CN107044821A - A kind of measuring method and system of contactless tubing object - Google Patents
A kind of measuring method and system of contactless tubing object Download PDFInfo
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- CN107044821A CN107044821A CN201611262478.7A CN201611262478A CN107044821A CN 107044821 A CN107044821 A CN 107044821A CN 201611262478 A CN201611262478 A CN 201611262478A CN 107044821 A CN107044821 A CN 107044821A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
- G01B11/27—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing the alignment of axes
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- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The present invention relates to a kind of measuring method and system of contactless tubing object, the measuring method comprises the following steps：Step one：Tubing object representation is gathered；Step 2：Tubing three-dimensional object model reconstruction；Step 3：Tubing object centerline is extracted, it is packaged by the three dimensional point cloud of the tubing object obtained in the step 2 and tri patch is carried out to it and hypostazation is further carried out, to obtain the three-dimensional entity model of the tubing object, and centreline data is extracted from the three-dimensional entity model；Or, cutting is segmented to the three dimensional point cloud obtained in the step 2, and each point on its section is carried out justifying fitting and the center of circle that each section is justified is obtained, the center of circle of each section circle of gained is a series of discrete point on the tubing object centerline, then these discrete points are carried out curve fitting with least square method, to extract centreline data.
Description
Technical field
The present invention relates to a kind of measuring method and system of contactless tubing object.
Background technology
Bend pipe is as industrial each wide variety of important spare part in field, in vehicle, oil, chemical industry, navigation, aviation and core
The fields such as industry have important purposes, and the quality of its quality may directly influence entire machine or whether equipment can be normal
The operation of safety.Therefore, in bend pipe pipe actual production, the parameters that how efficiently, accurately bend pipe is produced in measurement are
It is no to meet design requirement, have great importance.
Elbow curvature shaping is one and integrates material nonlinearity, geometrical non-linearity and the non-linear complexity of boundary condition
Process, the process influence factor is complicated, forming quality is difficult to control to.At present, in the complicated war products development life such as Aeronautics and Astronautics
In production, the bend pipe measurement after shaping is to ensure pipeline workmanship and realize that accurate the indispensable of unstressed assembling most has
Effect, most direct means.
The measurement difficult point of bend pipe is the survey of the parameter such as its angle of bend, corner position, each section push-in stroke after processing
Amount.Relied on current bend pipe processing factory more and manually utilize the measuring appliances such as slide calliper rule, protractor or three-coordinates measuring machine to carry out size ginseng
Number measurement.But measured using general measure utensil, not only inefficiency, measurement accuracy difference and the measurement more with workman is passed through
Test relevant, although and three-coordinates measuring machine technology develops more ripe, measurement accuracy higher its essence is measurement measured piece surface
A series of three-dimensional coordinate of point sets, therefore its measurement workload is big, efficiency is relatively low, and its equipment price is often higher.
In recent years, developing rapidly with machine vision technique and image capture technology, many new products arise at the historic moment,
Compared to traditional measurement means, vision measurement has the advantages that noncontact, precision are high and quick and convenient, therefore can carry significantly
High measurement accuracy and speed, so as to improve production efficiency.As Chinese Patent Application No. " 201410292927.7 " is disclosed《It is a kind of
Three-dimensional bending tube polyphaser visible detection method and its system》, its scheme is as follows：The three-dimensional bending tube polyphaser visible detection method bag
Include following step：Step S1, polyphaser demarcation；Step S2, bend pipe IMAQ；Step S3, bend pipe limb recognition；Step S4,
Bend pipe two-dimensional center line is detected；Step S5, bend pipe three-dimensional center line is rebuild；Step S6, parameters of bent pipe is calculated.Pass through aforesaid operations
Step, it provides a kind of fast and accurately method for measurement to process the size detection of back elbow, not only easy to operate, automatically
Change degree is high, and measurement result is accurate, reliable.In brief, this method is the edge line that bend pipe is obtained according to two dimensional image
Then arrive center line, obtain bend pipe image further according to given diameter.But, there are the following problems for this method：This method is only
The data of bend pipe image and the center line of the image can be drawn, but the actual state of bend pipe can not be drawn；In addition, this method due to
Need first to obtain two bit images, then obtain center line, so, take longer.Its method exists particularly with tubing body surface
During deformation, two-dimensional center line drawing error is larger, and it needs first to extract two-dimensional center line and is fitted three-dimensional center line again, calculates multiple
Miscellaneous, error is larger.
The content of the invention
It is an object of the invention to provide the measuring method of contactless tubing object, it can immediately arrive at tubing object
Center line, can increase substantially measuring speed and precision compared to traditional measurement method.
To reach above-mentioned purpose, the present invention provides following technical scheme：A kind of measuring method of contactless tubing object,
Comprise the following steps：
Step one：Tubing object representation is gathered, and photo of the tubing object on same pose is shot using camera；
Step 2：Tubing three-dimensional object model reconstruction, the tubing that collects is passed through according to binocular vision principle of triangulation
Object representation obtains the point cloud three-dimensional information on the surface of whole tubing object to form the three dimensional point cloud of the tubing object；
Step 3：Tubing object centerline is extracted, and is extracted by the first module metering system or the second module metering system
The center line of tubing object；
The first module metering system is：By the three dimensional point cloud of the tubing object obtained in the step 2
It is packaged and tri patch is carried out to it and hypostazation is further carried out, to obtain the three-dimensional entity model of the tubing object,
And extract centreline data from the three-dimensional entity model；
The second module metering system is：Cutting is segmented to the three dimensional point cloud obtained in the step 2, and
Each point on its section justify and is fitted and obtains the center of circle that each section is justified, the center of circle of each section circle of gained is the pipe
Then these discrete points are carried out curve fitting by a series of discrete point on type objects center line with least square method, to extract
Go out centreline data.
Further：Also include before the step one, multiple camera calibrations, by arranging index point in measurement visual field
To demarcate the inner parameter and external parameter of multiple cameras.
Further：In the step one, the multiple camera sync pulse jammings photo of the tubing object on same pose.
Further：In the step 3, when carrying out segmentation cutting, the flex point of tubing object and close tubing object
Flex point region section gap be less than tubing object straight line position section gap.
Further：In the step 3, when the center that tubing object is obtained using the second module metering system
Line number asks for its average value after, then to the radius obtained by the circle of each section, is entered using the centreline data and radius value of gained
Row sweeping formula three-dimension entity design, to obtain the three-dimensional entity model of the tubing object.
Further：Also include in the measuring method of the contactless tubing object：
Centreline data, three-dimensional entity model and the three dimensional point cloud that a certain tubing object is obtained are labeled as standard
Data are preserved；
Set deviation value parameter；
Other tubing objects are measured using the second module metering system, to obtain the center line number of other tubing objects
According to, three-dimensional entity model and three dimensional point cloud, by the centreline data of other tubing objects, three-dimensional entity model and three-dimensional
Cloud data is labeled as comparison data；
Comparison data is contrasted with normal data, and reference settings straggling parameter is compared；If comparing logarithm
According to the deviation with normal data in the range of straggling parameter, then other tubing objects are judged as qualified；If comparing logarithm
According to the deviation with normal data outside the scope of straggling parameter, then other tubing objects are judged as unqualified.
Further：When other tubing objects are judged as qualified, then the result of determination is demarcated as a kind of specific
Color；When other tubing objects are judged as unqualified, then the result of determination is demarcated as another specific color.
Further：At least two tubing objects can be measured using the second module metering system simultaneously.
Further：Include between the step 2 and step 3：Select the first module metering system or the second module
Metering system.
Present invention also offers a kind of measuring system of contactless tubing object, using above-mentioned contactless tubing object
Measuring method.
The beneficial effects of the present invention are：Demarcated because the measuring method of the contactless tubing object of the present invention is utilized
Multiple cameras shoot photo of the tubing object on same pose, according to binocular vision principle of triangulation by collecting
Tubing object representation obtains the point cloud three-dimensional information on the surface of whole tubing object to form the three-dimensional point cloud number of the tubing object
According to then by the first module metering system or the center line of the second module metering system extraction tube type objects, so as to straight
The center line for drawing tubing object is connect, measuring speed and precision can be increased substantially compared to traditional measurement method.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention,
And can be practiced according to the content of specification, below with presently preferred embodiments of the present invention and coordinate accompanying drawing describe in detail as after.
Brief description of the drawings
Fig. 1 is the flow chart of the measuring method of the contactless tubing object shown in one embodiment of the invention；
Fig. 2 is the center line fitting result chart obtained by the measuring method by the contactless tubing object of the present invention；
Fig. 3 is the three-dimensional reconstruction design sketch obtained by the measuring method by the contactless tubing object of the present invention；
Fig. 4 is that the flex point obtained by the measuring method by the contactless tubing object of the present invention recognizes figure；
Obtained by measuring methods of the Fig. 5 to pass through contactless tubing object of the invention and standard component contrasts deviation post
Shape figure；
Fig. 6 is the calculating parameter design sketch obtained by the measuring method by the contactless tubing object of the present invention；
Two or many are measured while Fig. 7 is by obtained by the measuring method of the contactless tubing object of the present invention
Bend pipe result figure.
Embodiment
With reference to the accompanying drawings and examples, the embodiment to the present invention is described in further detail.Implement below
Example is used to illustrate the present invention, but is not limited to the scope of the present invention.
Fig. 1 is referred to, a kind of measuring method of contactless tubing object shown in a preferred embodiment of the present invention is used for
The measuring system of contactless tubing object, the system is used for the measuring apparatus of contactless tubing object.The measuring apparatus
Including main body frame, the multiple cameras being arranged in main body frame, light guide plate and multiple LED white light sources, the main body frame bag
Include to place the measurement visual field of measured object (being in the present embodiment tubing object), multiple cameras are arranged in measurement visual field
Interior, multiple cameras are located at the top of measurement visual field.Light guide plate is located at the rear side of measurement visual field, multiple uniform cloth of LED white light sources
On rear side of the light guide plate for being placed in main body frame, so that measurement visual field forms the space of a uniform illumination so that the pipe photographed
The image of type objects will not produce shade.The measuring method of the contactless tubing object includes six steps.
S1：Multiple camera calibrations, by measurement visual field in arrangement index point come demarcate multiple cameras inner parameter and
External parameter.The demarcation of multiple cameras is to realize the overall situation of ten inside and outside parameters of camera by arranging scaling board in visual field
Demarcation.Scaling board front used is pasted with the coded target of annular, and known to the three-dimensional space data of all index points.
Polyphaser demarcation belongs to prior art, as an example, can use document " the big many camera video measuring systems in visual field in the present embodiment
The polyphaser scaling method that the global calibration " (Hu Hao, Liang Jin, Tang Zhengzong wait optical precision engineerings, 2012) of system is proposed.
During demarcation, scaling board is put into different positions and pose in ten camera measurement visual fields, and control all camera sync pulse jamming scaling boards
The image of different positions and pose；The uncalibrated image of collection is handled, and overall time is carried out using close-range photogrammetry principle
Resolve, obtain the inner parameter and external parameter of all cameras, wherein inner parameter represents camera geometrical model and lens distortion
Model, external parameter characterizes the relative position between different cameral.Specifically used when, the plurality of camera calibration can be only
Set once, therefore when specific implementation, during except first time activation system or measurement visual field is repositioned, and is measured at other
Cheng Zhong, this step can be omitted.
S2：Tubing object representation is gathered, and photo of the tubing object on same pose is shot using camera.Utilize computer
The multiple camera sync pulse jammings photo of the tubing object on same pose is controlled, once to obtain tubing object in same pose
Ten width gray level images.The aperture and lens focus of camera should be adjusted before shooting so that the image of each camera collection is clear
It is clear.Really, in other embodiment, multiple cameras can be shot with asynchronous, and still, comparatively sync pulse jamming can shorten survey
The amount time.
S3：Tubing three-dimensional object model reconstruction, the tubing object that collects is passed through according to binocular vision principle of triangulation
Figure obtains the point cloud three-dimensional information on the surface of whole tubing object to form the three dimensional point cloud of the tubing object.Multiple phases
It is one group of binocular imaging system that machine, which can regard each two camera as, so divides measurement visual field for multigroup binocular imaging system group
Into space, every group of biocular systems can obtain the spatial point on fractional object surface, because multiple cameras have been carried out before acquisition
Demarcation, so multiple cameras are in the same space coordinate system, the spatial point obtained by the measurement of each group biocular systems is also at together
In one coordinate system, therefore can obtain the point cloud three-dimensional information on whole object surface, binocular vision imaging principle be compared with mature technology,
Therefore repeat no more.And due to using multi-vision visual, so, compared with prior art, without as binocular vision scanner, needing
The multiple identification points spliced between object exterior pasting is for different images and the position by constantly converting two cameras
The three-dimensional information on whole object surface can just be obtained by carrying out IMAQ.By using binocular vision 3 D measurement principle so as to only
An IMAQ is needed, so as to be favorably improved the measuring speed of measuring method.
S4：Tubing object centerline is extracted, and tubing is extracted by the first module metering system or the second module metering system
The center line of object.
The first module metering system is：Carried out by the three dimensional point cloud of the tubing object obtained in the S3
Encapsulation carries out tri patch to it and further carries out hypostazation, to obtain the three-dimensional entity model of the tubing object, and from
Centreline data is extracted in the three-dimensional entity model；
The second module metering system is：Cutting is segmented to the three dimensional point cloud obtained in the S3, and to it
Each point on section carries out justifying the center of circle for being fitted and obtaining each section circle, and the center of circle of each section circle of gained is the tubing thing
Then these discrete points are carried out curve fitting, in extracting by a series of discrete point on body center line with least square method
Heart line number evidence.
Above-mentioned second module metering system is compared with the first module metering system, due to without the three-dimensional point cloud number to obtaining
According to carrying out tiled and hypostazation, so, comparatively speed is faster for the second module metering system.
In the present embodiment, in order to obtain higher precision in the second module metering system, in the S4, carrying out
During segmentation cutting, the flex point of tubing object and the section gap close to the region of the flex point of tubing object are less than the straight of tubing object
The section gap at line position.In the S4, when the center line number that tubing object is obtained using the second module metering system
According to rear, then radius obtained by justifying to each section asks for its average value, is swept using the centreline data and radius value of gained
Formula three-dimension entity design is omited, to obtain the three-dimensional entity model of the tubing object.
Also include after the S4：
S5：Centreline data, three-dimensional entity model and the three dimensional point cloud that a certain tubing object is obtained are (in bend pipe
The flex point coordinate of heart line, angle of bend, the anglec of rotation, flow development length equidimension parameter) preserved labeled as normal data；At this
In step, recommendation uses the first module metering system to obtain normal data to be preserved, and the first module measurement used
Mode can be carried out repeatedly or conversion diverse location is measured, to being stored after measurement result parameter averaged, to carry
The high later stage contrasts precision.Contrast obtains normal data using the second module metering system, and the first module metering system is obtained
The precision obtained is higher.
S6：Set deviation value parameter；
S7：Other tubing objects are measured using the second module metering system, to obtain the center of other tubing objects
Line number according to, three-dimensional entity model and three dimensional point cloud, by the centreline data of other tubing objects, three-dimensional entity model and
Three dimensional point cloud is labeled as comparison data；
S8：Comparison data is contrasted with normal data, and reference settings straggling parameter is compared；If comparing
Data and the deviation of normal data are in the range of straggling parameter, then other tubing objects are judged as qualified；If comparing
Data and the deviation of normal data are outside the scope of straggling parameter, then other tubing objects are judged as unqualified.
In addition to the present embodiment, above-mentioned S5 and S6 positions can be exchanged, or S6 is placed on into any one among S1 to S4
Before.
Observed for the ease of tester, test result can be demarcated as to different colors.Specially：When other tubings
When object is judged as qualified, then the result of determination is demarcated as a kind of specific color (being demarcated as green in the present embodiment)；
When other tubing objects are judged as unqualified, then the result of determination is demarcated as another specific color (this implementation
It is demarcated as red in example).So as to intuitively show very much each parameter error comparison diagram and Comparison figure, so as to complete
The sampling observation of one batch products (tubing object) or full inspection, reach the purpose of control product quality.
In order to shorten measuring speed, at least two tubing objects can be surveyed using the second module metering system simultaneously
Amount.
Include between the S3 and S4：Select the first module metering system or the second module metering system.The selecting party
Formula can be realized by manual type.
In summary：Managed because the measuring method of above-mentioned contactless tubing object is shot using the multiple cameras demarcated
Photo of the type objects on same pose, is obtained according to binocular vision principle of triangulation by the tubing object representation collected
Then the point cloud three-dimensional information on the surface of whole tubing object passes through the first mould to form the three dimensional point cloud of the tubing object
The center line of block metering system or the second module metering system extraction tube type objects, so as to immediately arrive in tubing object
Heart line, measuring speed and precision can be increased substantially compared to traditional measurement method.
Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality
Apply all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, the scope of this specification record is all considered to be.
Embodiment described above only expresses the several embodiments of the present invention, and it describes more specific and detailed, but simultaneously
Can not therefore it be construed as limiting the scope of the patent.It should be pointed out that coming for one of ordinary skill in the art
Say, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention
Scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of measuring method of contactless tubing object, it is characterised in that the measuring method comprises the following steps：
Step one：Tubing object representation is gathered, and photo of the tubing object on same pose is shot using camera；
Step 2：Tubing three-dimensional object model reconstruction, the tubing object that collects is passed through according to binocular vision principle of triangulation
Figure obtains the point cloud three-dimensional information on the surface of whole tubing object to form the three dimensional point cloud of the tubing object；
Step 3：Tubing object centerline is extracted, and tubing is extracted by the first module metering system or the second module metering system
The center line of object；
The first module metering system is：Carried out by the three dimensional point cloud of the tubing object obtained in the step 2
Encapsulation carries out tri patch to it and further carries out hypostazation, to obtain the three-dimensional entity model of the tubing object, and from
Centreline data is extracted in the three-dimensional entity model；
The second module metering system is：Cutting is segmented to the three dimensional point cloud obtained in the step 2, and to it
Each point on section carries out justifying the center of circle for being fitted and obtaining each section circle, and the center of circle of each section circle of gained is the tubing thing
Then these discrete points are carried out curve fitting, in extracting by a series of discrete point on body center line with least square method
Heart line number evidence.
2. the measuring method of contactless tubing object as claimed in claim 1, it is characterised in that before the step one also
Including multiple camera calibrations demarcate the inner parameter and outside ginseng of multiple cameras by arranging index point in measurement visual field
Number.
3. the measuring method of contactless tubing object as claimed in claim 1 or 2, it is characterised in that in the step one
In, the multiple camera sync pulse jammings photo of the tubing object on same pose.
4. the measuring method of contactless tubing object as claimed in claim 1, it is characterised in that in the step 3,
When carrying out segmentation cutting, the flex point of tubing object and the section gap close to the region of the flex point of tubing object are less than tubing thing
The section gap at the straight line position of body.
5. the measuring method of contactless tubing object as claimed in claim 1, it is characterised in that in the step 3,
After the centreline data of tubing object is obtained using the second module metering system, then to the radius obtained by the circle of each section
Its average value is asked for, sweeping formula three-dimension entity design is carried out using the centreline data and radius value of gained, to obtain the tubing
The three-dimensional entity model of object.
6. the measuring method of contactless tubing object as claimed in claim 5, it is characterised in that in the contactless pipe
The measuring method of type objects also includes：
Centreline data, three-dimensional entity model and the three dimensional point cloud that a certain tubing object is obtained are labeled as normal data
Preserve；
Set deviation value parameter；
To other tubing objects using the second module metering system measure, with obtain other tubing objects centreline data,
Three-dimensional entity model and three dimensional point cloud, by the centreline data of other tubing objects, three-dimensional entity model and three-dimensional point
Cloud data markers are comparison data；
Comparison data is contrasted with normal data, and reference settings straggling parameter is compared；If comparison data with
The deviation of normal data is in the range of straggling parameter, then other tubing objects are judged as qualified；If comparison data with
The deviation of normal data is outside the scope of straggling parameter, then other tubing objects are judged as unqualified.
7. the measuring method of contactless tubing object as claimed in claim 6, it is characterised in that when other tubing objects
When being judged as qualified, then the result of determination is demarcated as a kind of specific color；When this, other tubing objects are judged as not
When qualified, then the result of determination is demarcated as another specific color.
8. the measuring method of the contactless tubing object as described in claim 1 or 5 or 6, it is characterised in that can be simultaneously to extremely
Few two tubing objects are measured using the second module metering system.
9. the measuring method of contactless tubing object as claimed in claim 1, it is characterised in that in the step 2 and step
Include between rapid three：Select the first module metering system or the second module metering system.
10. a kind of measuring system of contactless tubing object, it is characterised in that the measurement system of the contactless tubing object
System uses the measuring method of the contactless tubing object as described in any one in claim 1 to 9.
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