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针对白车身视觉检测系统中传感器数量多、种类各异、分布空间大、位置关系复杂等问题,提出了一种适用于工业现场的多视觉传感器全局校准技术。基于坐标系间接统一法,设计多个精密立体靶标作为坐标系转换中介,利用激光跟踪仪获取现场校准数据,在单位四元数数学模型的基础上,求解两坐标系间最优转换矩阵,将固定式传感器和柔性传感器的测量坐标系统一到全局坐标系。该方法已在某企业在线测量项目中成功应用,现场只需完成传感器坐标系与全局坐标系转换关系标定,降低了复杂现场环境对多传感器全局校准的限制,简化了校准过程,提高了环境适应性,校准后检测系统各向测量精度均优于±0.2 mm,满足白车身在线测量精度要求。 相似文献
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在视觉检测技术的应用中,视觉传感器在三维坐标系统中的定位是重要而复杂的关键技术.为此,在汽车整体形位误差测量中,采用新颖的图形定位方法来定位数十个视觉传感器.该方法的要点在于,只要把视觉传感器采集到的车身特征图形与计算机屏幕上预先设定的标准图形重合,即完成了对传感器的定位.文中介绍了图形定位技术的原理,重点论证了图形定位精度的评定方法.经过多种方案的比较,最终采用了最小二乘法综合误差评定的方法.通过理论分析和实验验证,确定了三维图形定位的重复性误差可达0.035mm,优于其他方法所达精度的3倍,且定位速度提高了十几倍。 相似文献
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现阶段通用的相机标定方法需要使用者提供准确的标定板特征点像素坐标。但对某些成像位置特殊的相机而言,一般标定物(如长宽在厘米级别的标定板)的使用范围在其清晰成像范围之外。使用这些相机拍摄一般标定物,只能得到离焦的模糊图像,无法准确提取特征点像素坐标。本文分析了光学系统离焦状态对基于正弦光栅的结构光(简称正弦结构光)相位的影响。利用正弦结构光相位与相机对焦状态无关的性质,提出了一种利用相移法正弦结构光编码的方法,对标定物上特征点进行相位编码,实现了相机在离焦状态下的标定。经过实验验证,标定结果焦距长度与真实值之间最大偏差为0.47%,最大像素重投影误差为0.17 pixels。该方法为具有特殊成像范围的相机的标定提供了一种解决方案。 相似文献
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结构光测量系统误差分析 总被引:2,自引:1,他引:1
本文针对交比不变原理的结构光光平面标定方法,利用泰勒展开和矩阵扰动原理分别对系统的测量误差和光平面标定误差进行分析,提出了结构光测量系统的误差传递模型.并给出了一个实验特例的精度要求,即满足在1 000 mm的测量距离上获得±O.5 mm以内的测量精度情况下,各标定参数所需满足的精度要求,以及标定样本的精度要求.对误差传递模型所得出的标定参数的精度要求进行实测实验验证,得到测量数据的均方根误差为0.333 4 mm,满足理论上的精度要求.该实验结果证明了本文所述的误差分析可以有效地对结构光系统误差进行定量分析. 相似文献
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The increasing train speed on railways generates an urgent need for more powerful automatic inspection of railway tracks, including real-time fastening component inspection. To obtain better high-speed performance with lower cost, this paper has proposed a novel structured light method based on motion image (SLMMI) for moving object inspection. The motion images in the proposed method are insensitive to motion, abundant with information, and easy to process, resulting in a low performance requirement of the hardware. Compared to the conventional unstructured light method and structured light method, the proposed method inherits the virtues of both thus offering a fresh perspective when inspecting missing fastening components on high-speed railways. By using the SLMMI and the recognition method based on a neural network, the experimental results yield good performance in terms of speed and accuracy. Furthermore, the robustness of the proposed method is also discussed and simulated by adding typical interferences, such as ambient light, vibration, and obstacles. 相似文献
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《工程(英文)》2020,6(1):68-76
In this study, a three-dimensional (3D) in-situ laser machining system integrating laser measurement and machining was built using a 3D galvanometer scanner equipped with a side-axis industrial camera. A line structured light measurement model based on a galvanometer scanner was proposed to obtain the 3D information of the workpiece. A height calibration method was proposed to further ensure measurement accuracy, so as to achieve accurate laser focusing. In-situ machining software was developed to realize time-saving and labor-saving 3D laser processing. The feasibility and practicability of this in-situ laser machining system were verified using specific cases. In comparison with the conventional line structured light measurement method, the proposed methods do not require light plane calibration, and do not need additional motion axes for 3D reconstruction; thus they provide technical and cost advantages. The in-situ laser machining system realizes a simple operation process by integrating measurement and machining, which greatly reduces labor and time costs. 相似文献