CN111504202A - Method for high-precision calibration splicing of multiple line lasers - Google Patents
Method for high-precision calibration splicing of multiple line lasers Download PDFInfo
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- CN111504202A CN111504202A CN202010132076.5A CN202010132076A CN111504202A CN 111504202 A CN111504202 A CN 111504202A CN 202010132076 A CN202010132076 A CN 202010132076A CN 111504202 A CN111504202 A CN 111504202A
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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
- G01B11/03—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring coordinates of points
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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
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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
- G01B11/0608—Height gauges
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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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Abstract
The invention discloses a method for high-precision calibration splicing of a plurality of linear lasers, which comprises the following steps: step one, processing a calibration block; measuring a reference surface and characteristic points of the calibration block; step three, establishing a 3D coordinate system on the calibration block according to the measurement result; step four, drawing the actual space position of the characteristic point of the calibration block on the coordinate system, and step five, scanning the characteristic point position on the point cloud image of the calibration block through line laser; and sixthly, calculating the positions of the characteristic points on the point cloud image of the calibration block and the positions of the characteristic points in the 3D coordinate system of the calibration block to obtain a 3D affine transformation matrix. The invention can be suitable for high-precision splicing among a plurality of line lasers and solves the problem that the dimension cannot be measured by a single line laser.
Description
Technical Field
The invention relates to a method for high-precision calibration splicing of a plurality of line lasers, and belongs to the technical field of line laser imaging, point cloud image acquisition, high-precision measurement and space coordinate system conversion.
Background
At present, the required measurement size is detected by using single line laser in the market, and the detection type is single; because the characteristic single line laser of some sizes can not carry out comprehensive scanning, the detection requirement of the required measurement size can not be met; therefore, a plurality of line lasers are needed for scanning, but different line lasers are different in installation position, scanned data are not in a coordinate system, and unified processing and size calculation cannot be performed; the problem of splicing and calibrating of a plurality of line lasers must be solved. Therefore, a method for high-precision calibration splicing of multiple line lasers is urgently needed to solve the problem existing in the prior art.
In order to solve the technical problems, a new technical scheme is especially provided.
Disclosure of Invention
The present invention aims to provide a method for high-precision calibration splicing of a plurality of line lasers, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: a method for multiple line laser high precision calibration stitching, the method comprising the steps of: step one, processing a calibration block;
measuring a reference surface and characteristic points of the calibration block;
step three, establishing a 3D coordinate system on the calibration block according to the measurement result;
step four, drawing the actual space position of the characteristic point of the calibration block on the coordinate system,
step five, scanning the characteristic point positions on the point cloud image of the calibration block through line laser;
and sixthly, calculating the positions of the characteristic points on the point cloud image of the calibration block and the positions of the characteristic points in the 3D coordinate system of the calibration block to obtain a 3D affine transformation matrix.
Preferably, the six surfaces on the calibration block are all embedded with steel balls with equal diameters, the number of the steel balls is 24, the parts of the convex surfaces of the balls exceeds one half of the total volume of the calibration block, each surface of the six surfaces on the calibration block is provided with at least three balls, the diameter of each ball is 2mm, the precision is +/-3 um, and the sphericity is 0.003 mm.
Preferably, the calibration block needs to be sent to an authoritative detection mechanism for high-precision three-dimensional detection, a dust-free cloth is not needed to wipe the calibration block before detection, and the detection contents are the length, width, height and size of the machined part and actual space coordinate values of all steel balls
Preferably, the 3D algorithm is used to obtain a spatial coordinate value of the sphere center of the steel ball on the point cloud image by fitting, and an affine transformation matrix of the fitted spatial coordinate value of the sphere center and the actual spatial coordinate value of the sphere center is calculated, which is the stitching relation of the line laser.
Preferably, the method includes scanning the surface profile of the calibration block by using a screw axis to drag the line laser, wherein the surface profile includes more than 3 spheres with sphere centers not on the same line, and obtaining the point cloud image according to the resolutions in the three directions of XYZ, and the method includes scanning more than 2 surfaces of the calibration block by using more than 2 line lasers.
Preferably, during the calibration process, the line laser is fixed on the mechanism and moves along with the screw shaft, the visual field of the line laser needs to be fixed, the calibration block needs to be kept fixed, and the calibration needs to be performed again if the position changes.
Compared with the prior art, the invention has the beneficial effects that: the invention can be suitable for high-precision splicing among a plurality of line lasers and solves the problem that the dimension cannot be measured by a single line laser.
Drawings
Fig. 1 is a schematic perspective view of a design, manufacturing and inspection method of a calibration block for high-precision calibration splicing of multiple line lasers according to a preferred embodiment of the present invention.
Fig. 2 is a left side view of fig. 1.
Fig. 3 is a right side view of fig. 1.
Fig. 4 is a top view of fig. 1.
Fig. 5 is a bottom view of fig. 1.
Fig. 6 is a perspective view 1 of fig. 1.
Fig. 7 is a perspective view 2 of fig. 1.
Figure 8 is the Halcon operator of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The present invention has been made in an effort to solve the problems occurring in the related art, and the present invention has been disclosed to provide a concept that solves the technical problems occurring in the related art, so that those skilled in the art should appreciate that the technical solutions of the present invention have been disclosed to the extent that they can completely solve the problems occurring in the related art. Therefore, if a person skilled in the art encounters new technical problems while implementing the technical solution, the person skilled in the art should understand that a directional problem of continuing development for two or three times and the like can be made on the basis of the present invention, and should not understand that the disclosure of the present invention is insufficient or cannot be implemented by newly proposing a problem, which belongs to a manner obvious to the person skilled in the art. If the present invention describes a part of the prior art referred to in the description of the embodiment, such a part not specifically described refers to the prior art, and it is natural that those skilled in the art can understand the prior art.
Referring to the attached drawings of the specification, the invention provides a technical scheme that: a method for multiple line laser high precision calibration stitching, the method comprising the steps of:
step one, processing a calibration block;
measuring a reference surface and characteristic points of the calibration block;
step three, establishing a 3D coordinate system on the calibration block according to the measurement result;
step four, drawing the actual space position of the characteristic point of the calibration block on the coordinate system,
step five, scanning the characteristic point positions on the point cloud image of the calibration block through line laser;
and sixthly, calculating the positions of the characteristic points on the point cloud image of the calibration block and the positions of the characteristic points in the 3D coordinate system of the calibration block to obtain a 3D affine transformation matrix.
Preferably, the six surfaces on the calibration block are all embedded with steel balls with equal diameters, the number of the steel balls is 24, the parts of the convex surfaces of the balls exceeds one half of the total volume of the calibration block, each surface of the six surfaces on the calibration block is provided with at least three balls, the diameter of each ball is 2mm, the precision is +/-3 um, and the sphericity is 0.003 mm.
Preferably, the calibration block needs to be sent to an authoritative detection mechanism for high-precision three-dimensional detection, a dust-free cloth is not needed to wipe the calibration block before detection, and the detection contents are the length, width, height and size of the machined part and actual space coordinate values of all steel balls
Preferably, the 3D algorithm is used to obtain a spatial coordinate value of the sphere center of the steel ball on the point cloud image by fitting, and an affine transformation matrix of the fitted spatial coordinate value of the sphere center and the actual spatial coordinate value of the sphere center is calculated, which is the stitching relation of the line laser.
Preferably, the method includes scanning the surface profile of the calibration block by using a screw axis to drag the line laser, wherein the surface profile includes more than 3 spheres with sphere centers not on the same line, and obtaining the point cloud image according to the resolutions in the three directions of XYZ, and the method includes scanning more than 2 surfaces of the calibration block by using more than 2 line lasers.
Preferably, during the calibration process, the line laser is fixed on the mechanism and moves along with the screw shaft, the visual field of the line laser needs to be fixed, the calibration block needs to be kept fixed, and the calibration needs to be performed again if the position changes. The specific implementation method comprises the following steps:
1. the calibration block workpiece is as shown in the attached figure 1, and is mainly characterized in that: the main body shape of the workpiece is a cuboid, the hollow design of the main body shape of the workpiece is a clearance position for providing lower linear laser, the length, the width and the height of the workpiece need to be designed according to the relevant size of an actual detection material, a steel ball on the workpiece needs to be screened through full detection, the precision needs to be ensured, the diameter of the steel ball in the example is selected by 2mm, two faces of the workpiece can be scanned at least by each linear laser, and simultaneously all size characteristics of the actual detection material can be scanned.
2. And detecting the bonded calibration block by using a high-precision three-dimensional element (the precision needs um level), and detecting the length, width and height of the main body of the calibration block and three coordinate values (X, Y and Z) of all steel balls. A3D graph shown in FIG. 5 is drawn according to the dimension measurement values, and the right side is taken as an example, and 6 steel balls on the right side are respectively marked.
Wherein, the actual measurement coordinate value of the steel ball is shown in table 1 for example:
| 1 | 2 | 3 | 4 | 5 | 6 | |
| x | 19.9226 | 19.9165 | 19.9126 | 22.1293 | 22.1412 | 22.1307 |
| y | 15.74 | 8.7401 | 1.7371 | 13.7502 | 8.7322 | 3.7456 |
| z | 0.4119 | 0.4223 | 0.4164 | -1.9808 | -1.9769 | -1.993 |
table 1 (actual coordinate value of steel ball)
3. Scanning the right side profile with line laser to obtain point cloud image, drawing 3D graph of the point cloud image and the measured value in the same coordinate system, numbering the steel balls in the point cloud image, and making the numbering correspond to the steel ball numbering.
4. Fitting the steel ball contours on the cloud chart of the point on the right side surface of the line laser scanning into a spherical surface, for example, fitting to obtain coordinate values of 6 steel balls, as shown in table 2:
| 1 | 2 | 3 | 4 | 5 | 6 | |
| x | -2.3442 | 4.6584 | 11.6838 | -0.3396 | 4.6667 | 9.6737 |
| y | -4.2891 | -4.309 | -4.3156 | -1.0397 | -1.0443 | -1.056 |
| z | -7.1932 | -7.1637 | -7.1512 | -7.4 | -7.3785 | -7.3819 |
table 2 (Steel ball scanning coordinate value)
5. The affine transformation matrix HomMat3D of the scan coordinate values of table 2 and the actual coordinate values of table 1 can be calculated using the Halcon operator, as shown in fig. 8.
6. The right side contour point cloud scanned by the line laser can be affine to a calibration block rendering 3D map according to HomMat 3D.
7. According to the method, affine transformation matrixes of the other 3 side surfaces and the upper surface of the calibration block are calculated, and the point cloud images obtained through scanning are simulated to be drawn on the 3D image.
8. At this point, the affine transformation relation between the laser scanning point cloud pictures on the 4 side surfaces and the upper surface of the calibration block and the drawing of the 3D picture is obtained, the relation is the splicing relation of a plurality of line lasers, the calibration of the multi-line laser is also referred by the method, and any object under the line laser view field can be spliced according to the splicing relation.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. A method for high-precision calibration splicing of a plurality of lines of laser is characterized by comprising the following steps: the method comprises the following steps: step one, processing a calibration block;
measuring a reference surface and characteristic points of the calibration block;
step three, establishing a 3D coordinate system on the calibration block according to the measurement result;
step four, drawing the actual space position of the characteristic point of the calibration block on the coordinate system,
step five, scanning the characteristic point positions on the point cloud image of the calibration block through line laser;
and sixthly, calculating the positions of the characteristic points on the point cloud image of the calibration block and the positions of the characteristic points in the 3D coordinate system of the calibration block to obtain a 3D affine transformation matrix.
2. The method for multiple line laser high precision calibration stitching according to claim 1, wherein: six surfaces all inlay the steel ball that has the diameter equal on the calibration piece, 24 totally, and the part of these ball bulge surfaces exceeds calibration piece total volume one half, at least three ball on each face of six surfaces on the calibration piece, the ball diameter is 2mm, and the precision is 3um, and the sphericity is 0.003 mm.
3. The method for multiple line laser high precision calibration stitching according to claim 1, wherein: the calibration block needs to be sent to an authority detection mechanism for high-precision three-dimensional detection, the calibration block needs to be wiped by dust-free cloth before detection, and the detection contents are the length, width, height and size of a machined part and actual space coordinate values of all steel balls.
4. The method for multiple line laser high precision calibration stitching according to claim 3, wherein: the 3D algorithm is utilized to fit to obtain the sphere center space coordinate value of the steel ball on the point cloud image, and an affine transformation matrix of the fitted sphere center space coordinate value and the actual sphere center space coordinate value is calculated, namely the splicing relation of the line laser.
5. The method for multiple line laser high precision calibration stitching according to claim 1, wherein: the method includes the steps that linear laser is dragged by a screw shaft to scan the surface contour of a calibration block, the surface contour needs to comprise more than 3 spheres with sphere centers not on the same line, a point cloud image is obtained according to the resolution in the XYZ three directions, and more than 2 surfaces of the calibration block need to be scanned by more than 2 linear lasers.
6. The method for multiple line laser high precision calibration stitching according to claim 5, wherein: in the calibration process, the linear laser is fixed on the mechanism and moves along with the screw shaft, the visual field of the linear laser needs to be fixed, the calibration block needs to be fixed, and the calibration needs to be performed again if the position changes.
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Application publication date: 20200807 |