High-precision three-dimensional size measurement system based on depth camera
Through a high-precision three-dimensional dimension measurement system based on depth cameras, using point cloud data processing algorithms, the problem that traditional two-dimensional image processing technology cannot obtain depth information and the high computational complexity of three-dimensional machine vision technology is solved, and high precision, real-time and Robust three-dimensional information measurement, suitable for industrial applications.
Patent Information
- Application Number
- CN202411331765.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-24
- Publication Date
- 2025-01-10
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
Traditional two-dimensional image processing technology cannot obtain the depth information of objects, and it is difficult to accurately identify and locate targets in complex environments. In industrial applications, three-dimensional machine vision technology faces high data influenced by environmental factors, high computational complexity, and high hardware resource requirements. Challenge, difficult to improve real-time and robustness.
A high-precision three-dimensional dimensional measurement system based on depth camera is adopted, and the three-dimensional information measurement of the target is achieved through point cloud data acquisition and processing algorithms. Combined with the industrial control machine system and the upper computer, it provides high-precision, real-time and robust three-dimensional information.
It realizes high-precision three-dimensional measurements with an error of less than 5%, reduces random errors, improves response speed and adaptability, is suitable for rapid industrial detection, and provides contactless high-precision three-dimensional information measurement to meet practical application needs.
Smart Images
Figure CN119289893A_ABST
Abstract
Description
Technical Field
[0001] The present invention belongs to the technical field of unmanned autonomous measurement and docking, and specifically relates to a high-precision three-dimensional dimension measurement system based on a depth camera. Background Art
[0002] The detection and positioning of three-dimensional objects plays a vital role in modern industrial, robotic and automation systems. In tasks such as grasping, assembly and docking, the system needs to accurately identify and locate the target objects to ensure the smooth execution of the task.
[0003] Traditional two-dimensional image processing technology can no longer meet the requirements of high precision and high reliability in some applications. Its main disadvantage is that it cannot obtain the depth information of objects and can only capture flat images, which leads to limitations in judging the distance and three-dimensional structure of objects. In addition, when dealing with occlusion and complex backgrounds, the segmentation and recognition of two-dimensional images are prone to errors, and it is difficult to accurately distinguish the boundaries of objects. Light conditions and environmental changes also have a greater impact on two-dimensional image processing technology, causing its performance to significantly decrease under low light, strong light or reflective conditions. In contrast, three-dimensional vision technology can obtain the depth information of objects and build a three-dimensional model of objects, thereby providing more comprehensive and accurate shape and position information. This makes three-dimensional technology perform better when dealing with complex scenes and changing environments, and can segment and identify objects more accurately, especially when the lighting conditions are not ideal or there are occlusions. It can still maintain high performance. In addition, the high-precision characteristics of three-dimensional vision technology give it a significant advantage in fields that require precise positioning and operation, such as industrial automation and unmanned driving.
[0004] Although 3D data processing and calculation are relatively complex, the accuracy and reliability it provides far exceed those of 2D technology, which is particularly important in high-demand applications. However, in the process of industrial application, 3D machine vision technology still faces challenges such as data being greatly affected by environmental factors, large amount of point cloud data, high calculation complexity, and high requirements for hardware resources. Therefore, how to improve the real-time and robustness of the 3D measurement system while ensuring high accuracy and high reliability to meet the needs of practical applications is a difficult problem that needs to be solved urgently. Summary of the invention
[0005] In view of the above situation, in order to make up for the above-mentioned existing defects, the present invention provides a high-precision three-dimensional dimension measurement system based on a depth camera. The system can collect target point cloud data through the depth camera, and use the point cloud data processing algorithm to realize the measurement of key three-dimensional information of the target. In actual application, it can accurately perceive the three-dimensional information of the target and provide key data for the decision-making system, thereby improving the real-time and robustness of the three-dimensional measurement system to meet the needs of practical applications.
[0006] The present invention proposes a high-precision three-dimensional dimension measurement system based on a depth camera, including a point cloud acquisition system and an industrial computer system, wherein the point cloud acquisition system is connected to the industrial computer system by signal, and the industrial computer system is also connected to a host computer by signal, and the point cloud acquisition system can be installed or removed at a target measurement station, and the point cloud acquisition system also includes a light source, a camera, a lens and a fixed bracket, and the point cloud acquisition system forms a depth camera through the light source, the camera, the lens and the fixed bracket, and the point cloud acquisition system is connected to the industrial computer system by signal, and the industrial computer system includes a camera control module, a point cloud processing module and a point cloud data storage module, and the camera control module is connected to an image acquisition system by signal, and the camera control module can be used to adjust camera parameters and control camera acquisition, and the camera control module is also provided with an open interface, through which cameras with different interfaces can be supported to be connected, and the point cloud processing module is connected to the host computer by signal, and the point cloud processing module can measure target volume, height, position and other information, and transmit the calculation results to the host computer respectively, and the point cloud processing module can also store the calculation results locally or in the cloud.
[0007] Among them, in order to facilitate information tracing, the point cloud data storage module is used to store the collected point cloud data and processing results.
[0008] Furthermore, the host computer can display the result information of point cloud processing in real time to support on-site personnel in setting relevant parameters.
[0009] The beneficial effects achieved by the present invention using the above structure are as follows: The advantages of the high-precision three-dimensional dimension measurement system based on a depth camera of the present invention are:
[0010] 1. This system is based on the algorithm of the fusion of the depth camera and the point cloud processing module. The error of the three-dimensional size measurement of the object is reduced to less than 5%. And because of the use of high-density point cloud data, it can capture the details of the object to a great extent and achieve high-resolution measurement with an accuracy of up to 0.001mm. At the same time, since there is no human participation in the measurement process, random errors caused by human factors are avoided, further improving the measurement accuracy.
[0011] 2. The time complexity of the algorithm for fusion of point cloud processing modules used in this system is O(N)+O(P2), where N is the number of points and P is the number of faces. Since N is much larger than P, the time complexity of this algorithm can be approximated to O(N). The fused improved downsampling algorithm reduces the density of the point cloud and greatly improves the response speed of the subsequent algorithm. Therefore, it can well complete large-scale measurement tasks and is suitable for industrial rapid detection.
[0012] 3. This system provides a non-contact high-precision three-dimensional dimension measurement system, realizes high-precision three-dimensional information measurement of workpiece targets, improves the response speed of the target three-dimensional information measurement process, realizes three-dimensional dimension online high-precision measurement, meets practical application requirements, and provides perception information for the decision-making layer of the unmanned system. BRIEF DESCRIPTION OF THE DRAWINGS
[0013] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:
[0014] Figure 1 It is a schematic diagram of the principle structure of the high-precision three-dimensional dimension measurement system based on the depth camera of the present invention;
[0015] Figure 2 This is a flow chart of a point cloud processing module of a high-precision three-dimensional dimension measurement system based on a depth camera of the present invention;
[0016] Figure 3 Schematic diagram of an example of a high-precision three-dimensional dimension measurement system based on a depth camera of the present invention. DETAILED DESCRIPTION
[0017] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.
[0018] It should be noted that the words "front", "rear", "left", "right", "up" and "down" used in the following description refer to directions in the drawings, and the words "inside" and "outside" refer to directions toward or away from the geometric center of a specific component, respectively.
[0019] like Figure 1 , Figure 2 and Figure 3As shown, the technical scheme adopted by the present invention is as follows: the high-precision three-dimensional dimension measurement system based on the depth camera proposed in this scheme includes a point cloud acquisition system and an industrial computer system. The point cloud acquisition system is connected to the industrial computer system by signal, and the industrial computer system is also connected to a host computer by signal. The point cloud acquisition system can be installed or disassembled at the target measurement station. The point cloud acquisition system also includes a light source, a camera, a lens and a fixed bracket. The point cloud acquisition system constitutes a depth camera through the light source, the camera, the lens and the fixed bracket. The point cloud acquisition system is connected to the industrial computer system by signal. The industrial computer system includes a camera control module, a point cloud processing module and a point cloud data storage module. The camera control module is connected to the image acquisition system by signal. The camera control module can be used to adjust camera parameters and control camera acquisition. The camera control module is also provided with an open interface. Through the open interface, it can support the connection of cameras with different interfaces. The point cloud processing module is connected to the host computer by signal. The point cloud processing module can measure the target volume, height, position and other information, and transmit the calculation results to the host computer respectively. The point cloud processing module can also store the calculation results locally or in the cloud.
[0020] The point cloud data storage module is used to store the collected point cloud data and processing results to facilitate information traceability. The host computer can display the result information of point cloud processing in real time to support on-site personnel in setting relevant parameters.
[0021] When used specifically, Figure 1 As shown, the depth camera is selected and fixed, and the camera control module of the industrial computer system is connected to the depth camera. The depth camera is controlled by signal interaction to collect point cloud data. The point cloud acquisition system transmits the collected point cloud data to the point cloud processing module, and the three-dimensional information of the target is measured through the point cloud processing module.
[0022] like Figure 2 As shown, the point cloud processing module can measure the height, volume, horizontal distance and other three-dimensional information of the target, return the results to the host computer, and store the images and result data locally or in the cloud at the same time.
[0023] like Figure 3 As shown in the figure, the point cloud processing module integrates core algorithms such as downsampling, plane segmentation, and straight line fitting to perform three-dimensional measurement of multiple types of targets. It uses a depth camera to collect the point cloud data of the target and measures its length, width, height, and volume with a measurement error of less than 5%.
[0024] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, material or apparatus including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, material or apparatus.
[0025] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.
Claims
1. A high-precision three-dimensional dimension measurement system based on a depth camera, characterized in that: It includes a point cloud acquisition system and an industrial computer system. The point cloud acquisition system is connected to the industrial computer system by signal. The industrial computer system is also connected to a host computer by signal. The point cloud acquisition system can be installed or removed at a target measurement station. The point cloud acquisition system also includes a light source, a camera, a lens and a fixed bracket. The point cloud acquisition system constitutes a depth camera through the light source, the camera, the lens and the fixed bracket. The point cloud acquisition system is connected to the industrial computer system by signal.
2. The high-precision three-dimensional dimension measurement system based on a depth camera according to claim 1, characterized in that: The industrial computer system includes a camera control module, a point cloud processing module and a point cloud data storage module. The camera control module signal is connected to the image acquisition system. The camera control module can be used to adjust camera parameters and control camera acquisition. The camera control module is also provided with an open interface. Through the open interface, it can support the connection of cameras with different interfaces. The point cloud processing module is connected to the host computer signal. The point cloud processing module can measure the target volume, height, position and other information, and transmit the calculation results to the host computer respectively.
3. The high-precision three-dimensional dimension measurement system based on a depth camera according to claim 2, characterized in that: The point cloud data storage module is used to store the collected point cloud data and processing results, and the point cloud processing module can also store the calculation results locally or in the cloud.
4. The high-precision three-dimensional dimension measurement system based on a depth camera according to claim 2, characterized in that: The host computer can display the result information of point cloud processing in real time to support on-site personnel in setting relevant parameters.