CN113137932A - Portable surface clearance measuring device and measuring method - Google Patents
Portable surface clearance measuring device and measuring method Download PDFInfo
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- CN113137932A CN113137932A CN202110527599.4A CN202110527599A CN113137932A CN 113137932 A CN113137932 A CN 113137932A CN 202110527599 A CN202110527599 A CN 202110527599A CN 113137932 A CN113137932 A CN 113137932A
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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
- G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
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- G06T5/70—
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- G—PHYSICS
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
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- G06T7/11—Region-based segmentation
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- G06T7/10—Segmentation; Edge detection
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- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20092—Interactive image processing based on input by user
- G06T2207/20104—Interactive definition of region of interest [ROI]
Abstract
The invention discloses a portable surface clearance measuring device and a measuring method, which comprises a single-board computer raspberry group, and a display, a laser diode, a photoresistance sensor, a CMOS camera and a light emitting diode which are respectively connected with the single-board computer raspberry group, wherein an infrared pass filter is arranged in front of the CMOS camera. The method comprises the steps of adjusting the illumination intensity by using an intelligent illumination control management technology so as to capture a clear image of the surface of an object, then segmenting an interested area from the image, finding the outline in the interested area by using a canny edge detection technology, finally realizing the filtering of the outline by using a Dynamic Filtering Process (DFP) processing technology, finding out the outline of a laser line at two sides of a gap or a hole on the surface of the object, and determining the geometric parameters of the gap or the hole on the surface. The invention realizes the non-contact measurement of the surface clearance or the hole of the object, is convenient to carry, does not need to be fixed, is slightly influenced by environmental factors and has high accuracy.
Description
Technical Field
The invention relates to the field of basic measurement of machine vision, in particular to a portable surface clearance measuring device and a measuring method.
Background
According to the traditional industrial product surface detection and analysis method, the appearance characteristics of the product are detected by adopting a manual detection method, and errors are easily made in the detection process due to the limit of manual detection and the lagging of the detection technology, so that the accuracy of the detection result is influenced. With the emergence and development of emerging technologies such as computer technology, artificial intelligence and the like, a surface analysis detection technology of a machine vision technology appears, the efficiency of production operation is greatly improved, the detection accuracy is effectively improved, and a laser triangulation method is one of important technologies in the field of machine vision. The laser triangulation method is based on the principle of similar triangle, utilizes the optical reflection rule in the light transmission process, forms a similar triangle relation between the object space and the image space of the receiving lens, and simultaneously utilizes the corner relation to calculate the geometric dimension of the displacement to be measured or the surface characteristic of the object. The laser triangulation method has the advantages of simple principle, high precision, fast frequency response and wide range of application, is widely applied to various measurement requirement scenes of parameters such as displacement, distance, thickness, morphology and the like, and can be used for not only performing morphology detection on some small and fragile easily damaged objects, but also performing rapid three-dimensional measurement and modeling on some huge objects by utilizing the non-contact technical characteristics of the laser triangulation method.
Most of the current surface detection devices mainly use optical measurement, and compared with the traditional manual detection method, the detection accuracy is improved a lot, but the detection is still easily affected by environmental changes and illumination problems. The existing detection equipment is limited by a host computer, mostly has no real portability, relies on the host computer to perform data and calculation, is relatively expensive, and needs a fixed installation position, the existing handheld gap measuring device is difficult to fix a laser line at a certain position on a screen, and small changes can cause the change of a calculation result, so a tripod is usually used for fixing the handheld gap measuring device, and the handheld gap measuring device is not completely portable any more.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide a portable surface clearance measuring device and a measuring method which are portable and do not need additional computer equipment.
The technical scheme is as follows: the portable surface clearance measuring device comprises a single-board computer raspberry group, and a display, a first laser diode, a second laser diode, an LDR sensor, a CMOS camera, a first switch and a light emitting diode which are respectively connected with the single-board computer raspberry group, wherein an infrared pass filter is arranged in front of the CMOS camera; the single board computer raspberry pi further comprises a third switch, and the third switch is connected with the single board computer raspberry pi through a resistor.
The rechargeable battery is connected with the single-board computer raspberry pi through a second switch.
The first laser diode is controlled by PWM power and is used for controlling PWM signals from a single-board computer raspberry group.
The invention also comprises a portable surface clearance measuring method, which comprises the following steps:
(1) starting platform-based initialization by a single-board computer raspberry pie;
(2) initializing parameters by the CMOS camera, and sending initial values of the parameters to a single-board computer raspberry group;
(3) the single-board computer raspberry group utilizes a CMOS camera to collect video, and adopts an intelligent illumination management control method to automatically adjust illumination;
(4) pressing a third switch to scan an image from the surface of the object;
(5) cutting out a region of interest from the image acquired in the step (4) through a region of interest segmentation process, and performing linear and contour segmentation on a new image according to filtering requirements;
(6) screening out the profile of the internal gap laser line reflection using a dynamic filtering process based on illumination, laser intensity and green light;
(7) the generated image is used to calculate the geometry of the object gap and all measurement details are displayed on the display, waiting for the third switch to restart the scan.
In the step (3), the intelligent illumination management control method includes the following steps:
(3.1) receiving the lighting information of the surface of the object through a photoresistor sensor;
(3.2) calculating an image histogram;
and (3.3) controlling the laser intensity to achieve the required output by reading the photoresistor sensor and the histogram information.
In the step (3.1), the illumination information of the surface of the object is calculated through the photoresistor sensor, and the calculation formula is as follows:
Vout＝IR2
in the formula, VoutTo output a voltage, VinIs an input voltage, I is a current value, R1，R2The resistance values of the resistor R1 and the resistor R2 are respectively, and the illumination intensity of the object surface is calculated according to the resistance value of the photosensitive resistance sensor.
Step (3.2)
In the above, the image histogram is calculated, and the histogram calculation process is:
let n be the number of pixels of a given image, [ p ]0,pk]H (p) is the image histogram, H (p) is the range of the image gray levelsi) To correspond to a gray level of piThe calculated histogram G (q) is defined as H (q) in [ q ]0,qk]Internally uniformly distributed, therefore, a monotonic transformation function q ═ τ (p) is required: assuming that the total number of bins in the histogram does not change, then:
since the histogram G is uniformly distributed, then:
since a completely uniform histogram can only be obtained in a continuous space, there are:
the transformation function τ is then:
for discrete spaces:
in step (5), the region of interest segmentation process includes the following steps:
(5.1) pressing a third switch to obtain an image from the real-time stream;
(5.2) calling a get _ segmentation module to regenerate the binary grayscale image;
(5.3) calling a horizontal lines function, and filtering out the segmentation which is not in the horizontal alignment degree;
(5.4) finding a contour in the image by applying a canny edge detection technology, and removing pixels which do not belong to the edge to obtain a binary image with thin edges;
(5.5) determining two thresholds of the maximum density and the minimum density by adopting a hysteresis threshold method;
(5.6) edges below the minimum are discarded, edges above the maximum are treated as edges, and edges between the minimum and maximum are considered as edges only when connected to other edges.
In step (6), the dynamic filtering process includes the following steps:
(6.1) determining the minimum and maximum thickness and length of the required profile according to the result obtained by the intelligent illumination control management method;
(6.2) deleting the unqualified contour according to the size, the thickness and the length of the contour;
(6.3) deleting the unqualified contour based on the contour position;
and (6.4) deleting the unqualified contour based on the contour angle.
In the step (7), the geometric dimension of the obtained object surface gap or hole image is calculated by adopting a laser triangulation method.
Has the advantages that: compared with the prior art, the invention has the beneficial effects that: (1) by using the management GUI software, the operation is smoother, and additional computer equipment is not needed; (2) the portable mobile phone can be completely portable without a host system; (3) can be used in different environments of natural or artificial lighting; (5) is cheaper than foreign similar products.
Drawings
FIG. 1 is a schematic view of a portable surface gap measuring device according to the present invention;
FIG. 2 is a flow chart of a portable surface gap measurement method according to the present invention;
FIG. 3 is a flow chart of an intelligent lighting control management (IICM) method of the present invention;
FIG. 4 is a circuit diagram of a LDR sensor connection according to the present invention;
FIG. 5 is a graph showing the relationship between the illumination intensity and the LDR resistance value in the present invention;
FIG. 6 is an exemplary graph illustrating histogram calculation in accordance with the present invention;
FIG. 7 is a flow chart of the Dynamic Filtering Process (DFP) of the present invention;
FIG. 8 is a schematic diagram of laser triangulation in accordance with the present invention;
fig. 9 is a graph of the measurement results of the present invention.
Detailed Description
The invention is described in further detail below with reference to specific embodiments and the accompanying drawings.
In the invention, the portable handheld equipment is formed on the basis of hardware such as a single chip computer, a programmable camera, a Gaussian distributed laser beam and the like. The method comprises the steps of capturing a clear image of the surface of an object by using a newly developed Intelligent Illumination Control Management (IICM) technology, then segmenting a region of interest (ROI) from the image, finding out a contour in the region of interest by using a canny edge detection technology, finally realizing the filtering of the contour by using a Dynamic Filtering Process (DFP) processing technology, finding out laser line contours at two sides of a gap or a hole on the surface of the object, and finally determining the geometric parameters of the gap or the hole on the surface.
As shown in fig. 1, the present invention includes a single board computer raspberry pi, and a display, a first laser diode, a second laser diode, an LDR sensor, a CMOS camera, a first switch, and a light emitting diode, which are respectively connected to the single board computer raspberry pi; in this embodiment, the version of the single board computer raspberry pi is 4B +, the memory is 8Gb, and the single board computer raspberry pi has a higher RAM and better processing capability, facilitates image processing, and provides control over some hardware, such as a laser and a laser range finder; the display adopts a touch liquid crystal display, and the size of the touch liquid crystal display is 3.5 inches and is the same as the size of a raspberry pie of a single-board computer; the first laser diode adopts a red laser diode, the wavelength of the red laser diode is 650nm, and PWM power control is adopted, so that PWM signals from a single-board computer raspberry group can be controlled; the second laser diode adopts an invisible laser diode, and the wavelength is 650 nm; the first switch is a 'sleep' switch, and the light-emitting diode adopts a green light-emitting diode. The CMOS camera is provided with a 7.2mm X5.4mm sensor, a pixel of 1600pxX1200px, a global shutter, 60 frames per second and a pixel size of 4.5 umX4.5um; an infrared pass filter is arranged in front of the CMOS camera lens; the device also comprises a third switch and a rechargeable battery, wherein the third switch is connected with the single-board computer raspberry pi through a resistor; in this embodiment, the third switch is a "scan" button. The rechargeable battery is connected with the single-board computer raspberry group through a second switch, the rated voltage of the rechargeable battery is 5V, and the rated capacity of the rechargeable battery is 3 Ah; in this embodiment, the second switch is an "on/off" switch.
As shown in fig. 2, the present invention also includes a portable surface gap measuring method, comprising the steps of:
(1) starting platform-based initialization by a single-board computer raspberry pie;
(2) initializing parameters of the CMOS camera, and sending the exposure rate, the gamma parameter and the initial value of the gain to a single-board computer raspberry group;
(3) the single board computer raspberry adopts a CMOS camera to collect video, and adopts an intelligent illumination management control method (IICM) to automatically adjust illumination as shown in figure 3; the video capture is repeated if necessary. If a clean and noise-free image cannot be obtained due to type surfaces or illumination related problems, then an invisible laser diode will be selected for subsequent processing; the intelligent illumination management control method comprises the following steps:
(3.1) the schematic circuit connection diagram of the photoresistor sensor is shown in fig. 4, and the illumination information of the surface of the object is calculated by the photoresistor (LDR) sensor, wherein the calculation formula is as follows:
Vout＝IR2
in the formula, VoutTo output a voltage, VinIs an input voltage, I is a current value, R1，R2The resistance values of the resistor R1 and the resistor R2, respectively, as shown in fig. 5, the object surface light intensity is calculated from the resistance value of the photo-resistance sensor.
(3.2) as shown in fig. 6, calculating the image histogram, the histogram calculation process is:
let n be the number of pixels of a given image, [ p ]0,pk]H (p) is the image histogram, H (p) is the range of the image gray levelsi) To correspond to a gray level of piThe calculated histogram G (q) is defined as H (q) in [ q ]0,qk]Internally uniformly distributed, therefore, a monotonic transformation function q ═ τ (p) is required: assuming that the total number of bins in the histogram does not change, then:
since the histogram G is uniformly distributed, then:
since a completely uniform histogram can only be obtained in a continuous space, there are:
the transformation function τ is then:
for discrete spaces:
and (3.3) controlling the laser intensity to achieve the required output by reading the photoresistor sensor and the histogram information. The tunable laser utilizes the pulse width modulation signal to change the output power, thereby realizing the control of the laser intensity.
(4) Pressing a 'scan' button to scan an image from the surface of the object;
(5) cutting out a region of interest (ROI) from the image acquired in the step (4) through a ROI segmentation process, and performing straight line and contour segmentation on a new image according to filtering requirements; wherein the region of interest (ROI) segmentation process comprises the steps of:
(5.1) pressing a third switch to obtain an image from the real-time stream;
(5.2) calling a get _ segmentation module to regenerate the binary grayscale image;
(5.3) calling a horizontal lines function, and filtering out the segmentation which is not in the horizontal alignment degree;
(5.4) finding a contour in the image by applying a canny edge detection technology, and removing pixels which do not belong to the edge to obtain a binary image with thin edges;
(5.5) determining two thresholds of the maximum density and the minimum density by adopting a hysteresis threshold method;
(5.6) edges below the minimum are discarded, edges above the maximum are treated as edges, and edges between the minimum and maximum are considered as edges only when connected to other edges.
(6) Screening out the profile of the internal gap laser line reflection using a Dynamic Filtering Process (DFP) based on illumination, laser intensity and green light; as shown in fig. 7, the dynamic filtering process includes the following steps:
(6.1) determining the minimum and maximum thickness and length of the required profile according to the result obtained by the intelligent illumination control management method;
(6.2) deleting the unqualified contour according to the size, the thickness and the length of the contour;
(6.3) deleting the unqualified contour based on the contour position;
and (6.4) deleting the unqualified contour based on the contour angle.
(7) The generated image is used to calculate the geometric dimension of the object gap, as shown in fig. 8, in this embodiment, the geometric dimension of the obtained object surface gap or hole image is calculated by using laser triangulation, all the measured details are displayed on the display, the scanning is restarted by waiting for the "scanning" button, and the calculation result is shown in fig. 9.
Calibration was performed with a fixed distance between the object and the image sensor and known gap and level, and the laser and camera angles were adjusted using a profile of 1-5 mm at a fixed distance from the device. The invention utilizes the laser triangulation method, the intelligent illumination control management technology and the image processing technology, uses high-performance hardware, can perform non-contact measurement on the surface gap or hole of an object, and has the characteristics of convenient carrying, no need of fixation, small influence of environmental factors, high accuracy and the like.
Claims (10)
1. A portable surface gap measuring device, characterized by: the system comprises a single-board computer raspberry pie, and a display, a first laser diode, a second laser diode, an LDR sensor, a CMOS camera, a first switch and a light-emitting diode which are respectively connected with the single-board computer raspberry pie, wherein an infrared pass filter is arranged in front of the CMOS camera; the single board computer raspberry pi further comprises a third switch, and the third switch is connected with the single board computer raspberry pi through a resistor.
2. The portable surface gap measurement device of claim 1, wherein: the rechargeable battery is connected with the single-board computer raspberry pi through a second switch.
3. The portable surface gap measurement device of claim 1, wherein: the first laser diode is controlled by PWM power and is used for controlling PWM signals from a single-board computer raspberry group.
4. A measuring method based on the portable surface gap measuring device of claim 1, comprising the steps of:
(1) starting platform-based initialization by a single-board computer raspberry pie;
(2) initializing parameters by the CMOS camera, and sending initial values of the parameters to a single-board computer raspberry group;
(3) the single-board computer raspberry group utilizes a CMOS camera to collect video, and adopts an intelligent illumination management control method to automatically adjust illumination;
(4) pressing a third switch to scan an image from the surface of the object;
(5) cutting out a region of interest from the image acquired in the step (4) through a region of interest segmentation process, and performing linear and contour segmentation on a new image according to filtering requirements;
(6) screening out the profile of the internal gap laser line reflection using a dynamic filtering process based on illumination, laser intensity and green light;
(7) the generated image is used to calculate the geometry of the object gap and all measurement details are displayed on the display, waiting for the third switch to restart the scan.
5. The portable surface gap measuring method of claim 4, wherein in step (3), the intelligent illumination management control method comprises the steps of:
(3.1) calculating illumination information of the surface of the object through a photoresistor sensor;
(3.2) calculating an image histogram;
and (3.3) controlling the laser intensity to achieve the required output by reading the photoresistor sensor and the histogram information.
6. The portable surface gap measuring method according to claim 5, wherein in step (3.1), the illumination information of the object surface is calculated by the photoresistor sensor according to the following formula:
Vout＝IR2
in the formula, VoutTo output a voltage, VinIs an input voltage, I is a current value, R1，R2The resistance values of the resistor R1 and the resistor R2 are respectively, and the illumination intensity of the object surface is calculated according to the resistance value of the photosensitive resistance sensor.
7. The portable surface gap measurement method of claim 5, wherein in step (3.2), the image histogram is calculated by:
let n be the number of pixels of a given image, [ p ]0,pk]H (p) is the image histogram, H (p) is the range of the image gray levelsi) To correspond to a gray level of piThe calculated histogram G (q) is defined as H (q) in [ q ]0,qk]Internally uniformly distributed, therefore, a monotonic transformation function q ═ τ (p) is required: assuming that the total number of bins in the histogram does not change, then:
since the histogram G is uniformly distributed, then:
since a completely uniform histogram can only be obtained in a continuous space, there are:
the transformation function τ is then:
for discrete spaces:
8. the portable surface gap measuring method as claimed in claim 5, wherein in the step (5), the region-of-interest segmentation process comprises the steps of:
(5.1) pressing a third switch to obtain an image from the real-time stream;
(5.2) calling a get _ segmentation module to regenerate the binary grayscale image;
(5.3) calling a horizontal lines function, and filtering out the segmentation which is not in the horizontal alignment degree;
(5.4) finding a contour in the image by applying a canny edge detection technology, and removing pixels which do not belong to the edge to obtain a binary image with thin edges;
(5.5) determining two thresholds of the maximum density and the minimum density by adopting a hysteresis threshold method;
(5.6) edges below the minimum are discarded, edges above the maximum are treated as edges, and edges between the minimum and maximum are considered as edges only when connected to other edges.
9. The portable surface gap measuring method according to claim 5, wherein in step (6), the dynamic filtering process comprises the steps of:
(6.1) determining the minimum and maximum thickness and length of the required profile according to the result obtained by the intelligent illumination control management method;
(6.2) deleting the unqualified contour according to the size, the thickness and the length of the contour;
(6.3) deleting the unqualified contour based on the contour position;
and (6.4) deleting the unqualified contour based on the contour angle.
10. The portable surface gap measuring method according to claim 5, wherein in the step (7), the geometric dimension of the obtained object surface gap or hole image is calculated by using laser triangulation.
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Application publication date: 20210720 Assignee: Jiangsu chuang'an Safety Technology Co.,Ltd. Assignor: HUAIYIN INSTITUTE OF TECHNOLOGY Contract record no.: X2023980052692 Denomination of invention: A portable surface gap measurement device and measurement method Granted publication date: 20230228 License type: Common License Record date: 20231219 |