CN100573033C - Three-dimensional surface model building system based on binocular - Google Patents
Three-dimensional surface model building system based on binocular Download PDFInfo
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- CN100573033C CN100573033C CNB2008100231462A CN200810023146A CN100573033C CN 100573033 C CN100573033 C CN 100573033C CN B2008100231462 A CNB2008100231462 A CN B2008100231462A CN 200810023146 A CN200810023146 A CN 200810023146A CN 100573033 C CN100573033 C CN 100573033C
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Abstract
Three-dimensional surface model building system based on binocular, it is characterized in that described system constitutes a lasing light emitter, the laser beam of self-excitation light source is projected on each position to be measured for the treatment of the modeling body surface one by one in the future, is treating that the modeling object surfaces forms the independent laser facula of each bundle laser beam; The video cameras that two relative positions are fixing respectively at same independent hot spot of its position photographs separately, obtain described hot spot separately light spot image in two video cameras; One computer control system according to the diverse location of same hot spot in the captured image of different cameras, by the hot spot coupling, and adopts the space trigonometry, calculates the 3 d space coordinate that obtains this hot spot; At treating that each is thrown according to locational 3 d space coordinate on the modeling object,, finish the modeling of three-dimensional surface by the Delauny trigonometric ratio.Systematic survey of the present invention accurately, be suitable for using in industry spot.
Description
Technical field
The present invention relates to be used for measuring system is carried out on the object dimensional surface, particularly be applied to the three-dimensional surface model building system of three-dimensional object surface location.
Background technology
The three-dimensional surface location technology of object is used increasingly extensive in fields such as industrial design and manufacturing, quality testing and control, topographical surveying and exploration, virtual realities.Along with the development of reverse engineer, object is carried out focus and the difficult point that modeling fast and effectively becomes research.This carries out effective decision problem with regard to relating to the surface of three-dimensional body.
It is contact and contactless that the three-dimensional object surface location mainly contains two class methods at present.Contact type measurement precision height, but measuring speed is slow, to the environmental requirement height, the object size is had requirement.Therefore when using, be very limited.Contactless measurement mainly need be used laser and the video camera instrument as the location, is divided into and only needs the laser of laser generator and relevant support equipment method two-way time, and need the comprehensive computer vision methods of using laser generator and video camera.The principle of work of preceding a kind of method is the three-dimensional coordinate of putting on the Measuring Object by the two-way time of Laser Measurement pulse, because the speed of light is very fast, thus just very high to the requirement of equipment, involve great expense.Be enhanced in precision in recent years based on the method for computer vision, and relative low price, therefore use also more and more widely.Method based on computer vision generally is to utilize laser generator that required modeling object is throwed, then utilize multiple-camera that the laser projection state is taken, by corresponding algorithm the laser spot in the multiple-camera is mated calculating with three-dimensional space position then.
The rapid modeling of three-dimensional surface is significant for the robotization of industry spot such as mine.But industry spot such as mine are because dust is bigger, a slice laser site that traditional modeling method based on computer vision is launched or several laser stripes are often because the relative difficulty of dust coupling big, that work under bad environment causes these laser sites and laser stripe, thereby the result of modeling exists bigger error, and finally causing carrying out in these fields fast, real-time modeling is restricted.
Summary of the invention
The present invention is for avoiding above-mentioned existing in prior technology weak point, provides a kind of and measure accurately, is suitable for the three-dimensional surface model building system based on binocular that uses in industry spot.
Technical solution problem of the present invention adopts following technical scheme:
The design feature that the present invention is based on the three-dimensional surface model building system of binocular is that its system constitutes:
One lasing light emitter, the laser beam of self-excitation light source is projected on each position to be measured for the treatment of the modeling body surface one by one in the future, is treating that the modeling object surfaces forms the independent laser facula of each bundle laser beam;
The video cameras that two relative positions are fixing respectively at same independent hot spot of its position photographs separately, obtain described hot spot separately light spot image in two video cameras;
One computer control system according to the diverse location of same hot spot in the captured image of different cameras, by the hot spot coupling, and adopts the space trigonometry, calculates the 3 d space coordinate that obtains this hot spot; At treating that each is thrown according to locational 3 d space coordinate on the modeling object,, finish the modeling of three-dimensional surface by the Delauny trigonometric ratio.
The design feature that the present invention is based on the three-dimensional surface model building system of binocular also is:
Fixedly install lasing light emitter, at described lasing light emitter and treat between the modeling body surface that the adjustable reflective mirror of reflective angle is set, and laser beam is projected on the described reflective mirror, adjust the reflective angle of reflective mirror, laser beam is projected on the setting surface location for the treatment of the modeling object through reflection.
For the collection for the treatment of independent facula information on each position to be measured of modeling body surface, be to be projected on this position with laser beam to form independent hot spot, video camera is taken hot spot to finish the collection of described light spot image is a work period then; For the collection for the treatment of the different positions to be measured of modeling body surface facula information, be to finish an above work period to begin just now afterwards the next work period.
Improve modeling accuracy by increasing position to be measured in the dense degree for the treatment of the modeling body surface.
Compared with the prior art, beneficial effect of the present invention is embodied in:
1, the present invention utilizes laser beam treating that each position to be measured of modeling body surface throws photograph one by one, form independent hot spot, this form has antijamming capabilities such as stronger anti-dust, anti-water smoke, can finish the work in real time in fields such as the industry spot modeling process of face improves the understanding of user to face condition effectively.
2, the present invention treats that the modeling body surface is an independent hot spot in the gatherer process of light spot image, can improve the accuracy of modeling greatly, reduces the difficulty of the hot spot coupling of Flame Image Process in the stage, improves accurate positioning.
3, the present invention can finish the modeling to the different accuracy of workplace according to measuring increase in demand or reducing the tested point position.
Description of drawings
Fig. 1 constitutes synoptic diagram for system of the present invention.
Fig. 2 is the structural representation of lasing light emitter of the present invention.
Number in the figure: 1 computer control system, 2 video camera A, 3 video camera B, 4 lasing light emitters, 5 cables, 6 are treated modeling object, 7 hot spots, 8 laser beams, 9 reflective mirrors, 10 drive motor, 11 laser generators, 12 optical filters
Below by embodiment, the invention will be further described in conjunction with the accompanying drawings
Embodiment
Referring to Fig. 1, the present embodiment system constitutes:
Come the laser beam 8 of self-excitation light source 4 to be projected on each position to be measured, surface for the treatment of modeling object 6, form independent hot spot 7 on the surface for the treatment of modeling object 6;
Video camera A (number in the figure is 2) that two relative positions are fixing and video camera B (number in the figure is 3) video camera A (number in the figure is 2) that each two relative position is fixed at it respectively and video camera B (number in the figure is 3) be respectively at same independent hot spot 7 of its position photographs separately, obtains hot spot 7 separately light spot image in video camera A and video camera B respectively;
Computer control system 1 is according to the diverse location of same hot spot 7 in video camera A and the captured image of video camera B, by filter make an uproar, the hot spot coupling, adopt the space trigonometry, calculate the 3 d space coordinate that obtains this hot spot 7; At treating that each is thrown according to locational 3 d space coordinate on the modeling object,, finish the modeling of three-dimensional surface by the Delauny trigonometric ratio; Computer control system 1 connects by cable 5 formation systems.
In concrete the enforcement, relative set also comprises:
Shown in Figure 2, the setting of lasing light emitter comprises and fixedly installs laser generator 11, at laser generator 11 and treat between the surface of modeling object 6, the adjustable reflective mirror 9 of reflective angle is set, laser generator 11 sees through 12 optical filters and forms beam of laser light beam 8, and laser beam 8 is projected on the reflective mirror 9, accurately adjusts the reflective angle of reflective mirror 9 by drive motor 10, make laser beam 8 form folded light beam, be projected on the setting surface location for the treatment of the modeling object through reflective mirror 9.
For the collection for the treatment of each position to be measured independence facula information of modeling body surface, be to throw according to this position with laser beam to form independent hot spot, video camera is taken hot spot to finish the collection of described light spot image is a work period then; For the collection for the treatment of the different positions to be measured of modeling body surface facula information, be to finish an above work period to begin just now afterwards the next work period.
Improve modeling accuracy by increasing position to be measured in the dense degree for the treatment of the modeling body surface.
The course of work:
1, adjusts drive motor 10 reflective mirror 9 is changed to initial position;
2, emission laser beam 8 utilizes video camera A and video camera B that laser facula is taken;
3, the light spot image that collects passes to computer control system, the coupling laser facula;
4, operating software calculates the 3 d space coordinate of laser facula in computer control system, simultaneously the coordinate points that calculates is stored;
5, adjust the reflection angle that drive motor 10 changes reflective mirror 9, repeat above-mentioned steps 2-4, finish, then finish the image acquisition of laser facula, enter next step when once rotating fully of drive motor 10;
6, the laser facula 3 d space coordinate that step 4 is obtained utilizes the software kit on the computing machine to carry out the Delauny triangle gridding as input, finishes the modeling to workplace.
Claims (4)
1,, it is characterized in that described system constitutes based on the three-dimensional surface model building system of binocular:
One lasing light emitter, the laser beam of self-excitation light source is projected on each position to be measured for the treatment of the modeling body surface one by one in the future, is treating that the modeling object surfaces forms the independent laser facula of each bundle laser beam;
The video cameras that two relative positions are fixing respectively at same independent hot spot of its position photographs separately, obtain described hot spot separately light spot image in two video cameras;
One computer control system according to the diverse location of same hot spot in the captured image of different cameras, by the hot spot coupling, and adopts the space trigonometry, calculates the 3 d space coordinate that obtains this hot spot; At treating that each is thrown according to locational 3 d space coordinate on the modeling object,, finish the modeling of three-dimensional surface by the Delauny trigonometric ratio.
2, the three-dimensional surface model building system based on binocular according to claim 1, it is characterized in that described lasing light emitter is the laser generator (11) that fixedly installs, at described laser generator (11) and treat between the modeling body surface, the adjustable reflective mirror of reflective angle (9) is set, laser beam (8) is projected on the described reflective mirror (9), adjust the reflective angle of reflective mirror (9), laser beam (8) is projected on the setting surface location for the treatment of the modeling object through reflection.
3, the three-dimensional surface model building system based on binocular according to claim 1, it is characterized in that for the collection for the treatment of independent facula information on each position to be measured of modeling body surface, be to be projected on this position with laser beam to form independent hot spot, video camera is taken hot spot to finish the collection of described light spot image is a work period then; For the collection for the treatment of the different positions to be measured of modeling body surface facula information, be to finish an above work period to begin just now afterwards the next work period.
4, the three-dimensional surface model building system based on binocular according to claim 1 is characterized in that improving modeling accuracy by increasing position to be measured in the dense degree for the treatment of the modeling body surface.
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2008100231462A CN100573033C (en) | 2008-07-15 | 2008-07-15 | Three-dimensional surface model building system based on binocular |
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| CNB2008100231462A CN100573033C (en) | 2008-07-15 | 2008-07-15 | Three-dimensional surface model building system based on binocular |
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| CN100573033C true CN100573033C (en) | 2009-12-23 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US8786682B2 (en) * | 2009-03-05 | 2014-07-22 | Primesense Ltd. | Reference image techniques for three-dimensional sensing |
| CN101853521B (en) * | 2010-04-22 | 2012-07-04 | 王少华 | Cultural relic rotation structured light three-dimensional digital modeling method |
| CN101968347A (en) * | 2010-08-31 | 2011-02-09 | 苏州大学 | Method for extracting surface flatness of flat granular objects |
| CN102322799A (en) * | 2011-08-24 | 2012-01-18 | 苏州生物医学工程技术研究所 | Space measurement positioning system for X-ray imaging device and method |
| CN106767722B (en) * | 2016-11-22 | 2019-01-22 | 哈尔滨工业大学 | A kind of underwater turbulence intensity detection device based on dual camera |
| CN107403449B (en) * | 2017-08-09 | 2023-11-24 | 深度创新科技（深圳）有限公司 | Vision system based on photometric stereo vision and three-dimensional reconstruction method thereof |
| CN107957247B (en) * | 2017-12-22 | 2023-09-08 | 易思维（天津）科技有限公司 | Handheld gap and surface difference vision measurement device and method |
| CN112902842A (en) * | 2021-01-27 | 2021-06-04 | 南京逸动智能科技有限责任公司 | Optical tracker based on binocular vision and tracking system |
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Inventor after: Han Jianghong Inventor after: Liu Xiaoping Inventor after: Lu Qiang Inventor after: Xu Wei Inventor after: Zheng Liping Inventor after: Yu Ye Inventor after: Wu Menya Inventor before: Han Jianghong Inventor before: Liu Xiaoping Inventor before: Lu Qiang Inventor before: Xu Wei Inventor before: Zheng Liping |
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Free format text: CORRECT: INVENTOR; FROM: HAN JIANGHONG LIU XIAOPING LU QIANG XU WEI ZHENG LIPING TO: HAN JIANGHONG LIU XIAOPING LU QIANG XU WEI ZHENG LIPING YU YE WU WENYA |
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Granted publication date: 20091223 Termination date: 20160715 |