基于HALCON的双目立体视觉工件尺寸测量
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摘要
为了实现对大批量生产工件尺寸的精密测量,该文基于双目立体视觉视差原理,设计了一种工件尺寸实时测量系统;系统通过两个工业数字摄像头实时采集工件不同角度的两幅图像,并基于机器视觉软件HALCON的HDevelop开发环境,对两幅图像进行相关预处理,获取感兴趣区域;提出一种基于canny的亚像素边缘检测、边缘细化、基于atukey权重函数的最小二乘法边缘拟合及边缘均匀取点算法获取精确的边缘特征点,并通过双目系统标定、立体校正、极线约束与NCC相结合的立体匹配、世界坐标转换、几何计算相结合的非接触式双目视觉方法进行尺寸测量;通过大量实验证明,该方法可有效地获取工件特征点的三维坐标值,不借助外部测量仪器实现工件关键尺寸的高精度实时检测,检测精度达±0.2mm以上,简单快捷,具有较好的准确性和实时性。
In order to achieve the precision measuring for the mass production of parts dimensions.A real-time measurement system for parts dimensions based on the principle of binocular stereo vision parallax is designed.The system acquires two real-time images of parts from different angles through two industrial digital cameras,and then acquire the regions of interest of two images after a series of pretreatments based on HDevelop development environment of machine vision software HALCON.A sub-pixel edge detection based on Canny,edge thinning,least square method based on atukey weight function to fit edge and edge uniform picking algorithm are proposed to obtain accurate edge feature points,and an non-contact binocular vision measurement method combining binocular measurement system calibration,stereo correction,stereo matching of polar constraints combining with gray correlation,world coordinate transformation and geometric calculation for size measurement.Through a large number of experiments show that this method can effectively obtain the 3D coordinate value of parts feature points,high precision real time inspection of key parts of parts without external measuring instruments,the measuring accuracy is above plus or minus 0.2 mm.Simple and fast,the proposed method has a good accuracy and real-time.
In order to achieve the precision measuring for the mass production of parts dimensions.A real-time measurement system for parts dimensions based on the principle of binocular stereo vision parallax is designed.The system acquires two real-time images of parts from different angles through two industrial digital cameras,and then acquire the regions of interest of two images after a series of pretreatments based on HDevelop development environment of machine vision software HALCON.A sub-pixel edge detection based on Canny,edge thinning,least square method based on atukey weight function to fit edge and edge uniform picking algorithm are proposed to obtain accurate edge feature points,and an non-contact binocular vision measurement method combining binocular measurement system calibration,stereo correction,stereo matching of polar constraints combining with gray correlation,world coordinate transformation and geometric calculation for size measurement.Through a large number of experiments show that this method can effectively obtain the 3D coordinate value of parts feature points,high precision real time inspection of key parts of parts without external measuring instruments,the measuring accuracy is above plus or minus 0.2 mm.Simple and fast,the proposed method has a good accuracy and real-time.
引文
[1]朱先锋.基于双目视觉的工件尺寸三维测量[D].舟山:浙江海洋大学,2014.
[2]张海波.基于双目立体视觉的图像匹配与三维重建[D].西安:西安工业大学,2012.
[3]王珂玮.基于双目立体的目标测量[D].长春:吉林大学,2013.
[4]熊凡.双目立体视觉系统标定及重构方法研究[D].武汉:武汉工程大学,2012.
[5]孙凤连.机器人双目视觉系统的三维测量方法[D].广州:广东工业大学,2015.
[6]陈念,李进,王海晖.双目立体视觉测量系统的研究与实现[J].湖北:武汉工程大学学报,2011,33(5):101-105.
[7]李哲,项辉宇,韩宝.基于HALCON的双目视觉系统标定[J].机电产品开发与创新,2013,3(5):95-97.
[8]魏敬强.基于双目立体视觉的工件识别定位与抓取系统的研究[D].西安:西安理工大学,2012.
[9]黎淑梅.基于双目视觉的大尺寸工件在机三维测量[D].广州:华南理工大学,2011.
[10]马峰.基于二维图像的三维建模技术的研究[D].北京:北京林业大学,2010.
[11]尹红敏,葛广英,肖海俊,等.基于Halcon的指针式仪表的读数[J].现代电子技术,2016,39(17):16-19.
[12]张镇,吕秋娟,郑重.基于几何结构的零件切片轮廓特征点提取方法[J].工具技术,2009,43(10):31-35.
[13]蓝福明.双目立体视觉的摄像机标定与特征点匹配技术研究[D].哈尔滨:哈尔滨理工大学,2015.
[14]崔雪,基于立体视觉的安全行车距离测量方法研究[D].长春:长春工业大学,2012.
[15]肖海俊.基于机器视觉的精密器件尺寸在线测量系统的研究[D].聊城:聊城大学,2016.
[16]杜若琪,谷宇章,张诚,等.基于双目立体视觉的行人身高测量方法[J].信息技术,2016,24(1):91-96.
[2]张海波.基于双目立体视觉的图像匹配与三维重建[D].西安:西安工业大学,2012.
[3]王珂玮.基于双目立体的目标测量[D].长春:吉林大学,2013.
[4]熊凡.双目立体视觉系统标定及重构方法研究[D].武汉:武汉工程大学,2012.
[5]孙凤连.机器人双目视觉系统的三维测量方法[D].广州:广东工业大学,2015.
[6]陈念,李进,王海晖.双目立体视觉测量系统的研究与实现[J].湖北:武汉工程大学学报,2011,33(5):101-105.
[7]李哲,项辉宇,韩宝.基于HALCON的双目视觉系统标定[J].机电产品开发与创新,2013,3(5):95-97.
[8]魏敬强.基于双目立体视觉的工件识别定位与抓取系统的研究[D].西安:西安理工大学,2012.
[9]黎淑梅.基于双目视觉的大尺寸工件在机三维测量[D].广州:华南理工大学,2011.
[10]马峰.基于二维图像的三维建模技术的研究[D].北京:北京林业大学,2010.
[11]尹红敏,葛广英,肖海俊,等.基于Halcon的指针式仪表的读数[J].现代电子技术,2016,39(17):16-19.
[12]张镇,吕秋娟,郑重.基于几何结构的零件切片轮廓特征点提取方法[J].工具技术,2009,43(10):31-35.
[13]蓝福明.双目立体视觉的摄像机标定与特征点匹配技术研究[D].哈尔滨:哈尔滨理工大学,2015.
[14]崔雪,基于立体视觉的安全行车距离测量方法研究[D].长春:长春工业大学,2012.
[15]肖海俊.基于机器视觉的精密器件尺寸在线测量系统的研究[D].聊城:聊城大学,2016.
[16]杜若琪,谷宇章,张诚,等.基于双目立体视觉的行人身高测量方法[J].信息技术,2016,24(1):91-96.