CN110487214A - A kind of detection system and its detection method of the product qualification rate combined based on photometric stereo and structured light technique - Google Patents
A kind of detection system and its detection method of the product qualification rate combined based on photometric stereo and structured light technique Download PDFInfo
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- CN110487214A CN110487214A CN201910792566.5A CN201910792566A CN110487214A CN 110487214 A CN110487214 A CN 110487214A CN 201910792566 A CN201910792566 A CN 201910792566A CN 110487214 A CN110487214 A CN 110487214A
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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
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/2513—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object with several lines being projected in more than one direction, e.g. grids, patterns
Abstract
The invention discloses the detection systems and its detection method of a kind of product qualification rate combined based on photometric stereo and structured light technique, belong to field of industry detection, including combining photometric stereo system and structured-light system, body surface normal vector and three-dimensional data after correcting is calculated, body surface normal vector is modified, judges the superiority and inferiority of product；The photometric stereo includes light control switch, lighting source, video camera, image pick-up card and computer；The structured-light system stated includes Array CCD Camera, image pick-up card, telephoto lens, LED projector and computer, and the LED projector is connect with the computer by network signal.Present invention employs the modes that photometric stereo and structured light technique combine, take full advantage of the advantage of photometric stereo and structure light in terms of three-dimensional data acquisition, and by optimization amendment, obtained body surface three-dimensional data are more accurate, can be improved the efficiency of industrial products detection.
Description
Technical field
The invention belongs to industrial detection technical fields, and in particular to one kind is based on photometric stereo and structured light technique phase
In conjunction with product qualification rate detection system and its detection method.
Background technique
With the development of science and technology all trades and professions have all carried out intelligentized upgrading, especially in field of industrial production.With this
Meanwhile it is more worth we be concerned with the qualification rate problem of components, intelligent industrial detection just very good solution this problem.
Traditional detection system is difficult to keep harmonious well in accuracy and detection speed.
Summary of the invention
The purpose of the present invention is to provide a kind of product combined based on photometric stereo and structured light technique is qualified
The detection system and its detection method of rate, to solve the problems mentioned in the above background technology.
To achieve the above object, the present invention provides a kind of product combined based on photometric stereo and structured light technique
The detection system of qualification rate, the system include photometric stereo system and structured-light system；
The photometric stereo system includes light control switch, lighting source, video camera, image pick-up card A and calculating
Machine；The lighting source and the light control switch are electrically connected；The image pick-up card A is camera SSD card, is used
In storage video camera acquisition picture signal and by the picture signal by be transmitted to as unit of frame computer memory and
VGA frame is deposited, and is used for computer disposal, storage, display and transmission；
The structured-light system includes Array CCD Camera, image pick-up card B, telephoto lens, LED projector and meter
Calculation machine, the LED projector are connect with the computer by network signal；The image pick-up card B is camera SSD
Card, for storing the picture signal of CCD camera acquisition and by the picture signal to be transmitted to computer as unit of frame
Memory and VGA frame deposit, for computer disposal, storage, display and transmission use.
As a preferred embodiment, the lighting source is provided with several altogether, for shining simultaneously object
It penetrates；The light control switch can respectively to each lighting source light and extinguishing controls.
As a preferred embodiment, the projector in the structured-light system is for projecting one group of light intensity in just
The raster image of string variation；The CCD camera is used to shoot the raster image that body surface rises and falls and deforms.
In above scheme, it should be noted that the method phasor calculation process of body surface is as follows:
Lighting source is lighted, is taken pictures by video camera and successively acquires four width images, because video camera and tested object location are not sent out
It changes dynamic, on each rubber and plastic point, it is assumed that body surface vector is N, reflectivity ρ, brightness I, light source direction L, then should
Point brightness are as follows:
I=ρ LN (1)
The matrix form of formula (1) are as follows:
There is only least square meaning solutions for formula (2):
ρ=| (LTL)-1(LT·I)| (3)
By body surface normal vector is calculated are as follows:
The three-dimensional data calculating process of raster image is as follows:
The raster image taken according to CCD camera carries out phase calculation and obtains the absolute phase values of raster image；
The three-D profile number on testee surface is calculated from absolute phase values according to preparatory calibrated system parameter
According to.
Three-dimensional imaging is realized using phase shift method in the structured-light system, passes through several with the phase shift that is bound to
Grating fringe image calculate include testee surface three dimension information phase initial value, the light of grating fringe image be standard just
String distribution, the grating being incident upon on object deform because of the height relief of body surface, in the ideal case, deformed grating
Light distribution are as follows:
In(x, y)=R (x, y) { A (x, y)+B (x, y) cos [φ (x, y)+δn]} (5)
I in formula (5)nCoordinate is the light intensity of the pixel of (x, y) on (x, y) expression image, and R (x, y) indicates form factor,
A (x, y) indicates the light intensity of bias light, and B (x, y) is the light intensity of the sinusoidal grating of projection, δnThe phase shift of expression image, φ (x,
It y) is relative phase values to be calculated.
The present invention also provides a kind of detections of product qualification rate combined based on photometric stereo and structured light technique
Method, including using the production combined described in claim 1-3 any one based on photometric stereo and structured light technique
The detection system testing product superiority and inferiority of product qualification rate, which is characterized in that this method specifically comprises the following steps:
S1, body surface three-dimensional point is measured by structured-light system；
S2, the normal vector N that every bit is calculated by three-dimensional pointp, while every bit is gone out by photometric stereo system-computed
Normal vector Nm；
S3, respectively to NpAnd NmGaussian filtering is carried out, corresponding low-frequency data S (N is obtainedP) and S (Nm)；
S4, it calculates from NmTransform to S (Nm) spin matrix R, obtain revised body surface normal vector Nc=RS
(Np)；
S5, three-dimensional data is calculated with revised surface normal；
S6, product surface shape is rebuild by three-dimensional data obtained in S5；
S7, the superiority and inferiority that product is judged according to analysis contrast product surface shape.
Compared with prior art, the beneficial effects of the present invention are:
The present invention incorporates the normal vector that photometric stereo and structured light technique obtain, and is modified to it, passes through
Revised surface normal obtains that precision is higher, the clearer three-dimensional data of details passes through to rebuild product surface information
The method of analyses and comparison carries out the detections of industrial products；Quick, the accurate detection of industrial products is realized, industrial products are improved
Production efficiency, ensured production safety, there is extraordinary application prospect.
Detailed description of the invention
Fig. 1 is photometric stereo system diagram of the invention；
Fig. 2 is solution light source direction schematic diagram of the invention；
Fig. 3 is the phase Gray-scale Matching schematic diagram based on epipolar-line constraint in structured-light system of the invention；
Fig. 4 is structured-light system figure of the invention；
Fig. 5 is work flow diagram of the invention.
Specific embodiment
Below with reference to embodiment, the present invention will be further described.
The following examples are intended to illustrate the invention, but cannot be used to limit the scope of the invention.Item in embodiment
Part can be adjusted according to actual conditions are further, under concept thereof of the invention all to method simple modifications of the invention
Belong to the scope of protection of present invention.
The present invention provides a kind of detections of product qualification rate combined based on photometric stereo and structured light technique
System, referring to Fig. 5, the system includes photometric stereo system and structured-light system.
Referring to Fig. 1, photometric stereo system include light control switch, lighting source, video camera, image pick-up card A and
Computer；Lighting source and light control switch are electrically connected；Image pick-up card A is camera SSD card, is adopted for storing video camera
The picture signal of collection is simultaneously deposited picture signal by the memory and VGA frame that are transmitted to computer as unit of frame, for computer disposal,
Storage, display and transmission use；Lighting source is provided with several altogether, for simultaneously to object illumination；Light control switch can
Respectively to each lighting source light and extinguishing controls.
Referring to Fig. 4, structured-light system includes Array CCD Camera, image pick-up card B, telephoto lens, LED projector
And computer, LED projector are connect with computer by network signal；Image pick-up card B is camera SSD card, for storing
The picture signal of CCD camera acquisition is simultaneously deposited picture signal by the memory and VGA frame that are transmitted to computer as unit of frame, is supplied
Computer disposal, storage, display and transmission use；Projector is used to project the raster image that one group of light intensity is in sinusoidal variations；CCD
Video camera is used to shoot the raster image that body surface rises and falls and deforms.
In the present embodiment, the method phasor calculation process of body surface is as follows:
Firstly the need of Calibrating source direction vector, body surface is calculated according to the light source direction of calibration and image information
Normal vector Nm；
Lighting source is lighted again, is taken pictures by video camera and successively acquires four width images, not because of video camera and tested object location
Change, on each rubber and plastic point, it is assumed that body surface vector be N, reflectivity ρ, brightness I, light source direction L, then
The brightness are as follows:
I=ρ LN (1)
The matrix form of formula (1) are as follows:
There is only least square meaning solutions for formula (2):
ρ=| (LTL)-1(LT·I)| (3)
By body surface normal vector is calculated are as follows:
Referring to Fig. 3, the system using bloom black ball come Calibrating source direction, wherein L is light source direction, and R is video camera
View directions, V is the direction of reflected light, and R=V at this time, N are the normal direction of spherical surface highlight.With bloom black ball nominal light
The step of source direction vector are as follows: first bloom black ball is put into the suitable position of camera field of view, guarantees that video camera takes at this time
Image be it is clearest, bloom position is then searched by bloom black ball image, is obtained finally by bloom position anti-
The direction of light is penetrated, and then calculates and obtains light source direction.Image pick-up card can be by the picture signal of video camera as unit of frame
The memory and VGA frame for being sent to computer are deposited, and for computer disposal, store and transmit use, computer software is divided into calibration
With data reconstruction two parts, the calibration of camera parameters and light source parameters is responsible in calibration part, and three-dimensional data is responsible in measurement part
Calculating and display to measurement result.
Three-dimensional data calculating process is as follows:
Projector first projects one group of light intensity into the raster image of sinusoidal variations to testee, while utilizing CCD video camera
The raster image to deform because body surface rises and falls is shot, phase calculation is then carried out according to taken raster image
The absolute phase values of raster image are obtained, are finally calculated from absolute phase values according to preparatory calibrated system parameter tested
The three-D profile data and normal vector N of body surfacep。
Wherein, three-dimensional imaging is realized using phase shift method, by having several grating fringe images for the phase shift that is bound to
Calculating includes the phase initial value of testee surface three dimension information, and the light of grating fringe image is standard sine distribution, projection
It deforms in the grating on object because of the height relief of body surface, in the ideal case, the light distribution of deformed grating
Are as follows:
In(x, y)=R (x, y) { A (x, y)+B (x, y) cos [φ (x, y)+δn]} (5)
I in formula (5)nCoordinate is the light intensity of the pixel of (x, y) on (x, y) expression image, and R (x, y) indicates form factor,
A (x, y) indicates the light intensity of bias light, and B (x, y) is the light intensity of the sinusoidal grating of projection, δnThe phase shift of expression image, φ (x,
It y) is relative phase values to be calculated.
The matching that corresponding points are carried out using the method that phase sum of the grayscale values epipolar-line constraint principle combines, by image I1On
Pixel P1Phase value, can be in image I2On find one and pixel P2Phase ash with same phase value is write music
Line, and pixel P1Corresponding pixel points P2Just in this phase grey scale curve, then it can be obtained by epipolar-line constraint principle
To with pixel P1Corresponding polar curve EP1, the polar curve and phase grey scale curve intersect at a point P2, then P2It is exactly P1Correspondence picture
Vegetarian refreshments.Projective transformation equation by available two video cameras of national forest park in Xiaokeng is as follows:
sc[uc,vc,1]T=AcMc[Xw,Yw,Zw,1]T (6)
sp[up,vp,1]T=ApMp[Xw,Yw,Zw,1]T (7)
In formula, the pixel coordinate that u and v are projected on the image for P point, s is a constant, and A and M are projection matrix, packet
The internal and external parameter of camera, X are containedw, Yw, ZwThe spatial value of as P point can find out space by formula (6) and formula (7)
The three-dimensional coordinate of point.
The present invention also provides a kind of inspections of product qualification rate combined based on photometric stereo and structured light technique
Survey method, referring to Fig. 5, this method specifically comprises the following steps:
S1, body surface three-dimensional point is measured by structured-light system；
S2, the normal vector N that every bit is calculated by three-dimensional pointp, while every bit is gone out by photometric stereo system-computed
Normal vector Nm；
S3, respectively to NpAnd NmGaussian filtering is carried out, corresponding low-frequency data S (N is obtainedP) and S (Nm)；
S4, it calculates from NmTransform to S (Nm) spin matrix R, obtain revised body surface normal vector Nc=RS
(Np)；
S5, three-dimensional data is calculated with revised surface normal；
S6, product surface shape is rebuild by three-dimensional data obtained in S5；
S7, the superiority and inferiority that product is judged according to analysis contrast product surface shape.
The present invention incorporates the normal vector that photometric stereo and structured light technique obtain, and is modified to it, passes through
Revised surface normal obtains that precision is higher, the clearer three-dimensional data of details passes through to rebuild product surface information
The method of analyses and comparison carries out the detections of industrial products；Quick, the accurate detection of industrial products is realized, industrial products are improved
Production efficiency, ensured production safety, there is extraordinary application prospect.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (4)
1. a kind of detection system of the product qualification rate combined based on photometric stereo and structured light technique, feature are existed
In the system includes photometric stereo system and structured-light system；
The photometric stereo system includes light control switch, lighting source, video camera, image pick-up card A and computer；Institute
The lighting source and the light control switch stated are electrically connected；The image pick-up card A is camera SSD card, for storing up
Deposit the picture signal of video camera acquisition and memory and VGA frame by the picture signal to be transmitted to computer as unit of frame
It deposits, is used for computer disposal, storage, display and transmission；
The structured-light system includes Array CCD Camera, image pick-up card B, telephoto lens, LED projector and computer,
The LED projector is connect with the computer by network signal；The image pick-up card B is camera SSD card, is used for
Storage CCD camera acquisition picture signal and by the picture signal by be transmitted to as unit of frame computer memory and
VGA frame is deposited, and is used for computer disposal, storage, display and transmission.
2. the intelligent industrial detection system according to claim 1 combined based on photometric stereo and structured light technique
System, it is characterised in that: the lighting source is provided with several altogether, for simultaneously to object illumination；The light source control
Switch can respectively to each lighting source light and extinguishing controls.
3. the intelligent industrial detection system according to claim 1 combined based on photometric stereo and structured light technique
System, which is characterized in that the projector in the structured-light system is used to project the raster image that one group of light intensity is in sinusoidal variations；
The CCD camera is used to shoot the raster image that body surface rises and falls and deforms.
4. a kind of detection method of the product qualification rate combined based on photometric stereo and structured light technique, including the right to use
Benefit requires the detection system of the product qualification rate combined described in 1-3 any one based on photometric stereo and structured light technique
System testing product superiority and inferiority, which is characterized in that this method specifically comprises the following steps:
S1, body surface three-dimensional point is measured by structured-light system；
S2, the normal vector N that every bit is calculated by three-dimensional pointp, while going out by photometric stereo system-computed the normal vector of every bit
Nm；
S3, respectively to NpAnd NmGaussian filtering is carried out, corresponding low-frequency data S (N is obtainedP) and S (Nm)；
S4, it calculates from NmTransform to S (Nm) spin matrix R, obtain revised body surface normal vector Nc=RS (Np)；
S5, three-dimensional data is calculated with revised surface normal；
S6, product surface shape is rebuild by three-dimensional data obtained in S5；
S7, the superiority and inferiority that product is judged according to analysis contrast product surface shape.
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Application publication date: 20191122 |