【作者】 刘峰；

【导师】 孙茂相； 董再励；

【作者基本信息】 沈阳工业大学 ， 系统工程， 2005， 硕士

【摘要】 随着现代工业,尤其是航空、航天、汽车及模具工业的迅速发展,自由曲面零件得到了越来越广泛的应用,因此各类曲面物体的测量与数字化技术也显得越来越重要。曲面测量与数字化广泛应用于陕速原形制造、轨迹跟踪、曲面结构设计以及加工制造。传统的测量方法如体视法、莫尔条纹法、光栅立体图法等需要昂贵的仪器设备和训练有素的专门技术人员,而且测量周期长、效率低,这些缺点使得传统的测量方法阻碍了自由曲面测量的广泛应用。 随着光电技术和计算机技术的发展,尤其是高分辨率数字摄像机的出现以及视频摄像处理技术的发展,基于结构光3D测量原理和视觉观测技术的非接触式测量系统,相比于传统接触式测量方法具有自动化程度高、速度快、精度高,易于实现和可视化等优点,是现代测量的发展方向。 本文以机器人化自由曲面自动检测加工系统为应用背景,结合计算机3D视觉机理,研究基于结构光测量原理的自由曲面3D测量系统及关键技术,以实现自由曲面在线自动化检测,从而达到成功研制面向自由曲面的机器人化自动检测加工系统的目标。 本文通过深入分析国内外相关研究成果,对应用线结构光进行非接触测量技术的各个环节进行分析研究,对自由曲面测量方法进行比较;根据非接触测量技术的发展状况和现实条件,对基于结构光测量原理的非接触式3D测量方法进行了深入研究,选择应用线激光的结构光扫描模式作为3D信息获取传感器;研究结构光图象处理的改进方法以达到高质量的视觉检测;结合线结构光图像的特点,提出了一种有效处理结构光图像的方法。并建立了相应的视觉测量系统的数学模型。 本文同时对基于机器人化检测加工系统中采用的关键技术—手眼系统进行了深入研究;重点研究了基于机器视觉的手眼系统标定问题,提出了一种基于投影矩阵M的机器人手眼标定线性化方法,提高了手眼系统的标定精度和效率。更多还原

【Abstract】 With the rapid development of the aviation, space flight, automobile and mould industry, the freedom curved surface part has got more and more extensive application, so more and more important to the measurement of all kinds of curved surfaces. Curved surface measurement and digitalization applies to curved surface making, the orbit following, curved surface structural designing and processing and manufacturing extensively. The traditional measure methods such as stereoscopic law, Moll’s stripe law, grating cubic chart law etc. need expensive equipment and well-trained special technical staff, and long measuring cycle, low measuring efficiency, these shortcomings make the traditional contact-type measurement method hinder the wide application that is measured.With the development of photoelectric technology and computer technology, especially appearance of high-resolution digital camera and the development of technology in video recording, the non-contacting measuring system based on the structural light measurement principle and visional detection technology has advantages of high automation, the high precision, easy realizing visually comparing on contact-type measuring method, so that is the modern measuring developing direction.The paper combines the principle of the computer 3D vision to research the freedom curved surface 3D measuring system and key technologies based on the structure light measuring principle. Aimed at realizing on-line automation detection of free-form surface so as to get successfully robotic automation detection and process systems facing to free-curved planBy analyzing correlative researching results, the paper has analyzed and researched every step of non-contact measurement technology by using linear structural light and compared several measurement methods of free-form plan. According to the present development of non-contact measurement technology, the paper has researched in-depth non-contact 3D measurement methods based on structural light measurement principle and selected structuralscanning by using linear laser as 3D information sensor, and researched improved methods about structural light image processing in order to acquire high-quality vision detection. By finding the characteristics of the structural light, the paper presents a method to process the structural light image and sets up a mathematic model about vision measurement systemThe paper has also researched in-depth hand-eye system which is the key technology used in robotic detection and process system and taken emphasis on the hand-eye calibration problem based on computer vision, so presented a linear approach for robot hand-eye calibration based on projection matrix M, this method can get better result in calibration accuracy and efficiency.更多还原