结构光截面轮廓测量系统的研究
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摘要
检测技术是制造业的基础，随着制造水平的快速发展，制造领域不断扩大，产品质量不断提高，相应地，对检测技术提出了新的需求，传统意义上的很多检测方法已经不能适应现代制造业的要求。视觉检测技术是测试技术领域内最具有发展潜力的技术，它综合运用了电子学、光电探测、图像处理和计算机技术，将机器视觉引入到工业检测中，实现对物体(产品或零件)尺寸或位置的快速测量，具有非接触、速度快、柔性好等突出优点，在现代制造业中有着重要的应用前景。鉴于此，从实际应用角度出发，本文采用线结构光方法进行物体截面轮廓测量的研究，所研制的结构光截面轮廓测量系统由激光器，CCD摄像机、图像采集卡、计算机和相应的测量软件构成，该装置能获取被测物体部分截面的深度图像。本文进行了理论和实验两方面的研究，主要研究内容有：在对比各种结构光方法的三维测量技术后，采用光条式的结构光法的三维测量的方案。建立数学模型，并通过理论分析确定在量程范围内的各种参数，进行误差分析。提出装置的设计原则，设计并组装测量装置。针对本系统，提出图像处理方法，包括滤波，二值化，细化等。提出系统标定方案，进行系统标定。进行大量实验，得到预期结果。
The detection technique is a foundation of the manufacturing industry, with the fast development of the manufacture level, make the field to expand constantly, Corresponding, put forward new demand to detection technique, traditional a lot of detection method can meet the needs of modern manufacturing industry already. Vision detection technique to test with development potentiality technology most in the technological field, It has used electronics, photoelectricity surveying, pattern process and computer technology synthetically. Vision introduce and get industry in measuring, realize to object (products or part) size or fast measurement of position machine, it is provided with untouched, fast, flexibility conspicuous merit such as being fine, have important application prospect among modern manufacturing industry. In view of this, from use angle set out actually, literary grace this carry on object section research that outline measures with single-stripe structured-light. The section profile measuring sy
stem based on single-stripe structured-light developed by aser instrument, CCD camera, picture gather card, computer, corresponding neasurement software commit, the equipment can obtain the depth image of part section. This text has carried on the research of two respects of theory and experiment, the main research contents have: after comparing of different method of the structure three-dimension technology of measuring with, adopt single-stripe of structured-light as law of type of three-dimension measured. Set up mathematics model, and through theory analyses confirm various kinds of parameters in measurement range, carry on error analysis. Propose that the design principle of the device, designs and assemble measure device .Aim at this system, carry out the disposal method to the image, including filtering, two-valued, thin-band image etc. Putting forward the standard scheme of system, and standard the system. Carry on a large number of experiments, and obtain the anticipated result.
The detection technique is a foundation of the manufacturing industry, with the fast development of the manufacture level, make the field to expand constantly, Corresponding, put forward new demand to detection technique, traditional a lot of detection method can meet the needs of modern manufacturing industry already. Vision detection technique to test with development potentiality technology most in the technological field, It has used electronics, photoelectricity surveying, pattern process and computer technology synthetically. Vision introduce and get industry in measuring, realize to object (products or part) size or fast measurement of position machine, it is provided with untouched, fast, flexibility conspicuous merit such as being fine, have important application prospect among modern manufacturing industry. In view of this, from use angle set out actually, literary grace this carry on object section research that outline measures with single-stripe structured-light. The section profile measuring sy
stem based on single-stripe structured-light developed by aser instrument, CCD camera, picture gather card, computer, corresponding neasurement software commit, the equipment can obtain the depth image of part section. This text has carried on the research of two respects of theory and experiment, the main research contents have: after comparing of different method of the structure three-dimension technology of measuring with, adopt single-stripe of structured-light as law of type of three-dimension measured. Set up mathematics model, and through theory analyses confirm various kinds of parameters in measurement range, carry on error analysis. Propose that the design principle of the device, designs and assemble measure device .Aim at this system, carry out the disposal method to the image, including filtering, two-valued, thin-band image etc. Putting forward the standard scheme of system, and standard the system. Carry on a large number of experiments, and obtain the anticipated result.
引文
1 刘曙光．刘明远．何钱．机器视觉及其应用．现状．趋势．战略 2000．7 38(431) 20-22
2 戴君．赵海洋．冯心海．机器视觉．机械设计与制造工程 1998，27(2) 32-34
3 张琦．机器视觉系统的原理及现状，EEPM 1999 28(4) 20-21
4 GERT Goch, et al. Photothermal sensing techniques for measuring material properties and mear-surface defects. Annals of the CIRP. 1993. 42(I); 623-626
5 H．巴拉德 C．M．布朗 计算机视觉 科学技术出版社．1995．
6 Michae I Maggee. Steven Seida. An Industrial Model Based Computer Vision System Journal of Manufacturing Systems Vol. (14).1995
7 R.V. Dantu, et al. Depth Perception Using Blurring and Its Application in VLSI Wafer Probing. Machine Vision and Machine Intelligence. 1992. 14(4):35-45
8 罗振壁．郑力．汪劲松．张伯鹏．机器视觉在尺寸在线检测中的应用．机械工程学报．1994．12 31(6)：47-51
9 S. H. Lai, et al. A Generalized Depth Estimation Algorithm with a Single Image. IEEE Trans. On Pattern Analysis and Machine Intelligence. 1992, 14(4):404-411
10 Deng Wenyi, Lu Naiguang, Zhuang Jingcheng, Gu Shuyi. A Sterreo vision system for measurement of 3-D object SPIE, 1998, 3558:248-252
11 M A Sid-Ahmed. MT Boraie. Dual Camera Calibration for 3-D machine vision: IEEE. Transaction on Instruction and Measurement 1990. 39(4): 512-516
12 陈向荣．朱志刚．石定机．基于双外极线的结构光深度信息快速获取．1998，38(1)：96-99
13 祝世平 强锡富 工件特征点三维坐标视觉测量方法综述 光学 精密工程 2000．4 8(4)：192-197
14 吴晓峰 激光自动聚焦三维形状测量系统的研究[J] 仪器仪表学报．1996，17(2)：129-131
15 王岩 郝颖明 基于结构光的三维测量及重建技术 现代计算机 17(6)：1999．1 4-6
16 Y.D. Chen. et al. Dynamic Calibration and Compensation of a 3-D Laser Radar Scanning System. IEEE Trans. On Robotics and Automation 1999. 9(3): 318-323
17 G. Z. Hu. Gorge Stonman. 3-D Surface Solution Using Structured hight And Constraint Propagation IEEE PAMI 1995. 11(4): 225-231
18 唐朝伟等．三维曲面激光精密测量技术[J]．计量学报，1994，15(2)：99-103．[4]
19 阳道善 激光-机器视觉三维检测系统研究[D] 华中理工大学博士学位 1999
20 张吉华等．激光三角法轮廓测量[J]．天津大学学报，1995，28(2)：265-269．
21 Michael maggee. Steven Seida. An Industrial Model Based Computer Vision System Jourmal of Manufacturing Systems, 1995 Vol. (14):1142-1146
22 Boger K L, et al Color-encoded structured light for light for rapid active ranging [J]. IEEE. Ttans n Pattern Analysis and Machine Intelligence 1998.9(1): 14-28
23 范建英．于晓洋．刘泊．三维传感技术进展．兵工自动化．2000．2 25-28
24 Zou D H. et al Structured-light Checker-board. Pattern(TCP) projection method for curved surface measurement[J] Pattern Recognition. 1995.28(10) 27-40
25 张广军 王红 赵慧洁 佟锦林 结构光三维视觉研究 航空学报 1999 7(4)：365-367
26 虞启琏 张天虎 利用结构光进行三维测量的新方法 应用光学 2000 21(1)：120-122
27 阳道善 陈吉红 周会成 线结构激光-机器视觉三角测量光路设计 光学技术 2001 27(2)：120-122
28 Suk M. Bhandarkar S M. Three dimensional Object Recognition From Images. Spring-Verlag Press. Tokyo. 1992. 115-118
29 许鹏．陈吉红．王平江．线结构激光仿型测量中的视觉跟踪算法．机械与电子．2000．1 38-40
30 刘南生，王慧琴，付继武等 爬行式弧焊机器人结构光三维视觉传感器研究．光电子·激光．2002．2 13(2)：118-120
31 孙新．岳宏．赵霞．基于结构光的焊缝检测系统设计中参数的确定．河北工业大学学报．1998．27(4)：59-64
32 Marshall L R, Kaz a, et al. Multimode pumpin of optical parametric oscillator[J]. IEEE J Quant Electron, 1996,32(2):177-182
33 郑浩，张洪涛，叶声华．基于目标边缘的图像二值化方法研究．计量技术
2002 No4 5-7
34 叶衍．张凌．曹明明．基于特征分布的图像信息抽取．中国图像图形学报，1998．3(3)：189-192
35 付忠良．图像阈值选取方法的构造．中国图像图形学报．2000．6 5(A)：466-469
36 吴冰．秦志远．自动确定图像二值化最佳阈值的新方法．测绘学院学报．2001．12．15(1)：284-286
37 吴一全．朱兆达．图像处理各种阈值选取方法30年的进展．数据采集与处理．1993，8(4)：192-201
38 黄信新，齐德昱，王秀媛 时实图像轮廓抽取算法研究，计算机应用．2002．3 21(3)：45-47
39 路慧明，郭连骐．新模板下的二值字符图像的细化算法．应用科技．2001．6 28(6)：19-22
40 陈京荣，刘学兰．数学形态学中的数学方法．兰州铁道学院学报．2001．12． 19(6)：100-103
41 张少军，艾矫健，李忠富，李长江，李庆利．利用数字图像处理技术测量几何尺寸．北京科技大学学报．2002．6 24(3)：285-287
42 王怀群．二值图象的细化．无锡轻工大学学报．2001．3 20(3)：315-318
43 CHO K, MEER P. Image segmentation from consensus information[J]. Computer vision and image understanding, 1997,68(1):72-89D.
44 张广军 马丽群 孙志武 网条结构光三维视觉检测标定方法研究 仪器仪表学报 2000．6 21(3)：283-289
45 Mohr R. Morin L. Relative positioning form geometric invariant. In: Proc Computer Vision and Pattern Recognition Conference. Hawaii. 1991
46 刘光佑 刘立峰 曾建超 石定基 一种新的基于结构光的三维视觉系统标定方法 计算机学报 1995．6 18(6)：452-456
47 Horaud R et al. Linear-camera Calibration. In: Proc of the 1992 IEEE International Conf on Robotics and Automation. Nice. 1992. 1539-1544
48 王春和等 三维视觉检测与结构光传感器的标定．仪器仪表学报．1994，
15(2)：119-123
49 段发阶．刘凤梅．叶华生．一种新型线结构光传感器结构参数标定方法．仪器仪表学报．2002．2 21(1)：108-110
2 戴君．赵海洋．冯心海．机器视觉．机械设计与制造工程 1998，27(2) 32-34
3 张琦．机器视觉系统的原理及现状，EEPM 1999 28(4) 20-21
4 GERT Goch, et al. Photothermal sensing techniques for measuring material properties and mear-surface defects. Annals of the CIRP. 1993. 42(I); 623-626
5 H．巴拉德 C．M．布朗 计算机视觉 科学技术出版社．1995．
6 Michae I Maggee. Steven Seida. An Industrial Model Based Computer Vision System Journal of Manufacturing Systems Vol. (14).1995
7 R.V. Dantu, et al. Depth Perception Using Blurring and Its Application in VLSI Wafer Probing. Machine Vision and Machine Intelligence. 1992. 14(4):35-45
8 罗振壁．郑力．汪劲松．张伯鹏．机器视觉在尺寸在线检测中的应用．机械工程学报．1994．12 31(6)：47-51
9 S. H. Lai, et al. A Generalized Depth Estimation Algorithm with a Single Image. IEEE Trans. On Pattern Analysis and Machine Intelligence. 1992, 14(4):404-411
10 Deng Wenyi, Lu Naiguang, Zhuang Jingcheng, Gu Shuyi. A Sterreo vision system for measurement of 3-D object SPIE, 1998, 3558:248-252
11 M A Sid-Ahmed. MT Boraie. Dual Camera Calibration for 3-D machine vision: IEEE. Transaction on Instruction and Measurement 1990. 39(4): 512-516
12 陈向荣．朱志刚．石定机．基于双外极线的结构光深度信息快速获取．1998，38(1)：96-99
13 祝世平 强锡富 工件特征点三维坐标视觉测量方法综述 光学 精密工程 2000．4 8(4)：192-197
14 吴晓峰 激光自动聚焦三维形状测量系统的研究[J] 仪器仪表学报．1996，17(2)：129-131
15 王岩 郝颖明 基于结构光的三维测量及重建技术 现代计算机 17(6)：1999．1 4-6
16 Y.D. Chen. et al. Dynamic Calibration and Compensation of a 3-D Laser Radar Scanning System. IEEE Trans. On Robotics and Automation 1999. 9(3): 318-323
17 G. Z. Hu. Gorge Stonman. 3-D Surface Solution Using Structured hight And Constraint Propagation IEEE PAMI 1995. 11(4): 225-231
18 唐朝伟等．三维曲面激光精密测量技术[J]．计量学报，1994，15(2)：99-103．[4]
19 阳道善 激光-机器视觉三维检测系统研究[D] 华中理工大学博士学位 1999
20 张吉华等．激光三角法轮廓测量[J]．天津大学学报，1995，28(2)：265-269．
21 Michael maggee. Steven Seida. An Industrial Model Based Computer Vision System Jourmal of Manufacturing Systems, 1995 Vol. (14):1142-1146
22 Boger K L, et al Color-encoded structured light for light for rapid active ranging [J]. IEEE. Ttans n Pattern Analysis and Machine Intelligence 1998.9(1): 14-28
23 范建英．于晓洋．刘泊．三维传感技术进展．兵工自动化．2000．2 25-28
24 Zou D H. et al Structured-light Checker-board. Pattern(TCP) projection method for curved surface measurement[J] Pattern Recognition. 1995.28(10) 27-40
25 张广军 王红 赵慧洁 佟锦林 结构光三维视觉研究 航空学报 1999 7(4)：365-367
26 虞启琏 张天虎 利用结构光进行三维测量的新方法 应用光学 2000 21(1)：120-122
27 阳道善 陈吉红 周会成 线结构激光-机器视觉三角测量光路设计 光学技术 2001 27(2)：120-122
28 Suk M. Bhandarkar S M. Three dimensional Object Recognition From Images. Spring-Verlag Press. Tokyo. 1992. 115-118
29 许鹏．陈吉红．王平江．线结构激光仿型测量中的视觉跟踪算法．机械与电子．2000．1 38-40
30 刘南生，王慧琴，付继武等 爬行式弧焊机器人结构光三维视觉传感器研究．光电子·激光．2002．2 13(2)：118-120
31 孙新．岳宏．赵霞．基于结构光的焊缝检测系统设计中参数的确定．河北工业大学学报．1998．27(4)：59-64
32 Marshall L R, Kaz a, et al. Multimode pumpin of optical parametric oscillator[J]. IEEE J Quant Electron, 1996,32(2):177-182
33 郑浩，张洪涛，叶声华．基于目标边缘的图像二值化方法研究．计量技术
2002 No4 5-7
34 叶衍．张凌．曹明明．基于特征分布的图像信息抽取．中国图像图形学报，1998．3(3)：189-192
35 付忠良．图像阈值选取方法的构造．中国图像图形学报．2000．6 5(A)：466-469
36 吴冰．秦志远．自动确定图像二值化最佳阈值的新方法．测绘学院学报．2001．12．15(1)：284-286
37 吴一全．朱兆达．图像处理各种阈值选取方法30年的进展．数据采集与处理．1993，8(4)：192-201
38 黄信新，齐德昱，王秀媛 时实图像轮廓抽取算法研究，计算机应用．2002．3 21(3)：45-47
39 路慧明，郭连骐．新模板下的二值字符图像的细化算法．应用科技．2001．6 28(6)：19-22
40 陈京荣，刘学兰．数学形态学中的数学方法．兰州铁道学院学报．2001．12． 19(6)：100-103
41 张少军，艾矫健，李忠富，李长江，李庆利．利用数字图像处理技术测量几何尺寸．北京科技大学学报．2002．6 24(3)：285-287
42 王怀群．二值图象的细化．无锡轻工大学学报．2001．3 20(3)：315-318
43 CHO K, MEER P. Image segmentation from consensus information[J]. Computer vision and image understanding, 1997,68(1):72-89D.
44 张广军 马丽群 孙志武 网条结构光三维视觉检测标定方法研究 仪器仪表学报 2000．6 21(3)：283-289
45 Mohr R. Morin L. Relative positioning form geometric invariant. In: Proc Computer Vision and Pattern Recognition Conference. Hawaii. 1991
46 刘光佑 刘立峰 曾建超 石定基 一种新的基于结构光的三维视觉系统标定方法 计算机学报 1995．6 18(6)：452-456
47 Horaud R et al. Linear-camera Calibration. In: Proc of the 1992 IEEE International Conf on Robotics and Automation. Nice. 1992. 1539-1544
48 王春和等 三维视觉检测与结构光传感器的标定．仪器仪表学报．1994，
15(2)：119-123
49 段发阶．刘凤梅．叶华生．一种新型线结构光传感器结构参数标定方法．仪器仪表学报．2002．2 21(1)：108-110