CN104457574A - Device for measuring volume of irregular object in non-contact measurement mode and method - Google Patents
Device for measuring volume of irregular object in non-contact measurement mode and method Download PDFInfo
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- CN104457574A CN104457574A CN201410763659.2A CN201410763659A CN104457574A CN 104457574 A CN104457574 A CN 104457574A CN 201410763659 A CN201410763659 A CN 201410763659A CN 104457574 A CN104457574 A CN 104457574A
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Abstract
The invention provides a device for measuring the volume of an irregular object in a non-contact mode and a measurement method. The device is provided with a first camera, a second camera, a line laser arranged between the first camera and the second camera and a driving mechanism, wherein the first camera and the second camera are electrically connected with a computer, the driving mechanism comprises a stepping motor, an objective table fixedly arranged at the top end of an output shaft of the stepping motor, and a driving unit, and the driving unit is composed of a driver matched with the stepping motor and a control chip for controlling the driver to work. The measurement method includes the steps that an image is acquired, a point cloud model is built, and the volume is calculated. The volume of the irregular object, such as an object like a wooden product, a paper product and a ceramic cultural relic made of special materials, can be measured in the non-contact mode, and no damage is caused to the detected object. Operation is easy, speed is high, and accuracy is high.
Description
Technical field
The present invention relates to a kind of measurement mechanism of object volume.Particularly relate to a kind of device based on line laser trigon non-contact measurement irregularly shaped object volume and measuring method.
Background technology
The measurement of object volume size all has great significance in a lot of fields such as storage object, transporting objects, object detection, and therefore, the volume of Measurement accuracy object is the work be of practical significance very much, especially to the measurement of irregularly shaped object volume.
Contact and non-contact measurement two kinds are broadly divided into the measurement of irregularly shaped object volume.Wherein, contact type measurement is then very inapplicable to the object of some special substances, such as woodwork, paper products, Ceramic Cultural Relics etc., so namely become a study hotspot to the research of non-contact measurement object volume.
Non-cpntact measurement object volume can adopt non-optical means and optical instrument again, and non-optical measurement means principle is simple, but often device is complicated, and precision is lower; Optical instrument then measuring speed is fast, and precision is high, therefore more by the concern of researcher.
The optical instrument of main flow has digital hologram method, phase measurement, multi-angle image method and laser scanning method etc.Digital hologram method irradiates sample by laser, and generation and the reproducing processes of research hologram realize three-dimensionalreconstruction, and calculate volume, the method speed is fast, resolution is high, but measurement range is subject to equipment parameters affect; Raster pattern is projected to body surface by phase measurement, and depth information is modulated with position mutually to fringe amplitude, thus obtains three-dimensional information and volume, and little, the anti-static noise ability of calculated amount is strong, but speed is slow and can not eliminate the error that high frequency noise causes; Multi-angle image method refers to takes multiple images to testee from different perspectives, then calculates volume by these Images uniting three-dimensional models, requires low, simple to operate for measuring equipment, but measuring accuracy is not high and algorithm complex is higher; Laser scanning method utilizes Laser Scanning Equipment to obtain cloud data, and build the three-dimensional model of testee accordingly, calculate volume, measuring accuracy is relevant to the precision of measuring equipment, but algorithm design is relatively easy, and complexity is lower, and precision is high.
Summary of the invention
Technical matters to be solved by this invention is, provide a kind of simple to operate, speed is fast, the device based on line laser trigon non-contact measurement irregularly shaped object volume that precision is high and measuring method.
The technical solution adopted in the present invention is: a kind of device for non-contact measurement irregularly shaped object volume, include computing machine, also be provided with the first camera and the second camera for the gathering testee image that are electrically connected with described computing machine respectively, be arranged between described first camera and second camera for providing the laser line generator of laser, and the driving mechanism for driving described testee to rotate, described driving mechanism includes stepper motor, be fixedly installed on the objective table for carrying testee on described stepper motor output shaft top, and the driver element for driving described stepper motor to rotate, described driver element is the control chip by the driver matched with described stepper motor and control and drive system work.
Described laser line generator is centre wavelength is 980nm or 850nm or 808nm or 650nm, light fan angle is greater than the laser line generator that 40 ° are less than 120 °, the first described camera and second camera are respectively arranged with match with described laser line generator for ensureing that light belt extracts integrality and effectively weakens the filter plate that external stray light affects.
The first described camera and second camera to be all field angle the be black and white camera of 35 ° ~ 45 °.
The vertical central plane of the laser light plane of described laser line generator and the first camera and second camera intersects at the center line of objective table, and described laser line generator with the first described camera and second camera distance apart and angulation is field angle according to line laser trigonometry and camera respectively and determines.
The measuring method of a kind of device for non-contact measurement irregularly shaped object volume of the present invention, comprises the steps:
1) gather image, driver element control step motor drives testee at the uniform velocity to rotate, and the first camera and second camera all gather image with constant duration simultaneously, and gathered image is stored in computing machine;
2) set up point cloud model, the image of computing machine to the first camera and second camera collection carries out distortion correction and smoothing processing, utilizes gradient centroid method to extract the light belt center line of image, obtains the pixel coordinate (x of light belt
p, y
p), then the optical plane world coordinates world coordinates (x of body surface each point is tried to achieve by transformation matrix H
w, y
w, z
w), by optical plane world coordinates (x
w, y
w, z
w) be multiplied by rotation matrix, obtain each point three-dimensional world coordinate (X
w, Y
w, Z
w), set up point cloud model;
3) volume computing, application microtomy calculates testee volume, comprising:
(1) to the some cloud of testee along short transverse with Δ h at equal intervals
ilayering, obtains and respectively cuts open demixing point cloud;
(2) subdivision layer inner projection point sum threshold value is set;
(3) each layer contour area S is obtained respectively according to threshold value
i:
(4) formula V=Σ S is recycled
i* Δ h
itry to achieve testee volume.
Step 1) in the first camera and second camera be adopt a two field picture with every 1.5 ° ~ 3 °.
Step 2) described in transformation matrix H, be demarcate based on the device of Zhang Zhengyou standardization to non-contact measurement irregularly shaped object volume, obtain the transformation matrix H of pixel coordinate to world coordinates, described transformation matrix H is the matrix of 3 × 3.
Step 2) described in the optical plane world coordinates (x being tried to achieve body surface each point by transformation matrix H
w, y
w, z
w) be:
Optical plane world coordinates is multiplied by rotation matrix, obtains each point three-dimensional world coordinate (X
w, Y
w, Z
w), setting up point cloud model is
Wherein θ is sampling angle interval, (x
0, z
0) be rotation center.
Step 3) in the Δ h described in (1) step
ibe experimentally choose, choose that to meet the some projection of cloud on each subdivision layer be plane polygon, require subdivision layer of getting to ensure profile is complete and suppress step effect simultaneously.
Step 3) in (3) step described in obtain each layer contour area S respectively according to threshold value
icomprise: for subdivision layer inner projection point sum more than the some cloud equaling predetermined threshold value, adopt Polygonal Approximation matching profile, and obtain this layer of contour area S
i; Subdivision layer inner projection point sum is less than to the some cloud of predetermined threshold value, adopts evagination polygonal approximation approximatioss matching profile, and obtain this layer of contour area S
i.
The device of a kind of non-contact measurement irregularly shaped object volume of the present invention and measuring method, the volume of irregularly shaped object can be measured non-contactly, comprise the object volume of special substance, as woodwork, paper products, Ceramic Cultural Relics etc., any damage can not be caused to testee.Simple to operate, speed is fast, and precision is high.There is following features:
1, principle is simple, and reasonable in design: based on line laser trigonometry, can select device according to the article size that will survey and design apparatus, applicability is strong;
2, measuring accuracy is high: pixel typical resolution is about 0.14mm, demarcates re-projection error and is less than 0.17mm, measures relative error and is not more than 1%;
3, measurement environment strong adaptability, speed is fast: camera installs the optical filter matched with laser center wavelength additional, ensure that light belt extracts integrality and effectively weakens external stray light impact simultaneously, stepper motor and turntable are rigidly connected, and namely complete object dimensional model reconstruction and cubing in 18.2s;
4, system application scalability is strong: system scan produces measured object surface point cloud, and easily extensible is applied to 3-dimensional digital modeling, increases the field such as material manufacture and reverse-engineering.
Accompanying drawing explanation
Fig. 1 is the one-piece construction schematic diagram of the device of non-contact measurement irregularly shaped object volume of the present invention;
In figure
1: computing machine 2: testee
3: the first cameras 4: second camera
5: laser line generator 6: stepper motor
7: objective table 8: driver element
9: base
Fig. 2 measures mechanical layout schematic diagram when each dimension is no more than 7cm object volume;
After Fig. 3 is collection image, the process flow diagram that point cloud model is set up;
Fig. 4 is the process flow diagram of measuring method of the present invention;
Fig. 5 is the demixing point cloud design sketch of layer shown in the point cloud model schematic diagram and square frame that obtain in experiment;
Fig. 6 a cuts open demixing point cloud subpoint sum more than polygon approach design sketch during threshold value;
Fig. 6 b cuts open evagination polygonal approximation design sketch when demixing point cloud subpoint sum is less than threshold value;
Fig. 7 is the relative error curve of the multiple different volumes pyramid of actual measurement.
Embodiment
Below in conjunction with embodiment and accompanying drawing, the device of a kind of non-contact measurement irregularly shaped object volume of the present invention and measuring method are described in detail.
As shown in Figure 1, a kind of device for non-contact measurement irregularly shaped object volume of the present invention, include computing machine 1, also be provided with the first camera 3 and the second camera 4 for the gathering testee 2 image that are electrically connected with described computing machine 1 respectively, be arranged between described first camera 3 and second camera 4 for providing the laser line generator 5 of laser, and the driving mechanism for driving described testee 2 to rotate, the first described camera 3, second camera 4 and laser line generator 5 are all fixedly installed on a base 9, and, according to line laser trigonometry, the laser light plane of described laser line generator 5 and the vertical central plane of the first camera 3 and second camera 4 intersect at the center line of objective table 7, described laser line generator 5 with the first described camera 3 and second camera 4 distance is apart field angle according to line laser trigonometry and camera respectively and determines.The first described camera 3 and second camera 4 to be all field angle the be black and white camera of 35 ° ~ 45 °.As laser line generator 5 respectively with as described in the first camera 3 and second camera 4 at a distance of 85mm time angle at 45 °.
Described driving mechanism includes stepper motor 6, be fixedly installed on the objective table 7 for carrying testee 2 on described stepper motor 6 output shaft top, and the driver element 8 for driving described stepper motor 6 to rotate, described driver element 8 is the control chips by the driver matched with described stepper motor 6 and control and drive system work.It is the driver of M420B or TB6560 that described stepper motor and driver can select model to be the stepper motor of 42HS4813A4 or 42BYGH47-401A and model, and described control chip can adopt model to be the chip of JM60 or C8051F330 or HC6800.
Described laser line generator 5 is centre wavelength is 980nm or 850nm or 808nm or 650nm, light fan angle is greater than the laser line generator that 40 ° are less than 120 °, the first described camera 3 and second camera 4 are respectively arranged with match with described laser line generator 5 for ensureing that light belt extracts integrality and effectively weakens the filter plate that external stray light affects, be the filter plate of 980nm or 850nm or 808nm or 650nm as selected centre wavelength.The first described camera 3 and second camera 4 can adopt the black and white camera of resolution 640*480 (level × vertical), field angle about 36 ° × 28 ° (vertical × level).
In the present embodiment, by line laser trigonometry, consider the technical parameters such as measurement range, mechanical dimension, image resolution ratio, the device for non-contact measurement irregularly shaped object volume of design as shown in Figure 2, for the distance H of laser center on vertical direction, the first camera and second camera center and stage surface is 35 ~ 40mm, in horizontal direction, laser is 85mm to the distance L at objective table center and the first camera, second camera center, and the first camera and second camera and laser line generator angle at 45 °.Based on Zhang Zhengyou standardization, the whole device for non-contact measurement irregularly shaped object volume is demarcated, obtain the transformation matrix H of image coordinate to world coordinates.
As shown in Figure 4, the measuring method of the device for non-contact measurement irregularly shaped object volume of the present invention, testee is driven at the uniform velocity to rotate a circle by driver element control step motor, period dual camera constant duration collection simultaneously testee surface scattering line laser image, and the three-dimensional information of the testee of collection is passed to data handling system, obtain point cloud model, calculate volume.Specifically comprise the steps:
1) image is gathered, driver element control step motor drives testee at the uniform velocity to rotate, first camera and second camera all gather image with 16.7 or 33.3ms constant duration simultaneously, gathered image is stored in computing machine, and described first camera and second camera adopt a two field picture with every 1.5 ° ~ 3 °;
2) set up point cloud model, as shown in Figure 3, the image of computing machine to the first camera and second camera collection carries out distortion correction and smoothing processing, utilizes gradient centroid method to extract the light belt center line of image, obtains the pixel coordinate (x of light belt
p, y
p), then the optical plane world coordinates (x of body surface each point is tried to achieve by transformation matrix H
w, y
w, z
w), namely
Optical plane world coordinates is multiplied by rotation matrix, obtains each point three-dimensional world coordinate (X
w, Y
w, Z
w) (world coordinate system as in Fig. 1), set up point cloud model, namely
Wherein θ is sampling angle interval, (x
0, z
0) be rotation center.
Described transformation matrix H, be demarcate based on the device of Zhang Zhengyou standardization to non-contact measurement irregularly shaped object volume, obtain the transformation matrix H of pixel coordinate to world coordinates, described transformation matrix H is the matrix of 3 × 3;
3) volume computing, application microtomy calculates testee volume, comprising:
(1) to the some cloud of testee along short transverse with Δ h at equal intervals
ilayering, obtains and respectively cuts open demixing point cloud, as shown in Figure 5, and described Δ h
ibe experimentally choose, choose that to meet the some projection of cloud on each subdivision layer be plane polygon so that cut open delamination area matching, require subdivision layer of getting to ensure profile is complete and suppress step effect simultaneously;
(2) subdivision layer inner projection point sum threshold value is set;
(3) each layer contour area S is obtained respectively according to threshold value
ispecifically: for subdivision layer inner projection point sum more than the some cloud equaling predetermined threshold value, be similar to and think that a cloud is fully described subdivision layer profile information, adopt Polygonal Approximation matching profile, fitting precision is that a some cloud profile girth takes advantage of quality coefficient, as shown in Figure 6 a, and obtain this layer of contour area S
i; Subdivision layer inner projection point sum is less than to the some cloud of predetermined threshold value, thinks that a cloud can not describe subdivision layer profile information, adopt evagination polygonal approximation approximatioss matching profile, as shown in Figure 6 b, and obtain this layer of contour area S
i;
(4) formula V=Σ S is recycled
i* Δ h
itry to achieve testee volume.
As shown in Figure 7, when getting thickness Δ h
iduring=0.3mm, substitute into sum formula
V＝ΣＳ
i*Δh
i(3)
Try to achieve testee volume, measure relative error within 1%.
Claims (10)
1. the device for non-contact measurement irregularly shaped object volume, include computing machine (1), it is characterized in that, also be provided with the first camera (3) and the second camera (4) for the gathering testee (2) image that are electrically connected with described computing machine (1) respectively, be arranged between described first camera (3) and second camera (4) for providing the laser line generator (5) of laser, and the driving mechanism for driving described testee (2) to rotate, described driving mechanism includes stepper motor (6), be fixedly installed on the objective table (7) for carrying testee (2) on described stepper motor (6) output shaft top, and the driver element (8) for driving described stepper motor (6) to rotate, described driver element (8) is the control chip by the driver matched with described stepper motor (6) and control and drive system work.
2. the device for non-contact measurement irregularly shaped object volume according to claim 1, it is characterized in that, described laser line generator (5) is centre wavelength is 980nm or 850nm or 808nm or 650nm, light fan angle is greater than the laser line generator that 40 ° are less than 120 °, described the first camera (3) and second camera (4) are respectively arranged with match with described laser line generator (5) for ensureing that light belt extracts integrality and effectively weakens the filter plate that external stray light affects.
3. the device for non-contact measurement irregularly shaped object volume according to claim 1, is characterized in that, described the first camera (3) and second camera (4) to be all field angle the be black and white camera of 35 ° ~ 45 °.
4. the device for non-contact measurement irregularly shaped object volume according to claim 1, it is characterized in that, the laser light plane of described laser line generator (5) and the vertical central plane of the first camera (3) and second camera (4) intersect at the center line of objective table (7), and described laser line generator (5) with described the first camera (3) and second camera (4) distance apart and angulation is field angle according to line laser trigonometry and camera respectively and determines.
5., for a measuring method for the device of non-contact measurement irregularly shaped object volume, it is characterized in that, comprise the steps:
1) gather image, driver element control step motor drives testee at the uniform velocity to rotate, and the first camera and second camera all gather image with constant duration simultaneously, and gathered image is stored in computing machine;
2) set up point cloud model, the image of computing machine to the first camera and second camera collection carries out distortion correction and smoothing processing, utilizes gradient centroid method to extract the light belt center line of image, obtains the pixel coordinate (x of light belt
p, y
p), then the optical plane world coordinates world coordinates (x of body surface each point is tried to achieve by transformation matrix H
w, y
w, z
w), by optical plane world coordinates (x
w, y
w, z
w) be multiplied by rotation matrix, obtain each point three-dimensional world coordinate (X
w, Y
w, Z
w), set up point cloud model;
3) volume computing, application microtomy calculates testee volume, comprising:
(1) to the some cloud of testee along short transverse with Δ h at equal intervals
ilayering, obtains and respectively cuts open demixing point cloud;
(2) subdivision layer inner projection point sum threshold value is set;
(3) each layer contour area S is obtained respectively according to threshold value
i;
(4) formula V=Σ S is recycled
i* Δ h
itry to achieve testee volume.
6. the measuring method of the device for non-contact measurement irregularly shaped object volume according to claim 5, is characterized in that, step 1) in the first camera and second camera be adopt a two field picture with every 1.5 ° ~ 3 °.
7. the measuring method of the device for non-contact measurement irregularly shaped object volume according to claim 5, it is characterized in that, step 2) described in transformation matrix H, demarcate based on the device of Zhang Zhengyou standardization to non-contact measurement irregularly shaped object volume, obtain the transformation matrix H of pixel coordinate to world coordinates, described transformation matrix H is the matrix of 3 × 3.
8. the measuring method of the device for non-contact measurement irregularly shaped object volume according to claim 5, is characterized in that, step 2) described in the optical plane world coordinates (x being tried to achieve body surface each point by transformation matrix H
w, y
w, z
w) be:
Optical plane world coordinates is multiplied by rotation matrix, obtains each point three-dimensional world coordinate (X
w, Y
w, Z
w), setting up point cloud model is
Y
w＝y
w
Wherein θ is sampling angle interval, (x
0, z
0) be rotation center.
9. the measuring method of the device for non-contact measurement irregularly shaped object volume according to claim 5, is characterized in that, step 3) in the Δ h described in (1) step
ibe experimentally choose, choose that to meet the some projection of cloud on each subdivision layer be plane polygon, require subdivision layer of getting to ensure profile is complete and suppress step effect simultaneously.
10. the measuring method of the device for non-contact measurement irregularly shaped object volume according to claim 5, is characterized in that, step 3) in (3) step described in obtain each layer contour area S respectively according to threshold value
icomprise: for subdivision layer inner projection point sum more than the some cloud equaling predetermined threshold value, adopt Polygonal Approximation matching profile, and obtain this layer of contour area S
i; Subdivision layer inner projection point sum is less than to the some cloud of predetermined threshold value, adopts evagination polygonal approximation approximatioss matching profile, and obtain this layer of contour area S
i.
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