CN114688967A - Normal amount measuring method and device based on machine vision and operating equipment - Google Patents
Normal amount measuring method and device based on machine vision and operating equipment Download PDFInfo
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- CN114688967A CN114688967A CN202011595407.5A CN202011595407A CN114688967A CN 114688967 A CN114688967 A CN 114688967A CN 202011595407 A CN202011595407 A CN 202011595407A CN 114688967 A CN114688967 A CN 114688967A
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- 238000005259 measurement Methods 0.000 claims description 7
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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
- G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations
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Abstract
The invention provides a normal vector measurement method based on machine vision, which comprises the following steps: calibrating a zero plane vertical to a Z axis of the three-dimensional coordinate system according to the three-dimensional coordinate system of the operating equipment; acquiring a corresponding zero projection point of a point to be measured on the work surface of the workpiece in the zero plane along the Z-axis direction; defining an auxiliary area in the zero plane by taking the zero projection point as a central point, selecting a plurality of auxiliary points from the auxiliary area, and obtaining corresponding adjacent points of the auxiliary points on the operation surface along the Z-axis direction; acquiring the distance between the adjacent point and the point to be measured to the zero plane to obtain the three-dimensional coordinates of the adjacent point and the point to be measured to generate a point cloud plane of the working surface; and obtaining the normal vector of the point to be measured through the point cloud plane. A normal vector measuring device based on machine vision and operation equipment adopting the normal vector measuring device are also provided.
Description
Technical Field
The invention relates to the technical field of machine vision, in particular to a normal vector measuring method and device based on machine vision and operating equipment applying the device.
Background
In the machining and assembling process, the position (coordinate) and normal vector of a certain point on a workpiece are often required to be measured, and in order to meet the requirements of market customization, small-batch and various products, equipment used in the machining and assembling process is required to meet the requirements of rapidness, accuracy and quickness. Therefore, the requirements for large-scale equipment and digital manufacturing equipment are continuously increased, and especially for complex curved surface structures frequently involved in machining and equipment, the requirements for coordinate precision and normal vector precision of points on a workpiece are extremely high.
A device and a method for measuring normal vectors at any point of a free-form surface (application number: 201110284942.2) provide the device for measuring the normal vectors, and the device draws curves on the free-form surface twice through four spherical contacts respectively to form an orthogonal plane to carry out angle correction on the central axis of an external machining arm so as to obtain the normal vectors of a point to be measured. The calibration method comprises the steps of firstly, utilizing automatic drilling and riveting equipment to drill holes on the plane of the calibration block, then calculating normal vectors of all inclined planes on the calibration block through reading of the displacement sensor, further solving included angles between the normal directions of all the inclined planes and the axial direction of a cutter, finally combining the included angles between the normal directions of all the inclined planes and the axial direction of the drilled holes on the calibration block, and calculating the position and the direction of the displacement sensor under a tool coordinate system of the automatic drilling and riveting equipment.
In the prior art, a three-dimensional measuring device is required to carry out multiple three-dimensional measurements on adjacent points around a point to be measured, the equipment cost is high, and the calculation process is complex.
Disclosure of Invention
In order to solve the above problems, the present invention provides a normal vector measurement method based on machine vision by combining a two-dimensional position sensor and a one-dimensional distance sensor, comprising: calibrating a zero plane vertical to a Z axis of the three-dimensional coordinate system according to the three-dimensional coordinate system of the operating equipment; acquiring a corresponding zero projection point of a point to be measured on the work surface of the workpiece in the zero plane along the Z-axis direction; defining an auxiliary area in the zero plane by taking the zero projection point as a central point, selecting a plurality of auxiliary points from the auxiliary area, and obtaining corresponding adjacent points of the auxiliary points on the operation surface along the Z-axis direction; acquiring the distance between the adjacent point and the point to be measured to the zero plane to obtain the three-dimensional coordinates of the adjacent point and the point to be measured to generate a point cloud plane of the working surface; and obtaining the normal vector of the point to be measured through the point cloud plane.
Further, a zero plane coordinate (x) of a zero projection point corresponding to the point to be measured along the Z-axis direction is obtained through a position sensor0,y0)。
Further, calibrating the zero plane z ═ z0The three-dimensional coordinate of the zero projection point is (x)0,y0,z0) (ii) a The auxiliary area is rectangular, and the three-dimensional coordinates of four vertexes of the auxiliary area are divided into (x)0+A,y0+B,z0)、(x0-A,y0+B,z0)、(x0-A,y0-B,z0) And (x)0+A,y0-B,z0) Wherein A is greater than 0 and B is greater than 0.
Further, K auxiliary points are selected from the auxiliary area, and the three-dimensional coordinates of the auxiliary points are (x)0+mΔx,y0+nΔy,z0) Wherein K is 2M × 2N, M is a/Δ x, N is B/Δ y, K, M, N is a positive integer, M and N are integers, | M | ≦ M, and | N | ≦ N.
Further, the relative distance z between the point to be measured and the zero plane is obtained by a distance sensork0To obtain the three-dimensional coordinate of the point to be measured as (x)0,y0,z0+zk0) (ii) a Obtaining the relative distance z between adjacent points and the zero plane by a distance sensorkTo obtain three-dimensional coordinates of adjacent points as (x)0+mkΔx,y0+nkΔy,z0+zk)。
Preferably, the position sensor is calibrated to the three-dimensional coordinate system using a 9-point calibration method or a 20-point calibration method.
The invention also provides a normal vector measuring device based on machine vision, which is used for measuring the normal vector of the point to be measured on the working surface of the workpiece in the working equipment by adopting the normal vector measuring method, and the device comprises: the position sensor is used for acquiring the zero plane coordinate of the zero projection point corresponding to the point to be measured; the distance sensor is used for acquiring the distance from each adjacent point on the working surface to the zero plane; and the control device is in communication connection with the position sensor, the distance sensor and the operating equipment, and is used for dividing an auxiliary area according to the zero plane coordinates of the zero projection point, selecting an auxiliary point, obtaining three-dimensional coordinates of the adjacent point and the point to be measured according to the distance between the adjacent point and the point to be measured, and obtaining a normal vector of the point to be measured.
Preferably, the position sensor includes a two-dimensional vision sensor, and the distance sensor includes any one of an optical distance sensor, an infrared distance sensor, and an ultrasonic distance sensor.
Preferably, the position sensor and the distance sensor are fixedly mounted on the same base.
The invention also proposes a working device for machining or assembling a workpiece, comprising: an operation manipulator for performing a machining operation or an assembling operation on a workpiece; the normal vector measuring device described above is attached to the tip of the working robot.
Drawings
Fig. 1 is a schematic structural diagram of a normal direction measuring device according to the present invention.
FIG. 2 is a flow chart of a normal vector measurement method of the present invention.
Fig. 3A and 3B are schematic views illustrating the definition of the auxiliary region according to the present invention.
Wherein the reference numerals are:
1: the working device 11: operation manipulator
21: position sensor 22: distance sensor
23: a base 3: workpiece
31: the point to be measured 32: adjacent point
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly apparent, the normal vector measurement method and apparatus based on machine vision according to the present invention are further described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Fig. 1 is a schematic structural diagram of a normal direction measuring device according to the present invention. As shown in fig. 1, the normal vector measuring device of the present invention includes a position sensor 21, a distance sensor 22, a base 23 and a control device (not shown in the figure), wherein the position sensor 21 and the distance sensor 22 are mounted on the front end of the working manipulator 11 of the working device 1 through the base 23, and are driven to a measuring position by the working manipulator 11 for measuring a position and a distance, and the position sensor 21 and the distance sensor 22 can be mounted on the same base 23; the control device is in communication connection with the position sensor 21, the distance sensor 22 and the operation device 1, can be arranged at any position, such as on the operation device, and also can be arranged on the position sensor 21 or/and the distance sensor 22, and is used for dividing an auxiliary area according to a zero plane coordinate of a zero projection point, selecting an auxiliary point, obtaining three-dimensional coordinates of an adjacent point and a point to be measured according to the distance between the adjacent point and the point to be measured, and further obtaining a normal vector of the point to be measured; the position sensor 21 and the distance sensor 22 are calibrated in a three-dimensional (cartesian) coordinate system of the working device 1, wherein the position sensor 21 and the distance sensor 22 are calibrated by a 9-point calibration method or a 20-point calibration method, and a zero plane perpendicular to the Z-axis of the three-dimensional coordinate system of the working device 1 is calibrated, for example, the zero plane Z ═ Z may be set by a calibrated horizontal plane0. In this way, the position sensor 21 can obtain the projection coordinate of any point (for example, the point 31 to be measured and the adjacent point 32 around the point to be measured) on the workpiece 3 along the Z-axis direction on the zero plane; the set zero plane is a reference plane for the distance sensor 22 to measure the distance, and the distance sensor 22 measures the distance between each point on the workpiece 3 and the zero planeA distance value in the Z-axis direction of the surface; the zero projection point (x) of the point to be measured 31 on the zero plane is obtained at the position sensor 210,y0) Then, an auxiliary area can be defined in the zero plane by taking the zero projection point as a central point, a plurality of auxiliary points with known projection coordinates are selected from the auxiliary area, the distance between the adjacent point 32 on the workpiece 3 and the zero plane as well as the distance between the point 31 to be measured and the zero plane are measured by the distance sensor 22, after simple conversion, the three-dimensional coordinates of the point 31 to be measured and the adjacent point 32 can be obtained, and then the point cloud plane where the point 31 to be measured is located is obtained, and the normal vector of the point 31 to be measured is obtained by calculation. That is, the normal direction measuring device of the present invention includes: the projection (two-dimensional) coordinate of the point to be measured corresponding to the zero projection point → the projection (two-dimensional) coordinate of the auxiliary point in the auxiliary area → the distance between the auxiliary point corresponding to the adjacent point and the point to be measured to the zero plane → the three-dimensional coordinates of the adjacent point and the point to be measured → the point cloud plane → the normal vector of the point to be measured 31.
In the normal vector measuring device of the present invention, the position sensor may be a two-dimensional vision sensor, such as a 2D camera, and the distance sensor may be an optical distance sensor, an infrared distance sensor, an ultrasonic distance sensor, or the like.
FIG. 2 is a flow chart of a normal vector measurement method of the present invention. As shown in fig. 2, specifically, the normal vector measuring apparatus of the present invention performs normal vector measurement of a point to be measured by using the following specific measurement steps:
in step S1, the position sensor and the distance sensor are marked in the three-dimensional coordinate system of the working device, and a zero plane perpendicular to the Z axis of the three-dimensional coordinate system of the working device is marked, for example, the zero plane Z ═ Z can be set by using the marked horizontal plane0；
Step S2, acquiring a corresponding zero projection point (x) of the point to be measured on the work surface of the workpiece in the zero plane along the Z-axis direction by a position sensor0,y0)；
Step S3, using the zero projection point as a central point, defining an auxiliary area in the zero plane, selecting a plurality of auxiliary points from the auxiliary area, and obtaining corresponding adjacent points of the auxiliary points on the work surface of the workpiece along the Z-axis direction;
zero throwThe three-dimensional coordinate of the shadow point is (x)0,y0,z0) The auxiliary area with the zero projection point as the center point can be defined as a rectangle, as shown in fig. 3A, rectangular auxiliary areas with the length and width of 2A and 2B are defined, and the three-dimensional coordinates of four vertexes of the auxiliary area are divided into (x)0+A,y0+B,z0)、(x0-A,y0+B,z0)、(x0-A,y0-B,z0) And (x)0+A,y0-B,z0) Selecting K auxiliary points from the auxiliary area, wherein the coordinates of the auxiliary points are (x)0+mΔx,y0+nΔy,z0) Wherein, A is more than 0, B is more than 0, K is 2M 2N, M is A/delta x, N is B/delta y, K, M, N is a positive integer, M and N are integers, | M | ≦ M, and | N | ≦ N;
the auxiliary area having the zero projection point as the center point may be defined in other shapes, for example, a circle or an ellipse, according to the shape of the work surface of the workpiece, and as shown in fig. 3B, a circular auxiliary area having a radius of 2C is defined, and three-dimensional coordinates of four intersections of the edge of the auxiliary area and the X-axis and the Y-axis are divided into (X-axis and Y-axis coordinates)0+C,0,z0)、(0,y0+C,z0)、(x0-C,0,z0) And (0, y)0-C,z0) Randomly selecting K' auxiliary points from the auxiliary area, wherein the coordinates of the auxiliary points are (x)0+Δx'k,y0+Δy'k,z0) Wherein C > 0;
step S4, acquiring distances from all adjacent points and the point to be measured to a zero plane to obtain three-dimensional coordinates of all the adjacent points and the point to be measured and generate a point cloud plane of a working surface;
wherein, the relative distance z between the point to be measured and the zero plane is obtained by the distance sensork0To obtain the three-dimensional coordinate of the point to be measured as (x)0,y0,z0+zk0)；
Obtaining the relative distance z between adjacent points and the zero plane by a distance sensorkTo obtain the three-dimensional coordinates of the adjacent points as (x)0+mkΔx,y0+nkΔy,z0+zk) (ii) a Because of the existence of a plurality of adjacent points, the distance sensor sequentially aligns the adjacent points to the zero planeRelative distance z ofkTaking measurements, for example, in a rectangular auxiliary area, as shown in fig. 3A, taking distance measurements of S-tracks in the auxiliary area; by, for example, in a circular auxiliary area, as shown in fig. 3B, distance measurement of a circular trajectory through a center point (zero projected point) is performed in the auxiliary area;
step S5, obtaining a normal vector of the point to be measured through the point cloud plane, where the calculation of the normal vector is prior art and is not described herein again.
The invention also provides a working device for processing or assembling a workpiece or other related work, comprising: an operation manipulator for performing a machining operation or an assembling operation on a workpiece; and a normal vector measuring device installed at the front end of the operation manipulator.
Although the present invention has been described with reference to the above embodiments, it should be understood that various changes and modifications can be made by those skilled in the art without departing from the spirit and scope of the invention.
Claims (10)
1. A normal vector measurement method based on machine vision is characterized by comprising the following steps:
calibrating a zero plane vertical to a Z axis of the three-dimensional coordinate system according to the three-dimensional coordinate system of the operating equipment;
acquiring a corresponding zero projection point of a point to be measured on the work surface of the workpiece in the zero plane along the Z-axis direction;
defining an auxiliary area in the zero plane by taking the zero projection point as a central point, selecting a plurality of auxiliary points from the auxiliary area, and obtaining corresponding adjacent points of the auxiliary points on the operation surface along the Z-axis direction;
acquiring the distance between the adjacent point and the point to be measured to the zero plane to obtain the three-dimensional coordinates of the adjacent point and the point to be measured to generate a point cloud plane of the working surface;
and obtaining the normal vector of the point to be measured through the point cloud plane.
2. The normal vector measurement method according to claim 1, wherein the zero plane coordinate (x) of the zero projection point corresponding to the point to be measured in the Z-axis direction is obtained by a position sensor0,y0)。
3. The normal vector measurement method of claim 2 wherein the zero plane is calibrated as z-z0The three-dimensional coordinate of the zero projection point is (x)0,y0,z0) (ii) a The auxiliary area is rectangular, and the three-dimensional coordinates of four vertexes of the auxiliary area are divided into (x)0+A,y0+B,z0)、(x0-A,y0+B,z0)、(x0-A,y0-B,z0) And (x)0+A,y0-B,z0) Wherein A is greater than 0 and B is greater than 0.
4. The normal vector measurement method as claimed in claim 3, wherein K auxiliary points are selected from the auxiliary area, and the three-dimensional coordinates of the auxiliary points are (x)0+mΔx,y0+nΔy,z0) Wherein K is 2M × 2N, M is a/Δ x, N is B/Δ y, K, M, N is a positive integer, M and N are integers, | M | ≦ M, and | N | ≦ N.
5. The normal measuring method of claim 4, wherein the relative distance z from the point to be measured to the zero plane is obtained by a distance sensork0To obtain the three-dimensional coordinate of the point to be measured as (x)0,y0,z0+zk0) (ii) a Obtaining the relative distance z between adjacent points and the zero plane by a distance sensorkTo obtain three-dimensional coordinates of adjacent points as (x)0+mkΔx,y0+nkΔy,z0+zk)。
6. The method of claim 1, wherein the position sensor and the distance sensor are calibrated in the three-dimensional coordinate system using a 9-point calibration method or a 20-point calibration method.
7. A machine vision-based normal vector measuring apparatus for measuring a normal vector of a point to be measured on a work surface of a workpiece in a working machine by the normal vector measuring method according to any one of claims 1 to 6, the apparatus comprising:
the position sensor is used for acquiring zero plane coordinates of a zero projection point corresponding to the point to be measured;
the distance sensor is used for acquiring the distance from each adjacent point on the working surface to the zero plane;
and the control device is in communication connection with the position sensor, the distance sensor and the operating equipment, and is used for dividing an auxiliary area according to the zero plane coordinates of the zero projection point, selecting an auxiliary point, obtaining three-dimensional coordinates of the adjacent point and the point to be measured according to the distance between the adjacent point and the point to be measured, and obtaining a normal vector of the point to be measured.
8. The normal vector measurement device of claim 7 wherein the position sensor comprises a two-dimensional vision sensor, the distance sensor comprising any one of an optical distance sensor, an infrared distance sensor, and an ultrasonic distance sensor.
9. The apparatus of claim 7, wherein the position sensor and the distance sensor are fixedly mounted on the same base.
10. A work apparatus for processing or assembling a workpiece, comprising:
an operation manipulator for performing a machining operation or an assembling operation on a workpiece;
the normal amount measuring device according to any one of claims 7 to 9, which is mounted to a front end of the working robot.
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