CN1194207C - Multiple-section synthesizing three-dimensional profile measuring method - Google Patents
Multiple-section synthesizing three-dimensional profile measuring method Download PDFInfo
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- CN1194207C CN1194207C CNB031343430A CN03134343A CN1194207C CN 1194207 C CN1194207 C CN 1194207C CN B031343430 A CNB031343430 A CN B031343430A CN 03134343 A CN03134343 A CN 03134343A CN 1194207 C CN1194207 C CN 1194207C
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Abstract
The present invention discloses a multiple-section synthesizing three-dimensional profile measuring method, which adopts a driving device capable of moving measured objects at a uniform speed. A three-dimensional measuring sensor array is composed of a plurality of three-dimensional measuring sensors having a light section method, and simultaneously, the measured objects are measured; cross-section data measured by all the sensors are synthesized by a computer to make the speed of equivalent cross section measurement double increase. The present invention carries out the on-line measurement for the size of three-dimensional profiles of objects in real time to fulfill the requirement that the size of three-dimensional profiles of objects needs measuring on-line. The present invention can be widely used for the non-contact high-speed on-line measurement of the three-dimensional profiles of various objects.
Description
One, technical field
The present invention relates to photoelectric detection technology field, further relate to a kind of multi-section synthesizing three-dimensional profile measuring method.
Two, background technology
Line-structured light three-dimensional profile measuring method (claiming light cross-section method again) is a kind of non-contacting photoelectricity three-dimensional measurement technology.As shown in Figure 2, this method is vertically projected to the testee surfaces A with a line source P (being called finishing tool again), the visual A ' that receives reflection with video camera comes the shape face geometric data of Measuring Object, camera optical axis and finishing tool P angle are α, M is the measuring basis plane, L is a camera lens, from the finishing tool image of reflection, extract finishing tool center and the distance h that resembles face center o ' ', utilize principle of triangulation to obtain testee height h then by h '.
Its depth of section computing formula is as follows in the optional position in cross section:
U wherein, v, α are systematic parameters.Just can obtain the whole shape face geometric data of testee by synthetic a plurality of measurements cross section.The light cross-section method implement device is simple in structure, and higher measuring accuracy and speed are arranged, and can measure the complicated shape object, and is easy to realize automatic measurement, is widely used in the online detection of automatic production line and high speed.
Light cross-section method three-dimensional measurement sensor generally is made up of finishing tool, gamma camera and image collecting device, finishing tool image by the Computer Processing collection, try to achieve testee three-dimensional profile data, such system's section gauge speed is by gamma camera frame or field rate decision, field rate as the PAL-system video camera is 50 of per seconds, and promptly 50 cross sections of the maximum energy measurements of per second are difficult to satisfy the measurement needs in the high speed on-line measurement, though the high-speed camera field rate can reach hundreds of of per second, cost is very high.
Three, summary of the invention
The purpose of this invention is to provide a kind of multi-section synthesizing three-dimensional profile measuring method, this method is passed through with a plurality of light cross-section method three-dimensional measurement sensors, form the three-dimensional measurement sensor array, simultaneously testee is measured, and with the cross-section data of synthetic each sensor measurement of computing machine, the section gauge speed of equivalence is multiplied, to satisfy needs to the real-time online detection of object dimensional shape face size.
Comprise the steps:
1) conveyer has the measuring basis plane of placing testee, and can be by the at the uniform velocity mobile testee of speed V;
2) settle the three-dimensional measurement sensor array above conveyer, guarantee that the finishing tool optical axis of three-dimensional measurement sensor is vertical with conveyer measuring basis plane, finishing tool direction (the line length direction of line source) is vertical with the conveyer moving direction.
3) the finishing tool quantity of three-dimensional measurement sensor array is by measurement cross section spacing that requires and the decision of conveyer rate travel.
4) the finishing tool spacing of three-dimensional measurement sensor array is determined by the rate travel of three-dimensional measurement sensor physical dimension, conveyer 1, the image acquisition field frequencies range and the finishing tool number of three-dimensional measurement sensor array;
5) testee is placed on the measuring basis plane of conveyer 1 of uniform motion;
6) testee at the uniform velocity by all measurement finishing tools of three-dimensional measurement sensor array, send in image acquisition and the treating apparatus by the cross-section data of each light sectioning;
7) image acquisition and treating apparatus just can obtain the three-dimensional profile coordinate of whole object by the cross-section data of synthetic each light sectioning.
The present invention is owing to adopted three-dimensional measurement sensor array and multi-section synthesizing three-dimensional profile measuring method, available common field rate video camera is realized measuring at a high speed, significantly improved measuring speed, for the online three-dimensional profile measurement of high speed provides a kind of new implementation method.
Four, description of drawings
Fig. 1 is the schematic diagram of multi-section synthesizing three-dimensional profile measuring method and device;
Fig. 2 is monochromatic light cutter light cross-section method three-dimensional measurement sensor synoptic diagram and index path; Wherein, be light cross-section method three-dimensional measurement sensor construction synoptic diagram (A), (B) be the index path of (A);
Fig. 3 is two finishing tool light cross-section method three-dimensional measurement sensor synoptic diagram and index path; Wherein, be that two light are cut three-dimensional measurement sensor construction synoptic diagram (A), (B) be the index path of (A); Also be embodiments of the invention one;
Fig. 4 is four finishing tool multi-section three-dimensional profile measuring light cutter position synoptic diagram, is embodiments of the invention two.
Five, embodiment
Describe method and apparatus of the present invention in detail below in conjunction with accompanying drawing:
As shown in Figure 1, testee 4 is placed on the conveyer 1, and three-dimensional measurement sensor array 2 is placed on conveyer 1 and testee 4 tops, and image acquisition and treating apparatus 3 receive the image measurement data that three-dimensional measurement sensor array 2 sends, and the line data of going forward side by side is handled.Method of the present invention realizes according to the following steps:
1) have the measuring basis plane of placing testee on the conveyer 1, and can be by the at the uniform velocity mobile testee 4 of speed V;
2) settle three-dimensional measurement sensor array 2 above conveyer, guarantee that the finishing tool optical axis of three-dimensional measurement sensor is vertical with conveyer measuring basis plane, finishing tool direction (the line length direction of line source) is vertical with the conveyer moving direction.
3) the finishing tool quantity of three-dimensional measurement sensor array 2 is by measuring the decision of cross section spacing and conveyer rate travel.If the conveyer translational speed is V, requiring to measure the cross section spacing is Δ P, and gamma camera field frequency (the highest sample rate) is F, then selects finishing tool to count N=V/ (Δ PF), and per second equivalent measurement cross section number is (NF).As adopt the PAL-system gamma camera of standard, and field frequency F=50, conveyer translational speed V=1000mm/s requires to measure cross section separation delta P=10mm, and then finishing tool is counted N=2, and per second equivalent measurement cross section number is 100 cross sections.
4) the finishing tool spacing of three-dimensional measurement sensor array 2 is determined by following method:
If the conveyer average rate moves, speed is V, and three-dimensional measurement sensor per second is got the F field pattern and resembled, per second testee displacement Δ X=V/F, if the finishing tool number of three-dimensional measurement sensor array 2 is N, sampling interval Δ P=Δ X/N then, each measuring light cutter position can be taken as:
Pn＝ΔX·K+n·ΔP
Wherein, and n=(0,1,2 ..., N-1) be N finishing tool, K is a positive integer.
5) testee is placed on the measuring basis plane of conveyer of uniform motion;
6) testee at the uniform velocity by all measurement finishing tools of three-dimensional measurement sensor array 2, send in image acquisition and the treating apparatus 3 by the cross-section data of each light sectioning;
7) image acquisition and treating apparatus 3 just can obtain the three-dimensional profile coordinate of whole object by the cross-section data of synthetic each light sectioning.If the three-dimensional measurement sensor array is shown N+1 finishing tool, testee has been carried out M+1 time measured, Dnm represents the cross section value of Pn finishing tool the m time sampling, then the synthetic order of each cross-section data of testee is:
D
00，D
10，D
20，...，D
N0，D
01，D
11，D
21，...，D
N1，...，D
0M，D
1M，D
2M，...，D
NM
The multi-section synthesizing three-dimensional profile measurement mechanism that adopts method of the present invention to make generally consists of the following components, and it comprises the conveyer that is used at the uniform velocity mobile testee; Be used to obtain the three-dimensional measurement sensor array of measuring the cross section geometry data; Be placed on the testee on the conveyer; Image acquisition and treating apparatus.
Fig. 2 has described monochromatic light cutter light cross-section method three-dimensional measurement sensor synoptic diagram and index path.Monochromatic light cutter light cross-section method three-dimensional measurement sensor generally is made up of finishing tool, gamma camera and image collecting device, finishing tool image by the Computer Processing collection, try to achieve testee three-dimensional profile data, the section gauge speed of monochromatic light cutter three-dimensional measurement sensing system is determined by the gamma camera field rate, field rate as the PAL-system video camera is 50 of per seconds, be that per second can only be measured 50 cross sections at most, in the high speed on-line measurement, be difficult to satisfy the measurement needs, though the high-speed camera field rate can reach hundreds of of per second, cost is very high.
Fig. 3 has described one of embodiment of multi-section synthesizing three-dimensional profile measuring method and device, two finishing tool light cross-section method three-dimensional measurement sensor synoptic diagram and index path.Be to have adopted two finishing tools of P1, P2 with monochromatic light cutter light cross-section method three-dimensional measurement sensor difference, the section gauge speed that such light path design can double also helps under the requirement that guarantees the measurement visual field, makes full use of the sensor target surface of gamma camera.As shown in Figure 3, establish the conveyer average rate and move, speed V=2000mm/s, gamma camera field frequency (the highest sample rate) F=50, sampling interval Δ P=20mm then, per second equivalent measurement cross section number is 100 cross sections.P1, P2 are respectively the position of finishing tool LD1, LD2, and S is photo centre's point of camera lens, gets baseline B=400MM, maximum measuring distance L=1000MM, measured object maximum height Hmax=420mm, two finishing tool spacing P1P2=180MM.Then can calculate:
The measurement of angle scope of finishing tool 1: α 1=12.79 °
The measurement of angle scope of finishing tool 2: α 2=9.39 °
Finishing tool 1 than finishing tool 2 have higher measuring accuracy (with 1/3 inch target surface, F=8MM camera lens, its horizontal field of view angle α
II=33.4 °, vertical field of view angle α
V=25.4 °).
Fig. 4 has described two, the four finishing tool multi-section three-dimensional profile measurement mechanism finishing tool position views of the embodiment of multi-section synthesizing three-dimensional profile measuring method and device.When being 1000mm/s as conveyer average rate translational speed V, the finishing tool number of establishing the three-dimensional measurement sensor array is N=4, and per second is got the F=50 field pattern and resembled, and then has as shown in Figure 1 and Figure 4:
ΔX＝1000/50＝20mm；ΔP＝ΔX/4＝20/4＝5mm；
Get the finishing tool position: P0=0, P1=5mm, P2=10mm, P3=15mm; Get with the finishing tool position: P0=0, P1=185mm, P2=490mm, P3=675mm; Has same measurement effect.The mobile Δ X=20mm of testee will sample same cross section on the integral multiple position of Δ X because sample at every turn, so the particular location of finishing tool can be provided with flexibly according to the light path needs, solve the key issue that the three-dimensional measurement sensor array is realized.The absolute difference of K value representation finishing tool sampling location wherein, the corresponding K value of P0, P1, P2, P3 is 0,9,27,36 to be that the 0th sampling of finishing tool P0 is corresponding with 9,27,36 samplings of finishing tool P1, P2, P3 respectively in this example.After eliminating finishing tool sampling absolute difference, establish D
N0, D
N1, D
N2..., D
NMRepresent the Pn finishing tool the 0th, 1,2 respectively ..., the cross section value of M+1 sampling, then each cross section generated data of testee is:
D
00，D
10，D
20，D
30，D
01，D
11，D
21，D
31，...，D
0M，D
1M，D
2M，D
3M
The present invention has adopted multi-section synthesizing three-dimensional profile measuring technique, under the situation that does not increase the video camera field frequency, utilize a plurality of finishing tools of three-dimensional measurement sensor array to measure simultaneously, the section gauge speed of equivalence is multiplied, thereby reached the needs that real-time online detects, can be widely used in the noncontact high speed on-line measurement of various object dimensional shape faces.
Claims (2)
1. multi-section synthesizing three-dimensional profile measuring method, it is characterized in that, adopt the conveyer of at the uniform velocity mobile testee, by with a plurality of light cross-section method three-dimensional measurement sensors, form the three-dimensional measurement sensor array, simultaneously testee is measured, and synthesize the cross-section data of each sensor measurement with computing machine, the section gauge speed of equivalence is multiplied, object dimensional shape face size is carried out real-time online detect; Comprise the steps:
1) conveyer is provided with the measuring basis plane of placing testee, and can be by the at the uniform velocity mobile testee of speed V;
2) settle the three-dimensional measurement sensor array above conveyer, and guarantee that the finishing tool optical axis of three-dimensional measurement sensor is vertical with conveyer measuring basis plane, the finishing tool direction is vertical with the conveyer moving direction;
3) the finishing tool quantity of three-dimensional measurement sensor array is by measurement cross section spacing that requires and the decision of conveyer rate travel;
4) the finishing tool spacing of three-dimensional measurement sensor array is determined by the rate travel of three-dimensional measurement sensor physical dimension, conveyer, the image acquisition field frequencies range and the finishing tool number of three-dimensional measurement sensor array;
5) testee is placed on the measuring basis plane of conveyer of uniform motion;
6) testee at the uniform velocity by all measurement finishing tools of three-dimensional measurement sensor array, send in image acquisition and the treating apparatus by the cross-section data of each light sectioning;
7) image acquisition and treating apparatus just can obtain the three-dimensional profile coordinate of whole object by the cross-section data of synthetic each light sectioning.
2. multi-section synthesizing three-dimensional profile measuring method as claimed in claim 1 is characterized in that, the finishing tool spacing of described three-dimensional measurement sensor array is determined by following method:
If the conveyer average rate moves, speed is V, and three-dimensional measurement sensor per second is got the F field pattern and resembled, per second testee displacement Δ X=V/F, and the finishing tool number of establishing the three-dimensional measurement sensor array is N, sampling interval Δ P=Δ X/N then, each measuring light cutter position is taken as:
Pn＝ΔX·K+n·ΔP
Wherein, and n=(0,1,2 ..., N-1) be N finishing tool, K is a positive integer, the K value is set to any positive integer according to three-dimensional measurement sensor array light path needs.
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| CNB031343430A CN1194207C (en) | 2003-07-02 | 2003-07-02 | Multiple-section synthesizing three-dimensional profile measuring method |
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| CNB031343430A CN1194207C (en) | 2003-07-02 | 2003-07-02 | Multiple-section synthesizing three-dimensional profile measuring method |
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| CN1194207C true CN1194207C (en) | 2005-03-23 |
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Families Citing this family (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7084989B2 (en) * | 2004-04-19 | 2006-08-01 | Sick Ivp Aktiebolag | Measuring apparatus and method in a distribution system |
| CN1308652C (en) * | 2004-12-09 | 2007-04-04 | 武汉大学 | Method for three-dimensional measurement of sheet metal part using single non-measuring digital camera |
| WO2008099581A1 (en) * | 2007-02-08 | 2008-08-21 | Panasonic Corporation | Planar lighting apparatus and liquid crystal display device using the same |
| EP2063220B1 (en) * | 2007-11-15 | 2017-06-28 | Sick IVP AB | Optical triangulation |
| JP2011163852A (en) * | 2010-02-08 | 2011-08-25 | Kobe Steel Ltd | Visual inspection device |
| DE102010030908B4 (en) * | 2010-07-02 | 2014-10-16 | Strube Gmbh & Co. Kg | Method for classifying objects contained in seed lots, sorting methods and associated apparatus |
| DE102011000304B4 (en) * | 2011-01-25 | 2016-08-04 | Data M Sheet Metal Solutions Gmbh | Calibration of laser light section sensors with simultaneous measurement |
| CN102506709B (en) * | 2011-10-21 | 2017-04-19 | 深圳市科陆电子科技股份有限公司 | Device and method for detecting overall dimension of intelligent electric energy meter |
| CN103822594A (en) * | 2014-02-28 | 2014-05-28 | 华南理工大学 | Workpiece scanning imaging method based on laser sensor and robot |
| DE102017001010A1 (en) * | 2016-02-05 | 2017-08-10 | Mitutoyo Corporation | Image measuring device and program |
| CN107084686B (en) * | 2017-04-26 | 2019-04-30 | 西安交通大学 | A kind of more light-knife scanning survey methods of the dynamic of movement-less part |
| CN107560550A (en) * | 2017-09-08 | 2018-01-09 | 广东工业大学 | A kind of acquisition methods and system of body surface parameter |
| CN108151668B (en) * | 2017-12-15 | 2020-05-22 | 西安交通大学 | Blade profile full-data measurement splicing method and device |
| CN109141278A (en) * | 2018-07-20 | 2019-01-04 | 广州市康超信息科技有限公司 | A kind of three-dimensional sensing device and its detection method of conveyer belt |
| DE102019128814B4 (en) * | 2019-10-25 | 2021-05-20 | Sick Ag | Camera for detecting an object flow and method for determining the height of objects |
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