CN114111593B - Keyboard automatic detection equipment and imaging method thereof - Google Patents
Keyboard automatic detection equipment and imaging method thereof Download PDFInfo
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- CN114111593B CN114111593B CN202111412603.9A CN202111412603A CN114111593B CN 114111593 B CN114111593 B CN 114111593B CN 202111412603 A CN202111412603 A CN 202111412603A CN 114111593 B CN114111593 B CN 114111593B
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- 238000003384 imaging method Methods 0.000 title claims abstract description 46
- 238000001514 detection method Methods 0.000 title claims abstract description 20
- 238000005259 measurement Methods 0.000 claims abstract description 26
- 238000012545 processing Methods 0.000 claims description 32
- 238000000034 method Methods 0.000 claims description 27
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- 238000004364 calculation method Methods 0.000 claims description 14
- 230000008569 process Effects 0.000 claims description 13
- 238000013519 translation Methods 0.000 claims description 13
- 238000012937 correction Methods 0.000 claims description 12
- 230000009466 transformation Effects 0.000 claims description 6
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- 238000000926 separation method Methods 0.000 claims description 3
- 238000012423 maintenance Methods 0.000 abstract description 2
- 239000000047 product Substances 0.000 description 8
- 238000011161 development Methods 0.000 description 6
- 238000006073 displacement reaction Methods 0.000 description 5
- 238000007599 discharging Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 230000000007 visual effect Effects 0.000 description 4
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Classifications
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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
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/022—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by means of tv-camera scanning
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformation in the plane of the image
- G06T3/40—Scaling the whole image or part thereof
- G06T3/4038—Scaling the whole image or part thereof for image mosaicing, i.e. plane images composed of plane sub-images
Abstract
The invention relates to automatic keyboard detection equipment and an imaging method thereof, wherein the automatic keyboard detection equipment comprises a keyboard fixing jig, an imaging device, a mobile platform and a code scanning bar, wherein the mobile platform drives the keyboard fixing jig to translate, and the imaging device comprises a camera and a line laser device; in the vertical direction, the cameras 3 are arranged above the keyboard, and the line laser devices 4 are respectively arranged above and below the keyboard; the keyboard fixing jig comprises a supporting plate, a long keyboard jig and a short keyboard jig, wherein the long keyboard jig and the short keyboard jig are fixed on the supporting plate; the upper end face of the supporting plate is provided with a convex block serving as a standard block. According to the automatic keyboard detection equipment, the 2D size of the keyboard is measured by multi-camera moving shooting, the moving acquisition point cloud of the multi-line laser device and the real-time calibration technology of the line laser device are adopted, and the 3D standard software framework is used, so that the measurement efficiency is improved, the equipment cost is reduced, the occupied area of the equipment is reduced, the program development difficulty is reduced, the program development period is shortened, the maintenance difficulty is reduced, and the compatibility of the equipment is improved.
Description
Technical Field
The invention relates to the technical field of detection equipment, in particular to automatic keyboard detection equipment and an imaging method thereof.
Background
At present, a traditional CCD static measurement and point laser movement collection point mode is adopted in keyboard measurement, 1 2D measurement equipment and 5 point laser 3D measurement equipment are required to be equipped, and 3 automatic feeding and discharging robots are required to be added when the equipment is integrated into a production line. The existing detection equipment has the problems of low efficiency, large equipment quantity, large occupied area, high cost, unstable measurement precision and the like.
Disclosure of Invention
The invention aims to solve the technical problems that: in order to overcome the defects in the prior art, the automatic keyboard detection equipment and the imaging method thereof are provided.
The technical scheme adopted by the invention is as follows: the automatic keyboard detection equipment comprises a keyboard fixing jig, an imaging device and a mobile platform for driving the keyboard fixing jig to translate, wherein the imaging device comprises a camera and a line laser device. The keyboard fixing jig is driven to complete preset movement through the movable platform capable of moving transversely and longitudinally, and then the keyboard is matched with the imaging device, so that the measurement of all sizes can be completed only by moving in and out once.
In the vertical direction, the cameras are arranged above the keyboard, and the line laser devices are respectively arranged above and below the keyboard.
Furthermore, the cameras are provided with three sets which are arranged in a 'delta' shape, and the visual fields of the three sets of cameras can cover the short sides of the keyboard. In the moving process of the keyboard, the camera shoots from the upper part of the keyboard, and the photos are transmitted back to the data processing module for splicing, so that a complete keyboard plan is obtained by splicing, and the length and width dimensions of the keyboard are obtained.
The traditional still photographing mode is replaced by a multi-camera motion photographing mode. The equipment has stronger flexibility and compatibility, can meet the measurement of 2D sizes of keyboards with different length sizes, and a single piece of equipment in the traditional still photographing mode can only meet the measurement of a keyboard with a constant size, and the equipment needs to be replaced when products are switched; the measuring efficiency is high, the imaging device can be fused to one station, the product can finish the measurement of all 2D and 3D dimensions only by moving back and forth once, and the 2D and 3D measurement in the traditional mode is required to be performed at different stations; the equipment size is reduced, the imaging device is integrated into one station, so that a mechanical mechanism is simplified, the equipment size is greatly reduced, and the 2D and 3D measurement in the traditional measurement mode is completed by two different types of equipment; the equipment cost is reduced, only three sets of cameras are needed in the multi-camera movement photographing mode, and 12 sets of vision hardware systems are needed in the traditional mode, so that the equipment cost is greatly reduced.
Further, the line laser device is provided with four groups, wherein two groups are transversely arranged above the keyboard, two groups are transversely arranged below the keyboard, the four groups of line laser devices synchronously scan and collect point cloud data of the upper surface, the side edge and the lower surface of the keyboard, and the point cloud data are transmitted back to the data processing module for splicing and comparing to obtain the thickness dimension and the flatness of the keyboard.
The method for synchronously scanning and collecting the product 3D point cloud splicing by the multi-line laser device replaces the traditional low-efficiency method for collecting the product data by moving the point laser single point. The efficiency is higher, 3D point cloud data of the whole keyboard can be acquired only by moving back and forth once, the traditional mode of acquiring data by using point laser can acquire measurement data of the keyboard only by moving 70 times, and the efficiency is extremely low; the flexibility of the equipment is higher, the multi-line laser device synchronously scans the point cloud data of all positions on the keyboard, later clients need to increase the acquisition points or increase the measurement size only by modifying the measurement algorithm, the expansibility is good, the traditional point laser acquisition mode acquires limited data, when the clients modify the demands, the motion control program needs to be modified, the acquisition times are increased by changing the motion trail, and the expansibility is poor; the equipment floor space is reduced, the equipment cost is reduced, the capacity of the whole line can be met only by one line laser device, the capacity requirement can be met by five line laser devices in the traditional point laser acquisition mode, and the equipment floor space is reduced by 80%.
Further, the keyboard fixing jig comprises a supporting plate, a long keyboard jig and a short keyboard jig, wherein the long keyboard jig and the short keyboard jig are fixed on the supporting plate. The long keyboard jig and the short keyboard jig are arranged in a central rotation mode at the center of the supporting plate, and accordingly it is ensured that corresponding measuring points after rotation cannot deviate due to 180-degree rotation and measuring data are affected.
Further, the upper end face of the supporting plate is provided with a convex block serving as a standard block. When the line laser device is used for a long time, the displacement amount can be generated when the line laser device is measured when the mounting seat on the fixing frame is displaced, and the offset amount can be generated when the absolute value of the sensor of the line laser device is measured when the temperature of the sensor is increased. And adding the functions of real-time calibration and supplement: at first, a standard block is measured to obtain a reference value a, the standard block is measured before each measurement to obtain a corresponding reference value a ', a ' -a, namely, the displacement or offset, data are transmitted back to a data processing module, and the point cloud data- (a ' -a) acquired by a corresponding line laser device are data for eliminating errors.
The real-time calibration supplement is added, the accumulated error caused by the change of the hardware structure is eliminated, and the error of the thickness dimension caused by the temperature change of the sensor is eliminated.
Further, the keyboard fixing jig is provided with a code sweeping bar above, the lower end of the code sweeping bar is connected with a DD motor, and a connecting seat is connected below the DD motor. The code scanning strip is fixed on the side plate or the frame of the equipment through the fixing seat, is placed on one side of the upper and lower materials, and is used for determining whether the keyboard needs to rotate after being placed. And (3) rotating the jig with the keyboard to the imaging side of the imaging device by 180 degrees according to whether the jig obtained by the DD motor matched with the code scanning bar needs a rotation instruction.
Further, the mobile platform comprises a transverse platform and a longitudinal platform, the transverse platform and the longitudinal platform are connected in a sliding mode through a transverse traveling wheel platform, and the longitudinal platform and the connecting seat are connected in a sliding mode through a longitudinal traveling wheel platform. The horizontal platform and the longitudinal platform complete translation according to a preset action route, and complete collection of all data by matching with an imaging device, so that the long-height-width size and flatness data of the keyboard are obtained.
Further, the front side and the rear side of the transverse platform are provided with transverse guide rails, the side is provided with a transverse drag chain connected with the transverse traveling wheel platform, the left side and the right side of the longitudinal platform are provided with longitudinal guide rails, and the side is provided with a longitudinal drag chain connected with the longitudinal traveling wheel platform. Through the tow chain that follows the platform and remove, hide corresponding connecting wire and handle for overall structure is pleasing to the eye.
Further, the bottom end of the movable platform is fixed on the platform, and a fixing frame for limiting the imaging device is fixedly arranged on the platform. The imaging devices are all arranged at fixed positions, and the imaging devices are fixed in position through the mounting seats fixed on the fixing frames, so that displacement errors measured by the line laser device due to uncertain displacement of the imaging devices are avoided.
Once the imaging device is displaced, the fields of view of the three sets of cameras can be ensured to cover the short sides of the keyboard when photographing by longitudinally moving the longitudinal platform.
An imaging method of a keyboard automatic detection device, comprising the following steps:
A. the mechanical arm puts the keyboard into the corresponding keyboard fixing jig, and the code scanning bar scans the codes to determine whether the keyboard fixing jig needs to rotate or not;
B. after the keyboard is determined on one imaging side, the mobile platform is started, in the moving process, a camera of the imaging device takes a picture, a line laser device scans and collects data, and the picture and the data are transmitted to the data processing module;
C. the mobile platform moves to the pole and returns to the upper and lower material levels, and in the returning process, the line laser device of the imaging device performs secondary scanning to acquire data and transmits the photo and the data to the data processing module;
D. the mechanical arm performs blanking processing on the keyboard, and meanwhile, the data processing module performs data processing calculation and outputs a measurement result.
Further, before the step A, the method comprises the following steps:
a. designing a standard block in a three-dimensional modeling mode, and outputting point cloud data of the standard block, wherein the size precision requirement of the standard block is less than or equal to +/-0.01 mm;
b. placing the standard block on equipment, starting the equipment, and enabling the upper line laser device and the lower line laser device to scan right angles of the standard block;
c. and (3) carrying out oblique-pulling correction on each line laser device, extracting X, Y two-dimensional coordinate point clouds scanned by each line laser device during the oblique-pulling correction step, and respectively carrying out oblique-pulling deformation correction, wherein the correction calculation formula is as follows:
wherein Theta is Theta, which is an included angle of one side of the X, Y two-dimensional coordinate point cloud forming graph relative to the x axis,the HomMat2D is an initial matrix, the HomMat2 DSland is a matrix containing cable-stayed information, and the shape or the image can be adjusted to be rectangular by applying the matrix;
d. and the four line laser devices scan a standard block, so that point cloud data under different coordinates are combined into the same coordinate system when 3D image stitching is carried out.
Furthermore, the step D of splicing the point cloud data scanned by the line laser device is needed during data processing and calculation, and the method comprises the following steps: wherein the four laser three-dimensional point sets are X1, X2, X3 and X4, the standard block model point set is X0,
step one, calculating corresponding near points of each point in X1 in the X0 point set:
two 3D points P and Q in three-dimensional space,their Euclidean distance is expressed as:
，
matrices R and T of P and Q variation for，/>ObtainingR and T at the smallest hour;
step two, parallel movement and rotation separation:
firstly, carrying out initial estimation on a translation vector T to respectively obtain centers of a point set P and a point set Q:
，
the point sets P and Q are translated to the center point, respectively:，
obtainingMinimum->Wherein->；
Step three, solving an initial rotation matrix by using control points:
wherein p is i ，q i For the closest matching point(s),
for the i-th point, a matrix Ai of point pairs is calculated:
，/>is->Solving the minimum eigenvalue and eigenvector of Ai;
step four, calculating a translation matrix:
calculating a translation matrix through the center point, stopping iterative calculation if the new transformation point set and the reference point set meet the condition that the average distance between the two point sets is smaller than a given threshold value, otherwise, continuing iteration by taking the new transformation point set as new X1 until the requirement of an objective function is met, namely, after initial matching, carrying out translation change on all points in the point set P, comparing the matching degree of the point sets P and Q,
specifically, each point in the point set P is found to be the nearest point in the point set Q as the corresponding pointPoint, reuse of the previous stepAsk->Minimum->Wherein->；
Step five, repeating the steps to process X2, X3 and X4, and completing unification of the point cloud coordinates of the line laser device;
and step six, the data processing module automatically finds standard block feature points, and the scanned 3D point cloud feature points and the 3D model feature points are subjected to repeated matching to obtain a result.
Before the data processing calculation in the step D, some isolated noise points in the original data need to be removed by using a tool.
The keyboard fixing jig of the invention is controlled and calculated by 3D standard software according to whether the keyboard fixing jig rotates an instruction, a moving program corresponding to a moving platform, a camera photo and line laser device data.
Traditional software framework: the development workload of the new project is large, and engineers with rich experience are required to be competent; the measuring effect and stability depend on experience and development capability of engineers, and the project development risk is high; the addition of new sensors requires separate development, has poor compatibility and unreliable stability.
The 3D standard software framework is used, and has the following advantages: (1) the visual programming interface is more visual and efficient, the training cost of new people is low, the new people can learn and master easily, and the development efficiency is high; (2) the modularized algorithm unit is more efficient and reliable in development, different engineers use the same frame, the measuring effect is high in consistency, and the project is more controllable; (3) the multi-sensor signal interaction and data input and output functions are realized, and the multi-sensor is compatible with most brands of sensors in the market, has strong compatibility and is stable in communication; (4) the method has the functions of point cloud reconstruction and reference establishment, accurate feature positioning and reduced measurement error.
The automatic keyboard detection equipment needs to be provided with an automatic feeding and discharging manipulator when in use. The mechanical arm puts the keyboard into the corresponding keyboard fixing jig, and the code scanning bar scans the codes to determine whether the keyboard fixing jig needs to rotate or not; after the keyboard is determined on one imaging side, the mobile platform is started, and in the moving process, a camera of the imaging device takes a picture, a line laser device collects data and transmits the picture and the data to a data processing module; the mobile platform moves to the pole and returns to the upper and lower material levels, and in the returning process, the line laser device of the imaging device acquires data for the second time and transmits the photo and the data to the data processing module; the mechanical arm performs blanking processing on the keyboard, and meanwhile, the data processing module processes and calculates and outputs a measurement result.
Compared with the prior art, the invention has the following advantages:
1. the measurement efficiency is improved, and the product can finish the measurement of all sizes only by moving in and out for 1 time;
2. the number of the devices is reduced, and the occupied area of the devices is reduced;
3. the program development difficulty is reduced, the program development period is shortened, and the maintenance difficulty is reduced;
4. the compatibility of the equipment is improved, and keyboards with different lengths can be compatible.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic diagram of a keyboard fixing jig according to the present invention;
FIG. 3 is a schematic view of the structure of the camera of the present invention;
fig. 4 is a schematic structural view of the line laser device of the present invention.
Reference numerals in the drawings: 1-keyboard fixing jig, 2-mobile platform, 3-camera, 4-line laser device, 5-code scanning strip, 6-DD motor, 7-platform, 8-mount, 11-long keyboard jig, 12-short keyboard jig, 13-backup pad, 14-standard block, 21-transverse platform, 22-transverse guide rail, 23-transverse drag chain, 24-transverse traveling wheel platform, 25-longitudinal platform, 26-longitudinal guide rail, 27-longitudinal drag chain, 28-longitudinal traveling wheel platform, 61-connecting seat.
Detailed Description
The following describes the embodiments of the present invention in detail, and the embodiments and specific operation procedures are given on the premise of the technical solution of the present invention, but the scope of protection of the present invention is not limited to the following embodiments.
The automatic keyboard detection equipment shown in figures 1-4 comprises a keyboard fixing jig 1, an imaging device and a mobile platform 2 for driving the keyboard fixing jig 1 to translate, wherein the imaging device comprises a camera 3 and a line laser device 4,
in the vertical direction, the camera 3 is arranged above the keyboard, and the line laser device 4 is arranged above and below the keyboard, respectively.
The cameras 3 are provided with three sets of cameras which are arranged in a 'delta' shape, the visual fields of the three sets of cameras 3 cover the short sides of the keyboard, in the moving process of the keyboard, the cameras 3 take pictures from the upper part of the keyboard, and the pictures are transmitted back to the data processing module for splicing, so that a complete keyboard plan is obtained through splicing, and the length and width dimensions of the keyboard are obtained.
The line laser devices 4 are provided with four groups, wherein two groups are transversely arranged above the keyboard, two groups are transversely arranged below the keyboard, the four groups of line laser devices 4 synchronously scan and collect point cloud data of the upper surface, the side edge and the lower surface of the keyboard, and the point cloud data are transmitted back to the data processing module for splicing and comparing to obtain the thickness dimension and the flatness of the keyboard.
The keyboard fixing jig 1 includes a support plate 13, a long keyboard jig 11 and a short keyboard jig 12 fixed on the support plate 13.
The upper end face of the supporting plate 13 is provided with a protruding block as a standard block 14. Initially, the line laser device 4 measures the standard block 14 to obtain a reference value a, before each measurement, the standard block 14 is measured to obtain a corresponding reference value a ', a ' -a, which is the displacement or offset, the data is transmitted back to the data processing module, and the point cloud data- (a ' -a) collected by the corresponding line laser device 14 is the data for eliminating errors.
The specific implementation steps are as follows:
a standard block 14 (the area is 10mm by 10mm, the flatness is less than or equal to 0.005 mm) is added on the keyboard fixing jig 1, and the line laser device 4 also measures the data of the plane on the side of the standard block 14 at the same time when measuring the product each time.
Immediately after the start of the apparatus, the values of 10 points (A1, A2, … … a 10) on the standard block 14 were measured when the line laser device 4 was at normal temperature, and stored as reference values.
The device is operated continuously and the line laser means 4 reach a maximum temperature after which the temperature will not increase any more. The normal temperature is set to be 22 ℃, the highest temperature is set to be 31 ℃, and measured values of 10 points at different temperatures are recorded as follows:
22℃：A10、A20……A100
23℃：A11、A21……A101
……
31℃：A19、A29……A109
calculating temperature compensation values at different temperatures
Assuming that the temperature compensation value at 23 ℃ is K1, K1 = [ A11-A10) + (A21-A20) + … … (A101-A100) ] 9
When the equipment normally operates, a temperature compensation value K is calculated every time, the Z coordinates of each point of the 3D point cloud are subjected to temperature compensation, and if 300 points Z coordinates of a real-time measurement product are Z1, Z2 and Z3 … … Z300, the Z coordinates after compensation are Z1+ K, Z2 < 2 > +K … … Z300+K.
And finally, reverse verification is needed to verify the repeatability and reproducibility of the compensation value. The operation method comprises the following steps:
(1) cooling the line laser device 4 to the normal temperature of 22 ℃;
(2) measuring thickness values of 10 points of the product;
(3) when the line laser device 4 is raised to the highest temperature, 9 temperature points are divided into sections at different temperatures of 22 ℃,23 ℃,24 ℃, … … ℃ and 10 measured values at each temperature point are measured and recorded
22℃：H0100、H0200……H1000
23℃：H0101、H0201……H1001
……
31℃：H0109、H0209……H1009
Calculating 90 measured value deviations after real-time compensation at the temperature of 23-31 ℃, wherein the measured value deviations are X1 = H0101-H0100, X2 = H0201-H0200 … … X90 = H1009-H1000, and if X1-X90 is less than or equal to 0.005mm, the temperature real-time compensation is completed.
The upper part of the keyboard fixing jig 1 is provided with a code scanning bar 5, the lower end of the code scanning bar is connected with a DD motor 6, and a connecting seat 61 is connected below the DD motor 6. The code scanning strip 5 is fixed on the frame of the equipment through the fixing seat, the code scanning strip 5 is placed on one side of the manipulator for discharging, and after the keyboard is placed, whether the keyboard fixing jig 1 needs to rotate or not is determined.
The moving platform 2 comprises a transverse platform 21 and a longitudinal platform 25, the transverse platform 21 and the longitudinal platform 25 are connected in a sliding manner through a transverse traveling wheel platform 24, and the longitudinal platform 25 and the connecting seat 61 are connected in a sliding manner through a longitudinal traveling wheel platform 28.
The front and rear sides of the transverse platform 21 are provided with transverse guide rails 22, the sides are provided with transverse drag chains 23 connected with transverse travelling wheel platforms 24, the left and right sides of the longitudinal platform 25 are provided with longitudinal guide rails 26, and the sides are provided with longitudinal drag chains 27 connected with longitudinal travelling wheel platforms 28.
The bottom end of the movable platform 2 is fixed on a platform 7, and a fixing frame 8 for limiting the imaging device is fixedly arranged on the platform 7.
The keyboard automatic detection equipment of the invention needs to be equipped with an automatic feeding and discharging manipulator (not shown in the figure) when in use.
An imaging method of a keyboard automatic detection device, comprising the following steps:
A. the mechanical arm puts the keyboard into the corresponding keyboard fixing jig 1, and the code scanning bar 5 scans the codes to determine whether the keyboard fixing jig 1 needs to rotate or not;
B. after the keyboard confirms on one side of imaging, the mobile platform 2 is started, in the moving process, the camera 3 of the imaging device takes a picture, the line laser device 4 scans and collects data, and the picture and the data are transmitted to the data processing module;
C. the mobile platform 2 returns to the upper and lower material levels after moving to the pole, and in the returning process, the line laser device 4 of the imaging device performs secondary scanning to acquire data and transmits the photo and the data to the data processing module;
D. the mechanical arm performs blanking processing on the keyboard, and meanwhile, the data processing module performs data processing calculation and outputs a measurement result.
Before the step A, the method comprises the following steps:
a. designing a standard block 14 in a three-dimensional modeling mode, and outputting point cloud data of the standard block 14, wherein the dimensional accuracy requirement of the standard block 14 is less than or equal to +/-0.01 mm;
b. placing the standard block 14 on equipment, starting the equipment, and enabling the upper line laser device 4 and the lower line laser device 4 to scan the standard block 14 at right angles;
c. and (3) carrying out oblique-pulling correction on each line laser device 4, extracting X, Y two-dimensional coordinate point clouds scanned by each line laser device 4 during the oblique-pulling correction step, and respectively carrying out oblique-pulling deformation correction, wherein the correction calculation formula is as follows:
theta is an included angle of one side of a X, Y two-dimensional coordinate point cloud forming graph relative to an x-axis, homMat2D is an initial matrix, homMat2 DSland is a matrix containing diagonal drawing information, and the shape or the image can be adjusted to be rectangular by applying the matrix;
d. and the four line laser devices scan a standard block, so that point cloud data under different coordinates are combined into the same coordinate system when 3D image stitching is carried out.
Furthermore, the step D of splicing the point cloud data scanned by the line laser device is needed during data processing and calculation, and the method comprises the following steps: wherein the four laser three-dimensional point sets are X1, X2, X3 and X4, the standard block model point set is X0,
step one, calculating corresponding near points of each point in X1 in the X0 point set:
two 3D points P and Q in three-dimensional space,their Euclidean distance is expressed as:
，
matrices R and T of P and Q variation for，/>ObtainingR and T at the smallest hour;
step two, parallel movement and rotation separation:
firstly, carrying out initial estimation on a translation vector T to respectively obtain centers of a point set P and a point set Q:
，
the point sets P and Q are translated to the center point, respectively:，
obtainingMinimum->Wherein->；
Step three, solving an initial rotation matrix by using control points:
wherein p is i ，q i For the closest matching point(s),
for the i-th point, a matrix Ai of point pairs is calculated:
，/>is->Solving the minimum eigenvalue and eigenvector of Ai;
step four, calculating a translation matrix:
calculating a translation matrix through the center point, stopping iterative calculation if the new transformation point set and the reference point set meet the condition that the average distance between the two point sets is smaller than a given threshold value, otherwise, continuing iteration by taking the new transformation point set as new X1 until the requirement of an objective function is met, namely, after initial matching, carrying out translation change on all points in the point set P, comparing the matching degree of the point sets P and Q,
specifically, each point in the point set P is found, the nearest point in the point set Q is used as the corresponding point, and the previous step is utilized to obtainAsk->Minimum->Wherein->；
Step five, repeating the steps to process X2, X3 and X4, and completing unification of the point cloud coordinates of the line laser device 4;
and step six, the data processing module automatically finds characteristic points of the standard block 14, and the scanned characteristic points of the 3D point cloud are matched with the characteristic points of the 3D model for multiple times to obtain a result.
Before the data processing calculation in the step D, some isolated noise points in the original data need to be removed by using a tool.
Claims (6)
1. An imaging method of automatic keyboard detection equipment is characterized in that: the method comprises the following steps:
A. the mechanical arm puts the keyboard into the corresponding keyboard fixing jig (1), and the code scanning bar (5) scans the codes to determine whether the keyboard fixing jig (1) needs to rotate;
B. after the keyboard confirms on one side of imaging, the mobile platform (2) is started, in the moving process, the camera (3) of the imaging device takes a picture, the line laser device (4) scans and collects data, and the picture and the data are transmitted to the data processing module;
C. the mobile platform (2) returns to the loading and unloading position after moving to the pole, and in the returning process, the line laser device (4) of the imaging device performs secondary scanning to acquire data and transmits the photo and the data to the data processing module;
D. the mechanical arm performs blanking treatment on the keyboard, and meanwhile, the data processing module performs data processing calculation and outputs a measurement result;
and D, splicing point cloud data scanned by the linear laser device (4) is needed during data processing and calculation, and the method comprises the following steps: wherein the four laser three-dimensional point sets are X1, X2, X3 and X4, the standard block model point set is X0,
step one, calculating corresponding near points of each point in X1 in the X0 point set:
two 3D points P and Q in three-dimensional space, matrices R and T of P and Q variation, for，/>To obtain->R and T at the smallest hour;
step two, parallel movement and rotation separation:
firstly, carrying out initial estimation on a translation vector T to respectively obtain centers of a point set P and a point set Q;
respectively translating the point sets P and Q to the central point;
obtainingMinimum->Wherein->；
Step three, solving an initial rotation matrix by using control points:
wherein p is i ，q i For the closest matching point(s),
for the i-th point, a matrix Ai of point pairs is calculated:
，/>is->Solving the minimum eigenvalue and eigenvector of Ai;
step four, calculating a translation matrix:
calculating a translation matrix through the center point, stopping iterative calculation if the new transformation point set and the reference point set meet the condition that the average distance between the two point sets is smaller than a given threshold value, otherwise, continuing iteration by taking the new transformation point set as new X1 until the requirement of an objective function is met, namely, after initial matching, carrying out translation change on all points in the point set P, comparing the matching degree of the point sets P and Q,
specifically, each point in the point set P is found, the nearest point in the point set Q is used as the corresponding point, and the previous step is utilized to obtainAsk->Minimum->Wherein->；
Step five, repeating the steps X2, X3 and X4 to finish unification of the point cloud coordinates of the line laser device (4);
and step six, the data processing module automatically finds characteristic points of the standard block (14), and the scanned characteristic points of the 3D point cloud are matched with the characteristic points of the 3D model for multiple times to obtain a result.
2. The imaging method of the keyboard automatic detection apparatus according to claim 1, wherein: before the step A, the method comprises the following steps:
a. designing a standard block (14) in a three-dimensional modeling mode, and outputting point cloud data of the standard block (14), wherein the size precision requirement of the standard block (14) is less than or equal to +/-0.01 mm;
b. placing the standard block (14) on equipment, starting the equipment, and enabling the upper line laser device (4) and the lower line laser device (4) to scan the right angle of the standard block (14);
c. and (3) carrying out oblique-pulling correction on each line laser device (4), extracting X, Y axis point cloud coordinates scanned by each line laser device (4) during the oblique-pulling correction step, and respectively carrying out oblique-pulling deformation correction, wherein the correction calculation formula is as follows:
（1-1），
wherein Theta is θ; homMat2D is the initial matrix; the HomMat2 DSland is a matrix containing cable-stayed information;
d. the four line laser devices (4) scan a standard block (14), so that point cloud data under different coordinates are combined into the same coordinate system when 3D image stitching is carried out.
3. The imaging method of the keyboard automatic detection apparatus according to claim 1, wherein: the automatic keyboard detection equipment comprises a keyboard fixing jig (1), an imaging device and a mobile platform (2) for driving the keyboard fixing jig (1) to translate, wherein the imaging device comprises a camera (3) and a line laser device (4),
in the vertical direction, the cameras (3) are arranged above the keyboard, the line laser devices (4) are respectively arranged above and below the keyboard,
the keyboard fixing jig (1) comprises a supporting plate (13), a long keyboard jig (11) and a short keyboard jig (12) which are fixed on the supporting plate (13), wherein the upper end surface of the supporting plate (13) is provided with a convex block serving as a standard block (14) for measuring a reference value,
the keyboard fixing jig (1) top be equipped with sweep yard strip (5), the lower extreme is connected in DD motor (6) that are used for rotatory keyboard fixing jig (1), is connected with connecting seat (61) under DD motor (6).
4. A method of imaging a keyboard autodetection device according to claim 3, wherein: the mobile platform (2) comprises a transverse platform (21) and a longitudinal platform (25), wherein the transverse platform (21) and the longitudinal platform (25) are in sliding connection through a transverse traveling wheel platform (24), and the longitudinal platform (25) and the connecting seat (61) are in sliding connection through a longitudinal traveling wheel platform (28).
5. The imaging method of the keyboard automatic detection apparatus according to claim 4, wherein: the front side and the rear side of the transverse platform (21) are provided with transverse guide rails (22), the side edges are provided with transverse drag chains (23) connected with transverse travelling wheel platforms (24), the left side and the right side of the longitudinal platform (25) are provided with longitudinal guide rails (26), and the side edges are provided with longitudinal drag chains (27) connected with longitudinal travelling wheel platforms (28).
6. A method of imaging a keyboard autodetection device according to claim 3, wherein: the bottom end of the movable platform (2) is fixed on the platform (7), and a fixing frame (8) for limiting the imaging device is fixedly arranged on the platform (7).
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