CN109470145A - Polarization Modulation high resolution Stereo Vision Measurement System and method - Google Patents
Polarization Modulation high resolution Stereo Vision Measurement System and method Download PDFInfo
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- CN109470145A CN109470145A CN201811496708.5A CN201811496708A CN109470145A CN 109470145 A CN109470145 A CN 109470145A CN 201811496708 A CN201811496708 A CN 201811496708A CN 109470145 A CN109470145 A CN 109470145A
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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
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Abstract
Polarization Modulation high resolution Stereo Vision Measurement System and method belong to optical touchless three-dimensional measurement field, and in particular to a kind of device and method using stereoscopic vision and scanning measurement by magnification system combination measurement large scale three-dimension object pattern, deformation, displacement etc.；Device two or more Polarization Modulation high resolution stereoscopic vision monocular device composition, each Polarization Modulation high resolution stereoscopic vision monocular device include laser lighting module, vision photographing module and scanning measurement by magnification module；Object under test is placed within the scope of present apparatus field range and blur-free imaging by this method first；Secondly, passing through photographing module point by point scanning whole object using scanning measurement by magnification module；Collected picture is handled using 3 D visual image-forming principle to obtain the object dimensional pattern of high resolution；The present invention can significantly improve the measurement resolution of large scale vision system.
Description
Technical field
Polarization Modulation high resolution Stereo Vision Measurement System and method belong to optical touchless three-dimensional measurement field.
Background technique
Stereoscopic vision is an important topic of computer vision field, its purpose is to reconstruct the three-dimensional geometry of scene
Information.The research of stereoscopic vision has important application value, and application includes the autonomous navigation system of mobile robot, aviation
And remote sensing survey, industrial automation system etc..Currently, the resolving power of stereo visual system is not relatively high, state-of-the-art solid
The resolving power of vision system is generally the visual field size of a ten thousandth, that is, when measuring for big visual field (meter level), is
The resolving power of system be grade, but with the development of science and technology, high-precision, high-resolution survey get more and more attention, lead to mesh
Preceding existing stereo visual system is unable to satisfy increasing resolving power requirement.
Summary of the invention
The invention discloses Polarization Modulation high resolution Stereo Vision Measurement System and method, the apparatus and method are by drawing
Enter to scan measurement by magnification module, so that the equivalent focal length of whole system gets a promotion, so that the resolving power of whole system is improved,
And the introducing itself for scanning measurement by magnification module can be improved signal-to-noise ratio and be conducive to subsequent image procossing (registration, characteristic point
Positioning etc.), and the visual field of field lens is generally large, can exactly match imaging lens, therefore, there is no need to additional scanning mechanism i.e.
Big visual field can be achieved.
The object of the present invention is achieved like this:
Polarization Modulation high resolution Stereo Vision Measurement System, comprising:
Multiple Polarization Modulation high resolution stereoscopic vision monocular devices and three-dimension object.
Polarization Modulation high resolution stereoscopic vision monocular device, including laser lighting module, vision photographing module and
Scan measurement by magnification module；
The laser lighting module according to illuminating light propagation direction successively are as follows: laser, the polarizer, PBS, two dimension vibration
Mirror, scanning lens, field lens 1, Guan Jing, 1/4 slide, object lens, field lens 2 and phtographic lens.
The vision photographing module are as follows: phtographic lens, field lens 2, object lens, 1/4 slide, Guan Jing, field lens 1, scanning lens,
2-D vibration mirror, PBS, analyzer, condenser lens, pin hole and PMT detector.
The scanning measurement by magnification module is followed successively by according to signal optical propagation direction: laser, the polarizer, PBS, two dimension
Galvanometer, scanning lens, field lens 1, Guan Jing, 1/4 slide, object lens, field lens 2, object lens, 1/4 slide, Guan Jing, field lens 1, scanning lens,
2-D vibration mirror, PBS, analyzer, condenser lens, pin hole and PMT detector；
The laser lighting module, vision photographing module, scanning measurement by magnification module share field lens 2, object lens, 1/4 glass
Piece, Guan Jing, field lens 1, scanning lens, 2-D vibration mirror, PBS；
The laser lighting module, vision photographing module also share phtographic lens；
The laser lighting module, scanning measurement by magnification module share laser, the polarizer；
Vision photographing module, the shared analyzer of scanning measurement by magnification module, condenser lens, pin hole and the PMT detection
Device；
Laser issues laser in the laser lighting module, forms directional light after collimation, anti-by the polarizer and PBS
Using being focused at 1 optical center position of field lens after 2-D vibration mirror and scanning lens after penetrating, light beam forms directional light by Guan Jinghou
2 optical center position of field lens is focused on by object lens by after 1/4 slide, then focuses on three-dimensional sample surface through phtographic lens and is formed
Focal beam spot, the sending reflected light on the focal beam spot irradiating sample surface；
It is described three-dimensional sample surface issue reflected light successively pass through phtographic lens, field lens 2, object lens, 1/4 slide,
It is collected after Guan Jing, field lens 1, scanning lens, 2-D vibration mirror, PBS and analyzer, condenser lens, pin hole by PMT detector.
Above-mentioned Polarization Modulation high resolution Stereo Vision Measurement System, the Polarization Modulation high resolution stereoscopic vision list
Added after fixed-focus pick-up lens in mesh measuring device a whole set of scanning measurement by magnification module be used to improve whole system etc.
Focal length is imitated, the multiplying power of raising depends on selected scanning measurement by magnification module, to improve the resolution of entire stereo visual system
Power.
Above-mentioned Polarization Modulation high resolution Stereo Vision Measurement System, the Polarization Modulation high resolution stereoscopic vision list
The imaging mode of mesh measuring device is vibration mirror scanning imaging, and collecting signal can be improved in the introducing of scanning measurement by magnification module pin hole
Signal-to-noise ratio.
Above-mentioned Polarization Modulation high resolution Stereo Vision Measurement System, the Polarization Modulation high resolution stereoscopic vision list
The introducing of field lens 1 and field lens 2 can match visual field in mesh measuring device, can be realized without additional moving sweep mechanism
Group shot is imaged as objective angular field.
Above-mentioned Polarization Modulation high resolution Stereo Vision Measurement System, the Polarization Modulation high resolution stereoscopic vision list
Each mesh laser has different polarization directions by the polarizer in mesh measuring device, while corresponding analyzer corresponds to equally
Be polarized direction.
The utility model has the advantages that
The present invention is by introducing scanning measurement by magnification module, so that the equivalent focal length of whole system gets a promotion, to mention
The high resolving power of whole system, and the resolution ratio of system can be improved in the introducing for scanning measurement by magnification module in itself, and
Signal-to-noise ratio can be improved and be conducive to subsequent image procossing (registration, positioning feature point etc.).Simultaneously as Polarization Modulation is drawn
Enter and more mesh are imaged simultaneously, and not will cause mutual crosstalk.
Detailed description of the invention
Fig. 1 is the monocular structural schematic diagram of Polarization Modulation high resolution stereo vision measuring apparatus of the present invention.
In Fig. 1: 1 three-dimensional sample, 2 phtographic lenses, 3 field lenses 2,4 object lens, 51/4 slide, 6 pipe mirrors, 7 field lenses 1,8 are swept
Retouch lens, 9 2-D vibration mirrors, 10PBS, 11 lasers, 12 condenser lenses, 13 pin holes, 14PMT detector, 15 polarizers and 16 inspections
Inclined device.
Fig. 2 is the structural schematic diagram of Polarization Modulation high resolution Stereo Vision Measurement System of the present invention.
In Fig. 2: 21,22,23 be Polarization Modulation high resolution stereoscopic vision monocular device.
Specific embodiment
A specific embodiment according to the present invention provides a kind of Polarization Modulation high resolution stereo vision measuring apparatus, uses
With three-dimension object high resolution imaging.
Referring to attached drawing 1, Polarization Modulation high resolution Stereo Vision Measurement System, comprising:
Multiple Polarization Modulation high resolution stereoscopic vision monocular devices and three-dimension object.
Polarization Modulation high resolution stereoscopic vision monocular device, including laser lighting module, vision photographing module and
Scan measurement by magnification module；
The laser lighting module according to illuminating light propagation direction successively are as follows: laser, the polarizer, PBS, two dimension vibration
Mirror, scanning lens, field lens 1, Guan Jing, 1/4 slide, object lens, field lens 2 and phtographic lens.
The vision photographing module are as follows: phtographic lens, field lens 2, object lens, 1/4 slide, Guan Jing, field lens 1, scanning lens,
2-D vibration mirror, PBS, analyzer, condenser lens, pin hole and PMT detector.
The scanning measurement by magnification module is followed successively by according to signal optical propagation direction: laser, the polarizer, PBS, two dimension
Galvanometer, scanning lens, field lens 1, Guan Jing, 1/4 slide, object lens, field lens 2, object lens, 1/4 slide, Guan Jing, field lens 1, scanning lens,
2-D vibration mirror, PBS, analyzer, condenser lens, pin hole and PMT detector；
The laser lighting module, vision photographing module, scanning measurement by magnification module share field lens 2, object lens, 1/4 glass
Piece, Guan Jing, field lens 1, scanning lens, 2-D vibration mirror, PBS；
The laser lighting module, vision photographing module also share phtographic lens；
The laser lighting module, scanning measurement by magnification module share laser, the polarizer；
Vision photographing module, the shared analyzer of scanning measurement by magnification module, condenser lens, pin hole and the PMT detection
Device；
Laser issues laser in the laser lighting module, forms directional light after collimation, anti-by the polarizer and PBS
Using being focused at 1 optical center position of field lens after 2-D vibration mirror and scanning lens after penetrating, light beam forms directional light by Guan Jinghou
2 optical center position of field lens is focused on by object lens by after 1/4 slide, then focuses on three-dimensional sample surface through phtographic lens and is formed
Focal beam spot, the sending reflected light on the focal beam spot irradiating sample surface；
It is described three-dimensional sample surface issue reflected light successively pass through phtographic lens, field lens 2, object lens, 1/4 slide,
It is collected after Guan Jing, field lens 1, scanning lens, 2-D vibration mirror, PBS and analyzer, condenser lens, pin hole by PMT detector.
Above-mentioned Polarization Modulation high resolution Stereo Vision Measurement System, the Polarization Modulation high resolution stereoscopic vision list
Added after fixed-focus pick-up lens in mesh measuring device a whole set of scanning measurement by magnification module be used to improve whole system etc.
Focal length is imitated, the multiplying power of raising depends on selected scanning measurement by magnification module, to improve the resolution of entire stereo visual system
Power.
Above-mentioned Polarization Modulation high resolution Stereo Vision Measurement System, the Polarization Modulation high resolution stereoscopic vision list
The imaging mode of mesh measuring device is vibration mirror scanning imaging, and collecting signal can be improved in the introducing of scanning measurement by magnification module pin hole
Signal-to-noise ratio.
Above-mentioned Polarization Modulation high resolution Stereo Vision Measurement System, the Polarization Modulation high resolution stereoscopic vision list
The introducing of field lens 1 and field lens 2 can match visual field in mesh measuring device, can be realized without additional moving sweep mechanism
Group shot is imaged as objective angular field.
Above-mentioned Polarization Modulation high resolution Stereo Vision Measurement System, the Polarization Modulation high resolution stereoscopic vision list
Each mesh laser has different polarization directions by the polarizer in mesh measuring device, while corresponding analyzer corresponds to equally
Be polarized direction.
Referring to figure 2., Fig. 2 is the embodiment schematic diagram of Polarization Modulation high resolution Stereo Vision Measurement System of the present invention,
Fig. 2 is made of at least two Polarization Modulation high resolution stereo-visiuon measurement monocular device, and Fig. 1 is vertical for Polarization Modulation high resolution
Body vision measures monocular device embodiment schematic diagram.
The embodiment the following steps are included:
Step a, it is selected to use several Polarization Modulation high resolution stereoscopic vision monocular device groups according to specific requirements
At Polarization Modulation high resolution stereo vision measuring apparatus；
Step b, monocular correction is carried out to each mesh device；
Step c, whole Stereo Vision Measurement System is corrected；
Step d, three-dimension object is placed at blur-free imaging and three-dimension object is imaged and calculates pattern.
The present invention is not limited to above-mentioned preferred forms, and anyone should learn that the knots made under the inspiration of the present invention
Structure variation or method are improved, and the technical schemes that are same or similar to the present invention each fall within protection scope of the present invention
Within.
Claims (6)
1. Polarization Modulation high resolution Stereo Vision Measurement System characterized by comprising
At least two Polarization Modulation high resolution stereoscopic vision monocular devices and three-dimension object；
Polarization Modulation high resolution stereoscopic vision monocular device includes that laser lighting module, vision photographing module and scanning are put
Big measurement module；
The laser lighting module according to illuminating light propagation direction successively are as follows: laser (11), the polarizer (15), PBS (10),
2-D vibration mirror (9), scanning lens (8), field lens 1 (7), Guan Jing (6), 1/4 slide (5), object lens (4), field lens 2 (3) and photographic mirror
Head (2)；
The vision photographing module are as follows: phtographic lens (2), field lens 2 (3), object lens (4), 1/4 slide (5), Guan Jing (6), field lens
1 (7), scanning lens (8), 2-D vibration mirror (9), PBS (10), analyzer (16), condenser lens (12), pin hole (13) and PMT are visited
It surveys device (14)；
The scanning measurement by magnification module is followed successively by according to signal optical propagation direction: laser (11), the polarizer (15), PBS
(10), 2-D vibration mirror (9), scanning lens (8), field lens 1 (7), Guan Jing (6), 1/4 slide (5), object lens (4), field lens 2 (3), object
Mirror (4), 1/4 slide (5), Guan Jing (6), field lens 1 (7), scanning lens (8), 2-D vibration mirror (9), PBS (10), analyzer (16),
Condenser lens (12), pin hole (13) and PMT detector (14)；
The laser lighting module, vision photographing module, scanning measurement by magnification module share field lens 2 (3), object lens (4), 1/4
Slide (5), Guan Jing (6), field lens 1 (7), scanning lens (8), 2-D vibration mirror (9), PBS (10)；
The laser lighting module, vision photographing module also share phtographic lens (2)；
The laser lighting module, scanning measurement by magnification module share the polarizer (15), laser (11)；
The vision photographing module, scanning measurement by magnification module share analyzer (16), condenser lens (12), pin hole (13) and
PMT detector (14)；
Laser (11) issues laser in the laser lighting module, forms directional light after collimation, by the polarizer (15) and
Using focusing at field lens 1 (7) optical center position after 2-D vibration mirror (9) and scanning lens (8) after PBS (10) reflection, light beam is passed through
It crosses after Guan Jing (6) forms directional light afterwards and focuses on field lens 2 (3) optical center position by object lens (4) after 1/4 slide (5), then through photographing
Camera lens (2) focuses on three-dimensional sample (1) surface and forms focal beam spot, the sending on the focal beam spot irradiating sample surface
Reflected light；
It is described three-dimensional sample (1) surface issue reflected light successively pass through phtographic lens (2), field lens 2 (3), object lens (4),
1/4 slide (5), Guan Jing (6), field lens 1 (7), scanning lens (8), 2-D vibration mirror (9), PBS (10) and analyzer (16) focus
It is collected after lens (12), pin hole (13) by PMT detector (14).
2. Polarization Modulation high resolution Stereo Vision Measurement System according to claim 1, which is characterized in that the polarization
It added a whole set of scanning measurement by magnification system in modulation high resolution stereoscopic vision monocular device after fixed-focus pick-up lens
System is used to improve the equivalent focal length of whole system, and the multiplying power of raising depends on selected scanning measurement by magnification system, to improve
The resolving power of entire stereo visual system.
3. Polarization Modulation high resolution Stereo Vision Measurement System according to claim 1, which is characterized in that the polarization
The imaging mode of high resolution stereoscopic vision monocular device is modulated as vibration mirror scanning imaging, scans measurement by magnification system pin hole
Introducing the signal-to-noise ratio of collecting signal can be improved.
4. Polarization Modulation high resolution Stereo Vision Measurement System according to claim 1, which is characterized in that the polarization
The introducing of field lens 1 and field lens 2 can match visual field without additional in modulation high resolution stereoscopic vision monocular device
Moving sweep mechanism can be realized group shot as objective angular field be imaged.
5. Polarization Modulation high resolution Stereo Vision Measurement System according to claim 1, which is characterized in that the polarization
Each mesh laser has different polarization directions by the polarizer in modulation high resolution stereoscopic vision monocular device, simultaneously
Corresponding analyzer, which corresponds to, is similarly polarized direction.
6. Polarization Modulation high resolution Stereo Vision Measurement System according to claim 1 realizes Polarization Modulation high resolution
The measurement method of stereo-visiuon measurement, which is characterized in that included following steps:
Step a, it selects to form using several Polarization Modulation high resolution stereoscopic vision monocular devices according to specific requirements inclined
Vibration modulation high resolution stereo vision measuring apparatus；
Step b, monocular correction is carried out to each mesh device；
Step c, whole Stereo Vision Measurement System is corrected；
Step d, three-dimension object is placed at blur-free imaging and three-dimension object is imaged and calculates pattern.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113204905A (en) * | 2021-05-08 | 2021-08-03 | 桂林理工大学 | Contact induced polarization finite element numerical simulation method |
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