CN114279326A - Global positioning method of three-dimensional scanning equipment - Google Patents
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Abstract
The invention discloses a global positioning method of three-dimensional scanning equipment, which is completed by utilizing a global camera arranged at a station and a three-dimensional scanner arranged on a robot; the three-dimensional scanning device uses a programmable projector; the method comprises the following steps: 1) the method comprises the steps of obtaining a conversion relation between a projector coordinate system and a three-dimensional scanning equipment coordinate system in advance; teaching to obtain the coordinates of the global positioning point in a workpiece coordinate system, and recording the coordinates as a point set I; 2) acquiring point cloud data of a workpiece to be measured, and determining the position of a projector under a workpiece coordinate system; 3) acquiring points belonging to a projection area of a projector in a point set I; 4) mapping the three-dimensional coordinates of the three-dimensional coordinates to a projection plane to generate a picture, and projecting the picture to the surface of a workpiece to be measured; 5) respectively collecting global positioning point pictures in the regions; 6) converting the point cloud data into a workpiece coordinate system to realize the splicing of the point cloud; 7) and repeating the steps 2) -6) to finish point cloud splicing. The method can effectively shorten the testing time on the premise of ensuring the accuracy of the final result.
Description
Technical Field
The invention relates to the field of visual detection, in particular to a global positioning method of three-dimensional scanning equipment.
Background
With the rapid development of high-end advanced manufacturing technology, higher requirements are put on the geometric precision measurement technology, wherein the requirement of high-density fine three-dimensional point cloud measurement is a typical problem. The high-quality three-dimensional point cloud is basic data necessary for analyzing special complex form and position tolerance, such as measurement of automobile body characteristic line DLM parameters, measurement of aircraft skin rivet height difference, measurement of ship bent plate curved surface deviation and the like. The automatic three-dimensional scanning system is an automatic precision measurement system which acquires fine three-dimensional point clouds of a free-form surface by using a three-dimensional scanning technology and realizes high-density point clouds on the surface of a large free-form surface by combining an industrial robot automation platform, and is an effective means for high-quality three-dimensional point cloud measurement in high-end advanced manufacturing fields such as automobile manufacturing, aerospace, ship manufacturing and the like.
Due to the limited measurement range of the three-dimensional scanning equipment, a global positioning technology is also needed for measuring the large-sized workpiece to determine the measurement pose of the three-dimensional scanning equipment in the space, so that point cloud data under different poses are spliced under the same coordinate system, and the high-precision measurement of the workpiece is realized. There are two types of global localization methods: the first type adopts a global positioning point mode, a splicing point is required to be arranged on the surface of a workpiece before measurement, and the coordinate of the splicing point is calculated; during measurement, partial splicing points are measured while scanning the point clouds, and finally all the point clouds are spliced together through the splicing points shot under each measurement pose. The global camera used in the mode is designed with the visual detection equipment for measurement as a whole, the global camera firstly collects images of global positioning points, and then the camera for measurement collects point cloud images of the object to be measured, and the test time is long. And in the second type, tracking points are arranged on a shell of the three-dimensional scanning equipment, a global camera is arranged on the periphery of the shell, and the global camera and the visual detection equipment are designed in a split mode. When the three-dimensional scanning equipment measures the point clouds, the global camera shoots the tracking points of the shell of the three-dimensional scanning equipment, and the measurement pose of the three-dimensional scanning equipment is calculated in real time, so that each measured point cloud is converted into a coordinate system.
In the first method, splicing points are required to be arranged before each measurement, so that the measurement efficiency is greatly reduced, and the splicing points are required to be adhered to the surface of a workpiece, so that the surface of the workpiece is damaged to a certain extent and cannot be in 100% non-contact; in addition, the test process is to test the whole situation first and then to detect the object to be tested, so that the test time is further prolonged. In the second method, tracking points are arranged on a shell of the three-dimensional scanning equipment, coordinates of the tracking points need to be calibrated in advance, position and pose calculation system errors caused by calibration inevitably exist, and because the position and pose of the three-dimensional scanning equipment are completely random during actual measurement, the influence of the errors is random, later correction cannot be performed, and the splicing error of point cloud data inevitably reduces the overall measurement precision.
Disclosure of Invention
In order to solve the technical problems, the invention provides a global positioning method of a three-dimensional scanning device, which can simultaneously obtain a global positioning point and characteristics on an object to be tested on the premise of ensuring the accuracy of a final system output result, thereby effectively shortening the testing time.
Therefore, the technical scheme of the invention is as follows:
a global positioning method of a three-dimensional scanning device utilizes at least two global cameras fixedly arranged in a detection station to obtain images of global positioning points so as to realize the splicing of the images obtained by the three-dimensional scanning device under different poses;
the three-dimensional scanning equipment is fixedly arranged at the tail end of the robot and comprises a binocular camera and a projector, and the positions of the binocular camera and the projector are relatively fixed under the same detection pose;
the projector is a programmable projector;
the global positioning method comprises the following steps:
1) the method comprises the steps of obtaining a conversion relation between a projector coordinate system and a three-dimensional scanning equipment coordinate system in advance;
acquiring a conversion relation between a global camera measurement coordinate system and a workpiece coordinate system in advance;
arranging global positioning points on a teaching workpiece in advance, acquiring coordinates of all the global positioning points in a workpiece coordinate system, and recording the coordinates as a point set I;
placing a workpiece to be detected in a detection station;
2) the robot drives the three-dimensional scanning equipment to a preset pose, and the position of the projector under the workpiece coordinate system is determined according to the conversion relation between the workpiece coordinate system and the robot base coordinate system, between the robot base coordinate system and the robot flange coordinate system, between the robot flange coordinate system and the three-dimensional scanning equipment coordinate system, and between the three-dimensional scanning equipment coordinate system and the projector coordinate system;
the three-dimensional scanning equipment acquires point cloud data of a workpiece to be detected under a coordinate system of the three-dimensional scanning equipment,
3) acquiring points in the point set I belonging to the projection area of the projector according to the position of the projector in the workpiece coordinate system, and recording the points as a point set JiThe value of i is a natural number and represents the ith pose;
4) set the points JiThe three-dimensional coordinates of the middle points are mapped onto a projection plane according to the imaging projection principle to obtain two-dimensional coordinates of each point, a projection picture is generated, and the projection picture is projected onto the surface of a workpiece to be measured through a projector;
5) global camera acquisition point set JiAcquiring the coordinates of the workpiece in a workpiece coordinate system;
meanwhile, the three-dimensional scanning equipment collects a point set JiAcquiring the coordinates of the three-dimensional scanning device under a coordinate system of the three-dimensional scanning device;
6) obtaining a conversion relation between the three-dimensional scanning equipment and a workpiece coordinate system under the pose according to the rigid body transformation of the homonymy point, and then converting point cloud data of the surface of the workpiece to be detected under the pose to the workpiece coordinate system to realize the splicing of the point cloud;
7) and repeating the steps 2) to 6) until the point clouds are spliced.
Further, in the step 5), at least two global cameras acquire global positioning points at the same time.
Further, the global positioning points in the step 1) are attachment points or through holes or angular points on the surface of the teaching workpiece.
Furthermore, at least three points are projected on the surface of the workpiece to be measured in a single pose.
Further, under a single pose, the sum of the point projected to the surface of the workpiece to be measured and the feature point of the surface of the workpiece to be measured in the field of view of the global camera and the three-dimensional scanning equipment at the moment is more than or equal to three.
Furthermore, the brightness of the point projected to the surface of the workpiece to be measured by the projector is equal to or superior to that of the circular mark point.
Furthermore, the resolution of the point projected to the surface of the workpiece to be measured by the projector can meet the high-precision extraction requirement.
Further, before testing, conversion relations between a workpiece coordinate system and a robot base coordinate system, between a robot flange coordinate system and a three-dimensional scanning equipment coordinate system are obtained in advance.
Further, the global positioning point is circular, annular, square or cross-shaped.
The global positioning method of the three-dimensional scanning equipment can simultaneously acquire the global positioning point and the characteristics of the object to be tested on the premise of ensuring the accuracy of the final system output result, effectively shorten the testing time and accurately position the three-dimensional scanning equipment with high efficiency and high accuracy.
Detailed Description
The technical solution of the present invention will be described in detail with reference to the specific embodiments.
A global positioning method of three-dimensional scanning equipment utilizes at least two global cameras fixedly arranged in a detection station to obtain images of global positioning points so as to realize the splicing of the images obtained by the three-dimensional scanning equipment at different poses;
the three-dimensional scanning equipment is fixedly arranged at the tail end of the robot and comprises a binocular camera and a projector, and the positions of the binocular camera and the projector are relatively fixed under the same detection pose;
the projector is a programmable projector;
the global positioning method comprises the following steps:
1) the method comprises the steps of obtaining a conversion relation between a projector coordinate system and a three-dimensional scanning equipment coordinate system in advance;
acquiring a conversion relation between a global camera measurement coordinate system and a workpiece coordinate system in advance;
arranging global positioning points on a teaching workpiece in advance, acquiring coordinates of all the global positioning points in a workpiece coordinate system, and recording the coordinates as a point set I; the global positioning points are through holes or angular points of the surfaces of the pasting points or the teaching workpieces; further, the dots may be circular, annular, square, cross-shaped, or other easily identifiable shapes;
placing a workpiece to be detected in a detection station;
2) the robot drives the three-dimensional scanning equipment to a preset pose, and the position of the projector under the workpiece coordinate system is determined according to the conversion relation between the workpiece coordinate system and the robot base coordinate system, between the robot base coordinate system and the robot flange coordinate system, between the robot flange coordinate system and the three-dimensional scanning equipment coordinate system, and between the three-dimensional scanning equipment coordinate system and the projector coordinate system;
the three-dimensional scanning equipment acquires point cloud data of a workpiece to be detected under a coordinate system of the three-dimensional scanning equipment,
3) acquiring points in the point set I belonging to the projection area of the projector according to the position of the projector in the workpiece coordinate system, and recording the points as a point set JiThe value of i is a natural number and represents the ith pose;
4) set the points JiThe three-dimensional coordinates of the middle points are mapped onto a projection plane according to the imaging projection principle to obtain two-dimensional coordinates of each point, a projection picture is generated, and the projection picture is projected onto the surface of a workpiece to be measured through a projector;
at least three points are projected on the surface of the workpiece to be detected, or the sum of the points projected on the surface of the workpiece to be detected and the characteristic points of the surface of the workpiece to be detected in the field of view of the global camera and the three-dimensional scanning equipment is more than or equal to three;
5) there are at least two global camera acquisition point sets JiAcquiring the coordinates of the workpiece in a workpiece coordinate system;
simultaneously, the three-dimensional scanning equipment collects a point set JiAcquiring the coordinates of the three-dimensional scanning device under a coordinate system of the three-dimensional scanning device;
6) obtaining a conversion relation between the three-dimensional scanning equipment and a workpiece coordinate system under the pose according to the rigid body transformation of the homonymy point, and then converting point cloud data of the surface of the workpiece to be detected under the pose to the workpiece coordinate system to realize the splicing of the point cloud;
7) and repeating the steps 2) to 6) until the point clouds are spliced.
In order to ensure the test result, the brightness of the point projected to the surface of the workpiece to be tested by the projector is equal to or better than that of the circular mark point. In addition, the resolution of the point projected to the surface of the workpiece to be measured by the projector can meet the high-precision extraction requirement.
As is well known to those skilled in the art, in order to ensure the normal operation of the three-dimensional scanning device, the transformation relationship between the workpiece coordinate system and the robot base coordinate system, and the transformation relationship between the robot flange coordinate system and the three-dimensional scanning device coordinate system are obtained in advance before the test.
The global positioning method of the three-dimensional scanning equipment can simultaneously acquire the global positioning point and the characteristics of the object to be tested on the premise of ensuring the accuracy of the final system output result, effectively shorten the testing time and accurately position the three-dimensional scanning equipment with high efficiency and high accuracy.
The foregoing descriptions of specific exemplary embodiments of the present invention have been presented for purposes of illustration and description. The foregoing description is not intended to be exhaustive or to limit the invention to the precise form disclosed, and obviously many modifications and variations are possible in light of the above teaching. The exemplary embodiments were chosen and described in order to explain certain principles of the invention and its practical application to enable others skilled in the art to make and use various exemplary embodiments of the invention and various alternatives and modifications thereof. It is intended that the scope of the invention be defined by the following claims and their equivalents.
Claims (9)
1. A global positioning method of a three-dimensional scanning device utilizes at least two global cameras fixedly arranged in a detection station to obtain images of global positioning points so as to realize the splicing of the images obtained by the three-dimensional scanning device under different poses;
the three-dimensional scanning equipment is fixedly arranged at the tail end of the robot and comprises a binocular camera and a projector, and the positions of the binocular camera and the projector are relatively fixed under the same detection pose;
the method is characterized in that: the projector is a programmable projector;
the global positioning method comprises the following steps:
1) the method comprises the steps of obtaining a conversion relation between a projector coordinate system and a three-dimensional scanning equipment coordinate system in advance;
acquiring a conversion relation between a global camera measurement coordinate system and a workpiece coordinate system in advance;
arranging global positioning points on a teaching workpiece in advance, acquiring coordinates of all the global positioning points in a workpiece coordinate system, and recording the coordinates as a point set I;
placing a workpiece to be detected in a detection station;
2) the robot drives the three-dimensional scanning equipment to a preset pose, and the position of the projector under the workpiece coordinate system is determined according to the conversion relation between the workpiece coordinate system and the robot base coordinate system, between the robot base coordinate system and the robot flange coordinate system, between the robot flange coordinate system and the three-dimensional scanning equipment coordinate system, and between the three-dimensional scanning equipment coordinate system and the projector coordinate system;
the method comprises the steps that three-dimensional scanning equipment obtains point cloud data of a workpiece to be detected in a three-dimensional scanning equipment coordinate system;
3) acquiring points in the point set I belonging to the projection area of the projector according to the position of the projector in the workpiece coordinate system, and recording the points as a point set JiThe value of i is a natural number and represents the ith pose;
4) set the points JiThe three-dimensional coordinates of the middle points are mapped onto a projection plane according to the imaging projection principle to obtain two-dimensional coordinates of each point, a projection picture is generated, and the projection picture is projected onto the surface of a workpiece to be measured through a projector;
5) global camera acquisition point set JiAcquiring the coordinates of the workpiece in a workpiece coordinate system;
meanwhile, the three-dimensional scanning equipment collects a point set JiAcquiring the coordinates of the three-dimensional scanning device under a coordinate system of the three-dimensional scanning device;
6) obtaining a conversion relation between the three-dimensional scanning equipment and a workpiece coordinate system under the pose according to the rigid body transformation of the homonymy point, and then converting point cloud data of the surface of the workpiece to be detected under the pose to the workpiece coordinate system to realize the splicing of the point cloud;
7) and repeating the steps 2) to 6) until the point clouds are spliced.
2. The global positioning method of the three-dimensional scanning device according to claim 1, characterized in that: and 5) simultaneously acquiring global positioning points by at least two global cameras.
3. The global positioning method of the three-dimensional scanning device according to claim 1, characterized in that: the global positioning points in the step 1) are attachment points or through holes or angular points on the surface of a teaching workpiece.
4. The global positioning method of the three-dimensional scanning device according to claim 1, characterized in that: under a single pose, at least three points are projected on the surface of the workpiece to be measured.
5. The global positioning method of the three-dimensional scanning device according to claim 1, characterized in that: under a single pose, the sum of the point projected to the surface of the workpiece to be measured and the feature point of the surface of the workpiece to be measured in the field of view of the global camera and the three-dimensional scanning equipment at the moment is more than or equal to three.
6. The global positioning method of the three-dimensional scanning device according to claim 1, characterized in that: the brightness of the point projected to the surface of the workpiece to be measured by the projector is equal to or superior to that of the circular mark point.
7. The global positioning method of the three-dimensional scanning device according to claim 1, characterized in that: the resolution of the point projected by the projector to the surface of the workpiece to be measured can meet the high-precision extraction requirement.
8. The global positioning method of the three-dimensional scanning device according to claim 1, characterized in that: before testing, conversion relations between a workpiece coordinate system and a robot base coordinate system and between a robot flange coordinate system and a three-dimensional scanning equipment coordinate system are obtained in advance.
9. The global positioning method of the three-dimensional scanning device according to claim 1, characterized in that: the global positioning points are circular, annular, square or cross-shaped.
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