CN102175148A - Spatial measuring device of three-dimensional object based on pinhole imaging principle - Google Patents
Spatial measuring device of three-dimensional object based on pinhole imaging principle Download PDFInfo
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- CN102175148A CN102175148A CN 201110026058 CN201110026058A CN102175148A CN 102175148 A CN102175148 A CN 102175148A CN 201110026058 CN201110026058 CN 201110026058 CN 201110026058 A CN201110026058 A CN 201110026058A CN 102175148 A CN102175148 A CN 102175148A
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Abstract
The invention belongs to the field of three-dimensional object detection and in particular relates to a spatial measuring device of a three-dimensional object based on the pinhole imaging principle. The spatial measuring device provided by the invention comprises a pinhole imaging and imaging detection unit, a transmission line, a computer and a display terminal, wherein the pinhole imaging and imaging detection unit comprises a laser scanning device, a pinhole and a CCD (Charge Coupled Device) detector; the laser scanning device and the CCD detector are connected with the computer through the transmission line; the computer is connected with the display terminal; the laser scanning device generates a light spot to light a three-dimensional object, and the dimension of the light spot is unchanged; a stepper motor is controlled by the computer to adjust a laser probe to rotate upwards, downwards, leftwards and rightwards, thereby realizing the point-to-point scanning lighting of the three-dimensional object; the points on the lighted three-dimensional object are imaged through the pinhole and captured by the CCD detector; the points are transferred to the computer through a data line, thereby realizing the synchronous recording; and the computer obtains the spatial information of the three-dimensional object by analyzing the dimension and position of the image points on the detector. The spatial measuring device provided by the invention is especially suitable for simple ranging and three-dimensional detection.
Description
Technical field
The invention belongs to the three-dimensional body field of detecting, be specially a kind of three-dimensional body space measurement device based on the pinhole imaging system principle.
Background technology
Open an aperture on the wall of a dark cabin, the people if at this moment the light oblique incidence is arranged on the person, the shadow of a handstand just occurred facing to the aperture station without on the wall on aperture opposite in the room, and this is famous pinhole imaging system phenomenon.The Mohist School explains that light passes aperture as shooting an arrow, is straightaway, light above people's head has covered, Cheng Ying are in bottom, and people's foot has covered following light, Cheng Ying has on top just formed the shadow that stands upside down, and this is the scientific explarnation first time to linear propagation of light.Pinhole imaging system is actually that a kind of projection is non-improves imaging, utilizes the pinhole imaging system principle that the space measurement of three-dimensional body was not also had.
Summary of the invention
At problems of the prior art, the object of the present invention is to provide a kind of technical scheme of the three-dimensional body space measurement device based on the pinhole imaging system principle.
Described three-dimensional body space measurement device based on the pinhole imaging system principle, it is characterized in that comprising pinhole imaging system and imaging detection unit, transmission line, computing machine and display terminal, described pinhole imaging system and imaging detection unit comprise laser scanning device, aperture and ccd detector, laser scanning device links to each other with computing machine by transmission line with ccd detector, and computing machine connects display terminal; The laser probe emission laser of laser scanning device, on the target of the throwing light on three-dimensional body, the information of the point on the illuminated three-dimensional body is imaged on the ccd detector by aperture, obtain the depth information of illuminated point, depth information is delivered to computing machine by transmission line, and send display terminal to show output result of detection.
Described three-dimensional body space measurement device based on the pinhole imaging system principle is characterized in that described laser scanning device, ccd detector and computing machine carry out the pointwise record by imaging by aperture to target object, and the three-dimensional information of target object is surveyed.
Described three-dimensional body space measurement device based on the pinhole imaging system principle is characterized in that the synchronizing detection and the synchronous recording data of described computer control laser scanning device and ccd detector.
Described three-dimensional body space measurement device based on the pinhole imaging system principle, it is characterized in that being equipped with on the described laser scanning device lower rotary shaft and left and right sides turntable, the interoperation of laser probe by last lower rotary shaft and left and right sides turntable to target object scan up and down, about scanning.
Described three-dimensional body space measurement device based on the pinhole imaging system principle, it is characterized in that described upward lower rotary shaft and left and right sides turntable are connected with stepper motor respectively, the laser that laser probe sends by computer-controlled stepper motor rotate drive lower rotary shaft and left and right sides turntable rotate to target object scan up and down, about scanning, and by computer control synchronous recording pinhole imaging system information.
Described three-dimensional body space measurement device based on the pinhole imaging system principle, it is characterized in that being equipped with on the described laser scanning device left and right sides galvanometer and galvanometer up and down, scanning about the laser that the interoperation by two galvanometers sends laser probe carries out target object, scanning up and down.
Described three-dimensional body space measurement device based on the pinhole imaging system principle, it is characterized in that described left and right sides galvanometer and up and down galvanometer be connected with stepper motor respectively, the laser that laser probe sends rotates by computer-controlled stepper motor and drives two galvanometer swings to scanning about target object, scanning up and down, and by computer control synchronous recording pinhole imaging system information.
The present invention is simple in structure, realize easily, production cost is low, workable, utilize pinhole imaging system and laser scanning to carry out the three-dimensional body space measurement, laser scanning device sends a hot spot that size is constant, the illumination three-dimensional object, and regulate laser probe by computer-controlled stepper motor and rotate up and down, realization is to the point by point scanning illumination of three-dimensional body, point on the three-dimensional body that is illuminated is caught by pinhole imaging system and by ccd detector, pass to the computer realization synchronous recording by data line, the spatial information that computing machine obtains three-dimensional body by the size and the positional information of the picture point on the analytical calculation detector is particularly useful for daily simple range finding and three-dimensional detection.
Description of drawings
Fig. 1 is a schematic diagram of the present invention;
Fig. 2 is pinhole imaging system of the present invention and imaging detection cellular construction synoptic diagram;
Fig. 3 is the structural representation one of laser probe of the present invention;
Fig. 4 is the structural representation two of laser probe of the present invention;
Fig. 5 is the image of three different points of orientation;
Fig. 6 is the image of expansion luminous point.
Embodiment
The present invention will be further described below in conjunction with Figure of description:
Fig. 1 shows principle of work of the present invention, laser scanning device sends a hot spot that size is constant, the illumination three-dimensional object, and regulate laser probe 1 by computing machine 6 control step motors and rotate up and down, realization is to the point by point scanning illumination of three-dimensional body, point on the three-dimensional body that is illuminated is caught by aperture 4 imagings and by ccd detector 2, pass to the computer realization synchronous recording by data line, the spatial information that computing machine 6 obtains three-dimensional object point by the size and the positional information of the picture point on the analytical calculation detector, thereby realize utilizing aperture 4 imagings to advance the space measurement of three-dimensional body, be particularly useful for daily simple range finding and three-dimensional detection.
The present invention includes pinhole imaging system and imaging detection unit, transmission line, computing machine 6 and display terminal 3, described pinhole imaging system and imaging detection unit comprise laser scanning device, aperture 4 and ccd detector 2, laser scanning device links to each other with computing machine 6 by transmission line 5 with ccd detector 2, and computing machine 6 connects display terminal 3; The laser probe 1 emission laser of laser scanning device, on the target of the throwing light on three-dimensional body, the information of the point on the illuminated three-dimensional body is imaged on the ccd detector 2 by aperture 4, obtain the depth information of illuminated point, depth information is delivered to computing machine 6 by transmission line 5, and send display terminal to show output result of detection; Described laser scanning device, ccd detector 2 and computing machine 6 carry out the pointwise record by imaging by 4 pairs of target objects of aperture, and the three-dimensional information of target object surveyed the synchronizing detection of computer control laser scanning device and ccd detector and synchronous recording data.
Fig. 2 shows the agent structure of pinhole imaging system of the present invention and imaging detection unit, comprises the laser probe 1 that the top is fixing, is used for the aperture 4 and the ccd detector 2 of imaging.Laser probe 1 is used for producing illumination detection luminous point, and scanning illumination three-dimensional object, and aperture 4 is used to realize pinhole imaging system, and the illuminated luminous point on the three-dimensional body is imaged on the ccd detector.
Fig. 3 shows a kind of structure of laser probe, be equipped with lower rotary shaft 7 and left and right sides turntable 8 on the laser scanning device, last lower rotary shaft 7 is used to control the luminous point that laser probe 1 produces and rotates up and down, left and right sides turntable 8 and left and right sides rotating shaft are used to control the luminous point left-right rotation that laser probe 1 produces, thereby realize two-dimensional scan.Laser probe 1 rotates under the cooperation of last lower rotary shaft 7 and left and right sides turntable 8, thereby can carry out scanning probe to produce the object point that aperture 4 imagings are used to target object.Particularly, last lower rotary shaft 7 and left and right sides turntable 8 are connected with stepper motor respectively, the laser that laser probe 1 sends by computing machine 6 control step motors rotate drive lower rotary shaft 7 and left and right sides turntable 8 rotate to target object scan up and down, about scanning, and by computer control synchronous recording pinhole imaging system information.
Fig. 4 shows the another kind of structure of laser probe, on laser scanning device, be equipped with left and right sides galvanometer 9 and galvanometer 10 up and down, galvanometer 10 is used to control the luminous point that laser probe 1 produces and rotates up and down up and down, left and right sides galvanometer 9 is used to control the luminous point left-right rotation that laser probe 1 produces, thereby realizes two-dimensional scan.Laser probe 1 is a stationary state, scanning about the laser that its interoperation by two galvanometers sends laser probe carries out target object, scanning up and down.Particularly, left and right sides galvanometer 9 and up and down galvanometer 10 be connected with stepper motor respectively, the laser that laser probe sends rotates by computer-controlled stepper motor and drives two galvanometer swings to scanning about target object, scanning up and down, and by computer control synchronous recording pinhole imaging system information.
It is different that Fig. 5 has provided three-dimensional information (degree of depth), three luminous point A that the orientation is also different, and B, C, these three luminous points to the screen on aperture opposite, form A ', B ', three discs of confusion of C ' by aperture O projection imaging.Can find that from Fig. 5 because the depth information of three luminous points is different, the size of disc of confusion is also different.Therefore, to pinhole imaging system, in fact be not that a thing becomes the some picture.If regard point on the object plane such as A as on the physical significance point, then its " picture point " can be regarded the A point as and send the optical illumination aperture, wherein can pass and finally project to the projection hot spot that hot spot on the image planes is actually aperture behind the aperture, the size of hot spot is relevant with the size of A point orientation and aperture.The size of supposing aperture is d
p, be y for its object height of A point supposition, object distance is z, and picture point is A ' on the corresponding image planes, and image height is y ', and image distance is z ', the A point is d in image planes projection laser image spot size
A'.
Utilize the triangle similarity, the size that can obtain the projection hot spot is:
The size of following formula explanation pinhole imaging system is relevant with the size and the object distance of aperture.
In practice, because luminous point can not be for infinitely small, and certain yardstick is always arranged, under the situation of this limited yardstick, the imaging situation that we have provided the expansion luminous point as shown in Figure 6.In Fig. 6, the size of luminous point is made as d
AB, because aperture has certain width, so the A spot projection is a disperse hot spot on the pinhole imaging system face, A ' of this hot spot is because the limited size of aperture will be expanded downwards, we are labeled as d the size of its expansion
Adown', can according to top formula (1) try to achieve into:
In like manner can obtain the upwards size d of expansion of B point
Bup' be
Formula (3)
The size of AB section after infinitesimal aperture projection is d
AB', have according to the similar triangles theorem
Formula (4)
The big or small d ' that can obtain later its hot spot of limited little luminous point AB process pinhole imaging system according to formula (2)-(4) is:
Promptly can calculate luminous point according to top limited big or small luminous point as Size Formula (5) from the distance z of aperture is
Here for for the purpose of general, with d
ABBe rewritten into d
1, d ' has been rewritten into d
1', represent the size of spot definition, luminous point disperse picture respectively.
Determine to utilize the similar triangles characteristic can determine that luminous point is at paper direction Y coordinate height again after the object distance
According to the principle of right-handed scale (R.H.scale), the X coordinate by paper inwardly, its derivation principle is the same with the Y coordinate direction, directly writes out as follows:
To obtain after the above correlation formula distortion
Be not difficult to find from formula (9), as long as known the big or small d of aperture
p, the aperture plane from the distance z of pinhole imaging system face ', the big or small d of illumination spot
1Three fixing parameters are if we can be by measuring the big or small d of thing spot projection hot spot simultaneously
1', just can directly calculate the depth information z of object point A, had after the depth information z, just can calculate the enlargement ratio β of pinhole imaging system, can also be projected in the center 0 of image planes by measuring aperture itself, so just can measure any one hot spot from the offset distance at this center (x ', y '), can calculate three-dimensional coordinate (x, the y of object, z), thus realize object space luminous point three-dimensional coordinate measurement.
By luminous point being beaten on three-dimensional object plane,, just can rebuild whole three-dimensional body as the principle of television scanning.
Claims (7)
1. based on the three-dimensional body space measurement device of pinhole imaging system principle, it is characterized in that comprising pinhole imaging system and imaging detection unit, transmission line, computing machine and display terminal, described pinhole imaging system and imaging detection unit comprise laser scanning device, aperture and ccd detector, laser scanning device links to each other with computing machine by transmission line with ccd detector, and computing machine connects display terminal; The laser probe emission laser of laser scanning device, on the target of the throwing light on three-dimensional body, the information of the point on the illuminated three-dimensional body is imaged on the ccd detector by aperture, obtain the depth information of illuminated point, depth information is delivered to computing machine by transmission line, and send display terminal to show output result of detection.
2. the three-dimensional body space measurement device based on the pinhole imaging system principle according to claim 1, it is characterized in that described laser scanning device, ccd detector and computing machine carry out the pointwise record by imaging by aperture to target object, and the three-dimensional information of target object is surveyed.
3. the three-dimensional body space measurement device based on the pinhole imaging system principle according to claim 1 is characterized in that the synchronizing detection and the synchronous recording data of described computer control laser scanning device and ccd detector.
4. the three-dimensional body space measurement device based on the pinhole imaging system principle according to claim 1, it is characterized in that being equipped with on the described laser scanning device lower rotary shaft and left and right sides turntable, the interoperation of laser probe by last lower rotary shaft and left and right sides turntable to target object scan up and down, about scanning.
5. the three-dimensional body space measurement device based on the pinhole imaging system principle according to claim 4, it is characterized in that described upward lower rotary shaft and left and right sides turntable are connected with stepper motor respectively, the laser that laser probe sends by computer-controlled stepper motor rotate drive lower rotary shaft and left and right sides turntable rotate to target object scan up and down, about scanning, and by computer control synchronous recording pinhole imaging system information.
6. the three-dimensional body space measurement device based on the pinhole imaging system principle according to claim 1, it is characterized in that being equipped with on the described laser scanning device left and right sides galvanometer and galvanometer up and down, scanning about the laser that the interoperation by two galvanometers sends laser probe carries out target object, scanning up and down.
7. the three-dimensional body space measurement device based on the pinhole imaging system principle according to claim 6, it is characterized in that described left and right sides galvanometer and up and down galvanometer be connected with stepper motor respectively, the laser that laser probe sends rotates by computer-controlled stepper motor and drives two galvanometer swings to scanning about target object, scanning up and down, and by computer control synchronous recording pinhole imaging system information.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102998885A (en) * | 2012-11-20 | 2013-03-27 | 芜湖雅图数字视频技术有限公司 | Method for rectifying distortion of projected images of projector |
| CN103120584A (en) * | 2011-10-27 | 2013-05-29 | 柯惠Lp公司 | Point size light illumination in metrology systems for in-situ surgical applications |
| CN103753586A (en) * | 2014-01-25 | 2014-04-30 | 安凯 | Method for coarse-fine composite closed-loop control of position of mechanical arm |
| CN108072327A (en) * | 2017-12-31 | 2018-05-25 | 浙江维思无线网络技术有限公司 | A kind of measuring method and device using control point |
| CN109616015A (en) * | 2019-01-29 | 2019-04-12 | 上海天马微电子有限公司 | Display panel and display device |
| CN110487178A (en) * | 2019-07-29 | 2019-11-22 | 烟台南山学院 | A kind of space coordinate measuring instrument and its measurement method |
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| CN2324552Y (en) * | 1998-03-16 | 1999-06-16 | 官永元 | Lens universal-angle controller |
| JP2002372411A (en) * | 2001-06-15 | 2002-12-26 | Mitsubishi Heavy Ind Ltd | Object information gaining method and object information gaining device |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103120584A (en) * | 2011-10-27 | 2013-05-29 | 柯惠Lp公司 | Point size light illumination in metrology systems for in-situ surgical applications |
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| CN103753586A (en) * | 2014-01-25 | 2014-04-30 | 安凯 | Method for coarse-fine composite closed-loop control of position of mechanical arm |
| CN108072327A (en) * | 2017-12-31 | 2018-05-25 | 浙江维思无线网络技术有限公司 | A kind of measuring method and device using control point |
| CN109616015A (en) * | 2019-01-29 | 2019-04-12 | 上海天马微电子有限公司 | Display panel and display device |
| CN110487178A (en) * | 2019-07-29 | 2019-11-22 | 烟台南山学院 | A kind of space coordinate measuring instrument and its measurement method |
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Application publication date: 20110907 |