Sensor measurement viewpoint planning method in automatic three-dimensional measurement of surface structured light

A surface structured light, three-dimensional measurement technology, applied in the field of three-dimensional measurement, to achieve a high degree of automation, improve measurement efficiency, and avoid calculation errors.

Active Publication Date: 2019-01-08
HUAZHONG UNIV OF SCI & TECH
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Problems solved by technology

[0007] To sum up, many measurement factors and conditions need to be considered in the viewpoint generation process, and there is no mature technology that can automatically perform automatic optimal viewpoint planning for complex part measurement

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  • Sensor measurement viewpoint planning method in automatic three-dimensional measurement of surface structured light
  • Sensor measurement viewpoint planning method in automatic three-dimensional measurement of surface structured light

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Embodiment Construction

[0036] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.

[0037] A method for planning a sensor measurement viewpoint in automatic three-dimensional measurement with surface structured light, the method is implemented by the following steps:

[0038] Step 1: Determine a cube-shaped sensor single measurement volume block with the single measurement range and measurement depth of field of the surface structured light three-dimensional sensor, wherein the...

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Abstract

The invention belongs to the technical field of three-dimensional measurement, and discloses a sensor measurement viewpoint planning method in automatic three-dimensional measurement of surface structured light. The method comprises the steps of: (a), packaging a three-dimensional structural model of an object to be measured by adopting multiple cube volume blocks; (b), constructing six semi-spheres and candidate measurement viewpoints in each volume block; (c), intersecting the single volume block with the three-dimensional structural model to obtain multiple spline surfaces, and solving thecentral point, the average normal vector and the area of each spline surface; (d), calculating the zenith angle and the azimuth angle of the average normal vector of each spline surface in the singlevolume block in a three-dimensional coordinate system, and determining an area, which each spline surface belongs to; (e), calculating measurement quality parameters of the candidate measurement viewpoints; and (f), comparing the quality parameter of each candidate measurement viewpoint with the pre-set threshold value, so that the required measurement viewpoint is obtained. By means of the sensormeasurement viewpoint planning method in automatic three-dimensional measurement of surface structured light in the invention, the calculation process is simple; the automation degree is high; and the sensor measurement viewpoint planning method is suitable for planning measurement viewpoints of complex parts.

Description

technical field [0001] The invention belongs to the technical field of three-dimensional measurement, and more specifically relates to a method for planning a sensor measurement viewpoint in automatic three-dimensional measurement of surface structured light. Background technique [0002] Surface structured light automatic 3D measurement is a multi-degree-of-freedom robot positioning surface structured light 3D sensor to measure parts from multiple measurement viewpoints to obtain complete 3D data. However, many parts have complex structures, and due to visual occlusion, many measurement viewpoints are required, which increases the measurement time. At this stage, it is all relying on experienced workers to manually teach the robot and complete the editing of the measurement viewpoint. This process is very time-consuming, and it is difficult to obtain an optimal measurement viewpoint to improve measurement efficiency. [0003] In order to quickly and accurately plan the me...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01B11/24
CPCG01B11/24
Inventor 李中伟钟凯韩沛文韩利亚刘洁王从军史玉升
Owner HUAZHONG UNIV OF SCI & TECH
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