CN1740741A - Calibrating method for visual non-contact measuring head - Google Patents
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- CN1740741A CN1740741A CN 200510044577 CN200510044577A CN1740741A CN 1740741 A CN1740741 A CN 1740741A CN 200510044577 CN200510044577 CN 200510044577 CN 200510044577 A CN200510044577 A CN 200510044577A CN 1740741 A CN1740741 A CN 1740741A
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Abstract
The standardization method of visual non-contact measuring heat includes the following steps: A. selecting standardization apparatus; B. scanning said standard ball; C. setting a group of initial values of internal and external parameters of measuring heat; D. utilizing a formula to make coordinate conversion; E. calculating sigma D by utilizing a related formula; and F. utilizing Monte Carlo method to regulate internal and external parameters of said measuring heat, making repeated iteration, when the sigma D is less than given value, completing repeated iteration and can obtain accurate values of internal and external parameters of said measuring head.
Description
Technical field
The present invention relates to the improvement to the three-dimensional measurement technical equipment of object, specifically is a kind of scaling method of visual non-contact measuring head, can demarcate the intrinsic parameter and the outer parameter of visual non-contact measuring head in the method simultaneously.It belongs to the scanning survey equipment technical field.
Background technology
The visual non-contact measuring head of installing on scanning survey equipment such as three coordinate measuring machine is made up of a generating laser and one or two ccd video camera usually.This generating laser sends laser spots or laser rays, projects the testee surface; Described ccd video camera can receive diffusing on the testee.In the scanning survey process, just can realize scanning to this object by mobile object or mobile gauge head.Described visual non-contact measuring head measures at every turn is two-dimensional measurement value on the CCD image planes.Realize just the measured value on the CCD image planes to be converted to three-dimensional coordinate to the three-dimensional measurement of object.1), generating laser is with respect to the position of ccd video camera realizes that this conversion must determine following parameters:; 2), the size of CCD image planes; 3), the parameter of light path system; 4), direction and the position of gauge head in world coordinate system.
Above-mentioned 1), to 3), actual parameter determine that in to the gauge head calibration process calibration process more complicated is normally demarcated when producing by the manufacturer.Above-mentioned 4), the parameter of its direction and position is the outer parameter of gauge head, in use demarcate by the user.The diffuse reflection image that just ccd video camera can be received after these parameters are determined is converted to three-dimensional coordinate.In order to make this gauge head produce scanning motion, usually gauge head is installed on the measuring equipment such as three coordinate measuring machine.Utilize its special calibrating utensil to obtain 1 respectively), to 4), in parameter, in fact to the determining very complicated and expend time in of these parameters, because they intersect.
The various demarcation means of prior art all are difficult to accurately demarcate 1), to 4), in these parameters.The calibration process of classic method is in two steps: the first step is the demarcation of gauge head intrinsic parameter, promptly determines laser rays or laser plane and CCD as the relation of hinting obliquely between the plane, thereby goes out a dimension coordinate or two-dimensional coordinate according to the image calculation that CCD gathered.Demarcate intrinsic parameter, at first to have an X-rayed model and the gauge head model that principle is set up ccd video camera according to pin hole, select suitable method to determine calibration point then, thereby utilize calibration point to find the solution the intrinsic parameter that the gauge head model is determined gauge head again, determine that in this process calibration point is crucial.Determine that calibration point utensil commonly used has plane target drone, triangular bar etc.; Second step was the demarcation of the outer parameter of gauge head, promptly determine direction and the position of gauge head in world coordinate system, directly a dimension coordinate of output or two-dimensional coordinate are converted to three-dimensional coordinate under the world coordinate system with gauge head, this process is normally passed through special utensil by the final user, as positive tetrahedron etc., and special scanning means are finished.
Above-mentioned two steps, finally be to determine two groups of precise parameters, mutual relationship between these parameters is very complicated, and which type of influence is difficult to estimate each parameter can bring to measurement result, but the slight error of each parameter can make measurement result produce than mistake.Intrinsic parameter calibrated error like this will inevitably cause the calibrated error of outer parameter.These two calibration process all need the user to intervene, and promptly need the position of user's manual adjustment gauge head in calibration process, and demarcate position of used utensil etc.Even its operating process is very careful, also be difficult to obtain desirable calibration result.To commercial vision gauge head, the demarcation of intrinsic parameter is finished by the manufacturer, and the user only need demarcate outer parameter.But along with the variation of external environments such as temperature, vibrations, intrinsic parameter also can change, and the user does not generally possess the condition and the means of demarcating intrinsic parameter.Therefore, concerning the general user, when the intrinsic parameter of gauge head changes owing to the influence of factors such as temperature variation, vibrations, can not demarcate, need return manufacturer and demarcate; So just cause many troubles.
Summary of the invention
Goal of the invention of the present invention is in order to overcome the existing problem of inside and outside parameter scaling method of prior art, need to demarcate respectively at the intrinsic parameter and the outer parameter of present prior art to visual non-contact measuring head, and the complicacy of calibration process, the method that intrinsic parameter and outer parameter are demarcated has simultaneously been proposed.The present invention intends proposing an a kind of novel step border and decides method.This method calculates the intrinsic parameter and the outer parameter of gauge head simultaneously by demarcation utensil of scanning survey---standard ball, and it is convenient feasible that calibration process becomes.Utilize a general equation directly the image coordinates of CCD to be converted into three-dimensional coordinate under the world coordinate system then, just realized three-dimensional scanning measurement.
The objective of the invention is to finish by following technical scheme, develop a kind of visual non-contact measuring head, described visual non-contact measuring head is made up of a generating laser and one or two ccd video camera, its calibration process or carrying out on the three coordinate measuring machine or on other three-dimensional motion mechanism.The step of described scaling method is as follows:
A) the selected utensil of demarcating: adopt the high precision standard ball as demarcating utensil;
B) scan this standard ball: the control gauge head moves in the scanning survey operating process, make its laser spots or laser rays be radiated at the centre position of this standard ball, then by three coordinate measuring machine or three-dimensional motion mechanism autoscan, on this standard ball sphere, gather some points, obtain them at three coordinate figures of CCD as the three coordinate measuring machine of two-dimensional coordinate on the plane and correspondence;
C) one group of initial value of the inside and outside parameter of setting gauge head: wherein intrinsic parameter is included in the function f, and outer parameter is Q;
D) coordinate conversion: promptly find the solution the some three-dimensional coordinate (p in world coordinate system on this standard ball sphere
x, p
y, p
z); With B) in the step on the CCD image planes that collect on this standard ball sphere the two-dimensional coordinate value P of all points
rWith three coordinate translation component value M of the three coordinate measuring machine of correspondence, and the gauge head intrinsic parameter that comprises in the function f, the outer parameter Q of gauge head is substitution formula (3): P together
3d=Qf (P
r)+M, the convertible B of obtaining) three-dimensional coordinate (p of all points on the sphere gathered of step
x, p
y, p
z);
E) calculating ∑ d: utilize D) the three-dimensional coordinate point match ball on the resulting sphere in the step is tried to achieve sphere centre coordinate (c
x, c
y, c
z) and radius r, again with all the range formula (4) of putting the match sphere: d=((p
x-c
x)
2+ (p
y-c
y)
2+ (p
z-c
z)
2)
1/2-r, obtain all discrete points to the match sphere apart from sum ∑ d;
F) regulate the intrinsic parameter of this gauge head and outer parameter: with ∑ d minimum is constraint condition, utilizes Monte Carlo method constantly to carry out iteration, in iterative process, preserve ∑ d hour pairing intrinsic parameter with outside parameter;
When next iteration, the inside and outside parameter that last iteration is determined is carried out small adjustment, with its substitution step (D) and (E) obtain ∑ d again;
If the ∑ d of this moment little than last time then preserved current inside and outside parameter, the parameter with this during next iteration is that the basis is regulated; Otherwise, do not preserve current inside and outside parameter, during next iteration still the parameter with last time be that the basis is regulated;
So iterate, ∑ d value constantly reduces, when ∑ d during less than set-point iteration finish, can obtain the exact value of this gauge head intrinsic parameter and outer parameter.
Described high-precision demarcation utensil, it is a standard ball of not limitting diameter, its Global Error evenly is coated with flaw detection agent or white semigloss oil lacquer with diffuse effect below 1 micron on its sphere.
Described F) in the step inside and outside parameter is carried out small adjustment, it is to utilize Monte Carlo method that the inside and outside parameter of this gauge head is done small adjustment.
The invention has the advantages that; The demarcation utensil that is adopted is a standard ball, and it has simple in structure, makes the precision advantages of higher easily; Secondly, calibration process is simple, just can a step calibrate intrinsic parameter and outer parameter by the measurement standard ball, has reduced human intervention in calibration process.Calibration process of the present invention is the motion drive gauge head motion by three coordinate measuring machine or other three-dimensional motion mechanism, an area measure some spots on standard ball, at this moment each measurement point is pairing is point on the CCD image planes and three coordinate figures of three coordinate measuring machine or other three-dimensional motion mechanism, they together with intrinsic parameter and outer parameter, can be obtained this coordinate figure under world coordinate system on the sphere.This process is directly the reading value of CCD to be hinted obliquely to be D coordinates value.Utilize the three-dimensional coordinate match ball of these points on the sphere, utilize Monte Carlo method progressively to adjust inside and outside parameter to the distance of match sphere is minimum as constraint condition, obtain the intrinsic parameter and the outer parameter of one group of the best at last with discrete point.
Embodiment
Embodiments of the invention do not limit protection scope of the present invention.
Of the invention process is a kind of scaling method of visual non-contact measuring head, described visual non-contact measuring head is made up of a generating laser and one or two ccd video camera, its calibration process or carrying out on the three coordinate measuring machine or on other three-dimensional motion mechanism.The step of described scaling method is as follows:
A) the selected utensil of demarcating: adopt the high precision standard ball as demarcating utensil;
B) scan this standard ball: the control gauge head moves in the scanning survey operating process, make its laser spots or laser rays be radiated at the centre position of this standard ball, then by three coordinate measuring machine or three-dimensional motion mechanism autoscan, on this standard ball sphere, gather some points, obtain them at three coordinate figures of CCD as the three coordinate measuring machine of two-dimensional coordinate on the plane and correspondence;
C) one group of initial value of the inside and outside parameter of setting gauge head: wherein intrinsic parameter is included in the function f, and outer parameter is Q;
D) coordinate conversion: promptly find the solution the some three-dimensional coordinate (p in world coordinate system on this standard ball sphere
x, p
y, p
z); With B) in the step on the CCD image planes that collect on this standard ball sphere the two-dimensional coordinate value P of all points
rWith three coordinate translation component value M of the three coordinate measuring machine of correspondence, and the gauge head intrinsic parameter that comprises in the function f, the outer parameter Q of gauge head is substitution formula (3): P together
3d=Qf (P
r)+M, the convertible B of obtaining) three-dimensional coordinate (p of all points on the sphere gathered of step
x, p
y, p
z);
Wherein in the formula (3), P
rBe CCD as the point of the two-dimensional coordinate on the plane, f is the pairing function of this gauge head intrinsic parameter, i.e. f (P
r)=P
1dOr f (P
r)=P
2dP in the formula (1), formula (1)
1dBe the dimension coordinate of conversion back along laser beam, P
2dIt is the two-dimensional coordinate in the laser plane of conversion back;
P
3dBe the three-dimensional coordinate under the world coordinate system: P
3d=QP
1d+ M or P
3d=QP
2dM is the translational component value in the+M formula (2), formula (2), and Q is the outer parameter of this gauge head, the i.e. rotational component of this gauge head;
E) calculating ∑ d: utilize D) the three-dimensional coordinate point match ball on the resulting sphere in the step is tried to achieve sphere centre coordinate (c
x, c
y, c
z) and radius r, again with all the range formula (4) of putting the match sphere: d=((p
x-c
x)
2+ (p
y-c
y)
2+ (p
z-c
z)
2)
1/2-r, obtain all discrete points to the match sphere apart from sum ∑ d;
F) regulate the intrinsic parameter of this gauge head and outer parameter: with ∑ d minimum is constraint condition, utilizes Monte Carlo method constantly to carry out iteration, in iterative process, preserve ∑ d hour pairing intrinsic parameter with outside parameter;
When next iteration, the inside and outside parameter that last iteration is determined is carried out small adjustment, with its substitution step (D) and (E) obtain ∑ d again;
If the ∑ d of this moment little than last time then preserved current inside and outside parameter, the parameter with this during next iteration is that the basis is regulated; Otherwise, do not preserve current inside and outside parameter, during next iteration still the parameter with last time be that the basis is regulated; So iterate, ∑ d value constantly reduces, when ∑ d during less than set-point iteration finish, can obtain the exact value of this gauge head intrinsic parameter and outer parameter.
In iterative process, preserve ∑ d hour pairing intrinsic parameter and outside parameter, when next iteration, utilize Monte Carlo method (to do small adjustment the parameter that last iteration is determined, again its substitution step (3) and (4) are obtained ∑ d, if the ∑ d of this moment is little than last time, then preserve current inside and outside parameter, the parameter with this during next iteration is that the basis is regulated; Iterate like this, ∑ d value constantly reduces, when ∑ d during less than set-point iteration finish, can obtain the exact value of intrinsic parameter and outer parameter.
The embodiment of the concrete demarcation of visual non-contact measuring head of the present invention is as follows:
Because the randomness of Monte Carlo method, the process of twice demarcation is the same, but resulting result is generally inequality.
Be the result of twice demarcation below:
For the first time:
For the second time:
The gauge head intrinsic parameter that the present invention demarcates and the precision of outer parameter are to verify by last measurement effect.That is,, the CCD image coordinates is converted into three-dimensional coordinate under the world coordinate system, reacts intrinsic parameter and outer parameters precision by the precision of estimating these three-dimensional coordinates with intrinsic parameter and outer parameter substitution formula (3).Utilize classic method and method proposed by the invention respectively gauge head to be demarcated the back and measure same standard ball.The diameter of known standard ball is 35.936mm, and Global Error is less than 1 micron.Respectively the calibration result substitution formula (3) of two kinds of methods is measured 500 points on standard ball, distinguish the match ball again, and ask each discrete point to arrive the ultimate range of match sphere, the diameter of the match ball that obtains and discrete point arrive the ultimate range of match sphere as showing:
| The diameter mm of match ball | Discrete point is to the ultimate range mm of match sphere | |
| The tradition scaling method | 35.941 | 0.037 |
| Scaling method of the present invention | 35.938 | 0.029 |
As can be seen from the table: the diameter that the inside and outside parameter that method proposed by the invention calibrates is carried out the match ball that scanning survey obtains is than more the be near the mark actual diameter of ball of classic method, discrete point to the ultimate range of match sphere also less than classic method.The precision that this proof utilization calibration result of the present invention carries out scanning survey is higher than classic method.
The present invention is in the calibration process of intrinsic parameter: the demarcation of intrinsic parameter is to set up from the CCD image planes to laser beam or the mapping relations of laser plane, laser spots on the testee that CCD received is converted to a dimension coordinate along laser beam, or the laser rays on the testee that CCD received is converted to two-dimensional coordinate in the laser plane.The purpose that intrinsic parameter is demarcated is to draw one dimension or two-dimensional coordinate according to the CCD reading.Can determine transformational relation by setting up the gauge head model from the CCD reading to gauge head one dimension or two-dimensional coordinate.The prerequisite of the foundation of gauge head model is the condition that the hypothesis imaging system meets pinhole imaging system, also should consider factors such as lens distortion simultaneously.Key issue is to establish calibration point after the gauge head modelling, promptly gets the point of some known coordinates in laser beam or laser plane, reads their positions on the CCD image planes.After calibration point is determined, their substitution gauge head models just can be solved unknown parameter in the model, i.e. basis: P
1d=f (P
r) or P
2d=f (P
r)---(1) tries to achieve the intrinsic parameter of gauge head.
The present invention is outside in the calibration process of parameter: the demarcation of outer parameter is that directly the one dimension of output or two-dimensional coordinate are converted to three-dimensional coordinate under the three coordinate measuring machine world coordinate system with gauge head.Thereby utilize the laser non-contact measuring head to realize three-dimensional scanning measurement.This need determine the laser beam or direction and gauge head work origin the position in world coordinate system of laser plane in world coordinate system of gauge head.
The outer parameter of gauge head has 6 components, 3 translational components, the i.e. position of gauge head work origin in world coordinate system; 3 rotational components, promptly gauge head one dimension or two-dimensional coordinate system are with respect to three anglecs of rotation of world coordinate system.If translational component is M, rotational component is Q, and the three-dimensional coordinate under the world coordinate system is P
3d, then to the three-dimensional coordinate under the world coordinate system be: P from gauge head one dimension coordinate or two-dimensional coordinate
3d=QP
1d+ M or P
3d=QP
2d+ M---(2).
When three coordinate measuring machine moved, the coordinate figure of three coordinate axis just changed, and coordinate figure can be directly obtained by the reading of grating chi, and therefore M is a known quantity in last (2) formula; Q is by the direction decision of gauge head, and its initial value is unknown, and the demarcation of outer parameter mainly is to determine Q; After Q determined, if the direction of gauge head is constant, Q was constant.After changing, the gauge head direction to demarcate the outer parameter of gauge head again.(1) formula substitution (2) formula is got: P
3d=Q
f(P
r)+M---(3).(3) f is the pairing function of gauge head intrinsic parameter in the formula; Q is the outer parameter of gauge head.
Standard ball of the present invention only requires to have reasonable sphericity, and the diameter of ball is not strict with.In addition, whole calibrating procedure mainly is the scanning survey that same standard ball is carried out, and does not need the user to disturb substantially.In said process the scanning survey standard ball resulting be that CCD is as many somes P on the plane
rCoordinate figure M with three coordinate measuring machine.Set one group of initial value of gauge head intrinsic parameter and outer parameter, can obtain the three-dimensional coordinate (p of these points according to (3) formula
x, p
y, p
z).Utilize these three-dimensional coordinate point match balls to get sphere centre coordinate (c
x, c
y, c
z) and radius r, each distance of putting the match sphere is d=((p
x-c
x)
3+ (p
y-c
y)
3+ (p
z-c
z)
3)
1/2-r, what then all discrete points were asked face to match is ∑ d apart from sum.The present invention is the condition of convergence with ∑ d minimum, utilizes Monte Carlo method constantly to carry out iteration, and iterative process is as follows:
(1) selects initial intrinsic parameter f
IniWith outer parameter Q
Ini
(2) parameter current is set at initial parameter, f
Cur=f
Ini, Q
Cur=Q
Ini
(3) setting discrete point, to ask the initial value apart from the minimum value of sum of face to match be ∑ d
Best=∞;
(4) if ∑ d
BestGreater than user's setting value, then carry out the following step repeatedly;
(5) utilize formula (3) and parameter current f
Cur, Q
CurPoint on the CCD image planes that scanning is obtained is converted to the three-dimensional coordinate (p under the world coordinate system
x, p
y, p
z);
(6) utilize (p
x, p
y, p
z) the match ball, and obtain ∑ d;
(7) if ∑ d＜∑ d
Best, ∑ d then
Best=∑ d utilizes Monte Carlo method that inside and outside parameter is adjusted, and generates new f
CurAnd Q
Cur
Those of ordinary skill in the art can understand, and in protection scope of the present invention, makes amendment for the foregoing description, and it all is possible adding and replacing, and it does not all exceed protection scope of the present invention.
Claims (3)
1, a kind of scaling method of visual non-contact measuring head, described visual non-contact measuring head is made up of a generating laser and one or two ccd video camera, its calibration process or carrying out on the three coordinate measuring machine or on other three-dimensional motion mechanism, it is characterized in that: the step of described scaling method is as follows:
A) the selected utensil of demarcating: adopt the high precision standard ball as demarcating utensil;
B) scan this standard ball: the control gauge head moves in the scanning survey operating process, make its laser spots or laser rays be radiated at the centre position of this standard ball, then by three coordinate measuring machine or three-dimensional motion mechanism autoscan, on this standard ball sphere, gather some points, obtain them at three coordinate figures of CCD as the three coordinate measuring machine of two-dimensional coordinate on the plane and correspondence;
C) one group of initial value of the inside and outside parameter of setting gauge head: wherein intrinsic parameter is included in the function f, and outer parameter is Q;
D) coordinate conversion: promptly find the solution the some three-dimensional coordinate (p in world coordinate system on this standard ball sphere
x, p
y, p
z); With B) in the step on the CCD image planes that collect on this standard ball sphere the two-dimensional coordinate value P of all points
rWith three coordinate translation component value M of the three coordinate measuring machine of correspondence, and the gauge head intrinsic parameter that comprises in the function f, the outer parameter Q of gauge head is substitution formula (3): P together
3d=Qf (P
r)+M, the convertible B of obtaining) three-dimensional coordinate (p of all points on the sphere gathered of step
x, p
y, p
z);
Wherein in the formula (3), P
rBe CCD as the point of the two-dimensional coordinate on the plane, f is the pairing function of this gauge head intrinsic parameter; Be f (P
r)=P
1dOr f (P
r)=P
2dP in the formula (1), formula (1)
1dBe conversion back along laser beam-dimension coordinate, P
2dBe the two-dimensional coordinate of conversion back in laser plane;
P
3dBe the three-dimensional coordinate under the world coordinate system: P
3d=QP
1d+ M or P
3d=QP
2dM is the translational component value in the+M formula (2), formula (2), and Q is the outer parameter of this gauge head, the i.e. rotational component of this gauge head;
E) calculating ∑ d: utilize D) the three-dimensional coordinate point match ball on the resulting sphere in the step is tried to achieve sphere centre coordinate (c
x, c
y, c
z) and radius r, again with all the range formula (4) of putting the match sphere: d=((p
x-c
x)
2+ (p
y-c
y)
2+ (p
z-c
z)
2)
1/2-r, obtain all discrete points to the match sphere apart from sum ∑ d;
F) regulate the intrinsic parameter of this gauge head and outer parameter: with ∑ d minimum is constraint condition, utilizes Monte Carlo method constantly to carry out iteration, in iterative process, preserve ∑ d hour pairing intrinsic parameter with outside parameter;
When next iteration, the inside and outside parameter that last iteration is determined is carried out small adjustment, with its substitution step (D) and (E) obtain ∑ d again;
If the ∑ d of this moment little than last time then preserved current inside and outside parameter, the parameter with this during next iteration is that the basis is regulated; Otherwise, do not preserve current inside and outside parameter, during next iteration still the parameter with last time be that the basis is regulated;
So iterate, ∑ d value constantly reduces, when ∑ d during less than set-point iteration finish, can obtain the exact value of this gauge head intrinsic parameter and outer parameter.
2, according to the scaling method of the described visual non-contact measuring head of claim 1, it is characterized in that: described demarcation utensil, it is a standard ball of not limitting diameter, and its Global Error evenly is coated with flaw detection agent or white semigloss oil lacquer with diffuse effect below 1 micron on its sphere.
3, according to the scaling method of the described visual non-contact measuring head of claim 1, it is characterized in that: described F) in the step inside and outside parameter is carried out small adjustment, it is to utilize Monte Carlo method that the inside and outside parameter of this gauge head is done small adjustment.
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| CN108286946A (en) * | 2018-01-30 | 2018-07-17 | 周蕊 | The method and system of sensing station mark fixed sum data splicing |
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| CN111457838A (en) * | 2020-04-24 | 2020-07-28 | 深圳市中图仪器股份有限公司 | Multi-sensor coordinate fusion calibration method of 3D curved surface glass measuring instrument |
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