CN114111574A - High-temperature red-hot target binocular line laser vision three-dimensional measurement method - Google Patents
High-temperature red-hot target binocular line laser vision three-dimensional measurement method Download PDFInfo
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- CN114111574A CN114111574A CN202111395171.5A CN202111395171A CN114111574A CN 114111574 A CN114111574 A CN 114111574A CN 202111395171 A CN202111395171 A CN 202111395171A CN 114111574 A CN114111574 A CN 114111574A
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- 238000000691 measurement method Methods 0.000 title claims abstract description 16
- 238000000034 method Methods 0.000 claims abstract description 21
- 230000005484 gravity Effects 0.000 claims abstract description 10
- 239000013598 vector Substances 0.000 claims description 9
- 238000001514 detection method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000003754 machining Methods 0.000 description 3
- 238000005266 casting Methods 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005242 forging Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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Abstract
The invention discloses a high-temperature red hot target binocular line laser vision three-dimensional measurement method, which specifically comprises the following steps: step 1, collecting images through a binocular camera, and respectively defining the images collected by the binocular camera as Alm×n、Arm×n(ii) a Step 2, processing the image obtained in the step 1 to obtain the laser line coordinate of the image; step 3, respectively obtaining the images Ar according to the step 2m×nAnd image Arm×nDetermining the center of gravity Dr of the laser line in the respective imagesi,Dli(ii) a Step 4, calculating the distance D between the binocular camera and the target object according to the result obtained in the step 3i. By adopting the method, the three-dimensional contour of the forged piece can be detected in real time under high precision.
Description
Technical Field
The invention belongs to the technical field of machine vision of industrial sites in complex environments, and relates to a high-temperature red hot target binocular line laser vision three-dimensional measurement method.
Background
Along with the continuous upgrading of the machining process, the machining precision of the high-temperature forge piece is also continuously improved. This directly results in the need for more process flows and process steps in current process technologies. However, redundant process flows and processes can cause new random errors, which affect the final machining precision. Therefore, it becomes a very important process to detect the state of the casting in real time and correct the state in real time during the casting process. Currently, commonly used detection schemes include: a photoelectric geminate transistor positioning method and a monocular camera light supplementing observation method. The former has high precision but can only observe a single position, and cannot obtain specific data of the whole structure. The monocular camera supplementary lighting observation method is very susceptible to the influence of the surrounding environment. For example, the light supplement is not uniform, the local structure is high in brightness, and the result is greatly interfered by vapor and dust caused by a forged piece, so that an actual contour value with high precision cannot be obtained.
Disclosure of Invention
The invention aims to provide a high-temperature red hot target binocular line laser vision three-dimensional measurement method, which can be used for carrying out real-time three-dimensional contour detection on a forging piece at high precision.
The invention adopts the technical scheme that the binocular line laser vision three-dimensional measurement method of the high-temperature red hot target specifically comprises the following steps:
step 1, collecting images through a binocular camera, and respectively defining the images collected by the binocular camera as Alm×n、Arm×n；
Step 2, processing the image obtained in the step 1 to obtain the laser line coordinate of the image;
step 3, respectively obtaining the images Ar according to the step 2m×nAnd image Arm×nDetermining the center of gravity Dr of the laser line in the respective imagesi,Dli；
Step 4, calculating the distance D between the binocular camera and the target object according to the result obtained in the step 3i。
The invention is also characterized in that:
the specific process of the step 2 is as follows:
for the image Al obtained in step 1m×n、Arm×nPerforming graying operation, and then performing image Alm×n、Arm×nRespectively decomposed into n line vectors, and image Al is recordedm×nThe left and right coordinates of the laser line in each row vector are respectively
Recording image Arm×nThe left and right coordinates of the laser line in each row vector are Dri l、Dri r。
In step 2, the value range of i is 1-n.
The specific process of the step 3 is as follows: the image Ar was calculated by the following formula (1)m×nLaser line center of gravity Dri：
The image Al was calculated by the following formula (2)m×nLaser line center of gravity Dri：
The specific process of the step 4 is as follows: calculating the distance D from the binocular camera to the target object by using the following formula (3)i：
Wherein k is1、k2Respectively, system parameters, and l represents a distance value between the binocular cameras.
The invention has the beneficial effects that: by adopting the high-temperature red hot target binocular line laser vision three-dimensional measurement method provided by the invention, the three-dimensional size of the forge piece can be rapidly, efficiently and accurately detected in the environment with high temperature and high infrared noise. The data at different moments are arranged according to the time sequence, so that a large amount of splicing time can be saved, and the real-time performance of the data is finally ensured.
Drawings
FIG. 1 is a diagram of relative positions of a binocular camera and a target object in the binocular line laser vision three-dimensional measurement method for the high-temperature red-hot target of the invention;
FIG. 2 is a functional schematic diagram of a binocular camera and a laser head in the binocular line laser vision three-dimensional measurement method for the high-temperature red-hot target of the invention;
FIG. 3(a) is an original image of a target object collected by a left eye camera in the binocular line laser vision three-dimensional measurement method of the high temperature red hot target of the present invention;
fig. 3(b) is a diagram of the left and right boundaries of the line laser detected in fig. 3 (a).
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
The binocular line laser vision three-dimensional measurement method for the high-temperature red-hot target specifically comprises the following steps:
step 1, collecting images through a binocular camera, and respectively defining the images collected by the binocular camera as Alm×n、Arm×n(ii) a Binocular Camera denotes a Dual Camera, Alm×nImage matrix, Ar, representing the detection of a left eye cameram×nImage matrix representing detection of a Right eye Camera, m represents image Am×nNumber of pixels in the horizontal direction, n representing image Am×nThe number of pixels in the longitudinal direction. The binocular camera includes a left eye camera and a right eye camera, and a in fig. 1 denotes the left eye camera and b in fig. 1 denotes the right eye camera.
Step 2, processing the image obtained in the step 1 to obtain the laser line coordinate of the image; the invention adopts the technical scheme that green laser rays are acted on the surface of a target object and then received by a binocular camera, and the method is shown in figure 2;
the specific process of the step 2 is as follows:
for the image Al obtained in step 1m×n、Arm×nPerforming graying operation, and then performing image Alm×n、Arm×nRespectively decomposed into n line vectors, and image Al is recordedm×nThe left and right coordinates of the laser line in each row vector are respectively
Recording image Arm×nThe left and right coordinates of the laser line in each row vector are Dri l、Dri rSee fig. 3(a), fig. 3 (b); i represents the ith row of data, and the numeric area of i is 1-n.
Step 3, respectively obtaining the images Ar according to the step 2m×nAnd image Arm×nDetermining the center of gravity Dr of the laser line in the respective imagesi,Dli；
The specific process of the step 3 is as follows: the image Ar was calculated by the following formula (1)m×nLaser line center of gravity Dri：
The image Al was calculated by the following formula (2)m×nLaser line center of gravity Dri：
Step 4, calculating the distance D between the binocular camera and the target object according to the result obtained in the step 3iAnd measuring for multiple times to obtain D at different times within a period of timeiSummarizing to obtain Di×t。
The specific process of the step 4 is as follows: calculating the distance D from the binocular camera to the target object by using the following formula (3)i：
Wherein k is1、k2Respectively, system parameters, and l represents a distance value between the binocular cameras.
Claims (5)
1. The high-temperature red-hot target binocular line laser vision three-dimensional measurement method is characterized by comprising the following steps of: the method specifically comprises the following steps:
step 1, collecting images through a binocular camera, and respectively defining the images collected by the binocular camera as Alm×n、Arm×n；
Step 2, processing the image obtained in the step 1 to obtain the laser line coordinate of the image;
step 3, respectively obtaining the images Ar according to the step 2m×nAnd image Arm×nDetermining the center of gravity Dr of the laser line in the respective imagesi,Dli；
Step 4, calculating the distance D between the binocular camera and the target object according to the result obtained in the step 3i。
2. The binocular line laser vision three-dimensional measurement method for the high-temperature red-hot target according to claim 1, wherein: the specific process of the step 2 is as follows:
for the image Al obtained in step 1m×n、Arm×nPerforming graying operation, and then performing image Alm×n、Arm×nRespectively decomposed into n line vectors, and image Al is recordedm×nThe left and right coordinates of the laser line in each row vector are respectively
Recording image Arm×nThe left and right coordinates of the laser line in each row vector are respectively
3. The binocular line laser vision three-dimensional measurement method for the high-temperature red-hot target according to claim 2, wherein: in the step 2, the value range of i is 1-n.
4. The binocular line laser vision three-dimensional measurement method for the high-temperature red-hot target according to claim 2, wherein: the specific process of the step 3 is as follows: the image Ar was calculated by the following formula (1)m×nLaser line center of gravity Dri：
The image Al was calculated by the following formula (2)m×nLaser line center of gravity Dri：
5. The binocular line laser vision three-dimensional measurement method for the high-temperature red-hot target according to claim 1, wherein: the specific process of the step 4 is as follows: calculating the distance D from the binocular camera to the target object by using the following formula (3)i：
Wherein k is1、k2Respectively, system parameters, and l represents a distance value between the binocular cameras.
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