白车身孔槽类特征三维坐标在线测量方法研究

doi:10.3969/j.issn.1000-3428.2017.10.031

计算机工程

白车身孔槽类特征三维坐标在线测量方法研究

胡彦强^1,2,马钺 ¹,许敏¹

(1.中国科学院沈阳自动化研究所,沈阳 110016; 2.中国科学院大学,北京 100049)

收稿日期:2016-07-18 出版日期:2017-10-15 发布日期:2017-10-15
作者简介:胡彦强(1990—),男,硕士研究生,主研方向为机器视觉、图像处理;马钺,研究员;许敏,副研究员。

Study of On-line Measurement Method for 3D Coordinates of Body-in-White Hole Slot Features

HU Yanqiang ^1,2,MA Yue ^1,XU Min¹

(1.Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China; 2.University of Chinese Academy of Sciences,Beijing 100049,China)

Received:2016-07-18 Online:2017-10-15 Published:2017-10-15

摘要/Abstract

摘要： 为实现白车身孔槽类特征三维坐标的视觉测量,在双目立体视觉测量原理的技术上,以激光器辅助扫描被测孔槽完成三维测量,针对圆孔和复合孔槽边缘及孔心坐标的空间定位问题,提出一种在线测量方法。采用Canny边缘检测和Ramer算法分割出圆弧部分完成孔边缘的粗定位,结合Bazen方法与正交多项式拟合法实现亚像素边缘点坐标的精确定位,并通过权重拟合得到椭圆参数方程。在线激光光纹中心线提取过程中,融合极值法、阈值法与重心法,将拟合椭圆与光纹中心线的交点作为双目立体视觉的匹配点,进而完成空间点三维坐标的测量。实验结果表明,提出的方法鲁棒性好,对圆孔类特征的综合定位精度高。

关键词: 白车身, 被测孔槽, 双目立体视觉, 线激光光纹, 亚像素边缘

Abstract: In order to realize the visual measurement for the 3D coordinates of body-in-white hole slot feature,based on the principle of binocular stereo vision measurement,the laser is used as the auxiliary equipment to scan the tested hole slot,to complete 3D measurement.Aiming at the space location problem of round hole,compound hole edge and hole core coordinate,an on-line measurement method is proposed.Canny edge detection and Ramer algorithm are used to segment the circular arcs for completing the rough positioning of hole edges.The precise localization of the sub-pixel edge point coordinates is realized by combining the Bazen algorithm and the orthogonal polynomial fitting method.And the ellipse parameter equation is obtained by weight fitting.During online extraction of laser stripe centerline,combining the extremum method,threshold method and gravity method,the intersection points of the fitted ellipse and the center line of light are used as the matching points of binocular stereo vision,and then the 3D coordinates of space points are measured.Experimental results show that the proposed method is of strong robustness,and the comprehensive positioning accuracy of the round hole type is high.

Key words: body-in-white, tested hole slot, binocular stereo vision, line laser stripe, sub-pixel edge

中图分类号:

TP391.41

胡彦强,马钺,许敏. 白车身孔槽类特征三维坐标在线测量方法研究[J]. 计算机工程, doi: 10.3969/j.issn.1000-3428.2017.10.031.

HU Yanqiang,MA Yue,XU Min. Study of On-line Measurement Method for 3D Coordinates of Body-in-White Hole Slot Features [J]. Computer Engineering, doi: 10.3969/j.issn.1000-3428.2017.10.031.

参考文献

参考文献［1］林忠钦.车身覆盖件冲压成形仿真［M］.北京:机械工业出版社,2005. ［2］余文超,齐二石.在线测量技术应用于白车身的生产尺寸监控［J］.机械设计与研究,2014(2):96-98. ［3］刘常杰,邾继贵,杨学友,等.汽车白车身在线激光视觉检测站［J］.仪器仪表学报,2004,25(4):683-684. ［4］薛婷.三维视觉检测仪器化关键技术研究［D］.天津:天津大学,2007. ［5］李凌旻,尚校,李靖,等.线激光扫略的白车身装配特征机器人在线检测技术研究［J］.测试技术学报,2014,28(3):255-263. ［6］江荔,薛醒思.基于局部标准匹配结果的本体匹配技术［J］.信息与控制,2016,45(1):66-72. (下转第197页) (上接第191页) ［7］薛婷,孙梅,张涛,等.类椭圆特征自动识别及亚像素提取的完整实现［J］.光电子.激光,2008,19(8):1076-1078. ［8］肖传民,史泽林,夏仁波,等.一种基于视觉显著性的边缘检测算法［J］.信息与控制,2014,43(1):9-13. ［9］RAMER U.An Iterative Procedure for the Polygonal Approximation of Plane Curves［J］.Computer Graphics and Image Processing,1972,1(3):244-256. ［10］BAZEN A M,GEREZ S H.Systematic Methods for the Computation of the Directional Fields and Singular Points of Fingerprints［J］.IEEE Transactions on Pattern Analysis and Machine Intelligence,2002,24(7):905-919. ［11］江永付,江开勇,林俊义.线结构光光条中心亚像素精确提取方法［J］.激光与光电子学进展,2015,52(7):185-191. ［12］吴恩启,兴磊磊,吴绍民,等.基于曲线拟合的圆锯片变形检测算法［J］.光电工程,2015,42(8):8-13. ［13］孟中,张涛,郑秀筠,等.正交基函数多项式实时拟合在轴角编码器测速中的应用［J］.光学精密工程,2006,14(2):303-307. ［14］FITZGIBBON A,PILU M,FISHER R B.Direct Least Squares Fitting of Ellipses［J］.IEEE Transactions on Pattern Analysis and Machine Intelligence,1999,21(5):476-480. ［15］ZHANG Zhengyou.A Flexible New Technique for Camera Calibration［J］.IEEE Transactions on Pattern Analysis and Machine Intelligence,2000,22(11):1330-1334. ［16］张晶,黄琴,兰红军,等.工程测量中空间圆的拟合方法研究［J］.计量与测试技术,2011,38(9):31-32. 编辑顾逸斐

[1]	周麒,杨永明,王振洲. 基于双目立体视觉的结构光测量技术[J]. 计算机工程, 2018, 44(7): 244-249,258.
[2]	鲁永为, 王向军, 张宁宁, 贾桂敏. 基于McWiLL和RS-485网络的多级报靶系统[J]. 计算机工程, 2013, 39(8): 314-317.
[3]	高维松, 钱徽, 陈鹏. 基于双目立体视觉的人体运动仿真[J]. 计算机工程, 2010, 36(24): 158-160.
[4]	晁永生, 刘海江, 刘娜. 基于数据挖掘的白车身工艺规划系统[J]. 计算机工程, 2010, 36(17): 16-18.
[5]	崔开涌;王任杰;林小玲. 机器人双目视觉系统的算法研究与实现[J]. 计算机工程, 2008, 34(3): 237-240.
[6]	刘海江;范幸华. 白车身生产线规划知识管理系统知识库的构建[J]. 计算机工程, 2007, 33(07): 232-233,.

白车身孔槽类特征三维坐标在线测量方法研究

Study of On-line Measurement Method for 3D Coordinates of Body-in-White Hole Slot Features

PDF

可视化

被引次数

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 6

Metrics

本文评价

推荐阅读 10