线结构光视觉系统标定新法及其振动测控应用
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摘要
激光视觉是一种在工业检测领域应用广泛的测量方式,其标定是视觉检测系统搭建的基础。为此,提出了一种新型线结构光视觉系统标定方法。采用张氏标定法完成相机标定,通过提取标定板上的激光条纹特征,根据三面共线条件进行处理完成结构光平面的标定,并对标准尺寸进行测量以验证标定结果的准确性。接着基于该系统搭建了柔性臂振动测控实验台,并用其对柔性臂振动进行检测,设计了一种非线性控制器抑制柔性臂的振动。实验结果表明,提出的标定方法三维检测精度可达0.1mm,得以应用在柔性臂的振动检测上,设计的控制器也可在短时间内抑制柔性臂的振动,以此验证了标定方法的检测效果和振动抑制的有效性。
Laser vision is a widely used measurement method in industrial detection,and its calibration is the key in developing visual sensing systems.Thus,a new calibration method of the structured light vision system was proposed.Zhang's calibration method was introduced to accomplish camera calibration.Then,the feature of the laser stripe on the calibration board was extracted,and the calibration of the structured light plane was carried out after processing,based on the collinear condition of three planes.Meanwhile,the standard size was tested to verify the accuracy of the calibration result.Based on this system,an experimental platform for vibration measurement and control of the flexible arm was constructed.The vibration of the flexible arm was measured by this system,and a nonlinear PD controller was designed to suppress the vibration.The experimental results demonstrate that the 3 Dmeasurement precision of the proposed calibration method can reach 0.1 mm;thus,this can be successfully applied to measure the vibration of the flexible arm,and the designed controllercan also suppress this vibration in a short time.Finally,the effectiveness of the calibration method and vibration suppression is verified.
Laser vision is a widely used measurement method in industrial detection,and its calibration is the key in developing visual sensing systems.Thus,a new calibration method of the structured light vision system was proposed.Zhang's calibration method was introduced to accomplish camera calibration.Then,the feature of the laser stripe on the calibration board was extracted,and the calibration of the structured light plane was carried out after processing,based on the collinear condition of three planes.Meanwhile,the standard size was tested to verify the accuracy of the calibration result.Based on this system,an experimental platform for vibration measurement and control of the flexible arm was constructed.The vibration of the flexible arm was measured by this system,and a nonlinear PD controller was designed to suppress the vibration.The experimental results demonstrate that the 3 Dmeasurement precision of the proposed calibration method can reach 0.1 mm;thus,this can be successfully applied to measure the vibration of the flexible arm,and the designed controllercan also suppress this vibration in a short time.Finally,the effectiveness of the calibration method and vibration suppression is verified.
引文
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[12]张美静.亚像素边缘检测技术研究[D].沈阳:沈阳理工大学,2013.ZHANG M J.Research on Sub Pixel Edge Detection Technology[D].Shenyang:Shenyang Ligong University,2013.(in Chinese)
[2]张曦,张健.线结构光标定方法综述[J].激光与光电子学进展,2018,55(2):7-17.ZHANG X,ZHANG J.Summary on calibration method of line-structured light sensor[J].Laser and Optoelectronics Progress,2018,55(2):7-17.(in Chinese)
[3] HORAUD R,HANSARD M,EVANGELIDIS G.An overview of depth cameras and range scanners based on time-of-flight technologies[J].Machine Vision and Applications,2016,27(7):1005-1020.
[4] ZHOU F,ZHANG G.Complete calibration of a structured light stripe vision sensor through planar target of unknown orientations[J].Image&Vision Computing,2005,23(1):59-67.
[5]解则晓,刘静晓.超大尺度线结构光传感器现场标定技术[J].中国激光,2015,42(12):290-296.XIE Z X,LIU J X.Calibration technology for line structured light sensor with large scale[J].Chinese Journal of Lasers,2015,42(12):290-296.(in Chinese)
[6]陈天飞,马孜,吴翔.基于主动视觉标定线结构光传感器中的光平面[J].光学精密工程,2012,20(2):256$263.CHEN T F,MA Z,WU X.Calibration of light plane in line structured light sensor based on active vision[J].Opt.Precision Eng.,2012,20(2):256-263.(in Chinese)
[7] DQAI Y,WANG W,DENG S,et al..Vibration test of a dynamic target based on stereo machine vision[J].Proceedings of the Second International Conference on Mechatronics and Automatic Control,2015,16:625-633.
[8] QIU Z C,ZHANG S M.Fuzzy fast terminal sliding mode vibration control of a two-connected flexible plate using laser sensors[J].Journal of Sound and Vibration,2016,380:51-77.
[9]邹凤娇.摄像机标定及相关技术研究[D].成都:四川大学,2005.ZOU F J.Research on Camera Calibration and Related Technique[D].Chengdu:Sichuan University,2005.(in Chinese)
[10] GAN Z,TANG Q.Visual Sensing and its Applications[M]. Hangzhou:Zhejiang University Press,2011.
[11] ZHANG Z.A flexible new technique for camera calibration[J].IEEE Transactions on Pattern Analysis and Machine Intelligence,2000,22(11):1330-1334.
[12]张美静.亚像素边缘检测技术研究[D].沈阳:沈阳理工大学,2013.ZHANG M J.Research on Sub Pixel Edge Detection Technology[D].Shenyang:Shenyang Ligong University,2013.(in Chinese)