CN107816942A - A kind of planar dimension measurement method based on cross structure light vision system - Google Patents
A kind of planar dimension measurement method based on cross structure light vision system Download PDFInfo
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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
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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
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
- G01B21/042—Calibration or calibration artifacts
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Abstract
The invention discloses a kind of planar dimension measurement method based on cross structure light vision system, pass through the auxiliary and image processing techniques of cross structure light, the outer parameter of workpiece surface plane is got, not only simplify measurement process, while realizes the function of quick measurement workpiece；Compared with the measuring system based on telecentric lens and motion platform can only measure small workpiece, the advantages of possessing cheap equipment and measurable large-size workpiece, and the system can be arranged on robot end according to demand, auxiliary is with hand and eye calibrating and other functions, also the functions such as robot vision guiding can be carried out, high-precision plane survey can be realized using monocular vision, there is high accuracy, realize the advantages of simple；In robot vision guiding, compared with traditional binocular, due to the reduction of camera calibration, reduce systematic error, improve precision to a certain extent, and be greatly improved in efficiency.
Description
Technical field
It is particularly a kind of flat based on cross structure light vision system the present invention relates to the field of measuring technique of machine vision
Face two dimensional size measurement method.
Background technology
At present in intelligence manufacture today burning hot all the more, measurement is the basis of modern manufacturing industry, in production for measurement
Demand it is more and more.And non-contact measurement is for contact type measurement, have it is convenient and swift, save human cost and
The advantages that informationization integration.And non-contact measurement mainly include vision system based on measuring system.
Mainly there is the system based on telecentric lens for the vision measurement system of planar dimensional measurement, though and the system
So there is high accuracy, but measuring environment requires very harsh, and the workpiece of small size is can be only applied to, high cost.So it is based on
The planar size system of telecentric lens, which is applied, has certain limitation.Remaining or by aids such as motion platforms
The more or less tool of system for carrying out planar dimensional measurement has certain limitations.
But most vision systems based on structure light are to be based on single laser line at present, and it is mainly used in Three-dimensional Gravity
Based on building.For measurement, single laser line can not determine plane equation of the workpiece surface relative to camera, so of the invention
Plane equation of the workpiece surface relative to camera is determined using two laser rays, so as to calculate workpiece surface in the plane
Two-dimensional.
Vision measurement system based on structure light is mainly made up of CCD camera and laser, and its measuring method predominantly swashs
Light triangulation, wherein difficult point are mainly that demarcation is camera calibration and calibration two parts, wherein camera calibration
Method it is relatively ripe.Carry out obtaining camera intrinsic parameter firstly the need of the method using shooting demarcation, then to plus demarcation
Camera afterwards carries out the demarcation of laser plane.
In summary, the vision measurement system based on cross structure light can directly obtain the surface plane of workpiece relative to
The outer parameter of camera, for measuring the planar size of workpiece.
The content of the invention
The present invention is directed to the lengthy and jumbled poorly efficient deficiency of conventional contact measuring method, it is proposed that a kind of cross structure light vision system
The planar dimension measurement method of system, the plane equation being made up of cross structure light and workpiece planarization, obtain workpiece table
The outer parameter in face, further according to the picture size of image procossing knowledge acquisition workpiece, actual physical size is converted to, so as to reach
The purpose of two dimensional size measurement.
Technical scheme is as follows：
A kind of planar dimension measurement method based on cross structure light vision system, it is characterised in that including following step
Suddenly：
Step 1, first, fixed cross Constructed Lighting Vision System, scaling board is positioned over cross structure light vision system
In visual field, one group of shooting has multiple demarcation pictures of different postures, then can calculate cross using Zhang Zhengyou standardizations
The intrinsic parameter of the industrial camera of Constructed Lighting Vision System, it is described to test to ensure calibration result correctly, it is necessary to carry out re-projection checking
Card precision is less than 0.05 pixel；
Step 2, on the basis of step 1, in cross structure light vision system visual field, scaling board is positioned over and two
Bar laser rays has rational intersection location；Then, one group of picture is continuously shot, the picture need to meet two laser rays and demarcation
Plate has rational intersection location, and different posture be present, as shown in Figure 3；The captured plurality of pictures of collection, referred to as laser
Atlas；The rational intersection location refers to that position of the intersection point of cross structure light in scaling board is not at the edge of scaling board
Region；
Step 3, the picture collected to step 2 carry out laser center extraction and fitting a straight line processing；
The laser center extraction and fitting a straight line processing use following methods：
The filtering of blue channel is first carried out to the coloured image in picture, irrelevant information is filtered using two-value method, is only protected
Stay laser line information；Because laser lines have width in figure, so to carry out center extraction to laser lines；
Where finding out using filtering the center of the row laser to the gray values of each row of blue channel image after binaryzation
Region, reuse the laser center that the gray scale method of weighting finds out laser line segment each row in the picture；
After the laser center for finding each row, line segment side of the laser line segment in image coordinate is asked for using minimum two-value method
Journey；
Step 4, laser plane parameter is asked for by the space equation and laser plane fitting of asking for laser line segment；It is described
Space equation is the equation under the coordinate system relative to the industrial camera of cross structure light vision system；
To the laser atlas after step 3 processing, the outer parameter where seeking out laser line segment from scaling board is such as public
Shown in formula (1), wherein r13、r23、r33、t1、t2、t3For Camera extrinsic number.According to principle of triangulation, point on laser line segment
Shown in space constraint equation such as formula (2), wherein (x, y, z) is space coordinates, (u, v) is image coordinate, and remaining parameter is interior
Parameter.Combinatorial formula (1), (2) can be in the hope of the space coordinates of the point in laser rays section, then the space by the point on laser line segment
Point coordinates, which carries out minimum binaryzation fitting, can obtain the space line equation of laser line segment, as shown in formula (4), wherein [mi ni li]
For the rectilinear direction of the space line equation of i-th laser line segment, (xi0, yi0, zi0) former for the space coordinates of i-th laser rays
Point, 1≤i≤sum.After the space line equation for obtaining the sum bar laser line segments of laser atlas, because the space of laser line segment is straight
Line equation must be perpendicular to the normal vector of laser plane, and establish an equation (5), can solve the normal vector (A, B, C) of laser plane.With
The parameter D of laser plane can be sought out to the quadratic sum of the distance of laser plane for Index Establishment function by minimizing laser line segment,
Shown in the space equation of laser plane such as formula (6).
r13*(x-t1)+r23*(y-t2)+r33*(z-t3)=0 (1)
A*x+B*y+C*z+D=0 (6)
Step 5, plane survey process：The image coordinate equation of two laser line segments, Ran Hougen are first extracted by step 3
According to the space constraint equation of formula (2), formula (2) and (5) simultaneous solution can be obtained into laser space coordinates on image coordinate
Transformational relation, as shown in formula (7), wherein H=A*fx*(u-u0)+B*fy*(v-v0)+C, by two laser line segment space equations
Direction vector multiplication cross obtains the space equation normal vector of workpiece surface, then brings any point into formula (6) and can obtain workpiece surface
Space equation；Secondly, the image coordinate size of workpiece is obtained based on existing ripe Canny algorithms, image coordinate is brought into
Simultaneously the space constraint equation of simultaneous formula (2) can try to achieve the actual dimensioning of workpiece in the space equation of resulting workpiece surface
It is very little.
Wherein, H=A*fx*(u-u0)+B*fy*(v-v0)+C。
The cross structure light vision system includes industrial camera and laser generator, industrial camera and laser generator into
Fixed angle installation is formed；Wherein, the cross structure light vision system needs to fix in demarcation, and laser generator can be directly
Send stable cross laser, as long as but two laser sending of laser generator can intersect, be not necessarily required to really
It is vertical in meaning.
Beneficial effects of the present invention are as follows：
Auxiliary and image processing techniques of the invention by cross structure light, get the outer ginseng of workpiece surface plane
Number, not only simplify measurement process, while realize the function of quick measurement workpiece；With based on telecentric lens and motion platform
Measuring system can only measure small workpiece and compare, and possess equipment cheaply and the advantages of measurable large-size workpiece, and according to demand
The system is arranged on robot end, aided in hand and eye calibrating and other functions, robot vision guiding etc. can also be carried out
Function, high-precision plane survey can be realized using monocular vision, there is high accuracy, realize the advantages of simple；In robot
On vision guide, compared with traditional binocular, due to the reduction of camera calibration, reduce systematic error, to a certain extent
Precision is improved, and is greatly improved in efficiency.The present invention calculates simple, the solution of no equation of higher order, and cost is just
Preferably, it is widely used, can planar dimensional measurement, it can also be used to robot vision guiding function.
Brief description of the drawings
Fig. 1 is the schematic diagram of the cross structure light vision system of the present invention.
Fig. 2 is the laser crossing point schematic diagram of the present invention.
The laser plane that Fig. 3 is the present invention demarcates schematic diagram of taking pictures.
Wherein, reference is：1- sensor outer housings, 2- industrial cameras, 3- laser generators, 4- scaling boards, 5- laser
Plane.
Embodiment
Embodiment 1
A kind of planar dimension measurement method based on cross structure light vision system, including following key step：
Step 1, first, fixed cross Constructed Lighting Vision System, scaling board 4 is positioned over cross structure light vision system
Visual field in, shoot one group of demarcation picture with different postures, about 20 or so, then using Zhang Zhengyou standardizations calculate
Go out the intrinsic parameter of the industrial camera 2 of cross structure light vision system, to ensure that calibration result is correctly tested, it is necessary to carry out re-projection
Card, the checking precision are less than 0.05 pixel；
Step 2, on the basis of step 1, in cross structure light vision system visual field, by scaling board 4 be positioned over
Two laser rays has rational intersection location；Then, one group of picture is continuously shot, the picture need to meet two laser rays and mark
Fixed board 4 has rational intersection location, and different posture be present, as shown in Figure 3；The captured picture of collection, referred to as laser
Atlas, number are about 10；
The rational intersection location refers to that position of the intersection point of cross structure light in scaling board 4 is not at scaling board 4
Fringe region, as shown in Fig. 2 the position of intersecting point on the left side is reasonable, the position of intersecting point on the right is unreasonable.
Step 3, the picture collected to step 2 carry out laser center extraction and fitting a straight line processing；
The laser center extraction uses following methods：
The filtering of blue channel is first carried out to the coloured image in picture, irrelevant information is filtered using two-value method, is only protected
Stay laser line information；Because laser lines have width in figure, so to carry out center extraction to laser lines；
Where finding out using filtering the center of the row laser to the gray values of each row of blue channel image after binaryzation
Region, reuse the laser center that the gray scale method of weighting finds out laser line segment each row in the picture；
After the laser center for finding each row, line segment side of the laser line segment in image coordinate is asked for using minimum two-value method
Journey；
Step 4, the parameter of laser plane 5 is asked for by the space equation and the fitting of laser plane 5 of asking for laser line segment；Institute
It is the equation under the coordinate system relative to the industrial camera 2 of cross structure light vision system to state space equation；
To the laser atlas after step 3 processing, the outer parameter where seeking out laser line segment from scaling board 4 is such as public
Shown in formula (1), wherein r13、r23、r33、t1、t2、t3For Camera extrinsic number.According to principle of triangulation, point on laser line segment
Shown in space constraint equation such as formula (2), wherein (x, y, z) is space coordinates, (u, v) is image coordinate, and remaining parameter is interior
Parameter.Combinatorial formula (1), (2) can be in the hope of the space coordinates of the point in laser rays section, then the space by the point on laser line segment
Point coordinates, which carries out minimum binaryzation fitting, can obtain the space line equation of laser line segment, as shown in formula (4), wherein [mi ni li]
For the rectilinear direction of the space line equation of i-th laser line segment, (xi0, yi0, zi0) former for the space coordinates of i-th laser rays
Point, 1≤i≤sum.After the space line equation for obtaining 10 laser line segments of laser atlas, because the space of laser line segment is straight
Line equation must be perpendicular to the normal vector of laser plane 5, and establish an equation (5), can solve the normal vector (A, B, C) of laser plane 5.
The ginseng of laser plane 5 can be sought out as Index Establishment function to minimize laser line segment to the quadratic sum of the distance of laser plane 5
Number D, shown in the space equation such as formula (6) of laser plane 5.
r13*(x-t1)+r23*(y-t2)+r33*(z-t3)=0 (1)
A*x+B*y+C*z+D=0 (6)
Step 5, plane survey process：The image coordinate equation of two laser line segments, Ran Hougen are first extracted by step 3
According to the space constraint equation of formula (2), formula (2) and (6) simultaneous solution can be obtained into laser space coordinates on image coordinate
Transformational relation, as shown in formula (7), the direction vector multiplication cross of two laser line segment space equations is obtained into the space side of workpiece surface
Journey normal vector, then bring any point into formula (7) space equation of workpiece surface can be obtained；Secondly, based on existing ripe
Canny algorithms obtain the image coordinate size of workpiece, in the space equation of the workpiece surface obtained by image coordinate is brought into simultaneously
The space constraint equation of simultaneous formula (2) can try to achieve the actual geometry of workpiece.
Wherein, H=A*fx*(u-u0)+B*fy*(v-v0)+C。
The cross structure light vision system includes industrial camera 2 and the laser generator being installed on sensor outer housing 1
3, industrial camera 2 and laser generator 3 are installed into fixed angle and formed；Wherein, the cross structure light vision system is being demarcated
When need to fix, laser generator 3 can directly send stable cross laser, but two laser that laser generator 3 is sent are only
It can intersect, be not necessarily required to truly vertical, as shown in Figure 1.
Claims (8)
1. a kind of planar dimension measurement method based on cross structure light vision system, it is characterised in that including following step
Suddenly：
Step 1, first, fixed cross Constructed Lighting Vision System, scaling board (4) is positioned over cross structure light vision system
In visual field, one group of demarcation picture with different postures is shot, then calculates the industrial camera of cross structure light vision system
(2) intrinsic parameter；
Step 2, on the basis of step 1, in cross structure light vision system visual field, scaling board (4) is positioned over and two
Bar laser rays has rational intersection location；Then, one group of picture is continuously shot, the picture need to meet two laser rays and demarcation
Plate (4) has rational intersection location, and different posture be present, gathers captured picture, referred to as laser atlas, laser figure
The picture number integrated is sum, sum >=10；
Step 3, the picture collected to step 2 carry out laser center extraction and fitting a straight line processing；
Step 4, laser plane (5) parameter is asked for by the space equation and laser plane (5) fitting of asking for laser line segment, and
The space equation of laser plane (5) is obtained, as shown in formula (6)
A*x+B*y+C*z+D=0 (6)
Wherein, (x, y, z) is space coordinates, and (A, B, C) is the normal vector of laser plane (5), and D is the parameter of laser plane (5)；
The space equation is the equation under the coordinate system relative to the industrial camera (2) of cross structure light vision system；
Step 5, is first extracted the image coordinate equation of two laser line segments by step 3, and solution can obtain laser space coordinates pass
In the transformational relation of image coordinate, the direction vector multiplication cross of two laser line segment space equations is obtained into the space side of workpiece surface
Journey normal vector, then any point is brought into the space equation of laser plane (5) and obtains the space equation of workpiece surface；Secondly, obtain
The image coordinate of workpiece, by image coordinate bring into obtained by workpiece surface space equation in and simultaneous space constraint equation,
Try to achieve the actual geometry of workpiece.
2. the planar dimension measurement method according to claim 1 based on cross structure light vision system, its feature
It is：It is the internal reference for the industrial camera (2) that cross structure light vision system is calculated using Zhang Zhengyou standardizations in step 1
Number.
3. the planar dimension measurement method according to claim 1 or 2 based on cross structure light vision system, it is special
Sign is：In step 1, calculate after the intrinsic parameter of industrial camera (2), it is necessary to carry out re-projection checking, and require to verify precision
Less than 0.05 pixel.
4. the planar dimension measurement method according to claim 1 based on cross structure light vision system, its feature
It is：In step 2, the rational intersection location refers to that position of the intersection point of cross structure light in scaling board (4) is not at
The fringe region of scaling board (4).
5. the planar dimension measurement method according to claim 1 based on cross structure light vision system, its feature
It is：In step 3, the laser center extraction and fitting a straight line processing concretely comprise the following steps：
The filtering of blue channel is first carried out to the coloured image in picture, irrelevant information is filtered using two-value method, only retains and swashs
Light line information；
The area where the center of the row laser is found out using filtering to the gray values of each row of blue channel image after binaryzation
Domain, reuse the laser center that the gray scale method of weighting finds out laser line segment each row in the picture；
After the laser center for finding each row, line segment equation of the laser line segment in image coordinate is asked for using minimum two-value method.
6. the planar dimension measurement method according to claim 1 based on cross structure light vision system, its feature
It is：In step 4, asking for the space equation of laser line segment and the detailed process of laser plane (5) fitting is：To the step
Laser atlas after three processing, the outer parameter where seeking out laser line segment from scaling board (4)；According to principle of triangulation, obtain
The space constraint equation of point on to laser line segment, the space coordinates of the point on laser line segment is tried to achieve, then by laser line segment
The space point coordinates of point carries out minimum binaryzation and is fitted to obtain the space line equation of laser line segment；Obtain the laser of laser atlas
After the space line equation set of line segment, because the space line equation of laser line segment must be perpendicular to the method for laser plane (5)
Vector, is calculated the normal vector (A, B, C) of laser plane (5), and every figure of wherein laser atlas is all corresponding with a space
Linear equation；It can be sought out as Index Establishment function using to minimize laser line segment to the quadratic sum of the distance of laser plane (5) sharp
The parameter D of optical plane (5), obtains the space equation of laser plane (5).
7. the planar dimension measurement method according to claim 6 based on cross structure light vision system, its feature
It is：It is described from scaling board (4) seek out laser line segment where the formula of outer parameter be formula (1), it is as follows：
r13*(x-t1)+r23*(y-t2)+r33*(z-t3)=0 (1)
The space constraint equation of point on the laser line segment is formula (2), as follows：
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Wherein, (x, y, z) is space coordinates, and (u, v) is image coordinate, fx、fy、u0、v0For the intrinsic parameter of camera；Wherein formula
(1) transition matrix of the plane of parameter in and scaling board (4) under camera coordinate system is relevant, therefore Camera extrinsic matrix number
Equation is formula (3), as follows:
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R is 3*3 spin matrix in above-mentioned formula (3), and spin matrix includes r11、r12、r13、r21、r22、r23、r31、r32、r33；T
For 1*3 translation vector, including t1、t2、t3；Spin matrix includes r11、r12、r13、r21、r22、r23、r31、r32、r33；T is 1*3
Translation vector, including t1、t2、t3；Spin matrix and translation vector are can be calculated by camera calibration, and concrete meaning is phase
The rotation translation relation of machine coordinate system and camera coordinate system；
The space line equation of the laser line segment is formula (4), as follows：
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In formula (4), [mi ni li] for i-th laser line segment space line equation rectilinear direction, (xi0, yi0, zi0) be
The space coordinates origin of i-th laser rays, 1≤i≤sum；
In step 4, after the space line equation for the sum bar laser line segments for obtaining laser atlas, by establishing an equation, (5) calculate
Go out the normal vector (A, B, C) of laser plane (5), equation (5) is as follows：
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</mtd>
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</mtd>
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To minimize laser line segment laser plane can be sought out to the quadratic sum of the distance of laser plane (5) as Index Establishment function
(5) parameter D, shown in the space equation such as formula (6) of laser plane (5).
8. the planar dimension measurement method according to claim 7 based on cross structure light vision system, its feature
It is：The image coordinate equation that two laser line segments are extracted by step 3, according to the space of the point on laser line segment about
Shu Fangcheng, the space equation simultaneous solution of the space constraint equation of the point on laser line segment and laser plane (5) can be obtained into laser
Transformational relation of the space coordinates on image coordinate, as shown in formula (7)：
<mrow>
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</mrow>
</mrow>
Wherein, H=A*fx*(u-u0)+B*fy*(v-v0)+C。
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