CN107121079A - A kind of curved surface elevation information measurement apparatus and method based on monocular vision - Google Patents
A kind of curved surface elevation information measurement apparatus and method based on monocular vision Download PDFInfo
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- CN107121079A CN107121079A CN201710447508.XA CN201710447508A CN107121079A CN 107121079 A CN107121079 A CN 107121079A CN 201710447508 A CN201710447508 A CN 201710447508A CN 107121079 A CN107121079 A CN 107121079A
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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
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/06—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness for measuring thickness ; e.g. of sheet material
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Abstract
The invention belongs to machine vision imaging technology association area, and disclose a kind of curved surface elevation information measurement apparatus and method based on monocular vision, including measurement frame, source of parallel light component, detection camera and range sensor, wherein source of parallel light component is collectively constituted by mounting box, parallel light tube and transmission grating, and the alternate parallel scores of width are carved with transmission grating, so that the collimated light beam that parallel light tube is sent can project to form light and dark parallel stripes on curved surface to be measured；In addition, the quantity of detection camera is only one and is engaged with source of parallel light component, thus the parallel stripes formed on curved surface to be measured are performed and adopt figure to obtain image.The invention also discloses corresponding curved surface elevation information measuring method.By the present invention, not only only need to using single camera can high efficiency complete curved surface elevation information and measure, and compact overall structure rationally, be easy to operation, strong adaptability, while significantly improving final obtainable measurement accuracy.
Description
Technical field
The invention belongs to machine vision imaging technology association area, more particularly, to a kind of song based on monocular vision
Face elevation information measurement apparatus and method.
Background technology
In vision technique, in order to measure the elevation information of curved surface, at least need to obtain tested curved surface from multiple angles
Multiple images.Existing method is typically to carry out adopting figure using two or more cameras, and is obtained using geometry constraint conditions
The three-dimensional information of tested curved surface；Or carry out adopting figure from multiple angles merely with a camera.But for the former, due to must
Multiple cameras need to be utilized, while cost is improved, also there is camera inside and outside parameter demarcation in multicamera system very cumbersome
Problem, and often also influenceed for final measurement accuracy larger.For which, although only used a camera,
But usually require frequently to change the locus of camera during operation, it is cumbersome and can not often ensure accurate shift position,
Final measurement accuracy can be equally unfavorable for.
Found by retrieving, CN201510248456.4 discloses a kind of monocular vision sensing with range of triangle function
Device, it sends laser beam by laser, forms a branch of collimated laser beam after focusing microscope group, is formed on measured target surface
Laser facula；Measured target (together with laser facula) is imaged onto on image device surface by imaging microscope group, then passes through meter
Calculate to obtain the two-dimensional signal and range information of measured target, it is achieved thereby that obtaining measured target using monocular vision sensor
Three-dimensional information.
However, further investigations have shown that, above-mentioned existing scheme is only applicable to the measurement for planar object, and in curved surface
Object measurement application scenario is difficult effectively to use；Especially, it can only determine testee to the range information of camera, and can not
Testee is obtained in the deformation information from face direction, and the latter is very crucial index for measurement of curved surface application.
Correspondingly, this area, which is needed badly, seeks more perfect solution for above-mentioned technical problem, to meet what is increasingly improved at present
Technological requirement.
The content of the invention
For the disadvantages described above or Improvement requirement of prior art, the invention provides a kind of curved surface based on monocular vision is high
Information measurement apparatus and method are spent, wherein with reference to the particular demands and actual condition feature of all kinds of measurement of curved surface application scenarios, pin
The many aspects such as the concrete composition and set-up mode of unitary construction layout and multiple key components to the measurement apparatus are again
Design is made, while its Measurement Algorithm is studied and improved, accordingly compared with existing measurement of curved surface scheme, not only
Need to use single camera can high efficiency complete the measurement of curved surface elevation information, and compact overall structure rationally, be easy to operation,
Strong adaptability, while significantly improving final obtainable measurement accuracy, is therefore particularly suitable for the application of surface information measurement
Occasion.
To achieve the above object, according to one aspect of the present invention, there is provided a kind of curved surface height based on monocular vision
Information measurement apparatus, the device includes measurement frame, source of parallel light component, detection camera and range sensor, it is characterised in that：
The measurement frame is in the form of horizontally disposed symmetrical cross frame, and is used as the installation foundation of other assemblies；
The quantity of the source of parallel light component is four, and each of which is arranged on four identical arms knots of the measurement frame
Below the end of structure, and it can drive rotated so that its projected angle changes via supporting motor respectively；Each is put down
Line light source component sets up common group of the parallel light tube and transmission grating inside this mounting box separately by mounting box and successively respectively
Into wherein the parallel light tube is used for the transmission grating emitting parallel light beam, and it is alternate to be then carved with width on the transmission grating
Two kinds of parallel scores namely possesses the alternate printing opacity gap of width, so that the collimated light beam that the parallel light tube is sent is being treated
Surveying can project to form light and dark parallel stripes on curved surface；
It is described detection camera quantity be only one, it be fixedly mounted on it is described measurement frame center lower section, and with it is each
The individual source of parallel light component is engaged, and figure is adopted with needed for obtaining for performing to the parallel stripes that are formed on curved surface to be measured
Two dimensional image；
In addition, setting up a camera rectangular coordinate system XYZ, the wherein phase by origin of the optical center of lens of the detection camera
The Z axis of machine rectangular coordinate system is met with the optical axis coincidence for detecting camera and the lower section for pointing to the detection camera, its X-axis, Y-axis
Two holdings in the right-hand rule, and four source of parallel light components are symmetrically in this X-axis, remaining two same guarantors
Hold and be symmetrically in this Y-axis；Similarly, as origin to set up an image using the center of the imaging plane of the detection camera straight
Angular coordinate system X ' Y ' Z, the wherein Z axis of the image rectangular coordinate system and the Z axis of the camera rectangular coordinate system coincide, its X '
Axle, Y ' axles equally meet the right-hand rule；Then, one is set up with reference to rectangular coordinate system X " Y " immediately below the detection camera
Z, wherein this is with reference to the optical axis coincidence of the Z axis and the detection camera of rectangular coordinate system, and its X " axle, Y " axle, which equally meets the right hand, to be determined
Then, and its X " Y " plane is kept and the X/Y plane of the camera rectangular coordinate system is parallel to each other；
The range sensor corresponds respectively to each described source of parallel light component and set, and when described by adjustment
The height of measurement frame causes the detection camera when can obtain the clearly two dimensional image, under this position to described
The optical center of lens of detection camera is measured to the vertical range H between the X " Y " plane, while for this detection camera
Imaging plane and X " Y " plane between the depth of parallelism detected.
As it is further preferred that for each described source of parallel light component, between its optical axis and the X/Y plane
Initial projections angle α acquisition is preferably calculated by following formula：
α=sin-1(d/d0)
In formula, d represents the grating constant that the transmission grating itself of each source of parallel light component possesses；d0Represent described
In the light and dark parallel stripes formed in X " Y " plane, the centre-to-centre spacing between two stripeds adjacent to each other.
As it is further preferred that for two source of parallel light components in the X-axis, both are treating
Survey curved surface on project formation striped it is parallel to each other and composition the first striped group；For described in two in the Y-axis
For source of parallel light component, it is same parallel to each other and constitute the second striped that both project the striped formed on curved surface to be measured
Group；In addition, being mutually perpendicular between the first striped group and the second striped group.
As it is further preferred that the wide seam of printing opacity and printing opacity in the printing opacity gap being each provided with for the transmission grating
For narrow slit, their position carries out coding and sorting order, and this n × 2 of preferred pair by n binary modesnBar light penetrating slit is compiled
Code；Wherein n value is determined according to the visual field size of the detection camera, and is ensured so that what the detection camera was obtained
Fringe number should meet m in image>3n-1；In addition, the printing opacity narrow slit d2With the wide seam d of the printing opacity1Between wide-to-narrow ratio it is preferably full
Sufficient formula d1/d2≥2。
As it is further preferred that for two source of parallel light components in the X-axis, it is to be measured
The X-axis coordinate x that any point P to be formed on striped is projected on curved surface is preferably calculated by following equation respectively：
X=x ' × (D × tanax)/(f-x’tanax)
In formula, D represents that the optical center of lens of the parallel light tube of each source of parallel light component detects the saturating of camera to described
The distance between mirror photocentre；F is the focal length for detecting camera；axEach source of parallel light being located in the X-axis is represented respectively
Projected angle between the optical axis of component and the X/Y plane；X ' is illustrated respectively in the two dimensional image that the detection camera is obtained
In, pixel P ' corresponding with point P holdings X ' axial coordinate values.
As it is further preferred that for two source of parallel light components in the Y-axis, it is to be measured
The Y-axis coordinate y that any point P to be formed on striped is projected on curved surface is preferably calculated by following equation respectively：
Y=y ' × (D × tanay)/(f-y’tanay)
In formula, D represents that the optical center of lens of the parallel light tube of each source of parallel light component detects the saturating of camera to described
The distance between mirror photocentre；F is the focal length for detecting camera；ayEach source of parallel light being located in the Y-axis is represented respectively
Projected angle between the optical axis of component and the X/Y plane；Y ' is illustrated respectively in the two dimensional image that the detection camera is obtained
In, pixel P ' corresponding with point P holdings Y ' axial coordinate values.
As it is further preferred that for two source of parallel light components in the X-axis, it is to be measured
The deflection h of any point P formed on curved surface on striped in the Z-axis directionxIt is preferred that being calculated respectively by following equation：
hx=| x-{ (H cotax-D)±(kx×d/sinax)}|×tanax
In formula, x represents that each source of parallel light component being located in the X-axis projects to be formed on striped on curved surface to be measured
Any point P X-axis coordinate value；H represent when it is described detection camera can obtain the clearly two dimensional image when, the detection camera
Lens centre to the vertical range between the X " Y " plane；axEach source of parallel light being located in the X-axis is represented respectively
Projected angle between the optical axis of component and the X/Y plane；D represents the optical center of lens of the parallel light tube of each source of parallel light
The distance between optical center of lens to the detection camera；D represents transmission grating itself tool of each source of parallel light component
Standby grating constant；In addition, kxRepresent that each source of parallel light component being located in the X-axis projects formation on curved surface to be measured
Multiple parallel stripes in comprising P points striped sequence number, kxFor natural number, and started counting up from the striped along X-axis bosom.
As it is further preferred that for two source of parallel light components in the Y-axis, it is to be measured
The deflection h of any point P formed on curved surface on striped in the Z-axis directionyIt is preferred that being calculated respectively by following equation：
hy=| y-{ (H cotay-D)±(ky×d/sinay)}|×tanay
In formula, y represents that each source of parallel light component being located in the Y-axis projects to be formed on striped on curved surface to be measured
Any point P Y-axis coordinate value；H represent when it is described detection camera can obtain the clearly two dimensional image when, the detection camera
Lens centre to the vertical range between the X " Y " plane；ayEach source of parallel light being located in the Y-axis is represented respectively
Projected angle between the optical axis of component and the X/Y plane；D represents the optical center of lens of the parallel light tube of each source of parallel light
The distance between optical center of lens to the detection camera；D represents transmission grating itself tool of each source of parallel light component
Standby grating constant；In addition, kyRepresent that each source of parallel light component being located in the Y-axis projects formation on curved surface to be measured
Multiple parallel stripes in comprising P points striped sequence number, kyFor natural number, and started counting up from the striped along Y-axis bosom.
It is another aspect of this invention to provide that additionally providing corresponding curved surface elevation information measuring method, it is characterised in that should
Method comprises the following steps：
Step one：Its range information for arriving the X " Y " plane is measured respectively first with four range sensors,
X " Y " plane pose is adjusted according to gained range information, makes itself and the detection camera imaging plane keeping parallelism；Meanwhile, it is right
Difference between the range sensor and the detection camera photocentre in Z-direction is compensated, and is then measured and is determined institute
The photocentre of detection camera is stated to the vertical range H between the X " Y " plane；
Step 2：The alternate bright fringes of width are projected on curved surface to be measured using one group of source of parallel light component,
And drive the source of parallel light component to rotate using the motor so that the slow inswept whole region to be measured of striped；The detection phase
Machine adopts figure, and writes down the projected angle α of each image；Then, successively using source of parallel light component described in remaining three groups, above-mentioned step is repeated
Suddenly, four groups of images in the region to be measured under the striped that four groups of source of parallel light components are projected are respectively obtained；
Step 3：For four groups of resulting images, calculate obtain each described source of parallel light component in song to be measured respectively
Project deflections of any point P to be formed on striped in Z-direction on face, and then count by way of weighting is averaged
Practical distortion amount is obtained in calculation；
Step 4：Traverse measurement frame, travels through complete curved surface to be measured successively, repeats step one to step 3, directly
To obtain whole curved surface to be measured untill elevation information a little, thus complete overall curved surface height measurement process.
In general, possess following compared with prior art, mainly by the contemplated above technical scheme of the present invention
Technological merit：
1st, design has been re-started by the unitary construction layout to curved surface elevation information measurement apparatus in the present invention, especially
It is that some key components such as measure frame, source of parallel light component and detect that the concrete composition structure and set-up mode of camera are made and changed
Enter, accordingly tightly can not only can complete the overall measurement process of curved surface elevation information using single camera, and set with existing
It is standby compared to its structure more compact and reasonable, be easy to manipulation, and significantly improve final obtainable measurement accuracy；
2nd, the parameter selection of each component can be selected according to required measurement accuracy in the present invention, accordingly in actual applications
Possess strong applicability and be easy to according to the specific of operating mode efficient operation；For example, when measurement accuracy is less demanding, increase can be passed through
Operated in the way of the fringe spacing of the source of parallel light component of the present invention, thus reduce measurement data, improve measurement
Speed, while also helping increase viewing field of camera scope, substantially increases measuring speed；And when measurement accuracy requires high, then
It can be operated by way of reducing fringe spacing, measurement data increases, precision is improved；Also help reduction camera simultaneously
Field range, increases image pixel, equally substantially increases measurement accuracy；
3rd, design is optimized to its striped coded system in the construction features in the present invention herein in connection with source of parallel light component,
It is corresponding cause in image processing process can each striped of rapid identification, accelerate detection speed；In addition, groups of in the present invention
Source of parallel light can form multigroup striped, not only avoid curved surface change cause greatly side striped project less than the problem of, can also be right
Same point is repeatedly measured, and more accurate elevation information is obtained by calculating；
4th, the characteristics of in the present invention herein in connection with apparatus above tectonic sieving, further to each measurement point on XYZ multiaxises
Coordinate value and Deformation calculation formula made specific aim measurement, actual test show not only can simplified operation processing procedure,
The features such as acquisition data possess precision height compared with real data, are easy to subsequent treatment can be calculated, thus is calculated with conventional process
Method compares the final precision for being remarkably improved curved surface elevation carrection.
Brief description of the drawings
Fig. 1 is according to the curved surface elevation information measurement apparatus based on monocular vision constructed by the preferred embodiment of the present invention
Unitary construction schematic diagram；
Fig. 2 is that frame and the source of parallel light component being installed on it, range sensor and detection camera are measured shown in Fig. 1
Specific arrangement schematic diagram；
Fig. 3 is for the exemplary illustrated schematic diagram that the multiple coordinate systems for handling and building are calculated for the ease of the later stage；
Fig. 4 is the composition structural representation of the source of parallel light component designed according to the preferred embodiment of the present invention；
Fig. 5 is that the schematic diagram to form multiple stripeds is projected for exemplary illustrated source of parallel light component；
Fig. 6 is to be preferable to carry out multiple stripeds that are adoptable, forming source of parallel light component according to the present invention to compile
The obtained schematic diagram of code processing；
Fig. 7 is to be used to illustrate centered on detecting camera, highly believe with triangulation geometrical principle execution curved surface
Cease the schematic diagram of measurement；
Fig. 8 is the striped for projecting formation in X " Y " plane for the exemplary illustrated above-mentioned measurement apparatus according to the present invention
Schematic diagram.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in each embodiment of invention described below
Not constituting conflict each other can just be mutually combined.
Fig. 1 is according to the curved surface elevation information measurement apparatus based on monocular vision constructed by the preferred embodiment of the present invention
Unitary construction schematic diagram, Fig. 2 is that frame and the source of parallel light component, range sensor and the inspection that are installed on it are measured shown in Fig. 1
Survey the specific arrangement schematic diagram of camera.As depicted in figs. 1 and 2, the Deviation rectifier mainly includes measurement frame 10, source of parallel light component
30th, the component such as camera 20 and range sensor 40 is detected, it will be one by one specifically described below.
Measurement frame 10 may be designed as the form in horizontally disposed symmetrical cross frame in the present invention, and be used as other groups
The installation foundation of part.
The quantity of source of parallel light component 30 is four, and each of which is arranged on four identical arms knots of the measurement frame 10
Below the end of structure, and it can drive rotated so that its projected angle changes via supporting motor 50 respectively, wherein,
Motor 50 is fixed in measurement frame, and source of parallel light component 30 is connected with motor shaft, i.e., motor 50 can drive source of parallel light group
Part 30 rotates；More specifically, as shown in Figure 2.One of key improvements as the present invention, each source of parallel light component difference is equal
Collectively constituted, wherein should by mounting box 31 and the parallel light tube 32 and transmission grating 33 that set up separately successively inside this mounting box
It is alternate that width is then carved with collimated light beam of the parallel light tube 32 for launching monochrome to the transmission grating 33, the transmission grating 33
Two kinds of parallel scores namely possess the alternate printing opacity gap of width so that the collimated light beam that the parallel light tube 32 is sent
It can project to form light and dark parallel stripes on curved surface to be measured.
Referring also to Fig. 4 is visible, in source of parallel light component 30, and parallel light tube 32 is fixed on mounting box 30 with transmission grating 33
It is interior.Parallel light tube 32 can produce parallel homogeneous beam；Light tight parallel scores as shown in Figure 5 are carved with transmission grating 33, from
And the different light penetrating slit of width is formed between indentation.Light penetrating slit center line is that grating is normal to distance between adjacent indentations center line
Number d, the wide slit width degree of printing opacity is d1, printing opacity slit width is d2.The directional light that parallel light tube 32 is sent after transmission grating 33
The different striped of width is formed on curved surface to be measured.To ensure the diffraction phenomena for not producing light, the monochromatic wavelength λ of parallel light tube 32
It should be chosen according to light penetrating slit width, but be necessarily less than light penetrating slit width, i.e. λ<min{d1,d2}.Further according to required precision
Selected, wavelength X is smaller, diffraction phenomena is got over unobvious.
In addition, according to a preferred embodiment of the present invention, as shown in fig. 6, the fringe light that source of parallel light component 30 is produced
Beam can form multiple stripeds in X " Y " plane, wherein representing stria with " 1 ", cord is represented with " 0 ".Pass through such a coding
Mode, you can distinguish the corresponding relation of striped and striped in X " Y " plane on the curved surface to be measured in the detection shooting image of camera 20.
It is " 001010011 " when detection camera 20 photographs striped on curved surface to be measured, possible outcome has three kinds：“0”“010”“100”
" 11 ", " 00 " " 101 " " 001 " " 1 " and " 001 " " 010 " " 011 ", correspond to serial number " x respectively123x2”、“x351x4”、“123”。
Wherein, x1It is not 1 and x2More than 4, therefore first group of mistake；Second group of sequence also mistake；Therefore the 3rd group of sequence is only remained, and is met
Coding rule.Can correctly it be recognized per stripe in visual field.
As another key improvements of the present invention, the quantity of detection camera 20 is only one, and it is fixedly mounted on the survey
The center lower section of frame 10 is measured, and it is engaged with source of parallel light component 30 each described, for is formed on curved surface to be measured
Parallel stripes, which are performed, adopts figure to obtain required two dimensional image.
In addition, as shown in Fig. 3 is exemplary, can the detection camera 20 optical center of lens it is straight to set up a camera for origin
Angular coordinate system XYZ, the wherein camera give advice the optical axis coincidence of the Z axis of coordinate system and the detection camera 20 and point to the detection phase
The lower section of machine, two holdings that its X-axis, Y-axis are met in the right-hand rule, and four source of parallel light components 30 are symmetrically located in
In in this X-axis, remaining two same holdings are symmetrically in this Y-axis；Similarly, with the imaging plane of the detection camera 20
Center set up an image rectangular coordinate system X ' Y ' Z for origin, the wherein Z axis of the image rectangular coordinate system refers to the camera
The Z axis of religion coordinate system coincides, and its X ' axle, Y ' axles equally meet the right-hand rule；Then, in the underface of the detection camera 20
Set up one and refer to rectangular coordinate system X " Y " Z, wherein this is with reference to the Z axis of rectangular coordinate system and the optical axis weight of the detection camera
Close, its X " axle, Y " axle equally meets the right-hand rule, and its X " Y " plane keeps the XY with the camera rectangular coordinate system to put down
Face is parallel to each other.
Referring again to Fig. 2, four range sensors 40 correspond respectively to each described source of parallel light component 30 and set, and
And when the height by adjusting the measurement frame 10 is so that the detection camera (20) can obtain the clearly two dimensional image
When, for being carried out under this position to the optical center of lens of the detection camera 20 to the vertical range H between the X " Y " plane
Measurement, while being detected for the depth of parallelism between the imaging plane and X " Y " plane to this detection camera 20.The electricity
The motor shaft of machine 50 and the detection photocentre of camera 20 with the parallel surface of X/Y plane, and parallel light tube 32 optical center of lens in motor
Where axle on straight line, so as to ensure when motor 50 rotates and changes projected angle α angles, the optical center of lens of parallel light tube 32 and detection phase
The relative position of the photocentre of machine 20 is constant, therefore its horizontal range D keeps constant.
The measurement technical process according to the present invention will be explained below.
First, as shown in Figure 7, it is shown that curved surface height is performed centered on detecting camera, with triangulation geometrical principle
Spend the schematic diagram of information measurement.Wherein, the source of parallel light component 30 in X-axis is only drawn, it projects bar on curved surface to be measured
Line is parallel with Y-axis, therefore only needs its X-axis coordinate information；And two groups of source of parallel light components 30 in Y-axis, it is on curved surface to be measured
Projected striped is parallel with X-axis, therefore only needs its Y-axis coordinate information.The collimated light beam sent by parallel light tube 32 passes through transmitted light
Light and dark strip encoding, the whole region to be measured of covering are formed after grid 33 on curved surface to be measured.Carried out with wherein a certain striped
Illustrate, stripe centerline passing point P.Now, in projection between the optical axis of source of parallel light component 30 and X/Y plane in X-axis
Angle α.
Postulated point P camera coordinates are (x, y, z), detection camera 20 clap two dimensional image midpoint P picture coordinate P ' is
(x′,y′).Then the source of parallel light component 30 in X-axis projects on striped point P coordinates in the X-axis direction on curved surface to be measured
For：
X=x ' × (D × tanax)/(f-x’tanax) (1-1)
In formula, D represents the optical center of lens of the parallel light tube of each source of parallel light component to the lens light of the detection camera
The distance between heart；F is the focal length for detecting camera；axEach source of parallel light component being located in the X-axis is represented respectively
Optical axis and the X/Y plane between projected angle；X ' is illustrated respectively in the two dimensional image that the detection camera is obtained, with
The point P keeps corresponding pixel P ' X ' axial coordinate values.
And the source of parallel light component 30 in Y-axis in curved surface to be measured projects point P on striped that coordinate is in the Y-axis direction：
Y=y ' × (D × tanay)/(f-y’tanay) (1-2)
In formula, D represents that the optical center of lens of the parallel light tube of each source of parallel light component detects the saturating of camera to described
The distance between mirror photocentre；F is the focal length for detecting camera；ayEach source of parallel light being located in the Y-axis is represented respectively
Projected angle between the optical axis of component and the X/Y plane；Y ' is illustrated respectively in the two dimensional image that the detection camera is obtained
In, pixel P ' corresponding with point P holdings Y ' axial coordinate values.
Fig. 8 is the striped for projecting formation in X " Y " plane for the exemplary illustrated above-mentioned measurement apparatus according to the present invention
Schematic diagram.Further, in addition it is also necessary to for obtaining two source of parallel light components in the X-axis and Y-axis respectively, its
The deflections of any point P in the Z-axis direction formed on curved surface to be measured on striped.
As shown in Figure 8, the source of parallel light component 30 only drawn in X-axis projects striped on curved surface to be measured, itself and Y
Axle is parallel, therefore only needs its X-axis coordinate information；And the source of parallel light component 30 in Y-axis projects striped and X on curved surface to be measured
Axle is parallel, therefore only needs its Y-axis coordinate information.Assuming that a certain striped of transmission grating 33 is in source of parallel light component 30 in X-axis
Center striped, then coordinate in the X-axis direction is put on projected striped is：
x0=H × cotax-D (1-3)
And striped centered on a certain striped of transmission grating 33 in the source of parallel light component 30 in Y-axis, then projected striped
Coordinate is upper point in the Y-axis direction：
y0=H × cotay-D (1-4)
Because each striped is equidistant (i.e. grating constant) on transmission grating 33, then the source of parallel light component 30 in X-axis
The X-axis coordinate that each striped is projected in X " Y " plane is：
xk=x0±(k×d/sinax) (1-5)
In formula, d is grating constant；K be the striped of distance center zero kth stripe, X-axis positive direction for+, negative direction for-；
And the Y-axis coordinate that then the source of parallel light component 30 in Y-axis projects each striped in X " Y " plane is：
yk=y0±(k×d/sinay) (1-6)
Joint above calculating formula, can correspondingly be tried to achieve, for two source of parallel light components in the X-axis
Speech, its deflection h of any point P formed on curved surface to be measured on striped in the Z-axis directionxIt is preferred that passing through following public affairs respectively
Formula is calculated：
hx=| x-{ (H cotax-D)±(kx×d/sinax)}|×tanax
In formula, x represents that each source of parallel light component being located in the X-axis projects to be formed on striped on curved surface to be measured
Any point P X-axis coordinate value；H represent when it is described detection camera (20) the clearly two dimensional image can be obtained when, the detection
The lens centre of camera is to the vertical range between the X " Y " plane；axRepresent to be located at respectively in the X-axis each is parallel
Projected angle between the optical axis of light source assembly and the X/Y plane；D represents the lens of the parallel light tube of each source of parallel light
Optical center of lens the distance between of the photocentre to the detection camera；D represents the transmission grating of each source of parallel light component certainly
The grating constant that body possesses；In addition, kxRepresent that each source of parallel light component being located in the X-axis is projected on curved surface to be measured
The sequence number of striped comprising P points, k in the multiple parallel stripes formedxFor natural number, and since the striped along X-axis bosom
Count.
Similarly, for two source of parallel light components in the Y-axis, its institute's shape on curved surface to be measured
Into the deflection h of any point P on striped in the Z-axis directionyIt is preferred that being calculated respectively by following equation：
hy=| y-{ (H cotay-D)±(ky×d/sinay)}|×tanay
In formula, y represents that each source of parallel light component being located in the Y-axis projects to be formed on striped on curved surface to be measured
Any point P Y-axis coordinate value；H represent when it is described detection camera (20) the clearly two dimensional image can be obtained when, the detection
The lens centre of camera is to the vertical range between the X " Y " plane；ayRepresent to be located at respectively in the Y-axis each is parallel
Projected angle between the optical axis of light source assembly and the X/Y plane；D represents the lens of the parallel light tube of each source of parallel light
Optical center of lens the distance between of the photocentre to the detection camera；D represents the transmission grating of each source of parallel light component certainly
The grating constant that body possesses；In addition, kyRepresent that each source of parallel light component being located in the Y-axis is projected on curved surface to be measured
The sequence number of striped comprising P points, k in the multiple parallel stripes formedyFor natural number, and since the striped along Y-axis bosom
Count.
Curved surface elevation information measurement process above can be summarized as follows key step：
Step one：It is measured respectively first with four range sensors 40 to the distance of the X " Y " plane to believe
Breath, X " Y " plane pose is adjusted according to gained range information, makes itself and the detection imaging plane keeping parallelism of camera 20；Together
When, the difference between the range sensor 40 and the detection photocentre of camera 20 in Z-direction is compensated, then measured
And determine the photocentre for detecting camera 20 to the vertical range H between the X " Y " plane；
Step 2：The alternate bright bar of width is projected on curved surface to be measured using one group of source of parallel light component 30
Line, and drive the source of parallel light component 30 to rotate using the motor 50 so that the slow inswept whole region to be measured of striped；It is described
Detection camera 20 adopts figure, and writes down the projected angle α of each image；Then, successively using source of parallel light component 30 described in remaining three groups,
Repeat the above steps, respectively obtain four groups of figures in the region to be measured under the striped that four groups of source of parallel light components 30 are projected
Picture；
Step 3：For four groups of resulting images, calculate obtain each described source of parallel light component in song to be measured respectively
Project deflections of any point P to be formed on striped in Z-direction on face, and then count by way of weighting is averaged
Practical distortion amount is obtained in calculation；
Step 4：Traverse measurement frame 10, travels through complete curved surface to be measured, repeats step one to step 3 successively,
Until obtain whole curved surface to be measured untill elevation information a little, thus complete overall curved surface height measurement process.
To sum up, song can tightly can not only be completed using single camera according to the curved surface elevation information measurement apparatus of the present invention
The overall measurement process of face elevation information, and compared with existing equipment its structure more compact and reasonable, be easy to manipulation, Er Qiexian
Work improves final obtainable measurement accuracy；Its also application is more extensive simultaneously, is easy to the high efficiency under various working
Operating parameter is adjusted, thus is more applicable for all kinds of curved surface elevation carrection application scenarios of high-efficiency high-precision.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, it is not used to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the invention etc., it all should include
Within protection scope of the present invention.
Claims (9)
1. a kind of curved surface elevation information measurement apparatus based on monocular vision, the device includes measurement frame (10), source of parallel light
Component (30), detection camera (20) and range sensor (40), it is characterised in that：
The measurement frame (10) is in the form of horizontally disposed symmetrical cross frame, and is used as the installation foundation of other assemblies；
The quantity of the source of parallel light component (30) is four, and it is identical that each of which is arranged on measure frame (10) four
Below the end of arm configuration, and it can be rotated respectively via supporting motor (50) to drive so that its projected angle changes
Become；Each source of parallel light component sets up by mounting box (31) and successively parallel light tube inside this mounting box separately respectively
(32) collectively constituted with transmission grating (33), wherein the parallel light tube (32) is used for the transmission grating (33) emitting parallel light
Two kinds of alternate parallel scores of width are then carved with beam, the transmission grating (33), so that the parallel light tube (32) is sent
Collimated light beam can project to form light and dark parallel stripes on curved surface to be measured；
The quantity of the detection camera (20) is only one, and it is fixedly mounted on the center lower section of the measurement frame (10), and
It is engaged with source of parallel light component (30) each described, adopts figure to obtain for the parallel stripes execution to being formed on curved surface to be measured
Obtain required two dimensional image；
In addition, setting up a camera rectangular coordinate system XYZ, the wherein phase using the optical center of lens of the detection camera (20) as origin
The Z axis of machine rectangular coordinate system and the optical axis coincidence for detecting camera (20) and the lower section for pointing to the detection camera, its X-axis, Y-axis
Two holdings met in the right-hand rule, and four source of parallel light components (30) are symmetrically in this X-axis, residue two
Individual same holding is symmetrically in this Y-axis；Similarly, the center using the imaging plane of the detection camera (20) is built as origin
Found an image rectangular coordinate system X ' Y ' Z, the wherein Z axis of the image rectangular coordinate system and the Z axis of the camera rectangular coordinate system
Coincide, its X ' axle, Y ' axles equally meet the right-hand rule；Then, a ginseng is set up immediately below the detection camera (20)
Rectangular coordinate system X " Y " Z is examined, wherein this is with reference to the optical axis coincidence of the Z axis and the detection camera of rectangular coordinate system, its X " axle, Y "
Axle equally meets the right-hand rule, and its X " Y " plane keeps the X/Y plane with the camera rectangular coordinate system to be parallel to each other；
The range sensor (40) corresponds respectively to each described source of parallel light component (30) and set, and when by adjusting
When the height of the measurement frame (10) make it that the detection camera (20) can obtain the clearly two dimensional image, for herein
The optical center of lens of the detection camera (20) is measured to the vertical range H between the X " Y " plane under position, simultaneously
Detected for the depth of parallelism between the imaging plane and X " Y " plane to this detection camera (20).
2. a kind of curved surface elevation information measurement apparatus based on monocular vision as claimed in claim 1, it is characterised in that for
For each described source of parallel light component (30), the initial projections angle α between its optical axis and the X/Y plane preferably passes through following formula
To calculate acquisition：
α=sin-1(d/d0)
In formula, d represents the grating constant that the transmission grating itself of each source of parallel light component possesses；d0Represent the X " Y "
In the light and dark parallel stripes formed in plane, the centre-to-centre spacing between two stripeds adjacent to each other.
3. a kind of curved surface elevation information measurement apparatus based on monocular vision as claimed in claim 1 or 2, it is characterised in that
For two source of parallel light components in the X-axis, both project the striped formed on curved surface to be measured
Parallel to each other and the first striped group of composition；For two source of parallel light components in the Y-axis, both are treating
Survey curved surface on project formed striped equally it is parallel to each other and composition the second striped group；In addition, the first striped group and institute
State and be mutually perpendicular between the second striped group.
4. a kind of curved surface elevation information measurement apparatus based on monocular vision as claimed in claim 3, it is characterised in that for
For the wide seam of printing opacity and printing opacity narrow slit in the printing opacity gap that the transmission grating is each provided with, their position is entered by n positions two
Mode processed carries out coding and sorting order, and this n × 2 of preferred pairnBar light penetrating slit is encoded；Wherein n value is according to the detection phase
The visual field size of machine is determined, and is ensured so that fringe number should meet m in the image that the detection camera is obtained>3n-1；This
Outside, the printing opacity narrow slit d2With the wide seam d of the printing opacity1Between wide-to-narrow ratio preferably meet formula d1/d2≥2。
5. a kind of curved surface elevation information measurement apparatus based on monocular vision as described in claim 3 or 4, it is characterised in that
For two source of parallel light components in the X-axis, it projects to be formed on striped on curved surface to be measured
Any point P X-axis coordinate x is preferably calculated by following equation respectively：
X=x ' × (D × tanax)/(f-x’tanax)
In formula, D represents the optical center of lens of the parallel light tube of each source of parallel light component to the lens light of the detection camera
The distance between heart；F is the focal length for detecting camera；axEach source of parallel light component being located in the X-axis is represented respectively
Optical axis and the X/Y plane between projected angle；X ' is illustrated respectively in the two dimensional image that the detection camera is obtained, with
The point P keeps corresponding pixel P ' X ' axial coordinate values.
6. a kind of curved surface elevation information measurement apparatus based on monocular vision as claimed in claim 5, it is characterised in that for
For two source of parallel light components in the Y-axis, it projects any to be formed on striped on curved surface to be measured
Point P Y-axis coordinate y is preferably calculated by following equation respectively：
Y=y ' × (D × tanay)/(f-y’tanay)
In formula, D represents the optical center of lens of the parallel light tube of each source of parallel light component to the lens light of the detection camera
The distance between heart；F is the focal length for detecting camera；ayEach source of parallel light component being located in the Y-axis is represented respectively
Optical axis and the X/Y plane between projected angle；Y ' is illustrated respectively in the two dimensional image that the detection camera is obtained, with
The point P keeps corresponding pixel P ' Y ' axial coordinate values.
7. a kind of curved surface elevation information measurement apparatus based on monocular vision as claimed in claim 6, it is characterised in that for
For two source of parallel light components in the X-axis, its any point P formed on curved surface to be measured on striped exists
Deflection h in Z-directionxIt is preferred that being calculated respectively by following equation：
hx=| x-{ (H cotax-D)±(kx×d/sinax)}|×tanax
In formula, x represents that each source of parallel light component being located in the X-axis projects to form appointing on striped on curved surface to be measured
One point P X-axis coordinate value；H represent when it is described detection camera (20) the clearly two dimensional image can be obtained when, the detection camera
Lens centre to the vertical range between the X " Y " plane；axEach source of parallel light being located in the X-axis is represented respectively
Projected angle between the optical axis of component and the X/Y plane；D represents the optical center of lens of the parallel light tube of each source of parallel light
The distance between optical center of lens to the detection camera；D represents transmission grating itself tool of each source of parallel light component
Standby grating constant；In addition, kxRepresent that each source of parallel light component being located in the X-axis projects formation on curved surface to be measured
Multiple parallel stripes in comprising P points striped sequence number, kxFor natural number, and started counting up from the striped along X-axis bosom.
8. a kind of curved surface elevation information measurement apparatus based on monocular vision as claimed in claim 7, it is characterised in that for
For two source of parallel light components in the Y-axis, its any point P formed on curved surface to be measured on striped exists
Deflection h in Z-directionyIt is preferred that being calculated respectively by following equation：
hy=| y-{ (H cotay-D)±(ky×d/sinay)}|×tanay
In formula, y represents that each source of parallel light component being located in the Y-axis projects to form appointing on striped on curved surface to be measured
One point P Y-axis coordinate value；H represent when it is described detection camera (20) the clearly two dimensional image can be obtained when, the detection camera
Lens centre to the vertical range between the X " Y " plane；ayEach source of parallel light being located in the Y-axis is represented respectively
Projected angle between the optical axis of component and the X/Y plane；D represents the optical center of lens of the parallel light tube of each source of parallel light
The distance between optical center of lens to the detection camera；D represents transmission grating itself tool of each source of parallel light component
Standby grating constant；In addition, kyRepresent that each source of parallel light component being located in the Y-axis projects formation on curved surface to be measured
Multiple parallel stripes in comprising P points striped sequence number, kyFor natural number, and started counting up from the striped along Y-axis bosom.
9. a kind of device using as described in claim 1-8 any one come perform curved surface elevation information measurement method, its
It is characterised by, this method comprises the following steps：
Step one：Its range information for arriving the X " Y " plane is measured respectively first with four range sensors (40),
X " Y " plane pose is adjusted according to gained range information, makes itself and described detection camera (20) imaging plane keeping parallelism；Together
When, the difference between the range sensor (40) and described detection camera (20) photocentre in Z-direction is compensated, then
Measure and determine the photocentre for detecting camera (20) to the vertical range H between the X " Y " plane；
Step 2：The alternate bright fringes of width are projected on curved surface to be measured using one group of source of parallel light component (30),
And drive the source of parallel light component (30) to rotate using the motor (50) so that the slow inswept whole region to be measured of striped；Institute
State detection camera (20) and adopt figure, and write down the projected angle α of each image；Then, successively using source of parallel light group described in remaining three groups
Part (30), repeats the above steps, and respectively obtains the region to be measured under the striped that four groups of source of parallel light components (30) are projected
Four groups of images；
Step 3：For four groups of resulting images, calculate obtain each described source of parallel light component on curved surface to be measured respectively
Deflections of any point P to be formed on striped in Z-direction is projected, and then is asked by way of weighting is averaged to calculate
Go out practical distortion amount；
Step 4：Traverse measurement frame 10, travels through complete curved surface to be measured, repeats step one to step 3 successively, until
Obtain whole curved surface to be measured untill elevation information a little, thus complete overall curved surface height measurement process.
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| CN116608774A (en) * | 2023-07-18 | 2023-08-18 | 宁德时代新能源科技股份有限公司 | Method for detecting residual thickness of notch of structural part, thickness detection equipment and detection device |
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