CN109470147B - Self-adaptive high-resolution stereo vision system and measuring method - Google Patents
Self-adaptive high-resolution stereo vision system and measuring method Download PDFInfo
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- CN109470147B CN109470147B CN201811497944.9A CN201811497944A CN109470147B CN 109470147 B CN109470147 B CN 109470147B CN 201811497944 A CN201811497944 A CN 201811497944A CN 109470147 B CN109470147 B CN 109470147B
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Abstract
The optical non-contact three-dimensional measurement field of the adaptive high-resolution stereoscopic vision measuring device and method, relate to a and utilize stereoscopic vision and scan and enlarge the measuring module to jointly measure the device and method of appearance, deformation, displacement, etc. of the three-dimensional measured sample of large-scale specifically; the device consists of two or more self-adaptive high-resolution stereo vision monocular measuring devices, wherein each high-resolution stereo vision monocular measuring device comprises a laser lighting module, a vision camera module, a scanning amplification measuring module and an aberration correction module; firstly, placing an object to be detected in a view field range and a clear imaging range of the device; secondly, scanning the whole object point by point through a camera module by using a scanning amplification measuring module and correcting aberration; processing the acquired picture by using a visual three-dimensional imaging principle to obtain a high-resolution object three-dimensional shape; the invention can obviously improve the measurement resolution of the large-scale vision system.
Description
Technical Field
A self-adaptive high-resolution stereoscopic vision system and a measuring method belong to the field of optical non-contact three-dimensional measurement.
Background
Stereo vision is an important topic in the field of computer vision, and its aim is to reconstruct the three-dimensional geometric information of a scene. The research of the stereoscopic vision has important application value, and the application of the stereoscopic vision comprises an autonomous navigation system of a mobile robot, aviation and remote sensing measurement, an industrial automation system and the like. At present, the resolution of a stereoscopic vision system is relatively low, the resolution of the most advanced stereoscopic vision system is generally one-ten-thousandth of the field of view size, that is, when measuring a large field of view (meter level), the resolution of the system is millimeter level, but along with the development of science and technology, the measurement of high precision and high resolution is more and more emphasized, so that the existing stereoscopic vision system cannot meet the resolution requirement which is increasingly improved.
Disclosure of Invention
The invention discloses a self-adaptive high-resolution stereo vision measuring device and a method, which improve the equivalent focal length of the whole system by introducing a scanning amplification measuring module, thereby improving the resolution of the whole system, and the introduction of the scanning amplification measuring module and self-adaptive optics can improve the signal-to-noise ratio, facilitate the subsequent image processing (registration, characteristic point positioning and the like), and the field of view of a field lens is generally larger and can be completely matched with a camera lens, so that a large field of view can be realized without an additional scanning mechanism.
The purpose of the invention is realized as follows:
the adaptive high-resolution stereo vision measuring device and method includes:
a plurality of self-adaptive high-resolution stereo vision measuring devices, a monocular measuring device and a three-dimensional measured sample.
The monocular measuring device of the self-adaptive high-resolution stereoscopic vision measuring device comprises a laser lighting module, a vision camera module, a scanning amplification measuring module and an aberration correction module;
the laser lighting device sequentially comprises the following components in the direction of the propagation of the lighting light: the device comprises a laser, a collimator, a diaphragm, a PBS (polarizing beam splitter), a two-dimensional galvanometer, a scanning lens, a field lens I, a tube lens, 1/4 glass slides, an objective lens, a field lens II and a photographic lens;
the visual camera module is as follows: the device comprises a photographic lens, a field lens II, an objective lens, 1/4 glass slides, a tube lens, a field lens I, a scanning lens, a two-dimensional galvanometer, a PBS (phosphate buffer solution), a spatial light modulator, a 9:1BS (base station), a focusing lens, a pinhole and a PMT (photomultiplier tube detector);
the scanning amplification measurement module sequentially comprises the following components in the signal light propagation direction: the device comprises a laser, a collimator, a diaphragm, a PBS (polarizing beam splitter), a two-dimensional galvanometer, a scanning lens, a field lens I, a tube lens, 1/4 glass slides, an objective lens, a field lens II, an objective lens, a 1/4 glass slide, a tube lens, a field lens I, a scanning lens, a two-dimensional galvanometer, a PBS (polarizing beam splitter), a spatial light modulator, a 9:1BS (base station), a focusing lens, a pinhole and a PMT (photomultiplier tube modulator);
the aberration correction module is sequentially as follows according to the signal light propagation direction: the device comprises a field lens II, an objective lens, 1/4 glass slides, a tube lens, a field lens I, a scanning lens, a two-dimensional galvanometer, a PBS (polarizing beam splitter), a spatial light modulator, a 9:1BS (base station), a conversion objective lens I, a conversion objective lens II and a wavefront detector;
the laser in the lighting module emits laser, the laser is collimated to form parallel light, the parallel light is reflected by PBS and then passes through a two-dimensional galvanometer and a scanning lens to be focused at the optical center position of a field lens I, the light beam passes through a tube lens to form parallel light, then passes through 1/4 glass slides to be focused at the optical center position of a field lens II by an objective lens, and then is focused on the surface of a three-dimensional detected sample by a photographic lens to form a focusing light spot, and the focusing light spot irradiates the surface of the sample to emit reflected light;
the reflected light emitted from the surface of the three-dimensional tested sample is received by the wavefront detector through the photographic lens, the field lens II, the objective lens, the 1/4 glass slide, the tube lens, the field lens I, the scanning lens, the two-dimensional galvanometer, the PBS, the spatial light modulator, the 9:1BS, the conversion objective lens I and the conversion objective lens II in sequence, the spatial light modulator is adjusted according to the wavefront detector to eliminate system aberration, and the reflected light is collected by the PMT detector after passing through the 9:1BS, the focusing lens and the pinhole.
According to the self-adaptive high-resolution stereoscopic vision measuring device, the imaging mode of the stereoscopic vision system is galvanometer scanning imaging, and the signal to noise ratio of the collected signals can be improved by introducing the pinhole in the scanning amplification measuring module.
According to the self-adaptive high-resolution stereoscopic vision measuring device, the field lens of the stereoscopic vision system can be matched with the field of view, so that the field of view imaging of the full-shot objective lens can be realized without an additional motion scanning mechanism.
According to the self-adaptive high-resolution stereoscopic vision measuring device, the introduction of the adaptive optics of the stereoscopic vision system can effectively eliminate the aberration of the system and improve the imaging quality.
Has the advantages that:
the invention improves the equivalent focal length of the whole system by introducing the scanning amplification measuring module, thereby improving the resolution of the whole system, improving the signal-to-noise ratio by introducing the scanning amplification measuring module, being beneficial to subsequent image processing (registration, characteristic point positioning and the like), and effectively correcting the aberration of the system by introducing the self-adaptive system and improving the imaging quality.
Drawings
Fig. 1 is a schematic diagram of a monocular configuration of the adaptive high-resolution stereo vision measuring device of the present invention.
In fig. 1: 1 three-dimensional tested sample, 2 photographic lenses, 3 field lens II, 4 objective lenses, 51/4 slide glass, 6 tube lens, 7 field lens I, 8 scanning lens, 9 two-dimensional galvanometer, 10 PBS, 11 spatial light modulator, 129:1BS, 13 focusing lens, 14 pinhole, 15 PMT detector, 16 diaphragm, 17 collimator, 18 laser, 19 conversion objective lens I, 20 conversion objective lens II and 21 wavefront detector.
Fig. 2 is a schematic structural diagram of the adaptive high-resolution stereo vision measuring device of the present invention.
In fig. 2: 22 is a monocular device of the self-adaptive high-resolution stereo vision measuring device, and 4 is a three-dimensional measured sample.
Detailed Description
According to an embodiment of the present invention, an adaptive high resolution stereo vision measuring apparatus is provided for high resolution imaging of a three-dimensional measured sample.
Referring to fig. 2, fig. 2 is a schematic diagram of an embodiment of the adaptive high-resolution stereoscopic vision system of the present invention, fig. 2 is composed of at least 2 adaptive high-resolution stereoscopic vision monocular measuring devices, and fig. 1 is a schematic diagram of an embodiment of the adaptive high-resolution stereoscopic vision monocular measuring device.
An adaptive high resolution stereo vision system comprising: at least two monocular measuring devices 22; the monocular measuring device 22 performs visual measurement on the three-dimensional measured sample 4;
the monocular measuring device 22 comprises a laser lighting module, a vision camera module, a scanning amplification measuring module and an aberration correcting module;
the laser lighting module is sequentially as follows according to the propagation direction of the lighting light: a laser 18, a collimator 17, a diaphragm 16, a PBS10, a two-dimensional galvanometer 9, a scanning lens 8, a field lens I7, a tube lens 6, a 1/4 slide 5, an objective lens 4, a field lens II3 and a photographic lens 2;
the visual camera module is: the device comprises a photographic lens 2, a field lens II3, an objective lens 4, a 1/4 slide 5, a tube lens 6, a field lens I7, a scanning lens 8, a two-dimensional galvanometer 9, a PBS10, a spatial light modulator 11, a 9:1BS12, a focusing lens 13, a pinhole 14 and a PMT detector 15;
the scanning amplification measurement module sequentially comprises the following components in the signal light propagation direction: a laser 18, a collimator 17, a diaphragm 16, a PBS10, a two-dimensional galvanometer 9, a scanning lens 8, a field lens I7, a tube lens 6, a 1/4 slide 5, an objective lens 4, a field lens II3, an objective lens 4, a 1/4 slide 5, a tube lens 6, a field lens I7, a scanning lens 8, a two-dimensional galvanometer 9, a PBS10, a spatial light modulator 11, a 9:1BS12, a focusing lens 13, a pinhole 14 and a PMT detector 15;
the aberration correction module is sequentially as follows according to the signal light propagation direction: a field lens II3, an objective lens 4, a 1/4 glass slide 5, a tube lens 6, a field lens I7, a scanning lens 8, a two-dimensional galvanometer 9, a PBS10, a spatial light modulator 11, a 9:1BS12, a conversion objective lens I19, a conversion objective lens II20 and a wave front detector 21;
a laser 18 in the lighting module emits laser, the laser is collimated to form parallel light, the parallel light is reflected by PBS and then passes through a two-dimensional galvanometer 9 and a scanning lens 8 to be focused at the optical center position of a field lens I7, the light beam passes through a tube lens 6 to form parallel light, then passes through a 1/4 glass slide 5 to be focused at the optical center position of a field lens II3 by an objective lens 4, and then is focused on the surface of a three-dimensional sample 1 to be detected by a photographic lens 2 to form a focusing light spot, and the focusing light spot irradiates the surface of the three-dimensional sample 1 to be detected to emit reflected light;
reflected light emitted by the surface of the three-dimensional tested sample 1 sequentially passes through the photographic lens 2, the field lens II3, the objective lens 4, the 1/4 glass slide 5, the tube lens 6, the field lens I7, the scanning lens 8, the two-dimensional galvanometer 9, the PBS10, the spatial light modulator 11, the 9:1BS12, the conversion objective lens I19 and the conversion objective lens II20 to be received by the wavefront detector 21, the spatial light modulator 11 is adjusted according to the wavefront detector to eliminate system aberration, and then the reflected light passes through the 9:1BS12, the focusing lens 13 and the pinhole 14 to be collected by the PMT detector 15.
In order to further optimize the technical scheme, the imaging mode of the stereoscopic vision system is galvanometer scanning imaging, and the signal-to-noise ratio of the collected signals can be improved by introducing a pinhole in a scanning amplification measuring module.
In order to further optimize the technical scheme, the introduction of the field lens of the stereoscopic vision system can match the field of view, so that the field of view imaging of the full-photographing objective lens can be realized without an additional motion scanning mechanism.
In order to further optimize the technical scheme, the introduction of the adaptive optics of the stereoscopic vision system can effectively eliminate the aberration of the system and improve the imaging quality.
This embodiment comprises the steps of:
step a, selecting and using a plurality of high-resolution stereo vision monocular measuring devices to form a self-adaptive high-resolution stereo vision measuring device according to specific requirements;
b, performing monocular correction and aberration correction on each eye device;
c, correcting the whole stereoscopic vision measurement system;
and d, placing the three-dimensional sample to be detected at the clear imaging position, imaging the three-dimensional sample to be detected and calculating the appearance.
The present invention is not limited to the above-described preferred embodiments, and any structural changes or process modifications made in the light of the present invention shall be construed as being within the scope of the present invention, and all technical solutions similar or equivalent to the present invention shall be construed as being included in the present invention.
Claims (4)
1. An adaptive high resolution stereo vision system comprising: at least two monocular measuring devices (22); the monocular measuring device (22) performs visual measurement on the three-dimensional measured sample (1);
the monocular measuring device (22) is characterized by comprising a laser lighting module, a visual camera module, a scanning amplification measuring module and an aberration correcting module;
the laser lighting module sequentially comprises the following components in the direction of the lighting light propagation: the device comprises a laser (18), a collimator (17), a diaphragm (16), a PBS (10), a two-dimensional galvanometer (9), a scanning lens (8), a field lens I (7), a tube lens (6), an 1/4 wave plate (5), an objective lens (4), a field lens II (3) and a photographic lens (2);
the visual camera module is as follows: the device comprises a photographic lens (2), a field lens II (3), an objective lens (4), an 1/4 wave plate (5), a tube lens (6), a field lens I (7), a scanning lens (8), a two-dimensional galvanometer (9), a PBS (10), a spatial light modulator (11), a 9:1BS (12), a focusing lens (13), a pinhole (14) and a PMT detector (15);
the scanning amplification measurement module sequentially comprises the following components in the signal light propagation direction: the device comprises a laser (18), a collimator (17), a diaphragm (16), a PBS (10), a two-dimensional galvanometer (9), a scanning lens (8), a field lens I (7), a tube lens (6), an 1/4 wave plate (5), an objective lens (4), a field lens II (3), an objective lens (4), a 1/4 wave plate (5), a tube lens (6), a field lens I (7), a scanning lens (8), a two-dimensional galvanometer (9), a PBS (10), a spatial light modulator (11), a 9:1BS (12), a focusing lens (13), a pinhole (14) and a PMT detector (15);
the aberration correction module is sequentially as follows according to the signal light propagation direction: the device comprises a field lens II (3), an objective lens (4), an 1/4 wave plate (5), a tube lens (6), a field lens I (7), a scanning lens (8), a two-dimensional galvanometer (9), a PBS (10), a spatial light modulator (11), a 9:1BS (12), a conversion objective lens I (19), a conversion objective lens II (20) and a wavefront detector (21);
the laser (18) in the lighting module emits laser, parallel light is formed after collimation, the laser is reflected by PBS and then passes through a two-dimensional galvanometer (9) and a scanning lens (8) to be focused at the optical center position of a field lens I (7), a light beam passes through a tube lens (6) to form parallel light, then passes through an 1/4 wave plate (5) to be focused at the optical center position of a field lens II (3) by an objective lens (4), and then is focused on the surface of a three-dimensional measured sample (1) through a photographic lens (2) to form a focusing light spot, and the focusing light spot irradiates the surface of the sample to emit reflected light;
the reflected light emitted by the surface of the three-dimensional tested sample (1) sequentially passes through the photographic lens (2), the field lens II (3), the objective lens (4), the 1/4 wave plate (5), the tube lens (6), the field lens I (7), the scanning lens (8), the two-dimensional galvanometer (9), the PBS (10), the spatial light modulator (11), the 9:1BS (12), the conversion objective lens I (19) and the conversion objective lens II (20) to be received by the wavefront detector (21), and is collected by the PMT detector (15) after the spatial light modulator (11) is adjusted according to the wavefront detector to eliminate system aberration and passes through the 9:1BS (12), the focusing lens (13) and the pinhole (14).
2. The adaptive high resolution stereo vision system of claim 1, wherein the imaging mode of the stereo vision system is galvanometer scanning imaging.
3. The adaptive high resolution stereoscopic vision system of claim 1 wherein the stereoscopic vision system field lens is configured to match the field of view and enable holographic objective field of view imaging.
4. The adaptive high resolution stereo vision system of claim 1, which is used for measuring adaptive high resolution stereo vision, and comprises the following steps:
step a, selecting and using a plurality of high-resolution stereo vision monocular measuring devices to form a self-adaptive high-resolution stereo vision system according to specific requirements;
b, performing monocular correction and aberration correction on each eye device;
c, correcting the whole self-adaptive high-resolution stereoscopic vision system;
and d, placing the three-dimensional sample to be detected at the clear imaging position, imaging the three-dimensional sample to be detected and calculating the appearance.
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