it is every in this
One factor is all enough to influence the accurate and efficiency of measurement result.Compared to three coordinate measuring machine, optical three-dimensional measurement technology is surveyed
It measures speed faster, the production efficiency on production line can be greatly improved, reduce equipment cost.The present invention is based on binocular three-dimensional scannings
Instrument devises a kind of vision-based detection scaling method applied to three coordinate measuring machine, by three coordinate measuring machine and binocular three
It is demarcated between dimension scanner, binocular three-dimensional scanner may be implemented under three coordinate measuring machine coordinate system to the three-dimensional of workpiece
Information is detected.
Summary of the invention
The present invention devises a kind of vision-based detection scaling method applied to three coordinate measuring machine, by binocular scanner
It is converted between coordinate system and three coordinate measuring machine coordinate system, binocular three-dimensional scanner can be made to substitute three coordinate measuring machine pair
The three-dimensional data of workpiece carries out rapid survey and positioning.The vision-based detection applied to three coordinate measuring machine demarcates hardware system
System includes:
High-precision dumb light Ceramic Balls 3 for calibration；
For carrying out binocular three-dimensional scanner 1 of 3-D scanning processing to the dumb light Ceramic Balls；
The computer calculated for precision controlling, Image Acquisition, points cloud processing and data；
For measuring three coordinate measuring machine one of dumb light Ceramic Balls three-dimensional data.
The present invention devises a kind of vision-based detection scaling method applied to three coordinate measuring machine, characterized in that including under
Column step:
Step 1: binocular three-dimensional scanner and three dumb light Ceramic Balls (ball 1, ball 2 and ball 3) are respectively fixed to setting position
It sets, the binocular calibration program for starting spatial digitizer is demarcated, and binocular three-dimensional scanner coordinate system O-XYZ is established；
Step 2: three dumb light Ceramic Balls being swept using the binocular three-dimensional scanner after the completion of step 1 calibration
It retouches, before scanning three dumb light Ceramic Balls, using the spatial digitizer to three dumb light Ceramic Balls projective structure light, obtains
Take the three-dimensional point cloud information of three dumb light Ceramic Balls；
Step 3: three dumb light Ceramic Balls three-dimensional point clouds resulting to step 2 carry out denoising, and removal is because block
Outlier and noise data caused by problem keep collected three-dimensional point cloud smoothly smooth, keep the geometrical characteristic of point cloud data
Information；
Step 4: respectively the three-dimensional point cloud of step 3 three obtained dumb light Ceramic Balls being fitted to obtain using least square method
The coordinate of three centre ofs sphere, the sphere centre coordinate O of ball 11(x1, y1, z1), the centre of sphere O of ball 22(x2, y2, z2), the centre of sphere O of ball 33(x3, y3,
z3), according to formula (1) Calculation Plane O1O2O3Normal vector
Step 5: starting three coordinate measuring machine establishes three coordinate measuring machine coordinate system O-UVW, is popped one's head in three coordinate measuring machine
Three dumb light ceramics ball surfaces are contacted, each ball obtains three-dimensional of 6 non-coplanar umbilical points in coordinate system O-UVW respectively and sits
Mark, 6 non-co-planar coordinates of ball 1 are respectively as follows: A1(L1, M1, N1)、B1(L2, M2, Z2)、C1(L3, M3, N3)、D1(L4, M4, N4)、
E1(L5, M5, N5)、F1(L6, M6, Z6), 6 non-co-planar coordinates of ball 2 are respectively as follows: A2(L1', M1', N1′)、B2(L2', M2',
Z2′)、C2(L3', M3', N3′)、D2(L4', M4', N4′)、E2(L5', M5', N5′)、F2(L6', M6', Z6'), 6 of ball 3 are non-co-planar
Point coordinate is respectively as follows: A3(L1", M1", N1″)、B3(L2", M2", Z2″)、C3(L3", M3", N3″)、D3(L4", M4", N4″)、E3
(L5", M5", N5″)、F3(L6", M6", Z6"), then be utilized respectively least square method and be fitted to obtain three of three dumb light Ceramic Balls
Sphere centre coordinate, the sphere centre coordinate O of ball 11′(u1, v1, w1), the sphere centre coordinate O of ball 22′(u2, v2, w2), the sphere centre coordinate O of ball 33′
(u3, v3, w3), according to formula (2) Calculation Plane O1′O2′O3' normal vector
Step 6: sphere centre coordinate and step 5 of the three dumb light Ceramic Balls acquired using step 4 in coordinate system O-XYZ are acquired
Three dumb light Ceramic Balls coordinate system O-UVW sphere centre coordinate, according to formula (3) coordinates computed system O-XYZ relative to coordinate
It is the translation matrix T of O-UVW；
Step 7: setting coordinate system O-XYZ and rotate to obtain coordinate system O-UVW counterclockwise around rotary shaft L, if the direction of rotary shaft
VectorRotation angle θ is acquired according to formula (4), the direction vector of rotary shaft is acquired according to formula (5)
θ=arccos (a1a2+b1b2+c1c2) formula (4)
In formula (5):
A=b1×c2-c1×b2
B=c1×a2-a1×c2
C=a1×b2-b1×a2
Step 8: according to formula (6), the direction vector of the rotation angle θ and rotary shaft that are acquired using step 7Coordinates computed system
O-XYZ the spin matrix R relative to coordinate system O-UVW, the plane O acquired using step 41O2O3Normal vectorIt is asked with step 5
The plane O obtained1O2O3Normal vectorShow that coordinate system O-XYZ is closed relative to the conversion of coordinate system O-UVW according to formula (7)
System；Calibration between binocular three-dimensional scanner and three coordinate measuring machine is completed.
Detailed description of the invention
Fig. 1: equipment puts schematic diagram；
Fig. 2: the Ceramic Balls after the fitting of spatial digitizer ball；
Fig. 3: the Ceramic Balls after the fitting of three coordinate measuring machine ball；
Fig. 4: scaling method flow chart；
Specific embodiment
The present invention devises a kind of vision-based detection scaling method applied to three coordinate measuring machine, and scaling method flow chart is such as
Shown in Fig. 4, characterized in that include the following steps:
Step 1: binocular three-dimensional scanner and three dumb light Ceramic Balls (ball 1, ball 2 and ball 3) are respectively fixed to setting position
It sets, if Fig. 1 is that equipment puts schematic diagram, the binocular calibration program for starting spatial digitizer is demarcated, and is established binocular three-dimensional and is swept
Retouch instrument coordinate system O-XYZ；
Step 2: three dumb light Ceramic Balls being swept using the binocular three-dimensional scanner after the completion of step 1 calibration
It retouches, before scanning three dumb light Ceramic Balls, using the spatial digitizer to three dumb light Ceramic Balls projective structure light, obtains
Take the three-dimensional point cloud information of three dumb light Ceramic Balls；
Step 3: three dumb light Ceramic Balls three-dimensional point clouds resulting to step 2 carry out denoising, and removal is because block
Outlier and noise data caused by problem keep collected three-dimensional point cloud smoothly smooth, keep the geometrical characteristic of point cloud data
Information；
Step 4: respectively the three-dimensional point cloud of step 3 three obtained dumb light Ceramic Balls being fitted to obtain using least square method
The coordinate of three centre ofs sphere, if Fig. 2 is the Ceramic Balls after the fitting of spatial digitizer ball, the sphere centre coordinate O of ball 11(x1, y1, z1), ball 2
Centre of sphere O2(x2, y2, z2), the centre of sphere O of ball 33(x3, y3, z3), according to formula (8) Calculation Plane O1O2O3Normal vector
Step 5: starting three coordinate measuring machine establishes three coordinate measuring machine coordinate system O-UVW, is popped one's head in three coordinate measuring machine
Three dumb light ceramics ball surfaces are contacted, each ball obtains three-dimensional of 6 non-coplanar umbilical points in coordinate system O-UVW respectively and sits
Mark, 6 non-co-planar coordinates of ball 1 are respectively as follows: A1(L1, M1, N1)、B1(L2, M2, Z2)、C1(L3, M3, N3)、D1(L4, M4, N4)、
E1(L5, M5, N5)、F1(L6, M6, Z6), 6 non-co-planar coordinates of ball 2 are respectively as follows: A2(L1', M1', N1′)、B2(L2', M2',
Z2′)、C2(L3', M3', N3′)、D2(L4', M4', N4′)、E2(L5', M5', N5′)、F2(L6', M6', Z6'), 6 of ball 3 are non-co-planar
Point coordinate is respectively as follows: A3(L1", M1", N1″)、B3(L2", M2", Z2″)、C3(L3", M3", N3″)、D3(L4", M4", N4″)、E3
(L5", M5", N5″)、F3(L6", M6", Z6"), then be utilized respectively least square method and be fitted to obtain three of three dumb light Ceramic Balls
Sphere centre coordinate, if Fig. 3 is the Ceramic Balls after the fitting of three coordinate measuring machine ball, the sphere centre coordinate O of ball 11′(u1, v1, w1), ball 2
Sphere centre coordinate O2′(u2, v2, w2), the sphere centre coordinate O of ball 33′(u3, v3, w3), according to formula (9) Calculation Plane O1′O2′O3' method
Vector
Step 6: sphere centre coordinate and step 5 of the three dumb light Ceramic Balls acquired using step 4 in coordinate system O-XYZ are acquired
Three dumb light Ceramic Balls coordinate system O-UVW sphere centre coordinate, according to formula (10) coordinates computed system O-XYZ relative to coordinate
It is the translation matrix T of O-UVW；
Step 7: setting coordinate system O-XYZ and rotate to obtain coordinate system O-UVW counterclockwise around rotary shaft L, if the direction of rotary shaft
VectorRotation angle θ is acquired according to formula (11), the direction vector of rotary shaft is acquired according to formula (12)
θ=arccos (a1a2+b1b2+c1c2) formula (11)
In formula (12):
A=b1×c2-c1×b2
B=c1×a2-a1×c2
C=a1×b2-b1×a2
Step 8: according to formula (13), the direction vector of the rotation angle θ and rotary shaft that are acquired using step 7Coordinates computed
It is spin matrix R of the O-XYZ relative to coordinate system O-UVW, the plane O acquired using step 41O2O3Normal vectorWith step 5
The plane O acquired1O2O3Normal vectorConversion of the coordinate system O-XYZ relative to coordinate system O-UVW is obtained according to formula (14)
Relationship；Calibration between binocular three-dimensional scanner and three coordinate measuring machine is completed.
The present invention is carried out using the dumb light Ceramic Balls of three standards between three coordinate measuring machine and binocular three-dimensional scanner
Calibration, finds out the translation between three coordinate measuring machine and binocular three-dimensional scanner and spin matrix, to realize that binocular three-dimensional is swept
It retouches instrument auxiliary three coordinate measuring machine and three-dimensional measurement is carried out to workpiece, make measuring speed faster, the three-dimensional data of acquisition is more comprehensive
With it is accurate.
Schematically the present invention and embodiments thereof are described above, this describes no limitation, institute in attached drawing
What is shown is also one of embodiments of the present invention.So not departed from if those of ordinary skill in the art are inspired by it
In the case where the invention objective, each component layouts mode of the same item or other forms that take other form, without
Creative designs technical solution similar with the technical solution and embodiment, is within the scope of protection of the invention.
Claims (1)
1. the present invention devises a kind of vision-based detection scaling method applied to three coordinate measuring machine, characterized in that including following
Step:
Step 1: binocular three-dimensional scanner and three dumb light Ceramic Balls (ball 1, ball 2 and ball 3) are respectively fixed to the position of setting,
The binocular calibration program of starting spatial digitizer is demarcated, and binocular three-dimensional scanner coordinate system O-XYZ is established；
Step 2: three dumb light Ceramic Balls are scanned using the binocular three-dimensional scanner after the completion of step 1 calibration,
Before scanning three dumb light Ceramic Balls, using the spatial digitizer to three dumb light Ceramic Balls projective structure light, obtain
The three-dimensional point cloud information of three dumb light Ceramic Balls；
Step 3: three dumb light Ceramic Balls three-dimensional point clouds resulting to step 2 carry out denoising, and removal is because of the problems such as blocking
Caused by outlier and noise data, keep collected three-dimensional point cloud smoothly smooth, keep the geometrical characteristic information of point cloud data；
Step 4: respectively the three-dimensional point cloud of step 3 three obtained dumb light Ceramic Balls being fitted to obtain three using least square method
The coordinate of the centre of sphere, the sphere centre coordinate O of ball 11(x1, y1, z1), the centre of sphere O of ball 22(x2, y2, z2), the centre of sphere O of ball 33(x3, y3, z3),
According to formula (1) Calculation Plane O1O2O3Normal vector
a1=(y2-y1)×(z3-z1)-(y3-y1)×(z2-z1)
b1=(z2-z1)×(x3-x1)-(z3-z1)×(x2-x1) formula (1)
c1=(x2-x1)×(y3-y1)-(x3-x1)×(y2-y1)
Step 5: starting three coordinate measuring machine establishes three coordinate measuring machine coordinate system O-UVW, with three coordinate measuring machine probe contacts
Three dumb light ceramics ball surfaces, each ball obtain 6 non-coplanar umbilical points in the three-dimensional coordinate of coordinate system O-UVW, ball 1 respectively
6 non-co-planar coordinates be respectively as follows: A1(L1, M1, N1)、B1(L2, M2, Z2)、C1(L3, M3, N3)、D1(L4, M4, N4)、E1(L5,
M5, N5)、F1(L6, M6, Z6), 6 non-co-planar coordinates of ball 2 are respectively as follows: A2(L1', M1', N1′)、B2(L2', M2', Z2′)、C2
(L3', M3', N3′)、D2(L4', M4', N4′)、E2(L5', M5', N5′)、F2(L6', M6', Z6'), 6 non-co-planar coordinates of ball 3
It is respectively as follows: A3(L1", M1", N1″)、B3(L2", M2", Z2″)、C3(L3", M3", N3″)、D3(L4", M4", N4″)、E3(L5", M5",
N5″)、F3(L6", M6", Z6"), it is utilized respectively least square method and is fitted to obtain three sphere centre coordinates of three dumb light Ceramic Balls, ball 1
Sphere centre coordinate O1′(u1, v1, w1), the sphere centre coordinate O of ball 22′(u2, v2, w2), the sphere centre coordinate O of ball 33′(u3, v3, w3), it presses
According to formula (2) Calculation Plane O1′O2′O3' normal vector
a2=(v2-v1)×(w3-w1)-(v3-v1)×(w2-w1)
b2=(w2-w1)×(u3-u1)-(w3-w1)×(u2-u1) formula (2)
c2=(u2-u1)×(v3-v1)-(u3-u1)×(v2-v1)
Step 6: three acquired using three dumb light Ceramic Balls that step 4 acquires in the sphere centre coordinate and step 5 of coordinate system O-XYZ
A dumb light Ceramic Balls coordinate system O-UVW sphere centre coordinate, according to formula (3) coordinates computed system O-XYZ relative to coordinate system O-
The translation matrix T of UVW；
Step 7: setting coordinate system O-XYZ and rotate to obtain coordinate system O-UVW counterclockwise around rotary shaft L, if the direction vector of rotary shaftRotation angle θ is acquired according to formula (4), the direction vector of rotary shaft is acquired according to formula (5)
θ=arccos (a1a2+b1b2+c1c2) formula (4)
In formula (5):
A=b1×c2-c1×b2
B=c1×a2-a1×c2
C=a1×b2-b1×a2
Step 8: according to formula (6), the direction vector of the rotation angle θ and rotary shaft that are acquired using step 7Coordinates computed system O-
XYZ the spin matrix R relative to coordinate system O-UVW, the plane O acquired using step 41O2O3Normal vectorIt is acquired with step 5
Plane O1O2O3Normal vectorTransformational relation of the coordinate system O-XYZ relative to coordinate system O-UVW is obtained according to formula (7)；
Calibration between binocular three-dimensional scanner and three coordinate measuring machine is completed.
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| CN115014252A (en) * | 2022-08-05 | 2022-09-06 | 西安德普赛科计量设备有限责任公司 | Method for realizing multi-station measurement element calculation |
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