CN100568280C - The Enhancement Method of structure light image and device - Google Patents
The Enhancement Method of structure light image and device Download PDFInfo
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- CN100568280C CN100568280C CNB2007100371957A CN200710037195A CN100568280C CN 100568280 C CN100568280 C CN 100568280C CN B2007100371957 A CNB2007100371957 A CN B2007100371957A CN 200710037195 A CN200710037195 A CN 200710037195A CN 100568280 C CN100568280 C CN 100568280C
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Abstract
The invention discloses a kind of Enhancement Method and device of structure light imaging, this method is come the enhancing of implementation structure light image by the method for stack, and step is that utilization structure light image intensifier obtains the background image that comprises structured light; Utilization structure light image intensifier obtains the background image that does not contain structured light; The background image that will comprise structured light deducts the background image that does not contain structured light, obtains structure light image; Repeat above step successively and obtain structure light image; Using a computer superposes to structure light image, until forming the final structure light image that strengthens.This device comprises structured light generator, CCD camera, computing machine, structured light controller.This Enhancement Method and device are simple and convenient, safe and reliable, particularly can in open operating environment, reduce background interference, strengthen the structure light image effect, brightness that in addition can also adjustment structure light, the brightness that reduces structure light image changes, thereby structure light image is more reasonably strengthened.
Description
Technical field
The present invention relates to the structure light imaging technology, more particularly, relate to a kind of Enhancement Method and device of structure light imaging, this method and apparatus can reduce environmental interference, strengthens structure light image.
Background technology
Structured light generally is made up of laser beam, and laser beam is artificial pure light, and the coherence is good, has the characteristics of single wavelength, concentration of energy.The structure light imaging technology is a Flame Image Process, and particularly a kind of important means and the method for image measurement technology are used in commercial measurement gradually.Structured light at present commonly used is a dot matrix class formation light, carries out imaging by known measurand being carried out single-point, multiple spot, straight line, illumination of curves projection.Structured light and measurand merge the back and become image, and owing to the difference of object, illuminating method and object's position, the image that obtains has some obvious variation, utilizes this specific character, can calculate parameters such as the position relevant with measurand, size.Owing on steel and iron parts measurement target plane,, interference is arranged again on every side owing to do not have the textural characteristics and the benchmark of reference, the utilization structure photoimaging carry out image identification and surveying work proper.But because laser energy high concentration, may damage human eye and skin, various strict regulations are arranged, (laser product has been carried out security classification as IEC and FDA, IEC is Class1 to 4, FDA is that Class I is to IV) in the industrial environment that has the people to operate, must use the low faint structured light of laser energy as far as possible, but change violent industry spot at surround lighting, there is lot of background light to disturb, as industrial intense illumination, half open type factory building sunshine, the shadow of object that moves, these disturb and can reduce in images the structured light and the contrast of background on every side, make structured light less, cause to be difficult to differentiate, make and effectively to carry out image identification and surveying work with the contrast of background on every side.
The luminous environment space that the main at present method that adopts is the sealing surveying work is stopped external context light and is disturbed, and perhaps improves the emissive power of laser, makes the brightness of laser image enough high.But because the luminous environment space is bigger, adopt closed space, need occupy very large production site, install very difficultly, and influence production safety; Increase substantially laser power and be easy to generate safety problem again, influence health.When measurand was large scale in addition, irradiation distance also can influence imaging effect.When if structured light is radiated on the closer measurand of distance, just brighter on image so, if when being radiated on the distant measurand of distance, the image that obtains is just relatively darker, and the brightness of the long line of structured light itself is also inhomogeneous, and middle bright, both sides are dark, increase the weight of the variation of structured light brightness in the image sometimes, produce serious difference and reduce the image processing effect.
Therefore, need a kind of Enhancement Method of new structure light imaging and device overcome the sealing place difficulty that prior art exists in the measurement environment of complexity big, install difficult and have in safety problem and the structure light imaging self shortcoming.
Summary of the invention
At the above-mentioned shortcoming that exists in the prior art, the purpose of this invention is to provide a kind of method and apparatus that strengthens structured light, this method and apparatus is simple, safety, can reduce environmental interference, strengthens structure light image.
For achieving the above object, the present invention adopts following technical scheme:
The concrete steps of the Enhancement Method of this structure light imaging are as follows:
A. utilization structure light image intensifier obtains the background image that comprises structured light, and described structure light image intensifier comprises structured light generator, CCD camera, computing machine and structured light controller, and this step comprises:
A1. keep measurand to fix;
A2. make the structured light controller produce the power supply of specifying specification by computer control, make the structured light generator produce structured light, structured light is radiated at and forms the structured light image on the measurand;
A3. use the CCD camera that measurand is taken pictures, and obtain the background image that comprises structured light by the image pick-up card of computing machine;
B. use described structure light image intensifier to obtain the background image that does not contain structured light, this step comprises:
B1. make structured light controller powered-down by computer control, the structured light generator cuts out, the structured light image on the measurand disappears;
B2. use the CCD camera that measurand is taken pictures, and obtain the background image that does not contain structured light by the image pick-up card of computing machine;
C. the background image that comprises structured light described in the steps A is deducted the background image that does not contain structured light described in the step B, obtain structure light image;
D. repeating step A, B, C successively obtain structure light image;
E. using a computer superposes to the structure light image described in structure light image described in the step C and the step D, until forming the final structure light image that strengthens.
In the described steps A 2, utilization structure optical controller control structure optical generator, thereby the brightness of adjustment structure light, the brightness that reduces structure light image changes:
Nearer or when shining when measurand with the brighter part of structured light, the dutycycle of the out-put supply of generation is reduced, the brightness of structured light is reduced;
Far away or when shining when measurand with the darker part of structured light, the dutycycle of the out-put supply of generation is improved, the brightness of structured light is improved.
The multiplicity of described step D is at least once.
Stacking fold in described step e number of times or structure light image according to the rules reaches requirement and sets:
Reach regulation stacking fold or structure light image and reach requirement, finish the enhancing of structure light image;
Do not reach regulation stacking fold or structure light image and do not reach requirement, continue to obtain structure light image and superpose,, finish the enhancing of structure light image until forming the final structure light image that strengthens with repeating described in the step D.
This device comprises structured light generator, CCD camera, computing machine, structured light controller,
Described structured light generator is a structured light light source, is connected to the structured light controller, and passes through the control of structured light controller, produces structured light;
Described CCD camera is connected to computing machine, and measurand is taken pictures;
Described structured light controller produces or powered-down, and the structured light generator is produced and closing structure light, and described structured light controller comprises:
Power supply input and normalization circuit to the protection of power supply travel direction and the over-voltage and over-current restriction of outside input, carry out standardization to input service voltage simultaneously and transform, and become the fixed voltage of standard;
The insulating power supply change-over circuit is isolated conversion with standardized power supply, offers the structured light controller, and the various interference and the structured light generator of self-structure optical controller and computing machine are kept apart in the future simultaneously, improves the reliability of system;
Control element and communication interface circuit by external control mode initialization signal, are determined the mode of operation of control element: under the communication modes, provide the switch command of power supply by serial communication; Under the I/O pattern, by the I/O signal choice structure light of outside, the switch of control structure photoelectric source; Control element is accepted outside setup parameter by the communication interface circuit; The communication interface circuit is converted to the digital level of control element inside the fiduciary level of communication interface;
Photoelectricity is isolated and the structured light power control circuit, receives the control signal that control element sends, and by the isolation of electric coupling, converts the control signal of structured light generator to, the output by metal-oxide-semiconductor control structure optical generator and closing;
Described computing machine is connected to the structured light controller, and the structured light controller is sent instruction, and image is edited subtract each other and superpose; Computing machine also is provided with image pick-up card, and the shooting of CCD camera is gathered, and obtains image.
Described structured light controller also has PWM EDM Generator of Adjustable Duty Ratio function, the control structure optical generator, the brightness of adjustment structure light, the brightness that reduces structure light image changes: nearer or when shining with the brighter part of structured light when measurand, the dutycycle of the out-put supply that the structured light controller produces reduces, and the brightness of structured light is reduced; Far away or when shining with the darker part of structured light, the dutycycle of the out-put supply that the structured light controller produces improves, and the brightness of structured light is improved when measurand.
The cycle of the dutycycle of described structured light controller is less than the scan period of CCD camera.
In technique scheme, this method is come the enhancing of implementation structure light image by the method for stack, and step is that utilization structure light image intensifier obtains the background image that comprises structured light; Utilization structure light image intensifier obtains the background image that does not contain structured light; The background image that will comprise structured light deducts the background image that does not contain structured light, obtains structure light image; Repeat above step successively and obtain structure light image; Using a computer superposes to structure light image, until forming the final structure light image that strengthens.This device comprises structured light generator, CCD camera, computing machine, structured light controller, and the structured light controller produces or powered-down, and the structured light generator is produced and closing structure light.This Enhancement Method and device are simple and convenient, safe and reliable, particularly can in open operating environment, reduce background interference, strengthen the structure light image effect, brightness that in addition can also adjustment structure light, the brightness that reduces structure light image changes, thereby structure light image is more reasonably strengthened.
Description of drawings
Fig. 1 is the schematic flow sheet of Enhancement Method of the present invention;
Fig. 2 is the principle schematic of Enhancement Method of the present invention;
Fig. 3 is the principle schematic of intensifier of the present invention;
Fig. 4 is the principle schematic of the structured light controller of intensifier of the present invention;
Fig. 5 is the circuit theory synoptic diagram of the structured light controller of intensifier of the present invention;
Fig. 6 is the principle schematic of structure controller adjustment structure luminance brightness of the present invention.
Embodiment
Further specify technical scheme of the present invention below in conjunction with drawings and Examples.
See also shown in Figure 1ly, the concrete steps of the Enhancement Method of structure light imaging of the present invention are: utilization structure light image intensifier obtains the background image ImageX that comprises structured light; Utilization structure light image intensifier obtains the background image ImageY that does not contain structured light then; The background image ImageX that will comprise structured light again deducts the background image ImageY that does not contain structured light, obtains structure light image ImageZ; Repeat above step n time then successively, n obtains n structure light image ImageZn more than or equal to 1; Using a computer at last superposes structure light image ImageZ and n structure light image ImageZn structure light image, until forming the final structure light image ImageS that strengthens.Stacking fold reaches requirement according to operation stipulated number or structure light image and sets.Be example to superpose twice below, earlier measurand is maintained fixed, computer control by intensifier makes the structured light controller produce the power supply of specifying specification then, make the structured light generator produce structured light, structured light is radiated at and forms the structured light image on the measurand, use the CCD camera that measurand is taken pictures, image pick-up card by computing machine obtains the background image ImageX1 that comprises structured light, see also shown in Figure 2, make structured light controller powered-down by computer control then, the structured light generator cuts out, and the structured light image on the measurand disappears; Reuse the CCD camera measurand is taken pictures, and obtain the background image ImageY1 that does not contain structured light by the image pick-up card of computing machine.Background image Image * 1 that will comprise structured light by computing machine deducts the background image ImageY1 that does not contain structured light, obtains structure light image ImageZ1.Repeat above step once, obtain to comprise the background image ImageX2 of structured light respectively, the background image ImageY2 and the structure light image ImageZ2 that do not contain structured light, use a computer then structure light image ImageZ1 and ImageZ2 are superposeed, because the method for stack can increase substantially the structure light intensity, and seldom increasing the intensity of noise, it is fairly obvious that the structure light image effect is strengthened.The utilization structure optical controller comes the control structure optical generator in addition, thereby the brightness of adjustment structure light, the brightness that reduces structure light image changes, nearer or when shining when measurand with the brighter part of structured light, the dutycycle of the out-put supply of generation is reduced, the brightness of structured light is reduced; Far away or when shining when measurand with the darker part of structured light, the dutycycle of the out-put supply of generation is improved, the brightness of structured light is improved.Thereby guaranteed the equilibrium of structured light, structure light image is more reasonably strengthened.
Embodiment 2
See also shown in Figure 3, the intensifier of this structure light image comprises structured light generator, CCD camera, computing machine, structured light controller, and the structured light generator is a structured light light source, is connected to the structured light controller, and the control by the structured light controller, produce structured light; The CCD camera is connected to computing machine, and measurand is taken pictures; The structured light controller produces or powered-down, and the structured light generator is produced and closing structure light; Computing machine is connected to the structured light controller, and the structured light controller is sent instruction, and image is edited subtract each other and superpose; Computing machine also is provided with image pick-up card, and the shooting of CCD camera is gathered, and obtains image, image is edited subtracted each other and superpose.See also shown in Figure 4ly, the structured light controller comprises: power supply input and normalization circuit, and to the protection of power supply travel direction and the over-voltage and over-current restriction of outside input, simultaneously input service voltage is carried out standardization and transform, become the fixed voltage of standard; The insulating power supply change-over circuit is isolated conversion with standardized power supply, offers the structured light controller, and the various interference and the structured light generator of self-structure optical controller and computing machine are kept apart in the future simultaneously, improves the reliability of system; Control element and communication interface circuit by external control mode initialization signal, are determined the mode of operation of control element: under the communication modes, provide the switch command of power supply by serial communication; Under the I/O pattern, by the I/O signal choice structure light 1-4 of outside, the switch of control structure photoelectric source; No matter which kind of mode of operation control element is accepted outside setup parameter by the communication interface circuit; The communication interface circuit is converted to communication interface RS232 fiduciary level with the digital level of control element inside; Photoelectricity is isolated and the structured light power control circuit, receives the control signal that control element sends, and by the isolation of electric coupling, converts the control signal of structured light generator to, the output by metal-oxide-semiconductor control structure optical generator and closing.See also shown in Figure 5; in power supply input and the normalization circuit; suppress diode D6 and capacitor C 15 formation input service power protecting circuits from the fuse F1 that resets, transition; from the fuse F2 that resets; transition suppresses diode D1 and capacitor C 10 constitutes the structured light power protecting circuit, prevents overcurrent, overvoltage and opposite direction.Normalization circuit comprises resistance R 5, R15, R16, R17, inductance L 1, diode D7, capacitor C 2, C4, C6 and power source conversion control chip U2, and this circuit can rise to input voltage a fixing normal voltage.As: by resistance R 5, R17 normal voltage is decided to be 24V, the power supply that is lower than 24V from the outside input can be raised to 24V so.Though booster circuit can not step-down, because the voltage of structured light is usually less than 24V, the power supply of structured light can be used as the working power of controller so, can reduce the complicacy of system like this.Certainly, if the structured light power supply is more special, perhaps a little less than the load capacity, working power and structured light power supply can be separated.The isolated from power change-over circuit comprises insulating power supply module U1 and capacitor C 1, the normal voltage after boosting can be converted to the operating voltage of internal system, isolates the interference from the outside simultaneously.C7 in control element and the interface circuit and R20 constitute reset circuit, and C8, C9, X1 constitute clock circuit, and resistance R 21, R22 constitute the external input signal pull-up circuit.From the communication signal of outer computer, through the communication interface circuit, be sent among the controller, these signals comprise: the duty cycle parameters of each structured light passage, the recurrence interval parameter, and the Push And Release of other each passages is set.Owing under the communication modes, need certain data-switching time, so also have the I/O mode of operation, control element is according to external input signal ConIn0～3 control structure photoelectric sources, reduced communication switching time.Mode of operation is selected by control model setting signal Com_Set, when the Com_Set signal when low, controller is the I/O switching mode, when not having external input signal, or Com_Set is input as when high, device entry communication control model, and can reduce the control wiring this moment.The control signal of photoelectricity isolation and structured light power control circuit self-controller in future is through the current limliting of resistance R 24, R25, R26, R27, drive optocoupler O1, O2, O3, O4, be sent to structured light power supply one side, comparer U4A, U4B, U4C, U4D detect the signal that optocoupler sends, the effect of process pull-up resistor R1, R2, R3, R4 drives the output of high-power MOS tube P1, P2, P3, P4 control structure optical generator and closes then, and metal-oxide-semiconductor can select the smaller model of internal resistance to improve driveability.Diode D2, D3, D4, D5 protection controller are avoided the influence of external impact voltage, protection system safety.The output voltage of metal-oxide-semiconductor is connected with the structure light source of outside by interface J1.See also shown in Figure 6, the structured light controller also has PWM EDM Generator of Adjustable Duty Ratio function, the control structure optical generator, thereby the brightness of adjustment structure light, the brightness that reduces structure light image changes: nearer or when shining with the brighter part of structured light when measurand, the dutycycle of the out-put supply that the structured light controller produces reduces, and the brightness of structured light is reduced; Far away or when shining with the darker part of structured light, the dutycycle of the out-put supply that the structured light controller produces improves, and the brightness of structured light is improved when measurand.The cycle of the dutycycle of the power supply that the structured light controller produces is much smaller than the scan period of CCD camera, can make structure light image stable like this, avoid scintillation, thereby improve the quality of obtaining the measuring object image under the industrial environment, improve the accuracy that image measures.
Those of ordinary skill in the art will be appreciated that, above embodiment is used for illustrating that patent of the present invention makes use-case, and be not the qualification that is used as patent of the present invention, as long as in the connotation scope of patent of the present invention, all will drop in claims scope of this patent variation, the modification of the above embodiment.
Claims (7)
1. the Enhancement Method of a structure light image is characterized in that,
The concrete steps of this method are as follows:
A. utilization structure light image intensifier obtains the background image that comprises structured light, and described structure light image intensifier comprises structured light generator, CCD camera, computing machine and structured light controller, and this step comprises:
A1. keep measurand to fix;
A2. make the structured light controller produce the power supply of specifying specification by computer control, make the structured light generator produce structured light, structured light is radiated at and forms the structured light image on the measurand;
A3. use the CCD camera that measurand is taken pictures, and obtain the background image that comprises structured light by the image pick-up card of computing machine;
B. use described structure light image intensifier to obtain the background image that does not contain structured light, this step comprises:
B1. make structured light controller powered-down by computer control, the structured light generator cuts out, the structured light image on the measurand disappears;
B2. use the CCD camera that measurand is taken pictures, and obtain the background image that does not contain structured light by the image pick-up card of computing machine;
C. the background image that comprises structured light described in the steps A is deducted the background image that does not contain structured light described in the step B, obtain structure light image;
D. repeating step A, B, C successively obtain structure light image;
E. using a computer superposes to the structure light image described in structure light image described in the step C and the step D, until forming the final structure light image that strengthens, finishes the enhancing structure light imaging.
2. the Enhancement Method of structure light image as claimed in claim 1 is characterized in that,
In the described steps A 2, utilization structure optical controller control structure optical generator, thereby the brightness of adjustment structure light, the brightness that reduces structure light image changes:
Nearer or when shining when measurand with the brighter part of structured light, the dutycycle of the out-put supply of generation is reduced, the brightness of structured light is reduced;
Far away or when shining when measurand with the darker part of structured light, the dutycycle of the out-put supply of generation is improved, the brightness of structured light is improved.
3. the Enhancement Method of structure light image as claimed in claim 1 is characterized in that:
The multiplicity of described step D is at least once.
4. the Enhancement Method of structure light image as claimed in claim 1 is characterized in that:
Stacking fold in described step e number of times or structure light image according to the rules reaches requirement and sets:
Reach regulation stacking fold or structure light image and reach requirement, finish the enhancing of structure light image;
Do not reach regulation stacking fold or structure light image and do not reach requirement, continue to superpose,, finish the enhancing of structure light image until forming the final structure light image that strengthens with the structure light image that repeats to obtain described in the step D.
5. the intensifier of a structure light image is characterized in that:
This device comprises structured light generator, CCD camera, computing machine, structured light controller,
Described structured light generator is a structured light light source, is connected to the structured light controller, and passes through the control of structured light controller, produces structured light;
Described CCD camera is connected to computing machine, and measurand is taken pictures;
Described structured light controller produces or powered-down, and the structured light generator is produced and closing structure light, and described structured light controller comprises:
Power supply input and normalization circuit to the protection of power supply travel direction and the over-voltage and over-current restriction of outside input, carry out standardization to input service voltage simultaneously and transform, and become the fixed voltage of standard;
The insulating power supply change-over circuit is isolated conversion with standardized power supply, offers the structured light controller, and the various interference and the structured light generator of self-structure optical controller and computing machine are kept apart in the future simultaneously, improves the reliability of system;
Control element and communication interface circuit by external control mode initialization signal, are determined the mode of operation of control element: under the communication modes, provide the switch command of power supply by serial communication;
Under the I/O pattern, by the I/O signal choice structure light of outside, the switch of control structure photoelectric source;
Control element is accepted outside setup parameter by the communication interface circuit; The communication interface circuit is converted to the digital level of control element inside the fiduciary level of communication interface;
Photoelectricity is isolated and the structured light power control circuit, receives the control signal that control element sends, and by the isolation of electric coupling, converts the control signal of structured light generator to, the output by metal-oxide-semiconductor control structure optical generator and closing;
Described computing machine is connected to the structured light controller, and the structured light controller is sent instruction, and image is edited subtract each other and superpose; Computing machine also is provided with image pick-up card, and the shooting of CCD camera is gathered, and obtains image.
6. the intensifier of structure light image as claimed in claim 5 is characterized in that:
Described structured light controller also has PWM EDM Generator of Adjustable Duty Ratio function, control structure optical generator, thereby the brightness of adjustment structure light, and the brightness that reduces structure light image changes:
Nearer or when shining with the brighter part of structured light, the dutycycle of the out-put supply that the structured light controller produces reduces, and the brightness of structured light is reduced when measurand;
Far away or when shining with the darker part of structured light, the dutycycle of the out-put supply that the structured light controller produces improves, and the brightness of structured light is improved when measurand.
7. the intensifier of structure light image as claimed in claim 6 is characterized in that:
The cycle of the dutycycle of described structured light controller is less than the scan period of CCD camera.
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| KR101248909B1 (en) * | 2010-01-05 | 2013-03-28 | 삼성전자주식회사 | Apparatus for acquiring 3D information and method for driving light source thereof, and system for acquiring 3D information |
| CN105451011B (en) * | 2014-08-20 | 2018-11-09 | 联想(北京)有限公司 | The method and apparatus of regulation power |
| WO2019080934A1 (en) * | 2017-10-27 | 2019-05-02 | Oppo广东移动通信有限公司 | Image processing method and device as well as electronic device |
| CN110376606A (en) * | 2019-07-26 | 2019-10-25 | 信利光电股份有限公司 | Structure light processing method and structure optical mode group |
| CN114040180B (en) * | 2020-08-26 | 2023-07-25 | 苏州中科全象智能科技有限公司 | Projection brightness control method for 3D structured light camera |
| CN113822818B (en) * | 2021-09-28 | 2022-08-12 | 合肥的卢深视科技有限公司 | Speckle extraction method, device, electronic device, and storage medium |
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| US4933541A (en) * | 1989-06-29 | 1990-06-12 | Canadian Patents And Development Ltd. - Societe Canadienne Des Brevets Et D'exploitation Limitee | Method and apparatus for active vision image enhancement with wavelength matching |
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