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WO2018049818A1 - Système basé sur une technologie de mesure tridimensionnelle et procédé de mesure de la surface spécifique d'un objet - Google Patents

Système basé sur une technologie de mesure tridimensionnelle et procédé de mesure de la surface spécifique d'un objet Download PDF

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Publication number
WO2018049818A1
WO2018049818A1 PCT/CN2017/081560 CN2017081560W WO2018049818A1 WO 2018049818 A1 WO2018049818 A1 WO 2018049818A1 CN 2017081560 W CN2017081560 W CN 2017081560W WO 2018049818 A1 WO2018049818 A1 WO 2018049818A1
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Prior art keywords
dimensional
data
measurement
surface area
camera
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Ceased
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English (en)
Chinese (zh)
Inventor
刘家朋
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Shanghai X-Imaging Info & Tech Co Ltd
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Shanghai X-Imaging Info & Tech Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/28—Measuring arrangements characterised by the use of optical techniques for measuring areas
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/022—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by means of tv-camera scanning

Definitions

  • the patent relates to the fields of computer stereo vision, three-dimensional measurement and object quality detection and measurement, and particularly relates to a system and method for accurately measuring the surface area and volume of an object based on three-dimensional measurement technology.
  • Surface area measurement has a wide range of applications in food safety, inspection and quarantine, court identification, medical diagnosis, etc.
  • the measurement of surface area is mainly by means of manual methods, using traditional measuring tools such as vernier calipers, tape measure and other tools to measure different shapes of objects.
  • the length, width, height and diameter of the area are then equalized according to the actual shape of the different areas of the surface of the object. After approximating the surface area of each area, all the areas are added to obtain the total surface area of the object, but these methods have the following problems:
  • the current measurement method mainly uses artificial measurement methods on the surface of the object. The measurement is calculated. Since the surface of the object often contains multiple faces and the surface of the object often consists of multiple irregular surfaces, the existing method requires manual measurement of each surface and then accumulates the area of all measuring surfaces, and the measurement efficiency is low. It is difficult to meet the requirements of measuring and calculating the surface area of the object quickly and accurately in actual demand.
  • the present invention proposes an accurate and rapid measurement system for an object surface area based on a three-dimensional measurement technique, and three-dimensional data reconstruction on the surface of an object by a computer stereo vision method, thereby obtaining an object.
  • the surface is three-dimensional data, and then the three-dimensional data of the reconstructed object surface is analyzed and measured, and the accurate surface area of the surface of the object is quickly obtained, and a key generation detection report is stored in the file.
  • it also solves the problem that the difference between the manual measurement of different personnel is large, and the test results cannot be traced.
  • the purpose of the invention is to quickly and accurately measure the surface area of an object, and propose a method for constructing three-dimensional data of an object surface based on three-dimensional measurement technology, measuring object size (length, surface area, volume, etc.), and designing a set of convenient and easy to use. Measuring system device.
  • an object surface area accurate measurement system based on three-dimensional measurement technology is composed of three parts: a three-dimensional measurement and surface area calculation subsystem, a control subsystem and a mechanical mechanism subsystem.
  • the 3D reconstruction and surface area calculation subsystem consists of a visual processing computer, a high-precision illumination calibration plate, a high-definition camera (monocular, binocular or multi-camera), structured light or laser generator, and system software for generation Three-dimensional data and data display, in which a high-definition camera, structured light or laser generator and software constitute a three-dimensional measurement system, the subsystem contains at least one set of three-dimensional measurement system.
  • the control subsystem is connected with the three-dimensional measurement and surface area calculation subsystem, which is composed of a stepping motor, a controller, a bearing and a rotating platform, and is used for matching multi-view image data acquisition and three-dimensional data splicing of the object.
  • the mechanical mechanism subsystem is connected with the three-dimensional measurement and surface area calculation subsystem and the control subsystem. It consists of a cabinet, a motor bracket, a fixed bracket, and an adjustment mechanism for connecting, installing, fixing, and adjusting various components of the device.
  • the three-dimensional measurement and surface area calculation subsystem of the present invention is based on the continuous acquisition of image data of structured light by a camera, and the reconstruction of the surface three-dimensional data of the object to be measured by the three-dimensional reconstruction technique. Obtaining the three-dimensional data of the surface of the object, and then performing the series of processing on the three-dimensional data of the three-dimensional data, converting it into triangular patch data by calculation, calculating the surface area of the object to be measured according to the triangular patch; Take a point, establish a connection with all the triangular patches to form a triangular cone, and calculate the volume of the object to be tested according to the accumulation and summation of all the triangular cones.
  • the main processes of 3D reconstruction of objects include camera calibration, 3D data reconstruction of object surface, 3D data mosaic, 3D data processing, and triangle patch data generation.
  • control subsystem of the present invention is to assist the three-dimensional measurement and surface area calculation subsystem to realize image data acquisition and three-dimensional data reconstruction of various angles of the measurement object, and the three-dimensional data of each position angle is synthesized by the automatic splicing algorithm to synthesize the complete surface of the object. data.
  • the images of different viewing angles are used to generate three-dimensional data of different viewing angles, and the three-dimensional data of different viewing angles is converted into the same coordinate system by the three-dimensional data stitching algorithm, thereby obtaining complete three-dimensional data of the target object; the three-dimensional data stitching supports the stitching of the marker points.
  • the mechanical mechanism subsystem of the present invention is composed of a bearing, a motor bracket and a fixing bracket for mounting the camera and the structured light generator.
  • the bracket for mounting the camera has two-dimensional degrees of freedom, and mainly functions as support and angle adjustment.
  • the specific framework is: one, two or more high-definition cameras are fixed on the rectangular bracket in the mechanical mechanism, the structured light generator is placed at a distance from the camera, and a two-dimensional adjustment mechanism is installed at the bottom of the fixed bracket for Drive the 3D measurement system to the left and right, up and down (XY axis direction) to the specified angle.
  • the camera In order to obtain the three-dimensional data of the object, the camera needs to be calibrated, and the camera is calibrated using a self-made high-precision calibration plate to obtain the internal and external parameters of the camera. A series of images of the object to be tested are acquired by using the calibrated camera, and the three-dimensional data of the object is obtained by the structured light three-dimensional reconstruction algorithm. Through the control subsystem, the three-dimensional data reconstruction of the various angular positions of the object is realized, the corresponding three-dimensional data is obtained, and the three-dimensional data of each position is spliced by the automatic splicing algorithm.
  • the three-dimensional data after splicing the three-dimensional data of the reconstructed object is processed by the pre-processing algorithm, and the processed data is converted into triangular patch data; for each triangular patch, the area calculation method of the triangle is used to calculate each The area data of a triangular patch is cumulatively superimposed on all the triangular patch areas to obtain the area data of the surface of the object.
  • the principle of calculating the surface area of an object is equivalent to the area of calculus: for various irregular surface of the object, it is divided into a number of small triangular patches. When the subdivided triangular patches are small to a certain extent, they can be The surface of the rule is approximated by a regular triangular patch, and then the area of all triangular patches is summed using the idea of calculus to obtain the surface area of the object. Because the three-dimensional data obtained by the reconstruction of the scanned object has high precision (up to 0.02 mm) and high density, the triangular surface piece generated by the scanning object is also very small, and the calculus is used to ensure the high precision of the measurement area.
  • the calibration panel used in the calibration method is fabricated by high-precision laser marking with an accuracy of +/- 0.0001 mm, and the LED surface light source provides illumination with uniform brightness.
  • the surface is treated by diffuse reflection, and the panel is non-reflective, suitable for extracting high-precision checkerboard corner points;
  • the three-dimensional data splicing supports three ways of splicing of marker points, splicing of no marker points, and splicing of rotating platforms.
  • the system software can control the three-dimensional measurement system to move to a specified position, control the rotation platform to move up and down, left and right, and perform one-click scanning on the three-dimensional data of the object;
  • Data processing includes functions such as de-duplication, filtering, smoothing, sampling, hole-filling, one-click optimization, and generation of triangular patches;
  • the three-dimensional measurement can cover small arc detail of objects when two sets of three-dimensional measurement systems are used simultaneously. Data acquisition and large arc-faced overall frame data collection.
  • the surface area and volume calculation includes outputting the measurement result to a database, supporting a one-button printing measurement report, and the report includes a projection view of the three-dimensional data of the object (the actual size ratio is 1) :1).
  • the actual size ratio is 1) :1
  • the precision of the stepping motor driving the turntable is verified by a laser test method, and the three-dimensional data reconstruction and registration of the mark points attached to the turntable are performed, and the rotation error is reversed. Perform error correction.
  • the rotating platform supports horizontal rotation, lifting, tilting and multi-axis motion;
  • the rotating platform table is made of silica gel plate with adsorption capacity or other similar materials, and the object can be directly attached and fixed on the object to prevent the movement of the object from affecting the measurement accuracy; It is also possible to use a conveyor belt replacement to support the object pipeline three-dimensional measurement operation, and at the same time perform object quality detection and sort according to the object quality detection result.
  • the three-dimensional measurement system can be moved to the top, the bottom, the front, the rear, and the left and right sides of the cabinet through the vertical and horizontal rails, thereby performing the whole object to be measured.
  • Orientation data measurement when the 3D measurement system moves to the bottom, the object is scanned upwards, and the bottom turntable can be replaced with transparent glass, so that the three-dimensional data at the bottom of the object can be easily obtained; the three-dimensional measurement system can also directly install multiple sets to the top of the cabinet, The bottom, front, rear and left and right sides directly measure the object in three dimensions.
  • the three-dimensional data of the object is obtained by three-dimensional reconstruction of the surface of the object, and the obtained three-dimensional data is used to calculate the area of the surface of any complex object. Since the three-dimensional data reconstruction based on structured light can achieve very high precision, Moreover, it is not necessary to manually calculate the irregular surface of the object surface as a regular surface by the method of manual calculation, and the system proposed by the patent of the invention has better calculation precision.
  • the system proposed by the invention can realize simultaneous three-dimensional data reconstruction and measurement of multiple objects in a single operation, and avoids that the manual method must measure each object separately, the measurement speed is faster, and supports one-button printing measurement report. And assembly line operations.
  • the process is simple.
  • the mechanical part consists of only two degrees of freedom motor and fixed camera, structured light generator and mounting bracket, which is convenient for processing and installation.
  • 1 is a schematic diagram of a system device of the present invention (left and right are schematic views of different viewing angles), wherein 1, a three-dimensional measuring system a, 2, a three-dimensional measuring system b, 3, a control subsystem, 4, a mechanical mechanism.
  • FIG. 4 is a physical diagram of a high precision illuminating calibration plate of the present invention.
  • Figure 5 is a flow chart of the three-dimensional measurement and surface area calculation subsystem of the present invention.
  • Figure 6 is a simple standard physical three-dimensional data, in which the upper left is a cylinder, the upper right is a quadrangular pyramid, and the lower left cube Body, the lower right is a cone.
  • the invention relates to a system for accurately measuring the surface area of an object based on three-dimensional measurement technology, as shown in FIG. 1 , which specifically comprises a three-dimensional measurement and surface area calculation subsystem, which is mainly connected by the three-dimensional measurement system a 1 and the three-dimensional measurement system b 2 in FIG. 1 .
  • control subsystem 3 connected with three-dimensional measurement and surface area computing subsystem, for coordinating object multi-view image data acquisition and three-dimensional data splicing; mechanical mechanism Subsystem 4 is coupled to the 3D measurement and surface area computing subsystem and control subsystem for mounting, securing, and adjusting various components of the equipment.
  • the calibration panel is fabricated by high-precision laser marking with an accuracy of +/- 0.0001 mm and a self-contained LED surface.
  • the light source provides illumination, uniform brightness, diffuse reflection on the surface, and the panel is non-reflective, suitable for extracting high-precision checkerboard corner points; the calibration method is based on the improved Zhang Zhengyou calibration algorithm to extract any number of corner points and center dots in the calibration plate. Establish the actual positional relationship of the corner points of the calibration plate to perform the camera Calibration.
  • the data display in the system of the invention comprises three-dimensional data display of the object, object detection report display; support surface area and volume measurement results output to the database, one-click printing measurement report, report containing the projection view of the object three-dimensional data, in order to obtain the physical size
  • the projection view with a ratio of 1:1 needs to convert the 3D coordinates through the model view matrix and the projection matrix to the 2D projection coordinate system, and then convert to the corresponding paper size according to the printer resolution and generate model image data for report printing.
  • the computer is connected to the controller, and sends a command to the controller, and the controller controls the movement of the stepping motor, thereby driving the rotating platform to rotate by a certain angle;
  • a different angle of view of the object to be tested can be captured, which is used to generate three-dimensional data of different viewing angles, and the three-dimensional data of different viewing angles are converted into the same coordinate system by the splicing algorithm, thereby obtaining complete three-dimensional data of the target object;
  • the three-dimensional data splicing supports three methods: mark stitching, no marker feature stitching and rotating platform stitching.
  • the three stitching methods complement each other and promote each other, thereby achieving the high speed and high precision stitching of three-dimensional data of different viewing angles.
  • the conveyor belt movement is controlled by the computer, the object is transmitted to the measuring center position for measurement, and sorting is performed according to the measurement result; and the three-dimensional measuring system is also controlled by the computer to move to a designated position on the rail.
  • the precision of the stepping motor driving the turntable is verified by a laser test method, and the three-dimensional data weight is applied to the mark points attached to the turntable. Construct a reverse rotation error and perform error correction.
  • the rotating platform supports horizontal rotation, lifting, and tilting multi-axis motion;
  • the rotating platform table is made of a silica gel plate with adsorption capacity or the like, and the object can be directly adsorbed and fixed on the upper surface to prevent the movement of the object from affecting the measurement accuracy;
  • the rotating platform can also be replaced by a conveyor belt, which supports the three-dimensional measurement of the object pipeline, and simultaneously performs object quality detection, and sorts according to the object quality detection result.
  • the bracket for mounting the camera as shown in FIG. 2 has two-dimensional freedom. Degree, mainly plays the role of support and angle adjustment.
  • the camera bracket is fixed on a rectangular parallelepiped three-dimensional measuring system fixing bracket in the mechanical mechanism, and the structural light generator is placed at a distance from the camera; a two-dimensional adjusting mechanism is installed at the bottom of the fixed bracket for driving the three-dimensional measuring system to rotate left and right and up and down Go to the specified location.
  • the three-dimensional measurement system in the three-dimensional measurement and surface area calculation subsystem, can be moved to the top, bottom, front, back and left and right sides of the cabinet through vertical and horizontal rails, thereby treating The object is measured for all-round data; when the 3D measuring system moves to the bottom, the object is scanned upwards, and the bottom turntable can be replaced with transparent glass, so that the 3D data at the bottom of the object can be easily obtained; the 3D measuring system can also directly install multiple sets to The top, bottom, front, rear and left and right sides of the cabinet directly measure the object in three dimensions.
  • the method for accurately measuring the surface area of an object based on the three-dimensional measurement technique in the system proposed by the present invention has the following specific steps:
  • Step 1 Calculate the internal and external parameter information and the rotation translation matrix of the camera by using a high-precision illumination calibration plate;
  • Step 3 performing a series of processing on the obtained three-dimensional data to obtain complete and clean three-dimensional data of the object to be measured;
  • Step 5 Export the measurement data and print the test report.
  • the upper left is a three-dimensional data graph of a cylinder
  • the upper right is a three-dimensional data graph of a quadrangular pyramid
  • the lower third is a three-dimensional data graph of a cone.
  • the actual surface area and actual volume of the object are calculated by the actual length, width and height of the object measured by the vernier caliper.
  • the four objects are placed in the measurement system at the same time, and the target software is used to model the three-dimensional data through the system software.
  • a measurement report is generated, and the three-dimensional measurement result is compared with the measurement result by the vernier caliper, and the three-dimensional measurement result is close.
  • the result of the vernier caliper calculation cannot be guaranteed due to the manual measurement length, so the maximum error is about 3%.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

L'invention concerne un système basé sur une technologie de mesure tridimensionnelle pour mesurer la surface spécifique d'un objet, ledit système comprenant trois parties, à savoir un sous-système de mesure tridimensionnelle et de calcul de surface spécifique (a1, b2), un sous-système de commande (3) et un sous-système de mécanisme mécanique (4). La surface spécifique d'un objet est mesurée avec précision par l'intermédiaire d'une reconstruction de données tridimensionnelles de surface d'objet, une série de flux de traitement rapides est conçue, une pluralité d'objets à mesurer peut être balayée simultanément, et une pluralité de systèmes de mesure tridimensionnelle est utilisée pour prendre en charge simultanément l'acquisition omnidirectionnelle de données tridimensionnelle, des opérations de pipeline, une optimisation en un clic de données de mesure tridimensionnelle et une exportation de rapport de mesure en un clic. Le système est de fonctionnement simple, effectue des tâches de mesure d'une manière rapide et précise, et accélère significativement le processus de détection et de mesure de la surface spécifique d'un objet.
PCT/CN2017/081560 2016-08-16 2017-04-24 Système basé sur une technologie de mesure tridimensionnelle et procédé de mesure de la surface spécifique d'un objet Ceased WO2018049818A1 (fr)

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CN201610673881.2 2016-08-16
CN201610673881.2A CN107514983B (zh) 2016-08-16 2016-08-16 一种基于三维测量技术测量物体表面积的系统及方法

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