CN102706290A - Structured light projector meeting variation ranges of high speed and high brightness - Google Patents
Structured light projector meeting variation ranges of high speed and high brightness Download PDFInfo
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Abstract
A structured light projector meeting the variation ranges of high speed and high brightness comprises a programmable projection master control module, an input/output synchronous triggering module, an LED lighting module and an optical-mechanical system, wherein the programmable projection master control module is connected with a computer to receive the controlled information and video signals, so as to download structured light images with certain characteristics from the computer; one end of the input/output synchronous triggering module is connected with an external hardware, such as a camera, to receive and send synchronous signals, and the other end thereof is connected with the programmable projection master control module so as to send the external triggering information to the master control module; the LED lighting module is connected with the programmable projection master control module so as to receive the control information for adjusting the brightness and on-off of the LED chip; and the optical-mechanical system of the whole projector is used for completing the projection of the structured light images. The projector provided by the invention has the characteristics of compact structure, quick projection, high projection precision, and higher brightness variation range of the projection brightness, and is of significant value in various active optical measurement systems of structured light to be projected.
Description
Technical field
The present invention relates to a kind of high speed, high brightness variation range structured light projector, can be used for throwing in the structural light three-dimensional pattern vision measurement system structured light with special characteristic.The invention belongs to the optical three-dimensional measurement technical field.
Background technology
In optics non-contact three-dimensional topography measurement method; Characteristics such as structural light three-dimensional pattern vision measurement technology has wide range, noncontact, speed is fast, system flexibility is good have been widely used in field such as size and the detection of morpheme parameter in three-dimensional measurement and the industrial environment of reconstructing three-dimensional model, profiling object surface.For structural light three-dimensional pattern vision measurement system, stable, at a high speed, accurate mode of delivery is very important.
Present structured light projective techniques both domestic and external, appearance are the earliest, the most simply projection pattern is directly to use business projector or projection grating.It also is a kind of method more flexibly that the interference fringe that produces before two coherent waves is projected to body surface; Someone adopts shearing interferometer as projector mechanism; Also useful fibre optic interferometer projection realizes the adjusting of fringe period and projecting direction through certain physical construction.Utilize the acoustic grating speckle pattern interferometry device of acousto-optical device in addition.Use the projector equipment of grating and interferometer to require favorable mechanical stability and accurate mechanical travel mechanism, on using, receive certain restriction; Volume is little though commercial projector equipment harmony grating fringe interference device has, stable performance, can computerized control freely changes the advantages such as pattern of projection pattern; But it exists than limitations on speed and projection brightness scope, is difficult to satisfy the demand of present three-dimensional measurement field to high speed, high brightness variation range.
Summary of the invention
The object of the present invention is to provide a kind of high speed, high brightness variation range structured light projector,, can be used in the three-dimensional non-contact measurement system to solve defective of the prior art.
Technical solution of the present invention is: a kind of high speed, high brightness variation range structured light projector, it comprises projection main control module able to programme, input and output synchronous triggering module, LED lighting module and optical-mechanical system.Position annexation between them is: projection main control module able to programme links to each other with computing machine, accepts control information, vision signal, has the structure light image of certain characteristic from downloaded; The same external hardware of one end (like camera) of input and output synchronous triggering module links to each other, and receives and send synchronizing signal, and the other end links to each other with the programmable master control module, sends external trigger information to this main control module; The LED lighting module links to each other with projection main control module able to programme, accepts the control information to led chip light on and off, brightness size adjustment; The optical-mechanical system of the whole projector is accomplished the projection of structure light image.
Described projection main control module able to programme, it comprises DMD driver element, main control unit, video processing unit and storage unit.Relation is therebetween: main control unit receives the projection control information from computer, and with sending the DMD driver element to after the information via processing; The DMD driver element receives structured light data and the control information from main control unit, after the data processing upset of control DM D with refresh; Video processing unit is accepted the digital video signal from computer, sends main control unit to; Storage unit transfers to main control unit from computer is downloaded and storage has been programmed and finished structured light information and control information.This DMD driver element adopts dmd chip for the projection acp chip, adopts the high speed DMD driving circuit based on FPGA, and FPGA sends data to dmd chip through the high speed DDR2 signal in the synchronization caching, realizes reaching as high as the projected at high velocity of 700Hz frame frequency.This main control unit adopts the usb circuit design based on FPGA, links to each other with computing machine through standard USB2.0 interface, can be from downloaded CONFIG.SYS, the structure light image that needs projection, LED brilliance control information etc.This video processing unit adopts HDMI interface chip for driving to link to each other with projection main control module able to programme, links to each other with computing machine through the HDMI interface, can receive the digital video signal from computing machine.This storage unit is to adopt FLASH chip able to programme, can store the structured light with certain characteristic and the control information that need projection.
Described input and output synchronous triggering module is three bit synchronization signals of projection main control module able to programme; Link to each other with sensor through synchronous signal line; It can output pulse signal; The structured light of projection is taken or received to external unit synchronously, and the delay of this pulse signal, pulse width and polarity all can be made amendment through projection main control module able to programme; This module also can receive the synchronizing signal from external unit, triggers the projector and throws in real time, and the pulse signal of input will send to the projection main control module and control projection.
Described LED lighting module is made up of three high-power led chips; Can control whether lighting of every chip block and brightness size separately through projection main control module able to programme; According to different application requirements; Three chips can be the monochromatic light led chip of three same colors, also can be red, green, blue three color chips.The brightness range of the projector can reach three times of single-chip at least.The brightness size of every led chip and the time of lighting all can be controlled through the fpga chip in the projection main control module in real time; This strategy increases the projection luminance dynamic range of the projector greatly; Both can realize the darker structured light of single-chip low-light level short time projection, also can realize the very bright structured light of the long-time projection of three chip high brightness.
Described optical-mechanical system comprises: homogenization lens, half-reflecting half mirror and the front end prism that matees with DMD; The light that its illumination light source sends carries out shaping and homogenize, through the front end projection lens light through the dmd chip spatial modulation is throwed simultaneously, and whole ray machine systematic comparison is compact, is fit to be used in combination with other peripherals.
Principle of the present invention is: by projection master control module controls able to programme and all project information of processing; The LED lighting module is accomplished the modification of projection light source brightness; Input and output synchronous triggering module is used for transmitting the trigger pip of control projection and shooting; DMD accomplishes the spatial modulation to light source projects light, after optical-mechanical system required image projection is gone out.
The present invention's advantage compared with prior art is: (1) is adopted digital projection technique and based on the high speed DM D control circuit of FPGA, can be realized being up to the projected at high velocity of 700Hz frame frequency.(2) input and output synchronous triggering module can realize the projector and receive the accurately collaborative of peripherals, guarantees the accurate collection of receiving equipment to projects images.(3) adopt the plurality of LED chip, the brightness of every led chip and fluorescent lifetime all can be modulated as required, have expanded the luminance dynamic range of the projector greatly.
Description of drawings
Fig. 1 is the synoptic diagram of a kind of high speed of the present invention, high brightness variation range structured light projector;
Fig. 2 is projection main control module structural drawing able to programme among the present invention;
Symbol description is following among the figure:
FPGA: field programmable gate array
SDRAM DDR2: Double Data Rate synchronous DRAM
LVDS: Low Voltage Differential Signal
JTAG: joint test working group standard interface
HDMI: HDMI
DMD: digital micro-mirror
Embodiment
See Fig. 1, a kind of high speed, high brightness variation range structured light projector is characterized in that: comprise with the lower part: projection main control module able to programme, input and output synchronous triggering module, LED lighting module and optical-mechanical system.Projection main control module wherein able to programme comprises DMD driver element, main control unit, video processing unit and storage unit.It links to each other with computing machine, accepts control information, vision signal, has the structure light image of certain characteristic from downloaded; The same external hardware of one end (like camera) of input and output synchronous triggering module links to each other, and receives and send synchronizing signal, and the other end links to each other with the programmable master control module, sends external trigger information to this main control module; The LED lighting module links to each other with projection main control module able to programme, accepts the control information to led chip light on and off, brightness size adjustment; The optical-mechanical system of the whole projector is accomplished the projection of structure light image.
The DMD driver element of projection main control module able to programme; Adopting resolution is that 1024 * 768 DM D chip is the projection acp chip; Employing is based on the high speed DM D driving circuit of FPGA; FPGA sends data to dmd chip through the high speed DDR2 signal in the synchronization caching, collaborative simultaneously DAD2000 chip synchronized transmission reset signal, the resetting and refresh of control dmd chip.When two black white images of projection.Frame frequency reaches as high as 5000Hz, and when 8 gray level images of projection, frame frequency reaches as high as 700Hz.
The video processing unit of projection main control module able to programme links to each other with computing machine through H DM I interface; Can receive digital video signal from computing machine; Digital video signal sends image information to DMD through FPGA and throws through after the decoding of video frequency processing chip.
The storage unit of projection main control module able to programme adopts FLASH chip able to programme, and die size is 1Gb, can store the structured light with certain characteristic that needs projection.
The main control unit of projection main control module able to programme links to each other with computing machine through standard USB2.0 interface, can be from downloaded CONFIG.SYS, the structure light image that needs projection, LED brilliance control information etc.Projection main control module structure able to programme is seen Fig. 2.
Input and output synchronous triggering module is three bit synchronization signals of projection main control module able to programme; Link to each other with sensor through synchronous signal line; It can output pulse signal; The structured light of projection is taken or received to external unit synchronously, and the delay of this pulse signal, pulse width and polarity all can be made amendment through projection main control module able to programme; This module also can receive the synchronizing signal from external unit, triggers the projector and throws in real time, and the pulse signal of input will send to the projection main control module and control projection.
The LED lighting module is made up of three high-power led chips; Can control whether lighting of every chip block and brightness size separately through projection main control module able to programme; According to different application requirements; Three chips can be the monochromatic light led chip of three same colors, also can be red, green, blue three color chips.This projector adopts three high power blue led chips or three high power green LED chips, and brightness range can reach three times of single-chip at least.In the LED lighting module; The brightness size of every led chip and the time of lighting all can be controlled through the fpga chip in the projection main control module in real time; Through the change of FPGA to led drive circuit voltage; And then change size of current through led chip, and the luminosity of control LED, this strategy increases the projection luminance dynamic range of the projector greatly; Both can realize the darker structured light of single-chip low-light level short time projection, also can realize the very bright structured light of the long-time projection of three chip high brightness.
Optical-mechanical system comprises: homogenization lens, half-reflecting half mirror and the front end prism that matees with DMD; The light that its illumination light source sends carries out shaping and homogenize, through the front end projection lens light through the modulation of DM D chip space is throwed simultaneously, and whole ray machine texture ratio is compact, is fit to be used in combination with other peripherals.The content of not doing in the instructions of the present invention to describe in detail belongs to this area professional and technical personnel's known prior art.
Claims (1)
1. a high speed, high brightness variation range structured light projector, it is characterized in that: it comprises projection main control module able to programme, input and output synchronous triggering module, LED lighting module and optical-mechanical system; Projection main control module able to programme links to each other with computing machine, accepts control information, vision signal, has the structure light image of certain characteristic from downloaded; One end of input and output synchronous triggering module links to each other with external hardware such as camera, receives and send synchronizing signal, and the other end links to each other with the programmable master control module, sends external trigger information to this main control module; The LED lighting module links to each other with projection main control module able to programme, accepts the control information to led chip light on and off, brightness size adjustment; The optical-mechanical system of the whole projector is accomplished the projection of structure light image;
Described projection main control module able to programme, it comprises DMD driver element, main control unit, video processing unit and storage unit; Main control unit receives the projection control information from computer, and with sending the DMD driver element to after the information via processing; The DMD driver element receives structured light data and the control information from main control unit, after the data processing upset of control DMD with refresh; Video processing unit is accepted the digital video signal from computer, sends main control unit to; Storage unit transfers to main control unit from computer is downloaded and storage has been programmed and finished structured light information and control information; This DMD driver element adopts dmd chip for the projection acp chip, adopts the high speed DMD driving circuit based on FPGA, and FPGA sends data to dmd chip through the high speed DDR2 signal in the synchronization caching, realizes reaching as high as the projected at high velocity of 700Hz frame frequency; This main control unit adopts the usb circuit design based on FPGA, links to each other with computing machine through standard USB2.0 interface, from the downloaded CONFIG.SYS, need structure light image, the LED brilliance control information of projection; This video processing unit adopts HDMI interface chip for driving to link to each other with projection main control module able to programme, links to each other with computing machine through the HDMI interface, receives the digital video signal from computing machine; This storage unit is to adopt FLASH chip able to programme, and storage needs the structured light with certain characteristic and the control information of projection;
Described input and output synchronous triggering module is three bit synchronization signals of projection main control module able to programme; Link to each other with sensor through synchronous signal line; Its output pulse signal; The structured light of projection is taken or received to external unit synchronously, and the delay of this pulse signal, pulse width and polarity are all made amendment through projection main control module able to programme; This module also receives the synchronizing signal from external unit, triggers the projector and throws in real time, and the pulse signal of input will send to the projection main control module and control projection;
Described LED lighting module is made up of three high-power led chips; Control whether lighting of every chip block and brightness size separately through projection main control module able to programme; According to different application requirements; Three monochromatic light led chips that chip is three same colors also can be red, green, blue three color chips; The brightness range of the projector reaches three times of single-chip at least; The brightness size of every led chip and the time of lighting are all controlled through the fpga chip in the projection main control module in real time; This strategy increases the projection luminance dynamic range of the projector greatly; Both realize the darker structured light of single-chip low-light level short time projection, also realized the very bright structured light of the long-time projection of three chip high brightness;
Described optical-mechanical system comprises: homogenization lens, half-reflecting half mirror and the front end prism that matees with DMD; The light that its illumination light source sends carries out shaping and homogenize, through the front end projection lens light through the dmd chip spatial modulation is throwed simultaneously, and whole ray machine system architecture is compact, is fit to be used in combination with other peripherals.
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| CN105180838A (en) * | 2015-09-29 | 2015-12-23 | 南京理工大学 | Quick fringe projection system based on DLP (Digital Light Procession) projector |
| CN105657403A (en) * | 2016-02-22 | 2016-06-08 | 易喜林 | FPGA (Field Programmable Gate Array) based structural light projection and image acquisition synchronization system |
| CN105674916A (en) * | 2016-04-22 | 2016-06-15 | 四川大学 | Hardware intelligent structured light three-dimensional scanning system and method |
| CN106796107A (en) * | 2014-08-10 | 2017-05-31 | 脸谱公司 | For the structure light of 3D sensings |
| CN107429993A (en) * | 2015-01-29 | 2017-12-01 | 新加坡恒立私人有限公司 | For producing the device of patterning illumination |
| CN107747915A (en) * | 2017-11-10 | 2018-03-02 | 华东师范大学 | Closed loop 3D vision device based on DMD |
| CN108680142A (en) * | 2018-05-29 | 2018-10-19 | 北京航空航天大学 | A kind of dimensional visual measurement system projecting principle based on high speed triangular wave striped |
| CN109781033A (en) * | 2019-03-04 | 2019-05-21 | 杭州晶耐科光电技术有限公司 | A kind of deep ultraviolet structure light precise detection device of transparent material reconstructing 3 D contour |
| CN109963136A (en) * | 2017-12-22 | 2019-07-02 | 宁波盈芯信息科技有限公司 | A kind of working method and device of smart phone structure light depth camera |
| CN110719454A (en) * | 2019-10-15 | 2020-01-21 | 浙江晶鲸科技有限公司 | Self-adaptive driving device and driving method for electric control infrared light emitter |
| CN110823131A (en) * | 2019-11-18 | 2020-02-21 | 西南交通大学 | Three-dimensional measurement grating stripe generation method based on programmable controller |
| TWI709323B (en) * | 2018-07-27 | 2020-11-01 | 大陸商Ｏｐｐｏ廣東移動通信有限公司 | Control system for structured light projector and electronic device |
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| CN106796107B (en) * | 2014-08-10 | 2019-11-29 | 脸谱科技有限责任公司 | Structure light for 3D sensing |
| CN106796107A (en) * | 2014-08-10 | 2017-05-31 | 脸谱公司 | For the structure light of 3D sensings |
| US10837765B2 (en) | 2014-08-10 | 2020-11-17 | Facebook Technologies, Llc | Structured light sensing for 3D sensing |
| CN107429993A (en) * | 2015-01-29 | 2017-12-01 | 新加坡恒立私人有限公司 | For producing the device of patterning illumination |
| CN107429993B (en) * | 2015-01-29 | 2021-06-15 | 新加坡恒立私人有限公司 | Apparatus for producing patterned illumination |
| CN105180838A (en) * | 2015-09-29 | 2015-12-23 | 南京理工大学 | Quick fringe projection system based on DLP (Digital Light Procession) projector |
| CN105657403A (en) * | 2016-02-22 | 2016-06-08 | 易喜林 | FPGA (Field Programmable Gate Array) based structural light projection and image acquisition synchronization system |
| CN105674916A (en) * | 2016-04-22 | 2016-06-15 | 四川大学 | Hardware intelligent structured light three-dimensional scanning system and method |
| CN107747915A (en) * | 2017-11-10 | 2018-03-02 | 华东师范大学 | Closed loop 3D vision device based on DMD |
| CN109963136A (en) * | 2017-12-22 | 2019-07-02 | 宁波盈芯信息科技有限公司 | A kind of working method and device of smart phone structure light depth camera |
| CN109963136B (en) * | 2017-12-22 | 2021-06-18 | 宁波盈芯信息科技有限公司 | Working method and device of light depth camera with smart phone structure |
| CN108680142A (en) * | 2018-05-29 | 2018-10-19 | 北京航空航天大学 | A kind of dimensional visual measurement system projecting principle based on high speed triangular wave striped |
| US11115607B2 (en) | 2018-07-27 | 2021-09-07 | Guangdong Oppo Mobile Telecommunications Corp., Ltd. | Control system for structured light projector and electronic device |
| TWI709323B (en) * | 2018-07-27 | 2020-11-01 | 大陸商Ｏｐｐｏ廣東移動通信有限公司 | Control system for structured light projector and electronic device |
| CN109781033A (en) * | 2019-03-04 | 2019-05-21 | 杭州晶耐科光电技术有限公司 | A kind of deep ultraviolet structure light precise detection device of transparent material reconstructing 3 D contour |
| CN109781033B (en) * | 2019-03-04 | 2020-11-06 | 杭州晶耐科光电技术有限公司 | Deep ultraviolet structured light precision detection device for transparent material three-dimensional contour reconstruction |
| CN110719454A (en) * | 2019-10-15 | 2020-01-21 | 浙江晶鲸科技有限公司 | Self-adaptive driving device and driving method for electric control infrared light emitter |
| CN110719454B (en) * | 2019-10-15 | 2021-09-14 | 浙江晶鲸科技有限公司 | Self-adaptive driving device and driving method for electric control infrared light emitter |
| CN112781520A (en) * | 2019-11-06 | 2021-05-11 | 奇景光电股份有限公司 | Structured light imaging device |
| CN110823131B (en) * | 2019-11-18 | 2020-12-22 | 西南交通大学 | Three-dimensional measurement grating stripe generation method based on programmable controller |
| CN110823131A (en) * | 2019-11-18 | 2020-02-21 | 西南交通大学 | Three-dimensional measurement grating stripe generation method based on programmable controller |
| CN112672124A (en) * | 2020-12-22 | 2021-04-16 | 苏州汉振深目智能科技有限公司 | Phase-shift fringe pattern high-frame-rate projection method and system based on FPGA |
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