线阵图像快速处理接口及研究
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摘要
在高速在线检查、质量控制、机器/机器人视觉、实物仿型、自动加工等领域中,物体三维信息测量的应用日益重要。由于高分辨率、无破坏、数据获取速度快、精度较高、设备费用相对较低等优点,非接触的光学测量被公认为最有前途的三维测量方法。目前,三维测量的方法很多。激光三角测量方法由于系统结构简单,测量速度快,易于实时处理,被广泛采用。
本文研究的就是基于线扫描的图像预处理系统,系统的主处理器为DSP。采用激光光源照射被测物体,使物体表面产生漫反射光点,利用三角测量原理检测三维信息。线阵图像数据被送给数字信号处理器(DSP),在DSP中完成光点中心位置的提取。在实际扫描过程中,由于环境、光源照度,以及被测量物体本身特点等因素的变化,采集到的光点图像并不是十分规则和理想,针对这种情况,本文提出了几种提取光点中心的方法,如极值法、重心法、改进的重心法等。
本文设计并完成了DSP线阵图像预处理硬件系统和软件。硬件设计分为5部分:分别是数据信号采集部分、数据信号转化部分、DSP处理部分,电源管理部分和外接接口部分。根据实时性的要求,选用TMS320F2812芯片作为主处理器实现数字信号处理。考虑到USB接口的便携性和传输数据的高速性,选用其作为外设通信接口。软件算法方面,所设计的主程序和中断响应程序主要完成系统的初始化配置,中断取数,数据处理及传输数据等工作,为了增强软件的可读性和可移植性,采用C语言实现所有程序编写。
该方案硬件简单,软件设计思路清晰,经过实际调试运行,能连续正常工作。
In areas such as high-speed online inspection, quality control, machine / robot vision, physical profile, automatic processing, three-dimensional measurement has become increasingly important. Because of its high resolution, no sabotage, high speed of data acquisition, high precision, low-cost of equipment and other advantages, the non-contact optical measurement method is generally regarded as the most promising of method the three-dimensional measurement. Currently, there are many ways for the three-dimensional measurement. Laser triangulation has been widely used, for its simple system structure, high speed, and real-time processing capability.
In this theory, Array image preprocessing leanes scanning based system with DSP was studied. Irradiating the measured object with laser, light-spot was appeared on the surface, and then imaged on CCD surface using triangulation principle. Then the linear array image data was transmitted to Digital Signal Processor (DSP), the center position of the light-spot was extracted in DSP. In the actual scanning process, the light-spot images are not very regular or ideal, because of the influence such as environment, lamp-house intensity and the object itself. To solve these problems,several light-spot center-point positioning methods were developed, for example, extremum method, centroid method, improved centroid method.
The DSP Array image preprocessing hardware and software were designed and realised. Hardware design of this system was divided into five parts: the data signal acquisition, signal data conversion, DSP digital signal processing, power management, and external interface. According to the requirements of real-time, the TMS320F2812 processor chip is chosed as the main processor to realize digital signal processing unit. USB interface was selected as peripheral communication interface, considering its portability and high-speed transmission. In software algorithms, the main programming and interrupt-response online were developed to complete task such as initial-configuration of system, interrupt, data selecting,data processing and transmission of data. In order to enhance the readability and portability of the software, all programs were designed in C language.
After debug and actual operation, the system is simple in hardware and the software is designed with clear structure.The system is proved to be able to work continuously.
本文研究的就是基于线扫描的图像预处理系统,系统的主处理器为DSP。采用激光光源照射被测物体,使物体表面产生漫反射光点,利用三角测量原理检测三维信息。线阵图像数据被送给数字信号处理器(DSP),在DSP中完成光点中心位置的提取。在实际扫描过程中,由于环境、光源照度,以及被测量物体本身特点等因素的变化,采集到的光点图像并不是十分规则和理想,针对这种情况,本文提出了几种提取光点中心的方法,如极值法、重心法、改进的重心法等。
本文设计并完成了DSP线阵图像预处理硬件系统和软件。硬件设计分为5部分:分别是数据信号采集部分、数据信号转化部分、DSP处理部分,电源管理部分和外接接口部分。根据实时性的要求,选用TMS320F2812芯片作为主处理器实现数字信号处理。考虑到USB接口的便携性和传输数据的高速性,选用其作为外设通信接口。软件算法方面,所设计的主程序和中断响应程序主要完成系统的初始化配置,中断取数,数据处理及传输数据等工作,为了增强软件的可读性和可移植性,采用C语言实现所有程序编写。
该方案硬件简单,软件设计思路清晰,经过实际调试运行,能连续正常工作。
In areas such as high-speed online inspection, quality control, machine / robot vision, physical profile, automatic processing, three-dimensional measurement has become increasingly important. Because of its high resolution, no sabotage, high speed of data acquisition, high precision, low-cost of equipment and other advantages, the non-contact optical measurement method is generally regarded as the most promising of method the three-dimensional measurement. Currently, there are many ways for the three-dimensional measurement. Laser triangulation has been widely used, for its simple system structure, high speed, and real-time processing capability.
In this theory, Array image preprocessing leanes scanning based system with DSP was studied. Irradiating the measured object with laser, light-spot was appeared on the surface, and then imaged on CCD surface using triangulation principle. Then the linear array image data was transmitted to Digital Signal Processor (DSP), the center position of the light-spot was extracted in DSP. In the actual scanning process, the light-spot images are not very regular or ideal, because of the influence such as environment, lamp-house intensity and the object itself. To solve these problems,several light-spot center-point positioning methods were developed, for example, extremum method, centroid method, improved centroid method.
The DSP Array image preprocessing hardware and software were designed and realised. Hardware design of this system was divided into five parts: the data signal acquisition, signal data conversion, DSP digital signal processing, power management, and external interface. According to the requirements of real-time, the TMS320F2812 processor chip is chosed as the main processor to realize digital signal processing unit. USB interface was selected as peripheral communication interface, considering its portability and high-speed transmission. In software algorithms, the main programming and interrupt-response online were developed to complete task such as initial-configuration of system, interrupt, data selecting,data processing and transmission of data. In order to enhance the readability and portability of the software, all programs were designed in C language.
After debug and actual operation, the system is simple in hardware and the software is designed with clear structure.The system is proved to be able to work continuously.
引文
1 XI Bin, Zhen-lei Wang. Development and Application of Machine Vision in Industrial Detection System. Control Engineering of China. 2006, 13(S0):36~37
2 Ye-jing Cai, PENG Ta. The Research of Packaging-Checking Based on Application of Machine Vision. PACKAGING ENGINEERING. 2003, 24(2):45~46
3戴君,赵海洋,冯心海.机器视觉[J].机械设计与制造工程. 1998, (7):22~22
4张琦.机器视觉系统的原理及现状.电子工业设备专用. 1999, 28(4):21~22
5 2004年度工控及自动化领域十大新闻热点.工业控制计算机. 2005, 18(2):79~80
6章炜.机器视觉技术发展及其工业应用.红外. 2006, 27(2):14~15
7 RY Tsai,A Versatile Camera Calibration Technique for High-accuracy Machine Vision Metrology Using Off-the-shelf TV Cameras and Lenses[J]. IEEE J. Robotics Automat.1997, 8 (34):323-324
8王玉宝,陈嵩,陆明洋,胡应占.机器视觉系统及其在汽车发动机装配线上的应用.电气时代. 2006, (2) :20~22
9朱正德.谈“机器视觉”在汽车制造业中的应用.中国测试技术. 2006, 32(05) :32~35
10谁来为机器视觉买单?[J].现代制造. 2005, (21) :26~28
11 2007中国国际机器视觉展览会[J].现代制造. 2007, (01):70~72
12王庆有. CCD应用技术.天津大学出版社, 2000:6~17
13马颂德,张正友.计算机视觉.科学出版社, 1998:5~6
14 Akuta T, et al. Development of an Automatic 3-D Shape Measuring System Using a New Auto-focusing Method. Measurement. 1991, 9(3):98~103
15 Ens J, et al. An Investigation of Methods for Determining Depth fromFocus. IEEE Trans on Pattern Analysis and Machine Intelligence. 1993, 15(2):97~108
16谢瑞和.串行技术大全.清华大学出版社, 2003:15~17
17翁铁成,宋中庆,肖据雄. USB技术及应用设计.清华大学出版社, 2004:23~25
18 Markus-Christian Amann, Thierry Bosch, Risto Myllya, et al. Laser ranging: ACritical Review of Usual Techniques or Distance Measurement. Optical Engineeri -ng. 2001, 40(1): 10~19
19 Womack K H. Interferometric Phase Measurement Using Spatial Synchronous Detection. Opt Eng. 1984, 23(4):391~395
20苏显渝,李继陶.信息光学[M].科学出版社, 1999:58~62
21 Takeda M Ina H, et al. Fourier-transform Method of Fringe-pattern Analysis for Computer-based Topography and Interferometer. J. Op t. Soc. Am. 1982, 72(1): 156~160
22 Srinivasan V, Liu HC, Halioua M. Automated Phase-measuring Profile Metry of
3-D Diffuse Objects [J]. Appl. Opt. 1984, 23(18):3105~3108.
23 Axelsson L, Karlsson N. Object Recognition Using a Laser Scanner and Fourier Transform [J]. Optical Engineering. 1997, 36(6):1721~1726
24 Will P M, Pennington K S. Grid coding: Preprocessing Technique for Robot and Machine Vision. Artificial Intelligence. 1971, 2(3):319~329
25 Will P M, Pennington K S. Grid coding: Norel technique for image processing. Proc IEEE. 1972, 60(6):669~ 680
26 Popplestone R J, Brown C M, Ambler A P, Crawford G F. Forming Models of Plane-and-cylinder Faceted Bollies from Light Stripes. In: Proc 4th Intern, Joint Conf Artif Intell. 1975:664~668
27 Agin GJ, Binford T O. Computer description of curved objects. In: Proc 3rd Intern Conf Artif Intel, Stanford, CA. 1973:629~640
28 Potmesil M. Generating Models of Solid Objects by Matching 3D Surface Segments. In: Proc 8th Intern Joint Conf Artif Intell, Karlsruhe. 1983: 1089~1093
29 Sato Y, Kitagawa H, Fujita H. Shape Measurement of Curved Objects Using Multiple Slit Ray Projections. IEEE Trans Patt A nal Mach Intell. 1982:641~646
30 Tio J B K, McPherson C A, Hall E L. Curved Surface Measurement for Robot Vision. Proc R PIP. 1983:52~96
31祝杰,戴立铭,江潼君.激光三角法测量位移.仪表技术与传感器. 1992,18(2):18~20
32杜小平,周兴汉.光栅形结构光检测系统中确定光条中心的算法研究[J].指挥技术学院学报. 2002, 12(5):52~54
33 Huo Long, Ai-Jun Zhang, Wei-Jun Liu. Research on the Extraction of Laser-knife Center Based in 3D Version Measuring Data with Line-structured Light.Computer Applications and Software. 2006(6):100~102
34吴剑波,崔振,赵宏.光刀中心自适应阈值提取法.工具技术. 2000, 34:10~12
35张舜德,卢秉恒,丁玉成.高斯光束柱面反射展成法生成光刀的研究[J].中国激光. 2001, 28(2):133~136
36 Lei Zhiyong. Integrative Image Processing Algorithm for Linear CCD. Optical Technique. 2002, 28(5):475~477
37 Wu Jianbo. Self-adaptive Threshold Method for Light-knife Center Acquiring. Computer and Engineer. 2000, 34(10):27~29
38 Yang Jinghua. Application of Image Segmentation on Multi-light-knife 3D Measure System. Technology and Test. 2003, (10):46~48
39 Chen Xiaodong. Error Analysis of the Center of Gravity Method when Used to Get the Position of a Facula. Optical Technique. 2000, 26(1):5~8
40 Sui Liansheng. Research on Method of Laser-knife Center Position Extracting Based on NURBS Interpolation. Chinese Journal of Lasers. 2003,30(10):933~937
41 Li Wei etc. A Compensation Algorithm of Image Based on Gaussian Quadrics Fitting. Huazhong Univ. of Sci.&Tech .(Nature Science Edition)[J]. 2004, 32(2): 43~45
42孙家广,杨长贵.计算机图形学.清华大学出版社, 1995:284~294
43 Komiya Y, et al. Natural Color Reproduction System for Telemedicine and Its’Application to Digital Camera[C]. Proceedings of the 1999 IEEE International Conference on Image Processing, Los: Alamitos, CA: 50~54
44 BASLER L100b Series User`s Manual. Document. 2001:11~51
45张建,吴晓. LVDS技术原理和设计简介.电子技术应用. 2000, (5):69~71
46苏奎峰,吕强,耿庆峰. TMS320F2812原理与开发.电子工业出版社, 2005: 12~315
47 Texas Instruments Incorporated.张卫宁. TMS320C28X系列DSP的CPU与外设(上、下).清华大学出版社, 2005:15~487
48周立功. PDIUSBD12USB固件编成与驱动开发.北京航空航天大学出版社, 2003:23~156
49 Yang Jinghua. Application of Image Segmentation on Multi-light-knife 3D Measure System. Technology and Test. 2003, 10:46~48
50 Lei Zhiyong. Integrative Image Processing Algorithm for Linear CCD. Optical Technique.2002, 28(5):475~477
51周立功. PDIUSBD12USB固件编程与驱动开发[J].单片机与嵌入式系统应用. 2003, (02):28~30
52任卫华,叶明.一种基于PDIUSBD12芯片的USB接口实现方案[J].仪器仪表用户. 2005, (01):87~89
53张明,金宁德.采用PDIUSBD12实现USB高速数据传输[J].测控技术. 2005, (08):37~40
2 Ye-jing Cai, PENG Ta. The Research of Packaging-Checking Based on Application of Machine Vision. PACKAGING ENGINEERING. 2003, 24(2):45~46
3戴君,赵海洋,冯心海.机器视觉[J].机械设计与制造工程. 1998, (7):22~22
4张琦.机器视觉系统的原理及现状.电子工业设备专用. 1999, 28(4):21~22
5 2004年度工控及自动化领域十大新闻热点.工业控制计算机. 2005, 18(2):79~80
6章炜.机器视觉技术发展及其工业应用.红外. 2006, 27(2):14~15
7 RY Tsai,A Versatile Camera Calibration Technique for High-accuracy Machine Vision Metrology Using Off-the-shelf TV Cameras and Lenses[J]. IEEE J. Robotics Automat.1997, 8 (34):323-324
8王玉宝,陈嵩,陆明洋,胡应占.机器视觉系统及其在汽车发动机装配线上的应用.电气时代. 2006, (2) :20~22
9朱正德.谈“机器视觉”在汽车制造业中的应用.中国测试技术. 2006, 32(05) :32~35
10谁来为机器视觉买单?[J].现代制造. 2005, (21) :26~28
11 2007中国国际机器视觉展览会[J].现代制造. 2007, (01):70~72
12王庆有. CCD应用技术.天津大学出版社, 2000:6~17
13马颂德,张正友.计算机视觉.科学出版社, 1998:5~6
14 Akuta T, et al. Development of an Automatic 3-D Shape Measuring System Using a New Auto-focusing Method. Measurement. 1991, 9(3):98~103
15 Ens J, et al. An Investigation of Methods for Determining Depth fromFocus. IEEE Trans on Pattern Analysis and Machine Intelligence. 1993, 15(2):97~108
16谢瑞和.串行技术大全.清华大学出版社, 2003:15~17
17翁铁成,宋中庆,肖据雄. USB技术及应用设计.清华大学出版社, 2004:23~25
18 Markus-Christian Amann, Thierry Bosch, Risto Myllya, et al. Laser ranging: ACritical Review of Usual Techniques or Distance Measurement. Optical Engineeri -ng. 2001, 40(1): 10~19
19 Womack K H. Interferometric Phase Measurement Using Spatial Synchronous Detection. Opt Eng. 1984, 23(4):391~395
20苏显渝,李继陶.信息光学[M].科学出版社, 1999:58~62
21 Takeda M Ina H, et al. Fourier-transform Method of Fringe-pattern Analysis for Computer-based Topography and Interferometer. J. Op t. Soc. Am. 1982, 72(1): 156~160
22 Srinivasan V, Liu HC, Halioua M. Automated Phase-measuring Profile Metry of
3-D Diffuse Objects [J]. Appl. Opt. 1984, 23(18):3105~3108.
23 Axelsson L, Karlsson N. Object Recognition Using a Laser Scanner and Fourier Transform [J]. Optical Engineering. 1997, 36(6):1721~1726
24 Will P M, Pennington K S. Grid coding: Preprocessing Technique for Robot and Machine Vision. Artificial Intelligence. 1971, 2(3):319~329
25 Will P M, Pennington K S. Grid coding: Norel technique for image processing. Proc IEEE. 1972, 60(6):669~ 680
26 Popplestone R J, Brown C M, Ambler A P, Crawford G F. Forming Models of Plane-and-cylinder Faceted Bollies from Light Stripes. In: Proc 4th Intern, Joint Conf Artif Intell. 1975:664~668
27 Agin GJ, Binford T O. Computer description of curved objects. In: Proc 3rd Intern Conf Artif Intel, Stanford, CA. 1973:629~640
28 Potmesil M. Generating Models of Solid Objects by Matching 3D Surface Segments. In: Proc 8th Intern Joint Conf Artif Intell, Karlsruhe. 1983: 1089~1093
29 Sato Y, Kitagawa H, Fujita H. Shape Measurement of Curved Objects Using Multiple Slit Ray Projections. IEEE Trans Patt A nal Mach Intell. 1982:641~646
30 Tio J B K, McPherson C A, Hall E L. Curved Surface Measurement for Robot Vision. Proc R PIP. 1983:52~96
31祝杰,戴立铭,江潼君.激光三角法测量位移.仪表技术与传感器. 1992,18(2):18~20
32杜小平,周兴汉.光栅形结构光检测系统中确定光条中心的算法研究[J].指挥技术学院学报. 2002, 12(5):52~54
33 Huo Long, Ai-Jun Zhang, Wei-Jun Liu. Research on the Extraction of Laser-knife Center Based in 3D Version Measuring Data with Line-structured Light.Computer Applications and Software. 2006(6):100~102
34吴剑波,崔振,赵宏.光刀中心自适应阈值提取法.工具技术. 2000, 34:10~12
35张舜德,卢秉恒,丁玉成.高斯光束柱面反射展成法生成光刀的研究[J].中国激光. 2001, 28(2):133~136
36 Lei Zhiyong. Integrative Image Processing Algorithm for Linear CCD. Optical Technique. 2002, 28(5):475~477
37 Wu Jianbo. Self-adaptive Threshold Method for Light-knife Center Acquiring. Computer and Engineer. 2000, 34(10):27~29
38 Yang Jinghua. Application of Image Segmentation on Multi-light-knife 3D Measure System. Technology and Test. 2003, (10):46~48
39 Chen Xiaodong. Error Analysis of the Center of Gravity Method when Used to Get the Position of a Facula. Optical Technique. 2000, 26(1):5~8
40 Sui Liansheng. Research on Method of Laser-knife Center Position Extracting Based on NURBS Interpolation. Chinese Journal of Lasers. 2003,30(10):933~937
41 Li Wei etc. A Compensation Algorithm of Image Based on Gaussian Quadrics Fitting. Huazhong Univ. of Sci.&Tech .(Nature Science Edition)[J]. 2004, 32(2): 43~45
42孙家广,杨长贵.计算机图形学.清华大学出版社, 1995:284~294
43 Komiya Y, et al. Natural Color Reproduction System for Telemedicine and Its’Application to Digital Camera[C]. Proceedings of the 1999 IEEE International Conference on Image Processing, Los: Alamitos, CA: 50~54
44 BASLER L100b Series User`s Manual. Document. 2001:11~51
45张建,吴晓. LVDS技术原理和设计简介.电子技术应用. 2000, (5):69~71
46苏奎峰,吕强,耿庆峰. TMS320F2812原理与开发.电子工业出版社, 2005: 12~315
47 Texas Instruments Incorporated.张卫宁. TMS320C28X系列DSP的CPU与外设(上、下).清华大学出版社, 2005:15~487
48周立功. PDIUSBD12USB固件编成与驱动开发.北京航空航天大学出版社, 2003:23~156
49 Yang Jinghua. Application of Image Segmentation on Multi-light-knife 3D Measure System. Technology and Test. 2003, 10:46~48
50 Lei Zhiyong. Integrative Image Processing Algorithm for Linear CCD. Optical Technique.2002, 28(5):475~477
51周立功. PDIUSBD12USB固件编程与驱动开发[J].单片机与嵌入式系统应用. 2003, (02):28~30
52任卫华,叶明.一种基于PDIUSBD12芯片的USB接口实现方案[J].仪器仪表用户. 2005, (01):87~89
53张明,金宁德.采用PDIUSBD12实现USB高速数据传输[J].测控技术. 2005, (08):37~40