CN113516622B - Visual detection pattern and method integrating digital speckles, grid lines and coding mark points - Google Patents
Visual detection pattern and method integrating digital speckles, grid lines and coding mark points Download PDFInfo
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Abstract
The invention provides a design method of a visual detection pattern integrating digital speckles, grid lines and coding mark points, wherein the digital speckles, the grid lines and the coding mark points are integrated on the whole pattern, and the generation of the visual detection pattern comprises the following steps: dividing the whole target area to be measured into a plurality of units; translating the coordinates of the central point of the unit by a random quantity in the grid to obtain the coordinates of the circle center of the speckles, and arranging the speckles in the unit according to the positions of the coordinates of the circle center; and arranging coding mark points at specific positions of the whole target area to be measured to obtain a visual detection pattern integrating digital speckles, grid lines and the coding mark points.
Description
Technical Field
The invention relates to the field of computer vision detection, in particular to a visual detection pattern and a visual detection method integrating digital speckles, grid lines and coding mark points.
Background
As a non-contact measurement means, the computer stereo vision technology can obtain three-dimensional coordinate information of corresponding points in an overlapped view field by using a parallax principle through a binocular sensor, and surface deformation and strain information of a measurement component can be obtained through recording positions of 'same-name points' at different moments. The process of finding the 'same-name points' of the two images is to find out the same point in the corresponding world coordinates of the two images according to the characteristics of the characteristic points, lines, gray scales, textures and the like of the local images through a specific digital image processing algorithm. The features in the image may be natural or artificially designed patterns. In close-range photogrammetry, manually designed characteristic patterns are often sprayed, adhered or transferred onto a measured surface, and three-dimensional information of a measured member is inverted by detecting position information of the characteristic patterns.
At present, near vision deformation and strain detection of parts generally arranges a digital speckle pattern as a detected feature on the surface of a part to be detected, digital Image Correlation (DIC) calculation is performed on an acquired image sequence, and then three-dimensional change information of the surface of an object is derived through a cross-correlation function peak value, so that deformation strain information is extracted.
In the process of implementing the invention, the inventor finds that the following problems exist in the prior art:
(1) The simple grid lines and the coding mark points cannot realize the sub-pixel precision measurement of small space strain;
(2) The invention can overcome the defect that the large-area digital speckle pattern can not be used in a large field range;
(3) Digital speckle patterns have difficulty defining regions of interest.
Disclosure of Invention
It is therefore an objective of the claimed invention to provide a visual inspection pattern and method for integrating digital speckles, grid lines and coded mark points, so as to solve at least one of the above technical problems.
In order to achieve the above object, as an aspect of the present invention, there is provided a method for designing a visual detection pattern integrating digital speckles, grid lines and coded mark points, the digital speckles, grid lines and coded mark points being integrated on the entire pattern, the method for generating the visual detection pattern including the steps of:
dividing the whole target area to be measured into a plurality of units;
translating the coordinates of the central point of the unit by a random quantity in the grid to obtain the coordinates of the circle center of the speckles, and arranging the speckles in the unit according to the positions of the coordinates of the circle center;
and arranging coding mark points at specific positions of the whole target area to be measured to obtain a visual detection pattern integrating digital speckles, grid lines and the coding mark points.
The relationship among the unit side length a, the speckle grain diameter d and the duty ratio rho is shown as the following formula:
and selecting a proper duty ratio rho according to the imaging quality, calculating the particle size by knowing the unit side length a, and preferably, the speckle particle size d is more than 4 pixels.
The gray levels of the speckles are required to be uniformly distributed according to measurement requirements, namely, the gray levels are divided into a plurality of levels, the gray levels of the speckle pattern in the whole area to be measured are distributed in a pseudo-random manner, and the gray levels of all levels on the final gray level histogram are uniformly distributed, so that the gray level characteristics are favorably embodied.
Wherein the grid line width of the grid is greater than 4 pixels.
The coding mark points comprise color coding points, square coding points, point coding points and annular coding points.
As another aspect of the present invention, there is provided a visual inspection pattern designed by the method for designing a visual inspection pattern as described above, including:
the speckles are used for realizing the sub-pixel precision measurement of deformation and strain of a target component in a micro-granularity range by matching with a digital image correlation algorithm and a gray level correlation matching algorithm based on the digital speckles in the visual field range of the visual sensor;
the grid lines are used in the visual field range of the visual sensor, matched with a line detection image detection algorithm, and based on high-precision positioning of the grid lines, the deformation and strain sub-pixel precision measurement of the target component in the medium-granularity range is realized;
the coding mark points are used for matching with a coding mark point recognition algorithm in the same visual sensor field range, and realizing the sub-pixel precision measurement of deformation and strain of the target component in the medium granularity range based on the high-precision positioning of the coding mark point characteristics; the method can also be used as an iteration starting point of a digital speckle DIC algorithm under a micro-granularity scale, so that the iteration speed is increased, the image matching precision of the multi-view sensor is improved, and different areas can be marked; the method can also be used as the homonymy characteristic point for the splicing of different vision sensor detection images, and the splicing precision of the images shot by different sensors is improved.
The method is applied to rapid measurement of deformation, strain and strain fields of large members with different field ranges and different granularities.
Based on the technical scheme, compared with the prior art, the visual detection pattern and the design method thereof have at least one of the following beneficial effects:
(1) The strain measurement of the workpiece in the large visual field range and the small visual field range can be considered simultaneously;
(2) The interest area is convenient to define, and the independent measurement of the interest area is easier to carry out;
(3) The rapid measurement of deformation and strain of large structural parts with different granularities is realized conveniently by combining machine vision and digital image DIC technology.
Drawings
FIG. 1 is a schematic flow chart of a method for designing a visual inspection pattern according to an embodiment of the present invention;
FIG. 2 is a schematic view of a surface of a casing incorporating coded marker points, grid lines, and digital speckles according to an embodiment of the present invention;
FIG. 3 is a diagram of a circular encoded marker according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating fusion of encoding mark points and grid lines according to an embodiment of the present invention;
fig. 5 is an application scenario of a digital speckle pattern provided by an embodiment of the present invention.
Detailed Description
The coded mark points are distinguished from the traditional non-coded mark points and are artificial mark points with unique characteristics, the absolute position relation of the artificial mark points relative to the measured object is determined through unique mark identification, and the photogrammetry with sub-pixel precision is easy to realize quickly. The color coding mark points are different in shape and can be roughly divided into color coding points, square coding points, point coding points and annular coding points. The coded mark points can be used as the characteristic mark points of the specific area, so that the areas are mutually independent and have larger characteristic distinguishing degree.
The invention aims to invent a pattern combining coding mark points, grid lines and digital speckles for visual detection strain measurement, which can be used as a detection pattern to be sprayed or transferred onto a detected object, is suitable for strain measurement in different field ranges and different measurement granularities based on computer visual detection, and achieves the effect of coarse and fine combination.
The measurement requirements of sub-pixel-level measurement accuracy are easily met by the measurement features such as the coding mark points and the grid lines, and the response to in-plane deformation (stretching) and out-of-plane (shearing and twisting) deformation of the casing is obvious, but due to the limitation of the identification capability of the image features, if the sizes of the two marks are too small, the measurement accuracy based on the two feature identification algorithms is seriously influenced, so that the two features are more suitable for deformation and strain field measurement in a relatively large field range.
In order that the objects, technical solutions and advantages of the present invention will become more apparent, the present invention will be further described in detail with reference to the accompanying drawings in conjunction with the following specific embodiments.
As shown in fig. 1, the invention discloses a pattern design method combining coded mark points, grid lines and digital speckles for visual detection of strain measurement, which comprises the following steps:
evaluating a region to be measured, dividing the whole target region to be measured into M × N units, and arranging one speckle in each unit, so that the number of speckles is M × N; the central point coordinates of the cells are translated by a random quantity in the grid to obtain the circle center coordinates of the speckles, the circular speckles are arranged according to the circle center coordinate positions obtained in the mode (for convenience, the speckles provided by the patent are circular speckles, and actually the speckles can also be arranged in other geometric shapes), and the particle size and the gray level of the speckle circle can be obtained according to the actual measurement requirements (the imaging speckle characteristics obtained by shooting are obvious, the gray level distribution is reasonable, and the contrast is high) according to the mode in the step 2.
The staggered grid lines shown in the figure 4 are arranged in the measurement area, in order to ensure the mesoscale sub-pixel measurement, the line width of the grid lines is also larger than 4 pixels, the detection precision is better when 10 pixels are measured actually, the actual value is adjusted according to the field measurement environment and the visual detection algorithm, the parallel line distance is preferably larger than 10 times of the line width, and the actual value of the line width is adjusted according to the field measurement environment and the visual detection algorithm.
The coding mark points are arranged in the measurement area as shown in fig. 3, according to the detection capability of the coding mark point identification algorithm, the size of the coding mark points should be larger than the minimum detection capability (minimum pixel size) of the coding mark point detection algorithm, the coding mark points can be actually adjusted according to the measurement requirement, the positions of the coding marks are preferably arranged in the sensitive area of the detection object, for the convenience of distinguishing, the codes of each coding mark point should be different, nine coding mark points are arranged on the pattern shown in fig. 2, are respectively positioned in the upper, middle and lower three rows of the pattern, are three in each row, are not necessarily arranged according to the positions in the actual measurement, and are arranged according to the requirement, the coding mark points are mainly used as characteristic points under the medium granularity scale for sub-pixel measurement, and are used as iteration starting points of the digital DIC algorithm under the micro granularity scale.
The relationship between the unit side length a and the speckle grain diameter d and the duty ratio rho is shown as the following formula:
and selecting a proper duty ratio rho according to the imaging quality, calculating the particle size by knowing the unit side length a, and preferably, the speckle particle size d is more than 4 pixels.
The gray levels of the speckles are required to be uniformly distributed according to measurement requirements, namely, the gray levels are divided into a plurality of levels, the gray levels of the speckle pattern in the whole area to be measured are distributed in a pseudo-random manner, and the gray levels of all levels on the final gray level histogram are uniformly distributed, so that the gray level characteristics are favorably embodied.
Wherein the grid line width of the grid is greater than 4 pixels.
The coding mark points comprise color coding points, square coding points, point coding points and annular coding points.
As shown in fig. 2, the present invention discloses a pattern designed by the above-mentioned pattern design method combining the coded mark points, grid lines and digital speckles for visual detection of strain measurement, including:
the speckle is used for realizing the deformation and strain sub-pixel precision measurement of a target component in a micro-granularity range by matching with a digital image correlation algorithm (DIC) and a gray scale correlation matching algorithm based on the digital speckle in the visual field range of the visual sensor.
And the grid lines are used in the visual field range of the visual sensor, are matched with a line detection image detection algorithm, and are positioned based on the high precision of the grid lines, so that the sub-pixel precision measurement of the deformation and the strain of the target component in the medium granularity range is realized.
The coding mark points are used in the field of view of the same vision sensor, are matched with a coding mark point recognition algorithm, and are positioned at high precision based on the characteristics of the coding mark points, so that the sub-pixel precision measurement of deformation and strain of a target component in a medium granularity range is realized; the iteration starting point of the digital speckle DIC algorithm under the micro-granularity scale can be used, the iteration speed is accelerated, the image matching precision of the multi-view sensor is improved, and different areas can be marked; the method can also be used as the homonymous characteristic point for detecting image splicing by different vision sensors, and the splicing precision of images shot by different sensors is improved.
The coding mark points comprise color coding points, square coding points, point coding points and annular coding points. Fig. 3 is a schematic diagram of a circular encoded mark point.
As shown in fig. 4, a pattern for combining grid lines and coded mark points includes:
and the grid lines are used in the visual field range of the visual sensor, are matched with a line detection image detection algorithm, and are positioned based on the high precision of the grid lines, so that the sub-pixel precision measurement of the deformation and the strain of the target component in the medium granularity range is realized.
The coding mark points are used in a visual field range of a visual sensor, are matched with a coding mark point recognition algorithm, and are positioned at high precision based on the characteristics of the coding mark points, so that the sub-pixel precision measurement of deformation and strain of a target component in a medium granularity range is realized; the iteration starting point of the digital speckle DIC algorithm under the micro-granularity scale can be used, the iteration speed is increased, the image matching precision of the multi-view sensor is improved, and different areas can be marked; the method can also be used as the homonymous characteristic point for detecting image splicing by different vision sensors, and the splicing precision of images shot by different sensors is improved.
In particular, fig. 4 does not have speckles to highlight that the grid line pattern is deformed when the surface of the object is deformed, and the detection of the surface strain and deformation of the object can be realized by detecting the change of the pattern. Fig. 4 is for ease of illustration.
Fig. 5 shows the application of a pattern of coded markers, grid lines and digital speckles in combination as described above for visual inspection of strain measurements, where strain and the resulting strain field are rapidly measured over a relatively large field of view.
Taking the measurement of a large-scale aeroengine casing as an example:
the pattern shown in figure 2 is arranged on the surface of a mechanical part by means of water transfer printing or other spraying technology which does not damage the surface of the part, a plurality of groups of three-dimensional visual sensors measure the position of a three-dimensional space point of a characteristic point, a digital speckle interference correlation method is adopted in combination with a key measurement area, a data integration host controls a synchronous pulser to send a time sequence pulse, a driving circuit drives a stroboscopic light source to work and synchronously triggers a plurality of groups of binocular visual sensors to collect images of respective local measurement areas, the digital speckle interference sensing collects digital speckle interference images of the key measurement area, the collected images at the same moment are subjected to rapid image processing by a high-speed computing cluster and then are transmitted to the data integration host to carry out position information resolving on each characteristic point of a cartridge receiver, deformation displacement and strain field of each characteristic point at the moment can be obtained after differential computation with the initial moment, the cartridge receiver dynamic deformation and strain field information can be displayed in real time by data fitting conversion, and upper computer software can be developed to realize online measurement and display of the cartridge receiver part deformation field and strain field.
Aiming at the measurement of macroscopic integral deformation and strain, a multi-stereo vision sensing method integrating coding mark points, grid lines and digital speckle characteristic patterns is adopted, each stereo vision sensor measures a specific same characteristic point, the spatial position of the same characteristic point is determined according to the relation between the stereo sensors, and the measurement data before and after deformation are used for realizing the measurement of deformation and strain of the macroscopic integral casing; in the field of view range of the single vision sensor, high-precision positioning based on the characteristic points of the circular holes is realized to realize deformation and strain measurement of the casing in a medium granularity range; based on a digital speckle correlation matching method, high-precision casing deformation and strain measurement in a fine-grained range is realized. Aiming at the high-precision measurement of the medium-granularity range strain, the double-sensor combination is adopted, the displacement measurement precision in the sensor field range is improved by reducing the field range of the sensor, and the measurement precision of the medium-granularity range strain field is improved under the condition that the distance between the double sensors is known. By the method, local high-precision in-plane and out-of-plane high-precision deformation measurement can be realized, so that macro-micro combined high-precision integral casing deformation and strain measurement is realized.
The above-mentioned embodiments, objects, technical solutions and advantages of the present invention are further described in detail, it should be understood that the above-mentioned embodiments are only examples of the present invention, and should not be construed as limiting the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. A design method of a visual detection pattern integrating digital speckles, grid lines and coding mark points is characterized in that the digital speckles, the grid lines and the coding mark points are integrated on the whole pattern, and the visual detection pattern generation comprises the following steps:
dividing the whole target area to be measured into a plurality of units;
translating the coordinates of the central point of the unit by a random quantity in the grid to obtain the coordinates of the circle center of the speckles, and arranging the speckles in the unit according to the positions of the coordinates of the circle center;
the relationship between the unit side length a and the speckle grain diameter d and the duty ratio rho is shown as the following formula:
selecting a proper duty ratio rho according to imaging quality, calculating the particle size by knowing the unit side length a, wherein the speckle particle size d is more than 4 pixels;
and arranging coding mark points at specific positions of the whole target area to be measured to obtain a visual detection pattern integrating digital speckles, grid lines and the coding mark points.
2. The design method of visual inspection patterns according to claim 1, wherein the gray levels of the speckles should be uniformly distributed according to the measurement requirement, i.e. the gray levels are divided into a plurality of levels, the gray levels of the speckle patterns in the whole area to be measured are pseudo-randomly distributed, and the gray levels of the levels on the final gray level histogram are uniformly distributed, which is favorable for embodying the gray level characteristics.
3. A method of designing a visual inspection pattern according to claim 1, wherein the grid lines of the grid have a line width greater than 4 pixels.
4. The method of claim 1, wherein the code mark dots include color code dots, square code dots, dot code dots, and circular code dots.
5. A visual inspection pattern designed by the method of designing a visual inspection pattern according to any one of claims 1 to 4, comprising:
the speckles are used for realizing the sub-pixel precision measurement of deformation and strain of a target component in a micro-granularity range by matching with a digital image correlation algorithm and a gray level correlation matching algorithm based on the digital speckles in the visual field range of the visual sensor;
the grid lines are used in the visual field range of the visual sensor, matched with a line detection image detection algorithm, and based on high-precision positioning of the grid lines, the deformation and strain sub-pixel precision measurement of the target component in the medium-granularity range is realized;
the coding mark points are used for matching with a coding mark point recognition algorithm in the same visual sensor field range, and realizing the sub-pixel precision measurement of deformation and strain of the target component in the medium granularity range based on the high-precision positioning of the coding mark point characteristics; the method can also be used as an iteration starting point of a digital speckle DIC algorithm under a micro-granularity scale, so that the iteration speed is increased, the image matching precision of the multi-view sensor is improved, and different areas can be marked; the method can also be used as the homonymous characteristic point for detecting image splicing by different vision sensors, and the splicing precision of images shot by different sensors is improved.
6. Use of a visual inspection pattern according to claim 5 for the rapid measurement of deformation, strain and strain fields of large components of different field of view and different grain size.
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Effective date of registration: 20240118 Address after: Office Building 451-04, Xuefu Industrial Zone Management Committee, Xiqing District, Tianjin, 300000 Patentee after: SMARTMENS (TIANJIN) TECHNOLOGY CO.,LTD. Address before: 300072 Tianjin City, Nankai District Wei Jin Road No. 92 Patentee before: Tianjin University |