基于ZYNQ的线激光轮廓传感器设计  

Design of Line Laser Contour Sensor Based on ZYNQ

作　　者：赵新闯 王化明[1] 杨雪峰[1] 徐轲 沈颖 ZHAO Xinchuang;WANG Huaming;YANG Xuefeng;XU Ke;SHEN Ying(College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)

机构地区：[1]南京航空航天大学机电学院,江苏南京210016

出　　处：《机械制造与自动化》2024年第2期157-161,共5页Machine Building & Automation

摘　　要：为了直接获取工件轮廓点云,设计一种基于ZYNQ可编程芯片的线激光轮廓传感器。以ZYNQ芯片为核心处理器,设计传感器的图像采集与处理硬件电路。根据相机畸变模型,通过双线性插值法矫正各像素点的灰度值,研究基于法向迭代的灰度重心法以提取激光条纹中心线,结合相机参数和激光光平面方程的标定,计算相机坐标系下激光条纹中心点的三维坐标。在ZYNQ芯片中实现上述算法的并行加速,进行工件轮廓扫描测试。结果表明:该传感器可得到工件的三维轮廓点云。To directly obtain the point cloud of workpiece contour,a line laser contour sensor based on ZYNQ fully programmable chip was designed.ZYNQ chip was applied as the core processor to design the circuit of image acquisition and processing.According to the distortion model of the camera,the gray value of each pixel was corrected by bilinear interpolation.The gray centroid method based on normal iteration was proposed to extract the centerline of laser stripe.Combined with the calibration of camera parameters and laser light plane equation,the 3D coordinates of the center point of the laser stripe in the camera coordinate system were calculated.The parallel acceleration of the above algorithm was realized with ZYNQ chip,and the workpiece contour scanning test was carried out.The results show that the sensor can obtain the 3D contour point cloud of the workpiece.

关 键 词：线激光轮廓传感器 ZYNQ 灰度重心法 中心线提取 点云 

分 类 号：TP212.1[自动化与计算机技术—检测技术与自动化装置]