CN103499297B - A kind of high-precision measuring method based on CCD - Google Patents
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Abstract
The invention belongs to field of machine vision, relate to a kind of high-precision measuring method based on CCD, breach at present based on the limitation being used for small-size object measurement in the size measurement technique of CCD, this algorithm builds camera imaging model, calibration for cameras inside and outside parameter, according to distortion model and internal reference data correcting image; Propose the method utilizing neighborhood information to distinguish measured object upper and lower surface edge, Canny wave filter is adopted to extract measured object upper surface sub-pixel edge information, according to the cad data drawing template establishment of detected part, utilize the accurate fixation and recognition measured object of the template matching algorithm of Shape-based interpolation, measured object depth information is obtained according to dot laser, retrain and the measured object upper surface attitude that converts, finally using the tolerance of profile distance as measured object mismachining tolerance, this algorithm can be applicable to the dimensional measurement of large scale planar part, and precision can reach sub-pix rank.
Description
Technical field
The invention belongs to technical field of image processing, relate to a kind of high-acruracy survey side based on CCD, high precision, high efficiency detection can be provided for mechanical component processing.
Background technology
Modern industry is just towards the future development of process automation, high speed, precise treatment, and the requirement on machining accuracy of enterprise to product is more and more higher.In mechanical processing process, due to lathe vibrations, tool wear, tool setting skew various reasons all can directly or remote effect machining precision.The important channel obtaining workpiece size machining precision measures.Measurement is the key link in product manufacture, is the Main Means judging production quality.The development of advanced manufacturing technology, proposes high precision, high-level efficiency, good flexibility requirement to measurement, also more and more emphasizes real-time online non-cpntact measurement.Such as sheet metal precision cuts enterprise when buying and use high precision to cut instrument, how to understand the precision of cropping of products, this is a long-term puzzled many slip-stick artists and operating personnel's in the industry difficult problem, especially when cutting irregularly shaped part, is difficult to especially do high-precision measurement.
Increasing researchist and enterprise project CCD size measurement technique sight, it has become a kind of very effective non-contact detecting technology, make processing, detection and control process combine together, can meet that measuring speed is fast, precision is high, the requirement of noncontact and dynamic auto measurement.CCD size measurement technique is more more advantageous than existing mechanical type, optical profile type, electromagnetism formula weight instrument, the application in identifying is detected especially at miniature, large-scale, complicated, many curve surface work pieces, effectively prevent manual detection identification labour intensity large, efficiency is low, fatigability and traditional detection function ratio more single, the not high shortcoming of robotization, intelligence degree, and accuracy of identification and real-time are also become better and better.But to carry out the system of industrial real-time online detection few for the domestic CCD of utilization at present, and multiplex line array CCD, precision is not high, the technology of the multiple linear CCD assembling techniques of the many employings of the high-precision system of individual requests, has yet and reaches high-precision requirement by the splicing of multiple stage low resolution area array CCD.
As can be seen here, CCD can be used to carry out dimensional measurement, Workpiece fixing and profile and aims at, but be subject to the impact of site environment, light source, systemic resolution and imaging precision, apply single area array CCD and carry out high-accuracy large-scale measurement, precision reaches sub-pixel, and drops into the automatic assembly line of industrial actual motion, and domestic there is not been reported, though there are some theoretical researches, be all not enough to solve the problem that existing application area array CCD carries out existing for large-size images measuring system.The high-acruracy survey (precision is higher than 0.05mm) of large sized object (size is more than 500mm × 500mm) faces very large difficulty.Therefore developing one utilizes CCD to carry out accessory size automatic measurement system, the quick high accuracy realizing large-scale part is measured, and reduces the personal error brought in measuring process, to increasing economic efficiency, the automaticity of raising system and intelligence degree, significant.
Summary of the invention
The object of the invention is the above-mentioned deficiency overcoming prior art, propose the high-precision measuring method based on CCD, gordian technique in the step utilizing this method to provide, make every effort to provide high precision, high efficiency detection for mechanical component processing, the subjectivity avoiding Traditional Man detection intrinsic, fatiguability, the shortcoming that speed is slow, cost is high, intensity is large.Especially for sheet metal precision cuts the support provided on theory and technology, make to cut part and detect the advantage with consistance, accuracy and repeatability.
The present invention is realized by following method: based on the high-precision measuring method of CCD, it is characterized in that, comprise the following steps:
(1) calibrating camera inside and outside parameter correcting image;
(2) measured object is located;
(3) distinguish measured object lower edges, extract upper surface sub-pixel edge;
(4) measure measured object height, determine the edge actual coordinate of measured object;
(5) import the cad data of tested part, drawing template establishment also mates;
(6) template and measured object edge model compared and carry out error analysis.
Substantive distinguishing features of the present invention is, establish a mechanical component detection model based on machine vision, this model integrated use template matching technique of camera calibration, sub-pixel edge contours extract and Shape-based interpolation.First, according to camera imaging model, internal and external parameter demarcation is carried out to camera, according to the correcting distorted image of inner parameter.Then, location measured object, distinguishes its lower edges and extracts the sub-pixel edge of upper surface, importing cad data model, adopts the template matching method coupling measured object of Shape-based interpolation.Finally using the tolerance of profile distance as error.The present invention compared with prior art tool has the following advantages:
1. propose the depth information utilizing dot laser to obtain measured object, for the attitude conversion of measurement plane provides prior imformation, thus realize the high-acruracy survey of planar metal sheet material, substrate different-thickness measured object.
2. the present invention adopts the edge extracting of sub-pix when edge calculation, and precision is higher.
3. propose the method distinguishing measured object upper and lower surface edge with neighborhood information.
Accompanying drawing explanation
Fig. 1: measuring method process flow diagram of the present invention;
Fig. 2: measuring system mount scheme schematic diagram;
Fig. 3: dimensional measurement thickness approach key diagram.
In figure: 1. video camera, 2. measured object, 3. light source, 4. standard gauge block.
Embodiment
Process flow diagram of the present invention as shown in Figure 1, first video camera carries out inside and outside parameter demarcation, the data of demarcating are utilized to carry out distortion correction to measured object image, then measured object is located, distinguish measured object upper and lower surface edge and extract the sub-pixel edge of upper surface, afterwards according to cad data drawing template establishment, utilize the accurate fixation and recognition measured object of the template matching algorithm of Shape-based interpolation, measured object depth information is obtained according to dot laser, retrain and the measured object upper surface attitude that converts, compare template and measured object and carry out error analysis.Below in conjunction with accompanying drawing, the specific implementation process of technical solution of the present invention is illustrated.
1. system structure design
System structure design as shown in Figure 2.Wherein, in order to provide the parts profile of high definition, backlight adopts high density LED array face to provide high intensity backlight to throw light on, light is irradiated from measured object rear by light guide plate and diffuser plate, CCD camera is arranged on above measurement plane, optical axis is perpendicular to measurement plane, and dot laser is positioned over measurement plane side.
2. camera interior and exterior parameter is demarcated and correcting image
Set up the nonlinear imaging geometric model of area array camera, based on two-step approach thought, camera is demarcated, obtain inner parameter: the optics of camera and geometric parameter, and external parameter: the position orientation relation between camera coordinate system and world coordinate system.According to distortion model and internal reference data correcting plane part image.
3. locate measured object
In order to reduce matching range, improving speed and the precision of coupling, first needing to locate measured object.Owing to there is the gray scale difference of highly significant between measured object and image background, adopt the dividing method based on grey level histogram, after the histogram Gaussian smoothing of image, select the peak-to-peak minimum value of histogram two to be that threshold value is split, the region obtained is with 3
the square structure element of 3 expands, and arranging the region after expansion is area-of-interest (ROI).
4. distinguish upper and lower surface edge, extract the sub-pixel edge of upper surface
When measured object has certain thickness and size is larger, have lower edges when distance camera side, and when camera opposite side, only have coboundary, therefore marginal information needs to distinguish coboundary and lower limb, and only extracts the sub-pixel edge of measured object upper surface.
Adopt the method based on 16 neighborhoods to distinguish lower edges, to the arbitrary pixel p in ROI, calculate the outer minimum gray value of 16 neighborhoods
if minimum value is greater than threshold value T, then think that this pixel does not belong to the pixel of measured object upper surface, be set to 255, computing method are: establish set to establish set
(1)
(2)
Wherein
for image intensity value;
mfor the set of image array ordinate;
nfor the set of image array ordinate;
afor the set of image array horizontal ordinate;
bfor the set of image array horizontal ordinate;
rfor image array ordinate;
cfor image array horizontal ordinate;
tfor the threshold value of setting;
Image border point is in the maximum place of distributed function slope.After the one dimension Continuous Gray Scale distribution function in Recovery image edge transition region, sub-pixel edge is positioned at the extreme point position of distributed function slope.Canny wave filter is used to obtain high-precision sub-pixel edge.Paper " AComputationalApproachtoEdgeDetection " J.CannyinIEEEtransactionsonPatternAnalysisandMachineInte lligence, Volume8, Issue6, pp.679-698 (ISSN:0162-8828) describe this edge extraction techniques.
5. obtain measured object elevation information, determine the actual edge coordinate of measured object
Dot laser is adopted to measure measured object height.During measurement, first laser instrument projects point-like laser to measured object surface, and on note image, point-like laser center is
, then place known precise height
gauge block in plane, to project on point-like laser to gauge block and pictures taken, on note image, point-like laser center is
, then point-like laser is projected measured object on the surface, clapped the imaging of penetrating down on now body surface by ccd video camera, on note image, point-like laser center is
, because testee is different from gauge block height, so twice imaging is different in the horizontal direction, thus utilize trigonometric calculations to go out object thickness
can be tried to achieve by formula (3) (4):
(3)
(4)
In formula:
hfor the thickness of measured object;
dit is the distance between 2;
rfor image array ordinate;
cfor image array horizontal ordinate;
After recording the thickness of measured object, according to video camera external parameter and thickness information, measurement plane is transformed into the upper plane of measured object, obtains the coordinate of measured object coboundary under world coordinate system.
6. import the cad data of tested part, drawing template establishment also mates
Have employed a kind of matching algorithm of Shape-based interpolation, effectively can solve that target rotates, the coupling of the image of translation.Concrete grammar is: first according to the cad data drawing template establishment of measured object, the direction vector of each association in CALCULATION CAD image border.Next establishes the point set of template image
, the direction vector of each point association
; Template image central point is P, and the direction vector of each point of image to be checked is
; During registration, calculation template image center
pto the point of image to be checked
transformation matrix
a, by affined transformation, template image is pressed transformation matrix
aintegral translation, obtains the template image point set after converting, is designated as
, the direction vector wherein after conversion is
; Finally calculate in conversion rear pattern plate all
direction vector
with image corresponding point direction vector to be checked
the summation of point set, the summation of this dot product is exactly similarity measure
s:
(5)
sfor similarity value;
for the direction vector of each point on template image;
for the direction vector of each point on image to be checked;
for vector
horizontal ordinate;
for vector
ordinate;
X is vector
horizontal ordinate;
Y is vector
ordinate;
When similarity value
swhen reaching user-defined threshold value, just think at point
have found the example matched with template.
7. error analysis
If template image marginal point coordinate is set
, image border to be detected point coordinate is set
; Departure between two image borders is defined as
for, computing method are: first, to each point in A, calculate its on B distance be a little similar to Euclidean distance, distance symbol
represent, computing method are such as formula (8); Then, the distance obtained is sorted, get the departure of its middle distance minimum value point for this, use
represent, finally, calculate
set be departure between two image borders
;
(6)
(7)
(8)
it is the departure between two image border coordinate sets;
For 1 a to another set B minor increment a little;
A is image border point;
D is the distance between 2;
The error of part can be calculated thus: traversal
, according to tolerance setting threshold value
; When
or
time, illustrated planar part do not meet tolerance herein, and
be deviate.
In sum, the present invention can the upper and lower surface edge of differentiate between images middle plateform part, extract upper surface sub-pixel edge, acquisition part edge physical size joined outward by the video camera utilizing demarcation to obtain, after completing images match, part physical size and cad model are compared, obtains the mismachining tolerance value detecting flat part.Compare Traditional Man detection method, the method has great improvement in the speed and precision of flat part quality testing.
According to the above description, the solution of the present invention can be realized in conjunction with art technology.
Claims (5)
1. based on a high-precision measuring method of CCD, it is characterized in that, comprise the following steps:
(1) calibrating camera inside and outside parameter correcting image;
(2) measured object is located;
(3) distinguish measured object lower edges, extract upper surface sub-pixel edge;
(4) measure measured object height, determine the edge actual coordinate of measured object;
(5) import the cad data of tested part, drawing template establishment also mates;
(6) template and measured object edge model compared and carry out error analysis;
In step (3), adopt the method based on 16 neighborhoods to distinguish lower edges, to the arbitrary pixel p in ROI, calculate the outer minimum gray value m of 16 neighborhoods
r,cif minimum value is greater than threshold value T, then think that this pixel does not belong to the pixel of measured object upper surface, its value is set to 255, computing method are: establish set M={r-1, r, r+1}, N={r-2, r+2}, A={c-2, c+2}, B={c-2, c-1, c, c+1, c+2}
m
r,c＝min{(g(i,j)|i∈M,j∈A∧i∈N,j∈B}(1)
g(r,c)＝255(m
r,c＞T)(2)
Wherein g (r, c) is image intensity value;
M is the set of image array ordinate;
N is the set of image array ordinate;
A is the set of image array horizontal ordinate;
B is the set of image array horizontal ordinate;
R is image array ordinate;
C is image array horizontal ordinate;
T is the threshold value of setting;
Image border point is in the maximum place of distributed function slope, after the one dimension Continuous Gray Scale distribution function in Recovery image edge transition region, sub-pixel edge is positioned at the extreme point position of distributed function slope, uses Canny wave filter to obtain high-precision sub-pixel edge.
2. the high-precision measuring method based on CCD according to claim 1, is characterized in that, in step (2),
In order to reduce matching range, improve speed and the precision of coupling, first need to locate measured object, owing to there is the gray scale difference of highly significant between measured object and image background, adopt the dividing method based on grey level histogram, after the histogram Gaussian smoothing of image, select the peak-to-peak minimum value of histogram two to be that threshold value is split, the region the obtained square structure element of 3 × 3 expands, and arranging the region after expansion is region of interest ROI.
3. the high-precision measuring method based on CCD according to claim 1, is characterized in that, in step (4),
Adopt dot laser to measure measured object height, during measurement, first laser instrument projects point-like laser to measured object surface, and on note image, point-like laser center is p
0(r
0, c
0), then place known precise height h
1gauge block in plane, to project on point-like laser to gauge block and pictures taken, on note image, point-like laser center is p
1(r
1, c
1), then point-like laser is projected measured object on the surface, clapped the imaging of penetrating down on now body surface by ccd video camera, on note image, point-like laser center is p
2(r
2, c
2), because testee is different from gauge block height, so twice imaging is different in the horizontal direction, thus utilize trigonometric calculations to go out object thickness h can be tried to achieve by formula (3), (4):
h＝D(p
0,p
2)*h
1/D(p
0,p
1)(3)
In formula:
H is the thickness of measured object;
D is the distance between 2;
R is image array ordinate;
C is image array horizontal ordinate;
After recording the thickness of measured object, according to video camera external parameter and thickness information, measurement plane is transformed into the upper plane of measured object, obtains the coordinate of measured object coboundary under world coordinate system.
4. the high-precision measuring method based on CCD according to claim 1, is characterized in that, in step (5),
Have employed a kind of matching algorithm of Shape-based interpolation, effectively solve that target rotates, the coupling of the image of translation; Concrete grammar is: first according to the cad data drawing template establishment of measured object, the direction vector of each association in CALCULATION CAD image border; Next establishes the point set p=(r, c) of template image, the direction vector of each point association
template image central point is P, and the direction vector of each point of image to be checked is
during registration, calculation template image center P is to the some q=(r of image to be checked, c) transformation matrix A, by affined transformation, template image is pressed transformation matrix A integral translation, obtain the template image point set after converting, be designated as p '=(r ', c '), the direction vector wherein after conversion is
finally calculate all p' in conversion rear pattern plate
r,cdirection vector
with image corresponding point direction vector to be checked
the summation of dot product, the summation of this dot product is exactly similarity measure s:
S is similarity value;
for the direction vector of each point on template image;
for the direction vector of each point on image to be checked;
H ' is vector
horizontal ordinate;
W ' is vector
ordinate;
X is vector
horizontal ordinate;
Y is vector
ordinate;
When similarity value s reaches user-defined threshold value, just think and have found at a q=(r, c) example matched with template.
5. the high-precision measuring method based on CCD according to claim 1, is characterized in that, in step (6),
If template image marginal point coordinate is set A (a
1, a
2... .a
l), image border to be detected point coordinate is set B (b
1, b
2... .b
l '); Departure between two image borders is defined as H (A, B), and computing method are: first, to each point in A, calculate its on B distance be a little similar to Euclidean distance, distance is with symbol || || represent, computing method are such as formula (8); Then, the distance obtained sorted, get the departure of its middle distance minimum value point for this, represent with h (a, B), finally, the set of calculating h (a, B) is the departure H (A, B) between two image borders;
H(A,B)＝{h(a,B)|a∈A}(6)
H (A, B) is the departure between two image border coordinate sets;
H (a, B) for 1 a to another set B minor increment a little;
A is image border point;
D is the distance between 2;
The error of part can be calculated thus: traversal H (A, B), according to tolerance setting threshold value h
0; As h > h
0or h < h
0time, illustrated planar part do not meet tolerance herein, and h (a, B) is deviate.
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