CN109813221A - Measurement Error Compensation Method for Large Steel Plate Based on Control Field - Google Patents
Measurement Error Compensation Method for Large Steel Plate Based on Control Field Download PDFInfo
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Abstract
本发明涉及一种基于控制场的大型钢板的测量误差补偿方法，包括：1)采集大尺寸钢板的图像，得出采集误差；2)对相机进行标定，获取标定误差；3)采用亚像素提取算法进行边缘定位，计算定位误差；4)对定位出的边缘进行边缘拟合，计算拟合误差；5)设计网格标准板，获取标准板上各直线上的相邻交叉点的间距误差；6)对间距误差进行误差累积，分别获得网格标准板上的所有横、纵坐标的误差曲线，获得在标准板坐标系中x方向和y方向上的误差；7)建立误差曲线并投影至图像坐标系，结合线性插值构造误差场；8)对钢板测量结果进行误差补偿，并与未补偿的测量结果进行对比。结果表明，本方法可以提高大型钢板的测量精度，并具有较高的鲁棒性。
The invention relates to a measurement error compensation method for a large-scale steel plate based on a control field, comprising: 1) collecting images of the large-size steel plate to obtain the acquisition error; 2) calibrating the camera to obtain the calibration error; 3) adopting sub-pixel extraction The algorithm performs edge positioning and calculates the positioning error; 4) performs edge fitting on the positioned edge, and calculates the fitting error; 5) designs a grid standard plate, and obtains the spacing error of adjacent intersections on each straight line on the standard plate; 6) Accumulate the error of the spacing error, obtain the error curves of all the horizontal and vertical coordinates on the grid standard plate, and obtain the errors in the x direction and the y direction in the standard plate coordinate system; 7) Establish the error curve and project it to Image coordinate system, combined with linear interpolation to construct error field; 8) Perform error compensation on steel plate measurement results and compare with uncompensated measurement results. The results show that the method can improve the measurement accuracy of large steel plates and has high robustness.
Description
Technical field
The present invention relates to a kind of measurement Error Compensation methods of heavy steel plate based on controlling filed, especially to heavy-gauge steel
When plate is measured with image procossing, have a distinct increment in terms of accuracy than prior art tool.
Background technique
Manufacture and dress as large scale steel plate is widely used in the large-scale precision equipments such as aircraft, ship, in Grand Equipments
In matching, the precise measurement of steel plate is the key that guarantee one step of equipment manufacturing accuracy, and the steel plate of dimensional error seriously affects factory
Production efficiency and product quality.Traditional detection mode is relied primarily on worker and is surveyed using size of the micrometer to tested steel plate
Amount, this detection mode does not simply fail to obtain accurate dimensional discrepancy and detection speed is slow and error is big.Therefore, based on big
The measurement of size steel plate becomes research hotspot.
Currently, large scale heavy combustion engine blade can be measured using three coordinate measuring machine, though this method can be to big
Size objects carry out precise measurement, but it belongs to per-spot way, needs to obtain a large amount of discrete points on determinand surface first,
Measurement efficiency is lower；It is applied in the measurement of industrial large scale slab using digital close view photogrammetric system, digital close shot is taken the photograph
Shadow measuring system can carry out precise measurement to large range of region, but it is complicated for operation in use, measurement data
It is computationally intensive, it is generally difficult to the requirement to large scale measurement of the steel plate rapid survey is met；Establish the non-linear of perspective projection error
Model carries out error compensation to the measurement result of cylindrical gear profile, the experimental results showed that the precision of the method meets difference
The measurement request of the gear profile of thickness.But its measurement object is relative to small-size object, with the increasing of measurement object size
Greatly, lens distortion degree is increasing, relies solely on and is not able to satisfy required precision to the compensation of a step in measurement process.
In conclusion there is an urgent need to propose the measurement side of a kind of accuracy height and practicability large scale steel plate strongly at present
Method.
Summary of the invention
In view of this, the invention proposes a kind of measurement Error Compensation method of heavy steel plate based on controlling filed, the party
Greatly improving to the measurement result precision of large scale steel plate may be implemented in method, and robustness and practicability are stronger.
In order to achieve the above objectives, first aspect according to the invention provides the survey of the heavy steel plate based on controlling filed
Amount error compensation method, specific technical solution, including the following steps:
Step 1: the image of acquisition large scale steel plate obtains measuring system caused by the non-uniform movement of line scan camera
Acquisition Error；
Step 2: video camera being demarcated using nonlinear calibration method, the calibration of measuring system is obtained according to calibration result
Error；
Step 3: using sub-pixel detection algorithm carry out edge positioning, calculate input set of pixels it is undesirable when sub-pix
Position error；
Step 4: edge fitting carried out to the isolated edge oriented, when fitting due to when define weight coefficient introducing away from
From threshold value, the selection of different threshold values, which causes to have always in image, is fitted poor place, and then error of fitting occurs；
Step 5: planning grid on-gauge plate obtains the spacing between the adjacent intersections on on-gauge plate on each horizontal, vertical straight line
Error；
Step 6: the interval error between adjacent intersections being subjected to error accumulation, it is straight to obtain (vertical) horizontal in mesh standard plate
Error curve of the line on the direction y (x)；
Step 7: the error curve in establishment step 6 is projected using trigonometric function theorem to image pixel coordinates system, and
Linear interpolation correction is carried out, realizes the error field for establishing measured zone；
Step 8: measuring the error compensation of result to large scale steel plate to be detected, and carried out with uncompensated result
Comparison.
Compared with prior art, the beneficial effects of the present invention are:
The present invention is aiming at the problem that error in large scale steel plate measuring system is more than system setting tolerance, by dividing
Error Producing reason in analysis system, the bearing calibration compensated using system overall error.Firstly, using entire measurement zone is covered
The measurement result of the mesh standard plate in domain；Then, error distribution situation on grid lines is obtained；Secondly, utilizing linear interpolation techniques
Establish the geometric error measurement of planes of measured zone；Finally, error compensation is carried out to measurement of the steel plate result, in the measurement of 1.2m × 2.6m
In region, error compensation is carried out by distance of center circle measurement result to steel plate, the error result of measurement can be controlled 1mm/m with
Interior, the precision compared with 3mm before error compensation improves 71%.
Detailed description of the invention
Fig. 1 overall framework schematic diagram, i.e. Figure of abstract；
Fig. 2 measured zone and waffle slab schematic diagram；
Fig. 3 horizontal line overcrossing point schematic diagram；
In Fig. 4 waffle slab certain horizontal line along the y-axis direction on error curve；
Fig. 5 image coordinate system and waffle slab coordinate system relational graph；
Fig. 6 waffle slab horizontal line is projected to image coordinate system process.
Specific embodiment
The present invention is described in further detail With reference to embodiment.
Overall framework schematic diagram of the invention is as shown in Figure 1.Firstly, the image of acquisition large scale steel plate, analysis system are total
Image Acquisition error in error；Then video camera is demarcated, obtains the calibrated error in system overall error；Then it uses
Sub-pixel detection algorithm carries out edge positioning, and when calculating undesirable because of input set of pixels, the sub-pix in system overall error is fixed
Position error；Secondly edge fitting is carried out to the edge oriented, obtains the error of fitting of system overall error caused by different threshold values；
Then planning grid on-gauge plate obtains the interval error between the adjacent intersections on on-gauge plate on each horizontal, vertical straight line；For
Interval error between obtained adjacent intersections carries out error accumulation, obtains all horizontal, vertical seats on mesh standard plate respectively
Target error curve obtains the error curve in on-gauge plate coordinate system on the direction x and the direction y；It establishes error curve and utilizes
Trigonometric function theorem is projected to image pixel coordinates system, and the error field of entire measured zone is constructed by linear interpolation；Most
Error compensation correction is carried out to the measurement result of steel plate afterwards, and is compared with uncompensated measurement result.
The specific implementation process of technical solution of the present invention is illustrated With reference to embodiment.
1. experimental subjects
The present invention devises a length of 2600mm for the measured zone of 1.2m × 2.6m, and width is the mesh standard of 1200mm
Plate, net region is by the horizontally-parallel line that 240 stripe pitch are 10mm and longitudinal sets of parallel that 108 stripe pitch are all 10mm thereon
At.
2. error analysis
Measurement of the steel plate system includes 4 processes: the acquisition of steel plate image, the calibration of camera, sub-pix side in measurement process
The extraction of edge and edge fitting.Firstly, the Image Acquisition of system relies on line scan camera, line scanning on the robotic arm is installed
Camera is non-uniform movement, will lead to the image acquired out and there is stretching, making image, there are size μaAcquisition Error；Its
Secondary, system demarcates camera using the only nonlinear calibration model of consideration radial distortion and decentering distortion, calibration result
Back projection's error is 0.2901pixel, since the actual range that 1 pixel represents in image is 0.71mm, therefore measuring system
Calibrated error μc=0.206mm；Then, the present invention carries out edge positioning using Gray Moment sub-pixel detection algorithm, when input picture
When element collection is undesirable, the position error of gray scale moments method can reach 0.3pixel, therefore sub-pixel positioning error μs=0.21mm；Most
Afterwards, edge fitting is using the least square edge fitting algorithm based on weight, when being fitted, due to defining weight
Distance threshold is introduced when coefficient, the selection of different threshold values, which causes to have always in image, is fitted poor place, and forming size is μf
Error of fitting.
In conclusion system overall error is made of four error components, only missed to wherein a certain according to error compensation
Difference is corrected, and not only needing to introduce complicated algorithm, to lead to model complicated, and can not eliminate for by Image Acquisition and
Systematic error caused by demarcating, therefore, the sum of overall error present in measuring system μ hereinTIt compensates, μTUse mathematical table
μ is expressed as up to formulaT=μa+μc+μs+μf。
3 building measured zone geometric error measurement of planes
The interval error of 3.1 mesh standard plates
The present invention is directed to measuring system overall error, devises a kind of mesh standard plate, is affixed in tested plane.It should
Horizontal line and the ordinate intersection that plate is parallel to each other by several and spacing is fixed form, and horizontal, vertical straight line is mutually perpendicular to.To keep away
Exempt from image mosaic and cause second order error, need disposably to obtain the error distribution situation in entire measured zone, and guarantees adopting
Should have identical condition with acquisition steel plate image when collecting mesh standard plate image.And through image measurer to network standard plate
It measures, error is less than 0.08mm.
For ease of description, display case of the mesh standard plate in measured zone is reduced to Fig. 2.It is put down in tentative standard plate
Fixed range between row horizontal line between parallel ordinate isAnd through 1 pixel represents σ mm in the image known to calibration, therefore
Pixel distance between parallel lines isIn order to obtain the error distribution situation of measured zone, firstly, being swept by line
The image that camera obtains grid scaling board is retouched, then orients every horizontal line and ordinate in grid lines using subpixel edge operator
Sub-pixel edge, later, by the least squares line fitting method based on weight to the fitted straight lines of edges extracted, according to
Fitting result obtains the crosspoint of all straight lines, calculates the pel spacing between consecutive points finally by the coordinate for obtaining crosspoint,
Completion measures the spacing of adjacent intersections in mesh standard plate.
Assuming that in image share the horizontally-parallel line of m item, n item longitudinal direction parallel lines, then in image all horizontal lines, ordinate fitting
Linear equation can use formula y=a respectivelyix+bi(i=1,2 ... m), formula y=ajx+bj(j=1,2 ... n) indicate.Assuming that image
In certain horizontal line fitting a straight line equation be v=ax+b, then the crosspoint coordinate in waffle slab on this horizontal line is represented byTherefore, between the pixel in waffle slab between this horizontal line overcrossing point
Away from forEnabling the interval error between this horizontal line overcrossing point is εh, by
Pixel distance between ordinate parallel on the known waffle slab is Dpixel, therefore can be obtained: εh=D-DjJ=2,3 ... n.Net
The interval error finding process of panel middle line overcrossing point is similar.
3.2 error curves based on interval error obtain
According to formula εh=D-DjThe interval error of horizontal line overcrossing point is only capable of describing currently handing in the mesh standard plate of acquisition
Range error between crunode and previous crosspoint, if want to obtain the error of certain point on horizontal line, institute before needing to measure first
There is the interval error between crosspoint, is unfavorable for the foundation of subsequent error field.Therefore, the present invention is based on transverse and longitudinals in mesh standard plate
Interval error in fitting a straight line establishes the error curve on the straight line.
The establishment process of expression error curve for convenience, establishes mesh standard plate coordinate system, now with on-gauge plate middle line
Direction is x-axis, and crossline direction is y-axis, and origin is upper left corner crosspoint, as shown in Figure 2.Assuming that in mesh standard plate on certain horizontal line
N crosspoint is shared, is followed successively by a from left to right0, a1... an, as shown in Figure 3.
In the crossline direction, error accumulation is represented by Levoform describes in horizontal line any crosspoint in horizontal line
Error distribution situation on direction, is denoted as error curve form, as shown in Figure 4.The horizontal axis of Fig. 4 is mesh standard plate seat
Y-axis in mark system, any point and first crosspoint a of the longitudinal axis for fitting a straight line0The distance between error amount.Similarly, it marks
The error curve establishment process of certain ordinate is similar therewith on quasi- plate.
3.3 establish measured zone error field
Since when handling other non-grid images, the Location-Unknown of grid coordinate system cannot then use the coordinate system
Under error curve image is compensated, first will be under waffle slab coordinate system therefore before establishing the error field of measured zone
Cross, the row, column error of coordinate curve under longitudinal error Curve transform to image coordinate system.
Assuming that sharing m horizontal line on waffle slab, fitting a straight line is respectively t0, t1, t2..., tm-1, these straight lines are scheming
Leftmost first crosspoint pixel coordinate is respectively as in Waffle slab
The position view of coordinate system and image coordinate system is as shown in Figure 5.Assuming that the fitting a straight line of certain horizontal line is under waffle slab coordinate system
ti(0≤i < m) shares N number of crosspoint on the straight line and is followed successively by a0, a1, a2..., aN, then the coordinate under pixel coordinate system beThe straight line is in waffle slab coordinate system along the error curve of y-axis as shown in figure 4, then throwing the error information in straight line
Shadow straight line into image coordinate systemProcess is as shown in Figure 6.Assuming that each crosspoint a on the horizontal line0, a1, a2..., aNProjection
To straight lineWhen, subpoint a0, a1', a2' ... aN′.From fig. 6 it can be seen that any crosspoint aiWith a0, its throwing
Shadow point ai' between can form right angled triangle, while crosspoint a can be obtained according to error curveiWith a0Between errorTherefore
A can be obtained according to Pythagorean theoremi' and a0Between error beA in formulaiFor the horizontal line and image coordinate system
Angle, K are the slope of fitting a straight line, obtain αi=arctan (k).According to formulaαi=arctan (k)
Straight line in image coordinate system can be obtainedThe error curve of upper all the points.Therefore, when making all horizontal lines in mesh standard plate
Projection is into image coordinate system, available straight lineUpper total m error curve.According to these
Curve can get error of all the points in v axis direction in projection straight line, while can also carry out linear interpolation to it and obtain entirely
The v deflection error of arbitrary point in image forms v deflection error field.Similarly, the u direction error field of image can be formed, it is final to obtain
To the error field of entire measured zone, the error amount of any position in image can be directly obtained in the error field, thus
The measured value of the point is compensated.
Compared with the large scale steel plate measuring technique of error free compensation, before testing result of the invention can not compensate
71% precision is promoted, and robustness, practicability are stronger.
The foregoing is only a preferred embodiment of the present invention, is not intended to limit the scope of the present invention, should
Understand, the present invention is not limited to existing scheme as described herein, the purpose of these implementations description is to help in this field
Technical staff practice the present invention.Any those of skill in the art are easy in the feelings for not departing from spirit and scope of the invention
It is further improved under condition and perfect, therefore the present invention is only limited by the content and range of the claims in the present invention,
It includes alternative in the spirit and scope of the invention being defined by the appended claims and equivalent that it, which is intended to cover all,
Scheme.
Claims (4)
1. a kind of measurement Error Compensation method of the heavy steel plate based on controlling filed, including the following steps:
Step 1: the image of acquisition large scale steel plate obtains the Acquisition Error of measuring system；
Step 2: video camera being demarcated, the calibrated error of measuring system is obtained；
Step 3: edge positioning being carried out using sub-pixel detection algorithm, calculates sub-pixel positioning error；
Step 4: edge fitting being carried out to the edge oriented, and then obtains error of fitting；
Step 5: planning grid on-gauge plate obtains the interval error between the adjacent intersections on on-gauge plate on each horizontal, vertical straight line；
Step 6: the interval error between adjacent intersections being subjected to error accumulation, horizontal or ordinate is along y in acquisition mesh standard plate
Or the error curve on the direction x；
Step 7: the error curve in establishment step 6 is projected using trigonometric function theorem to image pixel coordinates system, and is carried out
Linear interpolation correction, realizes the error field for establishing measured zone；
Step 8: to large scale steel plate to be detected measure result carry out error compensation, and with the result of image measurer into
Row comparison.
2. the measurement Error Compensation method of the heavy steel plate according to claim 1 based on controlling filed, which is characterized in that step
In rapid 5, for measuring system overall error from Image Acquisition error, measuring system calibrated error, sub-pixel positioning error,
Four aspects of edge fitting error devise a kind of horizontal line and ordinate intersection group being parallel to each other by several and spacing is fixed
At, and horizontal, vertical straight line mutually vertical mesh standard plate, between the adjacent intersections between horizontal, the vertical straight line of on-gauge plate
The expression to the error distribution situation of measuring system may be implemented away from error distribution situation, wherein certain cross on on-gauge plate or vertical
Interval error on line can indicate are as follows:And εv=D-DiWherein i=2,3 ... m.
3. the measurement Error Compensation method of the heavy steel plate according to claim 1 based on controlling filed, which is characterized in that step 6
In, the interval error of adjacent intersections is only capable of describing the spacing in current crosspoint Yu previous crosspoint on straight line in mesh standard plate
Interval error from error, if want to obtain the error of certain point on horizontal line, before need to measuring between all crosspointsCause
Pixel distance on horizontal or ordinate between any crosspoint and its previous crosspoint isAnd root
According to εv=D-DiUtilize error accumulationWithObtain certain in waffle slab
Error curve of the horizontal line on y or x-axis direction.
4. the measurement Error Compensation method of the heavy steel plate according to claim 1 based on controlling filed, which is characterized in that step
In rapid 7, since what is obtained in step 6 is mistake of the point on the direction y or x under waffle slab coordinate system on all horizontal lines and ordinate
Poor curve, and when being handled for actual non-grid image, therefore the Location-Unknown of grid coordinate system is measured establishing
When the error field in region, using trigonometric function theorem by cross, the longitudinal error curve projection to image slices under waffle slab coordinate system
Row, column error of coordinate curve under plain coordinate system then carries out linear interpolation, finally obtains any position in acquired image
Error amount error field.
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| CN110260824B (en) * | 2019-06-14 | 2021-10-08 | 广东博智林机器人有限公司 | Device and method for acquiring wall board groove edge angle |
| CN113458156A (en) * | 2020-03-31 | 2021-10-01 | 宝山钢铁股份有限公司 | Calibration method of on-line monitoring device for position of hot rolling finish rolling strip steel |
| CN115100225A (en) * | 2022-05-10 | 2022-09-23 | 桂林量具刃具有限责任公司 | Method and device for determining error field of camera view field, electronic equipment and medium |
| CN116804532A (en) * | 2023-08-24 | 2023-09-26 | 苏州中科行智智能科技有限公司 | 3D measurement method for distance between parallel line segments |
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Application publication date: 20190528 |