CN1356528A - In-line real-time collinating measurer with computer visulization technique and its calibration method - Google Patents
In-line real-time collinating measurer with computer visulization technique and its calibration method Download PDFInfo
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- CN1356528A CN1356528A CN 01136503 CN01136503A CN1356528A CN 1356528 A CN1356528 A CN 1356528A CN 01136503 CN01136503 CN 01136503 CN 01136503 A CN01136503 A CN 01136503A CN 1356528 A CN1356528 A CN 1356528A
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Abstract
An in-line real-time collimating measurer using computer visualization technique is disclosed. A virtual is used to replace actual one. One or more visual sensors with a certain working distance and measuring range chosen accoring to the size and structure of object are arranged. Their controller has 485 port for connecting computer. The said sensor is composed of planar laser projector and camera, which has triangular relation for meeting triangular measuring principle. Its advantages include non-contact measurement and high speed.
Description
Technical field
The invention belongs to precision measurement apparatus, particularly a kind of online in real time alignment measurement device that utilizes computer vision technique.
Background technology
Alignment measurement metal work-pieces form and position error measurement, it is the part of geometric measurement, have extensively and important use in manufacturing industry, measurand that alignment measurement relates to and application scenario kind are many, as the steel pipe in steel and iron industry processing, various large-scale production equipment install, the parts assembling of product etc.Still the measurement mechanism that does not have at present effectively unified alignment measurement device, especially real-time online.Existing alignment measurement method has benchmark finger-length measurement, method of laser alignment, autocollimator method, backguy method and coordinate survey, their common feature is: contact type measurement, speed are slow, can not be used to make on-the-spot real-time online measuring, in addition, these methods do not have versatility, can only be applicable to the application of a certain particular type.Above-mentioned shortcoming and modern manufacturing industry collimation Testing requirement contradict, and modern manufacturing industry is paid close attention to quality, emphasizes the real-time online measuring in manufacture process, and requires alignment measurement to have certain versatility, is convenient to reduce cost.
Existing alignment measurement method serves as to measure reference as the benchmark finger-length measurement with reference plane (or reference line) all with the object of reference of material standard as measurement; Method of laser alignment is to measure reference with the laser beam; The autocollimator method is to measure reference with the optical axis; The backguy method is reference with the reference line; Coordinate survey is reference with the guide rail movement of coordinate measuring machine, and their measurement all is a contact, and efficient is low, and speed is slow, can not make rig-site utilization.
Summary of the invention
A kind of brand-new real-time alignment measurement device based on the modern computer vision technique of present patent application invention reaches the calibration steps to this device, utilize the real-time alignment measurement device of computer vision to adopt virtual reference to replace material standard as measuring reference, concrete technical scheme is:
Be made up of at least three sensors, computing machine, sensor is made up of the laser plane projector (8) and gamma camera (10), becomes triangle relation in the space between the two, satisfies the triangulation principle; Sensor in the measurement mechanism need be accepted computer control and vision signal is exported, all sensors are received on the bus controller card (4) in the computing machine by Communication Control bus (7), by the unified control of computing machine, the vision signal of output is then received on the image collection card (3) in the computing machine by video bus (6).
Utilize the calibration steps of the online in real time alignment measurement device of computer vision technique, adopt transit industrial measuring system and calibration target, target be parallel to each other by at least three and not the filament of coplane (11) form, filament is fixing by wire stent (12), during calibration, target is placed in the working range of sensor, optical plane that light projector projects in the sensor and target filament intersect at least three bright spots of formation, the volume coordinate of bright spot is simultaneously by sensor and industrial transit survey systematic survey, can obtain two transformational relations between the coordinate system thus, promptly finish the sensor coordinate system unification in industrial transit survey coordinate system.
As shown in Figure 1, size and structure according to measurand, select or design the structured light vision sensor of relevant work distance and range for use, by measurement requirement together with three or more transducer arrangements, and fixing relative position, be integrated with computer field bus communication interface on the control circuit of sensor (9);
With industrial gamma camera structural texture light vision sensor.Sensor adopts the triangulation principle, non-cpntact measurement that can the implementation space three-dimensional point;
All the sensors is accepted computer control by the Communication Control bus, forms complete unified measurement mechanism.
Adopt two high precision transits to form portable 3 d space coordinate measuring system, by auxiliary target, as shown in Figure 3, in coordinate system unification to a frame of reference with all the sensors; In the frame of reference,,, obtain the alignment measurement result according to the definition of measurand linearity by the method for mathematics match, optimization.
Compare with current measuring methods, the distinguishing feature of patent device is to have replaced material standard with virtual reference, and has utilized up-to-date computer vision technique, measures noncontact, speed is fast, can be used for the manufacturing industry scene, and has certain versatility.
The present invention is applied to vision detection technology the alignment measurement field first, proposes a kind of new departure of realizing that linearity (collimation) contactless high-precision is measured; Solved in the scheme required flexibly, system calibration problem fast.
Description of drawings Fig. 1: measurement mechanism synoptic diagram; Fig. 2: sensor synoptic diagram; Fig. 3: target synoptic diagram.
Embodiment
Be the concrete embodiment of example explanation with the weldless steel tube straight line degree measurement below:
As shown in Figure 1, form a complete detection system by a plurality of vision sensors 2, the quantity of sensor can require (required range and precision) decision according to reality, sensor is along axially evenly series connection placement of steel pipe 1, and with axially parallel, sensor is about 400mm to the distance of steel pipe, also can adjust according to parameters such as diameter of steel tube, working sensor distances;
Sensor is made up of the laser plane projector 8 and gamma camera 10, becomes triangle relation in the space between the two, satisfies the requirement of triangulation principle, as shown in Figure 2.Sensor is when measuring, the optical plane projector projects a laser plane on the tested steel pipe cylindrical, produce one section circular arc such as Fig. 1, the image that comprises circular arc is accepted by gamma camera, the vision signal of gamma camera output enters computing machine 5 through image collection card 3, the position of Computer Analysis circular arc in image, and try to achieve the three-dimensional coordinate of circular arc in sensor coordinate system by the relation between optical plane and the gamma camera, and try to achieve the coordinate in its corresponding center of circle through the mathematics match, this coordinate figure is exactly the central coordinate of circle of the cross section circle that obtains with the transversal steel pipe of laser plane.Sensor in the measurement mechanism need be accepted unified control and vision signal is exported, all sensors enter 485 bus controller cards 4 in the computing machine by 485 field bus control systems 7, by the unified control of computing machine, the vision signal of sensor output is then received on the image collection card 3 in the computing machine by video bus 6.
When setting up measuring system, need coordinate system unification to a frame of reference with all the sensors in, i.e. system's benchmark.Concrete grammar is: adopt transit industrial measuring system (as Leica T1800 transit and Txyz Survey Software) and calibration target, target be parallel to each other by at least three and not the filament 11 of coplane form, filament is fixed by wire stent 12, as shown in Figure 3.During calibration, target is placed in the working range of sensor, optical plane that light projector projects in the sensor and target filament intersect three bright spots of formation, the volume coordinate of bright spot is simultaneously by sensor and industrial transit survey systematic survey, can obtain two transformational relations between the coordinate system thus, promptly finish the sensor coordinate system unification in industrial transit survey coordinate system.Successively all the sensors is done same the processing, just can be with (industrial transit survey coordinate system) in all the sensors coordinate system unification to a frame of reference.
At last, the central coordinate of circle system one of the steel tube section circle that all the sensors is recorded in the frame of reference, according to the definition of measurand linearity, obtains the alignment measurement result in the frame of reference.
Claims (4)
1. online in real time alignment measurement device that utilizes computer vision technique, form by at least three sensors, computing machine, it is characterized by sensor and form, become triangle relation in the space between the two, satisfy the triangulation principle by the laser plane projector (8) and gamma camera (10); Sensor in the measurement mechanism need be accepted control and vision signal is exported, the bus controller card (4) that all sensors are received in the computing machine by computing machine Communication Control bus (7) is gone up by the unified control of computing machine, and the vision signal of output is then received on the image collection card (3) in the computing machine by video bus (6).
2. a kind of online in real time alignment measurement device that utilizes computer vision technique as claimed in claim 1 is characterized by a plurality of sensors and arranges along the testee axial series.
3. a kind of online in real time alignment measurement device that utilizes computer vision technique as claimed in claim 1 is characterized by sensor by 485 field bus control systems and computing machine communication, accepts its control.
4. calibration steps that utilizes the online in real time alignment measurement device of computer vision technique, it is characterized by and adopt transit industrial measuring system and calibration target, target be parallel to each other by at least three and not the filament of coplane (11) form, filament is fixing by wire stent (12), during calibration, target is placed in the working range of sensor, optical plane that light projector projects in the sensor and target filament intersect at least three bright spots of formation, the volume coordinate of bright spot is simultaneously by sensor and industrial transit survey systematic survey, can obtain two transformational relations between the coordinate system thus, promptly finish the sensor coordinate system unification in industrial transit survey coordinate system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN 01136503 CN1117264C (en) | 2001-10-15 | 2001-10-15 | In-line real-time collinating measurer with computer visulization technique and its calibration method |
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| CN 01136503 CN1117264C (en) | 2001-10-15 | 2001-10-15 | In-line real-time collinating measurer with computer visulization technique and its calibration method |
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| CN1356528A true CN1356528A (en) | 2002-07-03 |
| CN1117264C CN1117264C (en) | 2003-08-06 |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101567078B (en) * | 2009-03-27 | 2011-06-22 | 西安交通大学 | Dual-bus visual processing chip architecture |
| CN102519400A (en) * | 2011-12-15 | 2012-06-27 | 东南大学 | Large slenderness ratio shaft part straightness error detection method based on machine vision |
| CN103438826A (en) * | 2013-08-16 | 2013-12-11 | 江苏科技大学 | Three-dimensional measurement system and three-dimensional measurement method for steel plate with lasers and vision combined |
| CN103471531A (en) * | 2013-09-27 | 2013-12-25 | 吉林大学 | On-line non-contact measurement method for straightness of axis parts |
| CN103737433A (en) * | 2013-12-03 | 2014-04-23 | 上海卫星装备研究所 | Composite type precision measurement method for large components |
| US10027954B2 (en) | 2016-05-23 | 2018-07-17 | Microsoft Technology Licensing, Llc | Registering cameras in a multi-camera imager |
| CN108344370A (en) * | 2018-02-02 | 2018-07-31 | 山东大学 | Spiral welded pipe pipeline external diameter measuring device and method based on double visual sensors |
| US10326979B2 (en) | 2016-05-23 | 2019-06-18 | Microsoft Technology Licensing, Llc | Imaging system comprising real-time image registration |
| US10339662B2 (en) | 2016-05-23 | 2019-07-02 | Microsoft Technology Licensing, Llc | Registering cameras with virtual fiducials |
| CN110067553A (en) * | 2019-04-25 | 2019-07-30 | 河南中原特钢装备制造有限公司 | The calibration method of stone oil drill collar jack rabbit |
| CN110308147A (en) * | 2019-05-31 | 2019-10-08 | 吴江朗科化纤有限公司 | A kind of intelligent inspection method of synthetic fiber spinning technique the Silk Road |
| CN110579199A (en) * | 2018-06-11 | 2019-12-17 | 北大方正集团有限公司 | bar straightness measuring method and device |
| CN110926378A (en) * | 2019-12-16 | 2020-03-27 | 太原科技大学 | Improved bar straightness detection system and method based on visual detection |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1285887C (en) * | 2004-06-23 | 2006-11-22 | 潘汉军 | Method for measuring and adjusting alignment error for coupling members of rotating shaft and instrument system therefor |
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2001
- 2001-10-15 CN CN 01136503 patent/CN1117264C/en not_active Expired - Fee Related
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101567078B (en) * | 2009-03-27 | 2011-06-22 | 西安交通大学 | Dual-bus visual processing chip architecture |
| CN102519400A (en) * | 2011-12-15 | 2012-06-27 | 东南大学 | Large slenderness ratio shaft part straightness error detection method based on machine vision |
| CN102519400B (en) * | 2011-12-15 | 2014-04-09 | 东南大学 | Large slenderness ratio shaft part straightness error detection method based on machine vision |
| CN103438826A (en) * | 2013-08-16 | 2013-12-11 | 江苏科技大学 | Three-dimensional measurement system and three-dimensional measurement method for steel plate with lasers and vision combined |
| CN103471531A (en) * | 2013-09-27 | 2013-12-25 | 吉林大学 | On-line non-contact measurement method for straightness of axis parts |
| CN103471531B (en) * | 2013-09-27 | 2016-01-20 | 吉林大学 | The online non-contact measurement method of axial workpiece linearity |
| CN103737433A (en) * | 2013-12-03 | 2014-04-23 | 上海卫星装备研究所 | Composite type precision measurement method for large components |
| US10339662B2 (en) | 2016-05-23 | 2019-07-02 | Microsoft Technology Licensing, Llc | Registering cameras with virtual fiducials |
| US10027954B2 (en) | 2016-05-23 | 2018-07-17 | Microsoft Technology Licensing, Llc | Registering cameras in a multi-camera imager |
| US10326979B2 (en) | 2016-05-23 | 2019-06-18 | Microsoft Technology Licensing, Llc | Imaging system comprising real-time image registration |
| CN108344370A (en) * | 2018-02-02 | 2018-07-31 | 山东大学 | Spiral welded pipe pipeline external diameter measuring device and method based on double visual sensors |
| CN108344370B (en) * | 2018-02-02 | 2020-04-28 | 山东大学 | Spiral welded pipe pipeline outer diameter measuring device and method based on double visual sensors |
| CN110579199A (en) * | 2018-06-11 | 2019-12-17 | 北大方正集团有限公司 | bar straightness measuring method and device |
| CN110067553A (en) * | 2019-04-25 | 2019-07-30 | 河南中原特钢装备制造有限公司 | The calibration method of stone oil drill collar jack rabbit |
| CN110308147A (en) * | 2019-05-31 | 2019-10-08 | 吴江朗科化纤有限公司 | A kind of intelligent inspection method of synthetic fiber spinning technique the Silk Road |
| CN110926378A (en) * | 2019-12-16 | 2020-03-27 | 太原科技大学 | Improved bar straightness detection system and method based on visual detection |
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