圆筒内壁圆度误差在线检测系统及精度研究
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摘要
圆筒内壁的圆度检测工作环境恶劣,检测要求严格,目前缺乏合适的解决方案。因此对其研究将促进圆筒内壁检测的机械化自动化水平,提高产品质量,降低生产成本,加快生产速度,具有很大的价值。
本文采用的激光三角测距技术是一种非接触式的测距技术,测距精度高、速度快,在工业控制生产、工业自动化生产等高精度测量中都有着广阔的应用。本文在传统的非接触式激光三角测距原理的基础上,为了适应被检测圆筒的特点——壁高、内径小、温度高,对激光光路进行改进,将对内壁圆度的检测转变为对圆筒内壁点的测量,通过对圆筒内壁点的全扫描方法对所有点进行测量,从而实现了高精度高速度的在线检测。
在光路改进的激光测距仪器中,通过对改进方法的结构的选取、方案的选择和测量方法的比较,在设计上最大限度的提高了精度。此外,目前的激光三角测距技术已经很成熟,但在光路改进的激光测距仪器中,增加了许多零件,而对各个零件的固定与定位是以往激光三角测距法中所没有的,并且这些零件的定位精度又对结果产生不可忽视的作用。因此对其定位精度的研究就是本文的主要工作,利用MATLAB进行仿真,可以知道那个定位精度是对结果影响最大的。
本论文还列举出影响实验结果的其它因素,这些不可消除的因素带来的实验结果误差可利用仪器标定技术来解决。另外,在传感器的选择方面,选用位胃感应探测器(PSD)来代替传统激光三角测距中的电荷耦合器件(CCD)。PSD的成本低、使用简单、测量速度、可直接输出光斑重心等优势,成为本设计首选的理由。
The operational environment of the inner cylinder wall's roundness measurement are very bad, and the detection requirement are very rigorous, appropriate solutions had not found out in current years. So, the study on this field have much value on enhancing the level of machinery automation on inner cylinder wall's measurement, increasing product quality, reducing cost and quickening production velocity.
The laser triangle ranging is a kind of non-contact ranging technique which has high ranging precision and high speech, it has comprehensive application in industrial automatic production and other high-accuracy measuring fields. On the base of conventional non-contact laser triangle ranging principle, so as to adapt the feature of the cylinder which have high cylinder wall ,small inner cylinder wall, and high temperature, this paper makes an modified laser optical path, and the circular degree of inner cylinder wall can be conversed to be the spot measurement of inner cylinder wall, this program makes measurement to the all spots of the inner cylinder wall by the full scanning method, so as to realize the high precision and high-speed on-line measurement.
This program does a maximum increase of high accuracy in the laser distance measuring instrument of modified laser optical path by the method of selecting the modified laser optical path and scheme, and the comparison of the measurement method. In addition, the technique of laser triangle ranging is very ripe at present, but many components are added in the laser distance measuring instrument of modified laser optical path, whose fixation and positioning in the laser triangle ranging method is a problem at present, and the positioning accuracy of the components have much affect to the results. So the study on positioning accuracy is the most important task in this paper, Using MATLAB for data simulation, the biggest impact part will be known
Other influence factors which can not eliminate can also impact the results, this paper resolves it by the technique of instrument calibrating. In addition, this paper choices position induction detector(PSD) to replace the charge-coupled device(CCD) traditional laser triangle ranging. The reasons why we choice PSD are because it have the superiority of low cost, easy operation, rapid measurement, and direct output faculae barycenter.
本文采用的激光三角测距技术是一种非接触式的测距技术,测距精度高、速度快,在工业控制生产、工业自动化生产等高精度测量中都有着广阔的应用。本文在传统的非接触式激光三角测距原理的基础上,为了适应被检测圆筒的特点——壁高、内径小、温度高,对激光光路进行改进,将对内壁圆度的检测转变为对圆筒内壁点的测量,通过对圆筒内壁点的全扫描方法对所有点进行测量,从而实现了高精度高速度的在线检测。
在光路改进的激光测距仪器中,通过对改进方法的结构的选取、方案的选择和测量方法的比较,在设计上最大限度的提高了精度。此外,目前的激光三角测距技术已经很成熟,但在光路改进的激光测距仪器中,增加了许多零件,而对各个零件的固定与定位是以往激光三角测距法中所没有的,并且这些零件的定位精度又对结果产生不可忽视的作用。因此对其定位精度的研究就是本文的主要工作,利用MATLAB进行仿真,可以知道那个定位精度是对结果影响最大的。
本论文还列举出影响实验结果的其它因素,这些不可消除的因素带来的实验结果误差可利用仪器标定技术来解决。另外,在传感器的选择方面,选用位胃感应探测器(PSD)来代替传统激光三角测距中的电荷耦合器件(CCD)。PSD的成本低、使用简单、测量速度、可直接输出光斑重心等优势,成为本设计首选的理由。
The operational environment of the inner cylinder wall's roundness measurement are very bad, and the detection requirement are very rigorous, appropriate solutions had not found out in current years. So, the study on this field have much value on enhancing the level of machinery automation on inner cylinder wall's measurement, increasing product quality, reducing cost and quickening production velocity.
The laser triangle ranging is a kind of non-contact ranging technique which has high ranging precision and high speech, it has comprehensive application in industrial automatic production and other high-accuracy measuring fields. On the base of conventional non-contact laser triangle ranging principle, so as to adapt the feature of the cylinder which have high cylinder wall ,small inner cylinder wall, and high temperature, this paper makes an modified laser optical path, and the circular degree of inner cylinder wall can be conversed to be the spot measurement of inner cylinder wall, this program makes measurement to the all spots of the inner cylinder wall by the full scanning method, so as to realize the high precision and high-speed on-line measurement.
This program does a maximum increase of high accuracy in the laser distance measuring instrument of modified laser optical path by the method of selecting the modified laser optical path and scheme, and the comparison of the measurement method. In addition, the technique of laser triangle ranging is very ripe at present, but many components are added in the laser distance measuring instrument of modified laser optical path, whose fixation and positioning in the laser triangle ranging method is a problem at present, and the positioning accuracy of the components have much affect to the results. So the study on positioning accuracy is the most important task in this paper, Using MATLAB for data simulation, the biggest impact part will be known
Other influence factors which can not eliminate can also impact the results, this paper resolves it by the technique of instrument calibrating. In addition, this paper choices position induction detector(PSD) to replace the charge-coupled device(CCD) traditional laser triangle ranging. The reasons why we choice PSD are because it have the superiority of low cost, easy operation, rapid measurement, and direct output faculae barycenter.
引文
[1]H.Saito,T Hashimoto and K.Kasamura.Micro-Scanning Laser Range Finders and Position-Attitude Determination for Formation Flight.SSC,1999,Ⅵ(1):1-9.
[2]贺安之,阎大鹏.现代传感器原理及应用.北京:宇航出版社,1995:169-179.
[3]U.Lages.Collision Avoidance System for Fixed Obstacles-Fuzzy Controller Network for Robot Driving of an Autonomous Vehicle.IEEE Conference on Intelligent Transportation System,ITSC,2001,Aug 25-29:489-491.
[4]李硕仁.三角雷射运用在汽车钣金件量测之特性研究.计量技术,1995(8):52-57.
[5]杨德磷.红外测距仪原理及检测.北京:测绘出版社,1989:100-101.
[6]鲍超.信息检测技术.杭州:浙江大学出版社,2002:150-163.
[7]Yang Ming.Environmental Modeling and Obstacle Avoidance of Mobile Robots Based on Laser Radar.Journal of Tsinghua University,2000(7):112-116.
[8]林小倩.基于CMOS单点激光三角法测距系统研究:(硕士学位论文).杭州:浙江大学,2006.
[9]Will P M,Pennington K S.Grid coding:Preprocessing technique for robot and machine vision.Artificial Intelligence,1971,2(3):319-329.
[10]Will P M,Pennington K S.Grid coding:Norel technique for image processing.Proc IEEE,1972,60(6):669-680.
[11]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 4~(th) Intern,Joint Conf Artif Intell,1975:664-668.
[12]朱相磊.脉冲一相位式激光测距仪的研究.山东科学,1998,11(3):44-47.
[13]Agin G J,Binford T O.Computer description of curved objects.In:Proc 3 rd Intern Conf Artif Intell,Stanford,CA,1973:629-640.
[14]Potmesil M.Generating models of solid objects by matching 3D surface segments.In:Proc 8~(th)Intern Joint Conf Artif Intell,Karlsruhe,1983:1089-1093.
[15]张永枫.光三角式传感器测距系统.传感器技术.2001,20(7):37-39.
[16]陆富源.一种新型短距离高精度激光测距仪的研究.哈尔滨工业大学学报,2003,8:12-13.
[17]田波,江潼君.激光三角法测量烟卷直径.自动化与仪器仪表,1999,2:13-14.
[18]王少清,庄葆华,张文伟.基于郎伯定律重建光学三角法测位移原理公式.光子学报,1996,16(12):1802-1807.
[19]庄葆华.高精度激光三角法位移测量被测表面倾斜影响研究.计量技术,1996(2):2-4.
[20]戴立铭.激光三角测量传感器的精密位移测量.仪器仪表学报,1994,15(4):400-404.
[21]王子余.几何光学和光学设计.杭州:浙江大学出版社,1989:153.
[22]Sato Y,Kitagawa H,Fujita H.Shape Measurement of Curved Objects Using Multiple Slit Ray Projections.IEEE Trans Patt Anal Mach Intell,1982:641-646.
[23]延明.图像采集与处理单元的研究.实验技术与管理,2001(3):10-12.
[24]王启会,沙宗先.用DSP搭建一个图像采集处理系统.齐齐哈尔大学学报,2001(4):58-60.
[25]魏华,李荐民.CPLD在图像采集系统中的应用.计算机工程与应用,2003,17:34-35.
[26]Tio J B K,McPherson C A,Hall E L.Curved Surface Measurement for Robot Vision.Proc RPIP,1983:52-96.
[27]Oslima M,Shirai Y.Object recognition using three-dimensional information.In:Proceedings 7~(th)Int Joint Conf Artif Intell,1981:601-606.
[28]余小游,孙广富,卢焕章.数字图像预处理技术及其硬件实现.电子技术应用,1997,11:16-17.
[29]侯金龙.PSD激光三角测量系统的研制:(硕士学位论文).武汉:华中科技大学,2005.
[30]宋开臣,张国雄.激光三角法扫描测头特性的研究.中国机械工程,2000,11(4):385-388.
[31]李晶.吴章江.基于图像处理的激光双三角法测量三维曲面.激光与红外,2001,31(2):87-89.
[32]周利民.激光扫描三角法测量精度因素的分析与研究.计量学报,1998,19(2):17-19.
[33]吴剑锋,王文,陈子辰.激光三角法测量误差分析与精度提高研究.机电工程,2003,20(5):89-91.
[34]解则晓,张宏君,张国雄.影响激光三角测头测量精度的因素及其补偿措施.现代计量测试,1992,2(1):28-33.
[35]钱晓凡,吕晓旭,钟丽云等.提高激光三角法测量精度的新方法.激光杂志,2000,21(3):51-53.
[36]Clocksin W F,Darey P G,Morgan C G,Vidler A R.Progress in Visual Feedbacck for Robot Vision.(A.Pugh,Ed),IFS Publications,Bedford,U.K.1983:187-198.
[37]Koji Kuno,Kazuya Nakashima,Hiroguki Suganuma.Development of the Inspective Devices Using 3D Visual Sensor for Measuring Volume of the Piston Combustion Chamber at Production Line,1994,SAE 940665:850-857.
[38]徐玉春,解则晓,冯国等.被测表面特征对激光测头特性的影响.天津大学学报,2001,34(6):24-26.
[39]李兰君,喻寿益.单点激光三角法测距及其标定.研究与开发,2003,10:49-51.
[40]Tsai R Y.A versatile camera calibration technique for high accuracy 3D machine vision metrology using of the shelf TV cameras and lenses.IEEE J Robotics Automation,1987,RA-3(4):323-344.
[2]贺安之,阎大鹏.现代传感器原理及应用.北京:宇航出版社,1995:169-179.
[3]U.Lages.Collision Avoidance System for Fixed Obstacles-Fuzzy Controller Network for Robot Driving of an Autonomous Vehicle.IEEE Conference on Intelligent Transportation System,ITSC,2001,Aug 25-29:489-491.
[4]李硕仁.三角雷射运用在汽车钣金件量测之特性研究.计量技术,1995(8):52-57.
[5]杨德磷.红外测距仪原理及检测.北京:测绘出版社,1989:100-101.
[6]鲍超.信息检测技术.杭州:浙江大学出版社,2002:150-163.
[7]Yang Ming.Environmental Modeling and Obstacle Avoidance of Mobile Robots Based on Laser Radar.Journal of Tsinghua University,2000(7):112-116.
[8]林小倩.基于CMOS单点激光三角法测距系统研究:(硕士学位论文).杭州:浙江大学,2006.
[9]Will P M,Pennington K S.Grid coding:Preprocessing technique for robot and machine vision.Artificial Intelligence,1971,2(3):319-329.
[10]Will P M,Pennington K S.Grid coding:Norel technique for image processing.Proc IEEE,1972,60(6):669-680.
[11]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 4~(th) Intern,Joint Conf Artif Intell,1975:664-668.
[12]朱相磊.脉冲一相位式激光测距仪的研究.山东科学,1998,11(3):44-47.
[13]Agin G J,Binford T O.Computer description of curved objects.In:Proc 3 rd Intern Conf Artif Intell,Stanford,CA,1973:629-640.
[14]Potmesil M.Generating models of solid objects by matching 3D surface segments.In:Proc 8~(th)Intern Joint Conf Artif Intell,Karlsruhe,1983:1089-1093.
[15]张永枫.光三角式传感器测距系统.传感器技术.2001,20(7):37-39.
[16]陆富源.一种新型短距离高精度激光测距仪的研究.哈尔滨工业大学学报,2003,8:12-13.
[17]田波,江潼君.激光三角法测量烟卷直径.自动化与仪器仪表,1999,2:13-14.
[18]王少清,庄葆华,张文伟.基于郎伯定律重建光学三角法测位移原理公式.光子学报,1996,16(12):1802-1807.
[19]庄葆华.高精度激光三角法位移测量被测表面倾斜影响研究.计量技术,1996(2):2-4.
[20]戴立铭.激光三角测量传感器的精密位移测量.仪器仪表学报,1994,15(4):400-404.
[21]王子余.几何光学和光学设计.杭州:浙江大学出版社,1989:153.
[22]Sato Y,Kitagawa H,Fujita H.Shape Measurement of Curved Objects Using Multiple Slit Ray Projections.IEEE Trans Patt Anal Mach Intell,1982:641-646.
[23]延明.图像采集与处理单元的研究.实验技术与管理,2001(3):10-12.
[24]王启会,沙宗先.用DSP搭建一个图像采集处理系统.齐齐哈尔大学学报,2001(4):58-60.
[25]魏华,李荐民.CPLD在图像采集系统中的应用.计算机工程与应用,2003,17:34-35.
[26]Tio J B K,McPherson C A,Hall E L.Curved Surface Measurement for Robot Vision.Proc RPIP,1983:52-96.
[27]Oslima M,Shirai Y.Object recognition using three-dimensional information.In:Proceedings 7~(th)Int Joint Conf Artif Intell,1981:601-606.
[28]余小游,孙广富,卢焕章.数字图像预处理技术及其硬件实现.电子技术应用,1997,11:16-17.
[29]侯金龙.PSD激光三角测量系统的研制:(硕士学位论文).武汉:华中科技大学,2005.
[30]宋开臣,张国雄.激光三角法扫描测头特性的研究.中国机械工程,2000,11(4):385-388.
[31]李晶.吴章江.基于图像处理的激光双三角法测量三维曲面.激光与红外,2001,31(2):87-89.
[32]周利民.激光扫描三角法测量精度因素的分析与研究.计量学报,1998,19(2):17-19.
[33]吴剑锋,王文,陈子辰.激光三角法测量误差分析与精度提高研究.机电工程,2003,20(5):89-91.
[34]解则晓,张宏君,张国雄.影响激光三角测头测量精度的因素及其补偿措施.现代计量测试,1992,2(1):28-33.
[35]钱晓凡,吕晓旭,钟丽云等.提高激光三角法测量精度的新方法.激光杂志,2000,21(3):51-53.
[36]Clocksin W F,Darey P G,Morgan C G,Vidler A R.Progress in Visual Feedbacck for Robot Vision.(A.Pugh,Ed),IFS Publications,Bedford,U.K.1983:187-198.
[37]Koji Kuno,Kazuya Nakashima,Hiroguki Suganuma.Development of the Inspective Devices Using 3D Visual Sensor for Measuring Volume of the Piston Combustion Chamber at Production Line,1994,SAE 940665:850-857.
[38]徐玉春,解则晓,冯国等.被测表面特征对激光测头特性的影响.天津大学学报,2001,34(6):24-26.
[39]李兰君,喻寿益.单点激光三角法测距及其标定.研究与开发,2003,10:49-51.
[40]Tsai R Y.A versatile camera calibration technique for high accuracy 3D machine vision metrology using of the shelf TV cameras and lenses.IEEE J Robotics Automation,1987,RA-3(4):323-344.