CN109029292A - A kind of inner surface of container three-dimensional appearance non-destructive testing device and detection method - Google Patents
A kind of inner surface of container three-dimensional appearance non-destructive testing device and detection method Download PDFInfo
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- CN109029292A CN109029292A CN201810956164.XA CN201810956164A CN109029292A CN 109029292 A CN109029292 A CN 109029292A CN 201810956164 A CN201810956164 A CN 201810956164A CN 109029292 A CN109029292 A CN 109029292A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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Abstract
The present invention relates to a kind of product lossless detection method and device, especially a kind of inner surface of container three-dimensional appearance lossless detection method and device belong to computer vision and engineer application field.Inner surface of container three-dimensional appearance non-destructive testing device is equipped with miniature laser measuring device, multiple degrees of freedom cubing.Inner surface of container lossless detection method is demarcated including 1) miniature laser measuring device；2) inner surface DATA REASONING is carried out according to laser triangulation principle.Miniature laser measuring device is sent into inside tested container by the present invention using multivariant cubing, inner surface of container quality is measured according to laser triangulation principle, the non-destructive testing for realizing converted products is conducive to improve yield rate, and improves the quality of product to a certain degree.
Description
Technical field
The present invention relates to a kind of detection device and its method, especially a kind of non-destructive testing of inner surface of container three-dimensional appearance
Device and detection method belong to computer vision and engineer application technical field.
Background technique
With the rapid development of industrial technology, the requirement for product processing technique is also increased therewith.For product appearance
Detection technique it is now very mature, however for process accessory inner surface, especially be open smaller container inner surface
Detection technique there are also to be studied.Therefore, how to carry out non-destructive testing this problem to inner surface of container three-dimensional appearance seems very
It is valuable.
Currently, researchers at home and abroad have carried out a large amount of analysis and research to container Inner Defect Testing, many is proposed
Detection method, especially non-destructive testing technology because its quickly without lesion element the characteristics of widely paid close attention to.It is infrared heat at
It is detected as technology heats measured piece large area using infrared light, so that body surface temperature changes, in detection object
Portion whether there is defect.Active infra-red thermal imaging heats object using external thermal excitation source, therefore it is fast to detect speed
And device is simple, easy to accomplish；It does not need to remove the surface coatings such as paint before the detection of magneto-optic vortex imaging (MOI) technology,
Detection difficulty is low, is able to achieve the detection of the following tiny defect in surface.Signal generator excitation coil makes to generate sense in tested metal
The vortex of raw vortex, variation generates magnetic field, and the defects of magnetic bodies can change Eddy Distribution, correspondingly change vortex excitation
Magnetic field.When laser passes through the magneto-optic element in coil, polarization direction can be rotated.This two technologies are because of its extensive use
And become the Typical Representative in non-destructive testing technology.But since this two technologies all can not accurately obtain the three-dimensional of inner surface of container
Data, and magneto-optic vortex imaging technology can be only applied to the detection of metal, not work completely then to nonmetallic materials.And swash
Optical detection technique, which can be obtained accurately, holds inner surface three-dimensional information, and does not require detected container material, therefore obtain
Pay attention to extensively.
Summary of the invention
In order to detect the internal soundness of processing container, the yield rate of container is improved, the invention proposes tables in a kind of container
Face three-dimensional appearance non-destructive testing device and detection method.The laser measuring device for measuring of design is demarcated first, then passes through survey
It measures cubing miniature laser measuring device is sent within tested container, measures container finally by laser triangulation principle
Inner surface three-dimensional data, and processing quality is evaluated.
The first purpose of this invention is achieved through the following technical solutions, inner surface of container three-dimensional appearance non-destructive testing
Device, is equipped with miniature laser measuring device, multiple degrees of freedom cubing, and miniature laser measuring device includes laser projecting apparatus and industrial phase
Machine, laser projecting apparatus, measured object and industrial camera are arranged in triangle；
The multiple degrees of freedom cubing, including pedestal, vertical mounting blocks, it is transversely mounted block, measuring head, measurement arm, it is vertical to pacify
Vertical guide is set on dress block, is transversely mounted block and is mounted in vertical guide, is transversely mounted installation measurement arm on block, measures on arm
Measuring head is installed, miniature laser measuring device is set in measuring head, measuring head can carry out rotary taking, and measurement arm can be revolved around axis
Turn.
Second object of the present invention is achieved through the following technical solutions, inner surface of container three-dimensional appearance non-destructive testing
The detection method of device, comprising the following steps:
(1) it is demarcated using the miniature laser measuring device of said vesse inner surface three-dimensional appearance non-destructive testing device；
(2) inner surface of container DATA REASONING is carried out according to laser triangulation principle.
Preferably, the miniature laser measuring device calibration in the step (1), comprises the following processes:
1_1) stereo calibration plate makes: the target pattern as shown in Fig. 3 (a) is distributed with having a size of 40 × 40mm on target surface
The small mark circle of the big mark circle and three diameter 3mm of one diameter 5mm, the centroid A, B, C, D of 4 mark circles are as target spy
Sign point；Target characteristic point D is located at the surface of target characteristic point A, and target characteristic point B is located at the horizontal direction of target characteristic point A
Right side；Target characteristic point C is located at the oblique upper of target characteristic point A.As Fig. 3 (b) is shown based on designed by above-mentioned target pattern
Double-layer structure stereo calibration plate, wherein for bottom scaling board (fine line) having a size of 100 × 100mm, top layer scaling board is (solid
Line) having a size of 40 × 40mm, top, two layers of bottom scaling board difference in height are 4mm；
1_2) camera parameters are demarcated: the target image of K width different positions and pose are shot by industrial camera, by target characteristic point
A, B, C, D and its imaging point a, b, c, d one-to-one relationship, using Zhang Zhengyou calibration algorithm and Levenberg-Marquardt
Nonlinear optimization realizes calibration, obtains industrial camera focal length f, principal point coordinate (x, y) and industrial camera attitude matrix parameter；
1_3) line laser light-plane parameters are demarcated: scaling board is fixed in calibration process, is extracted by cross ratio invariability principle
Light-knife characteristic point P, Q, after 2K light-knife characteristic point in K width image is transformed under the same coordinate system, fitting obtains optical plane
Equation.
The explanation of cross ratio invariability principle:
As shown in fig. 7, point A, B are known as basic point pair on space line L, point C, D are known as separation pair, and O and O' are view
Point, then the basic conception of cross ratio invariability and cross ratio invariability principle are explained as follows:
Define 1: the ratio between two directed line segments determined by separation and basic point are known as simple ratio, are denoted as: SR (A, B, C)
=AC/BC, SR (A, B, D)=AD/BD；
Define 2: the ratio of two simple ratios is known as double ratio in 4 points on straight line.A, B, C, D on straight line L as shown in Figure 7
The double ratio of this 4 points isWith space coordinate representation, form is as follows:
Define 3: as shown in fig. 7, being known as crisscross ratio of straight line and bind's CR (l by the double ratio of any 4 straight lines of intersection point of O point1,l2,l3,
l4), i.e.,
The content of cross ratio invariability principle an are as follows: straight line keeps corresponding to point range on straight line after space geometry converts in space
Cross ratio invariability.As shown in figure 8, then having CR (A, B；C, D)=CR (A ', B '；C′,D′).
Preferably, inner surface DATA REASONING is carried out according to laser triangulation principle in the step (2), including
Following process:
Laser projecting apparatus, measured object, industrial camera three are configured in triangle, laser is incident upon testee surface, industry
Camera is imaged the laser facula on body surface from another angle, and the position height of body surface illuminated laser spot is not
Together, hot spot image position is also different in industrial camera image, according to position orientation relation mutual between laser source and industrial camera, calculates object
The position of body surface face illuminated laser spot；Entire measurement process mainly includes two steps:
It 2_1) needs to project controllable line laser according to measurement by laser projecting apparatus and forms characteristic curve to body surface, and
Image is shot by industrial camera；
Projection mode 2_2) is explained by the geometrical feature of body surface projection pattern, is asked using triangulation principle
Direction in space, the location parameter of characteristic point and industrial camera in world coordinate system out, acquires characteristic point in world coordinate system
Three-dimensional coordinate；
Preferably, described to find out the space of characteristic point and industrial camera in world coordinate system using triangulation principle
The process of three-dimensional coordinate of the characteristic point in world coordinate system is acquired in direction, location parameter are as follows:
If displacement of the luminous point on imaging surface is y1, then the displacement of tested surface are as follows:
In formula: angle of the θ between laser beam optical axis and receiving lens optical axis；A is laser beam optical axis and receiving lens light
Distance of the intersection point of axis to receiving lens front principal plane；B is distance of the receiving lens back interarea to imaging surface central point；
In the measurements, when the laser plane of laser projecting apparatus projection, when intersecting with the body surface at a certain position in space,
A bright striation will be formed on testee surface, the three-dimensional letter of testee surface point where the point on striation contains it
Breath, i.e., three-dimensional article coordinate (X, Y, Z) is reflected onto the picture plane of industrial camera, then obtains the two dimensional image of a width striation；Striation
Two-dimentional picpointed coordinate on image is denoted as (x, y), then the coordinate of its corresponding three-dimensional object point is reconstructed by two-dimentional picpointed coordinate (x, y)
(X,Y,Z)。
It is detected the beneficial effects of the present invention are: miniature laser measuring device is sent by the present invention using multivariant cubing
Inside container, inner surface of container quality is measured according to laser triangulation principle, realizes the non-destructive testing of converted products, favorably
In raising yield rate, and the quality of product is improved to a certain degree.
Detailed description of the invention
Fig. 1 is miniature laser measuring device structural schematic diagram of the present invention；
Fig. 2 is multiple degrees of freedom detection tool structure schematic diagram of the present invention；
Fig. 3 a is scaling board target pattern figure of the present invention；
Fig. 3 b is scaling board structure chart of the present invention；
Fig. 4 is 3-d laser measurement calibration principle figure；
Fig. 5 a is Light-plane calibration process _ 1 figure of pose；
Fig. 5 b is Light-plane calibration process _ 2 figure of pose；
Fig. 6 is laser triangulation schematic diagram；
Fig. 7 is letter ratio and double ratio concept definition figure；
Fig. 8 is the indeformable schematic diagram of space no-load voltage ratio.
In Fig. 1 and Fig. 2: 1 is laser projecting apparatus, and 2 be industrial camera, 3 is pedestal, 4 is vertical mounting blocks, 5 is lateral peace
Dress block, 6 be measurement arm shaft, 7 be measure arm, 8 be measuring head shaft, 9 be measuring head.
Specific embodiment
Specific implementation of the invention is further described with reference to the accompanying drawing.
The present invention includes the following steps:
(1) miniature laser measuring device and cubing are designed.Due to the present invention be for measuring inner surface of container three-dimensional data,
Especially be open lesser inner surface of container three-dimensional measurement.Therefore, laser measuring device for measuring requires to accomplish to be miniaturized, it is contemplated that adopts
Inner surface three-dimensional data is measured with laser triangulation principle, so laser projecting apparatus 1 and industrial camera are arranged in triangle, such as Fig. 1 institute
Show.Due to it is to be measured be the three-dimensional data of inner surface of container entirety, matched cubing requires freedom degree to want high.Such as Fig. 2
Shown, the adjusting in height may be implemented in the cubing that the present invention designs, and reaches the requirement for adapting to container depth, can be in the longitudinal direction
Guarantee the integrality of acquisition data to a certain extent.Meanwhile in order to avoid that can not be acquired due to caused by structure problem up and down
Three-dimensional data near bottom surface, the measuring head for installing laser measuring device for measuring can also carry out rotary taking, ensure that so vertical
To the integrality of acquisition information.On the other hand, the measurement arm of test can also be pivoted, and thus be can ensure that and collected
The three-dimensional data of full circumferences.The present invention is using multivariant cubing and miniature laser measuring device for measuring, it can be achieved that entire
The detection of inner surface partial data is completed in the scanning of inner surface of container.
A kind of inner surface of container three-dimensional appearance non-destructive testing device is equipped with miniature laser measuring device, multiple degrees of freedom cubing.
As shown in Fig. 2, miniature laser measuring device includes laser projecting apparatus 1 and industrial camera 2, laser projecting apparatus 1 is in industrial camera 2
Triangle arrangement；
As shown in Figure 1, the multiple degrees of freedom cubing, including pedestal 3, vertical mounting blocks 4, be transversely mounted block 5, measuring head 9,
Arm 7, measuring head shaft 8 are measured, vertical guide is set on vertical mounting blocks 4, is transversely mounted block 5 and is mounted in vertical guide, it is horizontal
The installation measurement arm 7 on mounting blocks 5, measures and installs measuring head 9 on arm 7, and miniature laser as shown in Figure 2 is arranged in measuring head and surveys
Device is measured, measuring head can carry out rotary taking, and measurement arm can be pivoted.
(2) miniature laser measuring device is demarcated.The present invention is directed to the controlled deficiency of target pose in existing scaling method,
Using a kind of line laser monocular vision sensor online calibration method of no pose constraint.Comprising the following three steps:
2_1) stereo calibration plate makes.As shown in Fig. 3 (a), target pattern is distributed with one on target surface having a size of 40 × 40mm
The big mark circle of a diameter 5mm and the small mark circle of three diameter 3mm, the centroid A, B, C, D of 4 mark circles are as target feature
Point.Fig. 3 (b) show the double-layer structure stereo calibration plate of design, wherein and green portion is bottom, and black portions are top layer, two
Layer height difference is 4mm.
2_2) camera parameters are demarcated.The target image for shooting K width different positions and pose, by target characteristic point A, B, C, D and its
Imaging point a, b, c, d one-to-one relationship (as shown in Figure 4), using Zhang Zhengyou calibration algorithm and Levenberg-Marquardt
Nonlinear optimization realizes calibration, obtains the ginseng such as industrial camera focal length f, principal point coordinate (x, y) and industrial camera attitude matrix
Number.
2_3) line laser light-plane parameters are demarcated.Scaling board is fixed in calibration process, is extracted by cross ratio invariability principle
Light-knife characteristic point, after 2K light-knife characteristic point in K width image is transformed under the same coordinate system, fitting obtains optic plane equations
(as shown in Fig. 5 a, Fig. 5 b).
(3) inner surface DATA REASONING is carried out according to laser triangulation principle.The present invention is by laser projecting apparatus, tested
Object, industrial camera three configure in triangle, and laser is projected to testee surface at an angle, and industrial camera is from another angle
The laser facula on body surface is imaged in degree, and the position height of body surface illuminated laser spot is different, industrial camera figure
Hot spot image position is also different as in, according to position orientation relation mutual between laser source and industrial camera, can calculate body surface laser photograph
The position of exit point.Entire measurement process mainly includes two steps:
It 3_1) needs to project controllable line laser according to measurement by laser projecting apparatus and forms characteristic curve to body surface, and
Image is shot by industrial camera；
Projection mode 3_2) is explained by the geometrical feature of body surface projection pattern, is asked using triangulation principle
Direction in space, the location parameter etc. of characteristic point and industrial camera in world coordinate system out can acquire characteristic point and sit in the world
Three-dimensional coordinate in mark system.
Fig. 6 is optical path schematic diagram, angle of the θ between laser beam optical axis and receiving lens optical axis；A is laser beam light
Distance of the intersection point of axis and receiving lens optical axis to receiving lens front principal plane；B is receiving lens back interarea to imaging surface central point
Distance.If displacement of the luminous point on imaging surface is y1, then the displacement of tested surface are as follows:
In the measurements, when the laser plane of laser projecting apparatus projection, when intersecting with the body surface at a certain position in space,
A bright striation will be formed on testee surface, the three-dimensional letter of testee surface point where the point on striation contains it
Breath, i.e., three-dimensional article coordinate (X, Y, Z) is reflected onto the picture plane of industrial camera, then obtains the two dimensional image of a width striation.Striation
Two-dimentional picpointed coordinate on image is denoted as (x, y), then can reconstruct its corresponding three-dimensional object point by two-dimentional picpointed coordinate (x, y)
Coordinate (X, Y, Z).
Claims (5)
1. a kind of inner surface of container three-dimensional appearance non-destructive testing device, characterized in that equipped with miniature laser measuring device, mostly freely
Spend cubing；The miniature laser measuring device includes laser projecting apparatus and industrial camera, laser projecting apparatus, measured object and industrial phase
Machine is arranged in triangle；
The multiple degrees of freedom cubing, including pedestal, vertical mounting blocks, it is transversely mounted block, measuring head, measurement arm, device on pedestal
Vertical mounting blocks are arranged vertical guide on vertical mounting blocks, are transversely mounted block and are mounted in vertical guide, are transversely mounted on block and lead to
Measurement arm shaft installation measurement arm is crossed, measurement arm shaft, measurement arm are vertically arranged, measure and survey on arm by the installation of measuring head shaft
Head is measured, measuring head shaft is laterally arranged；The miniature laser measuring device is set in measuring head, and measuring head can be relative to measurement arm
Rotation, measurement arm can be rotated relative to block is transversely mounted.
2. a kind of inner surface of container three-dimensional appearance lossless detection method, characterized in that described detection method includes the following steps:
2_1) to the miniature laser measuring device mark of inner surface of container three-dimensional appearance non-destructive testing device described in claim 1
It is fixed；
2_2) using multiple degrees of freedom cubing described in claim 1 by the miniature laser measuring device be sent into tested container it
It is interior, inner surface of container DATA REASONING is carried out according to laser triangulation principle, obtains inner surface of container three-dimensional data.
3. a kind of inner surface of container three-dimensional appearance lossless detection method according to claim 2, characterized in that the step
It is rapid 1) in miniature laser measuring device calibration, comprise the following processes:
3_1) stereo calibration plate makes:
Target pattern having a size of 40 × 40mm, be distributed on target surface a diameter 5mm big mark circle and three diameter 3mm it is small
Mark circle, the centroid A, B, C, D of 4 mark circles are as target characteristic point；Target characteristic point D be located at target characteristic point A just on
Side, target characteristic point B are located on the right side of the horizontal direction of target characteristic point A；Target characteristic point C be located at target characteristic point A it is oblique on
Side；Based on double-layer structure stereo calibration plate designed by above-mentioned target pattern, wherein bottom scaling board is having a size of 100 × 100mm,
Top layer scaling board is 4mm having a size of 40 × 40mm, top, two layers of bottom scaling board difference in height；
3_2) camera parameters are demarcated: the target image of K width different positions and pose is shot by industrial camera, by target characteristic point A, B,
C, D and its imaging point a, b, c, d one-to-one relationship, it is non-thread using Zhang Zhengyou calibration algorithm and Levenberg-Marquardt
Property optimization realize calibration, obtain industrial camera focal length f, principal point coordinate (x, y) and industrial camera attitude matrix parameter；
3_3) line laser light-plane parameters are demarcated: scaling board is fixed in calibration process, extracts light-knife by cross ratio invariability principle
Characteristic point P, Q, after 2K light-knife characteristic point in K width image is transformed under the same coordinate system, fitting obtains optic plane equations.
4. a kind of inner surface of container three-dimensional appearance lossless detection method according to claim 2, characterized in that the step
Rapid 3_3) according to laser triangulation principle carry out inner surface DATA REASONING, comprise the following processes:
Laser source, measured object, industrial camera three are configured in triangle, laser is incident upon testee surface, and industrial camera is from another
The laser facula on body surface is imaged in one angle, and the position height of body surface illuminated laser spot is different, industry
Hot spot image position is also different in camera image, according to position orientation relation mutual between laser projecting apparatus and industrial camera, calculates object
The position of surface laser point of irradiation；Entire measurement process mainly includes two steps:
It 4_1) needs to project controllable line laser according to measurement by laser projecting apparatus and forms characteristic curve to body surface, and by work
Industry image shot by camera；
Projection mode 4_2) is explained by the geometrical feature of body surface projection pattern, finds out spy using triangulation principle
Direction in space, the location parameter of sign point and industrial camera in world coordinate system, acquire three of characteristic point in world coordinate system
Tie up coordinate.
5. a kind of inner surface of container three-dimensional appearance lossless detection method according to claim 4, characterized in that the utilization
Triangulation principle finds out direction in space, the location parameter of characteristic point and industrial camera in world coordinate system, acquires feature
The process of three-dimensional coordinate of the point in world coordinate system are as follows:
If displacement of the luminous point on imaging surface is y1, then the displacement of tested surface are as follows:
In formula: angle of the θ between laser beam optical axis and receiving lens optical axis；A is laser beam optical axis and receiving lens optical axis
Distance of the intersection point to receiving lens front principal plane；B is distance of the receiving lens back interarea to imaging surface central point；
It in the measurements,, will be when intersecting with the body surface at a certain position in space when the laser plane of laser projecting apparatus projection
Testee surface forms a bright striation, the three-dimensional information of testee surface point where the point on striation contains it, i.e.,
In three-dimensional article coordinate (X, Y, Z) reflection to the picture plane of industrial camera, then the two dimensional image of a width striation is obtained；On optical strip image
Two-dimentional picpointed coordinate be denoted as (x, y), then by two-dimentional picpointed coordinate (x, y) reconstruct its corresponding three-dimensional object point coordinate (X, Y,
Z)。
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| CN111412854A (en) * | 2019-12-31 | 2020-07-14 | 吉林大学 | Point and circle invariant based active vision reconstruction system and method for automobile morphology |
| CN115266909A (en) * | 2022-06-21 | 2022-11-01 | 安徽工程大学 | An eddy current detection robot coordinate system point and surface calibration method |
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