CN109115113B - Method and device for measuring position of central point of round bar based on linear laser triangulation method - Google Patents

Method and device for measuring position of central point of round bar based on linear laser triangulation method Download PDF

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CN109115113B
CN109115113B CN201810744679.3A CN201810744679A CN109115113B CN 109115113 B CN109115113 B CN 109115113B CN 201810744679 A CN201810744679 A CN 201810744679A CN 109115113 B CN109115113 B CN 109115113B
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linear laser
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CN109115113A (en
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何涛
吴庆华
王正家
盛文婷
余坤
周伟松
朱思斯
解家月
万偲
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Hubei University of Technology
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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
    • 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

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Abstract

The invention provides a method and a device for measuring the position of the central point of a round bar based on a linear laser triangulation method, which have the advantages of simple structure, high efficiency, rapidness and high measurement reliability. The method comprises the following steps: moving a measuring unit consisting of a camera and a linear laser to a measuring original point positioned on one side of the material frame by using a mechanical arm to start measuring; the linear laser projects linear light on the surface of the round bar to be measured, and the camera shoots an image of the round bar at the top layer; a mechanical arm is adopted to drive a measuring unit to move horizontally and transversely at equal step distances along the direction perpendicular to the axial direction in the round bar stock, and a camera sequentially shoots images of the round bar stock on the top layer in the material frame; calculating the pixel coordinates of all the mark points in each image; converting the pixel coordinates into position coordinates of the center point of the circular section of the top-layer round bar; and deleting the position coordinates of the repeatedly shot round bar stock in the position coordinates of the center point of the round section of the top round bar stock through integrated calculation to obtain the continuous position coordinates of the center point of the round section of the top round bar stock.

Description

Method and device for measuring position of central point of round bar based on linear laser triangulation method
Technical Field
The invention belongs to the technical field of distance measurement, and relates to a method and a device for measuring the position of a central point of a round bar based on a linear laser triangulation method.
Background
Currently, a common point laser triangulation method is to measure the position and distance of an object in a single direction by using a point laser. But the positioning of the bar stock needs to measure the position distance between the vertical height and the horizontal direction, and the single set of point laser equipment cannot meet the industrial requirement. If two sets of equipment are used for measurement at the same time, the difficulty and the cost of measurement are increased. When the mechanical arm and the measuring unit work independently, the position coordinate systems of the mechanical arm and the measuring unit need to be converted, so that the calculated amount is increased, and the space is wasted. Further, the camera measurement range is limited by the angle of view of the lens. The material frame is wider than the lateral measurement space of the camera, and if the measurement space of the camera is to be enlarged, a lens with a larger field angle needs to be purchased, so that the measurement cost is increased.
Disclosure of Invention
The present invention is made to solve the above problems, and an object of the present invention is to provide a method and an apparatus for measuring the position of the center point of a round bar based on a linear laser triangulation method, which have a simple structure and can accurately and efficiently measure the vertical height position and the horizontal transverse position of the center points of a plurality of round bars in a frame at the same time.
In order to achieve the purpose, the invention adopts the following scheme:
< method >
The invention provides a method for measuring the position of the central point of a round bar based on a linear laser triangulation method, which is characterized by comprising the following steps of: step 1: moving a measuring unit consisting of a camera and a linear laser to a measuring original point positioned on one side of the material frame by using a mechanical arm to start measuring, wherein the camera is positioned in the middle of the mechanical arm, a lens is vertically downward, and the emitting direction of the linear laser forms an angle phi with the vertical direction; the linear laser projects a beam of linear light on the surface of the round bar to be measured, and the camera shoots an image of the round bar at the top layer; recording convex arc light spot vertex formed by the laser line on the surface of each round bar in the image as a mark point pi,jI is the image serial number, and j is the serial number of the top-layer bar in the image; step 2: a mechanical arm is adopted to drive the measuring unit to start from a measuring original point at the same height position, and the horizontal and transverse equal-step movement is carried out along the axial direction vertical to the round bar stock; in the moving process, the camera sequentially shoots images of top round bar materials in the material frame, wherein N images are total, and N is more than or equal to 1; and step 3: calculating all mark points p in each imagei,jPixel coordinate p ofi,j(xi,j,yi,j)，xi,jIs the pixel abscissa, yi,jIs the pixel ordinate; coordinate p of pixeli,j(xi,j,yi,j) Converting the position coordinate P of the central point of the circular section of the top round bari,j(Si,j,Hi,j)，Si,jThe horizontal position coordinate is the horizontal distance between the center point of the bar stock and the measurement origin; hi,jThe height position coordinate is the vertical height distance between the center point of the bar stock and the measurement origin; and then deleting the position coordinates P of the central point of the circular section of the top round bar through integration calculationi,j(Si,j,Hi,j) The position coordinates of the middle repeatedly shot round bar stock are obtained to obtain the continuous position coordinates P of the center point of the round section of the top round bar stockk(Sk,Hk) And k is the serial number of the top round bar in the material frame.
Preferably, the method for measuring the position of the center point of the round bar based on the linear laser triangulation method according to the present invention may further include: in step 2, the moving step size is two times of the diameter length of the round bar to be measured.
Preferably, the method for measuring the position of the center point of the round bar based on the linear laser triangulation method according to the present invention further comprises the following features: in step 3, all the mark points p in each image are calculated by an image processing algorithmi,jPixel coordinate p ofi,j(xi,j,yi,j)；
Coordinate p of pixeli,j(xi,j,yi,j) Converting the position coordinate P of the central point of the circular section of the top round bari,j(Si,j,Hi,j) The method comprises the following steps: assuming that the divergence angle of the linear laser is 0, the height position coordinate H of the center point of the circular section of the top round bari,jNamely, the calculation formula of the height distance between the center point of the circular section of the round bar and the measurement origin is as follows:
Figure GDA0002359426770000031
in the formula, KHIs a camera height scale factor, and is linear with the longitudinal field angle theta of the lensThe laser projection angle phi is related; b isH1The first camera height intercept coefficient is related to the longitudinal field angle theta of the lens; b isH2Is the camera height intercept coefficient two, related to the horizontal lateral distance a between the camera and the linear laser; r is the radius of the round bar to be measured; parameter KH、BH1、BH2、KSAnd BSThe numerical values of the two parts are calculated through camera calibration;
horizontal position coordinate S of center point of circular section of top-layer round bari,jNamely, the calculation formula of the transverse distance between the center of the circular section of the round bar and the measurement origin is as follows:
Si,j＝KS·xi,j+BS+ i.M (formula 2)
In the formula KSIs the transverse proportionality coefficient of the camera and the height position coordinate H of the center point of the circular section of the round bari,jThe transverse field angle delta of the lens is related to the total number of transverse pixel points of the camera; b isSIs the transverse intercept coefficient of the camera and the height position coordinate H of the center point of the circular section of the round bari,jAnd the lens lateral field angle δ is correlated; m is the length of the moving step of the mechanical arm.
Preferably, the method for measuring the position of the center point of the round bar based on the linear laser triangulation method according to the present invention may further include: in step 3, the integrated calculation process is as follows: coordinates P of the central point of the top round bari,j(Si,j,Hi,j) According to Si,jThe numerical values are arranged from small to large; sequentially calculating the horizontal position coordinates S of the central points of two adjacent top-layer round barsi,jDifference Δ Si,jAnd will be Δ Si,jComparing with R; if Δ Si,jIf the coordinate is less than R, deleting the high position coordinates H in the twoi,jPosition coordinate P of top round bar with larger numerical valuei,j(Si,j,Hi,j) And the coordinates P of the central point of the residual top round bari,j(Si,j,Hi,j) Namely a continuous position coordinate P of the central point of the circular section of the top round bark(Sk,Hk)。
Preferably, the invention relates toThe method for measuring the position of the central point of the round bar by the laser triangulation method further comprises the following steps: and 4, step 4: continuous position coordinate data P of the center point of the circular section of the top round bark(Sk,Hk) And sending the material to a material grabbing system.
< apparatus >
The invention also provides a device for measuring the position of the central point of the round bar, and the device is used for measuring the position of the central point of the round bar<Method of producing a composite material>The method for measuring the position of the central point of the round bar stock based on the linear laser triangulation method is characterized by comprising the following steps of: a robot arm; the linear laser is arranged on the mechanical arm, faces the round bar, and has an angle phi between the emission direction and the vertical direction; the camera is arranged at the center of the mechanical arm, and the lens is vertically downward and used for shooting the image of the round bar; a calculation processing part for calculating all the mark points p in each imagei,jPixel coordinate p ofi,j(xi,j,yi,j) And coordinate p of pixeli,j(xi,j,yi,j) Converting the position coordinate P of the central point of the circular section of the top round bari,j(Si,j,Hi,j) Then obtaining the continuous position coordinate P of the center point of the circular section of the top round bar stock through integration calculationk(Sk,Hk) (ii) a And the control part controls the mechanical arm, the linear laser, the camera and the calculation processing part to operate according to the position measuring method of the central point of the round bar based on the linear laser triangulation method.
Action and Effect of the invention
According to the method and the device for measuring the central point position of the round bar stock based on the linear laser triangulation method, the vertical height position and the horizontal transverse position of a plurality of round bar stocks in a large-size material frame can be simultaneously measured by using one set of device; the method is efficient and quick, the measurement reliability is high, and the measurement precision can reach 1 mm; the measuring device has the advantages of simple structure, high space utilization rate and convenience in use, and the accuracy of final data measurement is ensured.
Drawings
FIG. 1 is a side view of a device for measuring the position of the center point of a round bar according to an embodiment of the present invention;
FIG. 2 is a front view of a device for measuring the position of the center point of a round bar according to an embodiment of the present invention;
fig. 3 is a schematic diagram illustrating a correspondence relationship between a camera captured image and a pixel coordinate system according to an embodiment of the present invention.
In the drawings, the reference numerals denote: 10-a measuring device for the central point position of a round bar, 11-a mechanical arm, 12-a linear light source (a linear laser), 13-a camera and 13 a-a lens; 20-round bar stock; 30-material frame; o-measurement origin; horizontal lateral distance between the a-camera and the linear laser.
Detailed Description
The method and device for measuring the center point position of a round bar based on a linear laser triangulation method according to the present invention will be described in detail with reference to the accompanying drawings.
< example >
As shown in fig. 1 and 2, the device 10 for measuring the position of the center point of a round bar stock includes a robot 11, a linear laser 12, a camera 13, a calculation processing section, and a control section. Therein, the linear laser 12 and the camera 13 constitute a measurement unit.
The mechanical arm 11 needs to cover the round bar stock 20 and does not need to cover the material frame 30. And, the robot arm 11 can move up and down and left and right to assist the linear laser 12 and the camera 13 in measurement.
The linear laser 12 is mounted on one side (both inside and outside) of the robot arm 11, facing the round bar 20, and the emitting direction is at an angle phi with the vertical direction.
The camera 13 is fixed to the midpoint of the robot arm 11 in the vertically downward direction, and the lens 13a is vertically downward, taking an image of the round bar 20.
The calculation processing part is used for calculating all the mark points p in each imagei,jPixel coordinate p ofi,j(xi,j,yi,j) And coordinate p of pixeli,j(xi,j,yi,j) Converting the position coordinate P into the central point of the circular section of the top round bar 20i,j(Si,j,Hi,j) Then obtaining the continuous position coordinate P of the central point of the circular section of the top round bar 20 through integration calculationk(Sk,Hk)。
The control part is in communication connection with the mechanical arm 11, the linear laser 12, the camera 13 and the calculation processing part and is used for controlling the mechanical arm 11, the linear laser 12, the camera 13 and the calculation processing part to operate according to a round bar central point position measuring method based on a linear laser triangulation method.
Specifically, the method for measuring the position of the central point of the round bar based on the linear laser triangulation method provided by the embodiment includes the following steps:
step 1: a mechanical arm 11 is adopted to move a camera 13 and a linear laser 12 as a measuring unit to a measuring origin O (see fig. 2) positioned on one side of a material frame for starting measurement, wherein a lens of the camera 13 is vertically downward, and the emitting direction of the linear laser 12 forms an angle phi with the vertical direction; the linear laser 12 projects a beam of linear light on the surface of the round bar 20 to be measured, and the camera 13 shoots an image of the round bar 20 at the top layer; recording convex arc light spot vertex formed by the laser line on the surface of each round bar material 20 in the image as a mark point pi,j(i is the image number, j is the top bar number in the image).
Step 2: a mechanical arm 11(1) is adopted to drive the measuring unit to start from a measuring origin O at the same height position, and the measuring unit moves horizontally and transversely at equal steps along the axial direction vertical to the middle axis of the round bar stock (the step is twice the diameter and the length of the round bar stock to be measured); in the moving process, the camera 13 sequentially shoots the images of the top round bar 20 in the material frame 30, and N images (N is more than or equal to 1) are obtained.
And step 3: calculating all mark points p in each image through an image processing algorithmi,jPixel coordinate p ofi,j(xi,j,yi,j) As shown in FIG. 3, xi,jIs the pixel abscissa, yi,jIs the pixel ordinate;
then, the pixel coordinate p is seti,j(xi,j,yi,j) Converting the position coordinate P into the central point of the circular section of the top round bar 20i,j(Si,j,Hi,j)，Si,jThe horizontal position coordinate is the horizontal distance between the center point of the bar stock and the measurement origin O; hi,jThe height position coordinate is the vertical height distance between the center point of the bar stock and the measurement origin O; the specific conversion method comprises the following steps:
assuming that the divergence angle of the linear laser is 0, the height position coordinate H of the center point of the circular section of the top round bar 20i,jNamely, the calculation formula of the height distance between the center point of the circular section of the round bar 20 and the measurement origin O is as follows:
Figure GDA0002359426770000071
in the formula, KHThe camera height scale coefficient is related to a lens longitudinal field angle theta and a linear laser projection included angle phi; b isH1The first camera height intercept coefficient is related to the longitudinal field angle theta of the lens; b isH2Is the camera height intercept coefficient two, related to the horizontal lateral distance a between the camera and the linear laser; r is the radius of the round bar 20 to be measured; parameter KH、BH1、BH2、KSAnd BSDirect measurement is difficult, and the numerical value of the measurement is calculated through camera calibration;
transverse position coordinate S of central point of circular section of top layer circular bar material 20i,jNamely, the calculation formula of the transverse distance between the center of the circular section of the round bar 20 and the measurement origin O is as follows:
Si,j＝KS·xi,j+BS+ i.M (formula 2)
In the formula KSIs a camera transverse proportionality coefficient and is matched with the height position coordinate H of the central point of the circular section of the round bar material 20i,jThe transverse field angle delta of the lens is related to the total number of transverse pixel points of the camera; b isSIs a camera transverse intercept coefficient and coordinates H of the height position of the center point of the circular section of the round bar material 20i,jAnd the lens lateral field angle δ is correlated; m is the length of the moving step of the robot arm 11.
Then deleting the position coordinate P of the center point of the circular section of the top-layer circular bar material 20 by integrating calculationi,j(Si,j,Hi,j) The position coordinates of the middle repeatedly shot round bar stock obtain the continuous position coordinates P of the central point of the round section of the top round bar stock 20k(Sk,Hk) And k is the serial number of the top round bar in the material frame. The specific integrated calculation process is as follows: coordinates of the central point of the top round bar 20Pi,j(Si,j,Hi,j) According to Si,jThe numerical values are arranged from small to large; sequentially calculating the horizontal position coordinates S of the central points of the two adjacent top-layer round bars 20i,jDifference Δ Si,jAnd will be Δ Si,jComparing with R; if Δ Si,jIf the coordinate is less than R, deleting the high position coordinates H in the twoi,jPosition coordinate P of top round bar 20 with larger valuei,j(Si,j,Hi,j) Position coordinates P of center point of the remaining top round bar 20i,j(Si,j,Hi,j) Namely the continuous position coordinate P of the central point of the circular section of the top layer circular bar material 20k(Sk,Hk)。
And 4, step 4: the continuous position coordinate data P of the central point of the circular section of the top layer circular bar material 20k(Sk,Hk) And sending the material to a material grabbing system.
The above is merely an illustration of the technical solution of the present invention. The method and device for measuring the center point position of a round bar based on the linear laser triangulation method are not limited to the structure described above, but are subject to the scope defined by the claims. Any modification or supplement or equivalent replacement made by the person skilled in the art on the basis of the present invention is within the scope of the claims of the present invention.

Claims (5)

1. A method for measuring the position of the central point of a round bar based on a linear laser triangulation method is characterized by comprising the following steps:
step 1: a mechanical arm (11) is adopted to move a linear laser (12) and a camera (13) measuring unit to a measuring origin point positioned on one side of a material frame (30) to start measuring, wherein the camera (13) is positioned at the center of the mechanical arm (11), a lens (13a) is vertically downward, and the emitting direction of the linear laser (12) forms an angle phi with the vertical direction; a linear laser (12) projects a beam of linear light on the surface of a round bar stock (20) to be measured, and a camera (13) shoots an image of the round bar stock (20) at the top layer; the peak of a convex arc light spot formed by the laser line on the surface of each round bar (20) in the image is recorded as a mark point pi,jI is the image number, j isThe number of the top round bar (20) in the image;
step 2: a mechanical arm (11) is adopted to drive the measuring unit to start from a measuring original point at the same height position, and the measuring unit moves horizontally and transversely at equal step distance along the axial direction vertical to the round bar material (20); in the moving process, the camera (13) sequentially shoots images of the top layer round bar (20) in the material frame (30), wherein N images are total, and N is more than or equal to 1;
and step 3: calculating all mark points p in each imagei,jPixel coordinate p ofi,j(xi,j,yi,j) (ii) a Coordinate p of pixeli,j(xi,j,yi,j) Converted into the position coordinate P of the central point of the circular section of the top-layer circular bar (20)i,j(Si,j,Hi,j)，Si,jThe horizontal position coordinate is the horizontal distance between the center point of the bar stock and the measurement origin; hi,jThe height position coordinate is the vertical height distance between the center point of the bar stock and the measurement origin; then deleting the position coordinates P of the central point of the circular section of the top-layer circular bar (20) through integrated calculationi,j(Si,j,Hi,j) The position coordinates of the middle repeatedly shot round bar stock (20) are obtained to obtain the continuous position coordinates P of the center point of the round section of the top round bar stock (20)k(Sk,Hk) K is the serial number of the top round bar (20) in the material frame (30),
wherein, in step 3, all the mark points p in each image are calculated by an image processing algorithmi,jPixel coordinate p ofi,j(xi,j,yi,j)；
Coordinate p of pixeli,j(xi,j,yi,j) Converted into the position coordinate P of the central point of the circular section of the top-layer circular bar (20)i,j(Si,j,Hi,j) The method comprises the following steps: assuming that the divergence angle of the linear laser (12) is 0, the height position coordinate H of the center point of the circular section of the top round bar (20)i,jNamely, the calculation formula of the height distance between the center point of the circular section of the circular bar (20) and the measurement origin is as follows:
Figure FDA0002359426760000021
in the formula, KHThe height scale coefficient of the camera (13) is related to the longitudinal field angle theta of the lens (13a) and the projection angle phi of the linear laser (12); b isH1Is a first height intercept coefficient of the camera (13) and is related to a longitudinal field angle theta of the lens (13 a); b isH2Is the camera (13) height intercept factor two, related to the horizontal lateral distance (a) between the camera (13) and the linear laser (12); r is the radius of the round bar stock (20) to be measured;
horizontal position coordinate S of center point of circular section of top layer circular bar (20)i,jNamely, the calculation formula of the transverse distance between the center of the circular section of the circular bar (20) and the measurement origin is as follows:
Si,j＝KS·xi,j+BS+ i.M (formula 2)
In the formula KSIs a transverse proportionality coefficient of the camera (13) and a height position coordinate H of the central point of the circular section of the round bar material (20)i,jThe transverse field angle delta of the lens (13a) is related to the total number of transverse pixel points of the camera (13); b isSIs the transverse intercept coefficient of the camera (13) and the height position coordinate H of the central point of the circular section of the round bar material (20)i,jAnd a lens (13a) transverse field angle δ; m is the length of the moving step of the mechanical arm (11); parameter KH、BH1、BH2、KSAnd BSThe numerical value of the data is calculated by calibrating the camera (13).
2. The method for measuring the position of the central point of the round bar stock based on the linear laser triangulation method as claimed in claim 1, wherein:
in step 2, the size of the moving step is two times of the diameter length of the round bar stock (20) to be measured.
3. The method for measuring the position of the central point of the round bar stock based on the linear laser triangulation method as claimed in claim 1, wherein:
in step 3, the integrated calculation process is as follows: coordinates P of the central point position of the top round bar (20)i,j(Si,j,Hi,j) According to Si,jThe numerical values are arranged from small to large; sequentially calculating two adjacent onesTransverse position coordinate S of central point of root-top layer round bar (20)i,jDifference Δ Si,jAnd will be Δ Si,jComparing with R; if Δ Si,jIf the coordinate is less than R, deleting the high position coordinates H in the twoi,jPosition coordinate P of top round bar (20) with larger valuei,j(Si,j,Hi,j) The position coordinates P of the central point of the residual top round bar (20)i,j(Si,j,Hi,j) Namely a continuous position coordinate P of the central point of the circular section of the top layer circular bar material (20)k(Sk,Hk)。
4. The method for measuring the position of the central point of the round bar stock based on the linear laser triangulation method as recited in claim 1, further comprising:
and 4, step 4: the continuous position coordinate data P of the central point of the circular section of the top layer circular bar (20)k(Sk,Hk) And sending the material to a material grabbing system.
5. A device for measuring the position of the center point of a round bar according to the method for measuring the position of the center point of a round bar based on the linear laser triangulation method as claimed in any one of claims 1 to 4, comprising:
a robot arm (11);
the linear laser (12) is arranged on the mechanical arm (11), faces the round bar stock (20), and the emitting direction and the vertical direction form an angle phi;
a camera (13) which is arranged on the center of the mechanical arm (11), has a lens (13a) facing downwards vertically and is used for shooting an image of the round bar stock (20);
a calculation processing part for calculating all the mark points p in each imagei,jPixel coordinate p ofi,j(xi,j,yi,j) And coordinate p of pixeli,j(xi,j,yi,j) Converted into the position coordinate P of the central point of the circular section of the top-layer circular bar (20)i,j(Si,j,Hi,j) Then obtaining the continuous position coordinate P of the center point of the circular section of the top layer circular bar (20) through integration calculationk(Sk,Hk) (ii) a And
and the control part controls the mechanical arm (11), the linear laser (12), the camera (13) and the calculation processing part to operate according to the position measuring method of the central point of the round bar based on the linear laser triangulation method.
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