CN110146038B - Distributed monocular camera laser measuring device and method for assembly corner of cylindrical part - Google Patents

Distributed monocular camera laser measuring device and method for assembly corner of cylindrical part Download PDF

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CN110146038B
CN110146038B CN201910493931.2A CN201910493931A CN110146038B CN 110146038 B CN110146038 B CN 110146038B CN 201910493931 A CN201910493931 A CN 201910493931A CN 110146038 B CN110146038 B CN 110146038B
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cylindrical part
assembled
assembly
computer
image
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CN110146038A (en
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仇原鹰
徐康力
程培涛
段学超
张解语
宁博
李亚军
李中权
钟珂珂
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Xidian University
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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
    • G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes

Abstract

The invention provides a distributed monocular camera laser measuring device and method for a cylindrical part assembly corner, belongs to the technical field of precision assembly, and relates to a measuring device and method for the cylindrical part assembly corner. The measuring method of the invention comprises the following steps: establishing measurementsA coordinate system; the two monocular industrial cameras collect calibration images; the computer calibrates the two monocular industrial cameras; setting measurement parameters; extracting characteristic points of the assembly surfaces of the cylindrical part A and the cylindrical part B to be assembled by the computer; extracting all characteristic points of the assembly surfaces of the cylindrical part A and the cylindrical part B to be assembled by the computer; computer obtaining optimal pose transformation matrix
Figure DDA0002087945040000011
The method has the advantages that the measurement accuracy of the cylindrical part assembly corner α is effectively improved, the damage to parts is reduced, and the method can be used for measuring the cylindrical part assembly corners α such as spacecrafts, underwater vehicles and the like.

Description

Distributed monocular camera laser measuring device and method for assembly corner of cylindrical part
Technical Field
The invention belongs to the technical field of precision assembly, relates to a device and a method for measuring an assembly corner of a cylindrical part, and further relates to a device and a method for measuring a distributed monocular camera laser of the assembly corner of the cylindrical part, which can be used for measuring the assembly corner alpha of the cylindrical part such as a spacecraft, an underwater vehicle and the like.
Background
The assembly of barrels of spacecrafts, underwater vehicles and the like is a key link in the manufacture of the barrels, and the quality and the precision of the assembly determine the quality of the overall performance of the barrels to a great extent. In the cylinder assembly technology, for two cylinders to be assembled, the pose of the three-dimensional space to be assembled comprises six degrees of freedom in three-dimensional displacement deviation, a deflection angle beta around a horizontal direction shaft, a pitch angle gamma around a vertical direction shaft and an assembly rotation angle alpha around the axes of the two cylinders. Only six degrees of freedom between two cylindrical parts to be assembled are measured with high precision to obtain the three-dimensional space pose of the cylindrical part to be assembled, and subsequent part pose adjustment can be smoothly carried out. In the automated assembly of a cylinder, such as a spacecraft or underwater vehicle, the axes of the two cylinders to be assembled must be collinear, a step which is performed by means of actuators for the position and attitude adjustment of the parts. After the axes of the two cylindrical parts to be assembled are collinear, three displacement deviations, a deflection angle beta and a pitch angle gamma between the two cylindrical parts are adjusted. After the five degrees of freedom of the two cylindrical parts to be assembled are adjusted, the assembly rotation angle alpha between the two cylindrical parts needs to be measured, and the cylindrical parts are rotated by the actuating mechanism to enable the two parts to be completely aligned on the rotation angle alpha, so that the pose adjustment is completed, and the accurate assembly is carried out. In summary, accurate measurement of the rotational angle α of the cylinder assembly is a critical aspect of the cylinder assembly.
At present, for the assembly of cylindrical members such as a spacecraft and an underwater vehicle, if the high-precision, quick and small-damage real-time assembly of the cylindrical members is to be realized, the poses of the two cylindrical members to be assembled need to be accurately and quickly measured to obtain the three-dimensional spatial poses thereof, and the poses of the two cylindrical members to be assembled need to be adjusted, so that the accurate measurement of the six-degree-of-freedom spatial poses of the two cylindrical members to be assembled is the basis of the pose adjustment. Aiming at the assembly rotation angle alpha of the cylindrical part, diversified measurement means such as a laser radar, a laser tracker, a computer-aided electronic theodolite, an indoor GPS and the like are mainly used at present. The lidar method uses two or more lidars to perform measurements by programming the measurement calibration tool balls, automatically moving the lidars from one tool ball to another, and continuously reporting and monitoring all relevant positions. A typical measuring method for the assembly rotation angle alpha of the cylindrical part utilizes a laser tracker, and the realization process comprises the steps of measuring the position of a target ball attached to the surface of a measured part through the laser tracker, establishing a coordinate system of the laser tracker and calculating the six-degree-of-freedom space pose of the part. Computer-aided electronic theodolite, laser tracker, etc. solve the position and attitude by measuring the parts to be assembled point by point, so that it can't implement real-time detection of position and attitude measurement, at the same time because it needs to manually install correspondent measuring target ball, it increases the manpower of assembly process, reduces the working efficiency of assembly process, and because the manual operation increases the artificial measuring error. As for the indoor GPS, it can only be used in a fixed space, and is easily interfered by external signals, and is limited more.
With the development of machine vision technology in the field of precision assembly, the machine vision technology is more and more applied to pose measurement in the assembly process of parts in an industrial field, the assembly rotation angle alpha of the cylindrical part belongs to one of six-degree-of-freedom space poses of the part to be measured, and a binocular vision system, a close-range measurement system and the like can be used for quickly and real-timely measuring the six-degree-of-freedom space poses of the part to be assembled. If the binocular stereo vision method in the prior art is used for measuring the cylindrical part assembly rotation angle alpha, two industrial cameras are required to be arranged on a pin and a hole to be assembled respectively to form two sets of binocular vision systems, the device structure is complex, and the method flow is complex. If only binocular stereo vision is used for measurement without an auxiliary measuring device or method, the measurement is easily influenced by external environment factors such as a light source and the like, and the robustness of an industrial field is low.
The patent of Zhao Boya, Zhang Chengyang et al in 2018, published in the journal of academic Press, volume 39, 3, paper, the application thereof in aviation manufacturing, discloses a close-range measurement system and a measurement method, wherein the measurement method is used for realizing the measurement of the spatial position and attitude of an assembly butt joint part, measuring the geometric information of the part interface part, obtaining the relative position and attitude information of the part to be assembled, and measuring the assembly corner alpha of a cylindrical part; the close-range measuring system mainly comprises a camera with a corrected lens, mark points and a computer, wherein the mark points are pasted at the points to be measured of an object, the camera with the corrected lens is used for shooting a plurality of pictures of the object to be measured from different directions to generate a two-dimensional digital image, the computer judges the positions of the mark points through an image recognition technology, and three-dimensional coordinates of the mark points are obtained based on collinearity equations and mathematical models such as space intersection, so that the geometric information of a part to be butted is measured to ensure that the two parts can be completely butted. The realization of the close-range measurement system needs to paste targets such as mark points, coding points and the like on a part to be measured in advance, the part can be damaged and destroyed due to improper spraying or attaching of the targets, and the measurement result can be adversely affected due to inaccurate attaching or spraying of the targets, so that the measurement precision is reduced; in the actual industrial assembly process, under the condition that the parts to be assembled are large, the number of the sticking points is large, and the manual workload is large, so that the measurement efficiency is reduced, and meanwhile, extra manual operation errors are brought to influence the measurement precision; the close-range measurement system is susceptible to the change of external environmental factors such as a light source, and the close-range measurement system usually needs to keep a distance of more than 1m between a camera and an object to be measured, and cannot adapt to the situation of narrow space.
Disclosure of Invention
The invention aims to provide a distributed monocular camera laser measuring device and method for a cylindrical part assembling corner aiming at the defects of the prior art, and the device and method are used for solving the technical problem of low measuring precision in the prior art.
In order to achieve the purpose, the technical scheme of the invention is as follows:
the utility model provides a distributed monocular camera laser surveying device of cylinder assembly corner, includes that the realization is to the axis collineation, the diameter equals and the relative angle of rotation measuring laser 1, laser support 2 and the computer 3 when the relative cylinder A of waiting to assemble of assembly face is relative with the second cylinder B of waiting to assemble, and the first monocular industrial camera 4 and the second monocular industrial camera 5 of being connected with computer 3, wherein:
the laser bracket 2 comprises a laser bracket seat 21 and a laser bracket body 22 which are fixedly connected; the laser support seat 21 is arranged on the outer wall of one end, close to the assembling surface, of the second cylindrical part B to be assembled and can slide along the circumferential edge of the assembling surface of the second cylindrical part B; three triangular saddle points 23 are adhered to the side surface of the laser support body 22 facing the first cylindrical part A to be assembled, and mounting holes 24 for mounting the laser 1 are formed in the central positions of the three saddle points 23;
the first monocular industrial camera 4 and the second monocular industrial camera 5 are arranged oppositely, the first monocular industrial camera 4 is used for photographing three saddle points 23 adhered to the side face of the laser support body 22 in a visual field range and an assembling face of the second cylindrical part B to be assembled, and the second monocular industrial camera 5 is used for photographing an assembling face of the first cylindrical part A to be assembled in the visual field range.
In the laser measuring device for the distributed monocular camera for the assembly corner of the cylindrical part, the laser line projected by the laser 1 coincides with the axis of the mounting hole 24.
In the laser measuring device for the distributed monocular camera at the assembly corner of the cylindrical part, the lower bottom surface of the laser support base 21 is provided with a concave cylindrical curved surface with the same curvature radius as that of the second cylindrical part B to be assembled.
In the laser measuring device for the distributed monocular camera at the assembly corner of the cylindrical part, three saddle points 23 adhered to the side surface of the laser support body 22 facing the first cylindrical part A to be assembled are distributed in an equilateral triangle.
A measuring method of a distributed monocular camera laser measuring device utilizing a cylindrical piece assembly corner comprises the following steps:
(1) establishing a measurement coordinate system:
(1a) establishing a three-dimensional world coordinate system O-XYZ, wherein the axes of a first cylindrical part A to be assembled with a pin on an assembling surface and a second cylindrical part B to be assembled with a hole on the assembling surface are coincident with the X axis of the coordinate system O-XYZ, a first monocular industrial camera and a second monocular industrial camera are oppositely arranged in ZOX surfaces of the O-XYZ coordinate system, the distance from the first monocular industrial camera to the assembling surface of the second cylindrical part B to be assembled is equal to the distance from the second monocular industrial camera to the assembling surface of the first cylindrical part A to be assembled, the field range of the first monocular industrial camera covers three saddle points stuck on the other side surface of a laser support seat in the sliding range of the laser support, and the field range of the second monocular industrial camera is equal to that of the first monocular industrial camera;
(1b) establishing origin of coordinates OBCoordinate system O of the first monocular industrial camera located on the mounting surface of the second to-be-mounted cylinder B and contained in the field of view of the first monocular industrial cameraB-YBZBThe coordinate system OB-YBZBY of (A) isBOBZBThe plane is parallel to the YOZ plane of the O-XYZ coordinate system;
(1c) establishing origin of coordinates OAThe coordinate system O of the second monocular industrial camera is positioned on the assembly surface of the first cylindrical part A to be assembled and is contained in the field of view of the second monocular industrial cameraA-YAZAThe coordinate system OA-YAZAY of (A) isAOAZAThe plane is parallel to the YOZ plane of the O-XYZ coordinate system;
(2) two monocular industrial cameras collect calibration images:
the first monocular industrial camera collects N of different positions of the assembly surface of the second cylindrical part B to be assembled through a standard calibration plate1Amplitude of the image, N1Not less than 40, and simultaneously, the second monocular industrial camera collects N at different positions of the assembly surface of the first cylindrical part A to be assembled through a standard calibration plate2Amplitude of the image, N2≥40；
(3) The computer calibrates two monocular industrial cameras:
computer passing through N1Calibrating the first monocular industrial camera by the amplitude calibration image to obtain a coordinate system O of the first monocular industrial cameraB-YBZBOrigin O ofBCoordinate value of (2), YBDirection of axis and ZBDirection of axis, simultaneously passing N2The second monocular industrial camera is calibrated by the amplitude calibration image to obtain a coordinate system O of the second monocular industrial cameraA-YAZAOrigin O ofACoordinate value of (2), YADirection of axis and ZAThe direction of the axis;
(4) setting measurement parameters:
setting a starting point O of the laser bracket sliding along the circumferential edge of the mounting surface of the second cylindrical part B to be mountedbeginAnd end point OendCenter O of assembly surface with second cylindrical part B to be assembledcIs at an angle oftotal，total∈[20°,30°]Each sliding angle is0，0∈[0.5°,1°](ii) a The projection point of the projection center of the laser on the mounting surface of the second cylindrical part B to be mounted and the mounting surface center O of the second cylindrical part B to be mountedcLine of (1) and line OcObeginThe included angle of the angle is a rotation angle;
(5) extracting characteristic points of the assembly surfaces of the cylindrical parts A and B to be assembled by the computer:
(5a) the computer utilizes a first monocular industrial camera to acquire an image containing three saddle points on one side surface of the laser support body when the angle is 0 degrees, and converts the image into a gray image;
(5b) the computer carries out median filtering on the gray level image obtained in the step (5a), and then saddle point sub-pixel extraction is carried out on the gray level image after median filtering to obtain three saddle points OB-YBZBThe image coordinates of (1);
(5c) the computer uses the three saddle points obtained in the step (5b) to be at OB-YBZBThe intersection point of three central lines of a triangle formed by three saddle points is calculatedBPBi(yBi,zBi) Wherein
Figure BDA0002087945020000051
And the characteristic points are used as the characteristic points of the assembly surface of the second cylindrical part B to be assembled;
(5d) the computer collects an image containing a laser projection pattern on the assembly surface of the first cylindrical part A to be assembled by using a second monocular industrial camera and converts the image into a gray image;
(5e) the computer performs median filtering on the gray level image obtained in the step (5d), then performs threshold segmentation on the gray level image subjected to median filtering, and performs shape feature screening on a binarization region of the gray level image subjected to threshold segmentation to obtain a laser pattern region;
(5f) computer extracting central point of skeleton in laser pattern areaAPAi(yAi,zAi) Wherein
Figure BDA0002087945020000052
And the characteristic points are used as the characteristic points of the assembly surface of the first cylindrical part A to be assembled;
(6) extracting all characteristic points of the assembly surfaces of the cylindrical part A and the cylindrical part B to be assembled by the computer:
computer judgment<totalIf true, if yes, make ++0And (5) executing, otherwise, obtaining all characteristic points of the assembly surface of the first cylindrical part A to be assembledAPAn(yAn,zAn) And all characteristic points of the assembly surface of the second cylindrical part B to be assembledBPBn(yBn,zBn) Wherein
Figure BDA0002087945020000053
And executing the step (7);
(7) computer obtaining optimal pose transformation matrix
Figure BDA0002087945020000054
(7a) Computer pairAPAn(yAn,zAn) Performing curve fitting to obtain a coordinate system OA-YAZAInner fitted curve FASimultaneously to each otherBPBn(yBn,zBn) Performing curve fitting to obtain a coordinate system OB-YBZBInner fitted curve FBAnd establishing FAAnd FBPosition and posture conversion matrix between
Figure BDA0002087945020000055
Figure BDA0002087945020000061
Wherein, tyAnd tzAre each OA-YAZAAnd OB-YBZBScaling factor between two coordinate systems in Y direction and Z direction, theta is OA-YAZAAnd OB-YBZBRelative angle of rotation of pyAnd pzAre each OA-YAZAAnd OB-YBZBThe amount of relative translation therebetween;
(7b) computer transformation matrix by pose
Figure BDA0002087945020000064
Constructing an objective function
Figure BDA0002087945020000065
And will be
Figure BDA0002087945020000066
Pose transformation matrix corresponding to minimum value
Figure BDA0002087945020000067
As an optimal pose transformation matrix
Figure BDA0002087945020000068
Wherein
Figure BDA0002087945020000069
The expression of (a) is:
Figure BDA0002087945020000062
wherein wnIs an objective function
Figure BDA00020879450200000610
The weight of each item in the list;
(8) the computer obtains the image coordinates of the pin on the assembly surface A and the hole on the assembly surface B of the cylindrical part to be assembled:
(8a) the computer acquires an image containing a pin on the assembly surface of the first cylindrical part to be assembled A by using the second monocular industrial camera and converts the image into a gray image, and simultaneously acquires an image containing a hole on the assembly surface of the second cylindrical part to be assembled B by using the first monocular industrial camera and converts the image into a gray image;
(8b) respectively performing threshold segmentation on the two gray level images obtained in the step (8a) by the computer, then respectively performing shape feature screening on binarization regions in the two gray level images after threshold segmentation to obtain a pin region and a hole region, then extracting a sub-pixel contour of the pin region to obtain a sub-pixel contour of the pin, and simultaneously extracting a sub-pixel contour of the hole region to obtain a sub-pixel contour of the hole;
(8c) respectively carrying out ellipse fitting on the sub-pixel outline of the pin and the sub-pixel outline of the hole by the computer to obtain pin characteristics and hole characteristics, and extracting the central point of the pin characteristics in a coordinate system OA-YAZACoordinate value of (5)APp(yA,zA) And using the pin as an image coordinate of the pin, and simultaneously extracting the characteristic center point of the hole in a coordinate system OB-YBZBCoordinate value of (5)BPh(yB,zB) And using the image coordinates as the image coordinates of the hole;
(9) the computer calculates the assembly rotation angle alpha between the two cylindrical parts A and B to be assembled:
(9a) computer transformation matrix through optimal pose
Figure BDA00020879450200000611
Coordinate of the pin image obtained in step (8e)APp(yA,zA) Transformation to coordinate system OB-YBZBIn (1), obtaining a pin of OB-YBZBCoordinates of (5)BPP(yp,zp) The transformation formula is:
Figure BDA0002087945020000063
(9b) computer through the image of the hole obtained in step (8c)Sign boardBPh(yB,zB) And the pin obtained in step (9a) is at OB-YBZBCoordinates of (5)BPP(yp,zp) Calculating the assembly angle α between the two cylindrical parts to be assembled A and B:
Figure BDA0002087945020000071
wherein y isBAnd zBRespectively the image coordinates of the holeBPh(yB,zB) At YBAxis and ZBCoordinate value of axis, ypAnd zpIs pinned at OB-YBZBCoordinates of (5)BPP(yp,zp) At YBAxis and ZBThe coordinate value of the axis, R is the center of the hole on the mounting surface of the second cylindrical part B to be mounted to the center O of the mounting surface of BcThe distance of (c).
Compared with the prior art, the invention has the following advantages:
1. the invention combines a distributed monocular camera with laser, and transforms the matrix through the optimal pose in the measuring process
Figure BDA0002087945020000072
The pins and the holes on the assembly surfaces of the two cylindrical parts to be assembled are converted into the same coordinate system, so that the sub-pixel precision of the assembly corner α of the cylindrical part to be assembled is accurately measured, the problem of low measurement precision in the prior art is solved, and the measurement precision is effectively improved;
2. according to the invention, the distributed monocular camera is adopted, and a target does not need to be attached or sprayed on the part to be measured in the process of extracting the characteristic points and the pin hole characteristics on the assembling surface of the cylindrical part to be assembled, so that the problems of damage to the part and influence on the measurement precision caused by the target in the prior art are solved, the damage and damage to the part are reduced, and the measurement precision is further improved;
3. the invention adopts the center of the pattern projected by the laser as the characteristic point on the assembling surface of the cylindrical part to be assembled, and the laser has the characteristics of good coherence, good directivity and high brightness, thereby solving the problem that the measurement is easily influenced by external environmental factors such as a light source and the like in the prior art, improving the robustness of the measurement process and reducing the interference of the external environment.
Drawings
FIG. 1 is a schematic view of the structure of the measuring device of the present invention;
FIG. 2 is a schematic diagram of the structure of the laser mount of FIG. 1;
FIG. 3 is a flow chart of an implementation of the measurement method of the present invention;
fig. 4 is a schematic diagram of establishing a measurement coordinate system.
Detailed Description
The invention is described in further detail below with reference to the following figures and specific examples:
referring to fig. 1, a distributed monocular camera laser measuring device for a cylinder assembly corner comprises a laser 1, a laser bracket 2 and a computer 3, which are used for measuring a relative angle when a first to-be-assembled cylinder A and a second to-be-assembled cylinder B which are collinear in axis, equal in diameter and opposite in assembly surface are assembled, and a first monocular industrial camera 4 and a second monocular industrial camera 5 which are connected with the computer 3, wherein:
the diameter of the first to-be-assembled cylindrical part A and the diameter of the second to-be-assembled cylindrical part B are 340mm, the wall thickness of the cylindrical part B is 15mm, the axes of the first to-be-assembled cylindrical part A and the second to-be-assembled cylindrical part B are superposed with the X axis of a three-dimensional world coordinate system O-XYZ, and the spatial six-degree-of-freedom position postures of the two to-be-assembled cylindrical parts are adjusted by using X, Y, Z three displacement deviations, deflection angles beta and pitch angles gamma, except that the assembly rotation angle alpha around the X axis is not adjusted; the assembling surface of the first cylindrical part A to be assembled is uniformly distributed with 6 pins with the diameter of 8mm, while the assembling surface of the second cylindrical part B to be assembled is uniformly distributed with 6 holes with the diameter of 8mm, and the pin holes are in clearance fit;
referring to fig. 2, the laser 1 is installed in a mounting hole 24 on a side surface of the laser support body 22 facing the first cylindrical part a to be assembled, a projection center of the laser 1 points to the first cylindrical part a to be assembled, a laser line projected by the laser 1 coincides with an axis of the mounting hole 24, and a laser pattern projected by the laser 1 on an assembly surface of the first cylindrical part a to be assembled is a cross pattern; the laser bracket 2 comprises a laser bracket seat 21 and a laser bracket body 22 which are fixedly connected through threads; the laser support seat 21 is installed on the outer wall of one end, close to the assembling surface, of the second cylindrical part B to be assembled through threaded connection, a concave cylindrical curved surface with the same curvature radius as that of the second cylindrical part B to be assembled is arranged on the lower bottom surface of the laser support seat, and the laser support seat 21 can slide along the circumferential edge of the assembling surface of the second cylindrical part B; three equilateral triangle-shaped saddle points 23 are adhered to the side surface of the laser support body 22 facing the first cylindrical part A to be assembled, and a mounting hole 24 for mounting the laser 1 is formed in the center of each saddle point 23;
the first monocular industrial camera 4 and the second monocular industrial camera 5 are oppositely arranged, and the two monocular industrial cameras are connected with the computer through a USB3.0 data transmission line; the first monocular industrial camera 4 is located on one side of the first cylindrical part A to be assembled and used for photographing three saddle points 23 adhered to the side face of the laser support body 22 in the field of view and the assembling face of the second cylindrical part B to be assembled, and the second monocular industrial camera 5 is located on one side of the second cylindrical part B to be assembled and used for photographing the assembling face of the first cylindrical part A to be assembled in the field of view.
Referring to fig. 3, a measuring method of a distributed monocular camera laser measuring device using a cylinder assembly corner includes the steps of:
(1) establishing a measurement coordinate system:
(1a) referring to fig. 4, a three-dimensional world coordinate system O-XYZ is established, the axes of a first to-be-assembled cylindrical member a having a pin on the assembly plane and a second to-be-assembled cylindrical member B having a hole on the assembly plane coincide with the X-axis of the coordinate system O-XYZ, a first monocular industrial camera and a second monocular industrial camera are arranged opposite to each other in the ZOX plane of the O-XYZ coordinate system, the distance from the first monocular industrial camera to the assembly surface of the second cylindrical part to be assembled B is equal to the distance from the second monocular industrial camera to the assembly surface of the first cylindrical part to be assembled A, the field of view range of the first monocular industrial camera covers three saddle points adhered to the other side surface of the laser support seat in the sliding range of the laser support, the field of view range of the second monocular industrial camera is equal to the field of view range of the first monocular industrial camera, and laser cross patterns projected by the laser are always included;
(1b) establishing origin of coordinates OBCoordinate system O of the first monocular industrial camera located on the mounting surface of the second to-be-mounted cylinder B and contained in the field of view of the first monocular industrial cameraB-YBZBThe coordinate system OB-YBZBY of (A) isBOBZBThe plane is parallel to the YOZ plane of the O-XYZ coordinate system;
(1c) establishing origin of coordinates OAThe coordinate system O of the second monocular industrial camera is positioned on the assembly surface of the first cylindrical part A to be assembled and is contained in the field of view of the second monocular industrial cameraA-YAZAThe coordinate system OA-YAZAY of (A) isAOAZAThe plane is parallel to the YOZ plane of the O-XYZ coordinate system; due to the need to align the coordinate system O in subsequent stepsA-YAZAAnd a coordinate system OB-YBZBOptimal pose transformation matrix between
Figure BDA0002087945020000091
Is solved, so the coordinate system OA-YAZAAnd a coordinate system OB-YBZBDo not need to be parallel to each other between the Y-axis and the Z-axis;
(2) two monocular industrial cameras collect calibration images:
the first monocular industrial camera collects N of different positions of the assembly surface of the second cylindrical part B to be assembled through a standard calibration plate1Amplitude of the image, N150, the N1The frame calibration image needs a standard calibration plate to be tightly attached to the assembly surface of the second cylindrical part B to be assembled, and meanwhile, the second monocular industrial camera collects N of different positions of the assembly surface of the first cylindrical part A to be assembled through the standard calibration plate2Amplitude of the image, N250, the N2A standard calibration plate is required to be attached to a first cylindrical part to be assembled in a manner of clinging to the first cylindrical part to be assembled for calibrating an imageThe standard calibration plate belongs to a two-dimensional calibration object, the calibration object is used in a traditional camera calibration method and is divided into a two-dimensional calibration object and a three-dimensional calibration object, and the two-dimensional calibration object is a plane type, so that the standard calibration plate is simpler to manufacture and is easy to ensure the precision compared with the three-dimensional calibration object, and in the specific embodiment of the invention, the used calibration object is a black dot standard calibration plate of 7 × 7;
(3) the computer calibrates two monocular industrial cameras:
the calibration of the monocular industrial camera aims to determine the correlation between the three-dimensional space position of a certain point on the surface of a space object and the corresponding point in an image, establish a geometric model of camera imaging at the same time, and correct the tangential distortion and the radial distortion of a lens of the monocular industrial camera; the parameters of the geometric model of the camera imaging are camera parameters, including the internal parameters, external parameters and distortion parameters of the camera. The internal parameters of the camera comprise a focal length, a principal point, the width and the height of a single pixel and the resolution; the extrinsic parameters of the camera are the spatial pose of the camera, and comprise displacement in three directions and rotation in three directions; and the distortion parameters of the camera include a radial distortion parameter and a tangential distortion parameter.
The calibration method of the camera mainly comprises the following steps: the method comprises an active vision camera calibration method, a camera self-calibration method and a traditional camera calibration method, wherein the active vision camera calibration method utilizes special motion information of a camera to calibrate the camera, and experimental equipment is expensive and has high condition requirements; the camera self-calibration method is to calibrate the camera by using information such as parallel or orthogonal information in a scene, and is not practical in practice due to strong constraint conditions; the traditional camera calibration method is characterized in that a calibration object with a known size, such as a standard calibration plate, is used for calibrating a camera by establishing correspondence between a point with a known coordinate on the calibration object and an image point of the point, and a certain algorithm is used.
Computer passing through N1Calibrating the first monocular industrial camera by the amplitude calibration image to obtain a coordinate system O of the first monocular industrial cameraB-YBZBOrigin O ofBCoordinate value of (2), YBDirection of axis and ZBDirection of axis, simultaneously passing N2The second monocular industrial camera is calibrated by the amplitude calibration image to obtain a coordinate system O of the second monocular industrial cameraA-YAZAOrigin O ofACoordinate value of (2), YADirection of axis and ZAThe direction of the axis; o isBAnd OAThe coordinate value is the coordinate value of the principal point in the camera internal parameters obtained after the calibration of the two monocular industrial cameras, and Y is the coordinate valueBAxis and ZBAxis, YAAxis and ZAThe axes respectively form an imaging geometric plane obtained after the calibration of the two monocular industrial cameras;
(4) setting measurement parameters:
as shown in FIG. 4, a starting point O where the laser holder slides along the circumferential edge of the mounting face of the second cylindrical member B to be mounted is setbeginAnd end point OendCenter O of assembly surface with second cylindrical part B to be assembledcIs at an angle oftotal，totalAt 25 °, each sliding angle is0，01 °; the projection point of the projection center of the laser on the mounting surface of the second cylindrical part B to be mounted and the mounting surface center O of the second cylindrical part B to be mountedcLine of (1) and line OcObeginThe included angle of the angle is a rotation angle; towards the starting point O within the sliding range of the laser holderbeginSliding the laser mount so that 0 °;
(5) extracting characteristic points of the assembly surfaces of the cylindrical parts A and B to be assembled by the computer:
(5a) in the specific embodiment of the invention, the image processing operation in the step (5) is completed in the image processing software Halcon of the computer; the computer utilizes a first monocular industrial camera to acquire an image containing three saddle points on one side surface of the laser support body when the angle is 0 degrees, and converts the image into a gray image;
(5b) the computer performs median filtering on the gray level image obtained in the step (5a), the median filtering can filter out image noise caused by environmental interference, and then performs saddle point sub-pixel extraction on the gray level image subjected to the median filtering, and the extraction algorithm can be solvedCoordinate values of sub-pixel level precision of the center of the saddle point are obtained, so that three saddle points are located at OB-YBZBThe image coordinates of (1);
(5c) the computer uses the three saddle points obtained in the step (5b) to be at OB-YBZBThe intersection point of three central lines of a triangle formed by three saddle points is calculatedBPBi(yBi,zBi) The intersection point is the center of three saddle points, namely the projection center of the laser, and is used as a characteristic point of the assembly surface of the second cylindrical part B to be assembled;
(5d) opening a laser, projecting a laser cross pattern onto the assembly surface of the first cylindrical part A to be assembled, and acquiring an image containing the laser cross pattern on the assembly surface of the first cylindrical part A to be assembled by using a computer through a second monocular industrial camera and converting the image into a gray image;
(5e) the computer performs median filtering on the gray level image obtained in the step (5d), so as to filter out image noise caused by environmental influence, then performs threshold segmentation on the gray level image subjected to median filtering, and performs shape feature screening on a binarization region of the gray level image subjected to threshold segmentation, so as to obtain a laser cross pattern region;
(5f) computer extracting central point of laser cross pattern area skeletonAPAi(yAi,zAi) Wherein i is +1, the central point is a cross point, and the central point is used as a characteristic point of an assembly surface of the first cylindrical part A to be assembled;
(6) extracting all characteristic points of the assembly surfaces of the cylindrical part A and the cylindrical part B to be assembled by the computer:
computer judgment<totalIf true, if yes, make ++0I.e. the laser holder is moved along its sliding range towards the end point OendSliding angle0And (5) executing, otherwise, obtaining all characteristic points of the assembly surface of the first cylindrical part A to be assembledAPAn(yAn,zAn) And all characteristic points of the assembly surface of the second cylindrical part B to be assembledBPBn(yBn,zBn) Wherein n is 1, 2.26, and performing step (7);
(7) computer obtaining optimal pose transformation matrix
Figure BDA0002087945020000111
Due to pin feature in coordinate system OA-YAZAAnd the hole features are located in the coordinate system OB-YBZBIn order to accurately calculate the corner deviation α of the two cylinders, the pin feature and the hole feature to be assembled need to be unified in the same coordinate system, so that the pin feature can be transformed into the coordinate system of the hole feature by some mapping method, which is essentially a multi-angle-based image registration problem
Figure BDA0002087945020000112
Centering pin featuresAPp(yA,zA) Coordinate system O ofA-YAZABy conversion, it can be aligned with the hole feature centerBPh(yB,zB) Coordinate system O ofB-YBZBAnd (4) overlapping, wherein for all the characteristic points of the assembly surfaces of the cylindrical parts A and B to be assembled, which are obtained in the step (6), the fitted curves are respectively a coordinate system OA-YAZAAnd a coordinate system OB-YBZBOne segment of arc is passed through the position and posture conversion matrix
Figure BDA0002087945020000123
I.e. it can be made to coincide with another segment of circular arc, so that a curve F fitted through all the characteristic points of the assembly faces of the cylindrical parts A and B to be assembled which form the two segments of circular arcAAnd FBConstructing pose transformation matrix
Figure BDA0002087945020000124
Is an objective function of
Figure BDA0002087945020000125
Then to the eyeThe calibration function is optimized to obtain an optimal pose transformation matrix
Figure BDA0002087945020000126
To achieve the optimal effect of image registration;
(7a) all characteristic points of the assembly surface of the first cylindrical part A to be assembled by the computerAPAn(yAn,zAn) Performing curve fitting to obtain a coordinate system OA-YAZAInner fitted curve FASimultaneously all characteristic points of the assembly surface of the second cylindrical part B to be assembledBPBn(yBn,zBn) Performing curve fitting to obtain a coordinate system OB-YBZBInner fitted curve FBAnd establishing FAAnd FBPosition and posture conversion matrix between
Figure BDA0002087945020000127
Figure BDA0002087945020000121
Because the radial and tangential distortion of the camera lens is effectively corrected in the calibration process, but because the poses of the two monocular industrial cameras relative to respective imaging planes are different, the two-dimensional coordinate system OA-YAZAAnd OB-YBZBThe Y, Z axes of the two-dimensional image have different scaling dimensions. It can therefore be considered that the transformation between two coordinate systems, in addition to the rigid body transformation of translation and rotation, there is also a scaling transformation in the horizontal Y direction and the vertical Z direction, where tyAnd tzAre each OA-YAZAAnd OB-YBZBScaling factor between two coordinate systems in Y direction and Z direction, theta is OA-YAZAAnd OB-YBZBRelative angle of rotation of pyAnd pzAre each OA-YAZAAnd OB-YBZBThe amount of relative translation therebetween;
(7b) computer transformation matrix by pose
Figure BDA0002087945020000128
Constructing an objective function
Figure BDA0002087945020000129
And will be
Figure BDA00020879450200001210
Pose transformation matrix corresponding to minimum value
Figure BDA00020879450200001211
As an optimal pose transformation matrix
Figure BDA00020879450200001212
Wherein
Figure BDA00020879450200001213
The expression of (a) is:
Figure BDA0002087945020000122
wherein wnIs an objective function
Figure BDA00020879450200001214
The registration area of the image can be controlled by the weight of each item in the image so as to achieve the optimal effect; the geometric meaning of the above function is defined by the coordinate system O of the first monocular industrial cameraA-YAZAConversion to the coordinate System O of the second monocular Industrial CameraB-YBZBThe residual error generated represents the coordinate system O for the nth term in the formulaB-YBZBThe nth point and the coordinate system OA-YAZAThe nth point of (1) through
Figure BDA0002087945020000132
Conversion to coordinate system OB-YBZBDeviation of point in (2) whenThe above objective function
Figure BDA0002087945020000133
With minimum value, corresponding pose transformation matrix
Figure BDA0002087945020000134
Transforming matrices for optimal poses
Figure BDA0002087945020000135
The embodiment adopts a genetic algorithm toolbox pair in numerical computation software MATLAB
Figure BDA0002087945020000136
Carrying out optimization solution to obtain an optimal pose transformation matrix
Figure BDA0002087945020000137
(8) The computer obtains the image coordinates of the pin on the assembly surface A and the hole on the assembly surface B of the cylindrical part to be assembled:
(8a) in the specific embodiment of the invention, the image processing operation in the step (8) is completed in the image processing software Halcon of the computer; the computer acquires an image containing a pin on the assembly surface of the first cylindrical part to be assembled A by using the second monocular industrial camera and converts the image into a gray image, and simultaneously acquires an image containing a hole on the assembly surface of the second cylindrical part to be assembled B by using the first monocular industrial camera and converts the image into a gray image;
(8b) respectively performing threshold segmentation on the two gray level images obtained in the step (8a) by the computer, then respectively performing shape feature screening on binarization regions in the two gray level images after threshold segmentation to obtain a pin region and a hole region, then extracting a sub-pixel contour of the pin region by a Canny contour extraction algorithm to obtain a sub-pixel contour of the pin, and simultaneously extracting a sub-pixel contour of the hole region to obtain a sub-pixel contour of the hole;
(8c) the computer respectively carries out ellipse fitting based on the least square method on the sub-pixel outline of the pin and the sub-pixel outline of the hole to obtain pin characteristics and hole characteristics, and extracts the center of the pin characteristicsPoint in coordinate system OA-YAZACoordinate value of (5)APp(yA,zA) Taking the pin as the image coordinate of the pin, and simultaneously extracting the characteristic center point of the hole in a coordinate system OB-YBZBCoordinate value of (5)BPh(yB,zB) Taking the image coordinates as the image coordinates of the hole;
(9) the computer calculates the assembly rotation angle alpha between the two cylindrical parts A and B to be assembled:
(9a) computer transformation matrix through optimal pose
Figure BDA0002087945020000138
Coordinate of the pin image obtained in step (8e)APp(yA,zA) Transformation to coordinate system OB-YBZBIn (1), obtaining a pin of OB-YBZBCoordinates of (5)BPP(yp,zp) The transformation formula is:
Figure BDA0002087945020000131
(9b) the computer obtains the image coordinates of the hole through the step (8c)BPh(yB,zB) And the pin obtained in step (9a) is at OB-YBZBCoordinates of (5)BPP(yp,zp) Calculating the assembly angle α between the two cylindrical parts to be assembled A and B:
Figure BDA0002087945020000141
wherein y isBAnd zBRespectively the image coordinates of the holeBPh(yB,zB) At YBAxis and ZBCoordinate value of axis, ypAnd zpIs pinned at OB-YBZBCoordinates of (5)BPP(yp,zp) At YBAxis and ZBCoordinate value of axis, R is second waitingAssembling the center of the hole on the assembling surface of the cylindrical part B to the center O of the assembling surface of the cylindrical part BcR in this specific example is 162.5 mm.

Claims (5)

1. The utility model provides a distributed monocular camera laser surveying device of cylinder assembly corner which characterized in that, including realize to the axis collineation, the diameter equals and the relative angle of rotation measuring laser instrument (1) of assembly of first cylinder A and the relative second cylinder B that waits to assemble of assembly face, laser instrument support (2) and computer (3) and first monocular industrial camera (4) and second monocular industrial camera (5) of being connected with computer (3), wherein:
the laser support (2) comprises a laser support seat (21) and a laser support body (22) which are fixedly connected; the laser support seat (21) is arranged on the outer wall of one end, close to the assembling surface, of the second cylindrical part B to be assembled and can slide along the circumferential edge of the assembling surface of the second cylindrical part B to be assembled; three triangular saddle points (23) are adhered to the side surface of the laser support body (22) facing the first cylindrical part A to be assembled, and mounting holes (24) for mounting the laser (1) are formed in the center positions of the three saddle points (23);
the first monocular industrial camera (4) and the second monocular industrial camera (5) are arranged oppositely, the first monocular industrial camera (4) is used for photographing three saddle points (23) adhered to the side face of the laser support body (22) in a visual field range and an assembly face of the second cylindrical part B to be assembled, and the second monocular industrial camera (5) is used for photographing an assembly face of the first cylindrical part A to be assembled in the visual field range.
2. A distributed monocular camera laser surveying device of barrel assembly corners in accordance with claim 1 wherein the laser (1) projects a laser line coincident with the axis of the mounting hole (24).
3. The device for distributed monocular camera laser measurement of a cylinder assembly angle of claim 1, wherein the laser holder base (21) is provided with a concave cylindrical curved surface having the same radius of curvature as the second cylinder B to be assembled on its lower bottom surface.
4. The device for measuring the assembly angle of a cylinder by using a distributed monocular camera according to claim 1, wherein the laser support body (22) is distributed in an equilateral triangle with three saddle points (23) adhered to the side surface facing the first cylinder A to be assembled.
5. The measuring method of the distributed monocular camera laser measuring device of a cylinder assembly corner according to claim 1, comprising the steps of:
(1) establishing a measurement coordinate system:
(1a) establishing a three-dimensional world coordinate system O-XYZ, wherein the axes of a first cylindrical part A to be assembled with a pin on an assembling surface and a second cylindrical part B to be assembled with a hole on the assembling surface are coincident with the X axis of the coordinate system O-XYZ, a first monocular industrial camera and a second monocular industrial camera are oppositely arranged in ZOX surfaces of the O-XYZ coordinate system, the distance from the first monocular industrial camera to the assembling surface of the second cylindrical part B to be assembled is equal to the distance from the second monocular industrial camera to the assembling surface of the first cylindrical part A to be assembled, the field range of the first monocular industrial camera covers three saddle points stuck on the other side surface of a laser support seat in the sliding range of the laser support, and the field range of the second monocular industrial camera is equal to that of the first monocular industrial camera;
(1b) establishing origin of coordinates OBCoordinate system O of the first monocular industrial camera located on the mounting surface of the second to-be-mounted cylinder B and contained in the field of view of the first monocular industrial cameraB-YBZBThe coordinate system OB-YBZBY of (A) isBOBZBThe plane is parallel to the YOZ plane of the O-XYZ coordinate system;
(1c) establishing origin of coordinates OAThe coordinate system O of the second monocular industrial camera is positioned on the assembly surface of the first cylindrical part A to be assembled and is contained in the field of view of the second monocular industrial cameraA-YAZAThe coordinate system OA-YAZAY of (A) isAOAZAThe plane is parallel to the YOZ plane of the O-XYZ coordinate system;
(2) two monocular industrial cameras collect calibration images:
the first monocular industrial camera collects N of different positions of the assembly surface of the second cylindrical part B to be assembled through a standard calibration plate1Amplitude of the image, N1Not less than 40, and simultaneously, the second monocular industrial camera collects N at different positions of the assembly surface of the first cylindrical part A to be assembled through a standard calibration plate2Amplitude of the image, N2≥40；
(3) The computer calibrates two monocular industrial cameras:
computer passing through N1Calibrating the first monocular industrial camera by the amplitude calibration image to obtain a coordinate system O of the first monocular industrial cameraB-YBZBOrigin O ofBCoordinate value of (2), YBDirection of axis and ZBDirection of axis, simultaneously passing N2The second monocular industrial camera is calibrated by the amplitude calibration image to obtain a coordinate system O of the second monocular industrial cameraA-YAZAOrigin O ofACoordinate value of (2), YADirection of axis and ZAThe direction of the axis;
(4) setting measurement parameters:
setting a starting point O of the laser bracket sliding along the circumferential edge of the mounting surface of the second cylindrical part B to be mountedbeginAnd end point OendCenter O of assembly surface with second cylindrical part B to be assembledcIs at an angle oftotal，total∈[20°,30°]Each sliding angle is0，0∈[0.5°,1°](ii) a The projection point of the projection center of the laser on the mounting surface of the second cylindrical part B to be mounted and the mounting surface center O of the second cylindrical part B to be mountedcLine of (1) and line OcObeginThe included angle of the angle is a rotation angle;
(5) extracting characteristic points of the assembly surfaces of the cylindrical parts A and B to be assembled by the computer:
(5a) the computer utilizes a first monocular industrial camera to acquire an image containing three saddle points on one side surface of the laser support body when the angle is 0 degrees, and converts the image into a gray image;
(5b) the computer carries out median filtering on the gray level image obtained in the step (5a), and then saddle point sub-pixel extraction is carried out on the gray level image after median filtering to obtain three saddle points OB-YBZBThe image coordinates of (1);
(5c) the computer uses the three saddle points obtained in the step (5b) to be at OB-YBZBThe intersection point of three central lines of a triangle formed by three saddle points is calculatedBPBi(yBi,zBi) Wherein
Figure FDA0002591085940000031
And the characteristic points are used as the characteristic points of the assembly surface of the second cylindrical part B to be assembled;
(5d) the computer collects an image containing a laser projection pattern on the assembly surface of the first cylindrical part A to be assembled by using a second monocular industrial camera and converts the image into a gray image;
(5e) the computer performs median filtering on the gray level image obtained in the step (5d), then performs threshold segmentation on the gray level image subjected to median filtering, and performs shape feature screening on a binarization region of the gray level image subjected to threshold segmentation to obtain a laser pattern region;
(5f) computer extracting central point of skeleton in laser pattern areaAPAi(yAi,zAi) Wherein
Figure FDA0002591085940000032
And the characteristic points are used as the characteristic points of the assembly surface of the first cylindrical part A to be assembled;
(6) extracting all characteristic points of the assembly surfaces of the cylindrical part A and the cylindrical part B to be assembled by the computer:
computer judgment<totalIf true, if yes, make ++0And (5) executing, otherwise, obtaining all characteristic points of the assembly surface of the first cylindrical part A to be assembledAPAn(yAn,zAn) And all characteristic points of the assembly surface of the second cylindrical part B to be assembledBPBn(yBn,zBn) Wherein
Figure FDA0002591085940000041
And executing the step (7);
(7) computer obtaining optimal pose transformation matrix
Figure FDA0002591085940000042
(7a) Computer pairAPAn(yAn,zAn) Performing curve fitting to obtain a coordinate system OA-YAZAInner fitted curve FASimultaneously to each otherBPBn(yBn,zBn) Performing curve fitting to obtain a coordinate system OB-YBZBInner fitted curve FBAnd establishing FAAnd FBPosition and posture conversion matrix between
Figure FDA0002591085940000043
Figure FDA0002591085940000044
Wherein, tyAnd tzAre each OA-YAZAAnd OB-YBZBScaling factor between two coordinate systems in Y direction and Z direction, theta is OA-YAZAAnd OB-YBZBRelative angle of rotation of pyAnd pzAre each OA-YAZAAnd OB-YBZBThe amount of relative translation therebetween;
(7b) computer transformation matrix by pose
Figure FDA00025910859400000412
Constructing an objective function
Figure FDA0002591085940000045
And will be
Figure FDA0002591085940000046
Pose transformation matrix corresponding to minimum value
Figure FDA0002591085940000047
As an optimal pose transformation matrix
Figure FDA0002591085940000048
Wherein
Figure FDA0002591085940000049
The expression of (a) is:
Figure FDA00025910859400000410
wherein wnIs an objective function
Figure FDA00025910859400000411
The weight of each item in the list;
(8) the computer obtains the image coordinates of the pin on the assembly surface A and the hole on the assembly surface B of the cylindrical part to be assembled:
(8a) the computer acquires an image containing a pin on the assembly surface of the first cylindrical part to be assembled A by using the second monocular industrial camera and converts the image into a gray image, and simultaneously acquires an image containing a hole on the assembly surface of the second cylindrical part to be assembled B by using the first monocular industrial camera and converts the image into a gray image;
(8b) respectively performing threshold segmentation on the two gray level images obtained in the step (8a) by the computer, then respectively performing shape feature screening on binarization regions in the two gray level images after threshold segmentation to obtain a pin region and a hole region, then extracting a sub-pixel contour of the pin region to obtain a sub-pixel contour of the pin, and simultaneously extracting a sub-pixel contour of the hole region to obtain a sub-pixel contour of the hole;
(8c) the computer performs ellipse fitting on the sub-pixel outline of the pin and the sub-pixel outline of the hole respectively to obtain pin characteristicsHole features and extracting the center point of the pin feature in a coordinate system OA-YAZACoordinate value of (5)APp(yA,zA) And using the pin as an image coordinate of the pin, and simultaneously extracting the characteristic center point of the hole in a coordinate system OB-YBZBCoordinate value of (5)BPh(yB,zB) And using the image coordinates as the image coordinates of the hole;
(9) the computer calculates the assembly rotation angle alpha between the two cylindrical parts A and B to be assembled:
(9a) computer transformation matrix through optimal pose
Figure FDA0002591085940000053
Coordinate of the pin image obtained in step (8c)APp(yA,zA) Transformation to coordinate system OB-YBZBIn (1), obtaining a pin of OB-YBZBCoordinates of (5)BPP(yp,zp) The transformation formula is:
Figure FDA0002591085940000051
(9b) the computer obtains the image coordinates of the hole through the step (8c)BPh(yB,zB) And the pin obtained in step (9a) is at OB-YBZBCoordinates of (5)BPP(yp,zp) Calculating α the assembly angle between the two cylindrical parts A and B to be assembled:
Figure FDA0002591085940000052
wherein y isBAnd zBRespectively the image coordinates of the holeBPh(yB,zB) At YBAxis and ZBCoordinate value of axis, ypAnd zpIs pinned at OB-YBZBCoordinates of (5)BPP(yp,zp) At YBAxis and ZBThe coordinate value of the axis, R is the center of the hole on the mounting surface of the second cylindrical part B to be mounted to the center O of the mounting surface of BcThe distance of (c).
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