阅读说明：本技术 基于结构光测量的涂胶信息检测方法 (Gluing information detecting method based on structural light measurement ) 是由 周志杰 冯伟昌 郭寅 郭磊 于 2019-09-23 设计创作，主要内容包括：本发明公开了基于结构光测量的涂胶信息检测方法,包括：1)对胶条轮廓结构光图像进行图像处理,分割底部直线段,进行拟合,得到底部基准线；2)计算底部基准线与光平面坐标系x轴的夹角θ,将胶条轮廓旋转-θ度；剔除底部直线段,在剩余的轮廓点组成的胶形轮廓段中计算胶高特征点、胶宽特征点；3)得到的多个胶高特征点,并计算法线；根据法线,构造平面I,选取预设帧图像,将预设帧图像中胶高特征点、胶宽特征点投影到平面I；利用胶高特征点计算胶高；将胶宽特征点之间的距离记为胶宽；4)对于涂胶轨迹中其他待测位置,重复步骤1)～3),完成整个涂胶轨迹中胶条信息的检测；本方法对角度偏差进行校正,能够准确获取涂胶三维轮廓信息。(The invention discloses the gluing information detecting methods based on structural light measurement, comprising: 1) carries out image procossing to adhesive tape contour structure light image, divide bottom straightway, be fitted, obtain bottom reference line；2) angle theta for calculating bottom reference line and optical plane coordinate system x-axis, by adhesive tape profile rotation-θ degree；Bottom straightway is rejected, the high characteristic point of glue, glue quant's sign point are calculated in the glue shape contour segment of remaining profile point composition；3) the high characteristic point of multiple glue obtained, and calculate normal；According to normal, formation level I chooses default frame image, the high characteristic point of glue, glue quant's sign point in default frame image is projected to plane I；It is high that glue is calculated using the high characteristic point of glue；It is wide that the distance between glue quant's sign point is denoted as glue；4) position to be measured for other in gluing track repeats step 1)~3), complete the detection of adhesive tape information in entire gluing track；This method is corrected angular deviation, can accurately obtain gluing three-D profile information.)

1. a kind of gluing information detecting method based on structural light measurement, it is characterised in that the following steps are included:

1) image procossing is carried out to the adhesive tape contour structure light image of line structure optical sensor acquisition, be partitioned into adhesive tape profile Bottom straightway, and the bottom straightway is fitted, obtain bottom reference line；

2) angle theta for calculating bottom reference line and optical plane coordinate system x-axis, using the origin of optical plane coordinate system as rotation center, By adhesive tape profile rotation-θ degree；Bottom straightway is rejected in adhesive tape profile after rotation, and remaining profile point is denoted as glue shape Contour segment；

The maximum coordinate points of distance value will be obtained and is denoted as glue at a distance from the reference line of bottom by calculating each point in the glue shape contour segment High characteristic point；Coordinate points in glue shape contour segment at initial and end endpoint are denoted as a pair of of glue quant's sign point；

If 3) in a frame adhesive tape contour structure light image only include an adhesive tape profile, step is repeated to consecutive frame adhesive tape profile 1) the high characteristic point of glue in the contour structure light image of successive frame adhesive tape~2) at least once, is obtained；

If in a frame adhesive tape contour structure light image including a plurality of adhesive tape profile, the glue calculated separately in every adhesive tape profile is high Characteristic point；

Using the obtained high characteristic point of multiple glue, normal is calculated；According to the normal, the formation level at the high characteristic point of any glue It is denoted as plane I, an adhesive tape contour images is chosen and is denoted as default frame image, by the high characteristic point of glue and one in the default frame image The plane I is projected to glue quant's sign point；

By the absolute value of intercept in the y-axis coordinate absolute value of the high characteristic point of glue after projection and bottom reference line linear equation it Be denoted as glue height；

It is wide that the distance between a pair of of glue quant's sign point after projection is denoted as glue；

4) position to be measured for other in gluing track repeats step 1)~3), obtain the glue that each position to be measured is gummed item Wide, the high information of glue, until completing the detection of adhesive tape information in entire gluing track.

2. the gluing information detecting method based on structural light measurement as described in claim 1, it is characterised in that: segmentation in step 1) Bottom straightway uses Hough transform detection method or following steps:

Two endpoints of initial and end in the light image of adhesive tape contour structure are obtained, and by two endpoint lines, traverse glue between two-end-point All the points on profile, calculate each point to the line distance, if distance value is respectively less than preset threshold, by two-end-point it Between contour area be divided into pre-selection straightway；Otherwise, the point farthest apart from the line is labeled as new endpoint, in repetition Deterministic process is stated, until all the points in adhesive tape profile are divided completion；

According to the linear equation of each pre-selection straightway, the slope of any two pre-selection straightway and intercept are made into difference respectively, remembered The sum of two differences are judgment value；

All judgment values are calculated, the smallest a pair of of the pre-selection straightway of judgment value will be obtained labeled as bottom straightway.

3. the gluing information detecting method based on structural light measurement as claimed in claim 2, it is characterised in that: the preset threshold Less than 0.5mm.

4. the gluing information detecting method based on structural light measurement as described in claim 1, it is characterised in that: the bottom of in step 1) The method that portion's straightway is fitted is RANSAC algorithm or least square method.

5. the gluing information detecting method based on structural light measurement as described in claim 1, it is characterised in that: in step 2) Glue shape contour segment carries out following Screening Treatment:

Calculus of differences is successively carried out to the X-coordinate of two neighboring profile point in the glue shape contour segment, it is big by difference result is obtained It is denoted as discontinuous point in two profile points of threshold value, using discontinuous point as division position, glue shape contour segment is divided into two sub- points Collection, will put a fairly large number of sub- point set and is denoted as new glue shape contour segment；The threshold value is 0.1~0.3mm.

6. the gluing information detecting method based on structural light measurement as described in claim 1, it is characterised in that: repeated in step 3) Step 1)~2) 5~8 times, recycle the high characteristic point of 5~8 glue to be fitted normal；Default frame image is chosen for [n/2] frame figure Picture, n are to repeat total degree.

7. the gluing information detecting method based on structural light measurement as claimed in claim 1 or 6, it is characterised in that: by step 4) The position to be measured of other in middle gluing track setting are as follows: the corresponding adhesive tape position of continuous every frame image of line structure optical sensor acquisition It sets.

8. the gluing information detecting method based on structural light measurement as described in claim 1, it is characterised in that: line-structured light sensing The sample rate of device is 500~2000 frames/s；The opposite movement speed for being gummed item of line structure optical sensor is 70~150mm/s.

Technical field

The present invention relates to gluing detection fields, and in particular to a kind of gluing information detecting method based on structural light measurement.

Background technique

In automobile manufacturing process, gluing quality is to determine the key factor of vehicle leakproofness, traditional gluing detection side The initial colloid image that method relies only on camera acquisition is handled, this is a kind of passive vision detection method, is able to detect glue It is wide, if the information such as disconnected glue, but glue height cannot be detected, and be limited to the color of colloid and gluing bottom surface, when the two color When approximate or consistent, traditional gluing detection method will be unable to effectively detect adhesive tape information, as the gluing at current windshield is big Black matrix, black glue is all presented in most vehicles, and gluing for this situation is significant using structural light measurement method advantage, utilizes Single line structure light, double structure light or multi-line structured light mode project laser to measured object, and under camera cooperation, acquisition is modulated Structure light image (as shown in Figure 1)；In order to accurately obtain gluing information, it is desirable that the laser of projection and tested adhesive tape are mutually hung down Directly, but in actual application, due to sensor rigging error, robot path, angular transformation etc., laser and glue are projected There are angular deviations for item, that is, there is pitch angle (pitch), yaw angle (yaw), rotation angle (roll)；This will will affect gluing letter Cease the accuracy of detection.

Summary of the invention

In order to solve the above technical problem, the present invention provides a kind of gluing information detecting method based on structural light measurement, This method efficiently solves black glue detection or compares the technological difficulties of unobvious adhesive tape detection not by adhesive tape Color influences；We Method is corrected angular deviation, can accurately obtain gluing three-D profile information.

For this purpose, technical scheme is as follows:

A kind of gluing information detecting method based on structural light measurement, comprising the following steps:

1) image procossing is carried out to the adhesive tape contour structure light image of line structure optical sensor acquisition, is partitioned into adhesive tape profile In bottom straightway, and the bottom straightway is fitted, obtains bottom reference line；

2) angle theta of bottom reference line and optical plane coordinate system x-axis is calculated, is in rotation with the origin of optical plane coordinate system The heart, by adhesive tape profile rotation-θ degree；Bottom straightway is rejected in adhesive tape profile after rotation, and remaining profile point is denoted as glue Shape contour segment；

The maximum coordinate points note of distance value will be obtained at a distance from the reference line of bottom by calculating each point in the glue shape contour segment For the high characteristic point of glue；Coordinate points in glue shape contour segment at initial and end endpoint are denoted as a pair of of glue quant's sign point；

If 3) in a frame adhesive tape contour structure light image only include an adhesive tape profile, consecutive frame adhesive tape profile is repeated Step 1)~2) at least once, obtain the high characteristic point of glue in the contour structure light image of successive frame adhesive tape；

If including a plurality of adhesive tape profile in a frame adhesive tape contour structure light image, calculate separately in every adhesive tape profile The high characteristic point of glue；

Using the obtained high characteristic point of multiple glue, normal is calculated；According to the normal, constructed at the high characteristic point of any glue Plane is denoted as plane I, chooses an adhesive tape contour images and is denoted as default frame image, by the high characteristic point of glue in the default frame image The plane I is projected to a pair of of glue quant's sign point；

By the absolute value of intercept in the y-axis coordinate absolute value of the high characteristic point of glue after projection and bottom reference line linear equation The sum of, it is denoted as glue height；

It is wide that the distance between a pair of of glue quant's sign point after projection is denoted as glue；

4) position to be measured for other in gluing track repeats step 1)~3), it obtains each position to be measured and is gummed item Glue is wide, the high information of glue, until completing the detection of adhesive tape information in entire gluing track.

Further, segmentation bottom straightway uses Hough transform detection method or following steps in step 1): obtaining glue Two endpoints of initial and end in contour structure light image, and by two endpoint lines, it traverses between two-end-point on adhesive tape profile All the points, the distance of calculating each point to the line, if distance value is respectively less than preset threshold, by the profile region between two-end-point Domain is divided into pre-selection straightway；Otherwise, the point farthest apart from the line is labeled as new endpoint, repetition is above-mentioned to be judged Journey, until all the points in adhesive tape profile are divided completion；

According to the linear equation of each pre-selection straightway, the slope of any two pre-selection straightway is made respectively with intercept Difference remembers that the sum of two differences are judgment value；

All judgment values are calculated, the smallest a pair of of the pre-selection straightway of judgment value will be obtained labeled as bottom straightway.

It is preferred that the preset threshold is less than 0.5mm.

It further, is RANSAC algorithm or least square method to the method that bottom straightway is fitted in step 1).

Due to that may have shelter in gluing track, the adhesive tape profile in structure light image will appear discontinuously Phenomenon, such as at the windshield of automobile, there are gaskets, will lead to laser strip and disconnection occur, influence detection accuracy；

In order to reduce influence of the shelter to detection accuracy, to the glue shape contour segment in step 2) in technical solution of the present invention Carry out Screening Treatment:

Calculus of differences is successively carried out to the X-coordinate of two neighboring profile point in the glue shape contour segment, difference knot will be obtained Two profile points that fruit is greater than threshold value are denoted as discontinuous point, and using discontinuous point as division position, glue shape contour segment is divided into two Sub- point set will put a fairly large number of sub- point set and be denoted as new glue shape contour segment；The threshold value is 0.1~0.3mm.

It is preferred that repeating step 1)~2 in step 3)) 5~8 times, recycle the high characteristic point of 5~8 glue to be fitted normal；Its In, default frame image is chosen for [n/2] frame image, and n is to repeat total degree.

In order to obtain the adhesive tape information in gluing track in real time, it is preferable that other in gluing track in step 4) are waited for location It installs and is set to: the corresponding adhesive tape position of continuous every frame image of line structure optical sensor acquisition.

In order to improve the accuracy of normal fitting, it is preferable that the sample rate of line structure optical sensor is 500~2000 frames/s； The opposite movement speed for being gummed item of line structure optical sensor is 70~150mm/s.

Gluing information detecting method provided by the present application based on structural light measurement, by constructing tangential plane, and will Glue quant's sign point, the high projecting characteristic points of glue are to the plane, and glue caused by being effectively corrected because of angular deviation is wide, the high calculating of glue misses Difference；Glue shape contour segment is obtained using difference method, solves the problems, such as structure light image disconnection caused by shelter, is detected As a result accuracy is high, is suitable for Precision measurement field；In addition, this method efficiently solves black glue inspection not by adhesive tape Color influences Survey or compare the technological difficulties of unobvious adhesive tape detection.

Detailed description of the invention

Fig. 1 is by the modulated structure light image schematic diagram of adhesive tape；

Fig. 2 is the high characteristic point of glue, glue quant's sign point schematic diagram in specific embodiment；

Fig. 3 is that normal, floor map are fitted in specific embodiment.

Specific embodiment

Technical solution of the present invention is described in detail below in conjunction with the drawings and specific embodiments.

The present embodiment detects adhesive tape information by taking gluing at automobile wind shield glass as an example, using structure light, and adhesive tape is Black triangles shape glue, the sample rate of line structure optical sensor are 1500 frames/s；The opposite shifting for being gummed item of line structure optical sensor Dynamic speed is 100mm/s, specific as follows:

A kind of gluing information detecting method based on structural light measurement, comprising the following steps:

1) line structure optical sensor obtains adhesive tape contour structure light image in real time, carries out figure to the light image of adhesive tape contour structure As processing, the bottom straightway being partitioned into adhesive tape profile, and bottom straightway is fitted, obtain bottom reference line；

2) angle theta of bottom reference line and optical plane coordinate system x-axis is calculated, is in rotation with the origin of optical plane coordinate system The heart, by adhesive tape profile rotation-θ degree；Bottom straightway is rejected in adhesive tape profile after rotation, and remaining profile point is denoted as glue Shape contour segment；

As shown in Fig. 2, the maximum seat of distance value will be obtained at a distance from the reference line of bottom by calculating each point in glue shape contour segment Punctuate is denoted as the high characteristic point of glue；Coordinate points in glue shape contour segment at initial and end endpoint are denoted as a pair of of glue quant's sign point；

It 3) only include an adhesive tape profile in a frame adhesive tape contour structure light image, to consecutive frame adhesive tape in the present embodiment Profile repeats step 1)~2) five times, obtain the high characteristic point of glue in the contour structure light image of successive frame adhesive tape；

Using the obtained high characteristic point of multiple glue, normal is calculated；According to normal, the formation level at the high characteristic point of any glue It is denoted as plane I, an adhesive tape contour images is chosen and is denoted as default frame image, by the high characteristic point of glue in default frame image and a pair of of glue Quant's sign point projects to plane I；It is default frame image that third frame image is chosen in the present embodiment；

By the absolute value of intercept in the y-axis coordinate absolute value of the high characteristic point of glue after projection and bottom reference line linear equation The sum of, it is denoted as glue height；

It is wide that the distance between a pair of of glue quant's sign point after projection is denoted as glue；

In the specific application process, multiple line structure light projection adhesive tape can also be used, sensor can disposably acquire more Line-structured light image is calculated separately comprising a plurality of adhesive tape profile in this case in an i.e. frame adhesive tape contour structure light image The high characteristic point of glue in every adhesive tape profile；At this point it is possible to select to repeat step 1)~2) it is one or many, obtain multiple image In the high characteristic point of glue, can not also repeat the above process, directly utilize the high characteristic point calculating method of multiple glue in a frame image Line.

4) the present embodiment is real-time detection process, therefore position to be measured is each frame since first preselects frame position Picture position repeats step that is, to preselect the next frame adhesive tape contour images of frame image (third frame) as new pre-selection frame image 1)~3), obtain that the glue that each position to be measured is gummed item is wide, the high information of glue, until completing adhesive tape information in entire gluing track Detection.

In the specific application process, each of entire adhesive tape profile can also be obtained by the way of the detection of offline gluing After frame image, a certain frame picture position is artificially set by position to be measured, is such as set as the 5th frame, the 8th frame, the 13rd frame ...

As one embodiment of the present invention, divides bottom straightway following steps in step 1): obtaining adhesive tape profile Two endpoints of initial and end in structure light image, and by two endpoint lines, it traverses all on adhesive tape profile between two-end-point Point, the distance for calculating each point to line will be between two-end-point if distance value is respectively less than preset threshold (being set as 0.4mm) Contour area is divided into pre-selection straightway；Otherwise, the point farthest apart from line is labeled as new endpoint, repetition is above-mentioned to be judged Journey, until all the points in adhesive tape profile are divided completion；

According to the linear equation of each pre-selection straightway, the slope of any two pre-selection straightway is made respectively with intercept Difference remembers that the sum of two differences are judgment value；

All judgment values are calculated, the smallest a pair of of the pre-selection straightway of judgment value will be obtained labeled as bottom straightway.To upper The bottom straightway that the process of stating obtains is fitted to obtain bottom reference line using RANSAC algorithm.

Since at the windshield of automobile, there are gaskets, it will lead to laser strip and disconnection occur, in order to reduce shelter pair The influence of detection accuracy carries out Screening Treatment to the glue shape contour segment in step 2) in the present embodiment:

Calculus of differences is successively carried out to the X-coordinate of two neighboring profile point in glue shape contour segment, it is big by difference result is obtained It is denoted as discontinuous point in two profile points of threshold value, using discontinuous point as division position, glue shape contour segment is divided into two sub- points Collection, will put a fairly large number of sub- point set and is denoted as new glue shape contour segment；Threshold value is set as 0.1mm.

The description that specific exemplary embodiment of the present invention is presented in front is for the purpose of illustration and description.Front Description be not intended to become without missing, be not intended to limit the invention to disclosed precise forms, it is clear that root It is possible for much changing and change all according to above-mentioned introduction.It selects exemplary implementation scheme and is described to be to explain this hair Bright certain principles and practical application, so that others skilled in the art can be realized and utilize of the invention each Kind exemplary implementation scheme and its different selection forms and modification.The scope of the present invention be intended to by the appended claims and Its equivalent form is limited.