CN111879264A - Flatness measurement and evaluation system based on line structured light - Google Patents
Flatness measurement and evaluation system based on line structured light Download PDFInfo
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- CN111879264A CN111879264A CN202010611932.5A CN202010611932A CN111879264A CN 111879264 A CN111879264 A CN 111879264A CN 202010611932 A CN202010611932 A CN 202010611932A CN 111879264 A CN111879264 A CN 111879264A
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Abstract
The invention relates to the technical field of flatness measurement of a high-speed rail body, and particularly discloses a flatness measurement and evaluation system based on line structured light, which comprises the following components: the system comprises a line-structured light vision sensor device, a data processing device, a three-dimensional reconstruction device and a motion device; the motion device is used for driving the line structure optical visual sensor device to move; the line structure light vision sensor device is used for carrying out image acquisition on a region to be detected on the surface of the train body; the three-dimensional reconstruction device is used for performing three-dimensional reconstruction according to the motion parameters and the image information of the region to be detected; the data processing device is used for controlling the movement of the movement device, controlling the image acquisition frequency of the line structure light vision sensor device and carrying out flatness analysis according to the three-dimensional shape point cloud data to obtain a flatness analysis report of the train body surface. The flatness measuring and evaluating system based on the line structured light can realize automatic measurement and evaluation of the polishing quality of the high-speed rail body.
Description
Technical Field
The invention relates to the technical field of flatness measurement of a high-speed rail body, in particular to a flatness measurement and evaluation system based on line structured light.
Background
With the construction of domestic high-speed trains becoming faster and faster, the demand for high-speed trains increases sharply, which poses more serious challenges to the production and manufacture of high-speed trains. The high-speed rail white car body is an unpainted train body, a putty polishing process is carried out on the train body before painting so as to ensure the adhesive force of painting, the putty polishing quality of the high-speed rail white car body influences the wind resistance performance during high-speed rail running to a great extent, and the polishing quality is judged mainly by measuring the flatness of the surface of the high-speed rail white car body. The biggest problem of the putty polishing process is to prevent the excess polishing from damaging the parent metal, and the problem that the parent metal is damaged by polishing easily due to the fact that the surface of a workpiece to be polished is uneven and the arc transition exists in the structure. At present, a manual detection method is mainly adopted, the experience of detection workers is seriously depended, only spot inspection can be carried out, time and labor are consumed for full inspection, the problems of low measurement efficiency, poor precision and the like are solved, the processing efficiency of high-speed rails is restricted, effective putty scraping and polishing quality data are difficult to accumulate, and the continuous improvement of the processing quality of the high-speed rails is hindered.
Disclosure of Invention
The invention provides a flatness measuring and evaluating system based on line structured light, which solves the problem that the flatness of a polished high-speed rail body cannot be measured in the related technology.
In order to solve the technical problem, the invention provides a flatness measuring and evaluating system based on line structured light, which comprises: the system comprises a line-structured light vision sensor device, a data processing device, a three-dimensional reconstruction device and a motion device;
the motion device is used for driving the line structure optical visual sensor device to move and generating motion parameters;
the line structure optical vision sensor device is a non-contact three-dimensional measuring device and is used for carrying out image acquisition on a to-be-measured area on the surface of a train body and generating image information of the to-be-measured area;
the three-dimensional reconstruction device is used for performing three-dimensional reconstruction according to the motion parameters and the image information of the area to be measured and obtaining three-dimensional topography point cloud data of the area to be measured;
the data processing device is used for controlling the movement of the movement device, controlling the image acquisition frequency of the line structure light vision sensor device and carrying out flatness analysis according to the three-dimensional topography point cloud data to generate a flatness analysis report of the train body surface.
Further, according to the flatness measuring and evaluating system based on the line structured light, the line structured light vision sensor device is installed on the motion device, the motion device and the line structured light vision sensor device are both in communication connection with the data processing device, and the motion device, the line structured light vision sensor device and the data processing device are all in communication connection with the three-dimensional reconstruction device.
Further, the invention relates to a flatness measuring and evaluating system based on line structured light, the line structured light vision sensor device comprises: the camera comprises a shell, an image acquisition module, a laser, a camera fixing bracket, a lens fixing bracket and a laser fixing bracket, wherein the image acquisition module and the laser are arranged in the shell; the laser with the image acquisition module is the contained angle setting, the laser be used for to the region that awaits measuring on train automobile body surface throws the laser line, after the image acquisition module is used for gathering the projection laser line the regional image information of the region that awaits measuring on train automobile body surface.
Further, the flatness measuring and evaluating system based on line structured light comprises an industrial camera and a camera lens, wherein the camera lens is connected with the industrial camera, and the camera lens and the laser are arranged in an included angle.
Further, according to the flatness measuring and evaluating system based on line structured light, the camera fixing bracket is used for fixing the industrial camera on the housing, the lens fixing bracket is used for fixing the camera lens on the housing, and the laser fixing bracket is used for fixing the laser on the housing.
Further, according to the flatness measuring and evaluating system based on line structured light, an image collecting hole and a laser line emitting hole are formed in the side face of the shell, the image collecting hole is arranged opposite to the camera lens, and the laser line emitting hole is arranged opposite to the laser; the bottom of the shell is provided with a connecting hole which is used for connecting the line-structured light vision sensor device and the movement device.
Further, the flatness measuring and evaluating system based on line structured light of the present invention includes:
the image preprocessing module is used for preprocessing the image information of the area to be detected, wherein the image information of the area to be detected comprises laser line stripes;
the extraction module is used for extracting the central line of the laser line stripe;
the two-dimensional pixel point coordinate obtaining module is used for obtaining two-dimensional pixel point coordinates according to the central line of the laser line stripe;
and the three-dimensional appearance point cloud data acquisition module is used for processing according to the two-dimensional pixel point coordinates and acquiring three-dimensional appearance point cloud data by combining the motion parameters.
Further, the flatness measuring and evaluating system based on the line structure light comprises a control module and a processing module, wherein the control module is used for controlling the movement of the movement device and controlling the image acquisition frequency of the line structure light visual sensor device, and the processing module is used for carrying out flatness analysis on the three-dimensional shape point cloud data to obtain a flatness analysis report of the train body surface.
Further, the invention relates to a flatness measuring and evaluating system based on line structured light, wherein the processing module comprises:
the data preprocessing module is used for filtering and drying the three-dimensional topography point cloud data;
the determination and judgment reference module is used for determining a neutral surface of the three-dimensional topography data point cloud according to least square fitting and taking the neutral surface as a reference surface for calculating the flatness;
the flatness index obtaining module is used for calculating and obtaining a flatness index according to the distance from each point in the three-dimensional topography point cloud data to a reference surface of the flatness, and the flatness index comprises a maximum distance, an average distance, a minimum distance and a variance;
and the flatness evaluation module is used for comparing the flatness index with the manual detection data to obtain a flatness analysis report.
Further, the flatness measuring and evaluating system based on line structured light of the present invention specifically includes the following steps:
s1, calibrating the line-structured light vision sensor device, specifically including internal and external parameter calibration, structured light plane calibration and scanning direction calibration of the industrial camera, wherein the line-structured light vision sensor device performs phase acquisition on a region to be measured on the surface of the vehicle body according to a phase acquisition frame rate set by the data processing device to obtain the laser line stripes;
s2, the three-dimensional reconstruction device extracts the center line of the laser line stripe, the two-dimensional pixel point coordinates of a plurality of points on a camera coordinate system are obtained according to the center line of the laser line stripe, the three-dimensional pixel point coordinates of the plurality of points are obtained according to the relation between a world coordinate system and an image coordinate system obtained by camera calibration parameters and the constraint of the plurality of points on a light plane, the data processing device controls the motion device to drive the line structure light vision sensor device to do one-dimensional motion according to set motion parameters, and the three-dimensional topography data point cloud is obtained by combining the motion parameters;
and S3, the data processing device determines a neutral surface of the three-dimensional topography data point cloud according to least square fitting, the neutral surface is used as a reference surface for calculating the flatness, and flatness indexes including a maximum distance, an average distance, a minimum distance and a variance are obtained by calculating according to the distance from each point in the three-dimensional topography data point cloud to the reference surface.
Compared with the prior art, the invention has the beneficial effects that:
according to the flatness measuring and evaluating system based on the line structured light, the line structured light visual sensor device is adopted to acquire the image of the area to be measured on the surface of the train body and generate the image information of the area to be measured, the automation degree is high, the measuring efficiency and the measuring precision are high, and the polishing quality evaluation of the high-speed rail white train body can be well completed; in addition, the line structured light vision sensor device belongs to a non-contact three-dimensional measuring device, and no trace is left on the surface of the polished high-speed rail due to mechanical contact. In addition, flatness analysis is carried out according to the three-dimensional shape point cloud data obtained by the three-dimensional reconstruction device, flatness evaluation of a train body can be achieved, and the evaluation result can also be used for improving putty blade coating and polishing quality.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a block diagram of a flatness measuring and evaluating system based on line structured light according to the present invention;
FIG. 2 is a schematic diagram of the working principle of the line structured light vision sensor device provided by the present invention;
FIG. 3 is a schematic structural diagram of a line structured light vision sensor apparatus according to the present invention;
FIG. 4 is a mathematical model diagram of a line structured light vision sensor apparatus provided by the present invention;
fig. 5 is a flowchart of an embodiment of a flatness measuring and evaluating system based on line structured light according to the present invention.
Detailed Description
For a more clear understanding of the technical features, objects and effects of the present invention, embodiments of the present invention will now be described in detail with reference to the accompanying drawings. In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged under appropriate circumstances in order to facilitate the description of the embodiments of the invention herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In this embodiment, a flatness measuring and evaluating system based on line structured light is provided, and fig. 1 is a block diagram of a flatness measuring and evaluating system 10 based on line structured light according to an embodiment of the present invention, as shown in fig. 1, including: the three-dimensional reconstruction device comprises a line-structured light vision sensor device 100, a data processing device 200, a three-dimensional reconstruction device 300 and a motion device 400, wherein the line-structured light vision sensor device 100 is connected with the motion device 400, the motion device 400 and the line-structured light vision sensor device 100 are both in communication connection with the data processing device 200, and the motion device 400, the line-structured light vision sensor device 100 and the data processing device 200 are all in communication connection with the three-dimensional reconstruction device 300;
the motion device 400 is configured to drive the line structured light vision sensor device 100 to move and generate motion parameters;
the line-structured optical vision sensor device 100 is used for collecting images of a region to be measured on the surface of a train body and generating image information of the region to be measured;
the three-dimensional reconstruction device 300 is configured to perform three-dimensional reconstruction according to the motion parameters and the image information of the region to be measured, and obtain point cloud data of a three-dimensional topography of the region to be measured;
the data processing device 200 is used for controlling the movement of the moving device, controlling the image acquisition frequency of the line structure light vision sensor device and analyzing the flatness according to the point cloud data of the three-dimensional topography to obtain a flatness analysis report of the surface of the train body.
According to the flatness measuring and evaluating system based on the line structured light, provided by the embodiment of the invention, the line structured light vision sensor device is adopted to carry out image acquisition on the to-be-measured area on the surface of the train body and generate the image information of the to-be-measured area, so that the degree of automation is high, the measuring efficiency and the measuring precision are high, and the polishing quality evaluation of the high-speed rail white train body can be well completed; in addition, the line structured light vision sensor device belongs to a non-contact three-dimensional measuring device, and no trace is left on the surface of the polished high-speed rail due to mechanical contact. In addition, flatness analysis is carried out according to the three-dimensional shape point cloud data obtained by the three-dimensional reconstruction device, flatness evaluation of a train body can be achieved, and the evaluation result can also be used for improving putty blade coating and polishing quality.
Fig. 2 is a schematic diagram illustrating the operation principle of a line structured light vision sensor device. The measured object 1, the laser 2, the camera 3, the light plane 4 and the laser line 5 form a line structured light three-dimensional measuring mode, preferably, the laser 2 is a line laser. The line structured light three-dimensional measuring technology is a measuring method for obtaining the three-dimensional characteristics of a measured object from a modulated digital stripe image on the basis of a laser triangulation method, a digital image processing technology and a camera projection imaging principle. According to the laser triangulation method, a fixed geometric triangulation relationship exists among the line laser 2, the measured object 1 and the camera 3, the three-dimensional characteristics of the surface of the vehicle body can be obtained by using the laser triangulation method, but only three-dimensional coordinates of a single section of the surface of the vehicle body in space can be obtained, and if the measurement in a certain area of the surface of the vehicle body is to be realized, the working range of the line laser vision sensor device 100 needs to be expanded by the aid of the movement device 400, so that the measurement of the three-dimensional shape in a large range is realized. In order to ensure that the laser plane can scan the region to be detected on the surface of the vehicle body, the scanning mode of the laser is strictly controlled.
Specifically, as shown in fig. 3, the line structured light vision sensor device 100 includes: shell 180 and setting are in image acquisition module and laser instrument 150 in the shell 180, laser instrument 150 and image acquisition module are the contained angle setting, laser instrument 150 be used for to the region that awaits measuring on train body surface throws the laser line, the image acquisition module is used for gathering after throwing the laser line the image information of the region that awaits measuring on train body surface is regional.
Preferably, the laser 150 comprises a line laser.
It should be noted that the linear laser can project laser lines with fine stripes and uniform power distribution to the surface of the train body.
Further specifically, the image capturing module includes an industrial camera 120 and a camera lens 170, the camera lens 170 is connected to the industrial camera 120, and the camera lens 170 and the laser 150 are disposed at an included angle of 120 ° or 150 °.
More specifically, the line structured light vision sensor apparatus 100 further includes a camera fixing bracket 110 and a lens fixing bracket 130, the camera fixing bracket 110 is used for fixing the industrial camera 120 on the housing 180, and the lens fixing bracket 130 is used for fixing the camera lens 170 on the housing 180.
Specifically, the side 181 of the housing 180 is provided with an image collecting hole 183 and a laser line emitting hole 184, the image collecting hole 183 is disposed opposite to the camera lens 170, and the laser line emitting hole 184 is disposed opposite to the laser 150.
Specifically, the line structured light vision sensor apparatus 100 further includes a laser fixing bracket 160, and the laser fixing bracket 160 is used to fix the laser 150 to the housing 180.
Specifically, the bottom 182 of the housing 180 is provided with a connection hole 140, and the connection hole 140 is used to connect the line structured light vision sensor device 100 and the motion device 400.
Specifically, the line structured light visual sensor device 100 is installed on the moving device 400 as an information acquisition unit of a flatness measurement and evaluation system based on line structured light, and finishes scanning an area to be measured on the surface of a train under the driving of the moving device 400 to obtain a series of pictures with train surface information. In the embodiment of the present invention, the laser is exemplified by a word line laser. The word line laser, the industrial camera and the camera lens are respectively fixed in the shell of the sensor through the fixing supports. The linear laser is used for projecting laser lines with fine stripes and uniform power distribution to the surface of the vehicle body; the industrial camera and the camera lens are arranged at a certain angle with the linear laser and are used for collecting picture information. The field dust concentration of polishing is higher, shell 180 has good dustproof effect, can prevent effectively that the dust from polluting the camera lens and leading to the measuring apparatu measuring effect condition such as not good to take place.
Fig. 4 is a mathematical model diagram of the line structured light vision sensor apparatus 100 according to the embodiment of the present invention, in which: 11 denotes a camera, 12 denotes an image plane, 13 denotes a vision sensor, 14 denotes a line laser, 15 denotes a light plane, and 16 denotes an object to be measured. The camera can obtain the internal and external parameters and distortion of the camera after being calibrated, so that the relation between a world coordinate system and an image coordinate system is established, and in addition, the three-dimensional reconstruction can be completed only by knowing the structural parameters of the visual sensor. The invention adopts a line-surface model, a line-structured light plane is intersected with the surface of a vehicle body to form a laser stripe line, an imaging point of a point P on the line in a camera is P', the point P is on the surface of the vehicle body and the light plane, and if a three-dimensional coordinate of the point P in a world coordinate system is obtained, the spatial position relation between the light plane and the world coordinate system is required to be known. In FIG. 4, OwXwYwZw represents a world coordinate system, OcxyycZc represents a camera coordinate system, OoxuyvRepresenting an image plane coordinate system. And taking the global world coordinate system as a reference coordinate system for system measurement and a reference coordinate system of the light plane. Space of structured light under global coordinate systemThe interplanar equation is AXw+BYw+CZwAnd if + D is 0, then the three-dimensional point P uniquely corresponding to the point P in the space can be obtained through the two-dimensional plane image point P' according to the relationship between the world coordinate system and the image coordinate system obtained by the camera calibration parameters and the constraint that the point P is on the light plane.
The specific derivation process is as follows: p' (u, v) is known to be a pixel point of a collected image, and the camera internal parameter f is known to be obtained through calibrationx、fy、cx、cy(where f is the focal length of the camera, cx、cyA displacement value, s, for the pixel center p '(u, v) from the camera's physical centerx、syIs a proportionality coefficient,) fx＝f/sx，fy＝f/syKnown as AXw+BYw+CZw+ D is 0, the point P' (X, y) on the camera sensor plane is unknown, and the corresponding three-dimensional point P (X) is unknownw,Yw,Zw)。
By the formula
Get p' (x, y), in the plane of the equation
Under the constraint of
I.e. P (X)w,Yw,Zw)。
Specifically, the three-dimensional reconstruction apparatus includes:
the image preprocessing module is used for preprocessing the image information of the area to be detected, wherein the image information of the area to be detected comprises laser line stripes;
the extraction module is used for extracting the central line of the laser line stripe;
the two-dimensional pixel point coordinate obtaining module is used for obtaining two-dimensional pixel point coordinates according to the central line of the laser line stripe;
and the three-dimensional appearance point cloud data acquisition module is used for processing according to the two-dimensional pixel point coordinates and acquiring three-dimensional appearance point cloud data by combining the motion parameters.
The reason why the center line needs to be extracted for the laser line stripe is: the laser forms a slender line, namely the laser line stripe, through the rectangular grating sheet, the center of the area corresponds to the center of the lens, and in order to further improve the acquisition precision, the center line of the laser line stripe with a certain pixel width needs to be extracted.
As shown in fig. 5, in the embodiment of the present invention, the measurement is performed based on a direct laser triangulation method, a line structured light vision sensor is fixed to a moving device, the moving device is parallel to a reference plane, a line structured laser is perpendicular to the reference plane, and an optical axis of a camera forms an angle with the reference plane. Before the system starts to measure, the structured light vision sensor needs to be calibrated, and the calibration specifically comprises the calibration of internal and external parameters of a camera, the calibration of a structured light plane and the calibration of a scanning direction. When measurement is carried out, the data processing device controls the motion device to drive the vision sensor to do one-dimensional motion according to set motion parameters, the vision sensor carries out phase acquisition on a region to be measured on the surface of the vehicle body according to a phase acquisition frame rate set by the data processing device, an obtained reflected laser stripe image is sent to the data processing device through a USB3.0 interface, the data processing device controls the image acquisition frequency of the line structure light vision sensor device, laser stripe distortion obtained from a three-dimensional reconstruction device is processed in the device, such as radial distortion, centrifugal distortion and thin prism distortion models, a measured two-dimensional pixel needs to be converted into an image physical coordinate system from an image pixel coordinate system by using measurement model parameters of the vision sensor and motion parameters of the motion device, then is converted into a camera coordinate system, and finally is converted into a world coordinate system to obtain three-dimensional shape data point cloud, and flatness analysis is carried out, and finally, obtaining the flatness of the surface of the vehicle body and generating an analysis report.
Specifically, the data processing device comprises a control module and a processing module, wherein the control module is used for controlling the movement of the movement device and controlling the image acquisition frequency of the line structure light vision sensor device, and the processing module is used for carrying out flatness analysis on the three-dimensional shape data point cloud to obtain a flatness analysis report of the train body surface.
Further specifically, the processing module comprises:
the data preprocessing module is used for filtering and drying the three-dimensional topography point cloud data;
the determination and judgment reference module is used for determining a neutral surface of the three-dimensional topography data point cloud according to least square fitting and taking the neutral surface as a reference surface for calculating the flatness;
the flatness index obtaining module is used for calculating and obtaining a flatness index according to the distance from each point in the three-dimensional topography point cloud data to a reference surface of the flatness, and the flatness index comprises a maximum distance, an average distance, a minimum distance and a variance;
and the flatness evaluation module is used for comparing the flatness index with the manual detection data to obtain a flatness analysis report.
It should be understood that the flatness evaluation method is composed of data preprocessing, determination of evaluation criteria, flatness index, flatness evaluation, and the like. The data preprocessing mainly adopts filtering and denoising technologies such as Gaussian filtering and the like to remove noise in the three-dimensional shape data of the surface of the putty coating; determining a judgment basis rule, namely determining a neutral surface of the three-dimensional morphology data by performing least square fitting on data in a measurement range, wherein the neutral surface is a reference plane (including a curved surface, and the reference of the arc part of the vehicle body is an arc surface) for calculating the flatness; the flatness index is composed of a maximum distance, an average distance, a minimum distance, a variance and the like, and each index is obtained through statistics according to the distance from each point in the three-dimensional shape data to the reference plane; and the flatness evaluation is obtained by comparing the flatness index with the manual detection data and utilizing a regression learning technology.
Specifically, the calculation formula of the distance from the point to the reference plane is:
wherein D represents the distance from the point to the reference plane, n represents the number of points,
which represents the position of any of the points a,
and representing any point B, j represents that the measured point is the fourth point, and calculating the distance in the field from the point in the three-dimensional topography point cloud data to the target point of the reference plane to obtain an average value during actual processing.
In particular, with respect to the maximum distance DmaxThe calculation formula of (2) is as follows: dmax＝max(Dj) Minimum distance DminThe calculation formula of (2) is as follows: dmax＝min(Dj) Average value DmeanThe calculation formula of (2) is as follows:
the formula for calculating the standard deviation σ is:
the flatness measuring and evaluating system based on the line structured light comprises a structured light vision sensor, a motion device, a data processing device and three-dimensional shape detection and flatness evaluation. The structured light vision sensor is designed by adopting a direct-injection laser triangulation principle, and a three-dimensional morphology coordinate is solved by utilizing a line-surface model; the motion device expands the measurement range of the structured light vision sensor and realizes the reconstruction of large-range three-dimensional shape data; the data processing device provides necessary computational power for three-dimensional morphology detection; the three-dimensional shape detection and the flatness evaluation realize the analysis and the flatness evaluation of the three-dimensional shape data of the high-speed rail surface coating and realize the automatic measurement and evaluation of the high-speed rail plane flatness.
It will be understood that the above embodiments are merely exemplary embodiments taken to illustrate the principles of the present invention, which is not limited thereto. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit and substance of the invention, and these modifications and improvements are also considered to be within the scope of the invention.
Claims (10)
1. A flatness measurement and evaluation system based on line structured light, comprising: the system comprises a line-structured light vision sensor device, a data processing device, a three-dimensional reconstruction device and a motion device;
the motion device is used for driving the line structure optical visual sensor device to move and generating motion parameters;
the line structure optical vision sensor device is a non-contact three-dimensional measuring device and is used for carrying out image acquisition on a to-be-measured area on the surface of a train body and generating image information of the to-be-measured area;
the three-dimensional reconstruction device is used for performing three-dimensional reconstruction according to the motion parameters and the image information of the area to be measured and obtaining three-dimensional topography point cloud data of the area to be measured;
the data processing device is used for controlling the movement of the movement device, controlling the image acquisition frequency of the line structure light vision sensor device and carrying out flatness analysis according to the three-dimensional topography point cloud data to generate a flatness analysis report of the train body surface.
2. The system of claim 1, wherein the linear structured light vision sensor device is mounted on the motion device, the motion device and the linear structured light vision sensor device are all communicatively coupled to the data processing device, and the motion device, the linear structured light vision sensor device and the data processing device are all communicatively coupled to the three-dimensional reconstruction device.
3. The system of claim 1, wherein the line structured light vision sensor device comprises: the camera comprises a shell, an image acquisition module, a laser, a camera fixing bracket, a lens fixing bracket and a laser fixing bracket, wherein the image acquisition module and the laser are arranged in the shell; the laser with the image acquisition module is the contained angle setting, the laser be used for to the region that awaits measuring on train automobile body surface throws the laser line, after the image acquisition module is used for gathering the projection laser line the regional image information of the region that awaits measuring on train automobile body surface.
4. The line structured light based flatness measuring and evaluating system of claim 3, wherein said image capturing module includes an industrial camera and a camera lens, said camera lens is connected to said industrial camera, said camera lens is disposed at an angle to said laser.
5. The line structured light based flatness measuring and evaluating system of claim 3, wherein said camera mount bracket is used to mount said industrial camera to said housing, said lens mount bracket is used to mount said camera lens to said housing, and said laser mount bracket is used to mount said laser to said housing.
6. The flatness measuring and evaluating system based on line structured light according to claim 3, wherein an image collecting hole and a laser line emitting hole are provided at a side surface of the housing, the image collecting hole is disposed opposite to the camera lens, and the laser line emitting hole is disposed opposite to the laser; the bottom of the shell is provided with a connecting hole which is used for connecting the line-structured light vision sensor device and the movement device.
7. The system of claim 1, wherein the three-dimensional reconstruction device comprises:
the image preprocessing module is used for preprocessing the image information of the area to be detected, wherein the image information of the area to be detected comprises laser line stripes;
the extraction module is used for extracting the central line of the laser line stripe;
the two-dimensional pixel point coordinate obtaining module is used for obtaining two-dimensional pixel point coordinates according to the central line of the laser line stripe;
and the three-dimensional appearance point cloud data acquisition module is used for processing according to the two-dimensional pixel point coordinates and acquiring three-dimensional appearance point cloud data by combining the motion parameters.
8. The system of claim 1, wherein the data processing device comprises a control module and a processing module, the control module is configured to control the movement of the movement device and the image acquisition frequency of the line structured light vision sensor device, and the processing module is configured to perform a flatness analysis on the three-dimensional point cloud data to obtain a flatness analysis report of the train body surface.
9. The line structured light based flatness measuring and evaluating system of claim 8, wherein said processing module includes:
the data preprocessing module is used for filtering and drying the three-dimensional topography point cloud data;
the determination and judgment reference module is used for determining a neutral surface of the three-dimensional topography data point cloud according to least square fitting and taking the neutral surface as a reference surface for calculating the flatness;
the flatness index obtaining module is used for calculating and obtaining a flatness index according to the distance from each point in the three-dimensional topography point cloud data to a reference surface of the flatness, and the flatness index comprises a maximum distance, an average distance, a minimum distance and a variance;
and the flatness evaluation module is used for comparing the flatness index with the manual detection data to obtain a flatness analysis report.
10. The system of any one of claims 1 to 9, wherein the flatness measurement and evaluation system specifically comprises the following steps:
s1, calibrating the line-structured light vision sensor device, specifically including internal and external parameter calibration, structured light plane calibration and scanning direction calibration of the industrial camera, wherein the line-structured light vision sensor device performs phase acquisition on a region to be measured on the surface of the vehicle body according to a phase acquisition frame rate set by the data processing device to obtain the laser line stripes;
s2, the three-dimensional reconstruction device extracts the center line of the laser line stripe, the two-dimensional pixel point coordinates of a plurality of points on a camera coordinate system are obtained according to the center line of the laser line stripe, the three-dimensional pixel point coordinates of the plurality of points are obtained according to the relation between a world coordinate system and an image coordinate system obtained by camera calibration parameters and the constraint of the plurality of points on a light plane, the data processing device controls the motion device to drive the line structure light vision sensor device to do one-dimensional motion according to set motion parameters, and the three-dimensional topography data point cloud is obtained by combining the motion parameters;
and S3, the data processing device determines a neutral surface of the three-dimensional topography data point cloud according to least square fitting, the neutral surface is used as a reference surface for calculating the flatness, and flatness indexes including a maximum distance, an average distance, a minimum distance and a variance are obtained by calculating according to the distance from each point in the three-dimensional topography data point cloud to the reference surface.
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| CN112747687A (en) * | 2020-12-18 | 2021-05-04 | 中广核核电运营有限公司 | Line structure light vision measurement calibration method and system |
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| CN114136219A (en) * | 2021-11-18 | 2022-03-04 | 大连海事大学 | Tunnel wet spraying vehicle guniting thickness real-time detection device and method based on line structured light |
| CN116128850A (en) * | 2023-02-18 | 2023-05-16 | 西安正实智能科技有限公司 | Perforation measurement method, device, equipment and readable storage medium |
| CN118583092A (en) * | 2024-08-06 | 2024-09-03 | 山东万世机械科技有限公司 | Laser leveling machine laser flatness detection device |
| CN118583092B (en) * | 2024-08-06 | 2024-10-25 | 山东万世机械科技有限公司 | Laser leveling machine laser flatness detection device |
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| CN114136219B (en) * | 2021-11-18 | 2024-02-13 | 大连海事大学 | Tunnel wet spraying vehicle guniting thickness real-time detection device and method based on line structured light |
| CN116128850A (en) * | 2023-02-18 | 2023-05-16 | 西安正实智能科技有限公司 | Perforation measurement method, device, equipment and readable storage medium |
| CN116128850B (en) * | 2023-02-18 | 2023-11-21 | 西安正实智能科技有限公司 | Perforation measurement method, device, equipment and readable storage medium |
| CN118583092A (en) * | 2024-08-06 | 2024-09-03 | 山东万世机械科技有限公司 | Laser leveling machine laser flatness detection device |
| CN118583092B (en) * | 2024-08-06 | 2024-10-25 | 山东万世机械科技有限公司 | Laser leveling machine laser flatness detection device |
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