论文部分内容阅读
将双目传感器和线结构光有机地结合到一起,设计了一套能够对大尺寸被测物进行无导轨三维扫描的测量系统。通过标定实现双目传感器与结构光传感器坐标系的统一。提出了一种双线投影模型,实现了双目标记点的立体匹配和标记点传感器坐标的测量。设计了基于线面约束的结构光测量模型,实现了物体表面光条三维信息的获取。采用空间几何相对不变性原则实现标记点传感器坐标和世界坐标的全局匹配,进而确定在测量位置处传感器坐标系与世界坐标系的转换关系。最终将传感器实时扫描测量的物体表面的三维点云数据转换到世界坐标系下,实现对被测物三维的扫描测量,工作距离下扫描测量精度优于0.08 mm。
The binocular sensor and the linear structure of light organically combined together to design a set of measurements can be carried out on large-size non-rail three-dimensional scanning measurement system. Through the calibration to achieve the unity of the binocular sensor and the structure of the optical sensor coordinate system. A two-line projection model is proposed to realize the stereo matching of binocular markers and the measurement of the coordinates of marker points. The structured light measurement model based on the line surface constraint was designed and the 3D information of the light strip on the object surface was obtained. The relative invariance principle of space geometry is used to realize the global matching of the coordinate of the point sensor and the world coordinate so as to determine the conversion relation between the sensor coordinate system and the world coordinate system at the measurement position. Finally, the 3D point cloud data of the object surface scanned by the sensor in real time is transformed into the world coordinate system, and the three-dimensional scanning measurement of the measured object is realized. The scanning measurement accuracy under the working distance is better than 0.08 mm.