CN101660894B - Device and method for multi-vision visual detection based on parallel light illumination - Google Patents
Device and method for multi-vision visual detection based on parallel light illumination Download PDFInfo
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- CN101660894B CN101660894B CN200910070423XA CN200910070423A CN101660894B CN 101660894 B CN101660894 B CN 101660894B CN 200910070423X A CN200910070423X A CN 200910070423XA CN 200910070423 A CN200910070423 A CN 200910070423A CN 101660894 B CN101660894 B CN 101660894B
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Abstract
The invention discloses a device and a method based on parallel light and used for multi-vision detection, belonging to the technical field of intelligent machine vision. The measuring device comprises a multidegree of freedom adjusting and positioning mechanism, and a parallel beam expanding optical mechanism. The multidegree of freedom adjusting and positioning mechanism mainly consists of a gantry framework, three working-position cameras and a parallel beam expanding light source, wherein the gantry framework consists of a base, a thread cylinder, a supporting nut and a guideway crossbeam; and the three working-position cameras are arranged in the gantry framework and have a fixed angle relationship. The parallel beam expanding optical mechanism mainly consists of an LED chip, a lens group and a mechanical structure and aims at collimating the divergent beam of the LED spot lamp, expanding and outputting the light beam. The measuring method comprises the following steps of: positioning and adjusting the whole mechanism, adjusting the position of the lens group in the parallel beam expanding mechanism, adjusting the light intensity of the parallel beam expanding light source, calculating the matching parameters of the camera images at three positions, and obtaining different differential images by the image differential rules. The device has the characteristics of reliable performance, high automation in the detection process, stronger common-mode interference resistance capability, high precision and the like, and provides a stable and reliable detecting and measuring method for the online production and detection.
Description
Technical field
The present invention relates to a kind of used for multi-vision visual pick-up unit and method, be widely used in machine-building, online production, Aero-Space, the machine vision detection device and the method for numerous areas such as body of a motor car measurement based on parallel light.
Background technology
The intelligence machine vision technique is a novel automatic subdiscipline that grew up in recent years, is an emerging detection technique.It is based on machine vision, melting modern science and technology such as optoelectronics, computer technology, laser technology, image processing techniques is one, form light, mechanical, electrical, comprehensive detection system, have noncontact, full visual field detection, high precision and the high characteristics of automaticity, can overcome the limitation of mankind itself's ability, auxiliary or human online, automatic, continuous measurement and the detection task finished of replacement in modernization industry is produced, greatly improved accuracy, real-time and the reliability of control system, product quality is effectively guaranteed.
In modern production, the indispensable often link of vision-based detection, the development of machine vision technique can replace a few thing on the artificial vision to a certain extent, particularly at a high speed, continuously, quality testing, process identification, defective in producing in batches extract, profile obtains, dimensional measurement etc. manually is difficult to the task of finishing
At present more common visible detection method mostly is on the basis of monocular vision technique and develops, but because environmental factor is complicated and changeable, tend to mix the influence of interference sources such as noise or veiling glare in the single image, the image that so obtains is difficult to therefrom accurately extract the optical information of measured object.Take all factors into consideration above factor, the present invention proposes a kind ofly can suppress environmental interference to a certain extent, eliminate the common-mode noise of interference source, improve the used for multi-vision visual pick-up unit of detection system stability and robustness, and the visual information of collecting from the used for multi-vision visual system is abundant and multi-angle, so pass through research and application based on the algorithm of multiple image, can calculate measured object surface or three-dimensional appearance feature accurately, by demarcation, more can obtain static relevant geometric sense in kind to camera system.
Summary of the invention
The object of the present invention is to provide a kind of used for multi-vision visual pick-up unit and method based on parallel light, apparatus of the present invention have dependable performance, testing process automaticity height, anti-common mode interference ability is stronger, characteristics such as precision height, for online production detects, physical three-dimensional topography measurement and aerospace field provide reliable and stable detection and measuring method.
A kind of used for multi-vision visual pick-up unit based on parallel light provided by the invention comprises:
Multiple degrees of freedom is adjusted detent mechanism, is used to locate three cameras, can regulate three direction degree of freedom of camera in the plane again arbitrarily.
Parallel expanded beam optics mechanism is used for the divergent beams collimation of great power LED pointolite and expands bundle output.
Described multiple degrees of freedom is adjusted detent mechanism and comprised: the gantry frame that base, thread cylinder, holding nut and guide rail beam are formed, first thread cylinder is fixed on the base, and cooperates with first holding nut.The first holding nut bearing guide rail crossbeam.Guide rail beam has been arranged can slide and locate the first fastening support slipper, second support slipper and the 3rd support slipper, below each support slipper all by the structure of forming by second thread cylinder and second holding nut.Press Fig. 1 order explanation from left to right, second holding nut below first slide block of left side has supported a grooved location and has adjusted shell, the location is adjusted in the shell and has been screwed parallel expansion bundle white light source, be positioned at vertical parallel and expand the bottom that the direction of restrainting white light source is assemblied in second grooved adjustment location shell on first grooved adjustment location shell, adjust dull and stereotyped and dog screw by the location the first station camera is placed to the vertical direction of first light source, the calibration knob is used for regulating parallel expansion bundle white light source angle in the mechanism plane.Second holding nut below middle second slide block supports grooved location shell, the second station camera also is fixed on the shell of grooved location, and guarantee the second station camera in the mechanism plane vertically down.Second holding nut under the 3rd slide block of right side also supports the 3rd grooved adjustment location shell, lays the 3rd station camera in supporting the 3rd grooved adjustment location shell, and the 3rd station camera also can be regulated its angle planar by the calibration knob.Be positioned on the marble base under the second station camera 12 and lay a lift adjustment platform, measured workpiece is positioned on the lift adjustment platform.
Described parallel expanded beam optics mechanism is made up of led chip, lens combination and physical construction, as Fig. 2.This mechanism guarantees that mechanical axle center overlaps with optical axis, and chip and lens combination are centered close on the optical axis, and chip and lens combination vertical optical axis.High brightness LED chip is positioned over special-purpose LED collector lens rear side, and collector lens diminishes the angle of divergence of led light source, collector lens in first lens sleeve by the dog screw fixing and locking.Lens L
1Be held in second lens sleeve, second sleeve can move in first lens sleeve vertically, is locked by dog screw at last.The 3rd lens sleeve is used for the clamping aperture diaphragm, and can move along optical axis direction in second lens sleeve, at last by the dog screw positioning and locking.The end of the 3rd lens sleeve clamps lens L
2, and by the side of screw retention in the square fixed mount of semi-transparent semi-reflecting lens.Semi-transparent semi-reflecting eyeglass is fixed along fixed mount side diagonal.
A kind of step that comprises based on the used for multi-vision visual detection method of parallel light provided by the invention:
Whole mechanism adjusts the location
According to the system design principle, be assurance device energy operate as normal, need the position and the angle of three cameras in the regulating system.
In the framework of gantry, as Fig. 1, the adjusting by the holding nut on two double-screw bolts is adjusted to suitable height with guide rail beam, also can cooperate lifting table to move together.Slip is positioned at 3 slide blocks on the crossbeam, adjusts their positions in the x direction, keeps slide block identical at interval as far as possible.Nut under each slide block can be regulated, can make below it bearing part along y to moving.The first station camera can be in the shell of grooved adjustment location along the vertical direction up-down adjustment position of light source, and the second station camera can be in the shell of grooved adjustment location up-down adjustment position vertically.The first station camera and the 3rd station camera can pass through calibration knob adjusting angle.In order to access the ideal image effect, the optical axis direction that should regulate light source and the optical axis direction of the 3rd station camera become symmetry angle about the centre normal of measured workpiece.
The lens combination position is adjusted in the parallel expansion light source beam mechanism
Expand Shu Yuanli according to parallel beam,, need to adjust the relative position of lens combination and led chip for obtaining the good directional light of collimation.Among Fig. 2, chip LED is by behind the preposition collector lens, and beam divergence angle is littler, obtains an imaginary intersection point along the opposite direction of this light beam, and this point is the pointolite of representing led chip.Regulate lens sleeve by dog screw and make lens L
1Distance to imaginary intersection point is lens L
1The two focus length place.Regulating lens sleeve by dog screw makes aperture diaphragm to lens L
1Distance be lens L
1The two focus length place.Lens L
2The position should be the one times of focal length place of self apart from aperture diaphragm.
Parallel expansion light source beam light intensity regulating
The high-brightness LED driving circuit selects HV9910 as master chip, this chip is based on buck-boost constant current control principle, in conjunction with PWM width modulation accuracy control method, can realize the continuous adjusting of LED electric current in 0～1A scope, guarantee the variation of the continous-stable of light source intensity.In service in system, regulate the input pulse dutycycle of led drive circuit, the luminous intensity of indirect regulation LED makes three station cameras real-time images acquired under corresponding light prime time position, and the image sets that obtains can provide data for follow-up template extraction, image difference algorithm.
Calculate the matching parameter of three position camera images
Owing to be subjected to the location of mechanical positioning frame and the restriction of adjustment precision, before to the multiple image difference processing, need at first obtain the matching parameter of each width of cloth image, comprise center displacement parameter, plane corner parameter and imaging scaling parameter.The present invention proposes the matching parameter decision method based on two-dimentional Radon algorithm, and combining camera calibration technique acquisition camera external parameter, so that multiple image coupling difference processing.
Obtain different difference images by the image difference rule
Can obtain the matching parameter of three width of cloth images by step 4, parameter just can be adjusted to the measured object image its centre of form and overlaps with the picture size center thus, and rotates tested oval image major and minor axis and overlap with x, y axle respectively.With images match well after, again according to different image difference rules finish to mate the back image difference processing.
For obtaining different coupling differential effect, first station under the different brightness and the second station camera are obtained image according to the certain criterion combinatorial operation, the design of combinatorial operation criterion is as follows:
1.Pixels(Rule1)＝Pixels(Adding)-Pixels(750mA?of?Camera?2)；
2.Pixels(Rule2)＝Pixels(Differential)-Pixels(750mA?of?Camera?2)*0.15；
3.Pixels(Rule3)＝Pixels(Adding)-Pixels(112mA?of?Camera?2)*0.58；
4.Pixels(Rule4)＝Pixels(Differential)*2.4-Pixels(112mA?of?Camera?2)*0.3；
5.Pixels(Rule5)＝Pixels(750mA?of?Camera?2)-Pixels(Differential)；
6.Pixels(Rule6)＝Pixels(750mA?of?Camera?2)-Pixels(Adding)*0.5；
7.Pixels(Rule7)＝Pixels(112mA?of?Camera?2)-Pixels(Differential)*4.5；
8.Pixels(Rule8)＝Pixels(112mA?of?Camera?2)-Pixels(Adding)*1.35。
The present invention compared with prior art has the following advantages:
Adopt great power LED directional light to be shone testee as lighting source, utilize three video cameras that are positioned at diverse location to obtain image simultaneously, coupling calculus of differences rule by multiple image obtains the contour of object dimension information, reaches the purpose of two dimensionization plane geometry measurement amount.This measuring technique is compared with monocular vision, the result image outline and the defect information that obtain by difference algorithm are more complete, it is also more obvious that common mode interference suppresses ability, be easier to analyze the geometric sense size, stronger compared with traditional monocular vision image processing method adaptivity, precision is also higher.
Description of drawings
Fig. 1 is an entire system mechanical construction drawing of the present invention.
Fig. 2 is a collimate in parallel beam expander optical system structural drawing of the present invention.
Fig. 3 is a system works schematic diagram of the present invention.
Fig. 4 is the control structure figure of system of the present invention.
Fig. 5 is system works flow process figure of the present invention.
Fig. 6 is coupling differential effect figure of the present invention.
The 1-base, 2-thread cylinder, 3-first holding nut, the 4-guide rail beam, 5-support slipper (the first, the second and the 3rd), 6-second holding nut, the 7-thread cylinder, 8-marble base, 9-lift adjustment platform, 10-measured workpiece, the 11-first station camera, the 12-second station camera, 13-the 3rd station camera, the parallel expansion bundle of 14-white light source, 15-first grooved adjustment location shell, 16-calibration knob, 17-second grooved adjustment location shell, 18-adjusts the location dull and stereotyped, the 19-dog screw, 20-the 3rd grooved adjustment location shell.
The highlighted LED of 21-, the preposition collector lens of 22-LED, 23-dog screw, 24-first lens sleeve, 25-lens L
1, 26-dog screw, 27-second lens sleeve, 28-dog screw, 29-aperture diaphragm, 30-the 3rd lens sleeve, 31-lens L
2, 32-half-transmitting and half-reflecting level crossing, the square fixed mount of 33-semi-transparent semi-reflecting lens, 34-reverberation.
Embodiment
Be described in further detail technical solution of the present invention below in conjunction with accompanying drawing and instantiation:
A kind of used for multi-vision visual pick-up unit based on parallel light provided by the invention comprises:
Multiple degrees of freedom is adjusted detent mechanism, is used to locate three cameras, can regulate three direction degree of freedom of camera in the plane again arbitrarily.
Parallel expanded beam optics mechanism is used for the divergent beams collimation of great power LED pointolite and expands bundle output.
Described multiple degrees of freedom is adjusted detent mechanism and is comprised: the gantry frame of being formed by base 1, thread cylinder 2, holding nut 3 and guide rail beam 4, and as Fig. 1.Thread cylinder 2 is fixed on the base 1, and cooperates with holding nut 3.Holding nut 3 bearing guide rail crossbeams 4.Guide rail beam 4 arranged and can slide and locate 3 fastening support slippers 5, below each support slipper 5 all by the structure of forming by thread cylinder 7 and holding nut 6.Press Fig. 1 order explanation from left to right, nut 6 below the left slider 5 has supported a grooved location and has adjusted shell 15, be screwed parallel expansion bundle white light source 14 in the shell 15, the direction that is positioned at perpendicular light source 14 is assemblied in grooved adjustment location shell 17 bottom of shell 15, by the location adjust dull and stereotyped 18 and dog screw 19 the first station camera 11 is placed to the vertical direction of light source 14, calibration knob 16 is used for regulating light source 14 angle in the mechanism plane.Nuts 6 below the intermediate slider 5 support grooveds location shells 20, the second station camera 12 also is fixed on the shell 20, and guarantee camera 12 in the mechanism plane vertically down.Nut 6 under the right side slide block 5 also supports grooved adjustment location shell, lays the 3rd station camera 13 in shell, and camera 13 also can be regulated its angle planar by the calibration knob.Be positioned on the marble base 8 under the second station camera 12 and lay a lift adjustment platform 9, measured workpiece 10 is positioned over to be adjusted on the platform 9.
Described parallel expanded beam optics mechanism is made up of led chip, lens combination and physical construction, as Fig. 2.This mechanism guarantees that mechanical axle center overlaps with optical axis, and chip and lens combination are centered close on the optical axis, and chip and lens combination vertical optical axis.High brightness LED chip 21 is positioned over special-purpose LED collector lens 22 rear sides, and lens 22 diminish the angle of divergence of led light source 21, collector lens 22 in lens sleeve 24 by dog screw 23 fixing and lockings.Lens L
125 are held in the lens sleeve 27, and sleeve 27 can move in sleeve 24 vertically, is locked by dog screw 26 at last.Lens sleeve 30 is used for clamping aperture diaphragm 29, and can move along optical axis direction in sleeve 27, at last by dog screw 28 positioning and lockings.The end of sleeve 30 clamps lens L
231, and by the side of screw retention in the square fixed mount 33 of semi-transparent semi-reflecting lens.Semi-transparent semi-reflecting eyeglass 32 is fixed along fixed mount 33 side diagonals.
A kind of step that comprises based on the used for multi-vision visual detection method of parallel light provided by the invention:
1) whole mechanism location adjustment
According to the system design principle, be assurance device energy operate as normal, need the position and the angle of three cameras in the regulating system.In the framework of gantry, as Fig. 1, the adjusting by the holding nut 3 on two double-screw bolts 2 is adjusted to suitable height with guide rail beam 4, also can cooperate lifting table 9 to move together.Slip is positioned at 3 slide blocks 5 on the crossbeam 4, adjusts their positions in the x direction, keeps slide block identical at interval as far as possible.Nut 6 under each slide block can be regulated, can make below it bearing part along y to moving.The first station camera 11 can be in the shell 17 of grooved adjustment location along the vertical direction up-down adjustment position of light source, and the second station camera 12 can be in the shell 20 of grooved adjustment location up-down adjustment position vertically.The first station camera 11 and the 3rd station camera 13 can pass through calibration knob 16 adjusting angles.In order to access the ideal image effect, the optical axis direction that should regulate light source 14 and the optical axis direction of the 3rd station camera 13 become symmetry angle about the centre normal of measured workpiece 10.
2) the lens combination position is adjusted in the parallel expansion light source beam mechanism
Expand Shu Yuanli according to parallel beam,, need to adjust the relative position of lens combination and led chip for obtaining the good directional light of collimation.Among Fig. 2, chip LED 21 is by behind the preposition collector lens 22, and beam divergence angle is littler, obtains an imaginary intersection point along the opposite direction of this light beam, and this point is the pointolite of representing led chip.Regulate lens sleeve 27 by dog screw 26 and make lens L
1Distance to imaginary intersection point is lens L
1The two focus length place.Regulating lens sleeve 30 by dog screw 28 makes aperture diaphragm 29 to lens L
1Distance be lens L
1The two focus length place.Lens L
2The position should be the one times of focal length place of self apart from aperture diaphragm 29.
3) parallel expansion light source beam light intensity regulating
The high-brightness LED driving circuit selects HV9910 as master chip, this chip is based on buck-boost constant current control principle, in conjunction with PWM width modulation accuracy control method, can realize the continuous adjusting of LED electric current in 0～1A scope, guarantee the variation of the continous-stable of light source intensity.In service in system, regulate the input pulse dutycycle of led drive circuit, the luminous intensity of indirect regulation LED makes three station cameras real-time images acquired under corresponding light prime time position, and the image sets that obtains can provide data for follow-up template extraction, image difference algorithm.
4) matching parameter of three position camera images of calculating
Owing to be subjected to the location of mechanical positioning frame and the restriction of adjustment precision, before to the multiple image difference processing, need at first obtain the matching parameter of each width of cloth image, comprise center displacement parameter, plane corner parameter and imaging scaling parameter.The present invention proposes the matching parameter decision method based on two-dimentional Radon algorithm, and combining camera calibration technique acquisition camera external parameter, so that multiple image coupling difference processing.
5) obtain different difference images by the image difference rule
Can obtain the matching parameter of three width of cloth images by step 4, parameter just can be adjusted to the measured object image its centre of form and overlaps with the picture size center thus, and rotates tested oval image major and minor axis and overlap with x, y axle respectively.With images match well after, again according to different image difference rules finish to mate the back image difference processing.
The used for multi-vision visual pick-up unit is made up of as shown in Figure 3 with parallel expansion light source beam mechanism three cameras that are positioned at same plane, different acquisition direction.
In the mechanism plane, it is vertical that source of parallel light and camera 3 remain optical axis, and the light beam of light source incident angle is light source optical axis and horizontal line angle; 1 in camera is positioned at vertical collection measured object image directly over the measured object; Camera 2 optical axises and horizontal line angle are emergence angle.Adjust three camera positions respectively and make the image of measured object enter the camera visual field and be positioned near the center, the visual field, and guarantee that the incident angle of camera 3 equates with the emergence angle of camera 2.Because camera 3 keeps vertical relation with light source, then the light beam of light source will reflect into to turn back into the light beam of light source by 45 ° of semi-transparent semi-reflecting eyeglasses and enter camera 3 through measured object.Adjust the distance of camera along self normal direction, thereby reach the purpose that is adjusted to the picture size, guarantee that picture size is close in the visual field, although the image that camera 2 and 3 finally obtains is the projection of tested material object on the optical axis vertical plane, be measured object surface with the crossing line segment projection of vertical plane after have the shortening of sin θ ratio, but not variation of size on another vertical direction.So can adjust the light path of camera by the guestimate of geometric sense, three width of cloth images size is adjusted general consistent the most at last.Utilize the stable regulation ability of light-source brightness then, in certain range of light intensity, regulate light source.Select the Control current scope, should guarantee that camera 2 is not over-exposed, and camera 3 is not under-exposed, also tunable uses the aperture adjusting of camera 2,3 to reach exposure preferably.Behind camera adjustment and fixed position, under the different illumination intensity of the led light source of PWM control, finish synchronous acquisition to three position camera images by the acquisition system of forming by image pick-up card and PC.
System's control flow as shown in Figure 4.Control the PWM light modulator by software output duty cycle parameter on the PC, make the brightness of light source adjustable continuously in certain limit.After each light adjusting system is stable, by PC software the image taking instruction is sent in the image pick-up card, control the same time domain image acquisition of three station cameras by it.
The system works flow process as shown in Figure 5.Shown in process flow diagram, obtain three station camera images by communication in the PC.Suppose that measurand is a planar rondure, then as shown in Figure 3, the image that obtains in the camera 1 is that diameter is the circle of D* β, and β is the scaling factor of camera; What obtain in camera 2 and the camera 3 is oval image, and major axis and minor axis length be respectively D* β and D* β * sin θ, θ be camera 2,3 smooth with the plane in the horizontal line angle.By the analysis of this tested image outline feature and in conjunction with the Radon algorithm, just can calculate parameters such as the position of form center of figure and the anglec of rotation.The scaling factor also can calculate by the geometric sense and the full scale ratio of contour feature, but considers that the θ angle is more little, and measured object each point imaging plane is that distance is big more, so can make measured object imaging part clear, part is fuzzy.For obtaining the accurate calibrating parameters of camera, can use target, and according to figure and size calculate scaling and the depth of field of camera to this position measured object accurately on the target.
According in experimentation, can obtain different brightness of illuminations by regulating the LED drive current, measured object imaging in the camera of three positions and angle has very big difference in this intensity adjustable environment, most of light beam of the light source that after camera 2 places have received by measured object smooth flat direct reflection, has obtained, wherein comprised the light beam of removing after the non-smooth flat diffuse reflection of measured object, that is to say that camera 2 has manifested measured object smooth flat part by high gray-scale value, and low gray-scale value has manifested measured object defective plane or free form surface part, and claiming camera 2 to obtain image herein is bright area image.Camera 3 positions and camera 2 angle symmetries, so the image that receives is into complementary relationship with camera 2, promptly camera 3 has manifested measured object defective plane or free form surface part by high gray scale, the image that claims camera 3 to obtain herein is dark area image.
For obtaining different coupling differential effect, camera 2,3 under the different brightness is obtained image according to the certain criterion combinatorial operation, the design of combinatorial operation criterion is as follows:
1.Pixels(Rule1)＝Pixels(Adding)-Pixels(750mA?of?Camera?2)；
2.Pixels(Rule2)＝Pixels(Differential)-Pixels(750mA?of?Camera?2)*0.15；
3.Pixels(Rule3)＝Pixels(Adding)-Pixels(112mA?of?Camera?2)*0.58；
4.Pixels(Rule4)＝Pixels(Differential)*2.4-Pixels(112mA?of?Camera?2)*0.3；
5.Pixels(Rule5)＝Pixels(750mA?of?Camera?2)-Pixels(Differential)；
6.Pixels(Rule6)＝Pixels(750mA?of?Camera?2)-Pixels(Adding)*0.5；
7.Pixels(Rule7)＝Pixels(112mA?of?Camera?2)-Pixels(Differential)*4.5；
8.Pixels(Rule8)＝Pixels(112mA?of?Camera?2)-Pixels(Adding)*1.35；
With criterion 1 is example, this criterion represent with camera 2,3 gradation of image values according to suitable matching factor addition after again with 750mA under the gray-scale value of camera 2 subtract each other.
Application Example
Ganoid round metal ring plate with the band crack defect is an example, obtain the image that three station cameras are taken by the used for multi-vision visual pick-up unit, obtain the measured object profile information through the Radon algorithm, handle through methods such as reduction, translation, convergent-divergent and couplings again and treat difference image.After the last sequential processes, obtain Fig. 6 result according to above 8 difference rules.The complete difference of the differential effect that different as can be seen from Figure criterions obtain, and profile is all very high-visible, it is abundanter that the image that obtains than monocular vision comprises quantity of information, and can eliminate the inhomogeneous defective erroneous judgement that brings of workpiece texture.(1), (2) are except crack defect highlights among Fig. 6, and the unsmooth of texture also brought interference to the result.But in (3), (4), this interference is covered down, illustrates that more preceding two width of cloth figure of this two width of cloth figure have dwindled frequency range, makes the high-frequency information low-frequency information all to the compression of frequency range center, has suppressed invalid texture information and has disturbed.(5) and (7) marginal information more obvious, high-frequency information is outstanding, low-frequency information is suppressed.By the combinatorial operation of these a little difference rules, can be met the image effective information of requirement, compared with the monocular vision image processing algorithm, adaptivity is stronger, and the profile, the defect information that obtain are more obvious.
Claims (2)
1. used for multi-vision visual pick-up unit based on parallel light is characterized in that it comprises:
Multiple degrees of freedom is adjusted detent mechanism, is used to locate three cameras, and is used to regulate three direction degree of freedom of camera in the plane;
Parallel expanded beam optics mechanism is used for the divergent beams collimation of great power LED pointolite and expands bundle output;
Described multiple degrees of freedom is adjusted detent mechanism and is comprised: the gantry frame that base, thread cylinder, holding nut and guide rail beam are formed, and first thread cylinder is fixed on the base, and cooperates with first holding nut; The first holding nut bearing guide rail crossbeam, guide rail beam has can slide and locate the first fastening support slipper, second support slipper and the 3rd support slipper, below each support slipper by the structure of forming by second thread cylinder and second holding nut, second holding nut below first support slipper of left side supports first grooved location and adjusts shell, first grooved location is adjusted in the shell and has been screwed parallel expansion bundle white light source, be positioned at vertical parallel and expand the bottom that the direction of restrainting white light source is assemblied in second grooved adjustment location shell on first grooved adjustment location shell, the first station camera is placed to the vertical direction of first light source by location adjustment flat board and dog screw, the calibration knob is used for regulating parallel expansion bundle white light source angle in the mechanism plane, second holding nut below middle second support slipper supports second grooved adjustment location shell, the second station camera also is fixed on the shell of second grooved adjustment location, and guarantee the second station camera in the mechanism plane vertically down, second holding nut under the 3rd support slipper of right side also supports the 3rd grooved adjustment location shell, lay the 3rd station camera in supporting the 3rd grooved adjustment location shell, the 3rd station camera is regulated its angle planar by the calibration knob; Be positioned on the marble base under the second station camera (12) and lay a lift adjustment platform, measured workpiece is positioned on the lift adjustment platform;
Described parallel expanded beam optics mechanism is made up of led chip, lens combination and physical construction, and this mechanism guarantees that mechanical axle center overlaps with optical axis, and described chip and lens combination are centered close on the optical axis, and described chip and lens combination vertical optical axis; Described chip is positioned over special-purpose LED collector lens rear side, and collector lens diminishes the angle of divergence of led light source, collector lens in first lens sleeve by the dog screw fixing and locking, lens L
1Be held in second lens sleeve, second sleeve can move in first lens sleeve vertically, is locked by dog screw at last; The 3rd lens sleeve is used for the clamping aperture diaphragm, and moves along optical axis direction in second lens sleeve, at last by the dog screw positioning and locking; The end of the 3rd lens sleeve clamps lens L
2, and by the side of screw retention in the square fixed mount of semi-transparent semi-reflecting lens, semi-transparent semi-reflecting eyeglass is fixed along fixed mount side diagonal.
2. used for multi-vision visual detection method based on parallel light is characterized in that the step that comprises:
1) whole mechanism location adjustment, the position and the angle of three cameras in the regulating system
In the framework of gantry, the adjusting by the holding nut on two double-screw bolts is adjusted to suitable height with guide rail beam, and cooperate lifting table to move together, slip is positioned at three slide blocks on the crossbeam, adjusts their positions in the x direction, keeps slide block identical at interval as far as possible; Regulate the nut under each slide block, make below the slide block bearing part along y to moving, the first station camera in the shell of first grooved adjustment location along the vertical direction up-down adjustment position of light source, and second station camera up-down adjustment position vertically in the shell of second grooved adjustment location, the first station camera and the 3rd station camera be by calibration knob adjusting angle, and the optical axis direction of regulating light source and the optical axis direction of the 3rd station camera become symmetry angle about the centre normal of measured workpiece;
2) the lens combination position is adjusted in the parallel expansion light source beam mechanism
Adjust the relative position of lens combination and led chip, make chip LED pass through preposition collector lens after, beam divergence angle is littler, obtains an imaginary intersection point along the opposite direction of this light beam, this point is the pointolite of representing led chip; Regulate lens sleeve by dog screw and make lens L
1Distance to imaginary intersection point is lens L
1The two focus length place regulates lens sleeve by dog screw and makes aperture diaphragm to lens L
1Distance be lens L
1The two focus length place, lens L
2The position should be the one times of focal length place of self apart from aperture diaphragm;
3) parallel expansion light source beam light intensity regulating
The high-brightness LED driving circuit selects HV9910 as master chip, in conjunction with PWM width modulation accuracy control method, realizes the continuous adjusting of LED electric current in 0～1A scope guaranteed the variation of the continous-stable of light source intensity; Regulate the input pulse dutycycle of led drive circuit, the luminous intensity of indirect regulation LED makes three station cameras real-time images acquired under corresponding light prime time position, and the image sets that obtains provides data for follow-up template extraction, image difference algorithm;
4) matching parameter of three position camera images of calculating
Before to the multiple image difference processing, at first obtain the matching parameter of each width of cloth image, comprise center displacement parameter, plane corner parameter and imaging scaling parameter, use the matching parameter decision method of two-dimentional Radon algorithm, and combining camera calibration technique acquisition camera external parameter, so that multiple image coupling difference processing;
5) obtain different difference images by the image difference rule
Can obtain the matching parameter of three width of cloth images by step 4, parameter is just adjusted to the measured object image its centre of form and is overlapped with the picture size center thus, and rotate tested oval image major and minor axis and overlap with x, y axle respectively, with images match well after, again according to different image difference rules finish to mate the back image difference processing; The camera (3) of first station under the different brightness and the camera (2) of the 3rd station are obtained image according to the combination of criteria computing, and the combination of criteria computing is to handle by following eight difference rule orderings:
(1)Pixels(Rule1)＝Pixels(Adding)-Pixels(750mA?of?Camera?2)；
(2)Pixels(Rule2)＝Pixels(Differential)-Pixels(750mAofCamera2)*0.15；
(3)Pixels(Rule3)＝Pixels(Adding)-Pixels(112mA?of?Camera?2)*0.58；
(4)Pixels(Rule4)＝Pixels(Differential)*2.4-Pixels(112mA?of?Camera?2)*0.3；
(5)Pixels(Rule5)＝Pixels(750mA?of?Camera?2)-Pixels(Differential)；
(6)Pixels(Rule6)＝Pixels(750mA?of?Camera?2)-Pixels(Adding)*0.5；
(7)Pixels(Rule7)＝Pixels(112mA?of?Camera?2)-Pixels(Differential)*4.5；
(8)Pixels(Rule8)＝Pixels(112mA?of?Camera?2)-Pixels(Adding)*1.35；
Wherein, the camera (3) of Pixels (Adding) expression first station and camera (2) the gradation of image value of the 3rd station are according to the matching factor addition, and Pixels (750mA of Camera 2) represents the gray-scale value of the camera (2) of the 3rd station.
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