CN114910021A - Grating type binocular stereoscopic vision three-dimensional measurement system and method - Google Patents
Grating type binocular stereoscopic vision three-dimensional measurement system and method Download PDFInfo
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- CN114910021A CN114910021A CN202210494193.5A CN202210494193A CN114910021A CN 114910021 A CN114910021 A CN 114910021A CN 202210494193 A CN202210494193 A CN 202210494193A CN 114910021 A CN114910021 A CN 114910021A
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- 238000000605 extraction Methods 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 7
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- 238000000691 measurement method Methods 0.000 claims description 4
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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
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/254—Projection of a pattern, viewing through a pattern, e.g. moiré
Abstract
The invention discloses a grating type binocular stereo vision three-dimensional measurement system and a method, which relate to the technical field of three-dimensional measurement and comprise an optical measurement device, a plane target, a control acquisition system, a processing computer and a driving device, wherein the optical measurement device and the plane target are distributed around an object to be measured, and the optical measurement device and the plane target are connected with the control acquisition system and the processing computer, wherein: the optical measurement device comprises a grating type binocular vision sensor, a grating laser emission device, an industrial camera and a light supplementing light source device, the grating laser emission device emits multiple groups of laser towards an object to be measured, and the grating type binocular vision sensor is used for collecting image data. The invention has the advantages of convenient operation, global calibration in advance by the cooperation of the plane target and the optical measuring device, and better practicability.
Description
Technical Field
The invention relates to the technical field of three-dimensional measurement, in particular to a grating type binocular stereoscopic vision three-dimensional measurement system and method.
Background
The grating binocular stereo vision technology can capture and collect the three-dimensional information of the surface of an object with high precision, and is widely applied to the field of various precision measurements.
The existing measuring system has complex process and more complex calculated amount, and wastes more time during calibration.
Disclosure of Invention
The invention aims to provide a grating type binocular stereoscopic vision three-dimensional measurement system and method, which are convenient to operate, have better practicability by performing global calibration in advance under the cooperation of a plane target and an optical measurement device, and solve the problems in the background art.
In order to achieve the above object, the present invention provides a grating type binocular stereoscopic vision three-dimensional measurement system, which includes an optical measurement device, a planar target, a control acquisition system, a processing computer and a driving device, wherein the optical measurement device and the planar target are distributed around an object to be measured, the optical measurement device and the planar target are connected with the control acquisition system and the processing computer, and wherein:
the optical measurement device comprises a grating type binocular vision sensor, a grating laser emission device, an industrial camera and light supplementing light source equipment, wherein the grating laser emission device emits multiple groups of laser towards an object to be measured, and the grating type binocular vision sensor is used for collecting image data.
The processing computer drives the control acquisition system to light the characteristic points on the plane target, measures the plane target by using the optical measuring device, three-dimensionally scans and measures an object to be measured, summarizes three-dimensional detection data obtained by measurement of the optical measuring device by using the plane target as a medium, and transmits the three-dimensional detection data to the control acquisition system and the processing computer.
The control acquisition system performs center point matching on acquired image data, for each center point, the processing computer uses the acquired light strip data as matching points, performs matching point matching and constructs matching point pairs, generates a plurality of groups of measurement models based on the matching point pairs, and acquires corresponding space three-dimensional coordinates.
Optionally, the grating type binocular vision sensor is an ultra-wide view field video camera and a measuring camera.
Optionally, the extraction algorithm module in the control acquisition system is based on a Harris Cocner corner extraction method, and performs extraction and calculation of sub-pixel level corners to obtain coordinates of the calibrated template image center, so as to construct a set of feature points.
Optionally, when the optical measurement device is used, the internal parameters of the optical measurement device are adjusted and calibrated in advance, and the characteristic points of the planar target are identified and located.
Optionally, the grating binocular vision sensor specifically acquires matching results of the light bar images through two measuring cameras, and calculates local three-dimensional measurement data.
Optionally, the planar target includes a light target and a metal frame, the metal frame is used to fix the light target and is configured with an active power supply device, and the light target is encapsulated with high voltage resistance and high protection.
Optionally, the ultra-wide field of view camera is a panoramic camera.
A grating type binocular stereo vision three-dimensional measurement method comprises the following steps:
step S1: the component and preparation comprises an optical measuring device, a plane target, a control acquisition system, a processing computer and a driving device;
step S2: pre-adjusting, namely adjusting the distance between the optical measuring devices according to the geometric dimension of the object to be measured;
step S3: calibrating and processing, namely acquiring an image pair by acquiring an image of a target plate through an optical measuring device and a plane target; calibrating the optical measuring device by a two-step method, further acquiring internal and external parameters of the optical measuring device and determining the specific spatial relationship of the optical measuring device;
step S4: acquiring and analyzing images, namely shooting an object to be measured through two optical measuring devices to obtain an image pair of the object to be measured; the optical measurement device emits light bars to an object to be measured, and collects and processes images; finally, the acquired image data is processed, automatically classified and uploaded to be stored in a database of a processing computer;
step S5: and generating a result to obtain the three-dimensional measurement data of the object to be measured.
Compared with the prior art, the invention has the following beneficial effects:
firstly, the invention has the advantages of improving the acquisition speed and the matching efficiency after acquisition, and accurately acquiring data images under the condition of being blocked so as to avoid the condition that the calculated amount is large and a large amount of redundancy is easy to occur when the existing system acquires.
Through the arrangement of the light supplementing light source equipment, the binocular vision sensor can be assisted to acquire data, the condition of acquiring shadows due to environmental factors is avoided, the condition of repeated acquisition is avoided, and the working efficiency is improved.
And thirdly, the object is subjected to accurate data acquisition through the two measuring cameras and the ultra-wide view field camera, a plurality of groups of image pairs are formed and are paired and compared, and the measuring accuracy is improved.
And fourthly, the invention can independently realize large-range shooting without dead angles by arranging the panoramic camera, and has the effects of reducing errors and improving precision.
Drawings
FIG. 1 is a general flow chart of the implementation of the grating binocular stereo vision three-dimensional measurement system and method of the present invention;
FIG. 2 is a flow chart of a measurement method of the present invention;
FIG. 3 is a schematic diagram of the structure of the optical measuring device of the present invention.
In the figure: 1. an optical measuring device; 2. a planar target; 3. controlling the acquisition system; 4. a processing computer; 5. a drive device; 6. a grating binocular vision sensor; 7. a grating laser emitting device; 8. an industrial camera; 9. light source equipment for light supplement.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 3, the present invention provides a grating type binocular stereoscopic vision three-dimensional measurement system, which includes an optical measurement device 1, a planar target 2, a control acquisition system 3, a processing computer 4 and a driving device 5, wherein the optical measurement device 1 and the planar target 2 are distributed around an object to be measured, the optical measurement device 1 and the planar target 2 are connected with the control acquisition system and the processing computer 4, the optical measurement device and the planar target can be used to complete global calibration in advance without re-calibration on site, the control system and the processing computer perform centralized processing on data and images, the driving device is used to drive the system to operate, which is convenient for a user to control, wherein:
optical measurement device 1 includes grating formula binocular vision sensor 6, grating laser emitter 7, industry camera 8 and light filling light source equipment 9, and grating laser emitter 7 is towards the article transmission multiunit laser that awaits measuring, and grating formula binocular vision sensor 6 is used for gathering image data, and light filling light source equipment can assist the acquisition that binocular vision sensor carries out data, avoids appearing the condition of gathering the shadow because of the factor of environment, avoids appearing the condition of gathering many times, has improved work efficiency.
The processing computer 4 drives the control acquisition system to light the characteristic points on the plane target 2, measures the plane target by using the optical measurement device 1, three-dimensionally scans and measures the object to be measured, summarizes the three-dimensional detection data measured by the optical measurement device 1 by using the plane target 2 as a medium, and transmits the three-dimensional detection data to the control acquisition system 3 and the processing computer 4.
The control acquisition system 3 carries out center point matching on the acquired image data, for each center point, the processing computer 4 takes the acquired light strip data as matching points, carries out matching point matching and constructs matching point pairs, generates a plurality of groups of measurement models based on the matching point pairs, and obtains the space three-dimensional coordinate, the system has the advantages of improving the acquisition speed and the matching efficiency after acquisition, and accurately acquiring the data image under the condition of being shielded, in order to avoid the situation that the prior system has large calculated amount and is easy to generate a large amount of redundancy during acquisition, the method adopts two optical measuring devices to fuse a plurality of groups of measuring models, therefore, multiple scanning is not needed, the plane target is used as a medium, the data collected locally are collected into the overall coordinate, and the system has the characteristics of high measurement precision, small influence and high collection processing speed.
Furthermore, the grating binocular vision sensor 6 is an ultra-wide view field camera and a measuring camera, and the two measuring cameras and the ultra-wide view field camera are used for carrying out accurate data acquisition on the object, forming a plurality of groups of image pairs, pairing and comparing, and improving the measuring accuracy.
Further, an extraction algorithm module in the control acquisition system 3 is based on a Harris Cocner corner extraction method, and extraction and calculation of sub-pixel level corners are performed to obtain coordinates of the center of the calibrated template image, so that a set of feature points can be constructed.
Further, when the optical measurement device 1 is used, the internal parameters of the optical measurement device are adjusted and calibrated in advance, and the characteristic points of the plane target are identified and positioned, so that the detection efficiency is improved, and the error is reduced.
Furthermore, the grating type binocular vision sensor 6 specifically collects the matching result of the light bar images through the two measuring cameras, calculates local three-dimensional measuring data, and is convenient for carrying out reconstruction and fusion on the model measured by a plurality of groups of data collecting equipment on the grating type binocular vision sensor, so that scanning for multiple times is not needed, and complete three-dimensional information of the surface of the object can be obtained.
Furthermore, the planar target 2 comprises a light target and a metal frame, the metal frame is used for fixing the light target and is provided with an active power supply device, the light target is encapsulated with high voltage resistance and high protection, and the active light target has the characteristics of convenience in identification, high precision and small size and is used for establishing a dynamic reference coordinate system to eliminate measurement errors caused by external factors.
Furthermore, the ultra-wide view field camera is a panoramic camera, the panoramic camera can independently realize large-range shooting without dead angles, and the effect of reducing errors and improving accuracy is achieved.
A grating type binocular stereoscopic vision three-dimensional measurement method comprises the following steps:
step S1: the method comprises the following steps of (1) composition and preparation, wherein the composition and preparation comprise an optical measuring device 1, a planar target 2, a control acquisition system 3, a processing computer 4 and a driving device 5;
step S2: pre-adjusting, namely adjusting the distance between the optical measuring devices according to the geometric dimension of the object to be measured, so that the measured data is more accurate;
step S3: calibrating and processing, namely acquiring an image pair by acquiring an image of a target plate through the optical measuring device 1 and the plane target 2; calibrating the optical measurement device by a two-step method, further acquiring internal and external parameters of the optical measurement device and determining the specific spatial relationship of the optical measurement device, firstly placing a target plate in the shooting areas of the two optical measurement devices, and acquiring images of the target plate to obtain an image pair; calibrating the two optical measuring devices and the plane target by using a two-step method to obtain data inside and outside the optical measuring devices, wherein the error displayed by a calibration result is 0.14% -0.55%;
step S4: acquiring and analyzing images, namely shooting an object to be measured through two optical measuring devices 1 to obtain an image pair of the object to be measured; the optical measurement device 1 emits light stripes to an object to be measured, and collects and processes images; finally, the acquired image data is processed, automatically classified and uploaded to be stored in a database of the processing computer 4, an object to be measured is placed in the image data within the shooting range of the two optical measuring devices, the two optical measuring devices simultaneously shoot the surface of the object to be measured to obtain the image data and the image pair, the image pair obtained in the step S3 is used for obtaining the coordinates of the feature points of the object to be measured by using a phase coding and unfolding theory method, a numerical value interpolation method is used for obtaining all sub-pixel level feature points in the image of the object to be measured, and then the feature points are used for obtaining matched feature points in the other image of the object to be measured;
step S5: and generating a result to obtain the three-dimensional measurement data of the object to be measured, and obtaining the three-dimensional measurement data according to the obtained characteristic points.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The utility model provides a grating formula binocular stereovision three-dimensional measurement system which characterized in that: the device comprises an optical measuring device (1), a plane target (2), a control acquisition system (3), a processing computer (4) and a driving device (5), wherein the optical measuring device (1) and the plane target (2) are distributed around an object to be measured, the optical measuring device (1) and the plane target (2) are connected with the control acquisition system and the processing computer (4), and the device comprises:
the optical measurement device (1) comprises a grating type binocular vision sensor (6), a grating laser emission device (7), an industrial camera (8) and a light supplement light source device (9), wherein the grating laser emission device (7) emits a plurality of groups of laser towards an object to be measured, and the grating type binocular vision sensor (6) is used for collecting image data;
the processing computer (4) drives the control acquisition system to light the characteristic points on the planar target (2), measures the planar target by using the optical measurement device (1), three-dimensionally scans and measures an object to be measured, summarizes three-dimensional detection data obtained by measurement of the optical measurement device (1) by using the planar target (2) as a medium, and transmits the three-dimensional detection data to the control acquisition system (3) and the processing computer (4);
the control acquisition system (3) performs center point matching on the acquired image data, for each center point, the processing computer (4) performs matching point matching and establishes matching point pairs by using the acquired light bar data as matching points, generates a plurality of groups of measurement models based on the matching point pairs, and obtains corresponding spatial three-dimensional coordinates.
2. The grating type binocular stereoscopic vision three-dimensional measurement system according to claim 1, wherein: the grating type binocular vision sensor (6) is an ultra-wide view field video camera and a measuring camera.
3. The grating type binocular stereoscopic vision three-dimensional measurement system according to claim 1, wherein: the extraction algorithm module in the control acquisition system (3) is based on a Harris Cocner corner extraction method, and extraction and calculation of sub-pixel level corners are carried out to obtain coordinates of the center of the calibrated template image, so that a set of feature points can be constructed.
4. The grating type binocular stereoscopic vision three-dimensional measurement system according to claim 1, wherein: when the optical measuring device (1) is used, the internal parameters of the optical measuring device are adjusted and calibrated in advance, and the characteristic points of the plane target are identified and positioned.
5. The grating type binocular stereoscopic vision three-dimensional measurement system according to claim 1, wherein: the grating binocular vision sensor (6) is specifically used for acquiring matching results of light bar images through two measuring cameras and calculating local three-dimensional measuring data.
6. The grating type binocular stereoscopic vision three-dimensional measurement system according to claim 1, wherein: the plane target (2) comprises a light target and a metal frame, the metal frame is used for fixing the light target and is provided with active power supply equipment, and the light target is packaged in a high-voltage-resistant and high-protection mode.
7. The grating type binocular stereoscopic vision three-dimensional measurement system according to claim 1, wherein: the ultra-wide field camera is a panoramic camera.
8. The grating type binocular stereoscopic vision three-dimensional measurement method according to claim 1, characterized by comprising the following steps:
step S1: the method comprises the steps of composition and preparation, wherein the composition and preparation comprise an optical measuring device (1), a plane target (2), a control acquisition system (3), a processing computer (4) and a driving device (5);
step S2: pre-adjusting, namely adjusting the distance between the optical measuring devices according to the geometric dimension of the object to be measured;
step S3: calibrating and processing, namely acquiring an image pair by acquiring an image of a target plate through an optical measuring device (1) and a plane target (2); calibrating the optical measuring device by a two-step method, further acquiring internal and external parameters of the optical measuring device and determining the specific spatial relationship of the optical measuring device;
step S4: acquiring and analyzing images, namely shooting an object to be measured through two optical measuring devices (1) to obtain an image pair of the object to be measured; the optical measurement device (1) emits light stripes to an object to be measured, and collects and processes images; finally, the acquired image data are processed, automatically classified and uploaded to be stored in a database of a processing computer (4);
step S5: and generating a result to obtain the three-dimensional measurement data of the object to be measured.
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| CN102032878A (en) * | 2009-09-24 | 2011-04-27 | 甄海涛 | Accurate on-line measurement method based on binocular stereo vision measurement system |
| CN102445164A (en) * | 2011-10-12 | 2012-05-09 | 北京航空航天大学 | Three-dimensional shape vision measuring method and system for large component surface |
| CN102506758A (en) * | 2011-10-12 | 2012-06-20 | 北京航空航天大学 | Object surface three-dimensional morphology multi-sensor flexible dynamic vision measurement system and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102032878A (en) * | 2009-09-24 | 2011-04-27 | 甄海涛 | Accurate on-line measurement method based on binocular stereo vision measurement system |
| CN102445164A (en) * | 2011-10-12 | 2012-05-09 | 北京航空航天大学 | Three-dimensional shape vision measuring method and system for large component surface |
| CN102506758A (en) * | 2011-10-12 | 2012-06-20 | 北京航空航天大学 | Object surface three-dimensional morphology multi-sensor flexible dynamic vision measurement system and method |
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