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A method of 3D contour measurement of a workpiece on a conveyor belt based on line laser scanning

A three-dimensional profile and measurement method technology, applied in the field of three-dimensional measurement, can solve the problems of easily damaged parts to be measured, limited application scope, slow measurement speed, etc.

Active Publication Date: 2018-01-12
CHANGSHA XIANGJI HAIDUN TECH CO LTD
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Problems solved by technology

Contact measurement mainly includes coordinate measuring machine (CMM), multi-joint 3D scanner, slice measurement and other methods. The disadvantages of this type of method are: slow measurement speed, prone to deformation and wear of the probe, and easy to damage the parts to be measured. Application limited range
Non-optical measurement methods, such as ultrasonic or radar sonar, have the disadvantages of low measurement accuracy and slow measurement speed

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  • A method of 3D contour measurement of a workpiece on a conveyor belt based on line laser scanning
  • A method of 3D contour measurement of a workpiece on a conveyor belt based on line laser scanning
  • A method of 3D contour measurement of a workpiece on a conveyor belt based on line laser scanning

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Embodiment Construction

[0080] The present invention will be further elaborated below in conjunction with the accompanying drawings and descriptions.

[0081] Present embodiment scheme comprises the following steps:

[0082] a) Camera calibration stage;

[0083] b) Image preprocessing stage;

[0084] c) The sub-pixel precision extraction stage of the center coordinates of the laser light bar;

[0085] d) Laser light plane calibration stage;

[0086] e) The three-dimensional contour reconstruction and measurement stage of the workpiece to be measured.

[0087] Wherein said camera calibration stage includes the following steps:

[0088] Step 1: Based on Zhang Zhengyou’s plane calibration method, use a 9×6 standard black and white checkerboard, assuming that the checkerboard is located on the plane of Z=0, and the size of each checkerboard is 25mm, place the checkerboard calibration template on the conveyor belt, and calibrate During the process, keep the conveyor belt still, and change the checker...

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Abstract

The invention discloses a method of 3D contour measurement of a workpiece on a conveyor belt based on line laser scanning. The method comprises the following steps of obtaining camera internal and external parameters through camera calibration, carrying out filtering and laser light strip center position initial extraction through an image preprocessing step, carrying out sub-pixel precision refinement on the center coordinates of a light bar, obtaining a light plane equation through the laser light plane calibration and finally carrying out reconstruction and measurement of the three-dimensional contour information of a workpiece to be measured. The workpiece 3D contour measurement brought forward by the invention has the following advantages: a high measurement precision which means thethree-dimensional contour information of the workpiece to be measured can be accurately obtained through the laser light bar extraction with sub-pixel precision and 3D reconstruction; a fast measurement speed which means real-time measurement of 3D contour information of the workpiece to be tested can be realized to improve the efficiency of industrial production site operations; and low hardwarecosts which is realized in a hardware implementation mode in which laser is combined with a monocular camera. Accordingly, the technical method of the application has advantages such as being in a non-contact mode, high in measurement precision, fast in speed and low in cost, and can be applied to an industrial automation production process to realize accurate measurement of the 3D contour information of the workpiece on the conveyor belt.

Description

technical field [0001] The invention relates to the field of three-dimensional measurement, in particular to a method for measuring the three-dimensional profile of a conveyor belt workpiece based on line laser scanning. Background technique [0002] According to different working principles and measurement media, methods for obtaining 3D measurement data of objects can be mainly divided into two categories: contact measurement and non-contact measurement. Contact measurement mainly includes coordinate measuring machine (CMM), multi-joint 3D scanner, slice measurement and other methods. The disadvantages of this type of method are: slow measurement speed, prone to deformation and wear of the probe, and easy to damage the parts to be measured. Application Range limited. [0003] Non-contact measurement is mainly divided into reflection measurement and penetration measurement. Typical representatives of penetrating measurements are industrial CT scanners, which have the disa...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T17/00G06T7/80G01B11/24
Inventor 肖玉飞周翔刘俊涂宏斌周继辉田炜
Owner CHANGSHA XIANGJI HAIDUN TECH CO LTD
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