Three-dimensional measurement system and three-dimensional measurement method for steel plate with lasers and vision combined

Abstract

The invention discloses a three-dimensional measurement system and three-dimensional measurement method for a steel plate with lasers and vision combined. The system is mainly composed of two background projectors, a total station, a three-dimensional scanner and a GPU server. The background projectors, the three-dimensional scanner and the total station are all connected to the server. The method comprises the steps that a plurality of laser labels are placed around the steel plate to be measured; the lasers are used for measuring the three-dimensional coordinates of the labels, and two cameras in the three-dimensional scanner are used for shooting the laser labels; an HOG and an SVM are used for detecting the original positions of the labels; a DOG is used for precisely locating the center of the labels; the three-dimensional coordinates of the labels are measured, the coordinates are converted into a laser coordinate system from a visual system, the errors of a calculation sum are obtained, and an error field is constructed; the scanner is used for measuring the steel plate to be measured to obtain the three-dimensional data of the steel plate; the error field is used for correcting the three-dimensional data of the steel plate to obtain the more accurate three-dimensional data of the steel plate. Laser measurement and vision measurement are combined, and the errors of the vision measurement can be greatly reduced.

Description

technical field [0001] The invention relates to a three-dimensional steel plate measurement system method combining laser and vision, which is suitable for three-dimensional measurement of ship hull steel plates in the shipbuilding process. Background technique [0002] The bending of ship steel plates is an important part of ship manufacturing. Due to the thickness of marine steel plates, it is very difficult to precisely bend them into the shape required by the design. At present, shipbuilding companies mostly use the method of manual beating after burning, and then comparing with the target model. This method is labor-intensive, time-consuming, and has low precision and efficiency. Therefore, it is necessary to develop an automatic control system for ship plate bending. In the ship plate bending automatic control system, three-dimensional measurement is the most critical link. Only by accurately measuring the three-dimensional shape of the steel plate can automatic cont...

AI Technical Summary

Problems solved by technology

Laser measurement method, the measurement speed is slow, but the measurement accuracy is high

Visual measurement method, the measurement speed is fast, but the measurement accuracy is low

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