传送带工件三维轮廓检测系统设计
摘要
近年来,随着我国经济的高速发展促进了加工业和制造业的飞速发展以及现代检测技术的进步,在工业测量领域中三维测量技术逐渐成为研究的重点,尤其是激光技术、计算机技术以及图像处理技术等的发展,使得光学式非接触三维测量技术成为可能并有广泛的前景。本文研究小型传送带上的工件三维检测系统扩展了三维光学测量仪器的应用,有一定的实用意义和较为明显的经济意义。
本文结合实际项目要求,对光学非接触式三维轮廓测量系统中硬件的选择、匹配等问题进行了较为深入的研究,搭建了一套线结构光检测系统,并设计了整个检测系统的软件,同时对测量数据的显示部分也进行了较为深入的研究。
本文主要进行了以下几个方面的工作:
(1)分析了基于光学三角法的结构光三维测量原理,并详细介绍了在结构光检测系统平台搭建时需要注意的问题。
(2)基于MFC单文档(SDI,Single Document Interface)框架下完成了整体程序设计以及代码编写。将整个视图分割成四个部分,分别用于图像实时显示、显示操作面板、二维以及三维轮廓绘制,并利用消息机制实现各个视图的通讯。
(3)介绍了数据获取模块中各个组成部分和目标数据计算方法,其中重点介绍了图像的采集部分设计思想和软件实现机制以及从图像数据如何计算得到正确的被测物体三维数据的方法。
(4)应用MFC的设备上下文类(CDC,Class Device Context)实现被测轮廓的二维轮廓绘制,并对利用不同方法进行数据绘制的效率进行了分析。对OpenGL的运行机制进行了较深的研究,并将OpenGL嵌入到单文档框架程序中,使之在分割后的三维绘制子窗口中绘制被测物体的三维轮廓,解决了针对被测物体外形多变的情况下OpenGL进行正确绘制的问题,提出并实现了将测得数据显示成实体的方案,同时完成了使绘制后的被测物体进行缩放以及四个方向的旋转,可自定义颜色以及光照位置的功能。
During recent years, with our country’s economy rapidly development, processing industry and manufacturing industry had been greatly promoted, along with the development of laser technology; 3D measurement technology becomes more and more important in the field of industry. At the same time, optical non-contact measurement realizes up to the computer technology, image processing technology, optical non-contact measurement technique’s development. The work pieces’3D detection system on small conveyor belt researched by this thesis expands the field of the 3D optical measurement equipment, with a more extensive and obvious practical significance and social values.
With the project’s requirements, problems like choosing the hardware and matching had been deeply discussed in this thesis, build a set of structured-light system, besides, the software of the detect system had been design and realized, simultaneously, a deeper research had been done in the field of data display.
The main tasks which had been done in this thesis are as follows:
(1) 3D measurement using structured-light which based on the technology of Laser trigonometry had been analyzed. Interpret about main problems which may encountered in building system had been introduced in detail.
(2) Design and realize all the software of the detect system, which was developed under MFC SDI (Single Document Interface) framework. We splitter the view class into four parts, that is, image view, 2D profile draw, 3D profile draw, communications between was realized through message mechanism.
(3) Explained all the parts of data acquisition model and the method of how to calculate destination data. Image acquisition part and how to calculate correct data were analysis in detail.
(4) Realize 2D profile drawing through MFC Class Device Context, and make analysis on different efficiency of different way to make it in practice. Make many researches on the operating mechanism of OpenGL, and then embedded OpenGL into Single Document Interface framework. Realize display 3D contours in the sub-window. Resolved the problem of display the measured data in varieties shapes using OpenGL, and render the data into entities correctly. Accomplished the rotation, shrink, magnify of displayed data.
本文结合实际项目要求,对光学非接触式三维轮廓测量系统中硬件的选择、匹配等问题进行了较为深入的研究,搭建了一套线结构光检测系统,并设计了整个检测系统的软件,同时对测量数据的显示部分也进行了较为深入的研究。
本文主要进行了以下几个方面的工作:
(1)分析了基于光学三角法的结构光三维测量原理,并详细介绍了在结构光检测系统平台搭建时需要注意的问题。
(2)基于MFC单文档(SDI,Single Document Interface)框架下完成了整体程序设计以及代码编写。将整个视图分割成四个部分,分别用于图像实时显示、显示操作面板、二维以及三维轮廓绘制,并利用消息机制实现各个视图的通讯。
(3)介绍了数据获取模块中各个组成部分和目标数据计算方法,其中重点介绍了图像的采集部分设计思想和软件实现机制以及从图像数据如何计算得到正确的被测物体三维数据的方法。
(4)应用MFC的设备上下文类(CDC,Class Device Context)实现被测轮廓的二维轮廓绘制,并对利用不同方法进行数据绘制的效率进行了分析。对OpenGL的运行机制进行了较深的研究,并将OpenGL嵌入到单文档框架程序中,使之在分割后的三维绘制子窗口中绘制被测物体的三维轮廓,解决了针对被测物体外形多变的情况下OpenGL进行正确绘制的问题,提出并实现了将测得数据显示成实体的方案,同时完成了使绘制后的被测物体进行缩放以及四个方向的旋转,可自定义颜色以及光照位置的功能。
During recent years, with our country’s economy rapidly development, processing industry and manufacturing industry had been greatly promoted, along with the development of laser technology; 3D measurement technology becomes more and more important in the field of industry. At the same time, optical non-contact measurement realizes up to the computer technology, image processing technology, optical non-contact measurement technique’s development. The work pieces’3D detection system on small conveyor belt researched by this thesis expands the field of the 3D optical measurement equipment, with a more extensive and obvious practical significance and social values.
With the project’s requirements, problems like choosing the hardware and matching had been deeply discussed in this thesis, build a set of structured-light system, besides, the software of the detect system had been design and realized, simultaneously, a deeper research had been done in the field of data display.
The main tasks which had been done in this thesis are as follows:
(1) 3D measurement using structured-light which based on the technology of Laser trigonometry had been analyzed. Interpret about main problems which may encountered in building system had been introduced in detail.
(2) Design and realize all the software of the detect system, which was developed under MFC SDI (Single Document Interface) framework. We splitter the view class into four parts, that is, image view, 2D profile draw, 3D profile draw, communications between was realized through message mechanism.
(3) Explained all the parts of data acquisition model and the method of how to calculate destination data. Image acquisition part and how to calculate correct data were analysis in detail.
(4) Realize 2D profile drawing through MFC Class Device Context, and make analysis on different efficiency of different way to make it in practice. Make many researches on the operating mechanism of OpenGL, and then embedded OpenGL into Single Document Interface framework. Realize display 3D contours in the sub-window. Resolved the problem of display the measured data in varieties shapes using OpenGL, and render the data into entities correctly. Accomplished the rotation, shrink, magnify of displayed data.
引文
1冯文灏.工业测量方法及其选用的基本原则.武汉大学学报信息科学版. 2001, 26(4):331-336
2叶声华,曲兴华,殷纯永,费业泰,徐毅.现代制造质量的关键测量技术基础.计量学报. 2000, 21(2):95-99
3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. 2000:192-195
4金刚,李泽宇.常用的三维信息获取技术.计算机世界. 1999, 12-15
5葛东尔,王淮生,宋家友.光栅投影一二维形貌测量技术分析及进展.上海电力学院学报. 2005, 21(4):378-386.
6孙龙祥.深度图像分析.电子工业出版社. 1996: 25-27
7强玉俊,蒋打真,盛康龙.工业CT研制进展.核物理动态. 1994, 11(4)
8 http://www.lcstc.com/home/substitute.html
9郑南宁.计算机视觉与模式识别.国防工业出版社. 1998
10李永怀,冯其波.光学三维轮廓测量技术进展.激光与红外. 2005, 35(3): 143-147
11殷纯永.现代干涉测量技术.天津大学出版社. 1999
12 Markus-Christian Amann, Thierry Bosch, Risto Myllyla, et al. A critical review of usual techniques or distance measurement. Optical Engineering. 2001, 40(1):10-19
13马颂德,张正友.计算机视觉:计算理论与算法基础.北京:科学出版社,1998
14 Soung R. Yee, Paul M. Griffin. Three-dimensional imaging system. Optical Engineering. 1994, 33(6): 2070-2075.
15宋丽梅.基于单幅实时测量图像形貌三维恢复的研究.天津大学博士论文.天津大学. 2004: 81-86.
16 B. K. P. Horn. Shape from shading: A method for Obtaining the Shape of a Smooth Opaque Object from One View. Ph.D. Dissertation. Massachusetts Inst. of Technology, 1970.
17廖熠,赵荣椿.从明暗恢复形状(SFS)的几类典型算法分析与评价.中国图像图形学报, 2001, 6(10): 953-960.
18李德仁,王新华,黄培之.基于光度立体的物体三维表面重建.测绘学报,1995,3(8):197-202
19 William Hoff, Narendra Ahuja. Integrating feature matching, disparityestimation and contour detection. IEEE Transactions on Pattern Analysis and Machine Intelligence. 1999, 11(2): 121-136.
20 R.J.Valkenburg, A.M.Mcivor. Accurate 3-D measurement using a structured light system. Image and Vision Computing. 1998, 16(4):99-110
21 Jiangxing Zhang, Alexandar Djordjevich. Study on laser stripe sensor. Sensors and Actuators. 1999, 72(3):224-228
22 Joaquim Salvi, Jordi Pages, Joan Battle. Pattern codification strategies in structured light systems. Patten Recognition. 2004, 37(4):827-849
23 Frank Chen, Gordon M.Brown, Mumin Song. Overview of three dimensional shape measurement using optical methods. Optical Engineering. 2000, 39(1):10-22.
24 Giovanna Sansoni, Franco Docchio. Three dimensional optical measurements and reverse engineering for automotive applications. Robotics and Computer-Integrated Manufacturing. 2004, 20(5):359-367.
25高洪,颜永涛,祁鹏等.三维数字牙鄂模型分析诊断系统设计.计算机辅助设计与图形学学报, 2005, 17(6): 1322-1328.
26 J.Battle, E.Mouaddib, J.Salvi. Recent progress in coded structured light as a technique to solve the correspondence problem. Pattern Recognition. 1998, 31(7):963-982
27谭邦龙.激光三角法三维测量系统的研究.西安交通大学. 2004:22-34
28 M. Lehnann. P. Jacquot, M. Facchini. Shape measurements on large surfaces by fringe projection. Exp.Tech., 1999, 23(20):31-35
29 Biadanda B, Hosni Y A. Reverse engineering and its relevance to industrial engineering: a critical review. Computer Ind.Eng. 1994, 26(2):343-348
30 Gail Marshall. Choosing a Frame Grabber for Performance & Profitability. Computer Ind.Eng. 2002, 15(4):162-167
31黄燕群,田爱玲.光栅投影三角法测量物体的三维轮廓.西安工业学院学报. 2004, 24(2):103-117
32 Ramesh Jain ettotal. Machine Vision. Optical Engineering. 2003(7):54-56
33郁道银,谈恒英.工程光学.机械工业出版社. 1999:163-165
34王庆有.图像传感器应用技术.电子工业出版社. 2009:221-235
35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):41~44
36张广军.视觉测量.科学出版社. 2008:185-186
37 Feng, T., Ji, G.. A New Laser-scanning Sensing Technique for Engineering Inspection. Artificial Intelligence in Engineering. 2006, 10(4):363-368
38许宁.线结构光光条图像处理方法研究.哈尔滨工程大学硕士论文. 2007,41-42
39 Will P M, Pennington K S. A novel technique for image processing. Proceedings of the IEEE. 1972, 60(6):669-680
40霍龙,张爱军,刘伟军.基于线结构光的视觉3D测量中光条中心提取方法研究.计算机应用与软件. 2006,23(13):100-102
41 M. A. G. Izquierdo, M. T. Sanchez, A. Ibanez, L. G. Ullate. Sub-pixel Measurement of 3D Surfaces by Laser Scanning. Sensors and Actuators. 1999, 76(3):1-8
42黎明.三维激光测量技术及应用研究.浙江大学硕士学位论文. 2005, 21-23
43张加深,赵继广,李仕学.三维视觉检测中单光条几何中心位置的确定方法.指挥技术学院学报. 2001, 12(2):101-103
44 R. A Jarvis. A laser time-off flight rang scanner for robotic vision. IEEE on pattern analysis and machine intelligence. 1983:505-512
45 R. Hartley, E. Hayman, L. de Agapito and I. Reid. Camera Calibration and the Search for Infinity. ICCV99. 1999:510-516
46李中伟,王从军,史玉升. 3D测量系统中的高精度摄像机标定算法.光电工程. 2008, 35(4):2-3
47孟晓桥,胡占义.摄像机自标定方法的研究与进展.自动化学报. 2003, 29(1):1-2
48 Zhengyou Zhang. A Flexible New Technique for Camera Calibration. Proceedings of the IEEE. 1999, 8(9):2-8
49 Tsai R Y. A versatile camera calibration technique for high-accuracy 3D machine vision metrology using off-the-shelf TV cameras and lenses. IEEE Journal of Robotics Automation. 1987, 3(4): 323~344
50 Reimar K. Lenz, Roger Y. Tsai. Techniques for Calibration of the scale Factor and Image Center for High Accuracy 3D Machine Vision Metrology. IEEE Journal of Robotics Automation. 1987, 8(2):69-76
51徐士良. C常用算法程序集.清华大学出版社. 1994:86-88
52 William H. Press, Saul A. Teukolsky, William T. Vetterling, Brian P. Flannery. Numerical Recipes in C++. Cambridge University Press. 2002:36-39
53孙鑫,余安萍. VC++深入详解.电子工业出版社. 2006:590-598
54和平鸽工作室. OpenGL高级编程与可视化系统开发高级编程篇(第二版).中国水利水电出版社. 2006:19-20
55龚安,宫法明.用OpenGL实现交互式的三维图形显示.科学技术与工. 2006:1428-1430.
56乔林,费广正. OpenGL程序设计.清华大学出版社. 2000:39-44
57顾建宏.基于OpenGL的三维河床地形实时可视化技术研究与实现.吉林大学硕士学位论文. 2006, 7:20-22
58徐俊波,李晓红.基于MFC的OpenGL三维图形类的创建.科学技术与工程. 2005:9
59 Dave Shreiner, Mason Woo, Jackie Neider, Tom Davis. OpenGL Programming Guide. Fourth Edition. 2005:334-345
60隋连升.高精度三维轮廓测量系统的数据处理与精度分析.西安交通大学博士学问论文. 2003:46-31
2叶声华,曲兴华,殷纯永,费业泰,徐毅.现代制造质量的关键测量技术基础.计量学报. 2000, 21(2):95-99
3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. 2000:192-195
4金刚,李泽宇.常用的三维信息获取技术.计算机世界. 1999, 12-15
5葛东尔,王淮生,宋家友.光栅投影一二维形貌测量技术分析及进展.上海电力学院学报. 2005, 21(4):378-386.
6孙龙祥.深度图像分析.电子工业出版社. 1996: 25-27
7强玉俊,蒋打真,盛康龙.工业CT研制进展.核物理动态. 1994, 11(4)
8 http://www.lcstc.com/home/substitute.html
9郑南宁.计算机视觉与模式识别.国防工业出版社. 1998
10李永怀,冯其波.光学三维轮廓测量技术进展.激光与红外. 2005, 35(3): 143-147
11殷纯永.现代干涉测量技术.天津大学出版社. 1999
12 Markus-Christian Amann, Thierry Bosch, Risto Myllyla, et al. A critical review of usual techniques or distance measurement. Optical Engineering. 2001, 40(1):10-19
13马颂德,张正友.计算机视觉:计算理论与算法基础.北京:科学出版社,1998
14 Soung R. Yee, Paul M. Griffin. Three-dimensional imaging system. Optical Engineering. 1994, 33(6): 2070-2075.
15宋丽梅.基于单幅实时测量图像形貌三维恢复的研究.天津大学博士论文.天津大学. 2004: 81-86.
16 B. K. P. Horn. Shape from shading: A method for Obtaining the Shape of a Smooth Opaque Object from One View. Ph.D. Dissertation. Massachusetts Inst. of Technology, 1970.
17廖熠,赵荣椿.从明暗恢复形状(SFS)的几类典型算法分析与评价.中国图像图形学报, 2001, 6(10): 953-960.
18李德仁,王新华,黄培之.基于光度立体的物体三维表面重建.测绘学报,1995,3(8):197-202
19 William Hoff, Narendra Ahuja. Integrating feature matching, disparityestimation and contour detection. IEEE Transactions on Pattern Analysis and Machine Intelligence. 1999, 11(2): 121-136.
20 R.J.Valkenburg, A.M.Mcivor. Accurate 3-D measurement using a structured light system. Image and Vision Computing. 1998, 16(4):99-110
21 Jiangxing Zhang, Alexandar Djordjevich. Study on laser stripe sensor. Sensors and Actuators. 1999, 72(3):224-228
22 Joaquim Salvi, Jordi Pages, Joan Battle. Pattern codification strategies in structured light systems. Patten Recognition. 2004, 37(4):827-849
23 Frank Chen, Gordon M.Brown, Mumin Song. Overview of three dimensional shape measurement using optical methods. Optical Engineering. 2000, 39(1):10-22.
24 Giovanna Sansoni, Franco Docchio. Three dimensional optical measurements and reverse engineering for automotive applications. Robotics and Computer-Integrated Manufacturing. 2004, 20(5):359-367.
25高洪,颜永涛,祁鹏等.三维数字牙鄂模型分析诊断系统设计.计算机辅助设计与图形学学报, 2005, 17(6): 1322-1328.
26 J.Battle, E.Mouaddib, J.Salvi. Recent progress in coded structured light as a technique to solve the correspondence problem. Pattern Recognition. 1998, 31(7):963-982
27谭邦龙.激光三角法三维测量系统的研究.西安交通大学. 2004:22-34
28 M. Lehnann. P. Jacquot, M. Facchini. Shape measurements on large surfaces by fringe projection. Exp.Tech., 1999, 23(20):31-35
29 Biadanda B, Hosni Y A. Reverse engineering and its relevance to industrial engineering: a critical review. Computer Ind.Eng. 1994, 26(2):343-348
30 Gail Marshall. Choosing a Frame Grabber for Performance & Profitability. Computer Ind.Eng. 2002, 15(4):162-167
31黄燕群,田爱玲.光栅投影三角法测量物体的三维轮廓.西安工业学院学报. 2004, 24(2):103-117
32 Ramesh Jain ettotal. Machine Vision. Optical Engineering. 2003(7):54-56
33郁道银,谈恒英.工程光学.机械工业出版社. 1999:163-165
34王庆有.图像传感器应用技术.电子工业出版社. 2009:221-235
35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):41~44
36张广军.视觉测量.科学出版社. 2008:185-186
37 Feng, T., Ji, G.. A New Laser-scanning Sensing Technique for Engineering Inspection. Artificial Intelligence in Engineering. 2006, 10(4):363-368
38许宁.线结构光光条图像处理方法研究.哈尔滨工程大学硕士论文. 2007,41-42
39 Will P M, Pennington K S. A novel technique for image processing. Proceedings of the IEEE. 1972, 60(6):669-680
40霍龙,张爱军,刘伟军.基于线结构光的视觉3D测量中光条中心提取方法研究.计算机应用与软件. 2006,23(13):100-102
41 M. A. G. Izquierdo, M. T. Sanchez, A. Ibanez, L. G. Ullate. Sub-pixel Measurement of 3D Surfaces by Laser Scanning. Sensors and Actuators. 1999, 76(3):1-8
42黎明.三维激光测量技术及应用研究.浙江大学硕士学位论文. 2005, 21-23
43张加深,赵继广,李仕学.三维视觉检测中单光条几何中心位置的确定方法.指挥技术学院学报. 2001, 12(2):101-103
44 R. A Jarvis. A laser time-off flight rang scanner for robotic vision. IEEE on pattern analysis and machine intelligence. 1983:505-512
45 R. Hartley, E. Hayman, L. de Agapito and I. Reid. Camera Calibration and the Search for Infinity. ICCV99. 1999:510-516
46李中伟,王从军,史玉升. 3D测量系统中的高精度摄像机标定算法.光电工程. 2008, 35(4):2-3
47孟晓桥,胡占义.摄像机自标定方法的研究与进展.自动化学报. 2003, 29(1):1-2
48 Zhengyou Zhang. A Flexible New Technique for Camera Calibration. Proceedings of the IEEE. 1999, 8(9):2-8
49 Tsai R Y. A versatile camera calibration technique for high-accuracy 3D machine vision metrology using off-the-shelf TV cameras and lenses. IEEE Journal of Robotics Automation. 1987, 3(4): 323~344
50 Reimar K. Lenz, Roger Y. Tsai. Techniques for Calibration of the scale Factor and Image Center for High Accuracy 3D Machine Vision Metrology. IEEE Journal of Robotics Automation. 1987, 8(2):69-76
51徐士良. C常用算法程序集.清华大学出版社. 1994:86-88
52 William H. Press, Saul A. Teukolsky, William T. Vetterling, Brian P. Flannery. Numerical Recipes in C++. Cambridge University Press. 2002:36-39
53孙鑫,余安萍. VC++深入详解.电子工业出版社. 2006:590-598
54和平鸽工作室. OpenGL高级编程与可视化系统开发高级编程篇(第二版).中国水利水电出版社. 2006:19-20
55龚安,宫法明.用OpenGL实现交互式的三维图形显示.科学技术与工. 2006:1428-1430.
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