CN208998740U - Scanning three-dimensional imaging laser and CCD two-dimensional imaging combination metering device - Google Patents
Scanning three-dimensional imaging laser and CCD two-dimensional imaging combination metering device Download PDFInfo
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- CN208998740U CN208998740U CN201821328588.3U CN201821328588U CN208998740U CN 208998740 U CN208998740 U CN 208998740U CN 201821328588 U CN201821328588 U CN 201821328588U CN 208998740 U CN208998740 U CN 208998740U
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Abstract
The utility model relates to the combination metering devices of scanning three-dimensional imaging laser and CCD two-dimensional imaging, including pedestal, kinematic axis, three-dimensional camera, backlight, workbench, lens bracket and two-dimensional imaging equipment, the kinematic axis, backlight, lens bracket and workbench are respectively arranged on the pedestal, the three-dimensional camera is set on the kinematic axis, the workbench is suspended in above the backlight, the backlight and workbench are placed in below the lens bracket, the two-dimensional imaging equipment is set on the lens bracket, workbench described in the camera lens of the three-dimensional camera is opposite, the kinematic axis is parallel with the workbench.Improve the precision of measurement, the operation of measurement is simpler quick, can be realized efficient lithium battery principal length dimensional measurement；Reduce production efficiency.
Description
Technical field
The utility model belong to data imaging measuring technique improvement areas more particularly to a kind of scanning three-dimensional imaging laser and
CCD two-dimensional imaging combination metering device.
Background technique
In automated production assembling technology procedure, need lithium battery precision assembly into electronic product, lithium battery
Size value will directly affect the performance of product after assembly, therefore need during precision assembly to measure the principal length of lithium battery
Size, to determine whether the principal length size of the battery is suitable for the Product Assembly.The edge shape of lithium battery top body edge
For irregular ramped shaped, it is very big on measurement accuracy influence to push up the irregular shape of body edge, and pushes up and there is electricity around body edge
The foreign matters such as pond electrode ear, closedtop glue increase optical imagery difficulty, and therefore, it is necessary to detect lithium by various effective methods
Battery top body edge position and lithium battery bottom edge position, to measure the principal length size of lithium battery.
Currently, the principal length size of measurement lithium battery is first to detect lithium battery top main body using mechanical contact method
Side position, then electricity detect lithium battery bottom edge position by CCD optical imagery above battery, then according to lithium battery top body edge
Position and lithium battery bottom edge position calculate the principal length size for measuring lithium battery.
Existing detection mode has shortcoming, uses mechanical contact method detection lithium battery top body edge position detection essence
Spend that low, poor accuracy, speed are slow, the debug time of remodeling that need to be carried out when remodeling and measuring different model lithium battery is long, reduces
Production efficiency.
Utility model content
The purpose of this utility model is to provide a kind of scanning three-dimensional imaging lasers and CCD two-dimensional imaging measurement in a closed series to fill
It sets, it is intended to solve low, poor accuracy, speed using mechanical contact method detection lithium battery top body edge position detection accuracy
Slowly, the technical issues of debug time of remodeling that need to be carried out when remodeling and measuring different model lithium battery is long, reduces production efficiency.
The utility model is realized in this way a kind of scanning three-dimensional imaging laser and CCD two-dimensional imaging combination measurement method,
The scanning three-dimensional imaging laser and CCD two-dimensional imaging combination measurement method the following steps are included:
S1, three-dimensional imaging are existed using three-dimensional camera by line laser moving sweep measured object body edge acquisition position coordinate
The 3D image of measured object body edge is constructed in three-dimensional system of coordinate；
S2, coordinate conversion, isolate the two-dimensional coordinate point set M1 for operation result of measurement latitude in three-dimensional coordinate point set M0；
S3, coordinates correction, will concentrate to isolate from three-dimensional coordinate point and be used for operation result of measurement dimension by coordinates correction formula
Two-dimensional coordinate point set be corrected to the coordinate point set M2 parallel with the two-dimensional coordinate system of CCD, coordinates correction formula: Tx=Ox*
cosθ + Oy*sinθ；Ty = Oy*cosθ - Ox*sinθ；
S4, coordinate mapping, all the points of coordinate system where coordinate point set M2 are mapped in CCD two-dimensional coordinate system and are generated newly
Coordinate point set M3；
S5, two-dimensional imaging shoot measured object location drawing picture by CCD and extract measured object bottom edge in CCD two-dimensional coordinate system
All coordinate point set N；
S6, principal length calculate, and calculate measured object main body using length formula according to coordinate point set M3 and coordinate point set N
Length, computational length formula: D=(d1+d2+d3+...+dn)/n；
Wherein, wherein Ox, Oy are former coordinate points, and it is parallel with the two-dimensional coordinate system of CCD that Tx, Ty, which are according to angle theta calibration,
Coordinate points.
The further technical solution of the utility model is: the step S6 is further comprising the steps of:
S61, in CCD two-dimensional coordinate system by coordinate point set N carry out least square method fitting a straight line, linear equation, directly
Line equation :+c=0 ax+by；
S62, according to image pixel ratio value coordinates computed point set M3 all the points in CCD two-dimensional coordinate system to fitting a straight line
Distance.
The further technical solution of the utility model is: three-dimensional camera measures measured object in coordinate mapping in the step S4
The edge point value of marginal point and two-dimensional CCD the measurement measured object X-direction of X-direction corresponds.
The further technical solution of the utility model is: in the step S2 further include:
S21, all coordinate points M0 for obtaining effective measurement point of measured object in coordinate Z-direction according to 3D rendering.
The further technical solution of the utility model is: effective measurement point in the step S21 is the upper table of measured object
Towards all coordinate point sets at the 2.58mm of measured object top body edge slope.
The further technical solution of the utility model is: three-dimensional camera acquires every by fixed time sequence in the step S1
The location coordinate information of all the points on laser rays.
The another object of the utility model is to provide a kind of scanning three-dimensional imaging laser and CCD two-dimensional imaging measurement in a closed series
Device, the scanning three-dimensional imaging laser and CCD two-dimensional imaging combination metering device include pedestal, kinematic axis, three-dimensional camera, back
Light source, workbench, lens bracket and two-dimensional imaging equipment, the kinematic axis, backlight, lens bracket and workbench are respectively arranged on
On the pedestal, the three-dimensional camera is set on the kinematic axis, and the workbench is suspended in above the backlight, the back
Light source and workbench are placed in below the lens bracket, and the two-dimensional imaging equipment is set on the lens bracket, the three-dimensional
Workbench described in the camera lens of camera is opposite, and the kinematic axis is parallel with the workbench.
The further technical solution of the utility model is: the two-dimensional imaging equipment includes CCD camera and telecentric lens, institute
CCD camera is stated to connect with the telecentric lens.
The further technical solution of the utility model is: the kinematic axis includes mounting base, carriage, multiple detections limit
Position device, limit detection lug and Camera fixing seat, the carriage are set in the mounting base, and multiple detection limiters are set
In on the carriage, the Camera fixing seat is set on the carriage, and the limit detection lug is set to the camera
In fixing seat.
The further technical solution of the utility model is: the workbench includes two pieces of support plates and glass table top, described
Glass table top is set in two pieces of support plates, and two support plates are arranged in parallel.
The further technical solution of the utility model is: the lens bracket includes lens fixing plate and four support columns,
Four support columns are connect with four Angle Positions of the same face of the lens fixing plate respectively.
The beneficial effects of the utility model are: improving the precision of measurement, the operation of measurement is simpler quick, Neng Goushi
Now efficient lithium battery principal length dimensional measurement.Improve production efficiency.
Detailed description of the invention
Fig. 1 is scanning three-dimensional imaging laser and CCD two-dimensional imaging combination metering device provided by the embodiment of the utility model
Structural schematic diagram.
Fig. 2 is the principal length dimensional measurement explanatory diagram of lithium battery provided by the embodiment of the utility model.
Fig. 3 is CCD optical imagery figure provided by the embodiment of the utility model.
Fig. 4 is three-dimensional camera image provided by the embodiment of the utility model.
Fig. 5 is measurement coordinate system diagram provided by the embodiment of the utility model.
Fig. 6 is scanning three-dimensional imaging laser and CCD two-dimensional imaging combination measurement method provided by the embodiment of the utility model
Flow chart.
Specific embodiment
Appended drawing reference: 1-CCD camera 2- telecentric lens 3- three-dimensional camera 4- kinematic axis 5- lithium battery 6- workbench
7- backlight 8- lens fixing base 9- support column 10- pedestal
As shown in fig. 6, scanning three-dimensional imaging laser provided by the utility model and CCD two-dimensional imaging combination measurement method
Flow chart, details are as follows:
Step S1, three-dimensional imaging are sat using three-dimensional camera by line laser moving sweep measured object body edge acquisition position
It is marked on the 3D image that measured object body edge is constructed in three-dimensional system of coordinate；It sends instruction control motor and drives three-dimensional camera movement,
The line laser moving sweep lithium battery top body edge of three-dimensional camera acquires all the points on each laser rays by fixed time sequence
The location coordinate information of all the points is reconstructed into 3D rendering, to construct battery in three-dimensional system of coordinate by location coordinate information
The 3D image for pushing up body edge, with reference to attached drawing 4.
Step S2, coordinate conversion, isolates the two-dimensional coordinate point for operation result of measurement latitude in three-dimensional coordinate point set M0
Collect M1；By calculating 3D rendering, coordinate Z-direction is found out in the 3 d image from lithium battery upper surface to down toward lithium battery top main body
All coordinate points M0 at the 2.58mm of side slope=(X1, Y1, Z1), (X2, Y2, Z2), (X3, Y3, Z3) ..., (Xn, Yn,
Zn) }, search mode and refer to attached drawing 2.It is unrelated with the Z coordinate dimension in 3D image to measure lithium battery principal length, only needs basis
Z coordinate dimension data finds effective measurement point for measurement from from battery surface to top body edge slope 2.58mm, effectively survey
Therefore the X, Y coordinates dimension of amount point, need to isolate use from three-dimensional coordinate point set M0 for measuring lithium battery principal length operation
In two-dimensional coordinate point set M1, M1={ (X1, Y1), (X2, Y2), (X3, Y3) ..., (Xn, the Yn) } of operation result of measurement dimension, from M0
Coordinate conversion is defined as to M1 process.
Step S3, coordinates correction will be concentrated to isolate and be used for operation result of measurement by coordinates correction formula from three-dimensional coordinate point
The two-dimensional coordinate point set of dimension is corrected to the coordinate point set M2 parallel with the two-dimensional coordinate system of CCD, coordinates correction formula: Tx=
Ox*cosθ + Oy*sinθ；Ty = Oy*cosθ - Ox*sinθ；In the two-dimensional coordinate system and three-dimensional camera coordinate system of CCD
There are angle thetas for two-dimentional X, Y coordinates system.According to angle theta, isolating from three-dimensional coordinate point set M0 for operation result of measurement dimension
Two-dimentional X, Y coordinates point set M1={ (X1, Y1), (X2, Y2), (X3, Y3) ..., (Xn, Yn) } calibration is the two-dimensional coordinate with CCD
It is parallel coordinate points.Coordinate points calibration formula: Tx=Ox*cos θ+Oy*sin θ；Ty=Oy*cos θ-Ox*sin θ,
Wherein Ox, Oy are former coordinate points, and it is the coordinate points parallel with the two-dimensional coordinate system of CCD that Tx, Ty, which are according to angle theta calibration,.M1 =
Become after { (X1, Y1), (X2, Y2), (X3, Y3) ..., (Xn, Yn) } all the points calibration new coordinate point set M2=(X1, Y1),
(X2, Y2), (X3, Y3) ..., (Xn, Yn) }.
Step S4, coordinate mapping map to all the points of coordinate system where coordinate point set M2 raw in CCD two-dimensional coordinate system
The coordinate point set M3 of Cheng Xin；Seat where new coordinate point set M2={ (X1, Y1), (X2, Y2), (X3, Y3) ..., (Xn, Yn) }
Mark system is parallel with the two-dimensional coordinate system of CCD, but the two coordinate systems are in respectively different coordinate systems, and Two coordinate system is simultaneously
When measuring identical metal calibrating block X-direction marginal point, three-dimensional camera and edge point value measured by two-dimensional CCD are right one by one
It answers, according to one-to-one relationship, where coordinate point set M2={ (X1, Y1), (X2, Y2), (X3, Y3) ..., (Xn, Yn) }
All coordinate points of coordinate system map in CCD two-dimensional coordinate system, after mapping M2 become new coordinate point set M3=(X1, Y1),
(X2, Y2), (X3, Y3) ..., (Xn, Yn) }, M3 belongs to CCD two-dimensional coordinate system, and M2, which is mapped to CCD two-dimensional coordinate system, becomes M3
This process is known as coordinate mapping.
Step S5, two-dimensional imaging shoot measured object location drawing picture by CCD and extract measured object bottom edge in CCD two-dimensional coordinate
All coordinate point set N in system；Lithium battery bottom edge position picture figure is shot by control CCD and refers to Fig. 3, extracts lithium battery bottom edge
All coordinate point set N={ (X1, Y1), (X2, Y2), (X3, Y3) ..., (Xn, Yn) } in CCD two-dimensional coordinate system, coordinate
Point set N will be used for the calculating of lithium battery principal length.
Step S6, principal length calculate, and calculate measured object using length formula according to coordinate point set M3 and coordinate point set N
Principal length, computational length formula: D=(d1+d2+d3+...+dn)/n；The lithium electricity that three-dimensional camera is extracted
Pond push up all coordinate points of body edge, converted by coordinate, coordinate calibration, coordinate mapping, be converted into new coordinate point set M3, M3=
{ (X1, Y1), (X2, Y2), (X3, Y3) ..., (Xn, Yn) } and coordinate point set N=(X1, Y1), (X2, Y2), (X3,
Y3) ..., (Xn, Yn) } in the same coordinate system unite, be in CCD two-dimensional coordinate system, in CCD two-dimensional coordinate system, N=
{ (X1, Y1), (X2, Y2), (X3, Y3) ..., (Xn, Yn) } carries out least square method fitting a straight line, linear equation: ax+by+
C=0, according to image pixel ratio value KX in CCD two-dimensional coordinate system, KY, unit: millimeter/pixel, calculate M3=(X1,
Y1), (X2, Y2), (X3, Y3) ..., (Xn, Yn) } all the points to+c=0 straight line ax+by distance d1, d2, d3 ...,
Dn }, unit: millimeter, to calculate lithium battery principal length: D=(d1+d2+d3+...+dn)/n.
Image pixel is demarcated in the two-dimensional coordinate system of CCD optical imagery: the size of metal calibrating block is counted by authoritative Weights and Measures Bureau
Amount, CCD can calculate metal from the picture that metal calibrating block is imaged to high-precision metal calibrating block optical imagery in Fig. 5
Calibrating block length and width pixel value calibrates two-dimentional seat by length and width pixel value and the practical length and width unit (millimeter) of metal calibrating block
Image pixel ratio value KX, KY, pixel ratio unit: millimeter/pixel in mark system.If calibrating 1 pixel wide value etc.
Measuring object width in KY=0.5mm, CCD imaging picture two-dimensional coordinate system is 100 pixels, then it is wide to measure object
Degree=100* KY=50mm.After calibration, the world can be directly calculated in the two-dimensional coordinate system image of CCD optical imagery
Unit millimeter value.
The three-dimensional system of coordinate of three-dimensional camera imaging and the two-dimensional coordinate system Two coordinate system angle of CCD optical imagery are demarcated: root
According to the hardware installation position of Fig. 1, top is installed as CCD, and lower section is installed as three-dimensional camera, constructed by CCD and three-dimensional camera image
Coordinate system it is as shown in Figure 5, top be ccd image two-dimensional coordinate system, lower section be three-dimensional camera image three-dimensional system of coordinate,
There are angles by two-dimensional coordinate X, Y of two-dimensions X, Y coordinates and ccd image in three-dimensional coordinate X, Y of three-dimensional camera image, Z, fixed
The adopted angle is θ.CCD imaging high precision metal calibrating block X-direction edge collecting go out multiple coordinate points (X1, Y1), (X2, Y2),
(X3, Y3) ..., (Xn, Yn) }, multiple coordinate points fitting a straight line methods, which are carried out, using mathematics least square method calculates angle value
T1.Three-dimensional camera passes through scanning high-precision metal calibrating block optical imagery, in three-dimensional coordinate X, Y of metal calibrating block image, Z's
The angle value T2 of calibrating block X-direction is calculated in two-dimensions X, Y coordinates system, the Computing Principle of angle is in the metal calibrating block side X
Go out multiple coordinate points { (X1, Y1), (X2, Y2), (X3, Y3) ..., (Xn, Yn) } to edge collecting, only needs X, Y coordinates based on
It calculates, does not need using Z coordinate, multiple coordinate points are equally fitted straight line using mathematics least square method, to calculate
Angle value T2.The two-dimensional coordinate system and two-dimentional X, Y coordinates system angle theta=T1+T2 in three-dimensional camera coordinate system of CCD.
As shown in Figure 1, the another object of the utility model be to provide a kind of scanning three-dimensional imaging laser and CCD two dimension at
As combination metering device, the scanning three-dimensional imaging laser and CCD two-dimensional imaging combination metering device include pedestal 10, kinematic axis
4, three-dimensional camera 3, backlight 7, workbench 6, lens bracket and two-dimensional imaging equipment, the kinematic axis 4, backlight 7, camera lens branch
Frame and workbench 6 are respectively arranged on the pedestal 10, and the three-dimensional camera 3 is set on the kinematic axis 4, and the workbench 6 is outstanding
It is placed in 7 top of backlight, the backlight 7 and workbench 6 are placed in below the lens bracket, the two-dimensional imaging equipment
On the lens bracket, workbench 6 described in the camera lens of the three-dimensional camera 3 is opposite, the kinematic axis 4 and the workbench
6 is parallel.
The two-dimensional imaging equipment includes CCD camera 1 and telecentric lens 2, and the CCD camera 1 connects with the telecentric lens 2
It connects.
The kinematic axis 4 includes mounting base, carriage, multiple detection limiters, limits detection lug and Camera fixing seat,
The carriage is set in the mounting base, and multiple detection limiters are set on the carriage, and the camera is solid
Reservation is set on the carriage, and the limit detection lug is set on the Camera fixing seat.
The workbench 6 includes two pieces of support plates and glass table top, and the glass table top is set in two pieces of support plates,
Two support plates are arranged in parallel.
The lens bracket includes lens fixing plate 8 and four support columns 9, four support columns 9 respectively with the mirror
Four Angle Positions connection of the same face of head fixed plate 8.
The backlight is using collimated backlight source.
CCD camera 1, effect is optical imagery, detects lithium battery bottom edge position by imaging analysis.
Telecentric lens 2, effect are optical path convergences, are converged by optical path and image in lithium battery in CCD.
The abbreviation of three-dimensional camera 3(three-dimensional imaging camera), effect is that scanning reconstructs 3-D image, and principle is camera hair
Line laser out, line laser moving sweep reconstruct 3-D image, go out lithium battery top body edge position by analyzing three-dimensional image detection
It sets.
Kinematic axis 4, effect are to move that three-dimensional camera is driven to carry out line laser structured light imaging by axis.
Lithium battery 5 is measurement to picture, and measurement item is the principal length size of battery.
Workbench 6, effect are to bear measured lithium battery, and glass platform material is high rigidity optical glass.
Backlight 7 issues directional light and plays a role in lighting, and light source luminescent color is blue.
Lens fixing base 8 prevents camera lens when work from vibrating for locking the fixed telecentric lens of screw.
Support column 9, the telecentric lens being used to support on lens fixing base guarantee camera lens and measurement to the operating distance of picture.
Pedestal 10, for installing, the objects such as supporting movement axis 4, camera, camera lens, light source.
For lithium battery bottom edge position.
The principal length dimensional measurement explanation of lithium battery refers to attached drawing 2；11 be lithium battery bottom edge position.12 be lithium battery top
Body edge position.13 be the principal length size of lithium battery.14 illustrate for lithium battery top body edge position detection, from lithium battery top
It can be seen that, it is the downward edge of ramped shaped that top body edge, which is not edge vertically downward, in body edge cross-sectional schematic, definition top master
Body side position is from lithium battery upper surface to slope from downward 2.58mm.
Three-dimensional camera image reconstructs three by line laser moving sweep lithium battery for three-dimensional camera with reference to attached drawing 4: Fig. 4
Image is tieed up, indicates lithium battery top body edge position in image.
Measurement coordinate system refers to the coordinate system that attached drawing 5: Fig. 5 is established by measuring system, and three-dimensional camera is transported by line laser
Dynamic scanning lithium battery reconstructs the three-dimensional system of coordinate of 3-D image, and CCD shoots the two-dimensional coordinate system of the optical imagery of lithium battery.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Made any modifications, equivalent replacements, and improvements etc., should be included in the utility model within the spirit and principle of utility model
Protection scope within.
Claims (6)
1. a kind of scanning three-dimensional imaging laser and CCD two-dimensional imaging combination metering device, which is characterized in that the laser scanning three
Dimension imaging and CCD two-dimensional imaging combination metering device include pedestal, kinematic axis, three-dimensional camera, backlight, workbench, camera lens branch
Frame and two-dimensional imaging equipment, the kinematic axis, backlight, lens bracket and workbench are respectively arranged on the pedestal, and described three
It ties up camera to be set on the kinematic axis, the workbench is suspended in above the backlight, and the backlight and workbench are placed in
Below the lens bracket, the two-dimensional imaging equipment is set on the lens bracket, work described in the camera lens of the three-dimensional camera
It is opposite to make platform, the kinematic axis is parallel with the workbench.
2. scanning three-dimensional imaging laser according to claim 1 and CCD two-dimensional imaging combination metering device, feature exist
In the two-dimensional imaging equipment includes CCD camera and telecentric lens, and the CCD camera is connect with the telecentric lens.
3. scanning three-dimensional imaging laser according to claim 2 and CCD two-dimensional imaging combination metering device, feature exist
In the kinematic axis includes mounting base, carriage, multiple detection limiters, limit detection lug and Camera fixing seat, the cunning
Dynamic device is set in the mounting base, and multiple detection limiters are set on the carriage, and the Camera fixing seat is set
In on the carriage, the limit detection lug is set on the Camera fixing seat.
4. scanning three-dimensional imaging laser according to claim 3 and CCD two-dimensional imaging combination metering device, feature exist
In the workbench includes two pieces of support plates and glass table top, and the glass table top is set in two pieces of support plates, two branch
Fagging is arranged in parallel.
5. scanning three-dimensional imaging laser according to claim 4 and CCD two-dimensional imaging combination metering device, feature exist
In, the lens bracket include lens fixing plate and four support columns, four support columns respectively with the lens fixing plate
The same face four Angle Positions connection.
6. scanning three-dimensional imaging laser according to claim 5 and CCD two-dimensional imaging combination metering device, feature exist
In the backlight is using collimated backlight source.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109000566A (en) * | 2018-08-15 | 2018-12-14 | 深圳科瑞技术股份有限公司 | Scanning three-dimensional imaging laser and CCD two-dimensional imaging combination measurement method and device |
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2018
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109000566A (en) * | 2018-08-15 | 2018-12-14 | 深圳科瑞技术股份有限公司 | Scanning three-dimensional imaging laser and CCD two-dimensional imaging combination measurement method and device |
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