基于合作靶标的激光扫描车身坐标测量关键技术研究
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摘要
随着光电技术、电机技术的发展和计算机软硬件的提高,基于激光扫描的三维坐标激光检测技术开始显示出它独特的优势,成为一种提高生产效率和保证产品质量的重要检测方法,应用日趋广泛。基于合作靶标的激光扫描车身坐标测量传感器,是运用四光束激光扫描测量原理,综合运用激光、光电、精密测量等技术进行非接触二维或者三维坐标测量的检测系统。它具有非接触测量、不易损伤表面、结构简单、测量距离大、测量点小、抗干扰性强、速度快、实时性好、精度高、能同时进行多点测量等特点;主要应用于汽车维修业,通过测量保证维修后的事故车车身状况达到原车出厂时的技术要求。整个车身测量系统包括被测点在传感器中的坐标测量和传感器坐标系至车身坐标系的坐标变换两部分。本文主要对测量传感器进行研究,主要目的在于测得车身被测关键点在传感器中的三维坐标,研究内容包括:
1、对系统的测量原理及公式进行推导,简化优化了系统的数学模型。通过系统平台新的机械装置的设计制作,对整个平台进行了整合和优化。
2、对系统光路进行深入分析,对PIN接收器件进行研究,设计了全新的PIN激光接收及信号预处理电路模块。相对于原有的电路模块,新设计的模块采用了新的原理和抗干扰布线,拓展了传感器测量范围,提升了系统性能。
3、设计了了基于AVR+CPLD+FIFO的数据采集电路的软硬件系统,解决了当四路信号同时有信号脉冲到来时竞争一套FIFO缓存器造成数据错误的问题;给出了完整的数据采集和处理软件。
4、设计制作了基于条形码原理的靶标识别体系。完成了靶标机械实体制作和包括靶标数据提取、靶标编码识别和靶标信息提取在内的AVR程序的编写。所设计的靶标编码容量大、识别简单、定位方便,基本满足系统需要。
5、利用透视变换标定法对传感器进行标定,成功避免了复杂非线性方程的求解问题。标定试验表明,标定装置结构简单可靠、精度较高,可以满足测量需要。
With the development of the opto-electronic technology, motor technology and computer science, the 3D coordinate measuring technique basing on laser scanning technology shows its unique advantage. And it is playing a more and more important role in productivity increasing, so it gets widely appliance in production. The Auto Body coordinate Laser Scanning Sensor Basing On Collaboration Target is a 2D or 3D coordinate measuring system using a kind of measuring principle which named four-beam laser scanning. In this system, many different technologies are involved in, such as laser technology, opto-electronic technology, precision measurement and so on. It is non-contact measurement, so the surface damage is very little. And apart of this, it also has many other advantages like simple structure, long measuring distance, high efficiency, multi-point measurement and so on. It is mainly used in vehicle maintenance trade industry, in order to make sure that vehicles damaged in accident can be repaired and get technical performance marching with the performance when it was produced.
The system includes two sections, they’re the measurement of 3D coordinate in sensor coordinate system and the coordinate transportation between the sensor coordinate system and the vehicle coordinate system. In this paper, we focus our attention in the research on sensor, in order to get the 3D coordinate in the sensor system of the key point. The study includes:
1. In this thesis deeply we analyzed the principle of two laser-beams measurement, and completes the predigestion and the optimization of the system mathematical model. Completed the work of machinery designing and manufacturing, so the whole platform gets optimization.
2. After the analysis of the system light path and the PIN device, we designed new PCB circuit model in order to deal with signal from the PIN. Comparing with the original circuit, the new-designed PCB used new schematic diagram and was well-wired to rise its anti-jamming ability. The use of the new circuit expanded the measurement range, so enhanced the system performance.
3. Designed a circuit system include both the software and hardware that bases on an AVR singlechip, with a CPLD+FIFO pretreatment before. The most important success in this circuit is that it has solved the problem which is kind of data perturbation caused by the competition of the four signals produced by the four beams of scanning laser. At last, we writer the software dealing with the data.
4. Designed a target identification system basing on the bar cord principal. Design and make the mechanical entities of the targets and complete the software system in AVR include the target data extraction, the target identification and the target information extraction etc. This target identification system has a large coding capacity, and is very easy to identified and located, so it can be used in the measuring system very well.
5. Complete the sensor calibration using a special way named perspective collineation calibration method. This method successfully avoid the calculation of complex non-linear equations. The calibration experiment showed that the equipment in this method has a simple structure and it can get a high calibration precision.
1、对系统的测量原理及公式进行推导,简化优化了系统的数学模型。通过系统平台新的机械装置的设计制作,对整个平台进行了整合和优化。
2、对系统光路进行深入分析,对PIN接收器件进行研究,设计了全新的PIN激光接收及信号预处理电路模块。相对于原有的电路模块,新设计的模块采用了新的原理和抗干扰布线,拓展了传感器测量范围,提升了系统性能。
3、设计了了基于AVR+CPLD+FIFO的数据采集电路的软硬件系统,解决了当四路信号同时有信号脉冲到来时竞争一套FIFO缓存器造成数据错误的问题;给出了完整的数据采集和处理软件。
4、设计制作了基于条形码原理的靶标识别体系。完成了靶标机械实体制作和包括靶标数据提取、靶标编码识别和靶标信息提取在内的AVR程序的编写。所设计的靶标编码容量大、识别简单、定位方便,基本满足系统需要。
5、利用透视变换标定法对传感器进行标定,成功避免了复杂非线性方程的求解问题。标定试验表明,标定装置结构简单可靠、精度较高,可以满足测量需要。
With the development of the opto-electronic technology, motor technology and computer science, the 3D coordinate measuring technique basing on laser scanning technology shows its unique advantage. And it is playing a more and more important role in productivity increasing, so it gets widely appliance in production. The Auto Body coordinate Laser Scanning Sensor Basing On Collaboration Target is a 2D or 3D coordinate measuring system using a kind of measuring principle which named four-beam laser scanning. In this system, many different technologies are involved in, such as laser technology, opto-electronic technology, precision measurement and so on. It is non-contact measurement, so the surface damage is very little. And apart of this, it also has many other advantages like simple structure, long measuring distance, high efficiency, multi-point measurement and so on. It is mainly used in vehicle maintenance trade industry, in order to make sure that vehicles damaged in accident can be repaired and get technical performance marching with the performance when it was produced.
The system includes two sections, they’re the measurement of 3D coordinate in sensor coordinate system and the coordinate transportation between the sensor coordinate system and the vehicle coordinate system. In this paper, we focus our attention in the research on sensor, in order to get the 3D coordinate in the sensor system of the key point. The study includes:
1. In this thesis deeply we analyzed the principle of two laser-beams measurement, and completes the predigestion and the optimization of the system mathematical model. Completed the work of machinery designing and manufacturing, so the whole platform gets optimization.
2. After the analysis of the system light path and the PIN device, we designed new PCB circuit model in order to deal with signal from the PIN. Comparing with the original circuit, the new-designed PCB used new schematic diagram and was well-wired to rise its anti-jamming ability. The use of the new circuit expanded the measurement range, so enhanced the system performance.
3. Designed a circuit system include both the software and hardware that bases on an AVR singlechip, with a CPLD+FIFO pretreatment before. The most important success in this circuit is that it has solved the problem which is kind of data perturbation caused by the competition of the four signals produced by the four beams of scanning laser. At last, we writer the software dealing with the data.
4. Designed a target identification system basing on the bar cord principal. Design and make the mechanical entities of the targets and complete the software system in AVR include the target data extraction, the target identification and the target information extraction etc. This target identification system has a large coding capacity, and is very easy to identified and located, so it can be used in the measuring system very well.
5. Complete the sensor calibration using a special way named perspective collineation calibration method. This method successfully avoid the calculation of complex non-linear equations. The calibration experiment showed that the equipment in this method has a simple structure and it can get a high calibration precision.
引文
[1]戴耀辉,臧杰,车身损伤测量在车身修理中的重要性及其方法,汽车技术,2003,(12):43~47
[2]张清扬,三维激光视觉检测系统在车轮定位调整中的应用,北京汽车,1997,(2):28~34
[3]Minoru Sasaki ,T.Yamaguchi ,J.H.Song.etc ,Optical Scanner on A Three-Dimensional Micro-optical Bench ,Journal of Lightwave Technology, 2003.21(3):602~608
[4]Choonyoung Lee ,Jujang Lee ,Object Recognition Algorithm for Adaptive Cruise Control of Vehicles Using Laser Scanning Sensor ,2000 IEEE Intelligent Transportation Systems Conference Proceedings ,2000.305~310
[5]班莹,基于靶标合作的三维坐标激光测量系统的研究:[硕士学位论文],天津:天津大学,2007
[6]Lau K,Hocken R J,Haight W C,Automatic Laser Tracking Interferometer System For Robot Metrology,Precision Engineering,1986,8(1):3~8
[7]Zou D H,Ye S H, Wang C H,Structured-lighting Surface Sensor and Its Calibration,Optical Engineering,1995,34(10):3040~3043
[8]Sansoni G ,Carocci M ,Rodella R ,Calibration and Performance Evaluation of A 3D Imaging Sensor Based on the Projection of Structured Light , IEEE Transactions on Instrumentation and Measurement, 2000.49(3):628~ 636
[9]Chen C ,Zheng Y F ,Passive and Active Stereo Vision for Smooth Surface Detection of Deformed Plates ,IEEE Trans on Industrial Electronics,1995.42(3):3O0~3O6
[10]Aguilar J J , Torres F , Lope M A ,Stereo Vision for 3-D Measurement:Accuracy Analysis ,Calibration and Industrial Applications,Measurement ,1996.18(4):193~200
[11]黄风山,刘书桂,彭凯等,一种点位式三维坐标视觉测量系统,机床与液压,2006,(5):141~146
[12]Frank Bertagnolli ,Rudiger Dillmann ,Flexible Automated Process Assurance Through Noncontact 3D Measuring Technology , IEEE Conference on Multi-sensor Fusion and Integration for Intelligent Systems ,2003.27~31
[13]L.Y.Lin ,S.S.Lee ,K.S.J.Pister.etc ,Micro-Machined 3D Micro-optics for Integrated Free-space Optical System ,IEEE Photon, Technol, Lett, 1994.(6):1445~1447
[14]喻彩丽,吴作伦,周晓辉,超大尺寸三坐标测量方法及误差分析,机械制造,2004,42(482):63~65
[15]黄桂平,钦桂勤,大尺寸三坐标测量方法与系统,宇航计测技术,2007,27(4):15~19
[16]Kruth J P ,MA W Y ,CAD Modeling of Sculptured Surfaces from Digitised Data of Coordinate Meansuring Machines ,4th International Symposium on Dimensional Metrology in Production and Quality Control,Tampeze,Finland,1992:1~17
[17]Dong Chensong ,Zhang Guoxiong ,Mu Yuhai ,Assesing the Dynamic Errors of Coordinate Measuring Machines ,Chinese Journal of Mechanical Engineering,1998.11(4):305~311
[18]邾继贵,王仲,周富强等,IVECO车身视觉检测系统现场溯源研究,计量学报,2000,21(1):29~33
[19]李真,轿车车身测试技术,汽车技术,1998,(7):31~39
[20]沈兆欣,陈晓晖,电子经纬仪测量系统中立方镜坐标系建立技术探讨,宇航计测技术,2006,26(4):73~75
[21]郑俊,邾继贵,叶声华,三维坐标测量技术在汽车车身检测中的应用,工具技术,2004,38(12):70~73
[22]Shiu Y C ,Ahmad S ,Calibration of Wrist-Mounted Robotic Sensors by Solving Homogeneous Transform Equations of the Form AX=XB ,IEEE Transancfions on Robotics&Automation ,1989.5(1):l6~29
[23]Tsai R Y ,Kem R K ,A New Technique for Fully Autonomous and Effient 3D Robotics and Hand/Eye Cahbration ,IEEE Transanctions on Robotics and Automation,1989.5(3):345~358
[24]Aloysius Wehr ,Uwe Lohr ,Airborne Laser Scanning:An Introduction and Overview ,ISPRS Journal of Photogrammetry & Remote Sensing ,1999.54:68~82
[25]郁道银,谈恒英,工程光学,北京:机械工业出版社,2000,37~39
[26]黄德修,刘雪峰,半导体激光器及其应用,北京:国防工业出版社,1999,255~256
[27]Taylor H F,Bending Effects In Optical Fibers,Lightwave Technol,1984,2(5):617~628
[28]高艳霞,郭水保,王道洪等,PIN功率二极管模型参数辨识,上海大学学报(自然科学版),2005,11(4):355～359
[29]吕宁,吴宏伟,弱电流放大器的调制型解决方案,全国第六届核监测学术研讨会论文集,2005,317~321
[30]刘彬,张秋婵,光电检测前置放大电路的设计,燕山大学学报,2003,27(3):193~196
[31]康华光,陈大钦,电子技术基础(模拟部分),北京:高等教育出版社,2001,355~357
[32]胡寿松,自动控制原理,北京:科学出版社,2001,48~52
[33]李玉娟,王琪,基于ATmega128L的智能探测车的设计与实现,自动化技术与应用,2007,26(3),42~44
[34]沈文,Eagle Lee,詹卫前,AVR单片机C语言开发入门指导,北京:清华大学出版社,2003
[35]卢山,于继铭,基于AVR单片机和CPLD的核磁共振仪床体检测系统,机械与电子,2007,(7):40~42
[36]Sakamoto K ,Nunogawa Y ,Satonak K ,An Intelligent Power IC With Reverse Battery Protection for Fastswitching High-Side Solenoid Drive ,IEEE Transactions on Instrumentation and Measurement,1999.46(8):1775~1781
[37]李向东,程全,樊宇,MAX488收发器及其应用,国外电子元器件,2003,(6):73
[38]应建华,黄萌,赵江平,一种基于RS485/RS422的多速收发器的设计,半导体技术,2007,32(12):1069~1072
[39]宣丽萍,FPGA器件的竞争与冒险现象及其消除方法,现代电子技术,2005,(10):119~120
[40]孙加存,浅析FPGA/PLD设计中的竞争与冒险问题,大众科技,2005,(4):140~141
[41]欧阳艳东,周学平,周建屏等,波珠材料的反光特性,汕头大学学报,2004,19(2):23~27
[42]欧阳艳东,石旺舟,林舜辉等,回归反射玻璃微珠折射率的测量和分析,汕头大学学报,2002,17(4):58~62
[43]Wang S , Bernabeu E ,Alda J ,Retroreflective Properties of A Hemispherical Surface ,Applied Optics ,1993.23(22):4279~4281
[44]袁景和,陈波,曾红军等,微棱镜阵列型定向反射器特性,光子学报,1998,27(11):1023~1027
[45]熊建文,何宝鹏,陈丽,条形码识别技术,大学物理,1996,15(7):36~41
[46]张军英,自组织特征映射的条形码识别研究,模式识别与人工智能,1994,7(1):78~80
[47]张维华,胡耘,宋艳玲,建立车身测量坐标系的两种方法,汽车技术,1996,(8):21~22
[48]陈二平,实现坐标系变换的算法研究,江西教育学院学报(自然科学),1999,20(6):7~8
[49]郭绍仲,徐宗钤,透视变换矩阵及其应用,天津大学学报,1990,(1):119~128
[2]张清扬,三维激光视觉检测系统在车轮定位调整中的应用,北京汽车,1997,(2):28~34
[3]Minoru Sasaki ,T.Yamaguchi ,J.H.Song.etc ,Optical Scanner on A Three-Dimensional Micro-optical Bench ,Journal of Lightwave Technology, 2003.21(3):602~608
[4]Choonyoung Lee ,Jujang Lee ,Object Recognition Algorithm for Adaptive Cruise Control of Vehicles Using Laser Scanning Sensor ,2000 IEEE Intelligent Transportation Systems Conference Proceedings ,2000.305~310
[5]班莹,基于靶标合作的三维坐标激光测量系统的研究:[硕士学位论文],天津:天津大学,2007
[6]Lau K,Hocken R J,Haight W C,Automatic Laser Tracking Interferometer System For Robot Metrology,Precision Engineering,1986,8(1):3~8
[7]Zou D H,Ye S H, Wang C H,Structured-lighting Surface Sensor and Its Calibration,Optical Engineering,1995,34(10):3040~3043
[8]Sansoni G ,Carocci M ,Rodella R ,Calibration and Performance Evaluation of A 3D Imaging Sensor Based on the Projection of Structured Light , IEEE Transactions on Instrumentation and Measurement, 2000.49(3):628~ 636
[9]Chen C ,Zheng Y F ,Passive and Active Stereo Vision for Smooth Surface Detection of Deformed Plates ,IEEE Trans on Industrial Electronics,1995.42(3):3O0~3O6
[10]Aguilar J J , Torres F , Lope M A ,Stereo Vision for 3-D Measurement:Accuracy Analysis ,Calibration and Industrial Applications,Measurement ,1996.18(4):193~200
[11]黄风山,刘书桂,彭凯等,一种点位式三维坐标视觉测量系统,机床与液压,2006,(5):141~146
[12]Frank Bertagnolli ,Rudiger Dillmann ,Flexible Automated Process Assurance Through Noncontact 3D Measuring Technology , IEEE Conference on Multi-sensor Fusion and Integration for Intelligent Systems ,2003.27~31
[13]L.Y.Lin ,S.S.Lee ,K.S.J.Pister.etc ,Micro-Machined 3D Micro-optics for Integrated Free-space Optical System ,IEEE Photon, Technol, Lett, 1994.(6):1445~1447
[14]喻彩丽,吴作伦,周晓辉,超大尺寸三坐标测量方法及误差分析,机械制造,2004,42(482):63~65
[15]黄桂平,钦桂勤,大尺寸三坐标测量方法与系统,宇航计测技术,2007,27(4):15~19
[16]Kruth J P ,MA W Y ,CAD Modeling of Sculptured Surfaces from Digitised Data of Coordinate Meansuring Machines ,4th International Symposium on Dimensional Metrology in Production and Quality Control,Tampeze,Finland,1992:1~17
[17]Dong Chensong ,Zhang Guoxiong ,Mu Yuhai ,Assesing the Dynamic Errors of Coordinate Measuring Machines ,Chinese Journal of Mechanical Engineering,1998.11(4):305~311
[18]邾继贵,王仲,周富强等,IVECO车身视觉检测系统现场溯源研究,计量学报,2000,21(1):29~33
[19]李真,轿车车身测试技术,汽车技术,1998,(7):31~39
[20]沈兆欣,陈晓晖,电子经纬仪测量系统中立方镜坐标系建立技术探讨,宇航计测技术,2006,26(4):73~75
[21]郑俊,邾继贵,叶声华,三维坐标测量技术在汽车车身检测中的应用,工具技术,2004,38(12):70~73
[22]Shiu Y C ,Ahmad S ,Calibration of Wrist-Mounted Robotic Sensors by Solving Homogeneous Transform Equations of the Form AX=XB ,IEEE Transancfions on Robotics&Automation ,1989.5(1):l6~29
[23]Tsai R Y ,Kem R K ,A New Technique for Fully Autonomous and Effient 3D Robotics and Hand/Eye Cahbration ,IEEE Transanctions on Robotics and Automation,1989.5(3):345~358
[24]Aloysius Wehr ,Uwe Lohr ,Airborne Laser Scanning:An Introduction and Overview ,ISPRS Journal of Photogrammetry & Remote Sensing ,1999.54:68~82
[25]郁道银,谈恒英,工程光学,北京:机械工业出版社,2000,37~39
[26]黄德修,刘雪峰,半导体激光器及其应用,北京:国防工业出版社,1999,255~256
[27]Taylor H F,Bending Effects In Optical Fibers,Lightwave Technol,1984,2(5):617~628
[28]高艳霞,郭水保,王道洪等,PIN功率二极管模型参数辨识,上海大学学报(自然科学版),2005,11(4):355～359
[29]吕宁,吴宏伟,弱电流放大器的调制型解决方案,全国第六届核监测学术研讨会论文集,2005,317~321
[30]刘彬,张秋婵,光电检测前置放大电路的设计,燕山大学学报,2003,27(3):193~196
[31]康华光,陈大钦,电子技术基础(模拟部分),北京:高等教育出版社,2001,355~357
[32]胡寿松,自动控制原理,北京:科学出版社,2001,48~52
[33]李玉娟,王琪,基于ATmega128L的智能探测车的设计与实现,自动化技术与应用,2007,26(3),42~44
[34]沈文,Eagle Lee,詹卫前,AVR单片机C语言开发入门指导,北京:清华大学出版社,2003
[35]卢山,于继铭,基于AVR单片机和CPLD的核磁共振仪床体检测系统,机械与电子,2007,(7):40~42
[36]Sakamoto K ,Nunogawa Y ,Satonak K ,An Intelligent Power IC With Reverse Battery Protection for Fastswitching High-Side Solenoid Drive ,IEEE Transactions on Instrumentation and Measurement,1999.46(8):1775~1781
[37]李向东,程全,樊宇,MAX488收发器及其应用,国外电子元器件,2003,(6):73
[38]应建华,黄萌,赵江平,一种基于RS485/RS422的多速收发器的设计,半导体技术,2007,32(12):1069~1072
[39]宣丽萍,FPGA器件的竞争与冒险现象及其消除方法,现代电子技术,2005,(10):119~120
[40]孙加存,浅析FPGA/PLD设计中的竞争与冒险问题,大众科技,2005,(4):140~141
[41]欧阳艳东,周学平,周建屏等,波珠材料的反光特性,汕头大学学报,2004,19(2):23~27
[42]欧阳艳东,石旺舟,林舜辉等,回归反射玻璃微珠折射率的测量和分析,汕头大学学报,2002,17(4):58~62
[43]Wang S , Bernabeu E ,Alda J ,Retroreflective Properties of A Hemispherical Surface ,Applied Optics ,1993.23(22):4279~4281
[44]袁景和,陈波,曾红军等,微棱镜阵列型定向反射器特性,光子学报,1998,27(11):1023~1027
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