CN1214897C - Method for identifying work piece characteristic and coordinate measurement using laser strucutre vision - Google Patents
Method for identifying work piece characteristic and coordinate measurement using laser strucutre vision Download PDFInfo
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- CN1214897C CN1214897C CN 02158342 CN02158342A CN1214897C CN 1214897 C CN1214897 C CN 1214897C CN 02158342 CN02158342 CN 02158342 CN 02158342 A CN02158342 A CN 02158342A CN 1214897 C CN1214897 C CN 1214897C
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000005259 measurement Methods 0.000 title claims abstract description 13
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- 239000004411 aluminium Substances 0.000 description 1
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Abstract
The present invention relates to a method for identifying work piece characteristics and completing coordinate measurement by using laser structured light vision, which comprises the following steps: synchronously collecting laser structured light vision images by two cameras; finding out three groups of three-dimensional coordinates of a corresponding point on a work piece by using the characteristic point coordinates and the laser structured light plane parameters on the two images; merging the three groups of three-dimensional coordinates to obtain the three-dimensional coordinates of the corresponding point on the work piece. In the present invention, two cameras synchronously collect laser structured light vision images which are processed to identify the characteristics of the work piece, and the image coordinates of the characteristic points on the images are obtained. One group of three-dimensional coordinates of the corresponding point on the work piece is calculated according to the coordinates of the characteristic points on the two images by a binocular vision principle. The coordinates of the characteristic points on the two images and the laser structured light planes are respectively used for obtaining two groups of three-dimensional coordinates of the corresponding point on the work piece. The three groups of information is merged by an information fusion method, so that the present invention can enhance measuring accuracy, reinforce the interference rejection and enhance the availability.
Description
Technical field
The present invention relates to the vision measurement among the robot field, particularly utilize the method for laser structure light visual identity workpiece features and measurement of coordinates.
Background technology
Laser beam forms laser plane through cylindrical mirror, projects and produces laser stripe on the workpiece, utilizes the camera acquisition laser stripe to obtain to have the visual pattern of distinct characteristic.Go out workpiece features through the image processing and identification, and obtain the image coordinate of the characteristic point on the image, calculate the three-dimensional coordinate of corresponding points on the workpiece then by image coordinate.
Present this vision measuring method adopts a video camera to carry out IMAQ, and (its typical structure is seen " Wu Lin, Chen Shanben, intelligent solder technology, the 209th ~ 210 page, Beijing: National Defense Industry Press, 2000 years.”)。Its weak point is: when structured light is radiated at when removing the aluminium sheet of oxide-film or grinding or other metal sheet surface through wire brush, can produce strong reflection, the picture quality that collects is reduced significantly, tend to make the subsequent treatment failure; Laser instrument is demarcated difficulty, needs special demarcation thing, demarcates thing complex structure (" Xu Guang Yu, Liu Lifeng; Ceng Jianchao, Shi Dingji, a kind of new three dimensional vision system scaling method based on structured light, Chinese journal of computers; the 18th volume, the 6th phase, the 450th ~ 456 page, nineteen ninety-five "); Availability is lower, in case laser instrument or video camera break down, this vision measuring method will lose efficacy; After changing laser instrument or video camera, must demarcate again and could work.
Summary of the invention
The object of the present invention is to provide a kind of method that is used to discern workpiece features and carries out the real-time three-dimensional measurement of coordinates.
For achieving the above object, a kind of method of utilizing laser structure light visual identity workpiece features and measurement of coordinates comprises step:
Utilize two video cameras to gather laser structure light visual pattern synchronously;
Three groups of three-dimensional coordinates that utilize characteristic point coordinate on two width of cloth images and laser structure light-plane parameters to try to achieve corresponding points on the workpiece;
By fusion, obtain the three-dimensional coordinate of corresponding points on the workpiece to these three groups of three-dimensional coordinates.
Technical scheme of the present invention is to utilize two video cameras to gather laser structure light visual pattern synchronously, with image processing method image is handled, and identifies workpiece features, and obtains the image coordinate of the characteristic point on the image.Utilize the binocular vision principle, can go out one group of three-dimensional coordinate of corresponding points on the workpiece by the characteristic point coordinate Calculation on two width of cloth images.Two groups of three-dimensional coordinates that utilize characteristic point coordinate on two width of cloth images and laser structure optical plane can obtain corresponding points on the workpiece respectively.Utilize known information fusion method to merge these three groups of information, thereby can improve certainty of measurement, increase antijamming capability, improve availability.
Description of drawings
Fig. 1 is a laser structure light vision measurement device principle schematic;
The one-sided sloping workpiece visual pattern of Fig. 2 for the laser instrument timing signal is collected;
Fig. 3 is the visual pattern of the V-type groove workpiece that collects.
The specific embodiment
Provided by the inventionly be used to realize that the device of said method is at the end of industrial robot laser instrument and two video cameras to be installed, the relative position of laser plane and video camera is fixed, and laser instrument is followed the robot motion with video camera.In industrial computer, install the multiway images synchronous collecting card additional, the vision signal of two video cameras is connected to the wherein two-way input of picture synchronization collection card.
When the laser structure optic plane equations is unknown, utilize the binocular vision principle, ask for three-dimensional coordinate by the characteristic point coordinate on two width of cloth images, utilize the three-dimensional coordinate of 3 above characteristic points to ask for laser parameters then.The laser plane equation can be represented with following formula:
ax+by+cz+1＝0
With the three-dimensional coordinate substitution following formula of three above characteristic points, can obtain laser parameters a, b, c.In following formula, x, y, z are the coordinates of which coordinate system, acquisition be exactly laser structure optic plane equations under which coordinate system.This process is referred to as laser instrument and demarcates.After laser instrument is installed, only need to demarcate once.
Because characteristic point is taken from laser structure light, so characteristic point is inevitable on laser plane, simultaneously also on a space line between the imaging point on video camera 1 optical axis center point and the imaging plane.Utilize the equation and the laser plane equation of this straight line, can solve the three-dimensional coordinate of characteristic point, as follows formula.
Wherein, (x
C10, y
C10, z
C10) be the optical axis center coordinate of video camera 1, (x
C11, y
C11, z
C11) be the coordinate of the imaging point on the imaging plane, a
1, b
1, c
1For with video camera 1 the same coordinate system under the parameter of laser structure optic plane equations.
In like manner, utilize video camera 2 as follows with the three-dimensional coordinate formula of laser plane equation solution characteristic point:
Wherein, (x
C20, y
C20, z
C20) be the optical axis center coordinate of video camera 2, (x
C21, y
C21, z
C21) be the coordinate of the imaging point on the imaging plane, a
2, b
2, c
2For with video camera 2 the same coordinate systems under the parameter of laser structure optic plane equations.
In addition, the present invention is normal at laser instrument, still can measure when breaking down, promptly utilize the image of laser parameter and another video camera to obtain three-dimensional coordinate information for any one in two video cameras.Normal at two video cameras, during laser failure, after laser instrument is changed, even laser instrument is not demarcated, the present invention also can measure, and promptly utilizes the laser structure light visual pattern of two camera acquisitions to obtain three-dimensional coordinate information by known binocular vision principle.Therefore, the present invention can increase substantially the availability of vision measurement.
Embodiment
As shown in Figure 1, two video cameras all adopt WATEC505 black and white industrial camera, and laser instrument adopts semiconductor laser, and the master of filter lens sees through optical wavelength 670nm, and the plano-convex cylindrical mirror adopts GCL-11.During experiment, image pick-up card adopts MC-30, at any time the visual pattern of two video cameras is gathered synchronously.Computer adopts industrial control computer ADVANTECH-610.
At first respectively the inside and outside parameter of two video cameras is demarcated.Then laser structure light is projected on the one-sided sloping workpiece, the image of acquisition is seen Fig. 2.Obtain the image coordinate of 5 characteristic points on every width of cloth image, utilize the binocular vision principle, can go out on the workpiece 5 corresponding points by the characteristic point coordinate Calculation on two width of cloth images respectively with respect to the three-dimensional coordinate of video camera 1, video camera 2 optical axis center points.Three-dimensional coordinate substitution laser plane equation ax+by+cz+1=0 with 5 characteristic points on the workpiece can obtain the laser structure optic plane equations parameter with respect to video camera 1, video camera 2 optical axis center points respectively.
Laser instrument with respect to the parameter of video camera 1 optical axis center point is:
Factorabc1＝[a
1?b
1?c
1]＝[-0.0002?0.0054?-0.0026]
Laser instrument with respect to the parameter of video camera 2 optical axis center points is:
Factorabc2[a
2?b
2?c
2]＝＝[0.0014?0.0062?-0.0023]
Utilize the present invention that a weld seam is carried out 3 times and measure, collect 3 groups of V-type weld images, Fig. 3 is one group of image wherein.Utilize the binocular vision principle, can go out one group of three-dimensional coordinate of corresponding points on the workpiece by the characteristic point coordinate Calculation on two width of cloth images.Two groups of three-dimensional coordinates that utilize characteristic point coordinate on two width of cloth images and laser structure optical plane can obtain corresponding points on the workpiece respectively.Utilize information fusion method to merge these three groups of information, obtain the three-dimensional coordinate of result as corresponding points on the workpiece.Obtain the three-dimensional coordinate of 9 spatial point under basis coordinates system altogether.The result is:
Result＝1.0e+003*
[1.1110 -0.1124 0.6962
1.1038 -0.1079 0.6855
1.0974 -0.1121 0.6948
1.1109 -0.0925 0.6965
1.1038 -0.0879 0.6855
1.0974 -0.0921 0.6948
1.1108 -0.0725 0.6964
1.1036 -0.0678 0.6854
1.0971 -0.0721 0.6948]；
The three-dimensional coordinate of a spatial point of every behavior, putting in order is [x y z].The error of each point measurement result is less than ± 0.1mm.
As seen, the present invention can discern workpiece features well, and can realize the three-dimensional coordinate measurement of the surface of the work feature of real-time high-precision.
Claims (4)
1. method of utilizing laser structure light visual identity workpiece features and measurement of coordinates comprises step:
Utilize two video cameras to gather laser structure light visual pattern synchronously;
Three groups of three-dimensional coordinates that utilize characteristic point coordinate on two width of cloth images and laser structure light-plane parameters to try to achieve corresponding points on the workpiece;
By fusion, obtain the three-dimensional coordinate of corresponding points on the workpiece to these three groups of three-dimensional coordinates.
2. the method for claim 1 is characterized in that utilizing video camera 1 as follows with the three-dimensional coordinate formula of laser plane equation solution characteristic point:
3. the method for claim 1 is characterized in that utilizing video camera 2 as follows with the three-dimensional coordinate formula of laser plane equation solution characteristic point:
4. the method for claim 1 is characterized in that comprising step when the laser structure optic plane equations is unknown:
Ask for three-dimensional coordinate by the characteristic point coordinate on two width of cloth images;
Then, utilize the three-dimensional coordinate of a plurality of above characteristic points to ask for the parameter of laser structure optic plane equations.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101966617A (en) * | 2010-08-30 | 2011-02-09 | 东南大学 | Brief description method for view model for continuous motion of welding robot |
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| CN101028692B (en) * | 2006-03-03 | 2011-07-27 | 鸿富锦精密工业（深圳）有限公司 | Measuring device and measuring method therewith |
| CN101845787A (en) * | 2010-04-09 | 2010-09-29 | 同济大学 | Cement concrete pavement joint dislocation detection device and method based on binocular vision |
| CN102416581A (en) * | 2011-08-30 | 2012-04-18 | 北京航空航天大学 | Hybrid measurement positioning method for parts to be assembled in flexible assembly of airplane components |
| CN103278091B (en) * | 2013-06-07 | 2016-01-20 | 上海发那科机器人有限公司 | A kind of space-location method for Intelligent assembly |
| CN107160046B (en) * | 2017-04-18 | 2019-08-02 | 上海柏楚电子科技股份有限公司 | A kind of camera calibration method of vision auxiliary large format lathe plate cutting |
| CN107234487B (en) * | 2017-05-31 | 2018-12-18 | 天津大学 | Moving component multi-parameter detecting method based on combinatorial surface type standard |
| CN107718046A (en) * | 2017-10-24 | 2018-02-23 | 中广核研究院有限公司 | For the robot of Underwater Welding, robot system and operational method |
| CN109029257B (en) * | 2018-07-12 | 2020-11-06 | 中国科学院自动化研究所 | Large-scale workpiece pose measurement system and method based on stereoscopic vision and structured light vision |
| CN111189413B (en) * | 2019-12-27 | 2021-06-29 | 河北科技大学 | Double-camera line structured light measurement system optimization method and terminal equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101966617A (en) * | 2010-08-30 | 2011-02-09 | 东南大学 | Brief description method for view model for continuous motion of welding robot |
| CN101966617B (en) * | 2010-08-30 | 2012-11-28 | 东南大学 | Brief description method for view model for continuous motion of welding robot |
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