CN109579700B - Disc scanning high-resolution stereo vision measuring system and method - Google Patents
Disc scanning high-resolution stereo vision measuring system and method Download PDFInfo
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- CN109579700B CN109579700B CN201811497908.2A CN201811497908A CN109579700B CN 109579700 B CN109579700 B CN 109579700B CN 201811497908 A CN201811497908 A CN 201811497908A CN 109579700 B CN109579700 B CN 109579700B
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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
The invention discloses a high-resolution stereo vision measuring device and method for disc scanning, in particular to a device and method for rapidly measuring the appearance, deformation, displacement and the like of a large-scale three-dimensional object by using a stereo vision and disc scanning amplification measuring system; the device consists of two or more disc scanning high-resolution stereo vision monocular measuring devices, wherein each disc scanning high-resolution stereo vision monocular measuring device comprises a laser lighting module, a vision camera module and a disc scanning amplification measuring 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 by a scanning amplification measuring module through a camera module point; 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
The invention relates to a stereoscopic vision measuring system and method, in particular to a disc scanning high-resolution stereoscopic vision measuring system and method, and belongs 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.
Therefore, how to design a high-resolution stereo vision measurement system and method is a problem that needs to be solved by those skilled in the art.
Disclosure of Invention
The invention discloses a disc scanning high-resolution stereo vision measuring system and method, the device and method can improve the equivalent focal length and scanning speed of the whole system by introducing a disc scanning amplification measuring module, thereby improving the resolution of the whole system, and the introduction of a pinhole array in front of a CCD can improve the signal-to-noise ratio to be beneficial to 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 disc scanning high-resolution stereo vision measuring system is characterized by comprising at least two high-resolution stereo vision monocular measuring devices;
the high-resolution stereo vision monocular measuring device comprises a laser lighting module, a vision camera module and a disc scanning and amplifying measuring module;
the laser lighting module includes: the device comprises a laser, a collimator, a rotatable disc-microlens array, a PBS, a first rotatable disc-pinhole array, a lens, a first field lens, a tube lens, an 1/4 wave plate, an objective lens, a second field lens and a photographic lens;
the laser in the laser illumination module emits laser, parallel light is formed after collimation, a plurality of converging light beams are formed after passing through a rotatable disc-micro lens array, a plurality of point light sources are formed after being reflected by PBS and passing through a first rotatable disc-pinhole array, then the point light beams are focused at the position of a main surface of a first field lens after passing through a lens, a plurality of parallel light beams are formed after passing through a tube lens, then the parallel light beams are focused at the position of a main surface of a second field lens by an objective lens after passing through an 1/4 wave plate, and then the parallel light beams are focused on the surface of a three-dimensional measured sample through a photographic lens to form a plurality of focusing light spots, and;
the visual camera module includes: a photographic lens, a second field lens, an objective lens, an 1/4 wave plate,
The device comprises a tube lens, a first field lens, a first rotatable disk-pinhole array, a PBS (polarizing beam splitter), a focusing lens, a second rotatable disk-pinhole array and a CCD (charge coupled device);
the reflected light emitted from the surface of the three-dimensional tested sample sequentially passes through the photographic lens, the second field lens, the objective lens, the 1/4 wave plate, the tube lens, the first field lens, the first rotatable disc-pinhole array, the PBS, the focusing lens and the second rotatable disc-pinhole array and then is collected by the CCD.
The disk scan magnification measurement module includes: a laser, a collimator, a rotatable disk-microlens array, a PBS, a first rotatable disk-pinhole array, a lens, a first field lens, a tube lens, an 1/4 wave plate, an objective lens, a second field lens, a PBS, a focusing lens, a second rotatable disk-pinhole array, and a CCD;
the disc scanning amplification measuring module sequentially comprises a laser, a collimator, a rotatable disc-micro lens array, a PBS, a first rotatable disc-pinhole array, a lens, a first field lens, a tube lens, an 1/4 wave plate, an objective lens, a second field lens, an objective lens, a 1/4 wave plate, a tube lens, a first field lens, a first rotatable disc-pinhole array, the PBS, a focusing lens, a second rotatable disc-pinhole array and a CCD (charge coupled device) according to the propagation direction of signal light;
the illumination module, the visual camera module and the disk scanning magnification measuring module share a second field lens, an objective lens, an 1/4 wave plate, a tube lens, a first field lens, a first rotatable disk-pinhole array and a PBS (polarizing beam splitter);
the lighting module and the visual camera module also share a photographic lens;
the illumination module and the disc scanning amplification measuring module share a laser, a collimator and a rotatable disc-micro lens array;
the visual camera module and the disk scanning magnification measuring module share a focusing lens, a second rotatable disk-pinhole array and a CCD;
preferably, the imaging mode of the stereo vision system is disk scanning imaging.
It should be noted that the imaging mode of the stereoscopic vision system is disk scanning imaging, which can significantly improve the imaging speed.
Preferably, the discs need to be matched with each other, wherein the second rotatable disc-pinhole array needs to be synchronized with the first rotatable disc-pinhole array, so that the imaging signal-to-noise ratio can be improved.
The disc scanning high-resolution stereo vision measuring method based on the disc scanning high-resolution stereo vision measuring system comprises the following steps:
step a, forming a disc scanning high-resolution stereo vision measuring system by using at least two high-resolution stereo vision monocular measuring devices;
b, performing monocular correction on each high-resolution stereoscopic vision monocular measuring device;
c, correcting the whole disc scanning high-resolution stereo vision measuring 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.
Has the advantages that:
the invention adds a whole set of disc scanning magnification measuring system behind the fixed focus pick-up lens to improve the equivalent focal length of the whole system, the improved multiplying power depends on the selected scanning magnification measuring system, thus improving the resolution of the whole stereo vision system. The introduction of the stereoscopic vision system field lens 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.
Drawings
FIG. 1 is a schematic view of a monocular configuration of the device for measuring high-resolution stereoscopic vision by scanning a disc according to the present invention;
FIG. 2 is a schematic diagram of the overall structure of the high-resolution stereo vision measuring device for disc scanning according to the present invention;
wherein: 1 tested sample, 2 photographic lens, 3 second field lens, 4 objective lens, 51/4 wave plate, 6 tube lens, 7 first field lens, 8 lens, 9 first rotatable disk-pinhole array, 10 PBS, 11 focusing lens, 12 second rotatable disk-pinhole array, 13CCD, 14 rotatable disk-microlens array, 15 collimator, 16 laser.
Detailed Description
According to an embodiment of the present invention, a disc scanning high resolution stereo vision measuring apparatus is provided for high resolution imaging of a three-dimensional measured sample.
A disc scanning high resolution stereo vision measuring system comprises at least two high resolution stereo vision monocular measuring devices;
the high-resolution stereo vision monocular measuring device comprises a laser lighting module, a vision camera module and a disc scanning and amplifying measuring module;
the laser lighting module includes: a laser 16, a collimator 15, a rotatable disk-microlens array 14, a PBS10, a first rotatable disk-pinhole array 9, a lens 8, a first field lens 7, a tube lens 6, a 1/4 wave plate 5, an objective lens 4, a second field lens 3, and a photographic lens 2;
a laser 16 in the laser illumination module emits laser light, the laser light is collimated to form parallel light, a plurality of converging light beams are formed after passing through a rotatable disc-micro lens array, a plurality of point light sources are formed after being reflected by PBS10 and passing through a first rotatable disc-pinhole array 9, the light beams are focused at the position of the main surface of a first field lens 7 after passing through a lens 8, a plurality of parallel light beams are formed after passing through a tube lens 6, the parallel light beams are focused at the position of the main surface of a second field lens 3 by an objective lens 4 after passing through a 1/4 wave plate 5, and then the light beams are focused on the surface of a three-dimensional measured sample 1 through a photographic lens 2 to form a plurality of focusing light;
the vision camera module includes: a photographing lens 2, a second field lens 3, an objective lens 4, a 1/4 wave plate 5,
Tube lens 6, first field lens 7, lens 8, first rotatable disk-pinhole array 9, PBS10, focusing lens 11, second rotatable disk-pinhole array 12, and CCD 13;
reflected light emitted by the surface of the three-dimensional tested sample 1 passes through a photographic lens 2, a second field lens 3, an objective lens 4, an 1/4 wave plate 5, a tube lens 6, a first field lens 7, a lens 8, a first rotatable disc-pinhole array 9, a PBS10, a focusing lens 11 and a second rotatable disc-pinhole array 12 in sequence and then is collected by a CCD 14;
the disk scanning magnification measuring module includes: a laser 16, a collimator 15, a rotatable disk-microlens array 14, a PBS10, a first rotatable disk-pinhole array 9, a lens 8, a first field lens 7, a tube lens 6, a 1/4 wave plate 5, an objective lens 4, a second field lens 3, a PBS10, a focusing lens 11, a second rotatable disk-pinhole array 12, and a CCD 13;
the disc scanning magnification measuring module sequentially comprises a laser 16, a collimator 15, a rotatable disc-microlens array 14, a PBS10, a first rotatable disc-pinhole array 9, a lens 8, a first field lens 7, a tube lens 6, a 1/4 wave plate 5, an objective lens 4, a second field lens 3, an objective lens 4, a 1/4 wave plate 5, a tube lens 6, a first field lens 7, a lens 8, a first rotatable disc-pinhole array 9, a PBS10, a focusing lens 11, a second rotatable disc-pinhole array 12 and a CCD13 according to the propagation direction of signal light;
the illumination module, the visual camera module and the disk scanning magnification measuring module share the second field lens 3, the objective lens 4, the 1/4 wave plate 5, the tube lens 6, the first field lens 7, the lens 8, the first rotatable disk-pinhole array 9 and the PBS 10;
the lighting module and the visual camera module also share a photographic lens 2;
the illumination module and the disk scanning magnification measuring module share a laser 16, a collimator 15 and a rotatable disk-microlens array 14;
the vision camera module, the disc scan magnification measurement module share a focusing lens 11, a second rotatable disc-pinhole array 12 and a CCD 13.
Furthermore, the imaging mode of the stereo vision measuring system is disk scanning imaging.
Further, the discs are interfitted with each other, wherein the second rotatable disc-pinhole array is synchronized with the first rotatable disc-pinhole array.
The method for realizing the disc scanning high-resolution stereo vision by the disc scanning high-resolution stereo vision measuring system comprises the following steps:
step a, forming a disc scanning high-resolution stereo vision measuring system by using at least two high-resolution stereo vision monocular measuring devices;
b, performing monocular correction on each high-resolution stereoscopic vision monocular measuring device;
c, correcting the whole disc scanning high-resolution stereo vision measuring 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.
Fig. 2 is a schematic view of the whole disc scanning high-resolution stereovision measuring apparatus according to the present invention, fig. 2 is a schematic view of at least 2 disc scanning high-resolution stereovision measuring monocular apparatuses, and fig. 1 is a schematic view of an embodiment of the disc scanning high-resolution stereovision measuring monocular apparatus.
As shown in fig. 2, S1, S2, and S3 are all high resolution stereo monocular measurement devices of the disc scanning high resolution stereo vision measurement device.
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. The disc scanning high-resolution stereo vision measuring system is characterized by comprising at least two high-resolution stereo vision monocular measuring devices;
the high-resolution stereo vision monocular measuring device comprises a laser lighting module, a vision camera module and a disc scanning and amplifying measuring module;
the laser lighting module includes: the device comprises a laser (16), a collimator (15), a rotatable disc-micro lens array (14), a PBS (10), a first rotatable disc-pinhole array (9), a lens (8), a first field lens (7), a tube lens (6), an 1/4 wave plate (5), an objective lens (4), a second field lens (3) and a photographic lens (2);
a laser (16) in the laser illumination module emits laser, parallel light is formed after collimation, a plurality of beams of convergent light are formed after passing through a rotatable disc-micro lens array, a plurality of point light sources are formed after being reflected by PBS (10) and passing through a first rotatable disc-pinhole array (9), the light beams are focused at the main surface position of a first field lens (7) after passing through a lens (8), a plurality of beams of parallel light are formed after passing through a tube lens (6), the light beams are focused at the main surface position of a second field lens (3) by an objective lens (4) after passing through 1/4 wave plates (5), and then the light beams are focused on the surface of a three-dimensional measured sample (1) through a photographic lens (2) to form a plurality of focusing light spots, the focusing light spots irradiate the surface of the sample and;
the visual camera module includes: a photographic lens (2), a second field lens (3), an objective lens (4), a 1/4 wave plate (5),
The device comprises a tube lens (6), a first field lens (7), a lens (8), a first rotatable disc-pinhole array (9), a PBS (10), a focusing lens (11), a second rotatable disc-pinhole array (12) and a CCD (13);
reflected light emitted by the surface of the three-dimensional tested sample (1) sequentially passes through the photographic lens (2), the second field lens (3), the objective lens (4), the 1/4 wave plate (5), the tube lens (6), the first field lens (7), the lens (8), the first rotatable disc-pinhole array (9), the PBS (10), the focusing lens (11) and the second rotatable disc-pinhole array (12) and then is collected by the CCD (13);
the disk scan magnification measurement module includes: the device comprises a laser (16), a collimator (15), a rotatable disc-micro lens array (14), a PBS (10), a first rotatable disc-pinhole array (9), a lens (8), a first field lens (7), a tube lens (6), an 1/4 wave plate (5), an objective lens (4), a second field lens (3), the PBS (10), a focusing lens (11), a second rotatable disc-pinhole array (12) and a CCD (13);
the disc scanning magnification measuring module comprises a laser (16), a collimator (15), a rotatable disc-micro lens array (14), a PBS (10), a first rotatable disc-pinhole array (9), a lens (8), a first field lens (7), a tube lens (6), an 1/4 wave plate (5), an objective lens (4), a second field lens (3), an objective lens (4), a 1/4 wave plate (5), a tube lens (6), a first field lens (7), a lens (8), a first rotatable disc-pinhole array (9), a PBS (10), a focusing lens (11), a second rotatable disc-pinhole array (12) and a CCD (13) in sequence according to the propagation direction of signal light;
the illumination module, the visual camera module and the disk scanning magnification measuring module share a second field lens (3), an objective lens (4), an 1/4 wave plate (5), a tube lens (6), a first field lens (7), a lens (8), a first rotatable disk-pinhole array (9) and a PBS (10);
the lighting module and the visual camera module also share a photographic lens (2);
the illumination module and the disc scanning magnification measuring module share a laser (16), a collimator (15) and a rotatable disc-microlens array (14);
the visual camera module and the disk scanning magnification measuring module share a focusing lens (11), a second rotatable disk-pinhole array (12) and a CCD (13).
2. The disc scanning high resolution stereo vision measurement system of claim 1, wherein the imaging mode of the stereo vision measurement system is disc scanning imaging.
3. The disc scanning high resolution stereo vision measurement system of claim 1, wherein the discs are mated, and wherein the second rotatable disc-pinhole array is synchronized with the first rotatable disc-pinhole array.
4. The disc scanning high resolution stereovision measuring system according to claim 1, wherein said measuring method comprises the steps of:
step a, forming a disc scanning high-resolution stereo vision measuring system by using at least two high-resolution stereo vision monocular measuring devices;
b, performing monocular correction on each high-resolution stereoscopic vision monocular measuring device;
c, correcting the whole disc scanning high-resolution stereo vision measuring 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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