CN101305260A - Measuring system for three-dimensional objects - Google Patents
Measuring system for three-dimensional objects Download PDFInfo
- Publication number
- CN101305260A CN101305260A CNA200680041829XA CN200680041829A CN101305260A CN 101305260 A CN101305260 A CN 101305260A CN A200680041829X A CNA200680041829X A CN A200680041829XA CN 200680041829 A CN200680041829 A CN 200680041829A CN 101305260 A CN101305260 A CN 101305260A
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- China
- Prior art keywords
- pixel
- photomodulator
- control circuit
- bright
- dark
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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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
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/2513—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object with several lines being projected in more than one direction, e.g. grids, patterns
-
- 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
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
-
- 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
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B26/00—Optical devices or arrangements for the control of light using movable or deformable optical elements
- G02B26/02—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the intensity of light
- G02B26/04—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the intensity of light by periodically varying the intensity of light, e.g. using choppers
Abstract
The invention relates to a three-dimensional object measuring system (1) having a strip projector (2) for producing a strip-shaped light pattern on an object (3) to be measured, wherein the strip projector (2) comprises a light source (4) and a liquid crystal light modulator (5) with a matrix-type arrangement of pixels which can be controlled so as to be light and dark, and having an electronic camera (6) for recording images of the object (3) which is illuminated with the light pattern.; For the purpose of achieving a high measuring accuracy, the invention proposes that the strip projector (2) and the electronic camera (6) are actuated by means of a control circuit (8), which is designed such that, during the exposure time of an image, the pixels of the light modulator (5) are switched between light and dark, with the temporal progression of the switchover of the pixels being synchronized with the image recording.
Description
Technical field
The present invention relates to a kind of object measuring system of three-dimensional, it has: the band projector, be used on object to be measured, producing the light pattern of strip-type, wherein the band projector comprises light source and liquid crystal light modulator, and this liquid crystal light modulator has can be controlled as the pixel that bright and dark rectangular is arranged; And electron camera, be used to shoot with video-corder the pattern of the object that utilizes light pattern irradiation.
Background technology
Such measuring system is used to measure the shape on the surface of any Measuring Object three-dimensionally.This object measuring system that is also become the 3D scanner is come work according to triangulation method, for example as described in DE 195 11 160 A1.Simultaneously, being used as optical sensor by the device with liquid crystal cell (LCD) and electron camera formation uses.To project by the light pattern that a plurality of striation bands are formed by the band projector on the object of band measurement.Under predeterminable angle, shoot with video-corder the two-dimensional pattern of the object that utilizes the strip pattern irradiation by electron camera with respect to projecting direction.Then, by computing machine to the assessment of pattern by the three-D profile of deriving object in the set shape.In order to determine the 3D shape of object with clear and definite method, often need shoot with video-corder a plurality of convexs, wherein utilize different strip patterns that object is shone.
In known object measuring system, commercial general LCD miniscope is used as photomodulator and uses, and this miniscope for example also is applied in the video projectors.Such LCD element can only produce less gray shade scale unfriendly.In addition, when producing gray shade scale, precision and repeatability still are not fully up to expectations.Yet when producing gray shade scale, degree of accuracy still is enough for the video-projection purpose.Certainly, when three-dimensional body was measured, attainable measuring accuracy directly depended on the precision of the intensity distributions of the light pattern that produces by the band projector.Therefore, utilize the object measuring system of the known three-dimensional of LCD miniscope work to have the shortcoming of lower measuring accuracy.
Summary of the invention
Under this background, the purpose of this invention is to provide a kind of object measuring system of three-dimensional, in this system, have in use under the situation of band projector of liquid crystal light modulator and can accurately produce the gray-level light pattern.
The object measuring system that the present invention is based on the described type of beginning realizes this purpose in this wise, promptly control band projector and electron camera by control circuit, this control circuit designs in this wise, promptly during the time shutter of pattern, the pixel of photomodulator bright and dark between switch, wherein the temporal curve that switches of pixel and shooting are synchronously.
According to the present invention, come the pixel of binary ground control photomodulator by control circuit.This means that each pixel is only switched between bright and dark state.Different gray scales by during the time shutter of pattern bright and dark between switching utilize electron camera to produce.Between exposure period, the integrated light intensity of electron camera, thus draw the gray scale that is used for each pixel by bright and dark time ratio separately.
Consider that when producing gray scale attainable precision, the switching time of liquid crystal light modulator played the part of an important role in the mode of describing before.Be considered to such time switching time, promptly in the pixel of photomodulator from bright to the time dark or that spend from secretly to bright the switching time.Pixel be not suddenly from bright to dark or from secretly to its state of bright change, replace, pixel has a gradual handoff procedure.The switching time of habitual LCD element is in several milliseconds scope.The long high relatively viscosity that depends on liquid crystal switching time.This viscosity depends on environment temperature again consumingly.According to the present invention, the temporal curve of the switching of pixel is synchronous with shooting.By this mode, when producing gray scale, guaranteed good repeatability.The pixel that this repeatability is not subjected to environmental impact consumingly influences switching time.Switching by pixel and shooting synchronously, the switching curve of pixel is identical when each shooting.
Advantageously, design control circuit in one way according to the present invention, promptly each pixel of photomodulator begins to be a kind of default switching state in each shooting.This is known, promptly in the LCD photomodulator, the switching from bright to dark and from switching time secretly to bright switching may be that very big difference is arranged.Therefore, in view of the repeatability of the expection when producing gray scale, when the pixel of photomodulator is highly significant when the beginning of each shooting all is in identical default switching state (bright or dark).
According to one of object measuring system of the present invention favourable design proposal, consider the switching time of photomodulator, by control circuit according to the default gray scale condition that is used for this pixel consider the switching time of optical modulation phase be each pixel of photomodulator be identified for bright and dark between some switching time that switches.As mentioned above, draw the gray scale that is used for each pixel by bright and dark time ratio.This ratio can be put by correspondingly default switching time to be influenced.Because the light intensity that is used for each pixel during the time shutter is integrated by electron camera, therefore depend on the switching time of photomodulator based on the accurate gray scale of the gradual switching curve of described pixel.Therefore, in order when producing gray scale, to reach high as far as possible precision, when determining to put switching time, be highly significant taking into account the switching time of photomodulator.Therefore, control circuit is design in this wise advantageously, promptly each pixel of photomodulator beginning reach after the time shutter when putting switching time bright and dark between switching.Produce thus between the temporal curve of switching of pixel and the shooting according to of the present invention synchronously.
As mentioned before, depend on environmental impact, for example temperature the switching time of photomodulator.Therefore, in system according to the present invention an optical sensor that is connected with control circuit being set is highly significant, and wherein control circuit is designed to proofread and correct according to the sensor signal of optical sensor the switching time of photomodulator.Optical sensor can compare the gray scale of the light intensity of practical measurement and expection separately.Relatively can derive the switching time of photomodulator by this.Then, this switching time can be used for determining pixel switching time point the measuring process of reality be considered.
Very meaningfully, designed in this manner, promptly produced the light pattern that has transverse to the strip-type of the grey scale curve of the sinusoidal shape of strip direction by the band projector according to the control circuit of object measuring system of the present invention.By the light pattern of this type can according to triangulation away from the 3D shape of deriving object to be measured particularly well.At this, the phase place of sine-shaped grey scale curve should be variable.Can shoot with video-corder a plurality of patterns then, thereby acquisition is relevant to the clear and definite information of the 3D shape of object with out of phase.
In practice, the photomodulator according to object measurement mechanism of the present invention is so-called LCOS miniscope.The implication of LCOS is a liquid crystal on silicon.The LCOS miniscope is made of silicon system carrier, and it uses as light reflection mirror simultaneously.Thin coating with liquid crystal is on this carrier.This device covers by thin glass sheet.The LCOS miniscope can be with low relatively cost in commercial acquisition and can use with advantage according to the present invention as the product of large-scale production.
Supplementary notes, promptly in view of the time curve of the switching of pixel and shooting the synchronous principle of work and power and not relying on according to object measurement mechanism of the present invention whether during making a video recording, realize pixel from bright to dark or from secretly to bright switching.Therefore, according to the present invention, bright and dark between switching comprise that not only the switching from bright to dark also comprises from dark to bright switching.Repeatedly handoff procedure also is fine during the time shutter.
Description of drawings
Next set forth embodiments of the invention with reference to the accompanying drawings further.Shown in the figure:
Fig. 1 is as the diagrammatic sketch according to object measurement mechanism of the present invention shown in the block diagram;
Fig. 2 is the time curve of control according to photomodulator of the present invention.
Embodiment
In Fig. 1, three-dimensional object measuring system is all illustrated by label 1.The critical piece of object measuring system 1 is a band projector 2, and it is used for producing the light pattern of strip-type on object to be measured 3.Band projector 2 comprises light source 4, illuminates liquid crystal light modulator 5 from the light of this light source.Liquid crystal light modulator 5 is the LCOS miniscopes with the pixel that can be controlled as bright and dark rectangular layout.In addition, object measuring system 1 has electron camera 6.Utilize this electron camera 6 to shoot with video-corder to utilize the pattern of the object 3 that light pattern illuminates.The pattern that evaluates calculation machine 7 assessment is shot with video-corder and calculate the 3D shape of object 3 by it.In addition, as can seeing among Fig. 1, band projector 2 and electron camera 6 are by control circuit 8 controls.This control circuit designs in this wise according to the present invention, promptly during the time shutter of pattern, the pixel of photomodulator 5 bright and dark between switch, wherein the time curve of the switching time of pixel and shooting are synchronously.This for example realizes by this way, and promptly whole pixels of photomodulator 5 utilize control circuit 8 to switch to default switching state (for example, bright) before beginning to make a video recording.By control circuit 8 according to each pixel that by the evaluates calculation machine 7 default patterned conditions of striation is photomodulator 5 be identified for bright and dark between some switching time that switches.Control circuit 8 triggers the pattern that utilizes electron camera 6 to carry out and shoots with video-corder, and controls photomodulator 5 by this way between exposure period, promptly each pixel after the beginning time shutter, reaching when putting switching time bright and dark between switching.2 pairs of band projectors should have an optical sensor 9.This optical sensor is connected with control circuit 8.Optical sensor 9 is used to proofread and correct the switching time of photomodulator 5.Then, can when putting definite switching time, correspondingly consider the switching time of photomodulator 5 for the single desired gray scale of pixel.
In chart, schematically show the temporal switching curve S of the pixel of photomodulator 5 according to Fig. 2.In addition, chart shows the temporal curve of the control signal B of electron camera 6.The time point T of shooting from chart, charging to
ABeginning.At time point T
AThe time, pixel switches to bright.At time point T
AThe time signal B be activated.This signal begins the light intensity of exposing patterns and video camera 6 integrated pixels.At elapsed time t
hAfterwards, corresponding to the pixel of gray scale of expection from bright to dark switching.Yet the brightness of pixel is not suddenly to change, but at t switching time
1Little by little reduce to zero during this time.Then up to time shutter t
bSpend the time interval t during end
dTherefore, the gray scale of pixel depends on four time value t
h, t
1, t
dAnd t
bAt time shutter t
bDuring end, the control signal B of video camera 6 descends.Before shooting with video-corder beginning, pixel is converted back to bright state next time.At t switching time
2During this time, pixel is little by little near bright state.Realize that after reaching bright state wherein the gray scale corresponding to the light pattern that has now changed is different to the shooting with video-corder of next pattern.At default time shutter t
bThe time can be by default bright and dark time t correspondingly
hAnd t
dCome to produce each gray scale arbitrarily for each pixel.Accuracy and the measuring accuracy when three-dimensional body is measured that gray scale produces are important, promptly it should be noted that t switching time of photomodulator 5
1And t
2The repeatability of considering gray scale is important, and is promptly as illustrated in Figure 2, and the temporal curve S of the switching of pixel is synchronous with shooting.
Claims (8)
1. the object measuring system of a three-dimensional, have: band projector (2), be used for going up the light pattern that produces strip-type at object to be measured (3), wherein said band projector (2) comprises light source (4) and liquid crystal light modulator (5), and described liquid crystal light modulator has can be controlled as the pixel that bright and dark rectangular is arranged; And electron camera (6), be used to shoot with video-corder the image of the described object (3) that utilizes the light pattern irradiation, it is characterized in that, control described band projector (2) and described electron camera (6) by control circuit (8), described control circuit is designed in this wise, promptly during the time shutter of image, the pixel of described photomodulator (5) bright and dark between switch, wherein the time curve (S) that switches of pixel is synchronous with shooting (B).
2. system according to claim 1 is characterized in that, described control circuit (8) designs by this way, and each pixel of promptly described photomodulator (5) is default switching state when each shooting begins.
3. system according to claim 1 and 2, it is characterized in that, be used for described photomodulator (5) each pixel described control circuit (8) photomodulator according to the default gray-scale value that is used for this pixel be identified under the situation of the switching time of considering described photomodulator (5) bright and dark between some switching time that switches.
4. system according to claim 3 is characterized in that, described control circuit (8) designs by this way, each pixel of promptly described photomodulator (5) after the time shutter begins, reaching when putting described switching time bright and dark between switch.
5. according to claim 3 or 4 described systems, it is characterized in that, the optical sensor (9) that is connected with described control circuit (8), wherein, described control circuit (8) is designed to proofread and correct according to the sensor signal of described optical sensor (9) switching time of described photomodulator (5).
6. according to each described system in the claim 1 to 5, it is characterized in that, described control circuit (8) designs by this way, promptly utilizes described band projector (2) to produce to have the light pattern transverse to the strip-type of the grey scale curve of the sinusoidal shape of strip direction.
7. system according to claim 6 is characterized in that the phase place of the grey scale curve of described sinusoidal shape is variable.
8. according to each described system in the claim 1 to 7, it is characterized in that described photomodulator (5) is the LCOS miniscope.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102005054337A DE102005054337A1 (en) | 2005-11-11 | 2005-11-11 | Three-dimensional object measurement system |
| DE102005054337.5 | 2005-11-11 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101305260A true CN101305260A (en) | 2008-11-12 |
Family
ID=37734357
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA200680041829XA Pending CN101305260A (en) | 2005-11-11 | 2006-11-13 | Measuring system for three-dimensional objects |
Country Status (5)
| Country | Link |
|---|---|
| EP (1) | EP1946041A1 (en) |
| KR (1) | KR20080068111A (en) |
| CN (1) | CN101305260A (en) |
| DE (1) | DE102005054337A1 (en) |
| WO (1) | WO2007054351A1 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101451826B (en) * | 2008-12-17 | 2010-06-09 | 中国科学院上海光学精密机械研究所 | Object three-dimensional contour outline measuring set and measuring method |
| CN103649677A (en) * | 2011-07-13 | 2014-03-19 | 法罗技术股份有限公司 | Device and method using a spatial light modulator to find 3D coordinates of an object |
| CN105783712A (en) * | 2014-12-26 | 2016-07-20 | 北京中电科电子装备有限公司 | Method and device used for detecting knife mark |
| CN106197309A (en) * | 2015-06-01 | 2016-12-07 | 佳能株式会社 | The manufacture method of measurement apparatus, computational methods, system and article |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100947463B1 (en) * | 2007-08-31 | 2010-03-17 | 에스엔유 프리시젼 주식회사 | A Three Dimensional Object Measurement Equipment Use LCD |
| WO2012091238A1 (en) * | 2010-12-29 | 2012-07-05 | 주식회사 포디컬쳐 | Three dimensional scanning system |
| CN108982502B (en) * | 2018-07-30 | 2021-03-02 | 华中科技大学苏州脑空间信息研究院 | Multilayer signal coplane parallel detection device based on gradient reflection |
| CN109831598B (en) * | 2019-02-13 | 2021-08-31 | 盎锐（上海）信息科技有限公司 | Camera setting method and device for projection grating modeling |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE9301901U1 (en) * | 1993-02-11 | 1993-04-01 | Fa. Carl Zeiss, 7920 Heidenheim, De | |
| DE19641168A1 (en) * | 1996-10-08 | 1998-04-09 | Wolf Henning | Object surface measuring device |
| DE19749435B4 (en) * | 1997-11-09 | 2005-06-02 | Mähner, Bernward | Method and device for the three-dimensional, areal, optical measurement of objects |
| DE19753246C2 (en) * | 1997-12-01 | 2002-11-28 | Roland Seifert | Device for determining three-dimensional data from objects |
| US20040125205A1 (en) * | 2002-12-05 | 2004-07-01 | Geng Z. Jason | System and a method for high speed three-dimensional imaging |
| US20040184653A1 (en) * | 2003-03-20 | 2004-09-23 | Baer Richard L. | Optical inspection system, illumination apparatus and method for use in imaging specular objects based on illumination gradients |
-
2005
- 2005-11-11 DE DE102005054337A patent/DE102005054337A1/en not_active Withdrawn
-
2006
- 2006-11-13 KR KR1020087013927A patent/KR20080068111A/en not_active Application Discontinuation
- 2006-11-13 CN CNA200680041829XA patent/CN101305260A/en active Pending
- 2006-11-13 WO PCT/EP2006/010855 patent/WO2007054351A1/en active Application Filing
- 2006-11-13 EP EP06829021A patent/EP1946041A1/en not_active Withdrawn
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101451826B (en) * | 2008-12-17 | 2010-06-09 | 中国科学院上海光学精密机械研究所 | Object three-dimensional contour outline measuring set and measuring method |
| CN103649677A (en) * | 2011-07-13 | 2014-03-19 | 法罗技术股份有限公司 | Device and method using a spatial light modulator to find 3D coordinates of an object |
| CN105783712A (en) * | 2014-12-26 | 2016-07-20 | 北京中电科电子装备有限公司 | Method and device used for detecting knife mark |
| CN105783712B (en) * | 2014-12-26 | 2018-11-27 | 北京中电科电子装备有限公司 | A kind of method and device detecting tool marks |
| CN106197309A (en) * | 2015-06-01 | 2016-12-07 | 佳能株式会社 | The manufacture method of measurement apparatus, computational methods, system and article |
Also Published As
| Publication number | Publication date |
|---|---|
| DE102005054337A1 (en) | 2007-05-16 |
| KR20080068111A (en) | 2008-07-22 |
| EP1946041A1 (en) | 2008-07-23 |
| WO2007054351A1 (en) | 2007-05-18 |
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