四发射单接收光学非接触测头

研究开发了一种具有4个发射光源和1个CCD摄像机作为接收装置的光学非接触测头．测头可以用来测量包括具有强反射表面的曲面．测头基于三角法工作原理．在恰当设计的情况下,至多只有1路从工件表面反射回来的光,能够进入CCD摄像机．通过将相应通道切断,很容易消除镜面反射光的影响．这时测头就相当于1个三发射单接收光学非接触测头．测头可以同时用来测量表面的位置和方向．对于具有很大倾斜的表面具测头仍能正常工作,采用干涉滤光片消除了环境光的影响．提出了一种系统的标定方法．通过对量块的测量证实了系统工作的正确性和有效性并给出了实验结果．     

自由曲面的自适应跟踪测量方法研究

 激光传感器在测量自由曲面中有着非接触、精度高等优点，其应用越来越广泛． 但是激光测头的线性测量
范围较小，难以测量起伏变化较大的曲面． 针对这一问题，提出了激光测头的跟踪测量方法，使激光测头随曲面的
高度变化作上下调整，从而可以测量任一表面起伏的曲面，且能根据当前曲面的曲率大小自适应选择跟踪方式，实
现测点的自适应分布．最后，对一个工件分别进行了等间距测量和自适应跟踪测量，并对两种方法的测量结果做了
比较，证明了自适应跟踪测量方法的可行性和有效性，为自由曲面的测量提供了一种新的方法．     

光笔式单摄像机三维坐标视觉测量系统

提出了一种光笔式单摄像机三维坐标视觉测量系统,系统主要由一支光笔、一架摄像机、一台笔记本电脑组成.光笔是一种手持式触发测头,在笔休上装有三个与球形笔尖测头中心成一条直线的点光源(发光二极管).测量时使笔尖测头接触被测物体表面,摄像机摄取笔体上三个发光二极管的像,由三个发光二极管的像面坐标就可计算出被测点的三维坐标.运用三点透视原理(P3P)建立了系统的数学模型并推导出了被测点坐标的求解公式.在三坐标测量机上做对比实验,实验测试结果表明,该系统达到了大尺寸现场测量要求的精度.     

激光加工机用自适应测量系统设计研究

针对激光加工的特定工艺要求，在对空间自由曲面测量系统分析的基础上，论述了测量系统研究的实际意义，进行了总体方案设计研究。内容包括：测头选择，系统控制方案设计，测试方案设计，数据处理方案设计等．     

基于半球形测头的自由曲面截形测量方法

提出的半球形测头测量自由曲面任意截形方法避开了用球形测头测量曲面的复杂过程和由此产生的三维测头半径补偿的数学模型及大量运算，消除了在三维曲面截形测量时由于被测曲面的扭曲对测头所造成的干涉，可使曲面测量直接转化为曲线测量，从而大大简化了测量和数据处理过程。     

关节式坐标测量机激光测量头参数标定

在三维视觉测量中,标定方法对测量结果的影响是决定性的.本文通过分析、比较各种视觉模型及标定方法,采用考虑镜头畸变因素的三维视觉模型以满足高精度测量系统的需求.由于关节式坐标测量机的激光测量头,使用单摄像机和线结构光来匹配被测物体表面的三维数据,本文设计了一种新型的阶梯形标定块,通过标定块图像和激光条纹图像完成了摄像机的内外参数标定和激光平面参数标定.实验证明,该标定操作过程简单,易于实现自动化,且具有较高的标定精度.     

人体光学测试中用于消除测量位置改变的掌／手旨纹图像匹配技术

应用光学测头的测量方式中，由于方便测量和易于随时测量，手掌和手指经常被选作测量部位．然而，由于人体不同部位皮肤结构的变异性，由人为运动导致的测量位置改变会对被测光有很大影响．为此，开发了一种基于掌／指纹图像匹配技术的有效方法，以避免测量位置的改变．该方法通过应用小波变换、相位相关和曲面拟合技术，分析不同测量位置之间旋转和平移改变量，然后驱动光学测头到达相应的位置，从而使光学测头每次均测量同一位置．其精度评测结果表明，平移检测精度达到1／50像素，旋转检测精度达到0．15°．光谱测量结果表明，该技术的应用使光谱稳定性提高了3倍左右．     

坐标测头技术及应用

测头系统是测头及其附件组成的系统．测头是测量机触测被测零件的发讯机构，它可以输出开关信号，亦可以输出比例模拟信号，它是坐标测量机的关键部件，测头精度的高低很大程度上决定了测量机的测量重复性及精度。坐标测头技术近几年发展很快．尤其是扫描测头和非接触测头。     

半光斑成像式多功能激光瞄准测头的研究

运用半光斑成像原理设计了一种用于三坐标测量机的多功能激光瞄准测头。详细介绍了测头的光学系统工作原理和设计思路,采用自适应控制方法实时调节激光光强使其可以适应不同光学特性表面的瞄准测量,并进行了多功能测头的重复性瞄准测量、灵敏度测量、倾角跟踪实验。实验结果表明,该测头重复性瞄准测量不确定度优于1 μm,测量灵敏度可达30 mV/μm,激光跟踪瞄准被测曲面倾角可达25°,能满足三坐标测量机的使用要求。该测头具有检测速度快、自动化程度高、瞄准精度高的特点,结合三坐标测量机或者其它测长仪器,能够实现对自由曲面进行快速精确瞄准及轮廓图像瞄准测量,具有广泛的应用前景和实用价值。     

亚像元精度摄像测量系统定标方法

在以图像测量技术为核心的检测系统中，摄像机的定标精度是保证测量系统高精度的前提。为此，引入归一化互相关和曲面拟合技术实现高精度定标。该方法利用预先设计的标准图片，对摄像机进行定标。由归一化互相关技术得到像素级的匹配结果，再采用曲面拟合技术实现亚像元级定标．结果表明：此方法可以对行列方向同时进行定标，定标精度可达1／20像元以上。     

Flexible inspection system based on a vision guided coordinate measuring machine

The objective of this paper is to develop a flexible three-dimensional inspection system for sculptured surfaces by employing 'Coordinate Measuring Machine (CMM), CAD database and vision system technology. New surface identification and rough localization methods are suggested using a concept called ‘Z-layers’ and a vision guided system. The Z-layers are generated from a CAD database which classifies the three-dimensional models. The three-dimensional models are reconstructed using a vision system that identifies the model and roughly identifies the orientation and location of the object implementing Z-layers. Then inspection planning and fine localization methods are mapped out which are based on the CAD database. The experimental results indicate that the developed inspection system, with the proposed algorithm, can be implemented in modern industry to reduce measurement errors and increase productivity.     

基于曲率自适应的航空零件法矢量测量研究

现有的法矢量测量技术无法满足测量准确度和实时性的双重要求,法矢量计算方法不能适用于不同曲率的曲面。利用双目立体视觉,本文提出了一种基于曲率自适应的法矢量测量方法。首先,在双目立体视觉的基础上,基于变曲率曲面特征建立制孔区域曲面模型,提出投影点的布局方法;然后,基于三维重建的投影点数据,提出了基于曲面曲率自适应识别的法矢量计算方法;最后,针对小曲率曲面样件的测量结果,与三坐标测量仪测得的法矢量进行对比,用以验证本双目视觉测量方法的精度。实验结果表明:该方法测量法矢量误差为1.6°。该方法可有效提高法矢量测量的准确度,满足大型航空零件现场测量的工程要求。     

飞机表面划痕非接触测量仪的研究

介绍了一种飞机表面划痕非接触测量仪。它以激光三角传感器为主要组成部件，并附以机械扫描装置，可完成被测飞机表面划痕的非接触测量。在分析了被测表面散、反射特性的基础上，给出了激光三角传感器正确放置方式，并提出改善测量精度的传感器姿态调整法。针对浅划痕测量时噪声较大的特点，提出利用子波分析的方法突出被测划痕形貌的信号处理方法，实验表明了此方法的可行性。本测量仪具有非接触测量、测量范围大、精度高、结构简单、成本较低的特点。     

Dense range map reconstruction from a versatile robotic sensor system with an active trinocular vision and a passive binocular vision.

One major research issue associated with 3D perception by robotic systems is the creation of efficient sensor systems that can generate dense range maps reliably. A visual sensor system for robotic applications is developed that is inherently equipped with two types of sensor, an active trinocular vision and a passive stereo vision. Unlike in conventional active vision systems that use a large number of images with variations of projected patterns for dense range map acquisition or from conventional passive vision systems that work well on specific environments with sufficient feature information, a cooperative bidirectional sensor fusion method for this visual sensor system enables us to acquire a reliable dense range map using active and passive information simultaneously. The fusion algorithms are composed of two parts, one in which the passive stereo vision helps active vision and the other in which the active trinocular vision helps the passive one. The first part matches the laser patterns in stereo laser images with the help of intensity images; the second part utilizes an information fusion technique using the dynamic programming method in which image regions between laser patterns are matched pixel-by-pixel with help of the fusion results obtained in the first part. To determine how the proposed sensor system and fusion algorithms can work in real applications, the sensor system is implemented on a robotic system, and the proposed algorithms are applied. A series of experimental tests is performed for a variety of configurations of robot and environments. The performance of the sensor system is discussed in detail.     

一种基于边缘线的三目立体匹配方法

为实现准确的三维场景匹配,提出了一种基于边缘线的三目立体匹配方法.Canny边缘是一种常用的视觉特征,通过对Canny算子加以改进,提高了边缘线条匹配的可靠性.匹配过程分层次进行,首先通过边缘上少量点的成功匹配确定边缘线条间的对应关系,然后以此来约束该边缘上其他点的匹配.详细介绍了对应特征匹配所用的约束条件.首先,使用三目系统中第三个摄像机提供的额外极线约束,有效地减少了误匹配.由于常规所用的三目极线约束条件给出的匹配效果并不理想,提出了另外一种更加有效的三目极线约束应用方法.此外还介绍了边缘点的梯度方向约束,给出了基于以上约束条件的边缘线匹配算法.实验结果表明,该算法具有较高的匹配正确率,是一种有效的立体匹配算法.     

Two-dimensional (2D) displacement measurement of moving objects using a new MEMS binocular vision system

Displacement measurement of moving objects is one of the most important issues in the field of computer vision. This paper introduces a new binocular vision system (BVS) based on micro-electro-mechanical system (MEMS) technology. The eyes of the system are two microlenses fabricated on a substrate by MEMS technology. The imaging results of two microlenses are collected by one complementary metal–oxide–semiconductor (CMOS) array. An algorithm is developed for computing the displacement. Experimental results show that as long as the object is moving in two-dimensional (2D) space, the system can effectively estimate the 2D displacement without camera calibration. It is also shown that the average error of the displacement measurement is about 3.5% at different object distances ranging from 10?cm to 35?cm. Because of its low cost, small size and simple setting, this new method is particularly suitable for 2D displacement measurement applications such as vision-based electronics assembly and biomedical cell culture.     

基于SLAM导航的多目视觉AGV系统设计

目的为了进一步提高SLAM定位精度和小障碍物识别能力。方法采用SLAM与多目视觉结合的方法,首先构建AGV运动学模型,然后构建双目立体视觉模型,基于SURF+RANSAC改进的分区域加权算法,尽可能剔除冗余误匹配对,显著提高匹配精度。其次,在传统SLAM导航基础上融入单目视觉,实现关键工位点精确定位停靠,并给出二维码遮挡缺损情况下的解决方法,采用双目视觉实现距离实时测量。结果双目距离检测精度可达±1.88 mm,轨迹精度可以控制在±2 mm。结论融合SLAM和多目视觉可以有效提高导航定位精度和小障碍物识别能力,提高了SLAM的应用领域,具有一定的推广前景。     

三目立体摄影测量系统中相机标定技术研究

针对目前多相机摄影测量系统中相机标定技术研究较少,而且其标定方法的可靠性、稳定性以及标定精度针对高精度工业测量检测要求存在缺陷的问题,将四元数理论引入共面条件方程,提出了一种三目立体摄影测量系统的标定技术,有效解决了多相机立体摄影测量在工业测量现场高精度实时标定问题,实现点位精度优于±2mm,距离精度优于±3mm。     

Sculptured surface reconstruction from CMM measurement data by a software iterative approach

The reverse engineering approach is being widely applied in designing and manufacturing of sculptured surfaces. The first step in the reverse engineering process is collection of data lying on the surface. When using a coordinate measuring machine (CMM) with a touch trigger probe for digitizing data points, the probe radius must be compensated according to normal vectors. Previous works were addressed on the iterative measurement procedure to reduce the error caused by the compensation. The major problem of iterative methods is time consumption in digitization. This paper proposes a new architecture based on look-up table that keeps the estimated normal vectors of the measurement data to refine the data points digitized by CMM. The digitized data are first fitted into several NURBS curves by interpolation. The skinning method is then applied to interpolate these curves. Thus a smooth NURBS surface can be constructed and more accurate normal vectors of the measurement points can be obtained to compensate for the probe radius. By using this software iterative technique, we need only one digitization procedure. Therefore, much time can be saved and the efficiency of reverse engineering can be improved.