CN106197266B - Method for the pose for measuring the columnar object with round cambered surface - Google Patents
Method for the pose for measuring the columnar object with round cambered surface Download PDFInfo
- Publication number
- CN106197266B CN106197266B CN201610514701.6A CN201610514701A CN106197266B CN 106197266 B CN106197266 B CN 106197266B CN 201610514701 A CN201610514701 A CN 201610514701A CN 106197266 B CN106197266 B CN 106197266B
- Authority
- CN
- China
- Prior art keywords
- elliptic arc
- point
- num
- strong point
- data point
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 44
- 238000005259 measurement Methods 0.000 claims abstract description 29
- 238000009499 grossing Methods 0.000 claims abstract description 10
- 238000000265 homogenisation Methods 0.000 claims abstract description 10
- 238000011282 treatment Methods 0.000 claims abstract description 6
- 101100517651 Caenorhabditis elegans num-1 gene Proteins 0.000 claims description 15
- 238000012216 screening Methods 0.000 claims description 7
- 238000001914 filtration Methods 0.000 claims description 6
- 230000003595 spectral effect Effects 0.000 claims description 3
- ONUFESLQCSAYKA-UHFFFAOYSA-N iprodione Chemical compound O=C1N(C(=O)NC(C)C)CC(=O)N1C1=CC(Cl)=CC(Cl)=C1 ONUFESLQCSAYKA-UHFFFAOYSA-N 0.000 claims description 2
- 238000012545 processing Methods 0.000 abstract description 8
- 238000005516 engineering process Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 5
- 230000008901 benefit Effects 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 230000036039 immunity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 239000012528 membrane Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- 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
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
-
- 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
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of methods for measuring the pose of the columnar object with round cambered surface, can be used for measuring spatial position coordinate and the spatial attitude angle of the columnar object of the round cambered surface of arbitrary dimension.By sequentially carrying out ellipse fitting to measurement data points grouping, the cylindrical object number of contours strong point for belonging to certain radius in the outline data in arbitrarily complicated section can be identified；Ellipse fitting is carried out by the data of middle part point for the elliptic arc after identification and calculates both sides data point and fits elliptical distance, can accurately screen out the measurement data for being not belonging to elliptic arc；Elliptic arc data point is handled with cubic spline interpolation method using local regression method, can rapidly and effectively be handled data smoothing and Homogenization Treatments；To treated, data point carries out ellipse fitting, accurately obtains elliptical five characteristic parameters of cylinder thing body section；By the space calculation processing to parameter, the posture information of cylindrical object is finally obtained.
Description
Technical field
The present invention relates to object fields of measurement, more particularly, to a kind of for measuring the column with round cambered surface
The method of the pose of body.
Background technology
Columnar object (such as cylindrical object) with round cambered surface is that the most basic, frequency of occurrences is most in industrial production
One of high parts are widely applied in production and living.Set and Positioning when traditionally cylindrical object produces and processes is equal
By the way of fixture clamping or mold positioning, the precision of pose can ensure.But it is poor for certain cylindricities and straightness
Cylindrical object, do not ensure that the pose accuracy in its each section by way of fixture clamping or mold positioning；Due to
The shape particularity of cylindrical object elongate is also also easy to produce when bearing the processing technologys such as unilateral welding, unilateral punching
The thermal deformations such as warpage are difficult to merely ensure the positioning accuracy of cylindrical object at this time by the positioning of fixture, give production and processing band
Come difficult.Thus, traditionally for the processing technology of the high-precision requirement of elongated cylindrical object and yielding processing technology
It is had been manually done by worker.For example, the arc stud welding processing of Technique in Boiler Membrane Water Cooled Wall pipe row, the process of production is extremely cumbersome, effect
Rate is low, and the working environment of workers is severe, and labor intensity is big, and personal safety cannot ensure.
In recent years, with the progress of Chinese science and technology and economic fast development, robot technology is constantly progressive, industrial machine
The application field of people is more and more extensive so that applied robot replaces worker in the dimensional instability processing of elongated cylindrical object
Become possible, and the pose that robot can obtain cylindrical object in real time is given birth to instead of worker using industrial robot
The prerequisite of production.Currently, robot, which measures object, mostly uses visual sensor, although this mode can ensure the essence measured
Degree, can cost it is higher, the time complexity of recognizer is higher, and for cylindrical object, utilizes complicated vision
Sensor identifies that pose is not necessarily to.The production that cylindrical object correctly can be reliably carried out for guarantee robot adds
How work works out simple and quick, practical reliable cylindrical object pose measurement under conditions of reducing cost to greatest extent
Method also just becomes particularly important.
Invention content
The present invention proposes a kind of method of the spatial pose of columnar object of the rapidly and accurately identification with round cambered surface,
And the cost of implementation of this method is low, it is only necessary to which linear laser two-dimensional measurement sensor can be realized.
According to an aspect of the invention, it is proposed that a kind of side for measuring the pose of the columnar object with circle cambered surface
Method, this method include：
Step 101, multiple number of contours strong points are obtained using linear laser two-dimensional measurement sensor measurement, wherein with laser
The section of beam transmitting is xoy planes, and the axis of the circle cambered surface is not parallel to the xoy planes；
Step 102, it is based on the multiple outline data point and carries out ellipse fitting, identify at least one elliptic arc；
Step 103, for each elliptic arc identified, the outline data point in the middle part of the elliptic arc is carried out oval
Fitting, based on the absolute Euclidean distance between the ellipse week that the number of contours strong point of the elliptic arc front and rear and fitting obtain
To screen out the error dot in the number of contours strong point of the elliptic arc front and rear；
Step 104, for each elliptic arc identified, ellipse is carried out to remaining outline data point after screening out error dot
Fitting, to determine corresponding elliptical characteristic parameter, the characteristic parameter include position of the elliptical center in the xoy planes,
Elliptical major semiaxis length a, elliptical semi-minor axis length b, elliptical inclined direction；
Step 105, it is based on the characteristic parameter, obtains the position of columnar object section corresponding with each elliptic arc identified
Appearance.
Optionally, the step 102 includes：
If measuring obtain number number of contours strong point in a step 101, it is followed successively by p (x1,y1)、p(x2,y2)、…、p
(xnumber,ynumber)；
Step A1, enables i=1, vertex=1, flag=0, enters step B1；
Step B1, num outline data point total to i to i+num-1 carry out ellipse fitting, enter step C1；
Step C1 was obtained in currently num number of contours strong point of participation ellipse fitting between each and corresponding oval week
Absolute Euclidean distance errorj, j=i, i+1 ..., i+num-1 enter step D1；
Step D1, if currently participated in absolute European between num number of contours strong point of ellipse fitting and corresponding oval week
Distance errorj, j=i, i+1 ..., i+num-1 are no more than measurement error threshold value error_measure, then E1 is entered step, it is no
Then enter step F1；
Step E1, it is believed that the num number of contours strong point is respectively positioned on same elliptic arc, and if flag=0, into one
Step record p (xi,yi) be starting point, that is, start (vertex)=i of the elliptic arc and flag=1 is set, enter step G1；
Step F1, it is believed that the num number of contours strong point is not located on same elliptic arc, and if flag=1, into one
Step record p (xi+num-2,yi+num-2) be terminal, that is, finish (vertex)=i+num-2 of the elliptic arc and vertex is set
=vertex+1 and flag=0, enters step G1；
Step G1 terminates if i+num-1=number；Otherwise i=i+1 is set, step B1 is returned to, to next group
Num outline data point is identified, until i+num-1=number.
Optionally,R is the corresponding radius in the arc of circle face,
Line_width is the line width of every Shu Jiguang, and width is overall measurement width, and distance is that the laser source point of the sensor arrives
The xoy planes between the intersection point of the axis of round cambered surface at a distance from, Slope is the laser beam most foreign steamer of the sensor emission
Wide slope.
Optionally, carrying out ellipse fitting to arbitrary n outline data point includes：
Using least square method (such as non-linear least square), based on making following objective functions J minimums obtain oval exist
Central coordinate of circle (x in the xoy planes0_n, y0_n), major semiaxis length an, semi-minor axis length bn, long axis and x-axis angle thetan：
WhereinBy x0_n
Initial value be assigned to the x coordinate value in n number of contours strong point with the data point of maximum y-coordinate value, by y0_nInitial value be assigned to n
There is the y-coordinate value of the data point of maximum y-coordinate value to subtract the corresponding radius r in the arc of circle face, by a in number of contours strong pointn
And bnInitial value be assigned to r, by θnInitial value be assigned to 0.
Optionally, arbitrary number of contours strong point p (x are obtained based on following formulak,yk) absolute Euclidean distance between corresponding oval week
errork：
Wherein,(x0_n,
y0_n) it is the oval central coordinate of circle in the xoy planes, anFor major semiaxis length, bnFor semi-minor axis length, θnFor long axis and x
The angle of axis.
Optionally, elliptic arc front is the elliptic arc rear portion from the elliptic arc starting point to from the 15%~25% of the elliptic arc
For the terminal to the elliptic arc from the 75%~85% of the elliptic arc.
Optionally, at step 104, first remaining outline data point after screening out error dot is smoothed and is homogenized
Processing, then ellipse fitting is carried out to the data point of smoothedization and Homogenization Treatments, to determine corresponding elliptical characteristic parameter.
Optionally, described smooth includes：The 30% of the remaining number of contours strong point that filtering window width is the elliptic arc is chosen,
According to local regression method, the data point of the roomy small data quantity of spectral window is chosen successively, and line (such as is weighted using least square method
Property least square) obtain making the second-order polynomial curve of number of contours strong point point set optimal solution in filtering window width.
Optionally, the homogenization includes：Calculate the maximum value of the x coordinate value at the number of contours strong point after smoothing techniques
xmaxWith minimum value xmin, in xmaxWith minimum value xminBetween be uniformly arranged new x coordinate value at a predetermined interval, obtained using spline interpolation
To the new corresponding y-coordinate value of x coordinate value.
Optionally, this method further includes：The sensor is moved along the z-axis direction vertical with the xoy planes to hold again
Row step 101~105, until completing the measurement to the entire columnar object with round cambered surface.
The advantage of the invention is that：The simple linear laser two-dimensional measurement sensor using low cost passes through two-dimensional survey
Measure data, can quickly recognize measure section cylindrical object (such as cylindrical parts) round cambered surface profile, and according to
The oval feature parameter of the profile obtains the spatial pose of corresponding columnar object section.Using the measurable arbitrary dimension of the present invention
The spatial pose of columnar object with round cambered surface, for example, the spatial pose mostly with cylindrical object can be measured simultaneously.This hair
It is bright also to have the advantages that reproducible, strong interference immunity, the missing of measurement data, saltus step can be excluded caused by measurement result
It influences, and other shapes object in measurement range can be discharged to influence caused by measurement.
Description of the drawings
Exemplary embodiment of the invention is described in more detail in conjunction with the accompanying drawings, it is of the invention above-mentioned and its
Its purpose, feature and advantage will be apparent, wherein in exemplary embodiment of the invention, identical reference label
Typically represent same parts.
Fig. 1 show property embodiment according to an example of the present invention for measuring the columnar object with circle cambered surface
Pose method flow diagram.
Fig. 2 shows the rough screening schematic diagrames of data point of property embodiment according to an example of the present invention.
Fig. 3 shows the pose schematic diagram of the axis of the round cambered surface of property embodiment according to an example of the present invention.
Specific implementation mode
The preferred embodiment of the present invention is more fully described below with reference to accompanying drawings.Although showing the present invention in attached drawing
Preferred embodiment, however, it is to be appreciated that may be realized in various forms the present invention without the embodiment party that should be illustrated here
Formula is limited.On the contrary, these embodiments are provided so that the present invention is more thorough and complete, and can be by the present invention's
Range is completely communicated to those skilled in the art.
The invention discloses a kind of method for measuring the pose of the columnar object with round cambered surface, this method packets
It includes：
Step 101, multiple number of contours strong points are obtained using linear laser two-dimensional measurement sensor measurement, wherein with laser
The section of beam transmitting is xoy planes, and the axis of the circle cambered surface is not parallel to the xoy planes；
Step 102, it is based on the multiple outline data point and carries out ellipse fitting, identify at least one elliptic arc；
Step 103, for each elliptic arc identified, the outline data point in the middle part of the elliptic arc is carried out oval
Fitting, based on the absolute Euclidean distance between the ellipse week that the number of contours strong point of the elliptic arc front and rear and fitting obtain
To screen out the error dot in the number of contours strong point of the elliptic arc front and rear；
Step 104, for each elliptic arc identified, ellipse is carried out to remaining outline data point after screening out error dot
Fitting, to determine corresponding elliptical characteristic parameter, the characteristic parameter include position of the elliptical center in the xoy planes,
Elliptical major semiaxis length a, elliptical semi-minor axis length b, elliptical inclined direction；
Step 105, it is based on the characteristic parameter, obtains the position of columnar object section corresponding with each elliptic arc identified
Appearance.
Fig. 1 show property embodiment according to an example of the present invention for measuring the columnar object with circle cambered surface
Pose method flow chart.
Step 1：Establish two-dimensional coordinate system
It can be with the section of radiating laser beams for xoy planes, wherein can be with the lasing light emitter of linear laser dimension sensor
Point is coordinate origin, can establish left hand rectangular coordinate system using the direction of laser beam centre ray emission as negative direction of the y-axis.
Xoy planes are shown in Fig. 2.
Step 2：It is measured in real time using linear laser two-dimensional measurement sensor
It can be by sending refreshing and measuring command to sensor, to obtain real-time measuring data.In addition, can also input circle
The size and measurement distance of shape cambered surface, and calculate laser linewidth and identify data volume with single.
Input data may include columnar object the corresponding radius r in arc of circle face and sensor laser source point to institute
State xoy planes distance distance between the intersection point of the axis of round cambered surface.
The total quantity for currently measuring obtained number of contours strong point can be set as number, the coordinate in xoy planes according to
Secondary is p (x1,y1)、p(x2,y2)、…、p(xnumber,ynumber).The line that sensor projects on object can be obtained according to the following formula
The range of property laser, i.e. overall measurement width width：
Wherein Slope is the slope of the outermost profile of laser beam of the sensor emission, is originally shown
Slope=2.6 in example property embodiment.
Further obtain the line width line_width of every Shu Jiguang：
Calculate single identification data volume num：
If should be noted thatResult be integer, can root
According to needing to its rounding, such as upward or downward or round.
Step 3：Identify the number of contours strong point on elliptic arc roughly
Step A1 can enable i=1, vertex=1, flag=0, enter step B1.
Step B1, can num outline data point progress ellipse fitting total to i to i+num-1.Specifically, it may be used
Nonlinear least square method, based on making following objective functions J minimums obtain the oval central coordinate of circle in the xoy planes
(x0_num, y0_num), major semiaxis length anum, semi-minor axis length bnum, long axis and x-axis angle thetanum：
WhereinIt can
With by x0_numInitial value be assigned to the x coordinate value in n number of contours strong point with the data point of maximum y-coordinate value, by y0_numJust
Value is assigned to that there is the y-coordinate value of the data point of maximum y-coordinate value to subtract the arc of circle face corresponding half in n number of contours strong point
Diameter r, by anumAnd bnumInitial value be assigned to r, the initial value of θ is assigned to 0.
Then C1 can be entered step.
Step C1 can obtain each and corresponding ellipse week in current num number of contours strong point for participating in ellipse fitting
Between absolute Euclidean distance errorj, j=i, i+1 ..., i+num-1.Specifically, error can be obtained based on following formulaj：
Wherein,
Then D1 can be entered step.
Step D1, if currently participated in absolute European between num number of contours strong point of ellipse fitting and corresponding oval week
Distance errorj, j=i, i+1 ..., i+num-1 are no more than measurement error threshold value error_measure, then E1 is entered step, it is no
Then enter step F1；
Step E1, it is believed that the num number of contours strong point is respectively positioned on same elliptic arc, and if flag=0,
Further record p (xi,yi) be starting point, that is, start (vertex)=i of the elliptic arc and flag=1 is set, it then can be into
Enter step G1；
Step F1, it is believed that the num number of contours strong point is not located on same elliptic arc, and if flag=1,
Further record p (xi+num-2,yi+num-2) be terminal, that is, finish (vertex)=i+num-2 of the elliptic arc and be arranged
Then vertex=vertex+1 and flag=0 can enter step G1；
Step G1 terminates if i+num-1=number；Otherwise i=i+1 is set, step B1 is returned to, to next group
Num outline data point is identified, until i+num-1=number.
Fig. 2 shows the rough screening schematic diagrames of data point of property embodiment according to an example of the present invention..
Step 4：Accurately screen out the error dot in each elliptic arc
Can in the middle part of the elliptic arc 60% data point, ellipse fitting is carried out to it (for example, can refer to the step in step 3
Rapid B1), judge before the elliptic arc 20% part and each point in the data point of rear 20% part with fit it is elliptical absolutely
Euclidean distance (for example, the step C1 that can refer in step 3 calculates absolute Euclidean distance).If some calculated data point pair
The absolute Euclidean distance answered is more than default error threshold, such as error_measure, then the data point is given up, it is accurate to realize
It screens out.
Step 5：Ellipse fitting is carried out for each elliptic arc after fine screen
Before carrying out ellipse fitting, can smoothing and Homogenization Treatments first be carried out to the data point after fine screen.
The smoothing may include：Choose the 30% of the remaining number of contours strong point that filtering window width is the elliptic arc, root
According to local regression method, the data point of the roomy small data quantity of spectral window is chosen successively, is obtained using weighted linear least square method
The second-order polynomial curve for making number of contours strong point point set optimal solution in filtering window width, to realize smoothing.
The homogenization may include：Calculate the maximum value x of the x coordinate value at the number of contours strong point after smoothing techniquesmaxWith
Minimum value xmin, in xmaxWith minimum value xminBetween be uniformly arranged new x coordinate value at a predetermined interval, obtained newly using spline interpolation
The corresponding y-coordinate value of x coordinate value, to realize homogenization.
Then ellipse fitting is carried out to the data point after smoothing and Homogenization Treatments.Specifically it can refer to above-mentioned steps 3
Approximating method in step B1, to determine corresponding elliptical characteristic parameter.The characteristic parameter includes elliptical center in the xoy
Position (can be indicated with coordinate (x, y) of the oval center of circle in the xoy planes) in plane, elliptical major semiaxis length
A, elliptical semi-minor axis length b, elliptical inclined direction (can be indicated with the angle theta of transverse and x-axis).This field skill
Art personnel can also be used any other applicable method and realize ellipse fitting.
Step 6：Obtain the pose of the columnar object section with round cambered surface corresponding with each elliptic arc identified
The real radius r of round cambered surface can be obtained according to oval semi-minor axis length breal；Transverse inclination angle theta is to justify
The axis of shape cambered surface is in the projection of xoy planes and the angle of x-axis；The axis and z-axis of round cambered surface according to the following formula can be obtained
Angle, wherein z-axis constitute left hand three-dimensional cartesian coordinate system with x-axis, y-axis：
Due to the characteristic of round cambered surface, the angle being rotated about axis need not consider, therefore solve above-mentioned five features ginseng
Number can determine the pose of the circle side plate bending.Position of the round cambered surface on the columnar object be it is changeless, therefore, can
Pose based on the circle side plate bending is inferred to the pose of corresponding columnar object section.
Step 7：Step 1~6 are repeated, until completing the measurement of entire columnar object
The sensor can be moved along the z-axis direction vertical with the xoy planes and execute above-mentioned steps 2~6 again, directly
To the measurement completed to the entire columnar object with round cambered surface.If the laser source point after certain movement and initial laser
Distance between source point is z, and it is (x, y) to calculate coordinate of the axis of round cambered surface in corresponding xoy planes, then relative to
The coordinate of initial three-dimensional cartesian coordinate system, the axis of the circle cambered surface and the intersection point of corresponding xoy planes is (x, y, z).Fig. 3 shows
The pose schematic diagram of the axis of the round cambered surface obtained after certain measurement is gone out.
The embodiment of the present invention is described above, above description is exemplary, and non-exclusive, and also not
It is limited to disclosed each embodiment.Without departing from the scope and spirit of illustrated each embodiment, for this technology
Many modifications and changes will be apparent from for the those of ordinary skill in field.The selection of term used herein, it is intended to
Best explain the principle, practical application or the improvement to the technology in market of each embodiment, or make the art its
Its those of ordinary skill can understand each embodiment disclosed herein.
Claims (9)
1. a kind of method for measuring the pose of the columnar object with round cambered surface, this method include：
Step 101, multiple number of contours strong points are obtained using linear laser two-dimensional measurement sensor measurement, wherein send out with laser beam
The section penetrated is xoy planes, and the axis of the circle cambered surface is not parallel to the xoy planes；
Step 102, it is based on the multiple outline data point and carries out ellipse fitting, identify at least one elliptic arc；
Step 103, for each elliptic arc identified, the outline data point in the middle part of the elliptic arc is carried out oval quasi-
Close, based on positioned at the number of contours strong point of the elliptic arc front and rear and fitting obtain ellipse week between absolute Euclidean distance come
Screen out the error dot in the number of contours strong point of the elliptic arc front and rear；
Step 104, for each elliptic arc identified, oval intend is carried out to remaining outline data point after screening out error dot
It closes, to determine corresponding elliptical characteristic parameter, the characteristic parameter includes position of the elliptical center in the xoy planes, ellipse
Round major semiaxis length a, elliptical semi-minor axis length b, elliptical inclined direction；
Step 105, it is based on the characteristic parameter, obtains the pose of columnar object section corresponding with each elliptic arc identified；
Wherein, the step 102 includes：
If measuring obtain number number of contours strong point in a step 101, it is followed successively by p (x1,y1)、p(x2,y2)、…、p(xnumber,
ynumber)；
Step A1, enables i=1, vertex=1, flag=0, enters step B1；
Step B1, num outline data point total to i to i+num-1 carry out ellipse fitting, enter step C1；
Step C1 is obtained absolute between each and corresponding oval week in currently num number of contours strong point of participation ellipse fitting
Euclidean distance errorj, j=i, i+1 ..., i+num-1 enter step D1；
Step D1, if currently participating in the absolute Euclidean distance between num number of contours strong point of ellipse fitting and corresponding oval week
errorj, j=i, i+1 ..., i+num-1 are no more than measurement error threshold value error_measure, then enter step E1, otherwise into
Enter step F1；
Step E1, it is believed that the num number of contours strong point is respectively positioned on same elliptic arc, and if flag=0, is further remembered
Record p (xi,yi) be starting point, that is, start (vertex)=i of the elliptic arc and flag=1 is set, enter step G1；
Step F1, it is believed that the num number of contours strong point is not located on same elliptic arc, and if flag=1, further remembers
Record p (xi+num-2,yi+num-2) be terminal, that is, finish (vertex)=i+num-2 of the elliptic arc and vertex=is set
Vertex+1 and flag=0, enters step G1；
Step G1 terminates if i+num-1=number；Otherwise i=i+1 is set, step B1 is returned to, to next group of num
Outline data point is identified, until i+num-1=number.
2. according to the method described in claim 1, wherein,R is that the arc of circle face is corresponding
Radius,Line_width is the line width of every Shu Jiguang, width
For overall measurement width, distance is the laser source point of the sensor to the friendship of the xoy planes and the axis of round cambered surface
Distance between point, Slope are the slopes of the outermost profile of laser beam of the sensor emission.
3. according to the method described in claim 1, wherein, carrying out ellipse fitting to arbitrary n outline data point includes：
Using least square method, based on making following objective functions J minimums obtain the oval central coordinate of circle in the xoy planes
(x0_n, y0_n), major semiaxis length an, semi-minor axis length bn, long axis and x-axis angle thetan：
WhereinBy x0_nInitial value
It is assigned to the x coordinate value in n number of contours strong point with the data point of maximum y-coordinate value, by y0_nInitial value be assigned to n number of contours
There is the y-coordinate value of the data point of maximum y-coordinate value to subtract the corresponding radius r in the arc of circle face, by a in strong pointnAnd bnJust
Value is assigned to r, by θnInitial value be assigned to 0.
4. according to the method described in claim 1, wherein, arbitrary number of contours strong point p (x are obtained based on following formulak,yk) with it is corresponding ellipse
Absolute Euclidean distance error between circumferencek：
Wherein,(x0_n, y0_n)
For central coordinate of circle of the ellipse in the xoy planes, anFor major semiaxis length, bnFor semi-minor axis length, θnFor long axis and x-axis
Angle.
5. according to the method described in claim 1, wherein, elliptic arc front is from the elliptic arc starting point to the 15% of the elliptic arc
At~25%, elliptic arc rear portion is from the 75%~85% of the elliptic arc to the terminal of the elliptic arc.
6. according to the method described in claim 1, wherein, at step 104, first to screening out remaining outline data after error dot
Point carries out smoothing and Homogenization Treatments, then carries out ellipse fitting to the data point of smoothedization and Homogenization Treatments, with determination
Corresponding elliptical characteristic parameter.
7. according to the method described in claim 6, wherein, the smoothing includes：
The 30% of the remaining number of contours strong point that filtering window width is the elliptic arc is chosen, according to local regression method, is chosen successively
The data point of the roomy small data quantity of spectral window, obtaining making number of contours strong point using least square method, point set is most in filtering window width
The second-order polynomial curve of excellent solution.
8. according to the method described in claim 6, wherein, the homogenization includes：
Calculate the maximum value x of the x coordinate value at the number of contours strong point after smoothing techniquesmaxWith minimum value xmin, in xmaxAnd minimum value
xminBetween be uniformly arranged new x coordinate value at a predetermined interval, the new corresponding y-coordinate value of x coordinate value is obtained using spline interpolation.
9. according to the method described in claim 1, wherein, this method further includes：
The sensor is moved along the z-axis direction vertical with the xoy planes and executes step 101~105 again, until completion pair
The measurement of the entire columnar object with round cambered surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610514701.6A CN106197266B (en) | 2016-07-01 | 2016-07-01 | Method for the pose for measuring the columnar object with round cambered surface |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610514701.6A CN106197266B (en) | 2016-07-01 | 2016-07-01 | Method for the pose for measuring the columnar object with round cambered surface |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106197266A CN106197266A (en) | 2016-12-07 |
| CN106197266B true CN106197266B (en) | 2018-10-02 |
Family
ID=57464538
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610514701.6A Active CN106197266B (en) | 2016-07-01 | 2016-07-01 | Method for the pose for measuring the columnar object with round cambered surface |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106197266B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101571379A (en) * | 2009-06-11 | 2009-11-04 | 天津大学 | Method for measuring diameter and straightness accuracy parameters of seamless round steel pipe |
| CN103499302A (en) * | 2013-09-27 | 2014-01-08 | 吉林大学 | Camshaft diameter online measuring method based on structured light visual imaging system |
| CN104567714A (en) * | 2013-10-15 | 2015-04-29 | 胡长华 | Portable non-contact roundness measurement instrument |
| CN104792274A (en) * | 2015-04-02 | 2015-07-22 | 同济大学 | Method for measuring circular tunnel convergence deformation |
| CN105004274A (en) * | 2015-07-07 | 2015-10-28 | 深圳大学 | Cylindrical surface radius measuring method based on three-dimensional vision |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101871767B (en) * | 2009-04-25 | 2012-05-30 | 鸿富锦精密工业（深圳）有限公司 | System and method for detecting form and position tolerance of components |
-
2016
- 2016-07-01 CN CN201610514701.6A patent/CN106197266B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101571379A (en) * | 2009-06-11 | 2009-11-04 | 天津大学 | Method for measuring diameter and straightness accuracy parameters of seamless round steel pipe |
| CN103499302A (en) * | 2013-09-27 | 2014-01-08 | 吉林大学 | Camshaft diameter online measuring method based on structured light visual imaging system |
| CN104567714A (en) * | 2013-10-15 | 2015-04-29 | 胡长华 | Portable non-contact roundness measurement instrument |
| CN104792274A (en) * | 2015-04-02 | 2015-07-22 | 同济大学 | Method for measuring circular tunnel convergence deformation |
| CN105004274A (en) * | 2015-07-07 | 2015-10-28 | 深圳大学 | Cylindrical surface radius measuring method based on three-dimensional vision |
Non-Patent Citations (2)
| Title |
|---|
| 基于最小二乘法的椭圆拟合改进算法;闫蓓，王斌，李媛;《北京航空航天大学学报》;20080331;第34卷(第3期);第295-298页 * |
| 结构光三维视觉检测中光条椭圆拟合方法与仿真研究;魏振忠，张广军;《仪器仪表学报》;20030228;第24卷(第1期);第69-74页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106197266A (en) | 2016-12-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107253190B (en) | High-precision robot hand-eye camera automatic calibration device and use method thereof | |
| CN111207695A (en) | Hot-rolled strip steel end three-dimensional contour measuring method based on double-line structured light | |
| US8107737B2 (en) | Shape evaluation method, shape evaluation device, and 3D inspection device | |
| US6969821B2 (en) | Airfoil qualification system and method | |
| Wang | An imaging and measurement system for robust reconstruction of weld pool during arc welding | |
| CN111028220B (en) | Automatic detection method for levelness of point cloud rivet | |
| US20160059371A1 (en) | System for machining surface of workpiece and method thereof | |
| CN112629499B (en) | Hand-eye calibration repeated positioning precision measuring method and device based on line scanner | |
| CN102721380B (en) | Radium-shine flatness measurement system and method | |
| CN109883336B (en) | Measurement system and measurement method for ship curved plate machining process | |
| CN109191374B (en) | Distortion parameter measuring method, device and system | |
| Zhang et al. | An online measurement method based on line laser scanning for large forgings | |
| CN107036530A (en) | The calibration system and method for the location of workpiece | |
| CN106017321A (en) | Binocular vision-based large-dimensional geometric quantity measurement method | |
| CN106091987A (en) | Based on the large scale optical blank method for three-dimensional measurement that speckle time domain is relevant | |
| CN106197266B (en) | Method for the pose for measuring the columnar object with round cambered surface | |
| CN103852032B (en) | The characteristic parameter extraction method of cylindrical axial workpiece | |
| CN109773589B (en) | Method, device and equipment for online measurement and machining guidance of workpiece surface | |
| CN114136219A (en) | Tunnel wet spraying vehicle guniting thickness real-time detection device and method based on line structured light | |
| CN117340900B (en) | Thermal spraying robot path planning method and system | |
| CN108627103A (en) | A kind of 2D laser measurement methods of parts height dimension | |
| CN110153582A (en) | Welding scheme generation method, device and welding system | |
| CN111103306A (en) | Method for detecting and marking defects | |
| CN109615603B (en) | Method for extracting laser stripes based on task-driven visual attention model | |
| CN112782201B (en) | Lobster eye optical device calibration method based on X-ray focusing image |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210429 Address after: 100085 room 1001, 1 / F, No.18 Shangdi Information, Haidian District, Beijing Patentee after: BEIJING BOCHUANG LIANDONG TECHNOLOGY Co.,Ltd. Address before: 100191 Haidian District, Xueyuan Road, No. 37, Patentee before: BEIHANG University Patentee before: BEIJING UNIVERSAL PIONEERING TECHNOLOGY Co.,Ltd. |
|
| TR01 | Transfer of patent right | ||
| CP03 | Change of name, title or address |
Address after: 100192 Zhongguancun Dongsheng Science and Technology Park, No. 66 Xixiaokou Road, Haidian District, Beijing. A801, 8th Floor, Building A, Building B-6, Northern Territory Patentee after: Bochuang Linkage Technology Co.,Ltd. Country or region after: China Address before: Room 1001, 1st Floor, No. 18 Shangdi Information, Haidian District, Beijing, 100085 Patentee before: BEIJING BOCHUANG LIANDONG TECHNOLOGY Co.,Ltd. Country or region before: China |
|
| CP03 | Change of name, title or address |