CN114877805A - Workpiece point location three-dimensional coordinate measuring device, method and system - Google Patents
Workpiece point location three-dimensional coordinate measuring device, method and system Download PDFInfo
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- CN114877805A CN114877805A CN202210542164.1A CN202210542164A CN114877805A CN 114877805 A CN114877805 A CN 114877805A CN 202210542164 A CN202210542164 A CN 202210542164A CN 114877805 A CN114877805 A CN 114877805A
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- 238000000034 method Methods 0.000 title claims abstract description 37
- 238000003384 imaging method Methods 0.000 claims abstract description 18
- 238000005259 measurement Methods 0.000 claims description 52
- 230000003287 optical effect Effects 0.000 claims description 19
- 230000000007 visual effect Effects 0.000 description 11
- 238000010586 diagram Methods 0.000 description 7
- 239000010979 ruby Substances 0.000 description 5
- 229910001750 ruby Inorganic materials 0.000 description 5
- 238000003860 storage Methods 0.000 description 5
- 238000004590 computer program Methods 0.000 description 4
- 238000000691 measurement method Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000009776 industrial production Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- 230000007547 defect Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
- G01B11/005—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates coordinate measuring machines
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a device, a method and a system for measuring three-dimensional coordinates of a point position of a workpiece, wherein the device comprises: the device comprises: the moving mechanism is used for placing a workpiece, and at least two workpiece points are marked on the workpiece; the imager is arranged on the moving mechanism and used for imaging the workpiece point; and the distance measuring instrument is connected with the imager and is used for determining the linear distance between the workpiece point and the distance measuring instrument. According to the invention, the moving mechanism drives the imager and the range finder to move synchronously, so that the workpiece point is positioned in the image acquired by the imager to obtain the moving parameter of the imager, the linear distance of the workpiece point is determined by matching the image acquired by the imager and the range finder to obtain the three-dimensional coordinates corresponding to the plurality of workpiece points, and further the geometric parameters among the plurality of workpiece points are obtained, thereby improving the accuracy of measuring the geometric parameters among the plurality of workpiece points of the workpiece.
Description
Technical Field
The invention relates to the field of measuring equipment, in particular to a device, a method and a system for measuring a three-dimensional coordinate of a point position of a workpiece.
Background
The size measurement is an essential link for industrial production, and the main size measurement method and defects in the prior art are as follows:
firstly, manually measuring by a ruler and a gauge: measuring the linear distance and angle by adopting a straight ruler, an angle gauge and the like, and measuring the aperture size by adopting a plug gauge and the like; the measuring method is simple and easy to master, but the workpiece which cannot be provided with measuring tools such as a ruler and the like cannot be measured, and the manual measurement cannot meet the requirement increasingly along with the increasingly complex structure of the workpiece; in addition, the method can measure the distance and the angle between two point positions, but the geometrical relationship between a plurality of non-coplanar measurement point positions cannot be determined.
Second, visual quadratic element measurement: the workpiece is placed under a backlight source, and the outline of the workpiece and the edge of the through hole can be clearly presented; and then shooting an image by using a camera, and selecting a corresponding measuring point position according to the image to measure. The equipment is generally used for measuring the distances between the edges and the circle centers of small flat plates, and has the advantages of convenient measurement, higher measurement precision than manual measurement and the like; but the measurement workpiece is required to be a flat plate, and if the measurement point position has height difference or is not on the contour line or the edge, the measurement cannot be carried out; in addition, most of the vision quadratic element measurement systems are based on a camera with a fixed position, and a measurement workpiece cannot exceed the visual field of the camera, otherwise, the measurement cannot be carried out; to expand the measurement range, high-precision XYZ motion axes need to be additionally arranged.
Thirdly, touch three-dimensional measurement: the ruby globule is used as a touch point, the ruby globule is moved through high-precision XYZ axes to touch the point position on the workpiece, the three-dimensional coordinate of each touch point position is obtained, and therefore the relative geometric relation of the related measurement point positions of the workpiece is obtained; the method has the advantages of high measurement precision, large measurement freedom degree and capability of realizing large-span measurement. However, the measurement method cannot touch narrow gaps, small holes, deep holes and the like, so that measurement cannot be performed; secondly, since the ruby ball is a ball with a volume, it is difficult to accurately touch the ruby ball at a correct position for sharp edges, vertexes and the like, and the ruby ball has a slight deviation, and a considerable measurement error is caused due to a large gradient of the sharp point; thirdly, the workpiece is required to be fixed in position in the measuring process, and if the workpiece moves, an error occurs in measurement, so that for the workpiece with more measuring points, the workpiece is quite troublesome to keep in position in the multi-touch measuring process.
Fourth, visual 3D measurement: generally, a high-precision 3D camera is adopted to match with a high-precision XYZ three-axis motion platform, a geometric three-dimensional model of a workpiece is obtained through multiple shooting and splicing, and then geometric measurement of a point position corresponding to the workpiece is realized through selecting a point position on the three-dimensional model; compared with the method, the method has great advantages in the aspects of depth measurement, large-batch point location measurement and the like; however, the method has great dependence on the visual imaging effect and has more requirements on shielding, reflection, materials, ambient light and the like; for example, for the height of a deep hole, the bottom height cannot be obtained due to shielding, so that the measurement cannot be performed; further, the measurement accuracy is seriously affected by the refraction and reflection caused by different materials on the workpiece.
In the prior art, the measuring tools have different characteristics, but a single measuring method and a single measuring tool are adopted to measure the geometric relationship of a plurality of workpiece points of a workpiece under different conditions, so that a larger measuring error is easily generated, and the accuracy of measuring the distance between the workpiece points is lower.
Accordingly, the prior art is yet to be improved and developed.
Disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, an object of the present invention is to provide a device, a method and a system for measuring three-dimensional coordinates of workpiece point locations, which aim to solve the problem of low accuracy in measuring the distance between two workpiece points of a workpiece in the prior art.
The technical scheme of the invention is as follows:
in a first aspect, the present invention provides a three-dimensional coordinate measuring apparatus for a point location of a workpiece, wherein the apparatus comprises:
the moving mechanism is used for placing a workpiece, and at least two workpiece points are marked on the workpiece;
the imager is arranged on the moving mechanism and used for imaging the workpiece point;
and the distance measuring instrument is connected with the imager and is used for determining the linear distance between the workpiece point and the distance measuring instrument.
In one embodiment, the moving mechanism comprises:
the workpiece mounting platform is used for placing a workpiece;
and the moving shaft is movably connected with the workpiece mounting platform and is used for driving the imager and the range finder to move synchronously.
In one embodiment, the imager is a camera, and an optical axis of the camera is perpendicular to an end surface of the workpiece mounting platform; and/or
The distancer is the laser instrument, the image that the imager gathered includes: laser reflection points; the laser reflection point is formed by projecting light rays emitted by the laser onto the workpiece.
In one embodiment, the apparatus further comprises:
the controller is in signal connection with the moving mechanism, the imager and the range finder respectively;
and the display device is in signal connection with the controller and is used for displaying the image acquired by the imager.
In a second aspect, the present invention provides a method for measuring three-dimensional coordinates of a point location of a workpiece, wherein the method comprises:
controlling an imager and a range finder to move so that a workpiece point of a workpiece is located in an image acquired by the imager to obtain a moving parameter of the imager; the imaging instrument and the range finder move synchronously, and at least two workpiece points are marked on the workpiece;
controlling the imager and the range finder to move so that light rays emitted by the range finder are aligned with the workpiece point to obtain a linear distance between the range finder and the workpiece point;
obtaining the three-dimensional coordinates of the workpiece point according to the movement parameters, the image and the linear distance;
and determining the geometric parameters between the two workpiece points according to the respective three-dimensional coordinates of the two workpiece points.
In one embodiment, the apparatus further comprises:
the controller is in signal connection with the moving mechanism, the imager and the range finder respectively;
the display device is in signal connection with the controller and is used for displaying the image acquired by the imager;
wherein, the display device is provided with an identification point;
the movement parameters include an X-axis movement distance and a Y-axis movement distance, and the three-dimensional coordinates of the workpiece point include: an X coordinate, a Y coordinate, and a Z coordinate;
controlling the movement of the imager and the range finder so that the workpiece point of the workpiece is located in the image acquired by the imager, and obtaining the movement parameters of the imager, comprising:
controlling an imager and a distance meter to move so that the workpiece point and the identification point are overlapped in an image collected by the imager to obtain an X-axis moving distance and a Y-axis moving distance;
obtaining the three-dimensional coordinates of the workpiece point according to the movement parameters, the image and the linear distance, and the method comprises the following steps:
determining an X coordinate according to the X-axis moving distance;
determining a Y coordinate according to the Y-axis moving distance;
and determining the Z coordinate according to the linear distance.
In one embodiment of the method of the present invention,
the movement parameters include an X-axis movement distance and a Y-axis movement distance, and the three-dimensional coordinates of the workpiece point include: an X coordinate, a Y coordinate, and a Z coordinate;
controlling the movement of the imager and the range finder so that the workpiece point of the workpiece is located in the image acquired by the imager, and obtaining the movement parameters of the imager, comprising:
controlling an imager and a range finder to move so that the workpiece point is located in an image collected by the imager to obtain an X-axis moving distance and a Y-axis moving distance;
obtaining the three-dimensional coordinates of the workpiece point according to the movement parameters, the image and the linear distance, including:
determining an X coordinate according to the X-axis moving distance and the X-axis coordinate of the workpiece point in the image;
determining a Y coordinate according to the Y-axis coordinate of the workpiece point in the image of the Y-axis moving distance;
and determining the Z coordinate according to the straight-line distance.
In one embodiment, said determining a Z coordinate from said linear distance comprises;
determining the Z-axis projection distance according to the linear distance;
and determining the Z coordinate according to the Z-axis projection distance and the Z-axis coordinate of the distance meter.
In one embodiment, the moving mechanism comprises:
the workpiece mounting platform is used for placing a workpiece;
the moving shaft is movably connected with the workpiece mounting platform and is used for driving the imager and the range finder to move synchronously;
the control imager and distancer move to make the workpiece point of work piece be in the image that the imager was gathered, before obtaining the removal parameter of imager, still include:
calibrating the position of the imager so that the optical axis of the imager is perpendicular to the end face of the workpiece mounting platform;
and calibrating the position of the distance measuring instrument so as to determine the relative position between the distance measuring instrument and the imager.
In a third aspect, the present invention provides a three-dimensional coordinate measuring system for workpiece point locations, comprising:
the image acquisition module is used for controlling the movement of the imager and the range finder so as to enable a workpiece point of a workpiece to be positioned in an image acquired by the imager and obtain a movement parameter of the imager; the imaging instrument and the range finder move synchronously, and at least two workpiece points are marked on the workpiece;
the distance acquisition module is used for controlling the imager and the range finder to move so that light rays emitted by the range finder are aligned to the workpiece point to obtain a linear distance between the range finder and the workpiece point;
the coordinate determination module is used for obtaining the three-dimensional coordinates of the workpiece points according to the movement parameters, the images and the linear distance;
and the space distance determining module is used for determining the geometric parameters between the two workpiece points according to the respective three-dimensional coordinates of the two workpiece points.
Has the advantages that: the invention provides a device, a method and a system for measuring three-dimensional coordinates of a point position of a workpiece, wherein the device comprises: the moving mechanism is used for placing a workpiece, and at least two workpiece points are marked on the workpiece; the imager is arranged on the moving mechanism and used for imaging the workpiece point; and the distance measuring instrument is connected with the imager and is used for determining the linear distance between the workpiece point and the distance measuring instrument. According to the invention, the moving mechanism drives the imager and the range finder to move synchronously, so that the workpiece point is positioned in the image acquired by the imager to obtain the moving parameter of the imager, the linear distance of the workpiece point is determined by matching the image acquired by the imager and the range finder to obtain the three-dimensional coordinates corresponding to the plurality of workpiece points, and further the geometric parameters among the plurality of workpiece points are obtained, thereby improving the accuracy of measuring the geometric parameters among the plurality of workpiece points of the workpiece.
Drawings
Fig. 1 is a plan view of a three-dimensional coordinate measuring apparatus for measuring a point location of a workpiece according to the present invention.
Fig. 2 is a plan view of the present invention when measuring a workpiece point.
Fig. 3 is a plan view of the moving mechanism of the present invention.
Fig. 4 is a plan view of a first embodiment of the imager and rangefinder of the present invention.
Fig. 5 is a plan view structural view of a second embodiment of the range finder of the present invention.
Fig. 6 is a schematic plan view of the imager of the present invention measuring two workpiece points.
FIG. 7 is a schematic plan view of the rangefinder of the present invention measuring two workpiece points.
Fig. 8 is a flowchart of a method for measuring three-dimensional coordinates of point locations of a workpiece according to the present invention.
Fig. 9 is a schematic diagram of a variation of a first implementation of the image acquired by the imager of the present invention.
Fig. 10 is a schematic diagram of a variation of a second implementation of the image acquired by the imager of the present invention.
FIG. 11 is a connection diagram of the internal modules of the three-dimensional coordinate measuring system for the point location of the workpiece according to the present invention.
FIG. 12 is a functional block diagram of a computer device provided by an embodiment of the present invention.
Description of reference numerals: 100. a moving mechanism; 101. an X axis of motion; 102. a Y motion axis; 103. a Z axis of motion; 104. an XOY plane; 105. a support; 200. an imager; 201. an optical axis; 202. an imager field of view; 300. a range finder; 301. light rays; 302. laser reflection points; 400. a controller; 500. a display device 501, an identification point; 600. workpiece points; 601. marking points on the workpiece; 602. and reflecting the mark points.
Detailed Description
The invention provides a device, a method and a system for measuring three-dimensional coordinates of a point position of a workpiece, and the invention is further described in detail below in order to make the purpose, the technical scheme and the effect of the invention clearer and clearer. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It should also be noted that the same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", etc. based on the orientation or positional relationship shown in the drawings, it is only for convenience of describing the present invention and simplifying the description, but it is not intended to indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and are not to be construed as limiting the present patent, and the specific meaning of the terms may be understood by those skilled in the art according to specific circumstances.
The size measurement is an indispensable link in industrial production, and the main size measurement methods in the prior art include ruler manual measurement, visual quadratic element measurement, touch type cubic element measurement and visual 3D measurement, but the measurement of the geometric relationship (including the distance) between a plurality of non-coplanar measurement points (i.e., workpiece points) in a complex workpiece in the prior art is inconvenient, and large measurement errors are easily generated, so that the accuracy of measuring the distance between the workpiece points is low.
In order to solve the above problems, the present invention provides a three-dimensional coordinate measuring apparatus for a point location of a workpiece, as shown in fig. 1 and 3, the apparatus comprising:
the moving mechanism 100 is used for placing a workpiece, and at least two workpiece points are marked on the workpiece;
the imager 200 is arranged on the moving mechanism 100, and the imager 200 is used for imaging a workpiece point;
a range finder 300 connected to the imager 200, the range finder 200 being configured to determine a linear distance between a point of the workpiece and the range finder 300.
It should be noted that the workpiece is placed on the moving mechanism 100, and the moving mechanism 100 is fixedly connected to the imager 200 and the range finder 300, that is, the relative positions of the imager 200 and the range finder 300 are fixed, so that the moving mechanism 100 drives the imager 200 and the range finder to move synchronously; under the condition that the position of the workpiece is fixed and unchanged, the imager 200 and the range finder 300 can be driven by the moving mechanism 100 to move left and right (in the X direction), front and back (in the Y direction) and up and down (in the Z direction) in space, so that the workpiece point marked on the workpiece is positioned in the visual field range of the imager, the workpiece point is positioned in an image collected by the imager, the moving mechanism 100 continues to move, the light of the range finder is aligned to the workpiece point, and the linear distance between the workpiece point and the range finder is obtained.
In a preferred embodiment of the present invention, due to the above technical solution, the moving mechanism drives the imager and the range finder to move synchronously, so that the workpiece point is located in the image acquired by the imager, the moving parameter of the imager is obtained, the linear distance of the workpiece point is determined by matching the image acquired by the imager and the range finder, the three-dimensional coordinates corresponding to the plurality of workpiece points are obtained, and further the geometric parameter (for example, the distance between the workpiece points in this embodiment) between the plurality of workpiece points is obtained, thereby improving the accuracy of measuring the geometric parameter between the plurality of workpiece points of the workpiece, and improving the measurement efficiency.
In the present embodiment, as shown in fig. 3, the moving mechanism 100 includes:
the workpiece mounting platform is used for placing a workpiece;
and the motion shaft is movably connected with the workpiece mounting platform and is used for driving the imager 200 and the range finder 300 to synchronously move.
Specifically, as shown in fig. 3, the workpiece mounting platform includes an XOY plane 104, the XOY plane 104 is an end surface of the workpiece mounting platform (i.e., an upper end surface of the platform) and the end surface is a horizontal surface, it should be noted that a lower end surface of the platform is disposed opposite to the upper end surface, and the lower end surface of the platform can be matched with the ground, again without being limited to specific limitations, the workpiece can be mounted on the XOY plane 104, and it should be noted that the bottom end of the workpiece can be mounted in alignment with the XOY plane 104, but is not limited thereto, and the bottom end of the workpiece can also be disposed obliquely to the XOY plane 104, so that the workpiece point marked on the workpiece can be located in the image collected by the imager 200. The invention utilizes human to judge the correctness of point location selection, and has stronger environmental adaptability compared with pure visual 3D measurement.
The movement axes comprise an X movement axis 101, a Y movement axis 102 and a Z movement axis 103, so that the movement axes can be conveniently controlled to move in the XYZ direction, every two of the X movement axis 101, the Y movement axis 102 and the Z movement axis 103 are mutually perpendicular to form a Cartesian coordinate system, the movement distance reading of the corresponding axes is read, and the corresponding XYZ coordinate value of the three-dimensional space can be obtained, wherein an XOY plane 104 is parallel to the X movement axis 101 and the Y movement axis 102 and is perpendicular to the Z movement axis 103; however, in other embodiments, the motion axis may be a single axis or a double axis structure, that is, the motion axis moves on the workpiece mounting platform and synchronously drives the imager 200 and the range finder 300 to move, so as to obtain the movement parameters (X-axis movement distance and Y-axis movement distance) of the measured motion axis, and the X-axis movement distance and the Y-axis movement distance respectively correspond to the X coordinate and the Y coordinate of the workpiece point. The invention adopts the motion axis with large span, and can realize XYZ three-dimensional measurement with large span and high precision.
Further, a support 105 is arranged on the motion axis, as shown in fig. 1, a support 105 is arranged on the Y motion axis 102, and the support is used for fixing the laser and the camera on the motion axis, so that the laser and the camera can be integrally and rigidly moved in the XYZ space, and the origin point of the coordinate axis is higher than the XOY plane; but not limited thereto, it may be set on the Z-motion axis or the X-motion axis, and when the camera and the range finder are set on the Z-axis through the stand, the origin of the coordinate axis may be O point; one side of support 105 is equipped with imager 200, and the opposite side of support 105 is equipped with distancer 300, in other embodiments, also can set up two supports to make imager 200 and distancer 300 be connected with a support respectively, the concrete setting is revised according to actual demand by oneself.
In the present embodiment, as shown in fig. 1, the imager 200 is a camera, and an optical axis 201 of the camera is perpendicular to an end surface of the workpiece mounting platform (i.e., an upper end surface of the platform); and/or
The range finder 300 is a laser, and the image collected by the imager 200 includes: laser reflection points; the laser reflection point is formed by projecting light rays emitted by the laser onto the workpiece.
Specifically, as shown in fig. 2, the imager 200 of the present embodiment is a camera and the range finder 300 is a laser (i.e., a laser range finder, which uses a certain parameter of modulated laser to measure the distance to a target); the optical axis 201 of the camera is perpendicular to the XOY plane 104, that is, the optical axis 201 is parallel to the Z movement axis 103, so that the camera moves synchronously during the movement of the movement axis, the image acquired by the camera 200 is ensured to be convenient to observe, the movement axis is convenient to move so that the workpiece point is located in the image acquired by the camera 200, the movement parameter of the movement axis is ensured to correspond to the X coordinate and the Y coordinate of the workpiece point, and the movement axis is convenient to move so that the laser reflection point coincides with the workpiece point; the workpiece point 600 is located in the imager field of view 202 (i.e., the camera field of view), i.e., such that the image captured by the imager 200 includes the workpiece point, and the image captured by the imager also includes the laser reflection point 302, i.e., the line of light 301 (i.e., the laser line) emitted by the laser 300 is projected onto the workpiece. The camera and the laser are integrally mounted on the moving shaft and can be conveyed to any position in a measuring range by the moving shaft.
It should be noted that, as shown in fig. 4, the light ray 301 emitted from the distance meter 300 can be perpendicular to the XOY plane 104, i.e. the laser ray is parallel to the Z motion axis; or the light ray 301 forms a certain angle (greater than 0 degree and less than 90 degrees) with the XOY plane 104, as shown in fig. 5 and 7, so that the distance meter can conveniently coincide with the laser reflection point when a shielding object exists on the workpiece, and at this time, the proportional relation between the linear distance and the projection distance in the Z-axis direction needs to be determined in advance, so as to determine the Z coordinate of the workpiece point.
In this embodiment, the apparatus further includes:
a controller 400 in signal connection with the moving mechanism 100, the imager 200 and the range finder 300, respectively;
and a display device 500 in signal connection with the controller 400, for displaying the image acquired by the imager 200.
Specifically, as shown in fig. 1 and 2, the controller 400 is in signal connection with the motion axis, the camera and the laser, respectively, so as to output control signals through the controller, and the motion axis, the camera and the laser receive the control signals, control the motion axis to move, control the camera to capture images and control the laser to emit laser lines; the controller is further in signal connection with a display device 500, which is a display for displaying images collected by the camera.
It should be noted that the controller can be connected to the motion axis, the camera, the laser and the display device through control lines respectively; the controller 400 sends out instructions to control the imager 200 and the range finder 300 to move to the specified positions, and XYZ coordinates of the current position can be obtained; the controller 400 may send a command to measure the linear distance from the laser reflection point 302 to the distance meter 300, and output a linear distance signal to the controller 400; the display device 500 may issue instructions to the 400 controller to control the motion axis, the imager (2D (horizontal distance) measurement system), and the rangefinder (1D (height) measurement system), and obtain feedback data. The invention utilizes the display device 500 to guide the contraposition, has simple operation and is convenient for operation and use.
Further, a positioning cross is arranged in the center of the screen of the display device 500, the intersection point of the positioning cross is an identification point 501, and the identification point 501 is used as an imager positioning reference point, so that the imaging point of the optical axis 201 of the imager 200 in the image coincides with the identification point 501.
The invention can realize the measurement of three-dimensional coordinates of a workpiece point, and the manual measurement and the visual two-dimensional measurement of an overriding ruler; compared with a touch type three-dimensional measurement, the non-contact type measurement mode has low requirements on fixing the workpiece, and the workpiece cannot be damaged; in addition, the device cost is equivalent to that of large-span visual two-dimensional measurement, and is lower than that of touch three-dimensional measurement and visual 3D measurement.
Based on the embodiment, the invention also provides a method for measuring the three-dimensional coordinate of the point position of the workpiece, which is applied to the device for measuring the three-dimensional coordinate of the point position of the workpiece; as shown in fig. 8, the method includes:
s100, controlling an imager and a range finder to move so that a workpiece point of a workpiece is located in an image acquired by the imager to obtain a moving parameter of the imager; wherein the imager and the range finder move synchronously, and at least two workpiece points are marked on the workpiece.
In order to accurately measure the distance (i.e. the spatial distance) between two workpiece points marked on the workpiece, as shown in fig. 2, the present embodiment controls the imager 200 and the range finder 300 to move by moving the moving mechanism 100, so that the workpiece points of the workpiece are located in the image collected by the imager 200, and the moving parameters of the imager 200 are obtained, thereby determining the X coordinate and the Y coordinate in the spatial coordinates of the workpiece points. It should be noted that the workpiece point in the initial state may not be located in the image captured by the imager, and is not particularly limited herein. In one implementation, the imager used in this embodiment may be a camera, and the range finder may be a laser, and it is understood that the specific types of the camera and the laser are not limited in this embodiment.
In some implementations, the apparatus further includes:
a controller 400 in signal connection with the moving mechanism 100, the imager 200 and the range finder 300, respectively;
a display device 500 in signal connection with the controller 400, for displaying the image collected by the imager 200;
wherein, the display device 500 is provided with an identification point 501.
The movement parameters include an X-axis movement distance and a Y-axis movement distance, and the three-dimensional coordinates of the workpiece point include: an X coordinate, a Y coordinate, and a Z coordinate.
The step S100 specifically includes the following steps:
and S110, controlling the imager 200 and the range finder 300 to move so that the workpiece point 600 and the identification point 501 are overlapped in the image acquired by the imager 200 to obtain an X-axis moving distance and a Y-axis moving distance.
Specifically, the center of the screen of the display device 500 is provided with a registration cross, the intersection point of the registration cross is the identification point 501, the imaging point of the optical axis 201 of the imager 200 on the image coincides with the identification point 501, that is, the identification point 501, the imaging point of the optical axis, and the center point of the image all coincide, the X coordinate of the identification point 501 in the initial state of the imager 200 and the distance meter 300 is 0, the Y coordinate is 0, that is, when the workpiece point does not coincide with the identification point, the horizontal coordinate of the identification point is (0,0), the imager 200 and the distance meter 300 are controlled to synchronously move, so that the identification point 501 coincides with the workpiece point in the image, the obtained X-axis moving distance X is the X coordinate of the workpiece point, and the obtained Y-axis moving distance Y is the Y coordinate of the workpiece point, that is, the projection coordinate of the workpiece point 600 on the XOY plane is (X, Y).
It should be noted that in the present embodiment, the optical axis imaging point is marked by the alignment cross intersection, so as to realize the alignment between the "observable" workpiece point and the optical axis; in other embodiments, for the "virtual measurement point location" at a specific position in some geometric figures, an auxiliary graphical manner may be adopted to align the optical axis, for example, a circle may be adopted to align the edge of a round hole to obtain the position of the center of the circle, and then a hole center position may be obtained by aligning the edge of a rectangular unit hole (waist hole) or square hole in any direction; for another example, the three-dimensional distance of the intersection point of two straight line edges on the workpiece is measured by using the straight line auxiliary alignment through the optical axis imaging point.
Still further, the image includes a first image and a second image, and the X-axis movement distance includes a first X-axis movement distance and a second X-axis movement distance; the Y-axis movement distance comprises a first Y-axis movement distance and a second Y-axis movement distance; the workpiece points include a first workpiece point 600A and a second workpiece point 600B;
as shown in fig. 2 and 6, the step S110 specifically includes:
s111, controlling an imager and a distance meter to move so that the first workpiece point and the identification point are overlapped in a first image acquired by the imager to obtain a first X-axis moving distance and a first Y-axis moving distance; i.e. the first X-axis is moved by a distance X A The first Y-axis moving distance is X A 。
And S112, controlling the imager and the range finder to move so that the second workpiece point and the identification point are overlapped in a second image acquired by the imager to obtain a second X-axis moving distance and a second Y-axis moving distance. I.e. the first X-axis is moved by a distance X B The first Y-axis moving distance is Y B 。
And S200, controlling the imager and the range finder to move so that light rays emitted by the range finder are aligned to the workpiece point to obtain a linear distance between the range finder and the workpiece point.
Specifically, the image collected by the imager comprises: laser reflection points; the laser reflection point is formed by projecting light rays emitted by the laser onto the workpiece.
The moving mechanism includes:
the workpiece mounting platform is used for placing a workpiece;
and the moving shaft is movably connected with the workpiece mounting platform and is used for driving the imager and the range finder to move synchronously.
Before the step S100, the method further includes the steps of:
s101, calibrating the position of the imager so that the optical axis of the imager is perpendicular to the end face of the workpiece mounting platform;
and S102, calibrating the position of the distance meter to ensure that the relative position between the distance meter and the imager is determined.
Specifically, when installation device, with the XOY plane under the optical axis orientation of imager, optical axis imaging point can coincide with O point (the imager is installed on the Z axle) or be in other positions this moment, specifically sets up by oneself according to the actual demand, continues to install the distancer in the position of fixing with camera relative distance and angle, and the light of distancer can be parallel with the optical axis or become to have the angle to be convenient for mark the work piece position.
As shown in fig. 2 and 7, the step S200 specifically includes the following steps:
step S210, marking the laser reflection points and the workpiece points in the image to obtain reflection marking points 602 and workpiece marking points 601;
step S220, determining an X-axis adjusting distance and a Y-axis adjusting distance corresponding to the laser reflection point according to the reflection marking point 602 and the workpiece marking point 601;
and step S230, controlling the imager and the distance meter to move according to the X-axis adjusting distance and the Y-axis adjusting distance so as to enable the moved laser emission point to coincide with the workpiece mark point 601, and controlling the distance meter to obtain the linear distance between the distance meter and the workpiece point.
Specifically, because the moving mechanism, the imager and the range finder move synchronously, an image acquired by the imager displayed by the display device also moves along with the imager, the workpiece point coincides with the identification point after the imager and the range finder move for the first time, the workpiece marking point 601 and the reflection marking point 602 are respectively marked in the image through the identification point and the laser reflection point, so that the X-axis adjustment distance and the Y-axis adjustment distance of the laser reflection point to be adjusted are determined, after the imager and the range finder move, the moved laser reflection point coincides with the workpiece identification point 601 with the unchanged position, and the laser reflection point coincides with the workpiece point at the moment, so that the linear distance between the workpiece point and the range finder is obtained through the range finder.
And S300, obtaining the three-dimensional coordinates of the workpiece point according to the movement parameters, the image and the linear distance.
The step S300 specifically includes the following steps:
step S310, determining an X coordinate according to the X-axis moving distance;
step S320, determining a Y coordinate according to the Y-axis moving distance;
and S330, determining a Z coordinate according to the straight-line distance.
Specifically, as shown in fig. 6, the X-axis movement distance X obtained at this time is the X coordinate of the workpiece point, the Y-axis movement distance Y obtained is the Y coordinate of the workpiece point, that is, the projection coordinates of the workpiece point 600 on the XOY plane are (X, Y), and further, the projection coordinates of the first workpiece point 600A and the second workpiece point 600B on the XOY plane are (X, Y), respectively (X coordinates) A ，Y A )、(X B ，Y B )。
The step S330 specifically includes the following steps:
step S331, determining a Z-axis projection distance according to the linear distance;
and S332, determining a Z coordinate according to the Z-axis projection distance and the Z-axis coordinate of the distance meter.
It should be noted that, as shown in fig. 5 and 7, during the installation process of the distance measuring device, it is not necessarily ensured that the light is parallel to the Z motion axis, and it is difficult to detect and calibrate if it is vertical; therefore, the relationship between the linear distance (i.e., altitude distance reading) and the Z-axis projected distance (i.e., true altitude) of the rangefinder as it changes in altitude in the Z-axis direction is considered separately.
In one embodiment, the proportional relationship is calculated from the linear distance of the rangefinder and the "height difference" in the Z-axis direction of the projected distance at a plurality of positions where the Z-axis is at a constant X-and Y-axis and where the "height difference" exists for the object plane perpendicular to the Z-axis. In another embodiment, the XYZ motion axes are fixed, plane gauges with different heights are placed on a plane perpendicular to the Z axis, and a proportional relation is calculated according to the linear distance of the distance meter and the height difference of the gauges. Therefore, the Z-axis projection distance between the distance meter and the workpiece point is determined according to the linear distance.
Further, as shown in FIG. 7, the linear distances of the first workpiece point 600A and the second workpiece point 600B are L, respectively A 、L B Calculating the Z-axis projection distance T between the first workpiece point 600A and the corresponding distance meter according to the determined proportional relation A And the Z-axis projected distance T between the second workpiece point 600B and the corresponding rangefinder B It should be noted that the three-dimensional coordinates of the distance measuring instrument corresponding to the first workpiece point 600A and the second workpiece point 600B are (X) 0 ，Y 0 ，Z A ) And (X) 0’ ，Y 0’ ，Z B ) Needs to explain X 0 、Y 0 、X 0’ 、Y 0’ And are not particularly limited. Thereby determining the respective Z coordinates of the first and second workpiece points 600A and 600B as Z A -T A And Z B -T B And then determineThe three-dimensional coordinates of the first and second workpiece points 600A and 600B are (X) respectively A ，Y A ，Z A -T A )、(X B ，Y B ，Z B -T B )。
When the light of the distance meter is perpendicular to the XOY plane, the linear distance L A Projection distance T from Z axis A Equal, straight distance L B Projection distance T from Z axis B Similarly, the three-dimensional coordinates of the first workpiece point 600A and the second workpiece point 600B are (X) at this time A ，Y A ，Z A -T A )、(X B ，Y B ，Z B -T B )。
And S400, determining geometric parameters between the two workpiece points according to the respective three-dimensional coordinates of the two workpiece points.
And obtaining the geometric parameters (such as the distance) of the first workpiece point and the second workpiece point according to the X coordinate, the Y coordinate and the Z coordinate of the first workpiece point and the X coordinate, the Y coordinate and the Z coordinate of the second workpiece point.
Specifically, after obtaining the respective three-dimensional coordinates of each workpiece point, various geometric relationships may be calculated, for example, the distance between two workpiece points is obtained, and the projection distance d1 of the first workpiece point 600A and the second workpiece point 600B on the XOY plane is:
the projected distance d2 on the axis of motion Z is: d2 | (Z) A -T A )-(Z B -T B ) The distance d between A and B is:
however, the angle between the segment formed by the two workpiece points and the XOY plane may be used.
In another implementation, the difference between the step S100 and the step S300 is that there is no need to provide an identification point coinciding with the workpiece point in the display device, so that after controlling the movement of the imager and the range finder, only the workpiece point is located in the image captured by the imager, and the movement parameters of the imager, that is, the X-axis movement distance and the Y-axis movement distance, are X1 and X2, respectively, and the imager can determine the coordinates (X2, Y2) of the workpiece point in the image according to the position of the workpiece point in the image, so as to determine the projection coordinates (X1+ X2, Y1+ Y2) of the workpiece point in the XOY plane according to the movement parameters of the imager and the position of the workpiece point in the image.
Specifically, the movement parameters include an X-axis movement distance and a Y-axis movement distance, and the three-dimensional coordinates of the workpiece point include: an X coordinate, a Y coordinate, and a Z coordinate;
the step S100 specifically includes the following steps:
and S110, controlling the imager and the range finder to move so that the workpiece point is positioned in the image collected by the imager to obtain the X-axis moving distance and the Y-axis moving distance.
As shown in fig. 10, the image end point of the imager in the initial state is set as the starting point, the imager and the range finder are controlled to move, and the movement of the moving mechanism is stopped when the workpiece point appears in the image, so that the projection coordinate of the workpiece point on the XOY plane is obtained according to the moving parameters of the imager and the image collected by the imager.
Further, the imager and rangefinder movements are controlled such that the first workpiece point 600A is located in the first image captured by the imager resulting in a first X-axis movement distance X1 A And first Y-axis movement distance Y1 A ；
Controlling imager and rangefinder movement such that the second workpiece point 600B is located in the second image captured by the imager resulting in a second X-axis movement distance X2 B And a second Y-axis movement distance Y2 B 。
The step S300 specifically includes the following steps:
s310, determining an X coordinate according to the X-axis moving distance and the X-axis coordinate of the workpiece point in the image;
step S320, determining a Y coordinate according to the Y-axis coordinate of the workpiece point in the image by the Y-axis movement distance;
and S330, determining a Z coordinate according to the linear distance.
Specifically, the projection coordinates of the first workpiece point 600A and the second workpiece point 600B on the XOY plane are obtained as (X1) according to the first X-axis movement distance X1, the first Y-axis movement distance Y1, the second X-axis movement distance X2 and the second Y-axis movement distance Y2, respectively (X1) A +X2 A ，Y1 A +Y2 A )、(X1 B +X2 B ，Y1 B +Y2 B )。
The step S330 is specifically implemented as above, and will not be described herein again, so that the spatial coordinates of the first workpiece point 600A and the second workpiece point 600B are respectively (X1) A +X2 A ，Y1 A +Y2 A ，Z A -T A )、(X1 B +X2 B ，Y1 B +Y2 B ，Z B -T B )。
Based on the above embodiment, the present invention further provides a workpiece point location three-dimensional coordinate measuring system, as shown in fig. 11, including:
the image acquisition module 01 is used for controlling the movement of the imager and the distance meter so as to enable a workpiece point of a workpiece to be positioned in an image acquired by the imager and obtain a movement parameter of the imager; the imaging instrument and the range finder move synchronously, and at least two workpiece points are marked on the workpiece;
the distance acquisition module 02 is used for controlling the movement of the imager and the distance meter so as to enable the light rays emitted by the distance meter to be aligned with the workpiece point, and obtain the linear distance between the distance meter and the workpiece point;
the coordinate determination module 03 is configured to obtain a three-dimensional coordinate of the workpiece point according to the movement parameter, the image, and the linear distance;
and the spatial distance determining module 04 is configured to determine a geometric parameter between the two workpiece points according to the respective three-dimensional coordinates of the two workpiece points.
Based on the above embodiments, the present invention further provides a computer device, whose functional block diagram may be as shown in fig. 12. The computer device comprises a processor, a memory, a network interface and a display screen which are connected through a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external computer device through a network connection. The computer program is executed by a processor to implement a method for three-dimensional coordinate measurement of point locations of a workpiece. The display of the computer device may be a liquid crystal display or an electronic ink display.
It will be appreciated by those skilled in the art that the block diagram shown in fig. 12 is only a block diagram of a portion of the structure associated with the inventive arrangements and is not intended to limit the computing devices to which the inventive arrangements may be applied, and that a particular computing device may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one implementation, one or more programs are stored in a memory of the computer apparatus and configured to be executed by one or more processors include instructions for performing a method of three-dimensional coordinate measurement of workpiece point locations.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, databases, or other media used in embodiments provided herein may include non-volatile and/or volatile memory. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
In summary, the present invention discloses an apparatus, a method and a system for measuring three-dimensional coordinates of point locations of a workpiece, wherein the apparatus comprises: the device comprises: the moving mechanism is used for placing a workpiece, and at least two workpiece points are marked on the workpiece; the imager is arranged on the moving mechanism and used for imaging the workpiece point; and the distance measuring instrument is connected with the imager and is used for determining the linear distance between the workpiece point and the distance measuring instrument. According to the invention, the moving mechanism drives the imager and the range finder to move synchronously, so that the workpiece point is positioned in the image acquired by the imager to obtain the moving parameter of the imager, the linear distance of the workpiece point is determined by matching the image acquired by the imager and the range finder to obtain the three-dimensional coordinates corresponding to the plurality of workpiece points, and further the geometric parameters among the plurality of workpiece points are obtained, thereby improving the accuracy of measuring the geometric parameters among the plurality of workpiece points of the workpiece.
It is to be understood that the invention is not limited to the examples described above, but that modifications and variations may be effected thereto by those of ordinary skill in the art in light of the foregoing description, and that all such modifications and variations are intended to be within the scope of the invention as defined by the appended claims.
Claims (10)
1. A workpiece point location three-dimensional coordinate measuring apparatus, the apparatus comprising:
the moving mechanism is used for placing a workpiece, and at least two workpiece points are marked on the workpiece;
the imager is arranged on the moving mechanism and used for imaging the workpiece point;
and the distance measuring instrument is connected with the imager and is used for determining the linear distance between the workpiece point and the distance measuring instrument.
2. The three-dimensional coordinate measuring device of the point location of the workpiece as set forth in claim 1, wherein the moving mechanism comprises:
the workpiece mounting platform is used for placing a workpiece;
and the moving shaft is movably connected with the workpiece mounting platform and is used for driving the imager and the range finder to move synchronously.
3. The device for measuring the three-dimensional coordinate of the point position of the workpiece according to claim 2, wherein the imager is a camera, and the optical axis of the camera is perpendicular to the end face of the workpiece mounting platform; and/or
The distancer is the laser instrument, the image that the imager gathered includes: laser reflection points; the laser reflection point is formed by projecting light rays emitted by the laser onto the workpiece.
4. The apparatus of claim 1, wherein the apparatus further comprises:
the controller is in signal connection with the moving mechanism, the imager and the range finder respectively;
and the display device is in signal connection with the controller and is used for displaying the image acquired by the imager.
5. A method for measuring three-dimensional coordinates of point locations of a workpiece, the method comprising:
controlling an imager and a range finder to move so that a workpiece point of a workpiece is positioned in an image acquired by the imager to obtain a moving parameter of the imager; the imaging instrument and the range finder move synchronously, and at least two workpiece points are marked on the workpiece;
controlling the imager and the range finder to move so that light rays emitted by the range finder are aligned with the workpiece point to obtain a linear distance between the range finder and the workpiece point;
obtaining the three-dimensional coordinates of the workpiece points according to the movement parameters, the images and the linear distance;
and determining the geometric parameters between the two workpiece points according to the respective three-dimensional coordinates of the two workpiece points.
6. The method of measuring the three-dimensional coordinates of the point locations of the workpiece according to claim 5, wherein the apparatus further comprises:
the controller is in signal connection with the moving mechanism, the imager and the range finder respectively;
the display device is in signal connection with the controller and is used for displaying the image acquired by the imager;
wherein, the display device is provided with an identification point;
the movement parameters include an X-axis movement distance and a Y-axis movement distance, and the three-dimensional coordinates of the workpiece point include: an X coordinate, a Y coordinate, and a Z coordinate;
controlling the movement of the imager and the range finder so that the workpiece point of the workpiece is located in the image acquired by the imager, and obtaining the movement parameters of the imager, comprising:
controlling an imager and a distance meter to move so that the workpiece point and the identification point are overlapped in an image collected by the imager to obtain an X-axis moving distance and a Y-axis moving distance;
obtaining the three-dimensional coordinates of the workpiece point according to the movement parameters, the image and the linear distance, including:
determining an X coordinate according to the X-axis moving distance;
determining a Y coordinate according to the Y-axis moving distance;
and determining the Z coordinate according to the straight-line distance.
7. The method for measuring three-dimensional coordinates of point positions of workpiece according to claim 5,
the movement parameters include an X-axis movement distance and a Y-axis movement distance, and the three-dimensional coordinates of the workpiece point include: an X coordinate, a Y coordinate, and a Z coordinate;
controlling the movement of the imager and the range finder so that the workpiece point of the workpiece is located in the image acquired by the imager, and obtaining the movement parameters of the imager, comprising:
controlling an imager and a range finder to move so that the workpiece point is located in an image collected by the imager to obtain an X-axis moving distance and a Y-axis moving distance;
obtaining the three-dimensional coordinates of the workpiece point according to the movement parameters, the image and the linear distance, including:
determining an X coordinate according to the X-axis moving distance and the X-axis coordinate of the workpiece point in the image;
determining a Y coordinate according to the Y-axis coordinate of the workpiece point in the image of the Y-axis moving distance;
and determining the Z coordinate according to the straight-line distance.
8. The method for measuring the three-dimensional coordinates of the point positions of the workpiece according to claim 6, wherein the determining the Z coordinate according to the straight-line distance comprises;
determining the Z-axis projection distance according to the linear distance;
and determining the Z coordinate according to the Z-axis projection distance and the Z-axis coordinate of the distance meter.
9. The method of claim 6, wherein the moving mechanism comprises:
the workpiece mounting platform is used for placing a workpiece;
the moving shaft is movably connected with the workpiece mounting platform and is used for driving the imager and the range finder to move synchronously;
the control imager and distancer move to make the workpiece point of work piece be in the image that the imager was gathered, before obtaining the removal parameter of imager, still include:
calibrating the position of the imager so that the optical axis of the imager is perpendicular to the end face of the workpiece mounting platform;
and calibrating the position of the distance measuring instrument so as to determine the relative position between the distance measuring instrument and the imager.
10. A workpiece point location three-dimensional coordinate measurement system, comprising:
the image acquisition module is used for controlling the movement of the imager and the range finder so as to enable a workpiece point of a workpiece to be positioned in an image acquired by the imager and obtain a movement parameter of the imager; the imaging instrument and the range finder move synchronously, and at least two workpiece points are marked on the workpiece;
the distance acquisition module is used for controlling the imager and the range finder to move so that light rays emitted by the range finder are aligned to the workpiece point to obtain a linear distance between the range finder and the workpiece point;
the coordinate determination module is used for obtaining the three-dimensional coordinates of the workpiece points according to the movement parameters, the images and the linear distance;
and the space distance determining module is used for determining the geometric parameters between the two workpiece points according to the respective three-dimensional coordinates of the two workpiece points.
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