CN102175180A - Portable optical three-dimensional measurement device based on embedded real-time digital micromirror module - Google Patents
Portable optical three-dimensional measurement device based on embedded real-time digital micromirror module Download PDFInfo
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Abstract
The invention relates to a portable optical three-dimensional measurement device based on an embedded real-time digital micromirror module. The whole device consists of a light emitting diode (LED) light source system, an embedded real-time digital micromirror device (DMD) module, an ARM6410 embedded system, a micro charged coupled device (CCD) camera and a liquid crystal display (LCD) display screen. Through the embedded real-time DMD module, real-time controllability of a structured light projection system is realized, and structured light with real-time controllable range, size and resolution is generated; by combining the ARM6410 embedded system, the micro CCD camera and the LCD display screen, three-dimensional measurement, reconstruction and display of an object are realized; and the whole device is supplied with power by adopting a battery, does not need to be connected with a power supply, and is suitable for multiple occasions. The device is reasonable, compact, simple and convenient to operate, and suitable for three-dimensional topography measurement of the structured light and a 3D face identification system.
Description
Technical field
The present invention relates to a kind of based on Embedded Real-Time digital micro-mirror (digital micro-mirror device, DMD) the portable light three-dimensional measuring apparatus of module, particularly a kind of microstructure light three-dimensional measuring apparatus that collects 3-D scanning, data processing and 3-D display.
Background technology
The research of structural light measurement method comes across the seventies in 20th century the earliest.Along with the fast development of computer technology and computer graphics, become the main trend of present three-dimensional measurement based on the three-dimensional measurement of structured light.In numerous measuring methods, structural light three-dimensional measure with its wide range, big visual field, degree of precision, optical strip image information be easy to extract, characteristics such as real-time and initiatively controlled, be widely used in industrial three-dimensional measurement field in recent years.The structural light three-dimensional measurement mechanism mainly is made of three parts: structured light grenade instrumentation, image acquiring device (being generally the CCD camera) and control, data processing and display device (being generally computing machine).Traditional structural light three-dimensional measurement mechanism volume is bigger, is not easy to carry; During existing portable construction light three-dimensional measuring apparatus operate as normal, all need to link to each other, all do not have the hand-held of real implement device with computing machine.The present invention adopts the microstructure light projecting apparatus of autonomous Design, the design that embedded system combines, and adopts powered battery, need not to connect power supply, has really realized the microminiaturization and the portability of structured light three-dimensional measuring apparatus.
Traditional structured light grenade instrumentation is mainly by two kinds: by the laser projections system that combines of laser instrument, lens and grating with by the optical projection system of the direct generating structure light of projector.Laser projections system, principle are simple relatively, and still the structured light that obtains is second-rate, and noise is bigger, and being optimized to increase the complicacy of system greatly, are difficult to realize microminiaturized simultaneously; Adopt the optical projection system of projector, method is simple, obtains the high-quality structured light easily, but there is not exclusively controlled defective in it, is difficult to realize Embedded Application.
Based on Embedded Real-Time DMD module, embedded system and display device, the structural light three-dimensional measurement mechanism that 3-D scanning, data processing and demonstration in real time is fully integrated in one is not seen bibliographical information at present.
Summary of the invention
The purpose of apparatus of the present invention is to provide a kind of portable light three-dimensional measuring apparatus based on Embedded Real-Time digital micro-mirror module at the defective that prior art exists, have the advantages that 3-D scanning, data processing and 3-D display are integrated in one, adopt powered battery, need not to connect power supply, really realize hand-held.
For the quality that guarantees generating structure light and the real-time controlled and Embedded Application of implementation structure light projection system, the present invention proposes to adopt the Embedded Real-Time DMD module based on autonomous Design, has obtained high-quality structured light, has realized that the microminiaturization of structure light projection system reaches controlled in real time.
In order to obtain high-quality structured light, the present invention adopts the Embedded Real-Time DMD module of autonomous Design as optical modulation device, utilizes its distinctive characteristics to realize the generation of high-quality structured light.The core component of the Embedded Real-Time DMD module of autonomous Design is a digital micro-mirror, DMD is the product of Texas ,Usa instrument company, it is a kind of spatial light modulation device, be the core devices in the digital projector, can carry out intensity modulated to projection light beam thereon, and can export the pattern of different intensity profile by computer control.Simultaneously, DMD compares other spatial light modulation devices, has unique micro mirror rollover characteristics, promptly when a branch of light throws on it, can reflect the various forms of structured lights of generation, therefore, DMD plays three effects in system of the present invention: catoptron, spectroscope and photomodulator, system architecture is simple, simultaneously can access high-quality structured light, implementation structure optical range, size and resolution controlled in real time.
Microminiaturization and portability for better implementation structure light three-dimensional measuring apparatus, the present invention proposes to adopt the ARM6410 embedded system of autonomous Design, substitute the computing machine in traditional structural light three-dimensional measurement mechanism, be equipped with LCD display and show in real time, realized 3-D scanning, data processing and 3-D display integrated of structured light three-dimensional measuring apparatus; Adopt powered battery, need not to connect power supply, better realized the microminiaturization and the portability of structured light three-dimensional measuring apparatus.
For achieving the above object, design of the present invention is: the combination that with the digital micro-mirror is the Embedded Real-Time DMD module of core component and led light source system is as the damascene structures light projecting apparatus; The CCD camera is as image collecting device; With ARM6410 be core embedded system as data processing equipment and with LCD display as three-dimensional display apparatus.The diffusion light beam that the led light source of damascene structures light projection system produces becomes parallel beam behind collimation lens, incide Embedded Real-Time DMD module, the mode of operation of DMD is adjusted in the control of ARM6410 embedded system according to the actual needs, produce the structured light of match pattern, project on the target object, ccd video camera images acquired information also transfers to the ARM6410 embedded system, carries out data processing and three-dimensionalreconstruction, the three-dimensional appearance of display-object object on the LCD of configuration.
According to above-mentioned inventive concept, the present invention adopts following technical proposals:
A kind of portable light three-dimensional measuring apparatus based on Embedded Real-Time digital micro-mirror module, comprise a damascene structures light projecting apparatus, a data acquisition system and a LCD display, it is characterized in that described damascene structures light projecting apparatus connects an Embedded Real-Time DMD module by a led light source system and constitutes; The collimation lens that described led light source system is aimed at by a LED and emergent light constitutes; Described Embedded Real-Time DMD module is made of a DMD drive plate and a DMD; Described data acquisition system (DAS) connects an ARM6410 embedded system by a CCD camera and constitutes; Described ARM6410 embedded system connects described Embedded Real-Time DMD module and LCD display; The diffusion light beam of described LED outgoing becomes parallel beam behind collimation lens, incide Embedded Real-Time DMD module, the initial operation mode of ARM6410 embedded system control setting DMD, parallel beam incides on the DMD, and the structured light that generates originate mode projects the testee surface; Characteristic area according to testee, the ARM6410 embedded system is adjusted the mode of operation of DMD in real time, scope, size and the resolution of real-time control structure light, generate the structured light of the different resolution of coupling testee specific region, make the characteristic area of testee have different resolution; Carry out the image information collection by the CCD camera, transfer to data processing and three-dimensionalreconstruction that the ARM6410 embedded system is correlated with, finally show the three-dimensional appearance of testee by LCD display.
Above-mentioned Embedded Real-Time DMD module is fixed on the device frame, can carry out multivariant adjustment to the DMD reflecting surface.
Above-mentioned Embedded Real-Time DMD module is main core component with DMD, employing be the product of TIX, the embedded system of autonomous Design links to each other.Digital micro-mirror in the Embedded Real-Time DMD module can be modulated the pattern of light under the control of embedded system.Micro mirror can rotate both direction: one of them direction can reflex to projection lens with incident light, projects in the screen; Another direction can reflex to incident light and absorb the plane, by absorbing the bundle of planes light absorption.Its state that rotates the memory cell below it is controlled, and is to be finished by the electrostatic attraction that voltage difference produced between micro mirror itself and the following storage unit.When memory cell is in " opening " when being one state, micro mirror forwards to+and 10 °, be bright in the screen; When memory cell is in " pass " promptly during " 0 " state, micro mirror forwards-10 ° to, and screen is dark.When parallel beam shines the digital micro-mirror surface, adjust the duty of digital micro-mirror according to the actual needs, reflection generates the structured light of various patterns.
Above-mentioned ARM6410 embedded system is core with ARM6410, constitute the fast processing embedded system in conjunction with DSP and FPGA, can control DMD in real time, the view data of gathering is carried out fast processing and three-dimensionalreconstruction, substitute traditional computing machine, realized the microminiaturization of device.
Above-mentioned CCD camera is connected with the ARM6410 embedded system, constitutes an integrated image collection system.
Whole portable light three-dimensional measuring apparatus based on Embedded Real-Time digital micro-mirror module adopts powered battery, need not to connect power supply, is fit to the application of multiple occasion.
Whole portable light three-dimensional measuring apparatus based on Embedded Real-Time digital micro-mirror module is provided with usb communication interface and SD card external memorizer interface, can conveniently carry out data transmission and storage with various terminals.
The present invention compares with other structural light three-dimensional measurement mechanism, has following outstanding feature: the Embedded Real-Time DMD module structure combining light projecting apparatus that has adopted led light source and autonomous Design in the invention, realize the Embedded Application of device, be the assurance that realization is provided of controlled architecture photosystem fully in real time.The controlled architecture photosystem can be set specific projected area and the tolerance additional information that fringe spacing and stripe direction are provided in real time, and generation scope, size and resolution is controlled structured light in real time.Striated structure light to specific region projection different resolution makes the characteristic area of target object have different resolution, and the feature resolution that improves object has also reduced the operand of system.Employing is core with ARM6410, and DSP and the FPGA ARM6410 embedded system that combines has realized the microminiaturization of total light three-dimensional measuring apparatus, has the characteristics of real-time control, data quick-processing and demonstration.The CCD camera links to each other with the ARM6410 embedded system, has realized the real-time collection of image capturing system.LCD display links to each other with the ARM6410 embedded system, has realized the real-time demonstration of testee three-dimensional information.Whole portable light three-dimensional measuring apparatus based on Embedded Real-Time digital micro-mirror module has the structured light projection, gathers, handles and shows controlled characteristics in real time.Adopt powered battery, need not to connect power supply, be fit to the application of multiple occasion.Be provided with usb communication interface and SD card external memorizer interface, can conveniently carry out data transmission and storage with various terminals.
Description of drawings
Fig. 1 is a structural light three-dimensional measurement mechanism structural principle block diagram.
Fig. 2 is a structural light three-dimensional measurement mechanism structural representation.
Fig. 3 is a structural light three-dimensional measurement mechanism workflow diagram.
Specific embodiments
A preferred embodiment of the present invention accompanying drawings is as follows, referring to Fig. 1, this portable light three-dimensional measuring apparatus based on Embedded Real-Time digital micro-mirror module is made of three parts: the data acquisition system (DAS) (5-6) of damascene structures light projecting apparatus (1-4), control and data processing and LCD display (7).The concrete structure and the workflow of whole portable light three-dimensional measuring apparatus based on Embedded Real-Time digital micro-mirror module are referring to Fig. 2 and Fig. 3.
Referring to Fig. 2, led light source system (3-4) is by LED(4) constitute with collimation lens (3) optical system, LED(4) the diffusion light beam of outgoing becomes parallel beam behind collimation lens (3), incide Embedded Real-Time DMD module (1-2), Embedded Real-Time DMD module (1-2) constitutes by DMD drive plate (1) and DMD(2), and Embedded Real-Time DMD module (1-2) and led light source system (3-4) constitute complete damascene structures light projecting apparatus (1-4).DMD drive plate (1) be core with ARM6410, ARM6410 embedded system (6) in conjunction with FPGA and DSP fast processing links to each other, ARM6410 embedded system (6) control setting DMD(2) initial operation mode, parallel beam incides DMD(2) on, the structured light that generates the initial setting pattern projects testee (10) surface, between led light source system (3-4) and the Embedded Real-Time DMD module flat (1-2) certain angle is arranged, be convenient to high-quality structured light and generate and throw.Characteristic area difference according to testee (10), ARM6410 embedded system (6) is adjusted DMD(2 in real time) mode of operation, scope, size and the resolution of real-time control structure light, generate the structured light of the different resolution of coupling testee (10) specific region, make the characteristic area of target object have different resolution.Carry out the image information collection by CCD camera (5), CCD camera (5) links to each other the composition data acquisition system with ARM6410 embedded system (6).The image information that collects transfers to data processing and the three-dimensionalreconstruction that ARM6410 embedded system (6) is correlated with, and finally shows the three-dimensional appearance of testee by LCD display (7).
This portable light three-dimensional measuring apparatus based on Embedded Real-Time digital micro-mirror module adopts battery (9) power supply, need not to connect power supply, can satisfy outdoor user demand; Be provided with extraneous memory interfaces (8) such as communication interfaces such as USB and SD card, can conveniently carry out data transmission and storage with various terminals.
Claims (5)
1. portable light three-dimensional measuring apparatus based on Embedded Real-Time digital micro-mirror module, comprise a damascene structures light projecting apparatus (1-4), a data acquisition system (5-6) and a LCD display (7), it is characterized in that described damascene structures light projecting apparatus (1-4) connects an Embedded Real-Time DMD module (1-2) by a led light source system (3-4) and constitutes; Described led light source system (3-4) is by a LED(4) and collimation lens (3) formation that emergent light is aimed at; Described Embedded Real-Time DMD module (1-2) is by a DMD drive plate (1) and a DMD(2) constitute; Described data acquisition system (DAS) (5-6) connects an ARM6410 embedded system (6) by a CCD camera (5) and constitutes; Described ARM6410 embedded system (6) connects described Embedded Real-Time DMD module (1-2) and LCD display (7); Described LED(4) the diffusion light beam of outgoing becomes parallel beam behind collimation lens (3), incide Embedded Real-Time DMD module (1-2), ARM6410 embedded system (6) control setting DMD(2) initial operation mode, parallel beam incides DMD(2) on, the structured light that generates originate mode projects testee (10) surface; Characteristic area according to testee (10), ARM6410 embedded system (6) is adjusted DMD(2 in real time) mode of operation, scope, size and the resolution of real-time control structure light, generate the structured light of the different resolution of coupling testee (10) specific region, make the characteristic area of testee (10) have different resolution; Carry out the image information collection by CCD camera (5), transfer to data processing and three-dimensionalreconstruction that ARM6410 embedded system (6) is correlated with, finally show the three-dimensional appearance of testee (10) by LCD display (7).
2. the portable light three-dimensional measuring apparatus based on Embedded Real-Time digital micro-mirror module according to claim 1, it is characterized in that described Embedded Real-Time DMD module (1-2) is fixed on the device frame, can be to DMD(2) reflecting surface carries out multivariant adjustment.
3. the portable light three-dimensional measuring apparatus based on Embedded Real-Time digital micro-mirror module according to claim 1, it is characterized in that, it is characterized in that described ARM6410 embedded system (6) is is that core set FPGA and DSP constitute ground fast processing embedded system with ARM6410, can control DMD(2 in real time), and the view data of gathering carried out fast processing and three-dimensionalreconstruction.
4. the portable light three-dimensional measuring apparatus based on Embedded Real-Time digital micro-mirror module according to claim 1, it is characterized in that being provided with usb communication interface and SD card external memorizer interface (8), can convenient and swift and various terminal carry out data transmission and storage.
5. the portable light three-dimensional measuring apparatus based on Embedded Real-Time digital micro-mirror module according to claim 1, it is characterized in that adopting battery (9) power supply, need not to connect power supply, realized the portable use of whole device, can satisfy the application of multiple occasion.
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102540446A (en) * | 2011-12-28 | 2012-07-04 | 中国科学院西安光学精密机械研究所 | High-speed structure illumination optical microscope system and method based on digital micromirror device |
| CN103033143A (en) * | 2011-09-30 | 2013-04-10 | 株式会社三丰 | Optical probe |
| CN103411564A (en) * | 2013-08-29 | 2013-11-27 | 衢州亿龙信息技术有限公司 | Optical scanning device of integrated structure |
| US8964281B2 (en) | 2011-04-11 | 2015-02-24 | Mitutoyo Corporation | Optical probe |
| CN104897082A (en) * | 2015-06-08 | 2015-09-09 | 华东师范大学 | High-speed structured light generating and processing device based on intelligent mobile platform |
| CN106679591A (en) * | 2016-12-30 | 2017-05-17 | 合肥工业大学 | High-reflective surface three-dimensional measuring device and method based on digital micromirror |
| CN106871783A (en) * | 2016-11-02 | 2017-06-20 | 北京信息科技大学 | A kind of joint arm laser scanning testing head laser striation image capturing system based on FPGA |
| CN109272544A (en) * | 2018-10-22 | 2019-01-25 | 湖北文理学院 | The structural light three-dimensional measurement model and image processing method of pipeline all-position weld seam |
| CN114785994A (en) * | 2022-05-09 | 2022-07-22 | 深圳云存科技有限公司 | Embedded equipment based on 3D projection |
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2011
- 2011-02-25 CN CN 201110044895 patent/CN102175180A/en active Pending
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8964281B2 (en) | 2011-04-11 | 2015-02-24 | Mitutoyo Corporation | Optical probe |
| CN103033143A (en) * | 2011-09-30 | 2013-04-10 | 株式会社三丰 | Optical probe |
| CN103033143B (en) * | 2011-09-30 | 2016-01-06 | 株式会社三丰 | Optical detector |
| CN102540446B (en) * | 2011-12-28 | 2014-03-26 | 中国科学院西安光学精密机械研究所 | High-speed structure illumination optical microscope system and method based on digital micromirror device |
| CN102540446A (en) * | 2011-12-28 | 2012-07-04 | 中国科学院西安光学精密机械研究所 | High-speed structure illumination optical microscope system and method based on digital micromirror device |
| CN103411564A (en) * | 2013-08-29 | 2013-11-27 | 衢州亿龙信息技术有限公司 | Optical scanning device of integrated structure |
| CN104897082A (en) * | 2015-06-08 | 2015-09-09 | 华东师范大学 | High-speed structured light generating and processing device based on intelligent mobile platform |
| CN104897082B (en) * | 2015-06-08 | 2018-02-23 | 华东师范大学 | A kind of high-speed structures light based on intelligent family moving platform produces and processing unit |
| CN106871783A (en) * | 2016-11-02 | 2017-06-20 | 北京信息科技大学 | A kind of joint arm laser scanning testing head laser striation image capturing system based on FPGA |
| CN106679591A (en) * | 2016-12-30 | 2017-05-17 | 合肥工业大学 | High-reflective surface three-dimensional measuring device and method based on digital micromirror |
| CN109272544A (en) * | 2018-10-22 | 2019-01-25 | 湖北文理学院 | The structural light three-dimensional measurement model and image processing method of pipeline all-position weld seam |
| CN109272544B (en) * | 2018-10-22 | 2020-09-08 | 湖北文理学院 | Structured light three-dimensional measurement model of pipeline all-position welding line and image processing method |
| CN114785994A (en) * | 2022-05-09 | 2022-07-22 | 深圳云存科技有限公司 | Embedded equipment based on 3D projection |
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Application publication date: 20110907 |