CN109357632A - A kind of mirror article 3 D measuring method and device - Google Patents
A kind of mirror article 3 D measuring method and device Download PDFInfo
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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Abstract
The invention discloses a kind of mirror article 3 D measuring method and devices.The device includes computer, main phase machine, from camera, refraction display screen, reflection display screen, semi-transparent semi-reflecting lens and fixed device；The computer is connect with main phase machine, from camera, refraction display screen and reflection display screen respectively；Main phase machine is fixed on optical platform from camera, refraction display screen, reflection display screen, semi-transparent semi-reflecting lens and fixed device；It is vertical with optical platform to reflect display screen, reflection display screen and semi-transparent semi-reflecting lens；Fixed device is in main phase machine and out of, camera public view field；It is parallel with the image light path of refraction display screen display to reflect image light path of the display screen after semi-transparent semi-reflecting lens reflect.This method first calculates object point normal vector to the object plane topography measurement of continuum, is then calculated using biocular systems using gradient integration method；The object plane topography measurement of discrete regions is obtained using double screen system using Direct Phase measurement deviation art.
Description
Technical field
The present invention relates to mirror article detection fields.Specially a kind of mirror article 3 D measuring method and device.
Background technique
With integrated circuit, automobile industry, advanced manufacture and astronomical development, mirror article three is fast and accurately measured
Dimension pattern becomes particularly important.To solve this practical problem, a variety of mirror article 3 D measuring methods are constantly proposed,
It is broadly divided into contact method and eyes with non-contact method.Contact measuring method is using three coordinate measuring machine as representative, and easy to operate, precision is high but when measuring
Between it is long and scratch easily is caused to non-rigid object surface.Non-contact measurement method based on contemporary optics combine image procossing,
The technologies such as computer vision, without contacting testee, compensate for defect, multidigit present in contact type measurement in measurement
Person studies this.Wherein, streak reflex art due to Quick Acquisition, whole audience acquisition, high dynamic measurement range, high-precision and
The advantages that automatic data processing, is widely studied and is applied to numerous areas.
" a kind of free mirror surface of measurement is anti-in article by Markus C Knauer, Jurgen Kaminski, Gerd Hausler
The new method of reflective surface " (Phase measuring deflectometry:a new approach to measure
Specular free-form surfaces.Proc.of SPIE, 2004,5457:366-376) in propose a kind of active binocular
The three-dimensional appearance of the method measurement mirror article of vision.Three-dimensional sensor is matched by the normal vector principle of correspondence to obtain from two angles
The information taken calculates Integration Solving depth information after body surface gradient.Such method obtains certain precision, but cannot use
In the measurement of non-continuous objects.
Liu Yuankun uses two in " the optical surface profile method of measuring Sichuan University .2004. based on structured light projection "
The orthogonal striped in group direction calculates separately object point in the gradient of both direction, then restores mirror body surface to be measured to gradient integral
The three-dimensional appearance in face.System structure is simple, but cannot be used for the measurement of non-continuous objects.
Guo Hongwei, Feng Peng, Tao Tao are in " the mirror surface measurement based on least square light tracking technique "
(Specular surface measurement by using least squares light tracking
Technique.Optics and Lasers in Engineering.2010,48 (2): 166-171) moving display screen arrives in
Multiple positions determine the position of incident ray to obtain the spatial position of object point using least square method.Such method is not required to
Integral process is wanted, but the process of moving display screen can introduce error.
Zhao Wenchuan, Su Xianyu, Liu Yuankun, Zhang Qican are in " the aspherical mirror detection method based on phase deviation art "
(Testing an aspheric mirror based on phase measuring deflectometry.Optical
Engineering.2009,48:103603-10363-5) in using the method for mobile display measure aspherical mirror, to subtract
Small influence of noise after acquiring incident ray, calculates gradient by incident ray and the normal vector of reflection light, then integrate to gradient
Calculate the height of mirror article surface to be measured.Such method improves measurement accuracy compared to direct moving display screen, but mobile
Process can bring error and cannot be used for the measurement of non-continuous objects.
In conclusion above-mentioned measurement method or not being capable of measuring non-continuous objects, or good measurement essence cannot be provided
Degree.It needs to solve in the prior art therefore it provides a kind of system for being not only capable of measuring non-continuous objects but also capable of having ensured measurement accuracy becomes
Certainly the problem of.
Summary of the invention
In view of the deficiencies of the prior art, the technical issues of present invention intends to solve is to provide a kind of mirror article three-dimensional appearance
Measurement method and device.
The technical solution that the present invention solves described device technical problem is to provide a kind of mirror article measuring three-dimensional morphology dress
Set, it is characterised in that the device include computer, main phase machine, from camera, refraction display screen, reflection display screen, semi-transparent semi-reflecting lens and
Fixed device；The computer is connect with main phase machine, from camera, refraction display screen and reflection display screen respectively；Main phase machine, from phase
Machine, refraction display screen, reflection display screen, semi-transparent semi-reflecting lens and fixed device are each attached on optical platform；Reflect display screen, anti-
It penetrates display screen and semi-transparent semi-reflecting lens is vertical with optical platform；Fixed device is in main phase machine and out of, camera public view field；
It is parallel with the image light path of refraction display screen display to reflect image light path of the display screen after semi-transparent semi-reflecting lens reflect；Instead
It penetrates image of the display screen after semi-transparent semi-reflecting lens reflect and passes through fixed reference mirror and mirror to be measured on the securing means
The virtual image formed by body is in the visual field of main phase machine；The image reflected on display screen passes through fixed reference on the securing means
The virtual image formed by mirror surface and mirror article to be measured is in main phase machine and from the public view field of camera.
The technical solution that the present invention solves the method technical problem is to provide a kind of mirror article measuring three-dimensional morphology side
Method, it is characterised in that method includes the following steps:
1) regulating device space layout: reference mirror and mirror article to be measured is successively fixed on the securing means；Refraction
Image on display screen by reference to the virtual image formed by mirror surface and mirror article to be measured is in main phase machine and from the public of camera
It, can be by main phase machine and from cameras capture in visual field；Image of the display screen after semi-transparent semi-reflecting lens reflect is reflected by reference to mirror
The virtual image formed by face and mirror article to be measured is in the visual field of main phase machine, can be by main cameras capture；Adjust semi-transparent semi-reflecting lens
In refraction display screen and the position between display screen and angle are reflected, makes to reflect figure of the display screen after semi-transparent semi-reflecting lens reflect
As optical path is parallel with the refraction display image light path of screen display, and adjust refraction display screen, reflection display screen and semi-transparent semi-reflecting
Mirror is vertical with optical platform；
Computer, main phase machine constitute biocular systems from camera, refraction display screen and fixed device；Computer, main phase machine, refraction
Display screen, reflection display screen, semi-transparent semi-reflecting lens and fixed device constitute double screen system；
2) stripe pattern is generated:
2.1) level for generating the best three stripeds selection of three groups of satisfactions respectively using computer is vertical to intersect sine streak image,
Striped number meets best three stripeds selection algorithm, and every group of horizontal vertical sine streak that intersects includes four width to each other in level
There is the sine streak of 90 ° of phase shifts with vertical direction, wherein horizontal stripe is modulated in red channel, vertical striped quilt
It is modulated in blue channel, obtains three groups of red blue horizontal vertical crossbanding images；
2.2) the vertical sine streak image of the same number of three groups of satisfactions is generated using method identical with step 2.1), often
The vertical sine streak image of group includes the sine streak image that four width have 90 ° of phase shifts to each other, and vertical striped is modulated at
In blue channel, the vertical stripe pattern of blue is obtained；
3) stripe pattern is acquired:
Three groups of red blue horizontal vertical crossbanding images that step 2.1) is obtained are sequentially displayed on refraction display screen, main
Camera and from the camera acquisition successively virtual image after reference mirror and mirror article to be measured reflection, and by the red indigo plant of obtained deformation
The storage of crossbanding image is into computer for subsequent processing；The vertical stripe pattern of blue that step 2.2) obtains is shown in reflection
On display screen, the main phase machine acquisition successively virtual image after reference mirror and mirror article to be measured reflection, and obtained deformation is blue
The storage of vitta print image is into computer for subsequent processing；Reference mirror is installed on fixed device, position and mirror article to be measured
It is identical；
4) phase calculation: the red blue crossbanding image of deformation collected to step 3) is by red, blue Color Channel separation
It obtains deformation red streak image and deforms blue stripe image；
4.1) horizontal phase calculates, and is handled using four-stepped switching policy three groups of deformations red streak image obtained after separation
Three width red channel wrapped phase figures are obtained, three width red channel wrapped phases are desired to make money or profit and obtain water with best striped selection algorithm
The expansion phase diagram of flat phase；
4.2) vertical phase calculation obtains deformation blue stripe image procossing using method identical with step 4.1)
The expansion phase diagram of vertical phase；
5) region disconnecting: step 4) is calculated into gained expansion phase data and carries out region disconnecting, the mirror to be measured of continuum
Face body surface information is calculated using biocular systems using gradient integration method；The mirror body surface to be measured of discrete regions
Face information is calculated using double screen system using Direct Phase measurement deviation art；
6) measuring device is demarcated, the relationship to establish between expansion phase diagram and the three-dimensional appearance of mirror article surface to be measured mentions
For required parameter；
7) continuum mirror article surface information measurement to be measured: the mirror article surface information to be measured of continuum is adopted
It is measured with the method for stereoscopic vision；By the reflection law of light it is found that object point is centainly in reflection light and object point
Normal vector is unique, therefore can be by assuming that position of the object point in reflection light finds main phase machine and from magazine normal vector phase
Jljl point position determines the normal vector of object point；
7.1) calculate object point in the magazine normal vector of master: according to formula (1) can by be unfolded phase obtain main phase machine at
As image plane vegetarian refreshmentsWith the mapping relations of incident point P (u, v) on refraction display screen；
In formula (1): u is abscissa of the incident point on refraction display screen, and v is that incident point is vertical on refraction display screen
Coordinate；Q is the period of vertical striped, qsFor the period of horizontal stripe；For the vertical striped of main camera imaging image plane vegetarian refreshments
Phase is unfolded,Phase is unfolded for the horizontal stripe of main camera imaging image plane vegetarian refreshments；
Assuming that being the normal direction that can determine at object point according to incident ray and the direction vector of reflection light after the height of object point
It measures, wherein incident ray unit direction vectorReflection light unit direction vectorWith normal unit direction vectorPass
System is as follows:
7.2) calculate object point from magazine normal vector: the position by hypothesis object point is calculated with the optical center position from camera
Be reflected into the unit direction vector from the reflection light of camera by the object point, then according to formula (2) calculate object point from
Magazine normal vector；
7.3) it calculates object point normal vector: comparing object point in main phase machine and from magazine normal vector；When two normal vector weights
Think that the object point height assumed is practical object point height when conjunction, corresponding normal vector is practical object point normal vector；If two
Normal vector is not overlapped, and is repeated step 7.1) and step 7.2) after assuming object point height again and is overlapped until meeting two normal vectors；
7.4) integral restores mirror article surface three-dimensional appearance to be measured: the normal vector at object point is obtained by step 7.3)
Afterwards, object point gradient is integrated to restore the three-dimensional appearance of mirror article surface to be measured；
8) discrete regions mirror article surface information measurement to be measured: using Direct Phase measurement deviation art according to formula
(3) the mirror article surface three-dimensional appearance to be measured of discrete regions is measured；
In formula (3): h is depth of the mirror article surface to be measured relative to reference mirror；D is that reference mirror and reflection are aobvious
Display screen after semi-transparent semi-reflecting lens reflect institute at the distance between image；Δ d is to reflect display screen with reflection display screen through more than half
Institute is at the distance between image after saturating semi-reflective mirror reflection；For reference mirror reflection reflection display screen absolute phase values,For the absolute phase values of the refraction display screen of reference mirror reflection；Reflection for mirror article surface to be measured reflection is aobvious
The absolute phase values of display screen,For the absolute phase values of the refraction display screen of mirror article surface to be measured reflection；
9) region is spliced: on the basis of main camera pixel, continuum and discrete regions being spliced together, restored whole
The three-dimensional appearance of a mirror article surface to be measured.
Compared with prior art, the beneficial effects of the invention are that:
1. data acquisition efficiency is high, acquisition speed is fast: this method is using red, blue Color Channel code levels, vertical simultaneously
Striped, color camera can acquire the stripe information of two Color Channels simultaneously, improve collecting efficiency.
2. data precision is high: all components of the present apparatus are fixed, do not generate any movement in measurement process, avoid shifting
Dynamic bring systematic error.The mirror article surface information to be measured of continuum using biocular systems using gradient integration method into
Row calculates, and improves measurement accuracy.
3. can be used for measuring non-continuous objects: using double screen to the mirror article surface topography measurement to be measured of discrete regions
System measures deviation art using Direct Phase, directly establishes the relationship between phase and depth data, obtains discontinuous mirror surface to be measured
The topographical information of body surface.
4. this method first calculates object point normal vector to the mirror article surface topography measurement to be measured of continuum, then use
The depth data of mirror article surface to be measured is calculated using gradient integration method for biocular systems, compared to directly calculating depth
Data, reduce the influence of noise, and the data obtained result precision is higher.Continuum and discrete regions are spliced together,
Restore the three-dimensional appearance of entire mirror article surface to be measured.
5. double screen system can be used for measuring non-continuous objects, biocular systems measurement accuracy is higher, and the two is combined,
Increase a camera measurement object on the basis of double screen system, reaches and combine measurement accuracy in the discontinuous mirror article of measurement
Purpose.
6. this method has important theory significance not only for the research and development of 3D vision field new and high technology, and
There is important application value for the rapid survey of mirror article in the fields such as vehicle body detection, space flight and aviation.
Detailed description of the invention
Fig. 1 is a kind of overall structure diagram of embodiment of measuring device of the present invention；(in figure: 1 is computer, and 2 be main phase
Machine；3 is, from camera, 4 are refraction display screen, and 5 be reflection display screen, and 6 be semi-transparent semi-reflecting lens, and 7 be fixed device, and 7-0 is reference
Mirror surface, 7-1 are mirror article to be measured)
Fig. 2 is the measuring principle schematic diagram of the measurement method of an embodiment of the present invention.
Specific embodiment
Specific embodiments of the present invention are given below.Specific embodiment is only used for that present invention be described in more detail, unlimited
The protection scope of the claim of this application processed.
The present invention provides a kind of mirror article apparatus for measuring three-dimensional profile (abbreviation devices, referring to Fig. 1), it is characterised in that
The device includes computer 1, main phase machine 2, from camera 3, refraction display screen 4, reflection display screen 5, semi-transparent semi-reflecting lens 6 and fixed device
7；Main phase machine 2, to be fixed on optics from camera 3, refraction display screen 4, reflection display screen 5, semi-transparent semi-reflecting lens 6 and fixed device 7 flat
On platform；It is vertical with optical platform to reflect display screen 4, reflection display screen 5 and semi-transparent semi-reflecting lens 6；Fixed device 7 is in main phase machine
2 and out of, camera 3 public view field；Reflect image light path and refraction display screen of the display screen 5 after the reflection of semi-transparent semi-reflecting lens 6
The image light path shown on 4 it is parallel；Image of the display screen 5 after the reflection of semi-transparent semi-reflecting lens 6 is reflected by being fixed on fixation
The virtual image formed by reference mirror and mirror article to be measured on device 7 is in the visual field of main phase machine 2, can be caught by main phase machine 2
It catches；Reflect display screen 4 on image by the reference mirror 7-0 being fixed on fixed device 7 and mirror article 7-1 to be measured institute at
The virtual image be in main phase machine 2 and from the public view field of camera 3, can be captured by main phase machine 2 and from camera 3；
The computer 1 connect (the present embodiment with main phase machine 2, from camera 3, refraction display screen 4 and reflection display screen 5 respectively
In, the computer 1 is connect with refraction display screen 4 and reflection display screen 5 respectively by USB interface, is distinguished by gigabit network interface
Connect with main phase machine 2 and from camera 3), computer 1 for control main phase machine 2, from camera 3, refraction display screen 4 and reflection display screen
5, and the image of acquisition is stored, shows and handled to obtain corresponding measurement result；It reflects display screen 4 and reflection display screen 5 is used
The image caused by display computer 1；Main phase machine 2 and from camera 3 for acquire it is anti-via reference mirror and mirror article to be measured
The virtual image after penetrating.
The main phase machine 2 and color camera, specifically CCD camera are all made of from camera 3；
The refraction display screen 4 and reflection display screen 5 are all made of LCD display；
Invention also provides a kind of mirror article 3 D measuring method (abbreviation methods), it is characterised in that the party
Method the following steps are included:
1) regulating device space layout: reference mirror and mirror article to be measured are successively fixed on fixed device 7；Refraction
Image on display screen 4 by reference to the virtual image formed by mirror surface and mirror article to be measured is in main phase machine 2 and from the public affairs of camera 3
Altogether in visual field, it can be captured by main phase machine 2 and from camera 3；Image of the reflection display screen 5 after the reflection of semi-transparent semi-reflecting lens 6 passes through
The virtual image formed by reference mirror and mirror article to be measured is in the visual field of main phase machine 2, can be captured by main phase machine 2；Adjust half
Saturating semi-reflective mirror 6 is in refraction display screen 4 and reflects the position between display screen 5 and angle, makes to reflect display screen 5 by semi-transparent semi-reflecting
Image light path after mirror 6 reflects is parallel with the image light path that shows on refraction display screen 4, and adjust refraction display screen 4, reflection is shown
Display screen 5 and semi-transparent semi-reflecting lens 6 are vertical with optical platform；
Computer 1, main phase machine 2 constitute biocular systems from camera 3, refraction display screen 4 and fixed device 7；Computer 1, main phase machine
2, display screen 4, reflection display screen 5, semi-transparent semi-reflecting lens 6 and fixed device 7 are reflected and constitutes double screen system；
2) stripe pattern is generated:
2.1) according to the frequency of the requirement selection display striped of the size of existing measurement field and measurement accuracy, existing item is utilized
Line generation method is vertical using the level that the Matlab software installed in computer 1 generates the best three stripeds selection of three groups of satisfactions respectively
Intersect sine streak image, striped number meets best three stripeds selection algorithm, and (the present embodiment is according to the size and survey for measuring field
Accuracy of measurement requirement, striped number is 49 respectively, 48,42), and every group of horizontal vertical sine streak that intersects includes that four width exist to each other
Horizontal and vertical direction have 90 ° of phase shifts sine streak (that is, four width have 90 ° of phase shifts to each other in terms of horizontal stripe,
Four width have 90 ° of phase shifts to each other in terms of vertical striped), wherein horizontal stripe is modulated in red channel, vertical striped quilt
It is modulated in blue channel, obtains three groups of red blue horizontal vertical crossbanding images；
Bibliography by the method for the Matlab Software Create striped in computer 1 be " Zonghua Zhang,
Catherine E.Towers,and David P.Towers.Time efficient color fringe projection
system for simultaneous 3D shape and color using optimum 3-frequency
selection.Optics Express,2006,14(14):6444-6455"；
2.2) the vertical sine streak image of the same number of three groups of satisfactions is generated using method identical with step 2.1), often
The vertical sine streak image of group includes the sine streak image that four width have 90 ° of phase shifts to each other, and vertical striped is modulated at
In blue channel, the vertical stripe pattern of blue is obtained；
3) stripe pattern is acquired:
Three groups of red blue horizontal vertical crossbanding images that step 2.1) is obtained are sequentially displayed on refraction display screen 4,
Main phase machine 2 and acquire successively that (reference mirror is installed on fixed device 7, position and mirror surface to be measured by reference mirror from camera 3
Object is identical) with the virtual image after mirror article to be measured reflection, and by the red blue crossbanding image storage of obtained deformation to computer 1
It is middle for subsequent processing；The vertical stripe pattern of blue that step 2.2) obtains is shown on reflection display screen 5, main phase machine 2 acquires
The successively virtual image after reference mirror and mirror article to be measured reflection, and obtained deformation blue stripe image is stored to computer
For subsequent processing in 1；
4) phase calculation: the red blue crossbanding image of deformation collected to step 3) is by red, blue Color Channel separation
It obtains deformation red streak image and deforms blue stripe image；
4.1) horizontal phase calculates, and is handled using four-stepped switching policy three groups of deformations red streak image obtained after separation
Three width red channel wrapped phase figures are obtained, three width red channel wrapped phases are desired to make money or profit and obtain water with best striped selection algorithm
The expansion phase diagram of flat phase；
4.2) vertical phase calculation obtains deformation blue stripe image procossing using method identical with step 4.1)
The expansion phase diagram of vertical phase；
5) region disconnecting: step 4) is calculated into gained expansion phase data and carries out region disconnecting, the mirror to be measured of continuum
Face body surface information is calculated using biocular systems using gradient integration method, and local measurement precision is improved；Discontinuous area
The mirror article surface information to be measured in domain is calculated using double screen system using Direct Phase measurement deviation art；
6) measuring device is demarcated, the relationship to establish between expansion phase diagram and the three-dimensional appearance of mirror article surface to be measured mentions
For required parameter；Calibration for cameras first passes through MATLAB calibration tool case using two-dimensional calibrations plate according to Zhang Zhengyou calibration principle
The inner parameter of calibration for cameras；Secondly the structural parameters of double screen system are demarcated using the method based on model, specifically may be used
See reference document " Shujun Huang, Yue Liu, Nan Gao, Zonghua Zhang, Feng Gao, Xiangqian
Jiang.Distance calibration between reference plane and screen in direct phase
measuring deflectometry.Sensors,2018,18(1):144"；Finally based on global iterative optimization algorithm to double
The structural parameters of mesh system are demarcated, specific visible bibliography " Yongjia Xu, Feng Gao, Zonghua Zhang,
Xiangqian Jiang.A holistic calibration method with iterative distortion
compensation for stereo deflectometry.Optics and Lasers in Engineering,2018,
106:111-118"；
7) continuum mirror article surface information measurement to be measured: the mirror article surface information to be measured of continuum is adopted
It is measured with the method for stereoscopic vision；By the reflection law of light it is found that object point is centainly in reflection light and object point
Normal vector is unique, therefore can be by assuming that position of the object point in reflection light finds main phase machine 2 and from the normal vector in camera 3
Identical object point position determines the normal vector of object point；
7.1) it calculates normal vector of the object point in main phase machine 2: main phase machine 2 can be obtained by the way that phase is unfolded according to formula (1)
Imaging plane pixelWith the mapping relations of incident point P (u, v) on refraction display screen 4；
In formula (1): u is abscissa of the incident point on refraction display screen 4, and v is incident point on refraction display screen 4
Ordinate；Q is the period of vertical striped, qsFor the period of horizontal stripe；For the vertical of main 2 imaging plane pixel of camera
Phase is unfolded in striped,Phase is unfolded for the horizontal stripe of main 2 imaging plane pixel of camera；
Assuming that being the normal direction that can determine at object point according to incident ray and the direction vector of reflection light after the height of object point
It measures, wherein incident ray unit direction vectorReflection light unit direction vectorWith normal unit direction vectorPass
System is as follows:
7.2) object point is calculated from the normal vector in camera 3: being counted with the optical center position from camera 3 position by hypothesis object point
It calculates and is reflected into the direction vector of the reflection light from camera 3 by the object point, then calculate object point from phase according to formula (2)
Normal vector in machine 3；
7.3) it calculates object point normal vector: comparing object point in main phase machine 2 and from the normal vector in camera 3；When two normal vectors
Think that the object point height assumed is practical object point height when coincidence, corresponding normal vector is practical object point normal vector；If two
A normal vector is not overlapped, and repeats step 7.1) and step 7.2) after assuming object point height again until meeting two normal vector weights
It closes；
7.4) integral restores mirror article surface three-dimensional appearance to be measured: the normal vector at object point is obtained by step 7.3)
Afterwards, to obtain more accurate restoring the three-dimensional appearance of mirror article surface to be measured as a result, integrating object point gradient；
8) discrete regions mirror article surface information measurement to be measured: using Direct Phase measurement deviation art according to formula
(3) the mirror article surface three-dimensional appearance to be measured of discrete regions is measured；
In formula (3): h is depth of the mirror article surface to be measured relative to reference mirror；D is that reference mirror and reflection are aobvious
Display screen 5 by semi-transparent semi-reflecting lens 6 reflection after institute at the distance between image；Δ d is that refraction display screen 4 and reflection display screen 5 pass through
Institute is at the distance between image after crossing the reflection of semi-transparent semi-reflecting lens 6；For the absolute phase of the reflection display screen 5 of reference mirror reflection
Place value,For the absolute phase values of the refraction display screen 4 of reference mirror reflection；For mirror article surface to be measured reflection
The absolute phase values of display screen 5 are reflected,For the absolute phase values of the refraction display screen 4 of mirror article surface to be measured reflection；
9) region is spliced: on the basis of 2 pixel of main phase machine, continuum and discrete regions being spliced together, restored
The three-dimensional appearance of entire mirror article surface to be measured improves measurement accuracy while achieving the purpose that measure non-continuous objects.
The present invention does not address place and is suitable for the prior art.
Claims (5)
1. a kind of mirror article apparatus for measuring three-dimensional profile, it is characterised in that the device include computer, main phase machine, from camera, folding
Penetrate display screen, reflection display screen, semi-transparent semi-reflecting lens and fixed device；The computer is shown with main phase machine, from camera, refraction respectively
Screen is connected with reflection display screen；It is main phase machine, equal from camera, refraction display screen, reflection display screen, semi-transparent semi-reflecting lens and fixed device
It is fixed on optical platform；It is vertical with optical platform to reflect display screen, reflection display screen and semi-transparent semi-reflecting lens；At fixed device
In main phase machine and out of, camera public view field；It is aobvious to reflect image light path and refraction of the display screen after semi-transparent semi-reflecting lens reflect
Show the parallel of the image light path of screen display；Image of the display screen after semi-transparent semi-reflecting lens reflect is reflected by being fixed on fixation
The virtual image formed by reference mirror and mirror article to be measured on device is in the visual field of main phase machine；Reflect the figure on display screen
As being in main phase machine by the virtual image formed by fixation reference mirror on the securing means and mirror article to be measured and from camera
Public view field in.
2. mirror article apparatus for measuring three-dimensional profile according to claim 1, it is characterised in that the computer is connect by VGA
Mouth is connect with refraction display screen and reflection display screen respectively, is connect respectively with main phase machine and from camera by gigabit network interface.
3. mirror article apparatus for measuring three-dimensional profile according to claim 1, it is characterised in that the main phase machine and from phase
Machine is all made of color camera；The refraction display screen and reflection display screen are all made of LCD display.
4. a kind of mirror article 3 D measuring method, it is characterised in that method includes the following steps:
1) regulating device space layout: reference mirror and mirror article to be measured is successively fixed on the securing means；Refraction display
Image on screen by reference to the virtual image formed by mirror surface and mirror article to be measured is in main phase machine and from the public view field of camera
In, it can be by main phase machine and from cameras capture；Reflect image of the display screen after semi-transparent semi-reflecting lens reflect by reference to mirror surface and
The virtual image formed by mirror article to be measured is in the visual field of main phase machine, can be by main cameras capture；Semi-transparent semi-reflecting lens are adjusted to roll over
It penetrates display screen and reflects the position between display screen and angle, make to reflect image light of the display screen after semi-transparent semi-reflecting lens reflect
Road is parallel with the refraction display image light path of screen display, and it is equal to adjust refraction display screen, reflection display screen and semi-transparent semi-reflecting lens
It is vertical with optical platform；
Computer, main phase machine constitute biocular systems from camera, refraction display screen and fixed device；Computer, main phase machine, refraction display
Screen, reflection display screen, semi-transparent semi-reflecting lens and fixed device constitute double screen system；
2) stripe pattern is generated:
2.1) level for generating the best three stripeds selection of three groups of satisfactions respectively using computer is vertical to intersect sine streak image, striped
Number meets best three stripeds selection algorithm, and every group of horizontal vertical sine streak that intersects includes four width to each other horizontal and perpendicular
Histogram is to the sine streak for having 90 ° of phase shifts, and wherein horizontal stripe is modulated in red channel, and vertical striped is modulated
In blue channel, three groups of red blue horizontal vertical crossbanding images are obtained；
2.2) the vertical sine streak image of the same number of three groups of satisfactions is generated using method identical with step 2.1), every group perpendicular
Straight sine streak image includes the sine streak image that four width have 90 ° of phase shifts to each other, and vertical striped is modulated at blue
In channel, the vertical stripe pattern of blue is obtained；
3) stripe pattern is acquired:
Three groups of red blue horizontal vertical crossbanding images that step 2.1) is obtained are sequentially displayed on refraction display screen, main phase machine
Intersect with from the camera acquisition successively virtual image after reference mirror and mirror article to be measured reflection, and by the red indigo plant of obtained deformation
Stripe pattern storage is into computer for subsequent processing；The vertical stripe pattern of blue that step 2.2) obtains is shown in reflection display
On screen, the main phase machine acquisition successively virtual image after reference mirror and mirror article to be measured reflection, and the deformation blue bar that will be obtained
Print image storage is into computer for subsequent processing；Reference mirror is installed on fixed device, and position is identical as mirror article to be measured；
4) phase calculation: the red blue crossbanding image of deformation collected to step 3) is by red, blue Color Channel is isolated
Deform red streak image and deformation blue stripe image；
4.1) horizontal phase calculates, and handles to obtain using four-stepped switching policy to three groups of deformations red streak image obtained after separation
Three width red channel wrapped phase figures, three width red channel wrapped phases are desired to make money or profit and obtain horizontal phase with best striped selection algorithm
The expansion phase diagram of position；
4.2) vertical phase calculation obtains vertically deformation blue stripe image procossing using method identical with step 4.1)
The expansion phase diagram of phase；
5) region disconnecting: step 4) is calculated into gained expansion phase data and carries out region disconnecting, the mirror to be measured of continuum
Body surface information is calculated using biocular systems using gradient integration method；The mirror article surface to be measured of discrete regions is believed
Breath is calculated using double screen system using Direct Phase measurement deviation art；
6) measuring device is demarcated, the relationship to establish between expansion phase diagram and the three-dimensional appearance of mirror article surface to be measured provides institute
Need parameter；
7) continuum mirror article surface information measurement to be measured: the mirror article surface information to be measured of continuum is used vertical
The method of body vision measures；By the reflection law of light it is found that object point is centainly in reflection light and the normal direction of object point
Amount is unique, therefore can be by assuming that position of the object point in reflection light finds main phase machine and from magazine normal vector phase jljl
Position is put to determine the normal vector of object point；
7.1) calculate object point in the magazine normal vector of master: it is flat to obtain main camera imaging by expansion phase according to formula (1)
Image surface vegetarian refreshmentsWith the mapping relations of incident point P (u, v) on refraction display screen；
In formula (1): u is abscissa of the incident point on refraction display screen, and v is vertical seat of the incident point on refraction display screen
Mark；Q is the period of vertical striped, qsFor the period of horizontal stripe；For the vertical striped exhibition of main camera imaging image plane vegetarian refreshments
Phase is opened,Phase is unfolded for the horizontal stripe of main camera imaging image plane vegetarian refreshments；
Assuming that be the normal vector that can determine at object point according to incident ray and the direction vector of reflection light after the height of object point,
Wherein incident ray unit direction vectorReflection light unit direction vectorWith normal unit direction vectorRelationship
It is as follows:
7.2) calculate object point from magazine normal vector: the position by hypothesis object point is calculated with the optical center position from camera to be passed through
The object point is reflected into the direction vector from the reflection light of camera, then calculates object point from magazine according to formula (2)
Normal vector；
7.3) it calculates object point normal vector: comparing object point in main phase machine and from magazine normal vector；When two normal vectors are overlapped
Think that the object point height assumed is practical object point height, corresponding normal vector is practical object point normal vector；If two normal direction
Amount is not overlapped, and is repeated step 7.1) and step 7.2) after assuming object point height again and is overlapped until meeting two normal vectors；
7.4) integral restores mirror article surface three-dimensional appearance to be measured: right after obtaining the normal vector at object point by step 7.3)
Object point gradient is integrated to restore the three-dimensional appearance of mirror article surface to be measured；
8) discrete regions mirror article surface information measurement to be measured: right according to formula (3) using Direct Phase measurement deviation art
The mirror article surface three-dimensional appearance to be measured of discrete regions measures；
In formula (3): h is depth of the mirror article surface to be measured relative to reference mirror；D is reference mirror and reflection display screen
Institute is at the distance between image after semi-transparent semi-reflecting lens reflect；Δ d is refraction display screen and reflection display screen by semi-transparent half
Institute is at the distance between image after anti-mirror reflection；For reference mirror reflection reflection display screen absolute phase values,For
The absolute phase values of the refraction display screen of reference mirror reflection；For the reflection display screen of mirror article surface to be measured reflection
Absolute phase values,For the absolute phase values of the refraction display screen of mirror article surface to be measured reflection；
9) region splice: on the basis of main camera pixel, continuum and discrete regions are spliced together, recovery entirely to
Survey the three-dimensional appearance of mirror article surface.
5. mirror article 3 D measuring method according to claim 4, it is characterised in that step 6) calibration measurement dress
That sets comprises the concrete steps that: calibration for cameras first, demarcates work by MATLAB using two-dimensional calibrations plate according to Zhang Zhengyou calibration principle
Has the inner parameter of case calibration for cameras；Secondly the structural parameters of double screen system are demarcated using the method based on model；Most
It is demarcated afterwards based on structural parameters of the global iterative optimization algorithm to biocular systems.
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