CN112146589A - Three-dimensional morphology measurement system and method based on ZYNQ platform - Google Patents
Three-dimensional morphology measurement system and method based on ZYNQ platform Download PDFInfo
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Abstract
The invention discloses a three-dimensional morphology measuring system and method based on a ZYNQ platform, wherein a Linux system is transplanted to the ZYNQ platform and comprises an image acquisition module (100), a system calibration module (200), an image preprocessing module (300), a light strip center extraction module (400) and a point cloud data splicing and fusing module (500) which are arranged on a ZYNQ plate. And respectively preprocessing the collected image and the light strip center, and performing point cloud data fusion and analysis on the collected image data and the system parameters to reconstruct the three-dimensional appearance of the surface of the object. The invention (1) solves the problems that the original three-dimensional shape measurement system has larger volume and power consumption, can not measure objects with larger mass and can not move, and has the advantages of miniaturization, portability and the like; (2) the method is realized on a ZYNQ platform, a Linux system is transplanted, an FPGA and a dual-core ARM processor are integrated, data parallel processing is realized, and the working efficiency is greatly improved.
Description
Technical Field
The invention relates to a three-dimensional topography measuring technology, in particular to a three-dimensional topography measuring system and method based on a ZYNQ platform.
Background
The development of three-dimensional topography technology began with the three-coordinate measuring instruments that appeared in the mid-60's of the 20 th century. The method has the advantages of high measuring speed, high efficiency, easy automation and the like, and is generally applied to the industrial field. The non-contact measurement type three-dimensional topography measurement can acquire the topography data of the object surface by using devices such as a photoelectric sensor and the like under the condition of not contacting with the object surface, and has important application in the fields of automobile and ship manufacturing, aerospace, mold manufacturing and the like, wherein the surfaces are difficult to directly measure.
ZYNQ is an embedded application that is introduced by Xilinx corporation, and is also an extensible processing platform. The FPGA-based dual-core ARM Cortex-A9 processor integrates the FPGA and the dual-core ARM Cortex-A9 processor, has the advantages of parallel processing of the FPGA and extensible hardware, and also has the characteristics of mature ARM development, rich interfaces, convenient control and interaction realization through an on-chip bus protocol. After the ZYNQ platform is connected with the camera, real-time visual image acquisition and processing control can be carried out, the aspects of computer technology, electronic technology and the like are combined, and the ZYNQ platform has important research and application values in the aspect of non-contact three-dimensional shape measurement due to the characteristics of strong function, low power consumption, reliability, portability, simple programming and the like.
Disclosure of Invention
Based on the problems in the prior art, the invention provides a three-dimensional shape measuring system and method based on a ZYNQ platform, a Linux system is transplanted to the ZYNQ platform, and the three-dimensional shape measuring system and method based on an optical principle is realized based on ZYNQ.
The invention relates to a three-dimensional morphology measuring system based on a ZYNQ platform, which is characterized in that a Linux system is transplanted to the ZYNQ platform and comprises an image acquisition module 100, a system calibration module 200, an image preprocessing module 300, a light strip center extraction module 400 and a point cloud data splicing and fusing module 500 which are arranged on a ZYNQ plate; wherein:
the image acquisition module (100) scans a light plane of the measured object through a camera to acquire information of the surface profile of the measured object; the system calibration module (200) is used for calibrating system parameters, and comprises camera calibration, light plane calibration and double-camera combined calibration; the system parameters obtained by the system calibration module (200) are respectively transmitted to the image preprocessing module (300) and the light strip center extraction module (400); the image preprocessing module (300) is used for eliminating interference information in the image, and comprises image filtering and edge detection; the light strip center extraction module (400) is used for refining the gray scale gravity center of a light strip in the direction vertical to the light plane by designing an improved gray scale gravity center method to obtain the position of the light strip center point; the algorithm comprises the following specific processes:
setting the light bar on the ith row of the input light bar image to occupy n pixel points, wherein the maximum column value of the pixel points in the n pixel points is max, the minimum column value is min, the gray value of the pixel points on the u row and v column in the image is expressed by f (u, v), and then the formula of the area center is as follows:
the improved gray scale gravity center method extracts the energy center in the v epsilon (min, max) area on the u-th line occupied by the light bar, and then obtains the coordinate of the measured object; the point cloud data splicing and fusing module (500) is used for fusing the acquired images, the system parameters and the light strip central positions and analyzing data to complete three-dimensional shape reconstruction.
The invention discloses a three-dimensional shape measuring method based on a ZYNQ platform, which comprises the following steps:
step S1, transplanting the Linux system to a ZYNQ platform, calling a function in an OpenCV library in the system to write a three-dimensional morphology measurement system program, and ensuring that the program has an operating system environment on a ZYNQ board;
s2, after the system is transplanted successfully, acquiring images including light projection and camera parameter setting;
step S3, outputting an image acquisition result by using a CMOS image sensor;
step S4, data conversion is carried out, the collected image information is converted into digital information, an HDMI real image is obtained, and the data is written into DDR3 for storage;
step S5, system parameter calibration is carried out according to the position of the test platform and the collected image information, and the specific processing is as follows:
the camera calibration is realized by adopting a Zhang Zhengyou calibration method, namely, the camera acquires images of objects in space, and a conversion relation exists between points on the images and corresponding points in real space. Obtaining corresponding conversion relations, namely a camera internal parameter matrix, a camera external parameter matrix and a distortion coefficient, through camera calibration;
the method comprises the steps of adopting least square fitting to achieve light plane calibration, namely obtaining characteristic points on a light plane, utilizing the least square fitting to perform fitting, obtaining an equation of the light plane under a space coordinate system obtained by adopting a Zhangfriend calibration method, and obtaining a corresponding relation between the light plane and an image plane;
the calibration of the direction cosine of the guide rail is realized by adopting straight line fitting, namely, when moving for shooting, each shooting position generates a local coordinate system, and the direction cosine of the guide rail is required to be calibrated for obtaining the conversion relation between the local coordinate system and the space coordinate system of each shooting position;
the method comprises the steps of obtaining a two-dimensional plane target, fixing the position of the plane target, and photographing the plane target by a camera on a moving guide rail to obtain a plurality of images. Coordinates of an inner corner point of the chessboard are obtained through FindChessboardCorrers () in OpenCV, and camera calibration is carried out on the coordinates and the corner point, so that coordinates of the inner corner point under a space coordinate system obtained by adopting a Zhang-Zhengyou calibration method are obtained; and performing linear fitting through coordinates of the inner angle points on the plurality of images under the coordinate system to obtain the direction cosine of the guide rail.
And (4) calibrating and calibrating the two cameras in a combined manner, namely solving the conversion relation between the two cameras to obtain a rotation matrix and a translation vector between the cameras. Separately solving a rotation matrix and a translation vector of a chessboard image captured by each camera through calibretacarama () in OpenCV, and calculating and obtaining a rotation matrix parameter and a translation vector between the two cameras through a binocular calibration function steroCalibration ();
s6, displaying the acquired image in real time by the external HDMI equipment of the ZYNQ board, and processing the acquired image, wherein the image preprocessing is performed on the acquired image, and then the light bar center extraction is performed;
step S7, point cloud data fusion and analysis are carried out on the collected image data and the system parameters, namely the point cloud fusion is that a plurality of groups of point cloud data under different coordinate systems are unified to the same coordinate system through operations such as rotation, translation and the like; the data analysis is to analyze the system parameters and the point cloud data, namely, a rotation matrix and a translation vector between two groups of space coordinate systems are calculated according to the calibration of the system parameters, one of the two space coordinate systems is selected as a global coordinate system, and all point clouds on the other coordinate system are converted into the global coordinate system according to the rotation matrix and the translation vector calculated by the calibration so as to reconstruct the three-dimensional appearance of the surface of the object.
Compared with the prior art, the invention can achieve the following beneficial technical effects:
(1) the problems that an original three-dimensional shape measuring system is large in size and power consumption, cannot measure an object which is large in mass and cannot move are solved, and the three-dimensional shape measuring system has the advantages of being small in size, portable and the like;
(2) the method is realized on a ZYNQ platform, a Linux system is transplanted, an FPGA and a dual-core ARM processor are integrated, data parallel processing is realized, and the working efficiency is greatly improved.
Drawings
FIG. 1 is a block diagram of a three-dimensional topography measurement system based on a ZYNQ platform according to the present invention;
FIG. 2 is a schematic view of an embodiment of the present invention;
FIG. 3 is an overall flow chart of the three-dimensional topography measuring method based on the ZYNQ platform of the present invention.
Reference numerals:
1. the device comprises a camera, 2, a light source, 3, a light plane, 4, a measured object, 5, a workbench, 6 and a one-dimensional precision guide rail; 100. the system comprises an image acquisition module, a system calibration module, an image preprocessing module, a system calibration module, a light strip center extraction module, and a point cloud data splicing and fusing module, wherein the image acquisition module comprises 200, the system calibration module comprises 300, the image preprocessing module comprises 400, and the.
Detailed Description
The technical solution of the present invention is further described below with reference to the accompanying drawings and examples.
As shown in fig. 1, the invention provides a three-dimensional topography measurement system based on a ZYNQ platform, which comprises an image acquisition module 100, a system calibration module 200, an image preprocessing module 300, a light strip center extraction module 400 and a point cloud data splicing and fusing module 500.
The image acquisition module 100 scans the optical plane of the object to be measured through the camera to acquire the information of the surface profile of the object to be measured, and the comprehensiveness of the surface information data of the object is guaranteed.
The system calibration module 200 is used for calibrating system parameters, including camera calibration, light plane calibration, and dual-camera combined calibration. The camera calibration obtains parameters through a designed algorithm, and a coordinate system is established for the image according to the relation between space and plane; the light plane calibration obtains an equation of the light plane under a reference coordinate system by fitting characteristic points in light bars to obtain the corresponding relation between the light and the object surface; and the double-camera combined calibration is used for solving the conversion relation between the two cameras by acquiring the internal and external parameters and the distortion coefficient of the cameras. Moreover, the camera calibration method is preferably a Zhang Zhengyou calibration method. The light plane calibration method is preferably a least square method.
The image preprocessing module 300 is configured to eliminate interference information in an image and enhance information reliability, including image filtering and edge detection. The image filtering eliminates noise in the image through a correlation algorithm, and highlights the characteristics of a target object; edge detection segments an image by detecting discontinuities in luminance values across the image. The image filtering method is preferably a gaussian filtering algorithm. The edge detection method is preferably based on a Canny edge operator gray level discontinuity detection algorithm.
The light strip center extraction module 400 is configured to extract a center position of a light strip, so as to obtain coordinates of a measured object, and ensure accuracy of the measurement system. The light strip center extraction module preferably adopts a gray scale gravity center method. And thinning the gray gravity center of the light strip in the direction vertical to the light plane by a design algorithm to obtain the light strip central point.
The point cloud data splicing and fusing module is used for fusing and analyzing the collected images, the system parameters, the light strip centers and other data so as to complete three-dimensional shape reconstruction. Namely, point cloud fusion is to unify a plurality of groups of point cloud data under different coordinate systems to the same coordinate system through operations such as rotation, translation and the like; the data analysis is to ensure the high precision of the measuring system by analyzing the system parameters and the point cloud data.
Fig. 2 is a diagram of an embodiment of an image capturing module according to the present invention. Illustratively, the image acquisition module is composed of a light source 1, a camera 2, a workbench 5 and a precise one-dimensional guide rail 6. The light source 1 and the camera 2 are fixed in position, and the vertical direction is perpendicular to the workbench at 90 degrees; the precise one-dimensional guide rail 6 drives the measured object 4 to move, and simultaneously the camera 2 shoots the light plane 3 image, so that the light bars 31 and 32 containing partial three-dimensional information of the measured object 4 are completely scanned, all three-dimensional information of the measured object 4 is obtained, and image acquisition is completed. The light strips 31 and 32 are tangent lines of the light plane and the surface of the object to be measured, and the light source forms a plurality of light planes on the object to be measured along with the movement of the guide rail, so that a plurality of light strips are obtained.
Preferably, the camera is an OV5642 binocular camera which is connected to the ZYNQ platform as a peripheral.
As shown in fig. 3, the technical route of the present invention:
and transplanting the Linux system to a ZYNQ platform, calling functions in an OpenCV library in the system to write a three-dimensional morphology measurement system program, and ensuring that the program has an operating system environment on a ZYNQ board. After the system is successfully transplanted, a ZYNQ board connected with a peripheral camera is fixed at the starting point of the guide rail, an image acquisition module shown in figure 2 is set up, a light source is turned on to perform projection, camera parameters are set, and image acquisition is started. The CMOS image sensor in the ZYNQ external camera converts acquired image information into digital information, and the DDR3 storage module is called to store the information, so that the acquired data are conveniently subjected to subsequent processing, and the accuracy of the system data is guaranteed. Meanwhile, the ZYNQ board is externally connected with HDMI equipment to display the acquired images in real time. The measuring program generates parameters of a calibration system according to the position of the test platform and the collected image information, carries out operations such as preprocessing and light strip center extraction on the image, and finally carries out point cloud data fusion and analysis on the collected image data, system parameters and the like to reconstruct the three-dimensional appearance of the surface of the object.
The implementation of the invention is not limited to the embodiments; rather, these embodiments are provided so that this disclosure will be thorough and complete. All technical solutions which are the same or substantially the same based on the spirit of the present invention fall into the scope of the present invention.
Claims (2)
1. A three-dimensional shape measurement system based on a ZYNQ platform transplants a Linux system to the ZYNQ platform and is characterized by comprising an image acquisition module (100), a system calibration module (200), an image preprocessing module (300), a light strip center extraction module (400) and a point cloud data splicing and fusing module (500) which are arranged on a ZYNQ plate; wherein:
the image acquisition module (100) scans a light plane of the measured object through a camera to acquire information of the surface profile of the measured object; the system calibration module (200) is used for calibrating system parameters, and comprises camera calibration, light plane calibration and double-camera combined calibration; the system parameters obtained by the system calibration module (200) are respectively transmitted to the image preprocessing module (300) and the light strip center extraction module (400); the image preprocessing module (300) is used for eliminating interference information in the image, and comprises image filtering and edge detection; the light strip center extraction module (400) is used for refining the gray scale gravity center of a light strip in the direction vertical to the light plane by designing an improved gray scale gravity center method to obtain the position of the light strip center point; the algorithm comprises the following specific processes:
setting the light bar on the ith row of the input light bar image to occupy n pixel points, wherein the maximum column value of the pixel points in the n pixel points is max, the minimum column value is min, the gray value of the pixel points on the u row and v column in the image is expressed by f (u, v), and then the formula of the area center is as follows:
extracting an energy center in a v epsilon (min, max) area on the u-th line occupied by the light bars by using an improved gray scale gravity center method, and further obtaining the coordinate of the measured object; the point cloud data splicing and fusing module (500) is used for fusing the acquired images, the system parameters and the light strip central positions and analyzing data to complete three-dimensional shape reconstruction.
2. A three-dimensional shape measurement method based on a ZYNQ platform is characterized by comprising the following steps:
step S1, transplanting the Linux system to a ZYNQ platform, calling a function in an OpenCV library in the system to write a three-dimensional morphology measurement system program, and ensuring that the program has an operating system environment on a ZYNQ board;
s2, after the system is transplanted successfully, acquiring images including light projection and camera parameter setting;
step S3, outputting an image acquisition result by using a CMOS image sensor;
step S4, data conversion is carried out, the collected image information is converted into digital information, an HDMI real image is obtained, and the data is written into DDR3 for storage;
step S5, system parameter calibration is carried out according to the position of the test platform and the collected image information, and the specific processing is as follows:
the camera calibration is realized by adopting a Zhang Zhengyou calibration method, namely, the camera acquires images of objects in space, and a conversion relation exists between points on the images and corresponding points in real space. Obtaining corresponding conversion relations, namely a camera internal parameter matrix, a camera external parameter matrix and a distortion coefficient, through camera calibration;
the method comprises the steps of adopting least square fitting to achieve light plane calibration, namely obtaining characteristic points on a light plane, utilizing the least square fitting to perform fitting, obtaining an equation of the light plane under a space coordinate system obtained by adopting a Zhangfriend calibration method, and obtaining a corresponding relation between the light plane and an image plane;
the calibration of the direction cosine of the guide rail is realized by adopting straight line fitting, namely, when moving for shooting, each shooting position generates a local coordinate system, and the direction cosine of the guide rail is required to be calibrated for obtaining the conversion relation between the local coordinate system and the space coordinate system of each shooting position;
the method comprises the steps of obtaining a two-dimensional plane target, fixing the position of the plane target, and photographing the plane target by a camera on a moving guide rail to obtain a plurality of images. Coordinates of an inner corner point of the chessboard are obtained through FindChessboardCorrers () in OpenCV, and camera calibration is carried out on the coordinates and the corner point, so that coordinates of the inner corner point under a space coordinate system obtained by adopting a Zhang-Zhengyou calibration method are obtained; and performing linear fitting through coordinates of the inner angle points on the plurality of images under the coordinate system to obtain the direction cosine of the guide rail.
And (4) calibrating and calibrating the two cameras in a combined manner, namely solving the conversion relation between the two cameras to obtain a rotation matrix and a translation vector between the cameras. Separately solving a rotation matrix and a translation vector of a chessboard image captured by each camera through calibretacarama () in OpenCV, and calculating and obtaining a rotation matrix parameter and a translation vector between the two cameras through a binocular calibration function steroCalibration ();
s6, displaying the acquired image in real time by the external HDMI equipment of the ZYNQ board, and processing the acquired image, wherein the image preprocessing is performed on the acquired image, and then the light bar center extraction is performed;
step S7, point cloud data fusion and analysis are carried out on the collected image data and the system parameters, namely the point cloud fusion is that a plurality of groups of point cloud data under different coordinate systems are unified to the same coordinate system through operations such as rotation, translation and the like; the data analysis is to analyze the system parameters and the point cloud data, namely, a rotation matrix and a translation vector between two groups of space coordinate systems are calculated according to the calibration of the system parameters, one of the two space coordinate systems is selected as a global coordinate system, and all point clouds on the other coordinate system are converted into the global coordinate system according to the rotation matrix and the translation vector calculated by the calibration so as to reconstruct the three-dimensional appearance of the surface of the object.
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