吉林大学学报(工学版) ›› 2023, Vol. 53 ›› Issue (10): 2795-2806.doi: 10.13229/j.cnki.jdxbgxb.20211384

• 车辆工程·机械工程 • 上一篇    下一篇

基于机器视觉的链轮尺寸测量方法

包昊菁1(),刘思远1(),任真2,张云辉1,胡正乙3,4,葛宇鹏1   

  1. 1.吉林大学 机械与航空航天工程学院，长春 130022
    2.长春大学 机械工程学院，长春 130022
    3.华南理工大学 机械与汽车工程学院，广州 510641
    4.长春汽车工业高等专科学校 产教融合发展中心，长春 130010
  • 收稿日期:2021-12-16 出版日期:2023-10-01 发布日期:2023-12-13
  • 通讯作者: 刘思远 E-mail:emmajingjing@jlu.edu.cn;liusiy@jlu.edu.cn
  • 作者简介:包昊菁（1986-），女，讲师，博士.研究方向：机器视觉.E-mail：emmajingjing@jlu.edu.cn
  • 基金资助:
    国家自然科学基金项目(52005213);吉林省科技发展计划项目(20220201040GX);长春市技术创新引导计划市属高校创新能力提高专项项目(21ST06)

Sprocket size measurement method based on machine vision

Hao-jing BAO1(),Si-yuan LIU1(),Zhen REN2,Yun-hui ZHANG1,Zheng-yi HU3,4,Yu-peng GE1   

  1. 1.School of Mechanical and Aerospace Engineering，Jilin University，Changchun 130022，China
    2.School of Mechanical Engineering，Changchun University，Changchun 130022，China
    3.School of Mechanical and Automotive Engineering，South China University of Technology，Guangzhou 510641，China
    4.Production and Education Integration Development Center，Changchun Automobile Industry College，Changchun 130010，China
  • Received:2021-12-16 Online:2023-10-01 Published:2023-12-13
  • Contact: Si-yuan LIU E-mail:emmajingjing@jlu.edu.cn;liusiy@jlu.edu.cn

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摘要：

由于链轮形状的限制及现场测量对效率的要求，现有的外参标定方法很难应用于链轮轮毂端面的外参标定。因此，本文提出了一种基于二次曲线不变性的外参标定方法，该方法将加工有同心圆环的圆柱体放置在链轮中心孔内，利用圆环上大、小圆及链轮轮毂孔的半径计算出3个圆所对应的方程系数，并以此为基础获得链轮轮毂端面的外参。根据链轮齿廓的形状特征，提出齿顶与齿根圆区域上最高点及最低点筛选模型，并利用最高点数组及最低点数组通过椭圆拟合获得直径。在实验中，将4个不同尺寸的链轮作为被测对象，并将采用本文测量方法获得的结果与三坐标测量仪获得的结果进行对比，结果表明，本文提出的链轮齿根圆与齿顶圆的直径测量误差小于40 μm。

关键词: 机器视觉, 链轮, 尺寸测量, 参数标定

Abstract:

Due to the limitation of sprocket shape and the requirement of on-site measurement for efficiency， the existing external parameter calibration methods are difficult to apply to the external parameter calibration of the hub face. The paper proposes an external parameter calibration method based on the invariance of quadratic curve. In this method， a cylinder machined with concentric rings is placed in the center hole of the sprocket， and the equation coefficients corresponding to the three circles are calculated by the radius of the large and small circles on the ring and the radius of the hub hole of the sprocket. The external parameters of the hub face can be obtained through the above parameters. According to the shape characteristics of the sprocket tooth profile， a screening model of the highest and lowest points on the tip and root circle regions is proposed， and the diameter is obtained by ellipse fitting using the highest point array and the lowest point array. In the experiment， four sprockets of different sizes are used as the measured objects， and the results obtained by the measurement method in this paper are compared with the results obtained by the three-coordinate measuring instrument. The experimental results show that the error of the measurement method in the paper is less than 40 μm.

Key words: machine vision, sprocket, size measurement, parameter calibration

中图分类号: 

  • TH164

图1

基于链轮端面的世界坐标系建立"

图2

圆环与链轮轮毂端面的成像关系"

图3

链轮端面与齿廓被测平面的空间关系"

图4

链轮最高、最低点筛选流程图（Step2）"

图5

链轮最高、最低点筛选流程图（Step3）"

表1

被测链轮主要尺寸 (mm)"

编号齿根圆直径齿顶圆直径
1#75.38582.574
2#53.16267.897
3#116.281131.511
4#230.154244.879

图6

被测链轮"

表2

用于标定的同心圆环尺寸 (mm)"

项目1#2#3#4#

外圆环直径

内圆环直径

9±0.0059±0.00530±0.00530±0.005
5±0.0055±0.00520±0.00520±0.005

图7

链轮尺寸测量实验现场图"

表3

实验设备及主要参数"

设备名称设备型号主要参数
计算机DELL-44060SIntel（R） Core（TM）-i5
相机MER-125-30UM分辨率：1292×964 pixel
镜头ComputerM2514-MP焦距：25 mm
背光源CCS LFL-200发光面积：200 mm ×180 mm

图8

摄像机内参标定图像"

表4

世界坐标与相机坐标的变换矩阵"

链轮编号坐标变换矩阵
1#R1=????0.9922????0.0888-0.0851-0.0812????0.9925????0.0888?????0.0924-0.0812????0.9922
2#R2=????0.9980????0.0436-0.0436-0.0417????0.9981????0.0436????0.0454-0.0417????0.9980
3#R3=????0.9960????0.0519-0.0523-0.0497????0.9971????0.0435????0.0541-0.0408????0.9970
4#R4=????0.9895????0.0951-0.0957-0.0912????0.9940????0.0456????0.0992-0.0365????0.9936

图9

共面标靶"

图10

边缘检测算法评价试验"

图11

齿根圆、齿顶圆对应边界点及拟合结果"

表5

链轮齿根圆直径测量结果 (mm)"

编号标准直径代数椭圆拟合几何椭圆拟合
测量值误差测量值误差

1#

2#

75.385

53.162

75.366

53.124

0.019

0.038

75.364

53.127

0.021

0.035

3#116.281116.2450.036116.2490.032
4#230.154230.1300.024230.1410.013

表6

链轮齿顶圆直径测量结果 (mm)"

编号标准直径代数椭圆拟合几何椭圆拟合
测量值误差测量值误差

1#

2#

82.574

67.897

82.554

67.859

0.020

0.038

82.556

67.931

0.018

0.034

3#131.511131.4750.036131.5440.033
4#244.879244.8630.016244.8570.022

表7

链轮齿根圆直径测量时间 (s)"

方法圆编号平均时间
1#2#3#4#
代数拟合7.346.457.858.237.47
几何拟合9.188.0810.9211.689.97

表8

链轮齿顶圆直径测量时间 (s)"

方法圆编号平均时间
1#2#3#4#
代数拟合6.134.966.286.966.08
几何拟合8.267.269.3410.328.80
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