智能光笔式坐标测量系统的驱动设计
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摘要
光笔式三坐标测量系统基于视觉测量技术,具有重量轻、便携性好、组建灵活、操作简单、精度适中、测量不受被测物体表面差异影响等优点,代表着坐标测量技术的一个重要发展方向,具有广阔的应用背景。
随着时代的发展,目前的光笔式三坐标测量系统显现出了一些不足:光笔上发光二极管的开关状态及亮度值固定,各发光二极管与摄像机中心的距离有一定的差异,并且发光二极管的亮度值在测量过程中也会发生一定的波动,因此在CCD上成像的亮度值将会产生影响,影响最终测量精度;系统中的CCD摄像机仅具有图像采集功能,图像处理仍需交计算机实现,系统较复杂,智能性及灵活性需要进一步改进。
针对上述问题,本文对光笔式三坐标测量系统进行了改进:将测量系统中的光笔设计成可调光笔形式;研究并设计智能相机代替测量系统中的CCD摄像机,完成图像采集与图像处理功能。具体工作如下:
1、介绍了当前光笔式三坐标测量技术和智能相机技术的发展状况。
2、针对传统光笔式三坐标测量系统中光笔的缺陷,设计出了可调光笔,实现了光笔上发光二极管的开关状态和亮度值可调功能。
3、研究并设计了测量系统中智能相机的方案。DM642控制CMOS图像传感器MT9M001采集原始图像,将采集到的图像数据存储到外扩SDRAM中,DM642从SDRAM中将原始图像数据取出根据图像处理算法处理并通过视频编码芯片SAA7121H将处理后的图像显示在液晶屏上。
4、对智能相机硬件平台进行驱动程序设计,主要包括图像采集模块与图像显示模块的驱动程序设计。
5、对系统进行在线调试,经实验表明:光笔的可调功能已实现,光笔上发光二极管的开关状态与亮度值可根据需要调整;智能相机模块可采集图像并显示图像。对当前设计的系统进行了分析,并提出了改进方案,在DSP中通过加入DSP/BIOS实时操作系统,将系统的软件划分成多个任务,利用操作系统对多个任务进行调度,以满足实时性要求。
The light pen portable coordinate measuring system based on photogrammetry technology possesses many advantages such as light and portable device, fast and flexible construction, simple operation, precision of proper level, not been affected by differences of surface been measured.
The light pen portable coordinate measuring system has shown some shortage along with the development of measuring technology. All of light-emitting diodes (LED) on the light pen have the same on/off status and brightness. The brightness of imaging on the CCD camera will be influenced by difference of distance between LED and camera and luminance fluctuation of LEDs during the measuring process. So the measurement precision of system will be influenced. The CCD camera in the current measuring system is only used to capture the image of light pen. Processing of image must be operated by the computer, so the system is very complex. The performance of portability and flexibility are needed to improve.
The light pen coordinate measuring system is improved according to the questions described above. The adjustable light pen in the measuring system is designed to replace traditional light pen. Intelligent camera which is researched and designed to replace the traditional CCD camera in the measuring system is used to capture the image of light pen and process the image data. The main work includes the following aspects:
1. The current light pen coordinate measuring technology and intelligent camera are introduced.
2. The adjustable light pen is designed to realize the function that the on/off status and brightness of LEDs on the light pen are adjustable.
3. The project of intelligent camera in the measuring system is researched and designed. MT9M001 which is a CMOS image sensor controlled by DM642 is used to capture the Raw image. The Raw image data are stored to external extended SDRAM and fetched by DM642 to process. The image which is processed is display on the screen via SAA7121H of video encoder.
4. The driver of intelligent camera is designed in the article. It mainly includes the
5. Debug for the system. The experiments show that: the function of adjustable light pen has implemented. The brightness and on/off status of light-emitted diodes on the light pen can be adjusted according to the requirement. The image of light pen can be captured by intelligent camera and display. The improvement is provided after analyzing for the system designed in the article. The DSP can be embedded with the real-time operate system of DSP/BIOS. The software are divided into several tasks scheduled by operate system to satisfy the real time requirement.
随着时代的发展,目前的光笔式三坐标测量系统显现出了一些不足:光笔上发光二极管的开关状态及亮度值固定,各发光二极管与摄像机中心的距离有一定的差异,并且发光二极管的亮度值在测量过程中也会发生一定的波动,因此在CCD上成像的亮度值将会产生影响,影响最终测量精度;系统中的CCD摄像机仅具有图像采集功能,图像处理仍需交计算机实现,系统较复杂,智能性及灵活性需要进一步改进。
针对上述问题,本文对光笔式三坐标测量系统进行了改进:将测量系统中的光笔设计成可调光笔形式;研究并设计智能相机代替测量系统中的CCD摄像机,完成图像采集与图像处理功能。具体工作如下:
1、介绍了当前光笔式三坐标测量技术和智能相机技术的发展状况。
2、针对传统光笔式三坐标测量系统中光笔的缺陷,设计出了可调光笔,实现了光笔上发光二极管的开关状态和亮度值可调功能。
3、研究并设计了测量系统中智能相机的方案。DM642控制CMOS图像传感器MT9M001采集原始图像,将采集到的图像数据存储到外扩SDRAM中,DM642从SDRAM中将原始图像数据取出根据图像处理算法处理并通过视频编码芯片SAA7121H将处理后的图像显示在液晶屏上。
4、对智能相机硬件平台进行驱动程序设计,主要包括图像采集模块与图像显示模块的驱动程序设计。
5、对系统进行在线调试,经实验表明:光笔的可调功能已实现,光笔上发光二极管的开关状态与亮度值可根据需要调整;智能相机模块可采集图像并显示图像。对当前设计的系统进行了分析,并提出了改进方案,在DSP中通过加入DSP/BIOS实时操作系统,将系统的软件划分成多个任务,利用操作系统对多个任务进行调度,以满足实时性要求。
The light pen portable coordinate measuring system based on photogrammetry technology possesses many advantages such as light and portable device, fast and flexible construction, simple operation, precision of proper level, not been affected by differences of surface been measured.
The light pen portable coordinate measuring system has shown some shortage along with the development of measuring technology. All of light-emitting diodes (LED) on the light pen have the same on/off status and brightness. The brightness of imaging on the CCD camera will be influenced by difference of distance between LED and camera and luminance fluctuation of LEDs during the measuring process. So the measurement precision of system will be influenced. The CCD camera in the current measuring system is only used to capture the image of light pen. Processing of image must be operated by the computer, so the system is very complex. The performance of portability and flexibility are needed to improve.
The light pen coordinate measuring system is improved according to the questions described above. The adjustable light pen in the measuring system is designed to replace traditional light pen. Intelligent camera which is researched and designed to replace the traditional CCD camera in the measuring system is used to capture the image of light pen and process the image data. The main work includes the following aspects:
1. The current light pen coordinate measuring technology and intelligent camera are introduced.
2. The adjustable light pen is designed to realize the function that the on/off status and brightness of LEDs on the light pen are adjustable.
3. The project of intelligent camera in the measuring system is researched and designed. MT9M001 which is a CMOS image sensor controlled by DM642 is used to capture the Raw image. The Raw image data are stored to external extended SDRAM and fetched by DM642 to process. The image which is processed is display on the screen via SAA7121H of video encoder.
4. The driver of intelligent camera is designed in the article. It mainly includes the
5. Debug for the system. The experiments show that: the function of adjustable light pen has implemented. The brightness and on/off status of light-emitted diodes on the light pen can be adjusted according to the requirement. The image of light pen can be captured by intelligent camera and display. The improvement is provided after analyzing for the system designed in the article. The DSP can be embedded with the real-time operate system of DSP/BIOS. The software are divided into several tasks scheduled by operate system to satisfy the real time requirement.
引文
[1]张国雄,坐标测量技术发展方向,红外与激光工程,2008,4:1~5
[2]张国雄,坐标测量技术新进展,航空精密制造技术,2008,44(3):16~19
[3]张国雄,三坐标测量机,天津:天津大学出版社,1999
[4]汤沙亮,光笔式便携三坐标测量系统测头标定及相关技术研究:[硕士学位论文],天津;天津大学,2009
[5]彭凯,光笔三坐标视觉测量系统关键技术的研究:[硕士学位论文],天津;天津大学,2004
[6]黄风山,光笔式单摄像机三维坐标视觉测量系统关键技术的研究:[博士学位论文],天津;天津大学,2006
[7] Leica公司产品资料,Internet资料,http://www.leica.com
[8]泰西精密技术有限公司产品资料,METRONOR光笔坐标测量仪用户手册
[9] ActiCM公司产品资料,Internet资料,http://www.acticm.com
[10] W.D.Leon-salas, Senem Velipaslar, Nathan Schemm, Sina Balkir, A LOW-COST, TILED EMBEDED SMART CAMERA SYSTEM FOR COMPUTER VISION APPLICATIONS, Distribute Smart Cameras, 2007. ICDSC’07. First ACM/IEEE International Conference on Issue Date 25-28 Sept. 2007
[11]北京凌云光视数字图像技术有限公司,Imaging&Vision图像和机器视觉产品手册,第四版
[12]许芬,智能视觉传感器及其应用,中国仪器仪表,2007,4:26~28
[13]吕晓明,基于DSP的视觉传感器的关键技术研究:[硕士学位论文],天津;天津大学,2007
[14]康耐视公司产品资料,Internet资料,http://www.cognex.com
[15] PPT VISION公司产品资料,Internet资料,http://www.pptvision.com.cn
[16] SteveZhu,潘津,叶敏等,引领潮流的智能相机,现代制造-新自动化,2007,1:34~36
[17]刘长英,车仁生,黄庆成等,视觉测量中光学特征点亮度控制方法研究,光学精密工程,2004,12(3):93~96
[18] Ling Qingping, Liu shugui, Li Zongliang, The data acquisition system designof portable coordinate measuring machine, Proceedings of SPIE-The International Society for Optical Engineering, v7381, 2009, International Symposium on Photoelectronic Detection and Imaging 2009- Material and Device Technology for Sensors
[19] N.F.Kahar, R.B.Ahmad, Z.Hussin, A.N.C.Rosli, Embedded Smart Camera Performance Analysis, 2009 International Conference on Computer Engineering and Technology.
[20] Scot Lester, Grayscale and Dot-Correction LED Display Using TLC5941 and MSP430F427, Application Report, March 2008
[21]朱凯歌,便携式坐标测量机无线传输技术研究:[硕士学位论文],天津;天津大学,2007
[22]李宗亮,光笔式三坐标测量机的无线传输技术:[硕士学位论文],天津;天津大学,2009
[23] TI公司芯片TLC5923资料,Internet资料,http://www.ti.com
[24] Michael Day, LED Driver-Paralleled Outputs Provide High-current Outputs, Application Report, September 2006
[25] NORDIC公司产品资料,Internet资料,http://www.nordicsemi.no
[26]朱凯歌,刘书桂,凌清平等,nRF24E1在光笔式坐标测量机中的应用,宇航计测技术,2008,28(3):52~56
[27]李文仲,段朝玉等,短距离无线数据通信入门与实战,北京:北京航空航天大学出版社, 2006
[28]由春娟,基于MEMS非制冷红外成像系统图像处理设计:[硕士学位论文],长春;长春理工大学,2008
[29] Hynix公司芯片HY57V283220资料,Internet资料,http://www.hunix.com
[30] AMD公司的芯片AM29LV033C资料,Internet资料,http://www.amd.com
[31] Altera公司芯片EPM7128资料,Internet资料,http://www.altera.com
[32]许芬,曾建军,基于DM642的高性能CMOS图像采集系统的设计,北方工业大学学报,2007,19(3):21~25
[33] Micron Technology公司芯片MT9M001C12STM资料,Internet资料,http://www.micron.com
[34]王久明,基于高速处理器的CMOS数字图像采集系统的硬件设计:[硕士学位论文],哈尔滨;哈尔滨工业大学,2007
[35]王跃宗,刘京会,TMS320DM642DSP应用系统设计与开发,北京:人民邮电出版社,2009
[36]纪宗南,消费电子的DSP处理技术及应用实例,北京,中国电力出版社,2008
[37] TI公司芯片TMS320DM642资料,Internet资料,http://www.ti.com
[38]曾义芳,DSP基础知识及系列芯片,北京:北京航空航天大学出版社,2006
[39]合众达电子,SEED-VPM用户指南,2008
[40]王凤琴,李祖贺,魏龙超,基于TMS320DM642视频采集驱动开发,DSP开发与应用,2008,24(1、2)185~187
[41]邹彦,唐冬,宁志刚,DSP原理及应用,北京:电子工业出版社,2009
[42]韩非,胡春海,李伟,TMS320C6000系列DSP开发应用技巧——重点与难点剖析,北京:中国电力出版社,2008
[43]邹彦,唐冬,宁志刚,DSP原理及应用,电子工业出版社。
[44]彭启琼,张诗雅,常冉,TI DSP集成化开发环境(CCS)使用手册,清华大学出版社,2005
[45] TI公司,TMS320C6000 Chip Support Library API Reference Guide,2004
[46] TI公司,TMS320C64x DSP VIC Reference Guide,2004
[2]张国雄,坐标测量技术新进展,航空精密制造技术,2008,44(3):16~19
[3]张国雄,三坐标测量机,天津:天津大学出版社,1999
[4]汤沙亮,光笔式便携三坐标测量系统测头标定及相关技术研究:[硕士学位论文],天津;天津大学,2009
[5]彭凯,光笔三坐标视觉测量系统关键技术的研究:[硕士学位论文],天津;天津大学,2004
[6]黄风山,光笔式单摄像机三维坐标视觉测量系统关键技术的研究:[博士学位论文],天津;天津大学,2006
[7] Leica公司产品资料,Internet资料,http://www.leica.com
[8]泰西精密技术有限公司产品资料,METRONOR光笔坐标测量仪用户手册
[9] ActiCM公司产品资料,Internet资料,http://www.acticm.com
[10] W.D.Leon-salas, Senem Velipaslar, Nathan Schemm, Sina Balkir, A LOW-COST, TILED EMBEDED SMART CAMERA SYSTEM FOR COMPUTER VISION APPLICATIONS, Distribute Smart Cameras, 2007. ICDSC’07. First ACM/IEEE International Conference on Issue Date 25-28 Sept. 2007
[11]北京凌云光视数字图像技术有限公司,Imaging&Vision图像和机器视觉产品手册,第四版
[12]许芬,智能视觉传感器及其应用,中国仪器仪表,2007,4:26~28
[13]吕晓明,基于DSP的视觉传感器的关键技术研究:[硕士学位论文],天津;天津大学,2007
[14]康耐视公司产品资料,Internet资料,http://www.cognex.com
[15] PPT VISION公司产品资料,Internet资料,http://www.pptvision.com.cn
[16] SteveZhu,潘津,叶敏等,引领潮流的智能相机,现代制造-新自动化,2007,1:34~36
[17]刘长英,车仁生,黄庆成等,视觉测量中光学特征点亮度控制方法研究,光学精密工程,2004,12(3):93~96
[18] Ling Qingping, Liu shugui, Li Zongliang, The data acquisition system designof portable coordinate measuring machine, Proceedings of SPIE-The International Society for Optical Engineering, v7381, 2009, International Symposium on Photoelectronic Detection and Imaging 2009- Material and Device Technology for Sensors
[19] N.F.Kahar, R.B.Ahmad, Z.Hussin, A.N.C.Rosli, Embedded Smart Camera Performance Analysis, 2009 International Conference on Computer Engineering and Technology.
[20] Scot Lester, Grayscale and Dot-Correction LED Display Using TLC5941 and MSP430F427, Application Report, March 2008
[21]朱凯歌,便携式坐标测量机无线传输技术研究:[硕士学位论文],天津;天津大学,2007
[22]李宗亮,光笔式三坐标测量机的无线传输技术:[硕士学位论文],天津;天津大学,2009
[23] TI公司芯片TLC5923资料,Internet资料,http://www.ti.com
[24] Michael Day, LED Driver-Paralleled Outputs Provide High-current Outputs, Application Report, September 2006
[25] NORDIC公司产品资料,Internet资料,http://www.nordicsemi.no
[26]朱凯歌,刘书桂,凌清平等,nRF24E1在光笔式坐标测量机中的应用,宇航计测技术,2008,28(3):52~56
[27]李文仲,段朝玉等,短距离无线数据通信入门与实战,北京:北京航空航天大学出版社, 2006
[28]由春娟,基于MEMS非制冷红外成像系统图像处理设计:[硕士学位论文],长春;长春理工大学,2008
[29] Hynix公司芯片HY57V283220资料,Internet资料,http://www.hunix.com
[30] AMD公司的芯片AM29LV033C资料,Internet资料,http://www.amd.com
[31] Altera公司芯片EPM7128资料,Internet资料,http://www.altera.com
[32]许芬,曾建军,基于DM642的高性能CMOS图像采集系统的设计,北方工业大学学报,2007,19(3):21~25
[33] Micron Technology公司芯片MT9M001C12STM资料,Internet资料,http://www.micron.com
[34]王久明,基于高速处理器的CMOS数字图像采集系统的硬件设计:[硕士学位论文],哈尔滨;哈尔滨工业大学,2007
[35]王跃宗,刘京会,TMS320DM642DSP应用系统设计与开发,北京:人民邮电出版社,2009
[36]纪宗南,消费电子的DSP处理技术及应用实例,北京,中国电力出版社,2008
[37] TI公司芯片TMS320DM642资料,Internet资料,http://www.ti.com
[38]曾义芳,DSP基础知识及系列芯片,北京:北京航空航天大学出版社,2006
[39]合众达电子,SEED-VPM用户指南,2008
[40]王凤琴,李祖贺,魏龙超,基于TMS320DM642视频采集驱动开发,DSP开发与应用,2008,24(1、2)185~187
[41]邹彦,唐冬,宁志刚,DSP原理及应用,北京:电子工业出版社,2009
[42]韩非,胡春海,李伟,TMS320C6000系列DSP开发应用技巧——重点与难点剖析,北京:中国电力出版社,2008
[43]邹彦,唐冬,宁志刚,DSP原理及应用,电子工业出版社。
[44]彭启琼,张诗雅,常冉,TI DSP集成化开发环境(CCS)使用手册,清华大学出版社,2005
[45] TI公司,TMS320C6000 Chip Support Library API Reference Guide,2004
[46] TI公司,TMS320C64x DSP VIC Reference Guide,2004