CN101329174A  Full field vision selfscanning measurement apparatus  Google Patents
Full field vision selfscanning measurement apparatus Download PDFInfo
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 CN101329174A CN101329174A CNA2007101163383A CN200710116338A CN101329174A CN 101329174 A CN101329174 A CN 101329174A CN A2007101163383 A CNA2007101163383 A CN A2007101163383A CN 200710116338 A CN200710116338 A CN 200710116338A CN 101329174 A CN101329174 A CN 101329174A
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Abstract
The invention relates to an automatic scanning and measuring device with fullfield vision, which comprises a CCD camera that is positioned on a pedestal, a linearstructured light generator and a polarizing mirror device, which are all fixed on a steel plate that is taken as a reference plane; the linearstructured light generator is right opposite to the polarizing mirror device, and a linearstructured light plane that is emitted from the linearstructured light generator completely runs through a rotating shaft of a polarizing mirror of the polarizing mirror device; the rotating shaft of the polarizing mirror is vertical to the steel plate reference plane. The automatic scanning and measuring device with fullfield vision adopts a measuring method that comprises the following steps: the device is calibrated by utilizing a target, parameters that are obtained from the calibration, the known current rotating position of the polarizing mirror and image information are substituted into transformation formulas I and II, thus obtaining the threedimensional world coordinates of a measured point; along with the rotation of the polarizing mirror, a reflecting light plane scans a measured object and forms optical strips when being intersected with the measured object, and the threedimensional coordinates of the points on the optical strips in the world coordinate system reflect the total threedimensional information of the measured object. The automatic scanning and measuring device with fullfield vision realizes the automatic, highprecision and fullfield visual scanning and measuring of largesize objects, and has high measuring precision and convenient carry.
Description
Technical field
The present invention relates to a kind of instrument of Measuring Object threedimensional appearance, is a kind of full field vision selfscanning measurement apparatus specifically, and it belongs to the light mechanical and electrical integration field.
Background technology
In the apparatus and method of present Measuring Object threedimensional appearance, noncontacting laser measurement method becomes main flow gradually.In noncontact measurement method, extensively the method that adopts mainly contains two classes: measuring method, optical grating projection measuring method that line structure optical sensor combines with the external drive mechanism of three coordinate measuring machine (three coordinate machine) class.Wherein, the measuring method that line structure optical sensor combines with the external drive mechanism of three coordinate machine one class utilizes the external drive mechanism drive wire structured light sensor of three coordinate machine one class to move in its range of movement, make the whole surface of linestructured light optical plane scanning testee, this method can reach very high measuring accuracy, can measure the complex objects surface, but owing to be subjected to the restriction of the external drive mechanism kinematic scope of three coordinate machine one class, not energy measurement large sized object, and volume is big, portable poor; And the optical grating projection measuring method is that raster pattern is projected on the testee surface, deformation quantity by the raster image of distortion is determined the threedimensional information of testee with the relation of height, a raster pattern projection of this method can be measured the subfraction surface of testee, measure each fraction of testee respectively and obtain some small data pieces, utilize existing data amalgamation technology the amalgamation of fritter data to be obtained the measurement data of whole testee again, this method is not because there is the measurement range restriction, so energy measurement large sized object, but, the measurement data of each part obtains because being information calculations by two to three amplitude grating images, therefore precision is not high, only the simple body surface of energy measurement.As seen, the abovementioned two kinds of methods that remain at present obviously can not be taken into account the measurement and the high precision of large sized object, and good portable performance.
Summary of the invention
The purpose of this invention is to provide a kind of full field vision selfscanning measurement apparatus.This measurement mechanism can not only be measured large sized object, and measuring accuracy height, good portability.Existing noncontact laser measurement mechanism not energy measurement large sized object, low, the portable poor deficiency of precision have been overcome.
Measurement mechanism of the present invention is made up of the ccd video camera (hereinafter to be referred as video camera), linestructured light generator and galvanometer device three parts that are seated on the pedestal, and this three part all is fixed on as on the corrosion resistant plate with reference to the plane; Linestructured light generator and galvanometer device over against, and its linestructured light optical plane that sends (hereinafter to be referred as the light face) passes completely through the rotating shaft (hereinafter to be referred as rotating shaft) of the galvanometer in the galvanometer device, the linestructured light generator is apart from rotating shaft 30mm; Distance between the optical axis of rotating shaft and video camera is 300mm; Rotating shaft is perpendicular to the corrosion resistant plate reference planes.
Described galvanometer device, it is made up of galvanometer and vibrating mirror driver, its vibrating mirror driver is the DA output card, the angle that the output voltage of this DA output card and galvanometer rotating shaft are rotated is proportional, scaleup factor is known, therefore as long as the known fixed voltage value of the each output of control DA output card just can make galvanometer turn over identical known angle delta α at every turn.
Measuring method of the present invention isat first utilizes target that this device is demarcated, obtains the camera interior and exterior parameter among definite necessary formula I of measured point threedimensional world coordinate: f, u
_{0}, v
_{0}, r
_{1}, r
_{2}, r
_{4}, r
_{5}, r
_{7}, r
_{8}, t
_{x}, t
_{y}, t
_{z}And the m among the formula II
_{0}, n
_{0}And y
_{1}, then parameter that demarcation is obtained and known Nx, Ny, u, v,
I substitution transformation for mula I and II have just obtained the threedimensional world coordinate of measured point; And then along with the rotation of the galvanometer in the abovementioned galvanometer device, the inswept testee of reflected light face also intersects the striation obtain a rule, the point on all these striations, the threedimensional coordinate (x in world coordinate system with testee, y z) is exactly the whole threedimensional informations that reflect testee.Can carry out above measurement to each fraction of object to large sized object, utilize of the data amalgamation of existing data amalgamation technology again with each fraction, just can obtain the threedimensional information of whole testee, realize the highprecision full field vision selfscanning measurement of large sized object.
Described transformation for mula I is as follows, and it is measured point x and y Coordinate Calculation formula in world coordinate system:
A＝fNxr
_{1}+r
_{7}u
_{0}
B＝fNxr
_{2}+r
_{8}u
_{0}
D＝fNxt
_{x}+t
_{z}u
_{0}
E=fNyr wherein
_{4}+ r
_{7}v
_{0}
F＝fNyr
_{5}+r
_{8}v
_{0}
H＝fNyt
_{y}+t
_{z}v
_{0}
In the formula, u, v represent the image coordinates of measured point in video camera, can be directly from video camera clap image obtain; A, B, C, D, E, F, H are the intermediate variable of trying to achieve formula; Parameter f, Nx, Ny, u
_{0}, v
_{0}, r
_{1}, r
_{2}, r
_{4}, r
_{5}, r
_{7}, r
_{8}, t
_{x}, t
_{y}, t
_{z}Be the inside and outside parameter of video camera, and abovementioned two intrinsic parameter Nx, Ny are known, other Several Parameters f, u
_{0}, v
_{0}, r
_{1}, r
_{2}, r
_{4}, r
_{5}, r
_{7}, r
_{8}, t
_{x}, t
_{y}, t
_{z}By existing two step of video camera scaling method based on radial arrangement restraint (RAC) can in the hope of.
Described transformation for mula II is as follows, and it is measured point z Coordinate Calculation formula in world coordinate system:
z
_{p}＝(y
_{i}y
_{p})tanθ
_{i}...........................④
1. abovementioned formula is the computing formula of the angle of initial reflection light face and target surface.m
_{0}, n
_{0}For asking known quantity, can determine after the demarcation that trying to achieve these two parameters is the cores of demarcating;
When representing that galvanometer in each galvanometer device is turned over Δ α angle and arrived current location by a last position, the angle before and after rotating between the two reflected light planes equals 2 Δ α, is a known parameters; Δ α is the moving angle that once turns over of the galvanometer revolution in the galvanometer device, by the output voltage of the vibrating mirror driver in the galvanometer device control (this output voltage is a known parameters in the present invention, so Δ α is a known parameters,
Also be known parameters); γ is the angle of initial reflection light face and target surface, can determine after the demarcation.
2. abovementioned formula is that the galvanometer in the galvanometer device has rotated back ((i=1,2,3 when promptly turning over Δ α * i angle i time from initial position ... )) computing formula of the angle of reflected light face and target surface.γ be formula 1.; I is that the galvanometer device begins to rotate from initial position, turns over Δ α (seeing formula explanation 1.) angle at every turn and has the number of times that rotates altogether, and be known; θ
_{i}For the galvanometer in the galvanometer device has rotated the angle of i back when i angle (promptly turn over Δ α *) reflected light face and target surface from initial position, can determine by calibration result and known quantity i.
3. abovementioned formula is after the galvanometer in the galvanometer device has rotated i time from initial position, the y Coordinate Calculation formula of the intersection of reflected light face and target in world coordinate system.y
_{1}Be the y coordinate of intersection in world coordinate system of initial reflection light face and target surface, in calibration process, determine; m
_{0}, n
_{0}See the explanation during formula 1.; γ be formula 1.; θ
_{i}For formula 2.; y
_{i}For after the galvanometer in the galvanometer device rotates i time from initial position, the y coordinate of the intersection of reflected light face and target in world coordinate system can be determined by calibration result and known quantity i.
4. abovementioned formula is measured point z Coordinate Calculation formula in world coordinate system, also is the key that apparatus of the present invention are determined measured point threedimensional world coordinate, and 1., 2., 3. formula is its basis.θ
_{i}Be formula 2.; y
_{i}Be formula 3.; y
_{p}See formula I.
Beneficial effect of the present invention: the information of first testee is to be provided by a lot of width of cloth images, the only corresponding striation of every width of cloth image, and the image information precision height that extracts, therefore the threedimensional world coordinate precision of the striation of trying to achieve is also high, can realize highacruracy survey; It two is the visual fields that can effectively utilize video camera, can also be under prerequisite not by the external drive equipment of three coordinate measuring machine one class, and the demarcation of implement device easily and efficiently, good portability; It three is can be by each fraction of object is measured respectively, realizes measurement to large sized object in conjunction with existing data amalgamation technology again.
Description of drawings
The present invention is further described below in conjunction with drawings and Examples.
Fig. 1 basic structure synoptic diagram of the present invention;
The initial position synoptic diagram of the galvanometer in Fig. 2 galvanometer device of the present invention;
The reflected light face location drawing in Fig. 3 scanning process of the present invention;
A measuring point on Fig. 4 certain reflected light face of the present invention is at the perspective view on target plane;
Fig. 5 people's face of the present invention practical measuring examples.
Wherein, 1, galvanometer device 2, linestructured light generator 3, ccd video camera 4, target 5 steel plates, OO ' is the rotating shaft of the galvanometer g in the galvanometer device 1.
Fig. 2 is the initial position synoptic diagram of the galvanometer g in the galvanometer device 1, is the light face reflectogram of seeing from rotating shaft OO ' direction.The light face that linestructured light generator 2 produces is an incident light plane, and incident light plane is located to reflect to form the reflected light face at rotating shaft OO ' and projected on the plane (hereinafter to be referred as target surface) at target 4 places.Suppose that incident light plane is reference position of galvanometer g (dotted line place among the figure) when overlapping with the reflected light face, establishes the galvanometer initial position and departs from the angle that the reference position alpha, gamma is initial reflection light face and target surface.By Tu Kede: γ=2 α.
In Fig. 3, make the angle
When representing that galvanometer g in each galvanometer device 1 turns over Δ α angle, the angle before and after rotating between the reflected light face.Because the light face passes rotating shaft OO ', is on the rotating shaft OO ' so each reflected light face intersects on same the straight line.A is a bit on the rotating shaft OO ', supposes face AHS
_{0}Be the reflected light face perpendicular to target surface, l ' is the intersection of reflected light face when vertical with target, and H is the projection of A on target surface.l
_{0}Be the intersection of initial reflection light face and target surface, then ∠ AKH=γ is the angle of initial light face and target surface; l
_{i}(i=1,2,3 when turning over Δ α * i angle for galvanometer g ...) intersection of reflected light face and target surface, then ∠ AGH=θ
_{i}Angle for this moment reflected light face and target surface.Because rotating shaft OO ' is parallel with target surface and be parallel to the Xaxis of world coordinate system, then l ' //l
_{0}//l
_{1}//l
_{2}//l
_{3}// ... //l
_{i}, cross the H point and be l ', l
_{0}, l
_{1}, l
_{2}, l
_{3}..., l
_{i}Vertical line and they meet at H respectively, K, I, Q ... the G point then can be got by sine in Δ AIIK:
In Δ AQII, order
Then:
1. two formula cancellation AI can get among the transformation for mula II.
M wherein
_{0}=KI, n
_{0}=QI can determine by calibration process.
In Δ AKQ, can get by sine:
Make S among the figure
_{0}, S
_{1}Coordinate be S
_{0}(0, y
_{0}), S
_{1}(0, y
_{1}), then obtain:
y
_{1}＝y
_{0}+HK，HK＝AKcosγ
Can get by abovementioned two formulas:
y
_{i}＝y
_{0}+AHctgθ
_{i}＝y
_{0}+HKtanγctgθ
_{i}
Further 3. derivation can get among the transformation for mula II, can be got among the transformation for mula II 2. by figure.So just obtained the position θ that each rotating shaft OO ' rotates back reflection light face
_{i}And y
_{i}
In Fig. 4, the P point is the measuring point on the light face, in measuring process, can images acquired, and the central point that extracts striation obtains its image coordinates u, v, and P ' is the intersection point of P point on target surface, and then PP ' is the z coordinate figure that P is ordered.l
_{i}Intersection for reflected light face and target surface.θ
_{i}=∠ PRP ' is the angle of reflected light face and target surface.Make (x
_{p}, y
_{p}, z
_{p}) threedimensional coordinate in the space of ordering for P, then the coordinate figure of P ' is (x
_{p}, y
_{p}).Then by scheming:
z
_{p}＝PP′＝RP′tanθ
_{i}
RP′＝y
_{p}y
_{1}
With the two abovementioned formula substitution same form, can get among the transformation for mula II 4..
Make (u
_{p}, v
_{p}) being the corresponding video camera image coordinates of P point, I can obtain x with its substitution transformation for mula
_{p}, y
_{p}Value, again with y
_{p}4. can obtain z among the substitution formula II
_{p}So just obtained the threedimensional world coordinate of measured point, space.
In Fig. 5, provided a practical measuring examplesutilize this measurement mechanism that people's face is measured.As can be seen from Figure 5, measurement result can reflect the essential information of former figure, and measurement effect is better.
Embodiment
As Fig. 1, measurement mechanism of the present invention comprises ccd video camera 3, linestructured light generator 2 and the galvanometer device 1 that is seated on the pedestal, and the three is fixed on as on the corrosion resistant plate 5 with reference to the plane; Linestructured light generator 2 and galvanometer device 1 over against, and its linestructured light optical plane that sends passes completely through the rotating shaft of the galvanometer in the galvanometer device 1, linestructured light generator 2 is apart from rotating shaft 30mm; Distance between the optical axis of rotating shaft and video camera is 300mm; Rotating shaft is perpendicular to corrosion resistant plate 5 reference planes.
Described galvanometer device 1, it is made up of existing galvanometer and vibrating mirror driver, and vibrating mirror driver is the DA output card, the angle that the output voltage of this DA output card and galvanometer rotating shaft are rotated is proportional, scaleup factor is known, therefore as long as the known fixed voltage value of the each output of control DA output card just can make galvanometer turn over identical known angle delta α at every turn.
At first utilize target to obtain the necessary camera interior and exterior parameter f of definite measured point threedimensional world coordinate, u by calibration process
_{0}, v
_{0}, r
_{1}, r
_{2}, r
_{4}, r
_{5}, r
_{7}, r
_{8}, t
_{x}, t
_{y}, t
_{z}And m
_{0}, n
_{0}And y
_{1}, the existing concrete process of demarcating of setting forth:
(1) inside and outside parameter f, the u of the video camera among the demarcation transformation for mula I
_{0}, v
_{0}, r
_{1}, r
_{2}, r
_{4}, r
_{5}, r
_{7}, r
_{8}, t
_{x}, t
_{y}, t
_{z}Be to try to achieve by existing two step of video camera scaling method based on radial arrangement restraint (RAC).
(2) m among the demarcation transformation for mula II
_{0}, n
_{0}And y
_{1}Step as follows:
At first galvanometer in the galvanometer device is turned to initial position, this time face is through the reflection of galvanometer, the reflected light face projects and then forms a light bar on the target, extract striation and fitting a straight line with existing image processing techniques, with u, the y that v coordinate (seeing the explanation among the formula I) substitution formula I obtains of the straight line that obtains
_{p}Be exactly y
_{1}, so just realized y
_{1}Demarcation.The straight line that obtain this moment is straight line l
_{1}Make galvanometer turn over Δ α angle then, extract striation and fitting a straight line, obtain straight line l with existing image processing techniques
_{2}Make galvanometer turn over Δ α angle again, extract striation and fitting a straight line, obtain straight line l with existing image processing techniques
_{3}Because rotating shaft is parallel with the light face with the target plane, so straight line l
_{1}, l
_{2}, l
_{3}Be parallel to each other.Straight line l
_{1}With l
_{2}Distance be m
_{0}, straight line l
_{2}With l
_{3}Distance be n
_{0}, asking in twos, the distance of straight line has just obtained m
_{0}, n
_{0}Length, realized m
_{0}, n
_{0}Demarcation, also finally finished the demarcation of this device.
Described target is the plane grid target, only just is used at timing signal, and calibration process is just withdrawn after finishing.Target is placed so that target surface is parallel to rotating shaft perpendicular to the stainless steel reference planes, and makes the optical axis of target surface perpendicular to video camera as far as possible.Target should be placed on apart from video camera CCD plane 300mm to 700mm and in the space of about 240mm * 360mm of camera optical axis, in this space, the angle of reflected light face and camera optical axis is greatly between 50 ° to 70 °; On the target on level and the vertical direction center distance of adjacent two parallel lines be that 25mm, line thickness are 2mm, have 6 * 6 straight lines on the target, therefore the unique point that can be used to extract has 36, and adjacent feature point spacing in the horizontal and vertical directions all is 25mm like this.
After demarcate finishing, utilize camera interior and exterior parameter that calibration process (1) obtains and abovementioned known quantity Nx, Ny, u, v, can try to achieve measured point x, y coordinate in world coordinate system according to transformation for mula I; The m that utilizes calibration process (2) to obtain again
_{0}, n
_{0}And y
_{1}And abovementioned known quantity
I can try to achieve measured point z coordinate in world coordinate system according to transformation for mula II.Can try to achieve the threedimensional world coordinate of measured point like this.
And then along with the rotation of the galvanometer g in the abovementioned galvanometer device 1, the inswept testee of reflected light face also intersects the striation obtain a rule with testee, threedimensional coordinate (the x of point on all these striations in world coordinate system, y, z) just can reflect whole threedimensional informations of testee, can carry out above measurement to each fraction of object to large sized object, utilize existing data amalgamation technology that the data amalgamation of each fraction just can be obtained the threedimensional information of whole testee again, realized that the highprecision full field vision selfscanning of large sized object measures.
Application Example of the present invention and the result's (comprising column data and image down) who utilizes target to demarcate:
f＝12.83548，u
_{0}＝384，v
_{0}＝288，r
_{1}＝0.998166，r
_{2}＝0.019032，r
_{4}＝0.019366，r
_{5}＝0.993381，r
_{7}＝0.004616，r
_{8}＝0.124171，t
_{x}＝62.176692，t
_{y}＝2.564525，t
_{z}＝522.84232；
y
_{1}＝27.50，m
_{0}＝45.31，n
_{0}＝36.56。
People's face is carried out scanning survey, the results are shown in Figure 5.
Claims (4)
1, a kind of full field vision selfscanning measurement apparatus is characterized in that it comprises ccd video camera (3), linestructured light generator (2) and the galvanometer device (1) that is seated on the pedestal, and the three is fixed on as on the corrosion resistant plate (5) with reference to the plane; Linestructured light generator (2) and galvanometer device (1) over against, and its linestructured light optical plane that sends passes completely through the rotating shaft OO ' of the galvanometer in the galvanometer device (1), the distance of itself and galvanometer rotating shaft OO ' is 30mm; Distance between the optical axis of the rotating shaft OO ' of the galvanometer in the galvanometer device (1) and video camera (3) is 300mm; The rotating shaft OO ' of the galvanometer in the galvanometer device (1) is perpendicular to the reference planes of corrosion resistant plate (5).
2, full field vision selfscanning measurement apparatus as claimed in claim 1, it is characterized in that described galvanometer device (1) is made up of galvanometer (g) and vibrating mirror driver, its vibrating mirror driver is the DA output card, the angle that the output voltage of this DA output card and galvanometer rotating shaft are rotated is proportional, scaleup factor is known, therefore as long as the known fixed voltage value of the each output of control DA output card just can make galvanometer turn over identical known angle delta α at every turn.
3, the measuring method of full field vision selfscanning measurement apparatus is, at first utilizes target (4) that this device is demarcated, and has obtained the camera interior and exterior parameter among the necessary formula I of definite measured point threedimensional world coordinate: f, u
_{0}, v
_{0}, r
_{1}, r
_{2}, r
_{4}, r
_{5}, r
_{7}, r
_{8}, t
_{x}, t
_{y}, t
_{z}And the m among the formula II
_{0}, n
_{0}And y
_{1}, then parameter that demarcation is obtained and known Nx, Ny, u, v,
I substitution transformation for mula I and II have just obtained the threedimensional world coordinate of measured point; And then along with the rotation of the galvanometer (g) in the abovementioned galvanometer device (1), the inswept testee of reflected light face also intersects the striation obtain a rule with testee, the threedimensional coordinate of point in world coordinate system on all these striations just reflects whole threedimensional informations of testee, can carry out above measurement to each fraction of object to large sized object, utilize existing data amalgamation technology that the data amalgamation of each fraction just can be obtained the threedimensional information of whole testee again, thereby realize the highprecision full field vision selfscanning measurement of large sized object;
Abovementioned target (4) is the plane grid target, place so that target surface is parallel to rotating shaft perpendicular to corrosion resistant plate (5) reference planes, and make the optical axis of target (4) target surface perpendicular to ccd video camera (3) as far as possible, and at distance video camera CCD plane 300mm to 700mm and in the space of about 240mm * 360mm of the optical axis of ccd video camera (3), in this space, the angle of reflected light face and ccd video camera (3) optical axis is between 50 ° to 70 °; The center distance that target (4) is gone up adjacent two parallel lines on level and the vertical direction is that 25mm, line thickness are 2mm, have 6 * 6 straight lines on the target 4, therefore the unique point that can be used to extract has 36, and adjacent feature point spacing in the horizontal and vertical directions all is 25mm like this;
Described transformation for mula I is as follows:
A＝fNxr
_{1}+r
_{7}u
_{0}
B＝fNxr
_{2}+r
_{8}u
_{0}
D＝fNxt
_{x}+t
_{z}u
_{0}
E=fNyr wherein
_{4}+ r
_{7}v
_{0}
F＝fNyr
_{5}+r
_{8}v
_{0}
H＝fNyt
_{y}+t
_{z}v
_{0}
In the formula, u, v represent the image coordinates of measured point in video camera, can be directly from video camera clap image obtain; A, B, C, D, E, F, H are the intermediate variable of trying to achieve formula; Parameter f, Nx, Ny, u
_{0}, v
_{0}, r
_{1}, r
_{2}, r
_{4}, r
_{5}, r
_{7}, r
_{8}, t
_{x}, t
_{y}, t
_{z}Be the inside and outside parameter of ccd video camera (3), and abovementioned two intrinsic parameter Nx, Ny are known, other Several Parameters f, u
_{0}, v
_{0}, r
_{1}, r
_{2}, r
_{4}, r
_{5}, r
_{7}, r
_{8}, t
_{x}, t
_{y}, t
_{z}By existing two step of video camera scaling method based on radial arrangement restraint can in the hope of;
Described transformation for mula II is as follows, and it is measured point z Coordinate Calculation formula in world coordinate system:
z
_{p}＝(y
_{i}y
_{p})tanθ
_{i}...........................④
1. abovementioned formula is the computing formula of the angle of initial reflection light face and target surface, m
_{0}, n
_{0}For asking known quantity, can determine after the demarcation that trying to achieve these two parameters is the cores of demarcating;
When representing that galvanometer in each galvanometer device is turned over Δ α angle and arrived current location by a last position, the angle before and after rotating between the two reflected light planes equals 2 Δ α, is a known parameters; Δ α is the moving angle that once turns over of the galvanometer revolution in the galvanometer device, is controlled by the output voltage of the vibrating mirror driver in the galvanometer device; γ is the angle of initial reflection light face and target surface, can determine after the demarcation;
2. abovementioned formula is the galvanometer in the galvanometer device has rotated the angle of i back reflection light face and target surface from initial position computing formula; I is that the galvanometer device begins to rotate from initial position, turns over Δ α angle at every turn and has the number of times that rotates altogether; θ
_{i}For the galvanometer in the galvanometer device has rotated the angle of i back reflection light face and target surface from initial position, can determine by calibration result and known quantity i;
3. abovementioned formula is after the galvanometer in the galvanometer device has rotated i time from initial position, the y Coordinate Calculation formula of the intersection of reflected light face and target in world coordinate system, y
_{1}Be the y coordinate of intersection in world coordinate system of initial reflection light face and target surface, in calibration process, determine; y
_{i}For after the galvanometer in the galvanometer device rotated i time from initial position, the y coordinate of the intersection of reflected light face and target in world coordinate system can be determined by calibration result and known quantity i;
4. abovementioned formula is measured point z Coordinate Calculation formula in world coordinate system.
4, the measuring method of full field vision selfscanning measurement apparatus as claimed in claim 3 is characterized in that the described step of utilizing 4 pairs of devices of target to demarcate is;
(1) inside and outside parameter f, the u of the video camera among the demarcation transformation for mula I
_{0}, v
_{0}, r
_{1}, r
_{2}, r
_{4}, r
_{5}, r
_{7}, r
_{8}, t
_{x}, t
_{y}, t
_{z}Be to try to achieve by existing two step of video camera scaling method based on radial arrangement restraint;
(2) m among the demarcation transformation for mula II
_{0}, n
_{0}And y
_{1}Step as follows:
At first galvanometer in the galvanometer device is turned to initial position, this time face is through the reflection of galvanometer, the reflected light face projects and then forms a light bar on the target, extracts striation and fitting a straight line with existing image processing techniques, with u, the y that v coordinate substitution formula I obtains of the straight line that obtains
_{p}Be exactly y
_{1}, so just realized y
_{1}Demarcation, this moment, the straight line that obtains was straight line l
_{1}Make galvanometer turn over Δ α angle then, extract striation and fitting a straight line, obtain straight line l with existing image processing techniques
_{2}Make galvanometer turn over Δ α angle again, extract striation and fitting a straight line, obtain straight line l with existing image processing techniques
_{3}, straight line l
_{1}, l
_{2}, l
_{3}Be parallel to each other; Straight line l
_{1}With l
_{2}Distance be m
_{0}, straight line l
_{2}With l
_{3}Distance be n
_{0}, asking in twos, the distance of straight line has just obtained m
_{0}, n
_{0}Length, promptly realized m
_{0}, n
_{0}Demarcation, also finally finished the demarcation of this device.
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