CN102288131A - Adaptive stripe measurement device of 360-degree contour error of object and method thereof - Google Patents
Adaptive stripe measurement device of 360-degree contour error of object and method thereof Download PDFInfo
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Abstract
The invention relates to an adaptive stripe measurement device of the 360-DEG contour error of an object and a method thereof. The device is composed of four sub-measurement systems and a computer. The sub-measurement systems are uniformly distributed at four sides of an object to be measured. 0-20 DEG visual angles of every two adjacent sub-measurement systems are locally overlapped. Each sub-measurement system comprises a digital grating strip transmission system and an image acquisition system. The measurement method comprises the following steps of: (1) mapping CAD (Computer- Aided Design) data of the object to be measured to a projection device DLP (Digital Light Processing) and an image plane of a CCD (Charge Coupled Device) video camera; (2) generating adaptive strips of the object to be measured by adopting a scattered point interpolation method; (3) acquiring an strip image and calculating strip phase by various sub-measurement systems; (4) obtaining three-dimensional contour error by the sub-measurement systems; (5) determining position transformation relation of various sub-measurement systems through global calibration; and (6) unifying measurement data of various sub-measurement systems in the same coordinate system, and fusing 360-DEG contour error information of the object. The method disclosed by the invention has the characteristics of rapid online detection, high precision and good repeatability and stability.
Description
Technical field
The present invention relates to a kind of object
The measurement mechanism of profile errors and method, this is a kind of measuring technique based on the projection of self-adaptation striped, adopts the contactless pattern error measuring means and the method for various visual angles measurement and data fusion.
Background technology
Online detection is the important branch of detection technique, and can't harm, high precision, finishes that to detect be the target of detection technique fast.Practical application in industry is particularly in the production line, the shape of product defective that manufacture process is brought is difficult to avoid, though these defectives are more small usually, but quality monitoring is had a very important role, so realize that defects detection also is an indispensable important content quickly and accurately.
The mainstream technology of existing three-dimensional measurement and equipment mainly are the real data realization off-line high Precision Detection at industrial products, such as adopting contact three coordinate measuring machine, non-contact optical measuring equipment such as laser scanner or digital raster measuring system etc.Wherein non-contact measurement has characteristics such as precision height, whole audience formula, automaticity height.But if the each real data that all must pass through to gather test product compare acquisition error between the two with itself and design data then, whether qualified to judge product, this process will increase detection time, causes detection efficiency to reduce, and cost increases.At the solution of this problem, self-adaptation fringe projection measuring technique has just shown out unique advantages.This technology has had the digital striped projective technique whole audience, high precision concurrently and has been easy under computer control to realize advantage such as measurements automatically, simultaneously the microdeformation measurer is had susceptibility highly, is highly suitable for the industrial flow-line production quality control.Weak point is that present this method mainly is to generate the self-adaptation striped according to the actual sample data, and this certainly will be brought into the mismachining tolerance of sample itself in the follow-up defects detection.
The present invention serves as according to generating the self-adaptation striped, avoided the mismachining tolerance of product to be measured, providing assurance for obtaining high-precision profile errors data with the design data of testee.Adopt many cover self-adaptation striped projection systems simultaneously independent measurement to be carried out at each visual angle of test product,, can obtain test product fast at last with data fusion
Profile errors satisfies the on-line quick detection requirement.
Generate the self-adaptation striped based on desirable design data at present and carry out testee
The method that profile errors detects is not seen the pertinent literature report.
Summary of the invention
The object of the invention is that at existing online test method deficiency the advantage in conjunction with striped projection measuring technique provides a kind of effective and feasible object
The self-adaptation stripe measurement apparatus and method of profile errors, have satisfy online detection fast, the high precision characteristics.Simultaneously, measurement mechanism of the present invention has better repeatability and stability.
For achieving the above object, design of the present invention is: a kind of object
The self-adaptation stripe measurement device of profile errors is connected to form by four subsystems and computing machine.And adopt following steps to finish object
Profile errors is measured: (1) is mapped to projector and video camera as the plane with the cad data of testee; (2) adopt point interpolation method at random to generate the self-adaptation striped of testee; (3) each subsystem pick-up slip print image and calculate striped position phase; (4) subsystem obtains the three-D profile error; By global calibration, determine each subsystem position transformational relation; (5) each subsystem measurement data is unified in the same coordinate system and is fused into 360 ° of profile errors information of object.Described four sub-measuring systems are distributed on around the testee, each subsystem measure visual angle have 0 ° ~ 20 ° overlapping.Each sub-measuring system comprises digital raster striped projection system, image capturing system, also controls by computing machine (1), as shown in Figure 3.Digital raster striped projection system adopts the described method real-time rendering of claim 3 by the self-adaptation striped according to the testee shape, by digital projection device DLP(4) it is projected object plane to be measured, raster pitch and striped frequency can change arbitrarily, to adapt to the shape of testee.Image capturing system contains optical lens by CCD() (3), image pick-up card (2), the image that collects is stored in computing machine (1) with the binary data file form.
According to inventive concept, the present invention adopts following technical scheme:
The self-adaptation stripe measurement device of 360 ° of profile errors of a kind of object is made up of four sub-measuring systems and a computing machine.It is characterized in that described sub-measuring system is distributed on around the testee, adjacent sub-measuring system is measured the visual angle has 20 ° of parts overlapping, each sub-measuring system comprises digital raster striped projection system and image capturing system, is used for the local configuration error of Measuring Object.Described computing machine is used to control each sub-measuring system and finishes the profile errors measuring operation, and is connected with each measurement subsystem.
Above-mentioned digital raster striped projection system is to draw the self-adaptation striped by computer real-time, adopts digital projection device DLP that it is projected object plane to be measured, and raster pitch and striped frequency can change arbitrarily, to adapt to the shape of testee.
Above-mentioned image capturing system is made up of ccd video camera (containing optical lens) and image pick-up card, is connected with computing machine, and image pick-up card is installed on computers, and the image that collects is stored in computing machine with the binary data file form.
The self-adaptation stripe measurement method of 360 ° of profile errors of a kind of object is used above-mentioned device and is carried out the profile errors measurement, it is characterized in that measuring process is as follows:
(1) cad data of testee is mapped to projection arrangement DLP and ccd video camera as the plane;
(2) adopt point interpolation method at random to generate the self-adaptation striped of testee;
(3) each sub-measuring system pick-up slip print image and calculate striped position phase;
(4) sub-measuring system is obtained the three-D profile error;
(5) by global calibration, determine each sub-measuring system position transformational relation;
(6) each measurement subsystem measurement data is unified in the same coordinate system and is fused into 360 ° of profile errors information of object.
In the above-mentioned steps (1) cad data of testee being mapped to projection arrangement DLP and ccd video camera as the method on plane is: according to formula:
(wherein
Be respectively world coordinate system and projector and CCD coordinate system relational matrix,
,
Two-dimensional coordinate for projector and video camera mapping point), with object cad data point
Be mapped to projection arrangement DLP and ccd video camera respectively as the plane, obtain at random being distributed in of two-dimensional points and look like on the plane.
The method that adopts point interpolation method at random to generate the self-adaptation striped of testee in the above-mentioned steps (2) is: mapping point at random is split into a triangle, definition is desirably in the striped position phase of observing on the ccd video camera, adopt burst trigonometric interpolation method to calculate to obtain the position phase of projection arrangement DLP integer pixel point mutually according to the position of each triangular apex, so acquisition the self-adaptation striped of palpus projection.
N width of cloth self-adaptation stripe pattern throws to the testee surface successively by projection arrangement DLP in above-mentioned steps (3) neutron measurement system, crosses the ccd video camera collection, and the n width of cloth bar graph that wherein collects can be expressed as:
,
Expression bar graph epigraph point
Gray-scale value,
The expression side-play amount;
The expression degree of modulation,
The self-adaptation striped position phase of expression body surface arbitrfary point correspondence,
(
Be the striped pitch) expression stripe pattern phase-shift phase.Utilize formula:
Find the solution the absolute position phase of stripe pattern
, according to formula:
Obtain the phasic difference of profile errors correspondence
, the striped position of wherein observing on the ccd video camera is the reference bit phase mutually
, the actual position that obtains object under test is mutually
It is to utilize a position phase-three-dimensional coordinate mapping formula that the middle subsystem of above-mentioned steps (4) obtains the three-D profile error:
Obtain.Wherein
Be the function of picture point, and the locus between projection arrangement DLP and the ccd video camera there is relation in the striped projection measuring system.
All demarcate in the above-mentioned steps (5) and adopt same scaling board, each measurement subsystem visual angle is overlapping, normal vector according to the scaling board plane, calculate rotation matrix R and translation matrix T between adjacent sub-measuring system ccd video camera, the camera coordinates of determining a sub-measuring system is a master coordinate system, utilize this master coordinate system to be intermediary, remaining sub-measuring system coordinate system is all unified under master coordinate system.
Above-mentioned steps (6) is unified in the same coordinate system with each sub-measuring system measurement data and is fused into 360 ° of profile errors information approaches of object: by choosing the measurement result of adjacent sub-measuring system overlapping region, utilize the point of overlapping region to seek corresponding match point, the site error method that adopts the closest approach alternative manner to eliminate the overlapping region match point obtains.
The inventive method and the device compared with prior art, have following characteristics: the noncontact that 1, can be implemented in line contour of object error is measured automatically; 2, utilize the neighbor point iteration theorem can realize testee
The accurate measurement of profile errors has solved existing profile errors measuring method and device effectively and has had the too small problem of measurement range; 3, introduce the projector calibrating technology, utilized same scaling board, identical calibrating procedure can carry out the parameter calibration of video camera and projector simultaneously, improved demarcation speed; 4, the demarcation of projection arrangement DLP must not make the Camera calibration error can not be delivered in the projector calibrating process by the Camera calibration result, has guaranteed stated accuracy; 5, whole measuring system has the measuring accuracy height, and good reproducibility has been realized online product quality fast detecting; 6, measurement mechanism is simple and compact for structure, and is easy to operate, and automaticity is higher, and cost is low, is beneficial to universal; 7, this measuring system and method can also be used for the dynamic deformation measurement of other object, have good using value.
Description of drawings
Fig. 1 is the formation synoptic diagram of apparatus of the present invention system.
Fig. 2 is that the sub-measuring system of apparatus of the present invention constitutes synoptic diagram.
Fig. 3 is the workflow diagram of measuring method of the present invention.
Fig. 4 is the projection arrangement DLP of the sub-measuring system of apparatus of the present invention and the mapping relations synoptic diagram of ccd video camera and testee.
Fig. 5 is the mapping point mesh triangles figure at random on the projection arrangement DLP.
Fig. 6 is apparatus of the present invention global calibration schematic diagram.
Fig. 7 is the sub-measuring system calibration principle of apparatus of the present invention figure.
Embodiment:
Details are as follows in conjunction with the accompanying drawings for the preferred embodiments of the present invention:
Embodiment one: referring to Fig. 1, and a kind of object
The self-adaptation stripe measurement device of profile errors is connected to form by four sub-measuring systems (1,2,3,4) and computing machine (9).Described sub-measuring system (1,2,3,4) be distributed on testee (5) all around, adjacent sub-measuring system is measured the visual angle has 0 ° ~ 20 ° parts overlapping, and each sub-measuring system comprises digital raster striped projection system and image capturing system, is used for the local configuration error of Measuring Object.Described computing machine (9) is used to control each sub-measuring system (1,2,3,4) and finishes the profile errors measuring operation, and is connected with each sub-measuring system.
As Fig. 2, above-mentioned digital raster striped projection system is: described computing machine (1) real-time rendering self-adaptation striped, by connecting a digital projection device DLP(7 on it) it is projected testee (5) surface, raster pitch and striped frequency can change arbitrarily, to adapt to testee (5).
Above-mentioned image capturing system is: be made up of a ccd video camera (containing optical lens) (6) and image pick-up card (8), be connected with computing machine (9), image pick-up card (8) is installed on the computing machine (9), and the image that collects is stored in computing machine (9) with the binary data file form.
Embodiment two: referring to Fig. 3, and this kind object
The self-adaptation stripe measurement method of profile errors adopts said apparatus to measure, and measuring process is as follows:
(1) cad data with testee (5) is mapped to projection arrangement DLP(7) and ccd video camera as the plane;
(2) adopt point interpolation method at random to generate the self-adaptation striped of testee (5);
(3) each sub-measuring system (1,2,3,4) pick-up slip print image and calculate striped position phase;
(4) sub-measuring system (1,2,3,4) is obtained the three-D profile error;
(5) by global calibration, determine each sub-measuring system (1,2,3,4) position transformational relation;
(6) each sub-measuring system (1,2,3,4) measurement data is unified in the same coordinate system and is fused into 360 ° of profile errors information of testee.
Above-mentioned cad data with testee (5) is mapped to projector and video camera as the plane, and as Fig. 4, its process is as follows: according to the internal and external parameter that obtains ccd video camera (6) with the data point on the desirable object
Point on the mapping CCD coordinate system
:
Be normalized into image coordinate
:
(11)
Order
Consider the lens distortion influence, new normalized image coordinate
:
(12)
Wherein:
The coordinate of pixel
For:
In like manner can be with the data point of desirable object
Be mapped to the projected pixel coordinate system
The self-adaptation striped that above-mentioned generation is relevant with object Shape ', its process is as follows: according to the design data of testee, adopt the method based on position at random phase interpolation to generate.Concrete thinking is as follows: 1. the striped that cameras view arrives in detection is wished in definition
, according to the striped position phase of definition, interpolation solves the position phase of object correspondence mappings point on CCD; 2. more as can be known, the correspondence mappings of the data point of desirable object, CCD and projector point has identical position phase, so the position of point at random also is mutually the position phase of CCD correspondence mappings point on the projector pixel coordinate system by the ray tracing principle; 3. mapping point at random on these projector coordinate systems being carried out trigonometric ratio makes the projector coordinate system be become one by one little Delta Region (as shown in Figure 5) by grid, obviously, projector integer pixel point is by one by one little triangle encompasses, because the longitudinal and transverse pixel coordinate through type of mapping point at random is tried to achieve, and the position on the video camera of this some correspondence is mutually known, so
The integer projector pixel that surrounds
The point barycentric coordinates are designated as
,, point just
Parameter in the dough sheet, parameter
, and
So the point
Phase place can represent by formula (1)
Wherein:
Here
For
3 definite leg-of-mutton areas.
4. travel through all points at random, the projector integer pixel point that delta-shaped region is surrounded find the solution out mutually.Generate the self-adaptation striped mutually according to the position of being tried to achieve at last.
Obtaining of the profile errors information of above-mentioned single-view, its process is as follows: measuring system adopts phase-shift method to find the solution a phase, by projection arrangement DLP throw one group with
, (
i=0,1 ...,
N-1) be the self-adaptation striped of phase-shift phase to the tested object plane after, ccd video camera photographs
NAmplitude variation shape stripe pattern.Order
Expression the
The intensity distributions of width of cloth bar graph:
Wherein
Be the pixel coordinate of picture point, the position that then can calculate this visual angle object is mutually:
Order is desirably in CCD and upward is the reference bit phase mutually in the striped position of observation
, the actual position that obtains object under test is mutually
, its phasic difference can be expressed as:
Last position and the depth map relation of obtaining according to system calibrating:
Solve the face shape error three-dimensional information of object under test and design data.
Above-mentioned global calibration is determined space conversion relation between each sub-measuring system system, and its thinking is: it is local overlapping to make each visual angle have, and adjacent two subsystems CCD obtains the image of same position place scaling board, as shown in Figure 6.Adopt the camera calibration technology to obtain external parameter
Characteristic point coordinates on the scaling board is transformed to the camera coordinate system of each measurement subsystem, and these unique points are fitted to a plane, obtain the normal vector on plane, calculate transformation relation matrix R and T between adjacent sub-measuring system ccd video camera, the ccd video camera coordinate of determining a sub-measuring system is a master coordinate system, utilizes this master coordinate system to be intermediary, and remaining sub-measuring system coordinate system is all unified under master coordinate system.
360 ° of profile errors information fusion of above-mentioned object, its thinking is: adopt the closest approach alternative manner to realize.The camera coordinates of determining a sub-measuring system is a master coordinate system, and is all unified in this coordinate system the measurement data of remaining sub-measuring system then according to the space geometry mapping relations of obtaining, and obtains the global measuring data.Because the space geometry transformation relation between adjacent sub-measuring system is found the solution and is subjected to influence of measurement error, can have deviation, cause the global measuring data splicing slit to occur.This with coordinate global data after reunification as research object, to the space plane projection of scaling board place, the three-dimensional data points of choosing in the scaling board unique point scope is the overlay region, utilizes the point of overlapping region to seek corresponding match point.Suppose that the data point set of accepting conversion is designated as P, fixing data set is X, and is called mode set.Definition of data is concentrated certain
Distance to mode set
For:
Note
For calculating the operational character of match point, then the coupling point set corresponding to P is in the mode set:
In addition, note kinematic parameter
The operational character of finding the solution be
, that is:
The renewal of data set is operating as
:
Adopt the precision control of mean square deviation as splicing:
Wherein
Capacity for the coupling point set.By the limited number of time circulation, finally obtain effective global error splicing result.
As Fig. 7, determine that the concrete course of work of the relation of the image coordinate of projector apparatus DLP and ccd video camera and world coordinates is:
(1) ccd video camera is demarcated: the definition world coordinate system, and scaling board is accurately moved on the rotation mobile platform, utilize ccd video camera to obtain the image of scaling board at each place, shift position, utilize the volume coordinate of known spatial unique point
The image coordinate of the character pair point that obtains with CCD
Find the solution CCD(and comprise focal length
, the principal point coordinate
, aspect ratio
, the lens distortion coefficient
) and the external parameter rotation matrix
And translation matrix
(2) projector apparatus DLP internal and external parameter is demarcated: scaling board (10) is gone up at moving stage (11) accurately moved and respectively throw a cover level and vertically sine streak by projector apparatus DLP to the scaling board surface in each position, level and vertical striped when utilizing relevant bits facies analysis technology to obtain scaling board each position of living in, as shown in Figure 7, calculate striped position phase (
).According to the ray tracing principle, projector apparatus DLP has identical position phase with the ccd video camera corresponding point, promptly
（7）
Then the pixel coordinate of the corresponding point of scaling board unique point in projector coordinates system is:
Utilize the volume coordinate of known spatial unique point
And the image coordinate obtained of formula (9), (10)
The inner parameter of finding the solution projector apparatus DLP (comprises focal length
, the principal point coordinate
, aspect ratio
, the lens distortion coefficient
) and external parameter (comprise rotation matrix
And translation matrix
).
Claims (10)
1. the self-adaptation stripe measurement device of 360 ° of profile errors of an object is by four sub-measuring systems (1,2,3,4), a computing machine (9) is formed, and it is characterized in that described subsystem (1,2,3,4) be distributed on testee (5) all around, adjacent sub-measuring system is measured the visual angle has 0 ° ~ 20 ° parts overlapping, each sub-measuring system comprises digital raster striped projection system and image capturing system, is used for the local configuration error of Measuring Object; Described computing machine (9) connects with each subsystem (1,2,3,4), is used to control each subsystem (1,2,3,4) and finishes the profile errors measuring operation.
2. the self-adaptation stripe measurement device of 360 ° of profile errors of object according to claim 1, it is characterized in that described digital raster striped projection system is by computing machine (9) real-time rendering self-adaptation striped, by a digital projection device DLP(7) it is projected testee (5) surface, raster pitch and striped frequency can change arbitrarily, with the shape of the testee (5) that adapts to.
3. the self-adaptation stripe measurement device of 360 ° of profile errors of object according to claim 1, it is characterized in that described image capturing system connects an image pick-up card (8) by a ccd video camera (containing optical lens) (6) and forms, described image pick-up card (8) is installed in computing machine (9) and upward and with computing machine (9) is connected, and the image that collects is stored in computing machine (9) with the binary data file form.
4. the self-adaptation stripe measurement method of 360 ° of profile errors of an object is used device according to claim 1 and is carried out the profile errors measurement, it is characterized in that measuring process is as follows:
1) cad data with testee (5) is mapped to projection arrangement DLP(7) and video camera (6) as the plane;
2) adopt point interpolation method at random to generate the self-adaptation striped of testee (5);
3) each sub-measuring system (1,2,3,4) pick-up slip print image and calculate striped position phase;
4) sub-measuring system (1,2,3,4) is obtained the three-D profile error;
5) by global calibration, determine each sub-measuring system (1,2,3,4) position transformational relation;
6) each sub-measuring system (1,2,3,4) measurement data is unified in the same coordinate system and is fused into 360 ° of profile errors information of object.
5. the self-adaptation stripe measurement method of 360 ° of profile errors of object according to claim 4 is characterized in that in the described step 1) cad data of testee (5) is mapped to projection arrangement DLP(7) and ccd video camera (6) as the method on plane be: according to formula:
Wherein
Be respectively world coordinate system and projection arrangement DLP(7) and ccd video camera (6) coordinate system relational matrix,
,
Be projection arrangement DLP(7) and the two-dimensional coordinate of ccd video camera (6) mapping point, with the cad data point of testee (5)
Be mapped to projection arrangement DLP(7 respectively) and ccd video camera (6) pixel coordinate system, obtain at random being distributed in of two-dimensional points and look like on the plane.
6. the self-adaptation stripe measurement method of 360 ° of profile errors of object according to claim 4, it is characterized in that described step 2) in adopt point interpolation method at random to generate the self-adaptation striped of testee (5) method be: mapping point at random is split into a triangle, definition is desirably in the striped position phase that ccd video camera (6) is gone up observation, adopt burst trigonometric interpolation method to calculate mutually according to the position of each triangular apex and obtain projection arrangement DLP(7) the position phase of integer pixel point, and then acquisition the self-adaptation striped of palpus projection.
7. the self-adaptation stripe measurement method of 360 ° of profile errors of object according to claim 4, it is characterized in that described step 3) neutron measurement system (1,2,3,4) by projection arrangement DLP(7) throw N width of cloth self-adaptation stripe pattern successively to testee (5) surface, cross ccd video camera (6) collection, the n width of cloth bar graph that wherein collects can be expressed as
,
Expression bar graph epigraph point
Gray-scale value,
The expression side-play amount;
The expression degree of modulation,
The self-adaptation striped position phase of expression body surface arbitrfary point correspondence,
(
Be the striped pitch) expression stripe pattern phase-shift phase; Utilize formula:
Find the solution the absolute position phase of stripe pattern
, according to formula:
Obtain the phasic difference of profile errors correspondence
, wherein the striped position of the last observation of ccd video camera (6) is the reference bit phase mutually
, the actual position that obtains object under test is mutually
8. the self-adaptation stripe measurement method of 360 ° of profile errors of object according to claim 4 is characterized in that it is to utilize position phase-three-dimensional coordinate mapping formula that described step 4) neutron measurement system (1,2,3,4) obtains the three-D profile error:
Obtain, wherein
Be the function of picture point, and the locus between projection arrangement DLP and the ccd video camera there is relation in the striped projection measuring system.
9. the self-adaptation stripe measurement method of 360 ° of profile errors of object according to claim 4, it is characterized in that global calibration adopts same scaling board in the described step 5), each sub-measuring system visual angle is overlapping, normal vector according to the scaling board plane, calculate rotation matrix R and translation matrix T between the ccd video camera (6) in the adjacent sub-measuring system, ccd video camera (6) coordinate of determining a sub-measuring system is a master coordinate system, utilize this master coordinate system to be intermediary, remaining sub-measuring system coordinate system is all unified under master coordinate system.
10. the self-adaptation stripe measurement method of 360 ° of profile errors of object according to claim 4, it is characterized in that described step 6) is unified in the same coordinate system with each sub-measuring system measurement data and is fused into 360 ° of profile errors information approaches of object is: by choosing adjacent sub-measuring system (1,2,3,4) measurement result of overlapping region, utilize the point of overlapping region to seek corresponding match point, the site error method that adopts the closest approach alternative manner to eliminate the overlapping region match point obtains.
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