CN114234808A - Size measuring method and device for deformation area of rotary magnetic pulse crimping part - Google Patents
Size measuring method and device for deformation area of rotary magnetic pulse crimping part Download PDFInfo
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- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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Abstract
The invention provides a method and a device for measuring the size of a deformation area of a rotary magnetic pulse crimping piece, comprising the following steps: collecting a plurality of calibration plate images at different angles, calibrating by using a calibration tool to obtain a first internal reference matrix, a first external reference matrix and a distortion coefficient, and projecting a structured light straight line in the calibration plate images; carrying out distortion removal processing on the calibration board image according to the distortion coefficient to obtain a distortion-removed image; carrying out secondary calibration on the undistorted image, obtaining a calibration ray equation of any pixel point in the undistorted image passing through the center of the camera under a camera coordinate system, and obtaining a structured light plane equation; and acquiring a structured light video of the magnetic pulse crimping piece through a camera, and acquiring the actual three-dimensional size of the deformation area of each angle of the workpiece according to a structured light plane equation and a calibration ray equation by using each frame of structured light image in the structured light video. The invention can effectively improve the calibration precision and stability and can simply obtain the size of the deformation area of the shaft section with any angle.
Description
Technical Field
The invention belongs to the technical field of magnetic pulse forming, and particularly relates to a method and a device for measuring the size of a deformation area of a rotary magnetic pulse compression joint part.
Background
The magnetic pulse compression joint is an advanced connection technology, is fast and green in production and does not damage the surface of a workpiece. And the magnetic pulse crimping piece has higher connection strength.
Due to the unique appearance characteristics of the rotary magnetic pulse crimping piece, the existing convex or concave edge rotary appearance cannot be acquired by a camera to obtain a real appearance. This is because the camera can only observe at most the tangent portion of the line of sight to the rotating member, and cannot notice the blind area portion behind. How to quickly and accurately measure the size of the deformation area of the crimping piece is an urgent problem to be solved. The conventional measurement method is not suitable for a production line operating at a high speed. In addition, the real size of the gyration type magnetic pulse crimping piece multi-angle needs the mechanical collection multiple angle image, and this process is comparatively loaded down with trivial details complicacy.
Disclosure of Invention
The invention provides a method and a device for measuring the size of a deformation region of a rotary magnetic pulse crimping piece, which aim to solve the problem that the size of the deformation region of the crimping piece is difficult to measure quickly and accurately in the prior art.
In view of the above object, an embodiment of the present invention provides a method for measuring a size of a deformation region of a rotary magnetic pulse crimping member, including: collecting a plurality of calibration plate images at different angles, and calibrating the calibration plate images by using a calibration tool to obtain a first internal reference matrix, a first external reference matrix and a distortion coefficient, wherein a structured light straight line is projected in the calibration plate images; carrying out distortion removal processing on the calibration board image according to the distortion coefficient to obtain a distortion-removed image; carrying out secondary calibration on the undistorted image to obtain a calibration ray equation of any pixel point in the undistorted image passing through the center of the camera under a camera coordinate system and obtain a structured light plane equation; and acquiring a structured light video of the magnetic pulse crimping piece through a camera, and acquiring the actual three-dimensional size of the deformation area of each angle of the workpiece by using each frame of structured light image in the structured light video according to the structured light plane equation and the calibration ray equation.
Optionally, the performing distortion removal processing on the calibration board image according to the distortion coefficient to obtain a distortion-removed image includes: and carrying out distortion removal treatment on the calibration board image by applying a preset distortion removal program according to the distortion coefficient, and removing image distortion to obtain the distortion removal image.
Optionally, the performing secondary calibration on the undistorted image to obtain a calibration ray equation of any pixel point in the undistorted image passing through the center of the camera in the camera coordinate system, and obtaining a structured light plane equation includes: inputting the distortion-removed image into the calibration tool for secondary calibration to obtain a second internal reference matrix and a second external reference matrix; combining the second internal reference matrix and the second external reference matrix to obtain the calibrated ray equation of any pixel point in the undistorted image passing through the center of the camera under a camera coordinate system; and inputting the distortion-removed image into a structured light calibration program to obtain a structured light plane equation under a camera coordinate system.
Optionally, after the distortion-removed image is input to the calibration tool for secondary calibration to obtain a second internal reference matrix and a second external reference matrix, the method includes: combining the second internal reference matrix and the second external reference matrix, and calculating the average distance of the diagonal line of the calibration plate solved by using a coordinate transformation formula by applying a preset calibration precision program; and comparing the average distance with the actual distance of the diagonal line of the calibration plate to obtain the calibration precision.
Optionally, after the inputting the distortion-removed image into the structured light calibration program to obtain the structured light plane equation, the method includes: simultaneously calculating the measurement distance calibrated by the structured light in the calibration plate image by the calibration ray equation and the structured light plane equation; and comparing the measuring distance with the structured light length measured in the calibration plate to obtain the measuring precision.
Optionally, the acquiring a structured light video of the magnetic pulse compression joint by the camera includes: and acquiring a structured light video of the magnetic pulse crimping piece rotating around the shaft for at least one circle by a camera.
Optionally, the obtaining, by using each frame of structured light image in the structured light video, the actual three-dimensional size of the deformation region at each angle according to the structured light plane equation and the calibration ray equation includes: performing frame extraction from the structured light video by using a preset frame extraction program to obtain structured light images of a plurality of angles, wherein each angle comprises a plurality of structured light images; carrying out distortion removal processing on the plurality of structured light images at each angle according to the distortion coefficient; combining the structured light plane equation and the calibration ray equation to obtain coordinates of each point of a deformation area in each undistorted structured light image in a camera coordinate system; and calculating the actual three-dimensional size of the deformation region of each angle according to the coordinates of each point of the deformation region in the undistorted structured light image under a camera coordinate system.
Optionally, the calculating the actual three-dimensional size of the deformation region at each angle according to the coordinates of each point of the deformation region in the undistorted structured light image in the camera coordinate system includes: calculating the three-dimensional size of each deformation area according to the coordinates of each point of each deformation area in the deformed structured light image under a camera coordinate system after distortion removal; and averaging the three-dimensional sizes of the deformed regions in the plurality of undistorted structured light images at each angle to obtain the actual three-dimensional size of the deformed region at each angle.
Based on the same inventive concept, the embodiment of the invention also provides a size measuring device for the deformation region of the rotary magnetic pulse crimping piece, which comprises: the calibration device comprises a first calibration unit, a second calibration unit and a control unit, wherein the first calibration unit is used for collecting a plurality of calibration plate images at different angles, calibrating the calibration plate images by using a calibration tool, and acquiring a first internal reference matrix, a first external reference matrix and a distortion coefficient, wherein a structured light straight line is projected in the calibration plate images; the distortion removing unit is used for removing distortion of the calibration board image according to the distortion coefficient to obtain a distortion removed image; the second calibration unit is used for carrying out secondary calibration on the undistorted image, acquiring a calibration ray equation of any pixel point in the undistorted image passing through the center of the camera under a camera coordinate system, and acquiring a structured light plane equation; and the size measuring unit is used for acquiring a structured light video of the magnetic pulse compression joint through a camera, and acquiring the actual three-dimensional size of the deformation area of each angle of the workpiece by applying each frame of structured light image in the structured light video according to the structured light plane equation and the calibration ray equation.
Based on the same inventive concept, an embodiment of the present invention further provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the computer program to implement the method described in any one of the above items.
The method and the device for measuring the size of the deformation area of the rotary magnetic pulse compression joint have the advantages that a plurality of calibration plate images at different angles are collected, a calibration tool is used for calibrating the calibration plate images, a first internal reference matrix, a first external reference matrix and a distortion coefficient are obtained, and a structured light straight line is projected in the calibration plate images; carrying out distortion removal processing on the calibration board image according to the distortion coefficient to obtain a distortion-removed image; carrying out secondary calibration on the undistorted image to obtain a calibration ray equation of any pixel point in the undistorted image passing through the center of the camera under a camera coordinate system and obtain a structured light plane equation; the method comprises the steps of collecting a structured light video of the magnetic pulse crimping piece through a camera, obtaining the actual three-dimensional size of a deformation area of each angle of a workpiece by using each frame of structured light image in the structured light video according to a structured light plane equation and a calibration ray equation, effectively improving calibration precision and stability, and simply obtaining the size of the deformation area of any angle shaft section.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic flow chart of a method for measuring the size of a deformation region of a rotary magnetic pulse crimping member according to an embodiment of the present invention;
FIG. 2 is a schematic illustration of a collected structured light image in an embodiment of the present invention;
FIG. 3 is a schematic structural view of a dimension measuring apparatus of a deformation region of a rotary magnetic pulse crimping member in an embodiment of the present invention;
fig. 4 is a schematic diagram of an electronic device according to an embodiment of the invention.
Detailed Description
For the purpose of promoting a better understanding of the objects, aspects and advantages of the present disclosure, reference is made to the following detailed description taken in conjunction with the accompanying drawings.
It is to be noted that technical terms or scientific terms used in the embodiments of the present invention should have the ordinary meanings as understood by those having ordinary skill in the art to which the present disclosure belongs, unless otherwise defined. The use of "first," "second," and similar language in the embodiments of the present invention does not denote any order, quantity, or importance, but rather the terms "first," "second," and similar language are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.
The embodiment of the invention also provides a size measuring method of the deformation area of the rotary magnetic pulse crimping piece. As shown in the attached figure 1, the size measurement method of the deformation area of the rotary magnetic pulse crimping piece comprises the following steps:
step S11: the method comprises the steps of collecting a plurality of calibration plate images at different angles, calibrating the calibration plate images by using a calibration tool, and obtaining a first internal reference matrix, a first external reference matrix and a distortion coefficient, wherein a structured light straight line is projected in the calibration plate images.
In the embodiment of the invention, a plurality of chessboard pattern calibration plate images at different angles are collected, and the calibration plate images are input into a calibration tool for calibration to obtain a first internal reference matrix, a first external reference matrix and a distortion coefficient. And the calibration plate image is also projected with a structured light straight line to be used for structured light calibration. Preferably, the matlab calibration tool box is used for calibration in the embodiment of the present invention, but in other embodiments of the present invention, other calibration tools may also be used for calibrating the calibration plate image, which is not limited herein.
Step S12: and carrying out distortion removal processing on the calibration board image according to the distortion coefficient to obtain a distortion removed image.
In the embodiment of the present invention, optionally, a preset distortion removal program is applied to perform distortion removal processing on the calibration board image according to the distortion coefficient, so as to remove image distortion, thereby obtaining the distortion-removed image. The distortion-removed image is the calibration board image with distortion removed according to the distortion coefficient. The distortion removal program may be a distortion removal program written by the user as needed, or an existing distortion removal program may be used, which is not limited herein. For example, a distortion removal program written using the user application OpenCV.
Step S13: and carrying out secondary calibration on the undistorted image, obtaining a calibration ray equation of any pixel point in the undistorted image passing through the center of the camera under a camera coordinate system, and obtaining a structured light plane equation.
In step S13, optionally, inputting the undistorted image into the calibration tool for secondary calibration, and obtaining a second internal reference matrix and a second external reference matrix; combining the second internal reference matrix and the second external reference matrix to obtain the calibrated ray equation of any pixel point in the undistorted image passing through the center of the camera under a camera coordinate system; and inputting the distortion-removed image into a structured light calibration program to obtain a structured light plane equation under a camera coordinate system.
And inputting the undistorted image into the calibration tool in the step S11 for secondary calibration to obtain a second internal reference matrix and a second external reference matrix, where each distortion coefficient is small. In the embodiment of the invention, the calibration accuracy of the secondary calibration can be measured. Optionally, after a second internal reference matrix and a second external reference matrix are obtained, a preset calibration precision program is used for calculating the average distance of the diagonal line of the calibration plate solved by using a coordinate transformation formula in combination with the second internal reference matrix and the second external reference matrix; and comparing the average distance with the actual distance of the diagonal line of the calibration plate to obtain the calibration precision. Specifically, the coordinates of the corner points of the calibration plate are read, and the coordinates corresponding to the coordinates of the corner points of the calibration plate in the camera coordinate system are obtained by using a coordinate transformation formula by using a preset calibration precision program in combination with the second internal reference matrix and the second external reference matrix, so that the average distance of the diagonal lines in the camera coordinate system is calculated; and comparing the average distance with the actual distance of the diagonal line of the calibration plate to obtain the calibration precision. And when the calibration precision meets the preset requirement, continuing the next calibration. And combining the second internal reference matrix and the second external reference matrix to obtain a calibration ray equation of any pixel point in the undistorted image passing through the center of the camera under a camera coordinate system.
Meanwhile, the distortion-removed image is input into a preset structured light calibration program to obtain a structured light plane equation. After obtaining the structured light plane equation, the measurement accuracy of the embodiment of the present invention can be measured. Optionally, simultaneously calculating the measurement distance calibrated by the structured light in the calibration plate image by the calibration ray equation and the structured light plane equation; and comparing the measuring distance with the structured light length measured in the calibration plate to obtain the measuring precision.
Step S14: and acquiring a structured light video of the magnetic pulse crimping piece through a camera, and acquiring the actual three-dimensional size of the deformation area of each angle of the workpiece by using each frame of structured light image in the structured light video according to the structured light plane equation and the calibration ray equation.
In an embodiment of the present invention, optionally, a structured light video of at least one rotation of the magnetic pulse crimping piece around the shaft is captured by a camera. And then, frame extraction is carried out on each frame in the structured light video by applying a preset frame extraction program, each frame image in the structured light video is extracted, and structured light images of a plurality of angles are obtained, wherein each angle comprises a plurality of structured light images. And performing a distortion removal process on the plurality of structured light images at each angle according to the distortion coefficient, that is, performing a distortion removal process on each structured light image extracted from the structured light video according to the distortion removal coefficient obtained in step S11. And then, the structured light plane equation and the calibration ray equation are combined to obtain the coordinates of each point of the deformation area in each undistorted structured light image in a camera coordinate system. And finally, calculating the actual three-dimensional size of the deformation area of each angle according to the coordinates of each point of the deformation area in the undistorted structured light image under a camera coordinate system. In the embodiment of the present invention, specifically, the three-dimensional size of each deformed region may be calculated according to coordinates of each point of the deformed region in each undistorted structured light image in a camera coordinate system; and averaging the three-dimensional sizes of the deformed regions in the plurality of undistorted structured light images at each angle to obtain the actual three-dimensional size of the deformed region at each angle, so that the overall deformed size of the deformed region can be obtained.
According to the embodiment of the invention, a large number of multi-angle appearance images are quickly obtained by a method of extracting each frame of image from the video file which collects the rotating motion of the magnetic pulse compression joint piece around the shaft, so that the method is quick and effective; by using the structured light vision to measure the rotary magnetic pulse compression joint part, the structured light plane equation and the calibration ray equation at the calibration position are obtained simultaneously, the problem that the measurement cannot be carried out due to the edge appearance of the rotary part is avoided, and the size of a deformation area of an axial section with any angle can be simply obtained; the calibration result is obtained by using the undistorted image to obtain a structured light plane equation and a secondary calibration image, and the result is stable and has high relative precision. Fig. 2 is a structured light image collected using structured light, where the bend is a deformation region. The average calibration precision obtained by applying the size measuring method of the deformation region of the rotary magnetic pulse compression joint member in the embodiment of the invention is 2.30%, wherein the lowest precision is 5.11%, and the highest precision is 0.35%; with the help of structured light calibration, the average measurement accuracy reaches 0.48%, wherein the lowest accuracy is 0.68%, and the highest accuracy is 0.10%.
The method comprises the steps of acquiring a plurality of calibration plate images at different angles, and calibrating the calibration plate images by using a calibration tool to obtain a first internal reference matrix, a first external reference matrix and a distortion coefficient, wherein a structured light straight line is projected in the calibration plate images; carrying out distortion removal processing on the calibration board image according to the distortion coefficient to obtain a distortion-removed image; carrying out secondary calibration on the undistorted image to obtain a calibration ray equation of any pixel point in the undistorted image passing through the center of the camera under a camera coordinate system and obtain a structured light plane equation; the method comprises the steps of collecting a structured light video of the magnetic pulse crimping piece through a camera, obtaining the actual three-dimensional size of a deformation area of each angle of a workpiece by using each frame of structured light image in the structured light video according to a structured light plane equation and a calibration ray equation, effectively improving calibration precision and stability, and simply obtaining the size of the deformation area of any angle shaft section.
The foregoing description of specific embodiments of the present invention has been presented. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
Based on the same invention concept, the embodiment of the invention provides a size measuring device for a deformation area of a rotary magnetic pulse crimping piece. As shown in fig. 3, the dimension measuring apparatus of the deformation region of the rotary type magnetic pulse crimping member comprises: the device comprises a first calibration unit, a distortion removal unit, a second calibration unit and a size measurement unit. Wherein the content of the first and second substances,
the calibration device comprises a first calibration unit, a second calibration unit and a control unit, wherein the first calibration unit is used for collecting a plurality of calibration plate images at different angles, calibrating the calibration plate images by using a calibration tool, and acquiring a first internal reference matrix, a first external reference matrix and a distortion coefficient, wherein a structured light straight line is projected in the calibration plate images;
the distortion removing unit is used for removing distortion of the calibration board image according to the distortion coefficient to obtain a distortion removed image;
the second calibration unit is used for carrying out secondary calibration on the undistorted image, acquiring a calibration ray equation of any pixel point in the undistorted image passing through the center of the camera under a camera coordinate system, and acquiring a structured light plane equation;
and the size measuring unit is used for acquiring a structured light video of the magnetic pulse compression joint through a camera, and acquiring the actual three-dimensional size of the deformation area of each angle of the workpiece by applying each frame of structured light image in the structured light video according to the structured light plane equation and the calibration ray equation.
For convenience of description, the above devices are described as being divided into various modules by functions, and are described separately. Of course, the functions of the modules may be implemented in the same or multiple software and/or hardware in implementing embodiments of the invention.
The apparatus of the foregoing embodiment is used to implement the corresponding method in the foregoing embodiment, and has the beneficial effects of the corresponding method embodiment, which are not described herein again.
Based on the same inventive concept, an embodiment of the present invention further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the method according to any of the above embodiments is implemented.
Fig. 4 is a schematic diagram illustrating a more specific hardware structure of an electronic device according to this embodiment, where the electronic device may include: a processor 401, a memory 402, an input/output interface 403, a communication interface 404, and a bus 405. Wherein the processor 401, the memory 402, the input/output interface 403 and the communication interface 404 are communicatively connected to each other within the device by a bus 405.
The processor 401 may be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits, and is configured to execute related programs to implement the technical solution provided by the embodiment of the present invention.
The Memory 402 may be implemented in the form of a ROM (Read Only Memory), a RAM (Random access Memory), a static storage device, a dynamic storage device, or the like. The memory 402 may store an operating system and other application programs, and when the technical solution provided by the embodiment of the present invention is implemented by software or firmware, the relevant program codes are stored in the memory 402 and called to be executed by the processor 401.
The input/output interface 403 is used for connecting an input/output module to realize information input and output. The i/o module may be configured as a component in a device (not shown) or may be external to the device to provide a corresponding function. The input devices may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output devices may include a display, a speaker, a vibrator, an indicator light, etc.
The communication interface 404 is used to connect a communication module (not shown in the figure) to implement communication interaction between the present device and other devices. The communication module can realize communication in a wired mode (such as USB, network cable and the like) and also can realize communication in a wireless mode (such as mobile network, WIFI, Bluetooth and the like).
The bus 405 includes a path that transfers information between the various components of the device, such as the processor 401, memory 402, input/output interface 403, and communication interface 404.
It should be noted that although the above-mentioned device only shows the processor 401, the memory 402, the input/output interface 403, the communication interface 404 and the bus 405, in a specific implementation, the device may also include other components necessary for normal operation. Furthermore, those skilled in the art will appreciate that the above-described apparatus may also include only those components necessary to implement embodiments of the present invention, and need not include all of the components shown in the figures.
Those of ordinary skill in the art will understand that: the discussion of any embodiment above is meant to be exemplary only, and is not intended to intimate that the scope of the disclosure, including the claims, is limited to these examples; within the idea of the present disclosure, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity.
The present invention is intended to embrace all such alternatives, modifications and variances which fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalents, improvements, and the like that may be made within the spirit and principles of the invention are intended to be included within the scope of the disclosure.
Claims (10)
1. A method for measuring the size of a deformation area of a rotary magnetic pulse crimping member is characterized by comprising the following steps:
collecting a plurality of calibration plate images at different angles, and calibrating the calibration plate images by using a calibration tool to obtain a first internal reference matrix, a first external reference matrix and a distortion coefficient, wherein a structured light straight line is projected in the calibration plate images;
carrying out distortion removal processing on the calibration board image according to the distortion coefficient to obtain a distortion-removed image;
carrying out secondary calibration on the undistorted image to obtain a calibration ray equation of any pixel point in the undistorted image passing through the center of the camera under a camera coordinate system and obtain a structured light plane equation;
and acquiring a structured light video of the magnetic pulse crimping piece through a camera, and acquiring the actual three-dimensional size of the deformation area of each angle of the workpiece by using each frame of structured light image in the structured light video according to the structured light plane equation and the calibration ray equation.
2. The method of claim 1, wherein said de-distorting said reticle image based on said distortion coefficient to obtain a de-distorted image, comprises:
and carrying out distortion removal treatment on the calibration board image by applying a preset distortion removal program according to the distortion coefficient, and removing image distortion to obtain the distortion removal image.
3. The method of claim 1, wherein the performing the second calibration on the undistorted image to obtain a calibration ray equation of any pixel point in the undistorted image passing through the center of the camera in the camera coordinate system and obtain the structured light plane equation comprises:
inputting the distortion-removed image into the calibration tool for secondary calibration to obtain a second internal reference matrix and a second external reference matrix;
combining the second internal reference matrix and the second external reference matrix to obtain the calibrated ray equation of any pixel point in the undistorted image passing through the center of the camera under a camera coordinate system;
and inputting the distortion-removed image into a structured light calibration program to obtain a structured light plane equation under a camera coordinate system.
4. The method as claimed in claim 3, wherein said inputting said undistorted image into said calibration tool for a second calibration after obtaining a second internal reference matrix and a second external reference matrix comprises:
combining the second internal reference matrix and the second external reference matrix, and calculating the average distance of the diagonal line of the calibration plate solved by using a coordinate transformation formula by applying a preset calibration precision program;
and comparing the average distance with the actual distance of the diagonal line of the calibration plate to obtain the calibration precision.
5. The method of claim 3, wherein inputting the undistorted image into a structured light calibration routine to obtain a structured light plane equation comprises:
simultaneously calculating the measurement distance calibrated by the structured light in the calibration plate image by the calibration ray equation and the structured light plane equation;
and comparing the measuring distance with the structured light length measured in the calibration plate to obtain the measuring precision.
6. The method of claim 1, wherein said capturing a structured light video of the magnetic pulse crimp with a camera comprises:
and acquiring a structured light video of the magnetic pulse crimping piece rotating around the shaft for at least one circle by a camera.
7. The method as claimed in claim 1, wherein said applying each frame of structured light image in said structured light video to obtain the actual three-dimensional size of the deformation region for each angle according to said structured light plane equation and said calibration ray equation comprises:
performing frame extraction from the structured light video by using a preset frame extraction program to obtain structured light images of a plurality of angles, wherein each angle comprises a plurality of structured light images;
carrying out distortion removal processing on the plurality of structured light images at each angle according to the distortion coefficient;
combining the structured light plane equation and the calibration ray equation to obtain coordinates of each point of a deformation area in each undistorted structured light image in a camera coordinate system;
and calculating the actual three-dimensional size of the deformation region of each angle according to the coordinates of each point of the deformation region in the undistorted structured light image under a camera coordinate system.
8. The method of claim 7, wherein calculating the actual three-dimensional size of the deformation region for each angle based on the coordinates of each point of the deformation region in the undistorted structured light image in the camera coordinate system comprises:
calculating the three-dimensional size of each deformation area according to the coordinates of each point of each deformation area in the deformed structured light image under a camera coordinate system after distortion removal;
and averaging the three-dimensional sizes of the deformed regions in the plurality of undistorted structured light images at each angle to obtain the actual three-dimensional size of the deformed region at each angle.
9. A dimension measuring apparatus for a deformed region of a rotary magnetic pulse crimping member, characterized by comprising:
the calibration device comprises a first calibration unit, a second calibration unit and a control unit, wherein the first calibration unit is used for collecting a plurality of calibration plate images at different angles, calibrating the calibration plate images by using a calibration tool, and acquiring a first internal reference matrix, a first external reference matrix and a distortion coefficient, wherein a structured light straight line is projected in the calibration plate images;
the distortion removing unit is used for removing distortion of the calibration board image according to the distortion coefficient to obtain a distortion removed image;
the second calibration unit is used for carrying out secondary calibration on the undistorted image, acquiring a calibration ray equation of any pixel point in the undistorted image passing through the center of the camera under a camera coordinate system, and acquiring a structured light plane equation;
and the size measuring unit is used for acquiring a structured light video of the magnetic pulse compression joint through a camera, and acquiring the actual three-dimensional size of the deformation area of each angle of the workpiece by applying each frame of structured light image in the structured light video according to the structured light plane equation and the calibration ray equation.
10. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method according to any of claims 1 to 8 when executing the program.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111554064.2A CN114234808B (en) | 2021-12-17 | 2021-12-17 | Size measuring method and device for deformation area of rotary magnetic pulse crimping part |
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