光学学报, 2020, 40 (15): 1512004, 网络出版: 2020-08-14   

一种基于线结构光传感器的圆位姿测量方法 下载: 1048次

A Method for Measuring Circular Pose Based on Line Structured Light Sensor
作者单位
天津大学精密测试技术及仪器国家重点实验室, 天津 300072
摘要
对零件上圆形特征的测量是工业制造中质量控制和自动化加工的重要方面。针对基于计算机视觉原理测量空间圆位姿适应性弱、鲁棒性不强的问题,研究了一种基于线结构光传感器的测量方法。根据图像上椭圆以及空间圆对应的两个二次曲面方程之间的转换关系,求取圆孔法向矢量,该过程需要借助一个虚拟锥面构建中间曲面转换矩阵;进而结合法向矢量和激光线与圆周两个交点的三维坐标数据构建圆孔平面,利用共线方程即可得到圆孔的孔心坐标和半径。对该测量方法进行实验验证,结果表明:在线结构光传感器与空间圆的各种姿态下,圆孔半径在2~4 mm范围内,法向矢量平均误差为0.3°、半径平均误差为0.02 mm、孔心坐标平均误差为0.02 mm。在对比实验中,该方法对于半径为3.054 mm的圆孔,半径最大误差为0.04 mm,旧方法误差极值为0.23 mm。从而验证了该方法在各种场景下测量结果均能达到较高的精度,工作环境适应广,鲁棒性较强。
Abstract
The measurement of circular feature on the components is an important aspect of quality control and automation in industrial manufacturing. Aiming at the problem of weak adaptability and weak robustness of measuring spatial circular pose based on computer vision principle, a measurement method based on linear structured light sensor is studied. According to the transformation relation between the ellipse on the image and the two quadric surface equations corresponding to the spatial circle, the normal vector of the circular hole is obtained. Then the circular hole plane is constructed by combining the vector and the three-dimensional coordinate data of the two intersection points of the laser line and the circumference. Experimental verification of the measurement method shows that,when the radius of the circular hole is within the range of 2--4 mm, the average error of the normal vector is 0.3°, the average error of the radius is 0.02 mm, and the average error of the coordinates of the center of the hole is 0.02 mm under the various attitudes of the line structured light sensor and the space circle. In the comparison experiment, the maximum radius error of this method is 0.04 mm for the circular hole whose radius of 3.054 mm, and the maximum error value of the old method is 0.23 mm.It is proved that the method can achieve high precision, wide adaptability and strong robustness in various situations.

李志宇, 林嘉睿, 孙岩标, 邾继贵. 一种基于线结构光传感器的圆位姿测量方法[J]. 光学学报, 2020, 40(15): 1512004. Zhiyu Li, Jiarui Lin, Yanbiao Sun, Jigui Zhu. A Method for Measuring Circular Pose Based on Line Structured Light Sensor[J]. Acta Optica Sinica, 2020, 40(15): 1512004.

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