CN105547191B - A kind of colored 3D measuring systems - Google Patents
A kind of colored 3D measuring systems Download PDFInfo
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- CN105547191B CN105547191B CN201510937208.0A CN201510937208A CN105547191B CN 105547191 B CN105547191 B CN 105547191B CN 201510937208 A CN201510937208 A CN 201510937208A CN 105547191 B CN105547191 B CN 105547191B
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/2545—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object with one projection direction and several detection directions, e.g. stereo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/2509—Color coding
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Abstract
The invention provides a kind of colored 3D measuring systems, it is characterised in that including：Lighting device, 3D measurements and texture collection device, sequential control circuit.Lighting circuit is used for projection ray to testee, 3D measurements and texture collection device are used for the image for obtaining testee, sequential control circuit is connected to lighting device and 3D measurements and texture collection device, for controlling lighting device and the operation sequential of 3D measurements and texture collection device.
Description
Technical field
The present invention relates to a kind of colored 3D measuring systems.
Background technology
The binocular that three-dimensional measurement is mainly formed using two video cameras or a video camera with optics mirror-lens system is stood
Body vision sensor, the multiple image of the same space object is obtained from diverse location or angle shot, is based on principle of parallax
The three-dimensional geometric information of object can be obtained, rebuilds 3D shape and the position of surrounding scene.Three-dimensional measurement generally has following several
Method：
Firstth, structure light vision e measurement technology.Mainly by projecting the structure light of corresponding modes to measurand, by imaging
Machine shooting deformation optical strip image, the three-dimensional information of body surface is obtained based on optical triangulation theory.The technology turns into be solved
One of effective ways of many on-line measurements such as object surface appearance measurement, spatial position measuring, three-dimensional motion information acquisition, tool
There is the features such as non-contact, dynamic response is fast, system flexibility is good, be widely used in Product rapid design and processing quality control, inverse
To engineering and the numerous areas such as automatically control.
Secondth, phase shift measurement technique (PMP).It is to calculate each picture using several grating fringe images of certain phase difference
The phase value of element, the elevation information of object is then calculated according to phase value.Detailed process is as follows：Thrown first to testee surface
Grating fringe is penetrated, the striped projected is deformed by the shape modulation of body surface, then the stripe pattern of deformation is entered
Row processing, demodulates the phase information for representing object height, finally calculated by Carrier-smoothed code and geometry be obtained with by
Survey the three-dimensional geometric information of body surface.PMP methods need the grating fringe image at least more than three width to carry out phasometer
Calculate, while testee is immovable in shooting process, is generally suitable for the three-dimensional measurement of stationary body.
3rd, cofocus scanning technology.Based on the principle of an illumination, point imaging and point 3 points of conjugation of detection, work as measured surface
When being conjugated with test surface, the light energy that the picture point on point probe is minimum, and point probe receives is maximum；When measured surface is inclined
During from object point, the picture point on detector becomes big, and the light energy that point probe receives diminishes.Object point and tested surface are controlled during measurement
Overlap, ensure that the output valve of detector is maximum, the pattern of measured surface can be depicted.Confocal measurement method (such as confocal laser
Flying-spot microscope) due to its high accuracy, high-resolution and be easily achieved the digitized unique advantage of three-dimensional imaging it is biomedical,
It is used widely in the fields such as semiconductor detection.
4th, digital speckle technology, speckle image is recorded with digital method, by speckle image progress before and after deformation
Match somebody with somebody, to obtain the deformation data of object under test, that is, digital speckle correlation measurement method.Here " image " represents all anti-
Answer the visual carrier of object plane information, including the other forms of laser speckle image, artificial speckle image and reactant region feature
Image.Due to digital speckle correlation measurement technology have it is fairly simple to the acquisition mode of initial data, measuring environment is wanted
Ask it is low, can direct measurement displacement and strain two group informations, be easy to implement the advantages that Automatic survey, material stress strain survey
It is used widely in the fields such as amount, structure endurance analysis.
In addition, also disclosing that a kind of hand-held scanner device in CA2686904A1, can be completed under two kinds of operator schemes
3-D scanning.
But above-mentioned method for three-dimensional measurement is typically only capable to obtain the three-dimensional geometric information of object under test, and can not provide complete
Colour information.In order to obtain colour information, also occur certain methods in the prior art, it is specific as follows：
CN104251995A is disclosed in the introduction to carry out two dimension to scene using color camera and takes pictures, then by colour
Photo is synthesized with three dimensional point cloud, obtains color three dimension cloud data indirectly, generates colorful three-dimensional model.
CN104776815A is further disclosed during measuring three-dimensional profile in the introduction, while measures object
Two kinds of solution methods of colouring information：When projection infrared structure light, in the color data phase for obtaining object color information
IR-cut filter plate is added before machine；Second, by way of stroboscopic structure light, first projecting structural optical, while shoot structure
The image of light is used to calculate three-D profile, turns off the colouring information that structure light shoot coloured image is used to calculate object.
Further provided in CN102980526A only with black and white camera obtain coloured image spatial digitizer and its
Scan method.Its disclosed spatial digitizer, including a projecting apparatus, at least one black and white camera and a control system.Institute
State projecting apparatus and project three kinds of monochromatic light of red, green, blue to scanned object respectively.When the projecting apparatus projects often to scanned object
During kind monochromatic light, at least one black and white camera shoots multiple images of scanned object from multiple angles respectively.The control
System processed can throw the gray value for the image that red light collects as the value of red channel using projecting apparatus, throw green light and collect
Image value of the gray value as green channel, the gray value of the image collected using throwing blue light is used as blue channel
Value, is worth to complete coloured image, so as to obtain the coloured image of the multiple angles of scanned object by the triple channel combined.
CN202074952U technical principle is similar with CN102980526A, wherein further highlighting using only single-phase
The three-dimensional appearance and color texture of machine-single projector obtain system.
A kind of Aristogrid is disclosed in CN1426527A, including two cameras and two projectors, projector
In an optical grating element for being used to project coding pattern on target object surface, another is used to obtain the line of target object
Manage information.
The present invention is namely based on digital speckle technology and realizes that three-dimensional data obtains, and still, the data so obtained can not carry
For full color information, therefore, when needing colored structures, pass through the image that texture information camera gathers and three-dimensional data phase
Match somebody with somebody, you can obtain the three-dimensional object structure of colour.
The content of the invention
It is an object of the invention to provide one kind to minimize colored 3D measuring apparatus, be mainly used in as human oral cavity tooth or its
The color three dimension data acquisition in its limited space place.
The invention provides a kind of colored 3D measuring systems, it is characterised in that including：Lighting device, 3D measurements and texture
Harvester, sequential control circuit.Lighting circuit is used for projection ray and is used for testee, 3D measurements and texture collection device
The image of testee is obtained, sequential control circuit is connected to lighting device and 3D measurements and texture collection device, for controlling
Lighting device and the operation sequential of 3D measurements and texture collection device.
Lighting device includes light source, the first egative film, the second egative film, projection lens, spectroscope, rotary shaft.
First egative film is code film, and the second egative film is white light egative film.Light source is used to illuminate the first egative film and the second egative film.
First egative film and the second egative film are prescribed on the rotary shaft.Rotary shaft can rotate, so that the first egative film
Or second egative film be located in the light path of light source.
Projection lens is used to the first egative film being illuminated and the second egative film being projected out.Spectroscope is divided for half-reflection and half-transmission
Mirror, can either allow some light to transmit, the half-reflection and half-transmission spectroscope that can allow for another part light to reflect again.Projection lens
With spectroscope in same light path.
What light source was sent illuminates the light path of the first egative film and the second egative film light identical after spectroscope respectively.
Sequential control circuit, it is connected to lighting device and 3D measurements and texture collection device.
Within the period 1, the light source of sequential control circuit control lighting device illuminates the first egative film, so as to by projection lens
Head launches the first egative film, forms coding pattern, and Synchronization Control 3D measurements and texture collection device obtain the first picture number
According to.
Within second round, the light source of sequential control circuit control lighting device illuminates the second egative film, so as to by projection lens
Head launches the second egative film, forms homogenous white light, and Synchronization Control 3D measurements and texture collection device obtain the second picture number
According to.
Wherein, the first image is the view data for generating three-dimensional data, and the second image is testee color texture
View data.
The present invention has following technique effect：
1, using digital speckle measuring method, there is the characteristics of speed is fast, precision is high, can be applied to dynamic change target
Measurement.
2, the surface color and polish texture of three-dimensional body is matched using color texture camera, 3 D color object data can be achieved
Obtain.
3, the design of miniaturization can be completed, the equipment application can be made in the three-dimensional vision information in limited space place.
Brief description of the drawings
Fig. 1 is the system assumption diagram of the colored 3D measuring systems of the present invention；
Fig. 2A -2B are according to the 3D measurements of the present invention and indulging for the first embodiment of texture collection device and projection lens
To sectional drawing；
Fig. 3 A are according to the 3D measurements of the present invention and the longitudinal direction of the second embodiment of texture collection device and projection lens
Sectional drawing；
Fig. 3 B are according to the 3D measurements of the present invention and the longitudinal direction of the 3rd embodiment of texture collection device and projection lens
Sectional drawing；
Fig. 3 C are according to the 3D measurements of the present invention and the longitudinal direction of the 4th embodiment of texture collection device and projection lens
Sectional drawing；
Fig. 3 D are according to the 3D measurements of the present invention and the longitudinal direction of the 5th embodiment of texture collection device and projection lens
Sectional drawing；
Fig. 4 is the light channel structure schematic diagram according to the first embodiment of the lighting device of the present invention；
Fig. 5 is the light channel structure schematic diagram according to the second embodiment of the lighting device of the present invention；
Fig. 6 A-6C are the light channel structure schematic diagrames according to the 3rd embodiment of the lighting device of the present invention；
Fig. 7 A-7D are the light channel structure schematic diagrames according to the 4th embodiment of the lighting device of the present invention；
Fig. 8 A-8B are the light channel structure schematic diagrames according to the 5th embodiment of the lighting device of the present invention；
Fig. 9 A-9B are the light channel structure schematic diagrames according to the 6th embodiment of the lighting device of the present invention；
Figure 10 A- Figure 10 B are the light channel structure schematic diagrames according to the lighting device using grating egative film of the present invention；
Figure 11 is the logical schematic according to some embodiment of the sequential control circuit of the present invention.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, the present invention will be made further with reference to accompanying drawing
It is described in detail.This description is to describe specific implementation consistent with the principles of the present invention by way of example, and not limitation
Mode, the description of these embodiments is detailed enough, to enable those skilled in the art to put into practice the present invention, is not being taken off
Other embodiment can be used in the case of from scope and spirit of the present invention and can change and/or replace each key element
Structure.Therefore, the following detailed description should not be understood from restrictive, sense.
Referring to Fig. 1, colored 3D measuring systems of the invention, including：Lighting device 200,3D measurements and texture collection device
100th, sequential control circuit 300, lighting device 200 further comprise projection lens 210.Sequential control circuit 300, is connected to photograph
Bright device 200 and 3D measurement and texture collection device 100.Within the period 1, sequential control circuit 300 controls lighting device
200 projection coding patterns, and Synchronization Control 3D measurements and texture collection device 100 obtain the first view data；In second week
In phase, sequential control circuit 300 controls lighting device 200 to project white light, and Synchronization Control 3D measurements and texture collection device
100 obtain the second view data.First image is the view data for generating three-dimensional data, and the second image is measured object sports lottery ticket
The view data of pigment figure reason.Obviously, period 1 and second round do not have temporal sequencing, i.e. those skilled in the art
It can fully understand that the preferred embodiment can also obtain the second view data within the period 1, be obtained within second round
First view data.
Fig. 2A -2B are according to the 3D measurements of the present invention and indulging for the first embodiment of texture collection device and projection lens
To sectional drawing, Fig. 4 is the light channel structure schematic diagram according to the first embodiment of the lighting device of the present invention.Below with reference to figure
2A-2B and Fig. 4 describes the first preferred embodiment of the present invention in detail.
As shown in Figure 2 A, it is single to include the first monochrome cameras 110, second for 3D of the invention measurement and texture collection device 100
Form and aspect machine 120 and color camera 130.Wherein, the first monochrome cameras 110 and the second monochrome cameras 120 are used to obtain the first image
Data, color camera 130 are used to obtain the second view data.The model of first monochrome cameras 110 and the second monochrome cameras 120
And/or parameter be able to can also be differed with identical, but it is preferably identical.
Preferably, the first monochrome cameras 110, the second monochrome cameras 120 and color camera 130 use telecentric beam path mirror
Head.
For the position relationship of projection lens, monochrome cameras and color camera, a kind of preferable embodiment is as schemed
Shown in 2A, including：Projection lens is placed on centre, and the first monochrome cameras and the second monochrome cameras are located at the left and right of projection lens
Or upper and lower both sides, color camera are located at the up/down portion or left/right portion of projection lens accordingly.Preferable another embodiment
As shown in Figure 2 B, including：Projection lens is placed on centre, and the first monochrome cameras, the second monochrome cameras and color camera are put
Put on 8 points, 4 points and 12 points of position, the line with projection lens is into 120 degree of angles.Obviously, the position shown in Fig. 2A and Fig. 2 B
The relation of putting is illustrative, and not restrictive.For example, projection lens can not also be located at centre with centrally located
Position；For another example, when projection lens is in an intermediate position, the first monochrome cameras, the second monochrome cameras and color camera and projection
The distance between camera lens can be with identical, can also be different.It is pointed out that those skilled in the art have the ability according to coloured silk completely
The mechanical design requirements of color 3D measuring systems, adjustment projection lens, the position relationship of monochrome cameras and color camera are so as to reaching
3D measurements same or similar with position relationship shown in Fig. 2A and Fig. 2 B and texture collection function, therefore projection lens, monochromatic phase
The diverse location relation of machine and color camera each falls within protection scope of the present invention.
Moreover, those skilled in the art can also fully understand that 3D measurements of the invention shown in Fig. 3 A-3D and texture are adopted
Second to the 5th embodiment of acquisition means and projection lens also defers to described above, therefore in the explanation of corresponding embodiment
Repeat no more.
As shown in figure 4, the lighting device 200 of the present invention includes the first lighting unit, the second lighting unit, projection lens
210th, half-reflection and half-transmission spectroscope 220.Wherein, the first lighting unit includes the first light source 232, the first egative film 234, and the second illumination is single
Member includes secondary light source 236, the second egative film 238.The model and/or parameter of first light source 232 and secondary light source 236 can phases
Together, can also differ, but it is preferably identical.First light source and secondary light source are preferably LED light source.
First egative film 234 is code film, coding preferably using can by single frames gather can just generate three-dimensional data
Coding, with improve the first image acquisition efficiency.It is furthermore preferred that coding uses speckle, corresponding code film is speckle bottom
Piece, so as to suitable for wider material or color surface.Second egative film 238 is white light egative film, preferably even using having
The light transmissive material piece of light action, such as frosted glass plate etc..Obviously, the light source shown in Fig. 4 and egative film position relationship be exemplary,
It is and nonrestrictive.For example, the position of the first egative film 234 and the second egative film 238 can be with as shown in figure 4, can also the two exchange
Position；The position of first light source 232 and secondary light source 236 can be with as shown in figure 4, can also the two transposition.
Projection lens 210 is used to go out to form structure light by coding pattern/White Light Projection on egative film.
In the first preferred embodiment, sequential control circuit 300 is electrically connected to lighting device 200 and 3D measurements and texture
Harvester 100.Specifically, sequential control circuit 300 is electrically connected at least to the first list of 3D measurements and texture collection device 100
Form and aspect machine 110, the second monochrome cameras 120 and color camera 130；Sequential control circuit 300 is also electrically connected at least to lighting device
200 the first light source 232 and secondary light source 236.Within the period 1, sequential control circuit 300 drives the first light source 232 to illuminate
First egative film 234, while control the first monochrome cameras 110 and the second monochrome cameras 120 to obtain the first view data.In second week
In phase, sequential control circuit 300 drives secondary light source 236 to illuminate the second egative film 238, while controls color camera 130 to obtain the
Two view data.
As shown in figure 11, sequential control circuit of the invention include controller, gyroscope, for drive the first light source the
One drive circuit, for driving the second drive circuit of secondary light source.Under the synchronization of controller, two monochrome cameras and colour
Camera alternately carries out IMAQ to two light source images, in the current data of IMAQ moment controller record gyroscope.
Controller is communicated with main frame, and the view data of collection is transmitted under the control of main frame.Completed in main frame at sequence judgement
The complicated algorithm such as reason and calculating, realize that real-time image mosaic and display are restored.Controller can be implemented as FPGA, single-chip microcomputer or
Other any type of processors or microprocessor.
Half-reflection and half-transmission spectroscope 220 can allow for another part light to reflect again for that some light can either be allowed to transmit
Spectroscope.For example, half-reflection and half-transmission spectroscope can be that is, under first voltage, it shows as by voltage-controlled spectroscope
Diaphotoscope, under second voltage, it shows as speculum；Further, sequential control circuit 300 also with half-reflection and half-transmission spectroscope
Electrical connection, provide first/second voltage or the second/the first to half-reflection and half-transmission spectroscope within period 1 and second round respectively
Voltage.Preferably, half-reflection and half-transmission spectroscope is realized by plating spectro-film；In this case, sequential control circuit 300 need not be with half
Anti- semi-transparent spectroscope electrical connection, so as on the premise of corresponding function is completed, save circuit arrangement.Preferably, transmitted ray
The 10%-90% of whole light is accounted for, reflection light accounts for the 90%-10% of whole light.It is furthermore preferred that transmitted ray accounts for whole light
The 40%-60% of line, reflection light account for the 60%-40% of whole light.Most preferably, transmitted ray and reflection light are complete
The 50% of portion's light.
In the first preferred embodiment, the place plane of the first egative film 234 is vertical with the place plane of the second egative film 238, and half
The anti-semi-transparent place plane of spectroscope 220 with the place plane of the first egative film 234 in angle of 45 degrees, where half-reflection and half-transmission spectroscope 220
Plane and the place plane of the second egative film 238 are also in angle of 45 degrees.Moreover, the first light source 232, secondary light source 236 and half-reflection and half-transmission
Spectroscope 220 is placed in place so that the light for the light that the light and secondary light source 236 that the first light source 232 is sent are sent
Road is identical after half-reflection and half-transmission spectroscope 220, so as to ensure the preferred embodiment than disclosed in CN1426527A
Technical scheme have more preferable homogeneity, that is, enable to intensity of illumination to be consistent, without adjust camera exposure parameter.
The 3D measurements of the present invention and the second of texture collection device and projection lens are introduced to the below in conjunction with Fig. 3 A-3D
Five embodiments, repeated no more with first embodiment identical technology contents.
Fig. 3 A are according to the 3D measurements of the present invention and the longitudinal direction of the second embodiment of texture collection device and projection lens
Sectional drawing.As shown in Figure 3A, 3D of the invention measurement and texture collection device 100 include monochrome cameras 140 and color camera
150。
In the embodiment, sequential control circuit 300 is connected to monochrome cameras 140 and color camera 150.In the period 1
Interior, sequential control circuit 300 controls monochrome cameras 140 and color camera 150 to obtain the first view data；Within second round,
Sequential control circuit 300 controls color camera 150 to obtain the second view data.
Compared with first embodiment, by the multiplexing of color camera 150 in the embodiment, so as to reduce a phase
Machine, hardware configuration is simplified, reduce the volume of 3D measurements and texture collection device 100.
Fig. 3 B are according to the 3D measurements of the present invention and the longitudinal direction of the 3rd embodiment of texture collection device and projection lens
Sectional drawing.As shown in Figure 3 B, it is colored to include the first color camera 160, second for 3D of the invention measurement and texture collection device 100
Camera 170.
In the embodiment, sequential control circuit 300 is connected to the first color camera 160 and the second color camera 170.
In period 1, sequential control circuit 300 controls the first color camera 160 and the second color camera 170 to obtain the first picture number
According to；Within second round, 300 sequential control circuits control the first color camera 160 or the second color camera 170 to obtain the second figure
As data.
Still it can be used after a color camera loss of function compared with aforementioned embodiments, in the embodiment another
Individual color camera obtains the second view data, has fault tolerance.
Fig. 3 C are according to the 3D measurements of the present invention and the longitudinal direction of the 4th embodiment of texture collection device and projection lens
Sectional drawing.As shown in Figure 3 C, 3D of the invention measurement and texture collection device 100 include monochrome cameras 180.
In the embodiment, sequential control circuit 300 is connected to monochrome cameras 180.Within the period 1, SECO electricity
Road 300 controls monochrome cameras 180 to obtain the first view data；Within second round, sequential control circuit 300 controls monochrome cameras
180 obtain the second view data.Using monochrome cameras obtain the mode of coloured image in CN102980526A and
It is discussed in detail in CN202074952U, is fully introduced into herein.
Compared with foregoing two embodiment, pass through the multiplexing of monochrome cameras in the embodiment, it is only necessary to which a camera is
3D measurements and texture collection function can be completed, further simplify hardware configuration, reduces 3D measurements and texture collection device
Volume.
Fig. 3 D are according to the 3D measurements of the present invention and the longitudinal direction of the 5th embodiment of texture collection device and projection lens
Sectional drawing.As shown in Figure 3 D, 3D of the invention measurement and texture collection device 100 include color camera 190.
In the embodiment, sequential control circuit 300 is connected to color camera 190.Within the period 1, SECO electricity
Road 300 controls color camera 190 to obtain the first view data；Within second round, sequential control circuit 300 controls color camera
190 obtain the second view data.
Compared with aforementioned embodiments, monochrome cameras is replaced by using color camera in the embodiment, shortened
The time repeatedly taken pictures is needed when obtaining color texture.
The second to the 6th embodiment of the lighting device of the present invention is introduced below in conjunction with Fig. 5-10, with the first embodiment party
Formula identical technology contents repeat no more.
Fig. 5 is the light channel structure schematic diagram according to the second embodiment of the lighting device of the present invention.As shown in figure 5, according to
Bright device 200 includes projection lens 210, half-reflection and half-transmission spectroscope 220, two-way light source 246, the first egative film 222, the second egative film
224th, the first speculum 242, the second speculum 244.In the embodiment, the place plane of the first egative film 222 and the second egative film 224
Place plane is vertical, the place plane of half-reflection and half-transmission spectroscope 220 and the place plane of the first egative film 234 in angle of 45 degrees, half anti-half
Also in angle of 45 degrees, half-reflection and half-transmission spectroscope 220, first is anti-for saturating the place plane of spectroscope 220 and the place plane of the second egative film 224
It is parallel to penetrate mirror 242, the place plane of the second speculum 244.First speculum 242 is placed on sent two-way light source 246
Light reflection is illuminated on the first position of the first egative film 222, and the second speculum 244 is placed on sent two-way light source 246
Light reflection is illuminated on the second place of the second egative film 224.
In the embodiment, within the period 1, sequential control circuit 300 drives two-way light source 246 to send towards first
The light of speculum 242, to illuminate the first egative film 222.Within second round, sequential control circuit 300 drives two-way light source 246 to send out
Go out the light towards the second speculum 244, to illuminate the second egative film 224.
Fig. 6 A-6C are the light channel structure schematic diagrames of the 3rd embodiment of the lighting device of the present invention.Such as Fig. 6 A-6C institutes
Show, lighting device 200 includes projection lens 210, half-reflection and half-transmission spectroscope 220, two-way light source 256, the first egative film 222, second
Egative film 224, the first speculum 252, the second speculum 254.In the embodiment, the place plane of the first egative film 222 and the second bottom
The place plane of piece 224 is vertical, the place plane of half-reflection and half-transmission spectroscope 220 and the place plane of the first egative film 222 in angle of 45 degrees, half
The anti-semi-transparent place plane of spectroscope 220 and the place plane of the second egative film 224 are also in angle of 45 degrees.
In the embodiment, the place plane of the first speculum 252 and the place plane of the second speculum 254 are vertical, so that
The second egative film 224 can be illuminated after the first speculum 252 and the second speculum 254 by obtaining the light that two-way light source 256 is sent.It is excellent
Choosing, in embodiment as shown in Figure 6A, the place plane of the first speculum 252 is with the place plane of the first egative film 222 into 45 degree
Angle, the place plane of the second speculum 254 and the place plane of the second egative film 224 are in angle of 45 degrees.In another embodiment, as schemed
Shown in 6B-6C, the place plane of the first speculum 252 and the place plane of the first egative film 222 are into more than or less than 45 degree angles, and second
The place plane of speculum 254 is less than or greater than 45 degree of angles with the place plane of the second egative film 224 into corresponding.
In the embodiment, within the period 1, sequential control circuit 300 drives two-way light source 256 to send towards first
The light of egative film 222, to illuminate the first egative film 222.Within second round, sequential control circuit 300 drives two-way light source 256 to send
Towards the first speculum 252 and the light of the second speculum 254, to illuminate the second egative film 224.
Compared with foregoing two kinds of embodiments, the embodiment can fully ensure that each composition some mechanical of lighting device
The flexibility of layout designs.
Fig. 7 A-7D are the light channel structure schematic diagrames according to the 4th embodiment of the lighting device of the present invention.Such as Fig. 7 A-7D
Shown, lighting device 200 includes projection lens 210, light source 262, the first egative film 222, the second egative film 224 and rotary shaft 264.Should
In embodiment, the first egative film 222 and the second egative film 224 are fixed in rotary shaft 264.In the embodiment, first
In cycle (as shown in Fig. 7 A or 7C), sequential control circuit 300 controls rotary shaft 264 to rotate, and the first egative film 222 is placed in into light source
In 262 light path, while light source 262 is driven to illuminate the first egative film 222.Within second round (as shown in Fig. 7 B or 7D), sequential
Control circuit 300 controls rotary shaft 264 to rotate, and the second egative film 224 is placed in the light path of light source 262, while drive light source 262
Illuminate the second egative film 224.
In a kind of preferable embodiment, side view as shown in figs. 7 a-b, the first egative film 222 and the second egative film
224 are secured directly in rotary shaft 264.
In preferable another embodiment, front view as shown in figs. 7 c and 7d, the first egative film 222 and the second egative film
224 are fixed on rotary shaft by head rod (not showing reference) and the second connecting rod (not showing reference) respectively
On 264.It is furthermore preferred that the angle between head rod and the second connecting rod is configured to so that the first egative film 222 and
The angle of two egative films 224 adjoining is minimum, so that the space needed for lighting device is minimum.
Compared with aforementioned embodiments, lighting device no longer includes half-reflection and half-transmission spectroscope and speculum in the embodiment
Deng part, and a light source is only needed, therefore can effectively reduce the volume of lighting device.
Fig. 8 A-8B are the light channel structure schematic diagrames according to the 5th embodiment of the lighting device of the present invention.Such as Fig. 8 A-8B
Shown, lighting device 200 includes projection lens 210, light source 262, the first egative film 222, the second egative film 224 and transmission mechanism (figure
In do not show).The upper underdrive that the direction of motion of obvious transmission mechanism can be shown such as Fig. 8 A-8B, can also left and right transmission.
In the embodiment, within the period 1 (as shown in Figure 8 A), sequential control circuit 300 controls transmission mechanism, will
First egative film 222 is placed in the light path of light source 262, while drives light source 262 to illuminate the first egative film 222.Within second round (such as
Shown in Fig. 8 B), sequential control circuit 300 controls transmission mechanism, and the second egative film 224 is placed in the light path of light source 262, driven simultaneously
Dynamic light source 262 illuminates the second egative film 224.
Similar with the 4th embodiment shown in Fig. 7 A-7D, lighting device no longer includes half-reflection and half-transmission in the embodiment
The part such as spectroscope and speculum, and a light source is only needed, therefore can effectively reduce the volume of lighting device.
Fig. 9 A-9B are the light channel structure schematic diagrames according to the 6th embodiment of the lighting device of the present invention.Such as Fig. 9 A-9B
Shown, lighting device 200 includes projection lens 210, light source 262, the first egative film 222, the second egative film 224, the and of the first spool 272
Second spool 274.Wherein, the first egative film 222 and the second egative film 224 are that flexible material is made.Obvious first spool 272 and
The direction of motion of two spools 274 can be such as the vertical scrolling that Fig. 9 A-9B are shown, can also horizontal scrolling.
In the embodiment, within the period 1 (as shown in Figure 9 A), sequential control circuit 300 controls the first spool 272
With the second spool 274, the first egative film 222 is placed in the light path of light source 262, by the second egative film volume 224 in the second spool 274
On, while drive light source 262 to illuminate the first egative film 222.Within second round (as shown in Figure 9 B), sequential control circuit 300 is controlled
The first spool 272 and the second spool 274 are made, the second egative film 224 is placed in the light path of light source 262, the first egative film volume 222 is existed
On first spool 272, while light source 262 is driven to illuminate the second egative film 224.
Compared with fourth, fifth embodiment shown in Fig. 7 A-7D and Fig. 8 A-8B, the embodiment can be reduced further
The volume of lighting device.
Figure 10 A- Figure 10 B are the light channel structure schematic diagrames according to the lighting device using grating egative film of the present invention.
As shown in Figure 10 A, lighting device 200 includes projection lens 210, light source 410, grating egative film 420.
As shown in Figure 10 B, lighting device 200 includes projection lens 210, light source 262, grating egative film 420, speculum 440.
Preferably, the incident light of speculum 440 and light source 262 is into 45 degree of angles；It is furthermore preferred that the incident light of speculum 440 and light source 262
Into 60 degree of angles.
In the embodiment, within the period 1, sequential control circuit 300 controls grating egative film 420 to form code film,
Within second round, sequential control circuit 300 controls grating egative film 420 to form white light egative film.
Compared with aforementioned embodiments, the mechanical structure of lighting device is simpler in the embodiment so that lighting device
Volume it is smaller.
In addition, according to disclosed specification of the invention, other realizations of the invention are for those skilled in the art
Significantly.The various aspects of embodiment and/or embodiment can be used for the system of the present invention individually or with any combinations
In method.Specification and example therein should only be regarded solely as exemplary, of the invention actual range and spirit by appended
Claims represent.
Claims (3)
- A kind of 1. colored 3D measuring systems, it is characterised in that including：Lighting device, 3D measurements and texture collection device, sequential control Circuit processed；The lighting device is used for projection ray and is used to obtain quilt to testee, the 3D measurements and texture collection device The image of object is surveyed, the sequential control circuit is connected to lighting device and the 3D measurement and texture collection device, for controlling Make the operation sequential of lighting device and the 3D measurement and texture collection device；The lighting device includes light source, the first egative film, the second egative film, projection lens, rotary shaft；First egative film is code film, and second egative film is white light egative film；The light source is used to illuminate first bottom Piece and second egative film；First egative film and the second egative film are fixed in the rotary shaft；The rotary shaft can rotate, so that First egative film or second egative film are located in the light path of the light source；First egative film and the second egative film pass through respectively Head rod and the second connecting rod are fixed on the rotary shaft, and the angle of the head rod and second connecting rod is set To cause the angle that the first egative film and the second egative film abut minimum；The projection lens is used to the first egative film being illuminated and the second egative film being projected out；It is identical with the light path of the light of second egative film that what the light source was sent illuminates first egative film respectively；The sequential control circuit, it is connected to lighting device and the 3D measurement and texture collection device；Within the period 1, the sequential control circuit controls the light source of the lighting device to illuminate first egative film, So that the first egative film is launched by the projection lens, form coding pattern, and 3D measurements and texture are adopted described in Synchronization Control Acquisition means obtain the first view data；Within second round, the sequential control circuit controls the light source of the lighting device to illuminate second egative film, So that the second egative film is launched by the projection lens, form homogenous white light, and 3D measurements and texture are adopted described in Synchronization Control Acquisition means obtain the second view data；Wherein, described first image data are the view data for generating three-dimensional data, and second view data is tested The view data of object color texture.
- 2. colored 3D measuring systems according to claim 1, wherein, the code film is speckle egative film or striped bottom Piece.
- 3. colored 3D measuring systems according to claim 1, it is characterised in that：The sequential control circuit also includes can The controller to be communicated with main frame, the controller can transmit the view data of collection under the control of main frame.
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| CN106580506B (en) * | 2016-10-25 | 2018-11-23 | 成都频泰医疗设备有限公司 | Timesharing 3 D scanning system and method |
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