CN101329174A - Full field vision self-scanning measurement apparatus - Google Patents

Full field vision self-scanning measurement apparatus Download PDF

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Publication number
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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galvanometer
target
angle
video camera
straight line
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解则晓
刘世晶
王琨
金明
张志伟
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Ocean University of China
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Ocean University of China
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Abstract

The invention relates to an automatic scanning and measuring device with full-field vision, which comprises a CCD camera that is positioned on a pedestal, a linear-structured light generator and a polarizing mirror device, which are all fixed on a steel plate that is taken as a reference plane; the linear-structured light generator is right opposite to the polarizing mirror device, and a linear-structured light plane that is emitted from the linear-structured 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 full-field 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 three-dimensional 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 three-dimensional coordinates of the points on the optical strips in the world coordinate system reflect the total three-dimensional information of the measured object. The automatic scanning and measuring device with full-field vision realizes the automatic, high-precision and full-field visual scanning and measuring of large-size objects, and has high measuring precision and convenient carry.

Description

Full field vision self-scanning measurement apparatus
Technical field
The present invention relates to a kind of instrument of Measuring Object three-dimensional appearance, is a kind of full field vision self-scanning 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 three-dimensional appearance, non-contacting laser measurement method becomes main flow gradually.In non-contact 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 line-structured 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 three-dimensional information of testee with the relation of height, a raster pattern projection of this method can be measured the sub-fraction 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 above-mentioned 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 self-scanning measurement apparatus.This measurement mechanism can not only be measured large sized object, and measuring accuracy height, good portability.Existing non-contact 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), line-structured 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; Line-structured light generator and galvanometer device over against, and its line-structured 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 line-structured 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, scale-up 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 is---at first utilizes target that this device is demarcated, obtains the camera interior and exterior parameter among definite necessary formula I of measured point three-dimensional world coordinate: f, u 0, v 0, r 1, r 2, r 4, r 5, r 7, r 8, t x, t y, t zAnd the m among the formula II 0, n 0And y 1, then parameter that demarcation is obtained and known Nx, Ny, u, v,
Figure A20071011633800061
I substitution transformation for mula I and II have just obtained the three-dimensional world coordinate of measured point; And then along with the rotation of the galvanometer in the above-mentioned galvanometer device, the inswept testee of reflected light face also intersects the striation obtain a rule, the point on all these striations, the three-dimensional coordinate (x in world coordinate system with testee, y z) is exactly the whole three-dimensional 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 three-dimensional information of whole testee, realize the high-precision full field vision self-scanning 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:
x p = ( ur 8 - B ) ( H - vt z ) - ( D - ut z ) ( vr 8 - F ) ( ur 8 - B ) ( vr 7 - E ) - ( ur 7 - A ) ( vr 8 - F )
y p = ( vr 7 - E ) ( D - ut z ) - ( H - vt z ) ( ur 7 - A ) ( ur 8 - B ) ( vr 7 - E ) - ( ur 7 - A ) ( vr 8 - F )
A＝fNxr 1+r 7u 0
B＝fNxr 2+r 8u 0
D＝fNxt x+t zu 0
E=fNyr wherein 4+ r 7v 0
F＝fNyr 5+r 8v 0
H＝fNyt y+t zv 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 zBe the inside and outside parameter of video camera, and above-mentioned 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 zBy 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:
Figure A20071011633800064
Figure A20071011633800065
Figure A20071011633800066
z p＝(y i-y p)tanθ i...........................④
1. above-mentioned formula is the computing formula of the angle of initial reflection light face and target surface.m 0, n 0For asking known quantity, can determine after the demarcation that trying to achieve these two parameters is the cores of demarcating;
Figure A20071011633800071
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. above-mentioned 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 iFor 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. above-mentioned 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 1Be the y coordinate of intersection in world coordinate system of initial reflection light face and target surface, in calibration process, determine; m 0, n 0See the explanation during formula 1.; γ be formula 1.; θ iFor formula 2.; y iFor 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. above-mentioned 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 three-dimensional world coordinate, and 1., 2., 3. formula is its basis.θ iBe formula 2.; y iBe formula 3.; y pSee 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 three-dimensional world coordinate precision of the striation of trying to achieve is also high, can realize high-acruracy 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, line-structured 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 line-structured 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
Figure A20071011633800081
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 0Be 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 0Be 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 iAngle for this moment reflected light face and target surface.Because rotating shaft OO ' is parallel with target surface and be parallel to the X-axis 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 iVertical line and they meet at H respectively, K, I, Q ... the G point then can be got by sine in Δ AIIK:
Figure A20071011633800082
In Δ AQII, order
Figure A20071011633800083
Then:
Figure A20071011633800084
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:
Figure A20071011633800085
Make S among the figure 0, S 1Coordinate be S 0(0, y 0), S 1(0, y 1), then obtain:
y 1＝y 0+HK，HK＝AKcosγ
Can get by above-mentioned 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 iAnd 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 iIntersection 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) three-dimensional 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 above-mentioned 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 pValue, again with y p4. can obtain z among the substitution formula II pSo just obtained the three-dimensional world coordinate of measured point, space.
In Fig. 5, provided a practical measuring examples---utilize 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, line-structured 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; Line-structured light generator 2 and galvanometer device 1 over against, and its line-structured light optical plane that sends passes completely through the rotating shaft of the galvanometer in the galvanometer device 1, line-structured 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, scale-up 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 three-dimensional 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 zAnd m 0, n 0And 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 zBe 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 0And y 1Step 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 pBe exactly y 1, so just realized y 1Demarcation.The straight line that obtain this moment is straight line l 1Make galvanometer turn over Δ α angle then, extract striation and fitting a straight line, obtain straight line l with existing image processing techniques 2Make galvanometer turn over Δ α angle again, extract striation and fitting a straight line, obtain straight line l with existing image processing techniques 3Because rotating shaft is parallel with the light face with the target plane, so straight line l 1, l 2, l 3Be parallel to each other.Straight line l 1With l 2Distance be m 0, straight line l 2With l 3Distance be n 0, asking in twos, the distance of straight line has just obtained m 0, n 0Length, realized m 0, n 0Demarcation, 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 above-mentioned 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 0And y 1And above-mentioned known quantity
Figure A20071011633800101
I can try to achieve measured point z coordinate in world coordinate system according to transformation for mula II.Can try to achieve the three-dimensional world coordinate of measured point like this.
And then along with the rotation of the galvanometer g in the above-mentioned galvanometer device 1, the inswept testee of reflected light face also intersects the striation obtain a rule with testee, three-dimensional coordinate (the x of point on all these striations in world coordinate system, y, z) just can reflect whole three-dimensional 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 three-dimensional information of whole testee again, realized that the high-precision full field vision self-scanning 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 self-scanning measurement apparatus is characterized in that it comprises ccd video camera (3), line-structured 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; Line-structured light generator (2) and galvanometer device (1) over against, and its line-structured 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 self-scanning 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, scale-up 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 self-scanning 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 three-dimensional world coordinate: f, u 0, v 0, r 1, r 2, r 4, r 5, r 7, r 8, t x, t y, t zAnd the m among the formula II 0, n 0And y 1, then parameter that demarcation is obtained and known Nx, Ny, u, v,
Figure A2007101163380002C1
I substitution transformation for mula I and II have just obtained the three-dimensional world coordinate of measured point; And then along with the rotation of the galvanometer (g) in the above-mentioned galvanometer device (1), the inswept testee of reflected light face also intersects the striation obtain a rule with testee, the three-dimensional coordinate of point in world coordinate system on all these striations just reflects whole three-dimensional 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 three-dimensional information of whole testee again, thereby realize the high-precision full field vision self-scanning measurement of large sized object;
Above-mentioned 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:
x p = ( ur 8 - B ) ( H - vt z ) - ( D - ut z ) ( vr 8 - F ) ( ur 8 - B ) ( vr 7 - E ) - ( ur 7 - A ) ( vr 8 - F )
y p = ( vr 7 - E ) ( D - ut z ) - ( H - vt z ) ( ur 7 - A ) ( ur 8 - B ) ( vr 7 - E ) - ( ur 7 - A ) ( vr 8 - F )
A＝fNxr 1+r 7u 0
B＝fNxr 2+r 8u 0
D＝fNxt x+t zu 0
E=fNyr wherein 4+ r 7v 0
F＝fNyr 5+r 8v 0
H＝fNyt y+t zv 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 zBe the inside and outside parameter of ccd video camera (3), and above-mentioned 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 zBy 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:
Figure A2007101163380003C3
Figure A2007101163380003C4
Figure A2007101163380003C5
z p＝(y i-y p)tanθ i...........................④
1. above-mentioned formula is the computing formula of the angle of initial reflection light face and target surface, m 0, n 0For asking known quantity, can determine after the demarcation that trying to achieve these two parameters is the cores of demarcating;
Figure A2007101163380003C6
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. above-mentioned 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 iFor 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. above-mentioned 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 1Be the y coordinate of intersection in world coordinate system of initial reflection light face and target surface, in calibration process, determine; y iFor 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. above-mentioned formula is measured point z Coordinate Calculation formula in world coordinate system.
4, the measuring method of full field vision self-scanning 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 zBe 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 0And y 1Step 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 pBe exactly y 1, so just realized y 1Demarcation, this moment, the straight line that obtains was straight line l 1Make galvanometer turn over Δ α angle then, extract striation and fitting a straight line, obtain straight line l with existing image processing techniques 2Make 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 3Be parallel to each other; Straight line l 1With l 2Distance be m 0, straight line l 2With l 3Distance be n 0, asking in twos, the distance of straight line has just obtained m 0, n 0Length, promptly realized m 0, n 0Demarcation, also finally finished the demarcation of this device.
CNA2007101163383A 2007-12-23 2007-12-23 Full field vision self-scanning measurement apparatus Pending CN101329174A (en)

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CN101813465A (en) * 2010-03-30 2010-08-25 中北大学 Monocular vision measuring method of non-contact precision measuring corner
CN102074044A (en) * 2011-01-27 2011-05-25 深圳泰山在线科技有限公司 System and method for reconstructing surface of object
CN102364299A (en) * 2011-08-30 2012-02-29 刘桂华 Calibration technology for multiple structured light projected three-dimensional profile measuring heads
WO2013044677A1 (en) * 2011-09-29 2013-04-04 天津大学 Large-scale, three-dimensional coordinate measuring method and apparatus with laser tracking
CN104897069A (en) * 2015-07-01 2015-09-09 丁千寻 Laser measuring device for measuring length and area of remote macroscopic object
CN104913734A (en) * 2015-06-17 2015-09-16 西安交通大学 Galvanometric line laser scanning 3D profile measurement device and method
CN105066909A (en) * 2015-09-01 2015-11-18 华中科技大学 Hand-held multi-laser-stripe quick three-dimensional measuring method
CN105115420A (en) * 2015-07-21 2015-12-02 徐祯鞠 Large-picture detection method
CN105890520A (en) * 2016-04-20 2016-08-24 感知控股集团有限公司 Structured light generating device and structured light measuring system
CN106197307A (en) * 2015-05-28 2016-12-07 长沙维纳斯克信息技术有限公司 A kind of structural light three-dimensional scanning and measuring apparatus and method
CN106247979A (en) * 2016-08-17 2016-12-21 四川川大智胜软件股份有限公司 A kind of spatial digitizer based on galvanometer
CN106871787A (en) * 2017-04-13 2017-06-20 中国航空工业集团公司北京长城航空测控技术研究所 Large space line scanning imagery method for three-dimensional measurement
CN107014293A (en) * 2017-04-13 2017-08-04 中国航空工业集团公司北京长城航空测控技术研究所 A kind of photogrammetric survey method of camera scanning imaging
CN107014312A (en) * 2017-04-25 2017-08-04 西安交通大学 A kind of integral calibrating method of mirror-vibrating line laser structured light three-dimension measuring system
CN108562229A (en) * 2018-06-08 2018-09-21 厦门麦克玛视电子信息技术有限公司 A kind of die forming detection device
CN110068447A (en) * 2018-01-23 2019-07-30 舜宇光学（浙江）研究院有限公司 Integrate formula diffraction optical element test equipment
CN110149463A (en) * 2019-04-22 2019-08-20 上海大学 It is a kind of to carry the hand-held line-structured light camera for turning station measurement target
CN111412835A (en) * 2020-04-14 2020-07-14 长春理工大学 Novel laser scanning projection method
CN114264248A (en) * 2021-11-29 2022-04-01 中国石油大学(华东) Monocular rotation structure light three-dimensional measurement method
CN114670199A (en) * 2022-03-29 2022-06-28 深圳市智流形机器人技术有限公司 Identification positioning device, system and real-time tracking system
CN115046498A (en) * 2022-08-11 2022-09-13 中国石油大学(华东) Calibration method for monocular rotating structure light three-dimensional measurement system
CN115574725A (en) * 2022-12-08 2023-01-06 江苏金恒信息科技股份有限公司 Steel plate size measuring method and system based on line structured light
CN115638957A (en) * 2022-12-14 2023-01-24 北京九辰智能医疗设备有限公司 Galvanometer scanning angle calibration system and method and ophthalmologic vision detection equipment

Cited By (34)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101813465A (en) * 2010-03-30 2010-08-25 中北大学 Monocular vision measuring method of non-contact precision measuring corner
CN102074044A (en) * 2011-01-27 2011-05-25 深圳泰山在线科技有限公司 System and method for reconstructing surface of object
CN102074044B (en) * 2011-01-27 2012-11-07 深圳泰山在线科技有限公司 System and method for reconstructing surface of object
CN102364299A (en) * 2011-08-30 2012-02-29 刘桂华 Calibration technology for multiple structured light projected three-dimensional profile measuring heads
WO2013044677A1 (en) * 2011-09-29 2013-04-04 天津大学 Large-scale, three-dimensional coordinate measuring method and apparatus with laser tracking
CN106197307A (en) * 2015-05-28 2016-12-07 长沙维纳斯克信息技术有限公司 A kind of structural light three-dimensional scanning and measuring apparatus and method
CN104913734A (en) * 2015-06-17 2015-09-16 西安交通大学 Galvanometric line laser scanning 3D profile measurement device and method
CN104913734B (en) * 2015-06-17 2018-03-02 西安交通大学 A kind of mirror-vibrating line laser structured light apparatus for measuring three-dimensional profile and method
CN104897069A (en) * 2015-07-01 2015-09-09 丁千寻 Laser measuring device for measuring length and area of remote macroscopic object
CN104897069B (en) * 2015-07-01 2017-12-05 丁千寻 A kind of laser measuring device for measuring for measuring long-range macro object length and area
CN105115420A (en) * 2015-07-21 2015-12-02 徐祯鞠 Large-picture detection method
CN105066909B (en) * 2015-09-01 2017-09-12 华中科技大学 A kind of many laser stripe quick three-dimensional measuring methods of hand-held
CN105066909A (en) * 2015-09-01 2015-11-18 华中科技大学 Hand-held multi-laser-stripe quick three-dimensional measuring method
CN105890520A (en) * 2016-04-20 2016-08-24 感知控股集团有限公司 Structured light generating device and structured light measuring system
CN106247979A (en) * 2016-08-17 2016-12-21 四川川大智胜软件股份有限公司 A kind of spatial digitizer based on galvanometer
CN106871787B (en) * 2017-04-13 2019-02-22 中国航空工业集团公司北京长城航空测控技术研究所 Large space line scanning imagery method for three-dimensional measurement
CN106871787A (en) * 2017-04-13 2017-06-20 中国航空工业集团公司北京长城航空测控技术研究所 Large space line scanning imagery method for three-dimensional measurement
CN107014293A (en) * 2017-04-13 2017-08-04 中国航空工业集团公司北京长城航空测控技术研究所 A kind of photogrammetric survey method of camera scanning imaging
CN107014293B (en) * 2017-04-13 2019-03-29 中国航空工业集团公司北京长城航空测控技术研究所 A kind of photogrammetric survey method of camera scanning imaging
CN107014312B (en) * 2017-04-25 2019-05-24 西安交通大学 A kind of integral calibrating method of mirror-vibrating line laser structured light three-dimension measuring system
CN107014312A (en) * 2017-04-25 2017-08-04 西安交通大学 A kind of integral calibrating method of mirror-vibrating line laser structured light three-dimension measuring system
CN110068447B (en) * 2018-01-23 2021-07-27 舜宇光学（浙江）研究院有限公司 Integrated diffraction optical element test equipment
CN110068447A (en) * 2018-01-23 2019-07-30 舜宇光学（浙江）研究院有限公司 Integrate formula diffraction optical element test equipment
CN108562229A (en) * 2018-06-08 2018-09-21 厦门麦克玛视电子信息技术有限公司 A kind of die forming detection device
CN110149463A (en) * 2019-04-22 2019-08-20 上海大学 It is a kind of to carry the hand-held line-structured light camera for turning station measurement target
CN111412835B (en) * 2020-04-14 2021-04-30 长春理工大学 Novel laser scanning projection method
CN111412835A (en) * 2020-04-14 2020-07-14 长春理工大学 Novel laser scanning projection method
CN114264248A (en) * 2021-11-29 2022-04-01 中国石油大学(华东) Monocular rotation structure light three-dimensional measurement method
CN114264248B (en) * 2021-11-29 2023-05-09 中国石油大学(华东) Monocular rotation structured light three-dimensional measurement method
CN114670199A (en) * 2022-03-29 2022-06-28 深圳市智流形机器人技术有限公司 Identification positioning device, system and real-time tracking system
CN115046498A (en) * 2022-08-11 2022-09-13 中国石油大学(华东) Calibration method for monocular rotating structure light three-dimensional measurement system
CN115046498B (en) * 2022-08-11 2022-11-01 中国石油大学(华东) Calibration method for monocular rotating structure light three-dimensional measurement system
CN115574725A (en) * 2022-12-08 2023-01-06 江苏金恒信息科技股份有限公司 Steel plate size measuring method and system based on line structured light
CN115638957A (en) * 2022-12-14 2023-01-24 北京九辰智能医疗设备有限公司 Galvanometer scanning angle calibration system and method and ophthalmologic vision detection equipment

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