CN110243285A - A kind of caliberating device for vision measurement system - Google Patents
A kind of caliberating device for vision measurement system Download PDFInfo
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- CN110243285A CN110243285A CN201910557737.6A CN201910557737A CN110243285A CN 110243285 A CN110243285 A CN 110243285A CN 201910557737 A CN201910557737 A CN 201910557737A CN 110243285 A CN110243285 A CN 110243285A
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- spherical
- spherical displacer
- displacer
- substrate
- measurement system
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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
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
- G01B11/005—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates coordinate measuring machines
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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
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention belongs to automatic measurement fields, and disclose a kind of caliberating device for vision measurement system.The device includes black substrate and multiple spherical displacers for being disposed on the substrate, wherein, for each spherical displacer, the characteristic value of the three-dimensional coordinate and radius of spherical displacer as spherical displacer is set, each characteristic value is corresponding and unique one spherical displacer of correspondence, substrate uses black carbon fiber substrate, spherical displacer is white dumb light Ceramic Balls, and the quantity of spherical displacer is preferably 5~9, and the reflective carbon fiber bar of black is provided with below spherical displacer, for adjusting the height of the spherical displacer, it is ensured that the characteristic value of spherical displacer is unique.The characteristic value of each spherical displacer is uniquely corresponding with spherical displacer, and the point cloud data for avoiding two spherical displacers from acquiring is obscured, and provides the precision of calibration.Through the invention, it realizes in vision measurement system from binocular planar array scanning instrument coordinate system to the calibration of the transformation relation of three-dimensional cage target co-ordinates system.
Description
Technical field
The invention belongs to automatic measurement fields, more particularly, to a kind of caliberating device for vision measurement system.
Background technique
With the rapid development of process industry, shape of product design is increasingly complicated, large complicated carved in engineering field
It is widely used, at the same time, the assessment of the detection for heavy parts, form error and scale error becomes Design of digital,
Processing and step indispensable in assembly, it is the basic of progress reverse-engineering that the high-precision of large-scale part point cloud data, which obtains,
Condition.
Binocular planar array scanning instrument and 6DOF industrial robot, binocular planar array scanning instrument and external trace device or binocular
Planar array scanning instrument, though 6DOF industrial robot adds the theory of calibration of the heavy parts vision measurement system such as external trace device
It is so very mature, but due to lacking dedicated caliberating device, will appear following situation during the calibration process: 1) use single standard
Dumb light Ceramic Balls are demarcated, it may appear that data obtaining time is long；Point cloud data for calibration be difficult to quickly and effectively throughout
The measurement space S volum of entire scanner, needs other calibrating tools to verify calibration result after the completion of calibration；2) it adopts
The standard dumb light Ceramic Balls separated with three, although the efficiency for obtaining available point cloud is improved, for the arrangement of ball, calibration
The preparations such as the fixation of forecourt are laborious, also need other calibrating tools after the completion of calibration and verify to calibration result.
Summary of the invention
Aiming at the above defects or improvement requirements of the prior art, the present invention provides a kind of marks for vision measurement system
Device is determined, by using the reflective carbon fiber reinforced substrate of black and multiple white dumb light spherical displacers, wherein to the three of white dumb light ball
The setting of coordinate and radius is tieed up, so that the characteristic value of each spherical displacer is uniquely corresponding with spherical displacer, avoids two spherical displacer acquisitions
Point cloud data obscure, the precision of calibration is provided, is realized in vision measurement system from binocular planar array scanning instrument coordinate system to solid
The calibration of the transformation relation of cage target co-ordinates system.
To achieve the above object, it is proposed, according to the invention, provide a kind of caliberating device for vision measurement system, the device
Including black substrate and the multiple spherical displacers being disposed on the substrate, wherein
For each spherical displacer, the feature of the three-dimensional coordinate and radius of the spherical displacer as the spherical displacer is set
Value, each characteristic value is corresponding and unique one spherical displacer of correspondence.
It is further preferred that the substrate preferably uses black carbon fiber substrate, the spherical displacer is preferably white dumb light
Ceramic Balls.
It is further preferred that the quantity of the spherical displacer is preferably 5~9.
It is further preferred that the reflective carbon fiber bar of black is provided with below the spherical displacer, for adjusting the calibration
The height of ball, it is ensured that the characteristic value of the spherical displacer is unique.
It is further preferred that the substrate preferably uses rectangular, length and width meets following relationship:
Wherein, len0 is the length of the substrate, and Sclen is the length of the best depth of field of binocular planar array scanning instrument, width0
It is the width of the substrate, Scwidth is the width of the best depth of field of binocular planar array scanning instrument.
It is further preferred that it is different that at least there are two the radiuses of the spherical displacer when quantity of the spherical displacer is 7,
The position of the spherical displacer is set as follows, and the substrate is equally divided into 9 regions, the spherical displacer setting
Any 7 regions in 9 regions.
It is further preferred that being preferably provided with below wherein two spherical displacers when the quantity of the spherical displacer is 7
The length of the reflective carbon fiber bar of black, the reflective carbon fiber bar of two black is preferably chosen as follows:
Wherein, hight01 and hight02 is respectively the height of the demarcate bar, and Schight is binocular planar array scanning instrument
Depth of field height.
In general, through the invention it is contemplated above technical scheme is compared with the prior art, can obtain down and show
Beneficial effect:
1, by using multiple spherical displacers in the present invention, and the characteristic value of each spherical displacer uniquely corresponds to a spherical displacer,
So that each spherical displacer can be uniquely identified during obtaining spherical displacer, the point cloud number for avoiding two spherical displacers from acquiring
According to obscuring, guarantee the validity of the point cloud data of calibration；
2, the present invention why using white dumb light Ceramic Balls, be because for binocular planar array scanning instrument, it is different
Sensor projects face battle array light color it is different, white is good to the more other colors of the adaptability of the light of different colours, and mute
Light forms diffusing reflection in imaging process, and transition is avoided to expose, so that final good imaging quality；
3, white dumb light Ceramic Balls are fixedly arranged on substrate by the present invention by using carbon fiber reinforced substrate and carbon fiber bar, with this
The mutual position orientation relation of solidification standard dumb light Ceramic Balls periodically obtains white dumb light Ceramic Balls mutual alignment with three coordinate measuring machine
Relationship can also complete the verifying of stated accuracy while realizing measuring system calibration；
4, caliberating device provided by the invention is realized in the vision measurement system calibration process for mounting surface battle array scanner
Data quick obtaining, guarantee for vision measurement system calibration data throughout the measurement space of entire scanner, primary
During acquiring data, data source guarantees the consistency and precision of calibration result in the different depth of field of scanner.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of caliberating device constructed by preferred embodiment according to the invention；
Fig. 2 is the structural schematic diagram of vision measurement system constructed by preferred embodiment according to the invention；
Fig. 3 is the caliberating device single width effect data figure of acquisition constructed by preferred embodiment according to the invention；
Fig. 4 is one group of nominal data effect of the caliberating device of acquisition constructed by preferred embodiment according to the invention
Figure；
Fig. 5 is the spliced effect of caliberating device multi-group data of acquisition constructed by preferred embodiment according to the invention
Figure.
In all the appended drawings, identical appended drawing reference is used to denote the same element or structure, in which:
The reflective carbon fiber substrate of 100- black, 101, the reflective carbon fiber bar of 102- black, 102,103,104,105,106,
107,108,109- spherical displacer, 1- binocular external trace device, 2- solid cage target, 3- binocular planar array scanning instrument, 4- six is certainly
By degree industrial robot, 5- caliberating device.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
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 the various embodiments of the present invention described below
Not constituting a conflict with each other can be combined with each other.
A kind of caliberating device for vision measurement system, the device include black substrate and are disposed on the substrate multiple
Spherical displacer, wherein
For each spherical displacer, the feature of the three-dimensional coordinate and radius of the spherical displacer as the spherical displacer is set
Value, each characteristic value is corresponding and unique one spherical displacer of correspondence.
It is further preferred that the substrate preferably uses black carbon fiber substrate, the spherical displacer is preferably white dumb light
Ceramic Balls.
It is further preferred that the quantity of the spherical displacer is preferably 5~9.
It is further preferred that the reflective carbon fiber bar of black is provided with below the spherical displacer, for adjusting the calibration
The height of ball, it is ensured that the characteristic value of the spherical displacer is unique.
It is further preferred that the substrate preferably uses rectangular, length and width meets following relationship:
Wherein, len0 is the length of the substrate, and Sclen is the length of the best depth of field of binocular planar array scanning instrument, width0
It is the width of the substrate, Scwidth is the width of the best depth of field of binocular planar array scanning instrument.It is greater thanOr
In order to which the point cloud data distribution for guaranteeing that single image is formed not concentrate excessively, it is less thanOrIt is because of mark
Binocular planar array scanning instrument will be in different positions during fixed, but each position will guarantee that all Ceramic Balls can shape
At effective point cloud data.
It is further preferred that it is different that at least there are two the radiuses of the spherical displacer when quantity of the spherical displacer is 7,
The position of the spherical displacer is set as follows, and the substrate is equally divided into 9 regions, the spherical displacer setting
Any 7 regions in 9 regions.
It is further preferred that being preferably provided with below wherein two spherical displacers when the quantity of the spherical displacer is 7
The length of the reflective carbon fiber bar of black, the reflective carbon fiber bar of two black is preferably chosen as follows:
Wherein, hight01 and hight02 is respectively the height of the demarcate bar, and Schight is binocular planar array scanning instrument
Depth of field height, the setting of black reflective fiber bar are to increase the height of spherical displacer, change variant tag value, so that the feature of each ball
Value is unique.
The vision measurement system being used cooperatively with caliberating device provided by the invention, as shown in Fig. 2, the vision measurement system
By binocular external trace device 1, three-dimensional cage target 2, binocular planar array scanning instrument 3, the composition of Six-DOF industrial robot 4.It is whole
In a vision measurement system, binocular planar array scanning instrument 3 can directly export the point cloud data based on scanner coordinate system, external binocular
Tracking device 1 tracking with scanner 3 consolidate three-dimensional cage target 2, can directly export three-dimensional cage target 2 external binocular with
Pose under 1 coordinate system of track device lacks in the dimension chain of coordinate conversion during realizing the Overlap-scanning to heavy parts
From 3 coordinate system of binocular planar array scanning instrument to the transformation relation of three-dimensional 2 coordinate system of cage target, this transformation relation is measuring system
The unknown quantity for needing to demarcate, caliberating device 5 provided by the invention are to demarcate 3 coordinate system of binocular planar array scanning instrument to three-dimensional cage
The transformation relation of 2 coordinate system of target.Specific calibration process is as follows:
Binocular planar array scanning instrument translates under a posture, obtains the nominal data at n different location, obtains n with this
Group nominal data；
The posture of m binocular planar array scanning instrument is converted, every posture of transformation obtains one group of nominal data, obtains m with this
Group nominal data；
N+m group nominal data is obtained in total, which is input in calibrating procedure, it can obtain binocular face
Battle array scanner measures coordinate system to the coordinate conversion relation between three-dimensional cage target.
Wherein, three-dimensional cage target 2 is consolidated with 3 rigidity of binocular planar array scanning instrument, and industrial robot 4 is used as motion platform,
Under a scanning posture of binocular planar array scanning instrument, binocular external trace device 1 obtains three-dimensional cage target 2 outside the binocular
Pose data under 1 coordinate system of portion's tracking device, meanwhile, binocular planar array scanning instrument 3 acquires caliberating device provided by the invention and exists
Scanner measures the point cloud data under coordinate system, and in data acquisition, the point cloud data under each posture is necessary to ensure that
All white dumb light ceramic sphericals in caliberating device are at available point cloud, the pose data and calibration dress of above-mentioned solid cage target
The point cloud data set constitutes one group of nominal data, in the present embodiment, n >=8, m >=8.
The present invention is further illustrated below with reference to the embodiment of the caliberating device comprising 7 spherical displacers.
As shown in Figure 1, the caliberating device in figure includes: the reflective carbon fiber reinforced substrate 100 of black, design length len0,
Width is width0, with a thickness of thick0=10mm；The reflective carbon fiber bar of the black of connection standard dumb light Ceramic Balls and carbon base plate
101 and 102, height is respectively hight01, hight02, diameter dia=10mm；The not all equal 7 standard dumb lights pottery of size
Porcelain ball 103,104,105,106,107,108 and 109, diameter is not divided into R10i, i=3,4,5,6,7,8,9.
Support rod and substrate use the reflective carbon fiber of black, and the reflective formation point cloud data that can be few as far as possible of black avoids
Background noise is formed, the material of carbon fiber can guarantee the requirement of rigidity, intensity and thermal stability；Standard dumb light Ceramic Balls, it is mute
Light guarantees that sensor scans to form complete point cloud data, avoids the formation of loophole and jump point.
In order to guarantee the coupling stiffness and thermal stability of caliberating device, black reflective carbon fiber reinforced substrate 100 in the design
With a thickness of thick0=10mm, the diameter of the reflective carbon fiber bar 101 and 102 of black is the bigger parameters such as dia=10mm.?
In whole device, it is difficult to form effective point cloud data, only standard dumb light ceramics to avoid planar array scanning instrument to non-lambertian face
Ball is white dumb light, and detection target is enable to form high quality, highdensity cloud；Other components are that black is reflective,
Background in caliberating device etc. is set to form noise data as few as possible.So that during the calibration process, program can be surveyed according to scanner
The point cloud data obtained is partitioned into the point cloud data of ball automatically, and carries out high-precision fitting.
The long len0 and width width0 of carbon fiber board pedestal 100 reflective for black should meet following condition:
Wherein, Sclen, Scwidth are respectively measurement range of the binocular planar array scanning instrument at the best depth of field, the present embodiment
Middle selection
The length of carbon fiber bar 101 and 102 reflective for black is respectively hight01, hight02 its satisfaction such as ShiShimonoseki
System:
Wherein, the depth of field height of binocular planar array scanning instrument is Schight, is taken in the present embodiment
For the radius of 7 spherical displacers, with reference to German VDI/VDE measurement standard.The design value of the radius of ball at least two
Different values is planted, the radius for the standard dumb light Ceramic Balls selected in the present invention meets following relationship:
R105< R104=R109< R108< R107=R103< R106
Its Plays dumb light Ceramic Balls 103,106,107,108 and 109 is directly fixedly arranged above the reflective carbon fiber board of black,
The diameter of its Plays dumb light Ceramic Balls 103,107 is equal, can be used to do double ball centre ofs sphere after splicing away from error evaluation
Major parameter, standard dumb light Ceramic Balls 104,105 are fixedly arranged on reflective carbon fiber reinforced substrate by reflective carbon fiber pipe, can be used for sweeping
Retouch the main certificate parameter of single ball splicing precision under instrument difference field depth.
For the position of spherical displacer, the space on reflective carbon fiber board is divided into nine grids, it is non-to choose wherein 7 grid
Symmetrically 7 standard dumb light Ceramic Balls of arrangement, the diameter of calibrating procedure energy combined standard dumb light Ceramic Balls, according to the non-right of arrangement
Title property carries out automatic numbering to standard dumb light Ceramic Balls, as shown in figure 3, the point cloud of the caliberating device obtained for each pose
Data need to ensure that all standard dumb light Ceramic Balls in caliberating device all form available point cloud.
In present example, in the calibration process for carrying out vision measurement system, each is scanned and is obtained under pose
Point cloud data, it is to be ensured that all standard dumb light Ceramic Balls on caliberating device all form effective point cloud data.With reference to Germany
VDI/VDE measurement standard, the point cloud data of standard dumb light Ceramic Balls as far as possible throughout the entire measurement space S volum of scanner, with
Just higher stated accuracy is obtained.As shown in figure 4, the standard in caliberating device is mute in the acquisition process of a nominal data
The data of light ceramic ball are uniformly throughout the measurement space of scanner, as shown in figure 5, the fructufy in figure to be demarcated with caliberating device
The effect picture of existing Point-clouds Registration, demonstrates the correctness of the principle of the invention and the feasibility of operation.
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, not to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include
Within protection scope of the present invention.
Claims (7)
1. a kind of caliberating device for vision measurement system, which is characterized in that the device includes black substrate and is arranged in base
Multiple spherical displacers on plate, wherein
For each spherical displacer, the characteristic value of the three-dimensional coordinate and radius of the spherical displacer as the spherical displacer is set,
Each characteristic value is corresponding and unique one spherical displacer of correspondence.
2. a kind of caliberating device for vision measurement system as described in claim 1, which is characterized in that the substrate is preferred
Using black carbon fiber substrate, the spherical displacer is preferably white dumb light Ceramic Balls.
3. a kind of caliberating device for vision measurement system as claimed in claim 1 or 2, which is characterized in that the calibration
The quantity of ball is preferably 5~9.
4. a kind of caliberating device for vision measurement system as described in claim 1, which is characterized in that the spherical displacer
Lower section is provided with the reflective carbon fiber bar of black, for adjusting the height of the spherical displacer, it is ensured that the characteristic value of the spherical displacer is only
One.
5. a kind of caliberating device for vision measurement system as described in claim 1, which is characterized in that the substrate is preferred
Using rectangular, length and width meets following relationship:
Wherein, len0 is the length of the substrate, and Sclen is the length of the best depth of field of binocular planar array scanning instrument, and width0 is institute
The width of substrate is stated, Scwidth is the width of the best depth of field of binocular planar array scanning instrument.
6. a kind of caliberating device for vision measurement system as described in claim 1, which is characterized in that the spherical displacer
When quantity is 7, it is different that at least there are two the radiuses of the spherical displacer, and the position of the spherical displacer is set as follows
It is fixed, the substrate is equally divided into 9 regions, any 7 regions in 9 regions are arranged in the spherical displacer.
7. a kind of caliberating device for vision measurement system as claimed in any one of claims 1 to 6, which is characterized in that work as institute
When the quantity for stating spherical displacer is 7, the reflective carbon fiber bar of black is preferably provided with below wherein two spherical displacers, this two black
The length of the reflective carbon fiber bar of color is preferably chosen as follows:
Wherein, hight01 and hight02 is respectively the height of the demarcate bar, and Schight is the depth of field of binocular planar array scanning instrument
Highly.
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| CN112245005A (en) * | 2020-11-13 | 2021-01-22 | 山东大学 | External fixing device, system and method for coordinate calibration |
| CN114347027A (en) * | 2022-01-08 | 2022-04-15 | 天晟智享(常州)机器人科技有限公司 | Pose calibration method of 3D camera relative to mechanical arm |
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Application publication date: 20190917 |