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莫彩利, 王立忠, 赵建博, 王森, 周皓骏, 任茂栋. 365彩票官网老虎机[J]. 365赌球. doi: 10.37188/CO.2023-0103
引用本文: 莫彩利, 王立忠, 赵建博, 王森, 周皓骏, 任茂栋. 365彩票官网老虎机[J]. 365赌球. doi: 10.37188/CO.2023-0103
MO Cai-li, WANG Li-zhong, ZHAO Jian-bo, WANG Sen, ZHOU Hao-jun, REN Mao-dong. 365彩票官网网页版[J]. Chinese Optics. doi: 10.37188/CO.2023-0103
Citation: MO Cai-li, WANG Li-zhong, ZHAO Jian-bo, WANG Sen, ZHOU Hao-jun, REN Mao-dong. 365彩票官网网页版[J]. Chinese Optics. doi: 10.37188/CO.2023-0103

365彩票官网老虎机

doi: 10.37188/CO.2023-0103
基金项目:国家重点研发计划(No. 2022 YFB4601802)
详细信息
    作者简介:

    莫彩利(1995—),女,河南洛阳人,硕士研究生,2018年于长安大学获得学士学位,主要从事三维光学测量方面的研究。E-mail:[email protected]

    王立忠(1968—),男,山东梁山人,博士,教授,博士生导师,2004年于西安交通大学获得博士学位,主要从事三维光学测量技术的研究。E-mail:[email protected]

  • 中图分类号:TP391.7;TH741

365彩票官网网页版

Funds:Supported by National Key Research and Development Program (No. 2022 YFB4601802)
More Information
  • 摘要:

    小尺寸零件的表面积小、结构复杂,传统标志点拼接方法需要在零件表面人工粘贴标志点,导致表面的测量数据缺失成为孔洞;基于特征的点云拼接方法要求零件表面具有易区分的几何或距离特征,不适用于包含重复性特征的回转体零件。本文提出一种基于机械拼接的无标志点扫描测量方法,不需要粘贴标志点,不依赖于零件表面特征。首先,采用基于摄影测量的相机标定方法重建标定板上靶点的高精度三维坐标,通过跟踪编码靶点的位置建立转台不同转角对应的旋转矩阵,进而解算出转轴方向向量和轴上定点坐标,实现转轴和相机的同步标定。其次,在完成两个转轴位姿精确标定的基础上,利用转台转角构建旋转拼接矩阵,实现多视角点云粗配准。最后,基于法向迭代最近点算法(Normal Iterative Closest Point, NICP)完成点云的精配准。实验结果表明:使用靶点跟踪法标定后的两转轴夹角误差较传统的标准球拟合法低0.023°,标定后测量标准球的整体平均尺寸误差小于0.012 mm;在小尺寸零件自动化测量时,机械拼接方法在精配准后的点云拼接效果与标志点拼接方法相近,且拼接稳定性更高。机械拼接方法适用于无法粘贴标记点的小尺寸零件三维形貌测量场景。

  • 图 1 无标志点扫描测量方法的流程图

    Figure 1. Flowchart of the scanning measurement method without marks

    图 2 针孔相机成像模型

    Figure 2. Imaging model of pinhole camera

    图 3 相机标定过程图

    Figure 3. Camera calibration process diagram

    图 4 标定板图像

    Figure 4. Image of calibration board

    图 5 标准球拟合法标定单个转轴位姿

    Figure 5. Calibration of single rotation axis pose using standard ball fitting method

    图 6 多视角点云旋转拼接原理图

    Figure 6. Schematic diagram of multi-view point cloud rotation splicing

    图 7 绕空间任意转轴的旋转变换关系

    Figure 7. The rotation transformation relation around any rotation axis in space

    图 8 NICP算法流程图

    Figure 8. Flowchart of NICP algorithm

    图 9 (a)桌面式数控转台光学测量系统及(b)示意图

    Figure 9. (a) Tabletop CNC turntable optical measurement system and (b) its schematic diagram

    图 10 基于标准球的精度验证实验

    Figure 10. Accuracy verification experiment based on standard ball

    图 11 标准球机械拼接绝对值误差统计结果

    Figure 11. Statistical results of absolute value error of standard ball mechanical splicing

    图 12 小尺寸零件的点云拼接效果图

    Figure 12. Point cloud splicing effect diagrams of small-size parts

    表  1 相机标定内参数

    Table  1. Camera calibration internal parameters

    内参数 左相机 右相机
    f/pixel 4666.2300 4666.5600
    $ {x}_{0}/pixel $ 47.6090 −14.4401
    $ {y}_{0}/pixel $ 10.2786 −14.5546
    $ {K}_{1} $ −3.4003e−09 −4.1734e−09
    $ {K}_{2} $ 1.1598e−15 1.8279e−15
    $ {K}_{3} $ 1.8523e−22 −2.2075e−23
    $ {P}_{1} $ −7.4732e−08 1.5797e−08
    $ {P}_{2} $ 1.0306e−08 −2.0569e−09
    $ {b}_{1} $ 1.2749e−4 2.4643e−06
    $ {b}_{2} $ −2.2662e−05 3.9066e−05
    下载: 导出CSV

    表  2 相机标定外参数

    Table  2. Camera calibration external parameters

    相机编号 ${{\boldsymbol{R}}_C}$ ${{\boldsymbol{T}}_C}$
    左相机 1 0 0 0
    0 1 0 0
    0 0 1 0
    右相机 0.8992 −0.0098 0.4374 176.2110
    0.0063 0.9999 0.0094 −0.1690
    −0.4374 −0.0057 0.8992 −40.5125
    下载: 导出CSV

    表  3 标准球拟合法与所提方法的对比

    Table  3. Comparison between standard ball fitting method and proposed method

    实验编号 标准球拟合法[ 22 ] 文中所提方法
    夹角/° 点积 夹角误差/° 夹角/° 点积 夹角误差/°
    1 89.938 0.001078 0.062 89.962 0.000666 0.038
    2 89.923 0.001341 0.077 89.949 0.000883 0.051
    3 89.934 0.001145 0.066 89.962 0.000658 0.038
    4 89.939 0.001072 0.061 89.955 0.000786 0.045
    5 89.940 0.001048 0.060 89.961 0.000686 0.039
    6 89.929 0.001245 0.071 89.965 0.000604 0.035
    7 89.938 0.001079 0.062 89.952 0.000838 0.048
    8 89.938 0.001085 0.062 89.947 0.000922 0.053
    9 89.939 0.001058 0.061 89.965 0.000606 0.035
    10 89.940 0.001048 0.060 89.967 0.000583 0.033
    平均 89.936 0.001120 0.064 89.959 0.000723 0.041
    下载: 导出CSV

    表  4 不同点云拼接方式的精度对比

    Table  4. Accuracy comparison of different point cloud splicing methods unit: mm

    实验对象 特征拼接[ 13 ] 标志点
    拼接[ 9 - 10 ]
    机械拼接
    粗配准 精配准
    注塑件 0.0116 0.0098 0.1135 0.0102
    假牙 0.0124 0.0106 0.1213 0.0113
    涡轮 0.6845 0.0129 0.1265 0.0123
    平均误差 0.2362 0.0111 0.1204 0.0113
    下载: 导出CSV
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365彩票官网老虎机
  • 网络出版日期: 2023-09-22

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