CN103134444A - Double-field variable-focus three-dimensional measurement system - Google Patents
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Abstract
The invention relates to a double-field variable-focus three-dimensional measurement system. The system comprises a primary-secondary mirror imaging measuring system, a two-dimensional tracking rotating-mirror device and an adaptive control system. The primary-secondary mirror imaging measuring system is composed of a telephoto subsystem, a short-focus subsystem and a launching light source. The telephoto is composed of a main lens, a first spectroscope, a second spectroscope and a detector. The short-focus system is composed of the main lens, the first spectroscope, the second spectroscope and the detector. The two-dimensional tracking rotating-mirror device is composed of a reflector, a electric rotating motor, a regulating handle, an upper half shaft, a lower half shaft and a horizontal shaft. The adaptive control system is composed of a computer, an input and output (I/O) control circuit, an electromotor and a signal processing and controlling circuit. The system has the advantages of being tight in arrangement, high in measuring efficiency, convenient to measure and is suitable for the three-dimensional measuring of moving and static objects.
Description
Technical field
The present invention relates to three-dimensional measuring apparatus, be specifically related to the varifocal three-dimension measuring system of a kind of double-view field.
Background technology
Object dimensional data capture method commonly used can be divided into contact and contactless two large classes.The advantage of contact measurement method is that measuring accuracy is high, good reproducibility, strong adaptability, but it can not carry out precision measurement to soft object, and measuring speed is slow, measurement data density is low, measuring process needs manual intervention, and these deficiencies have limited its application; Contactless measurement is by certain and body surface, the three-dimensional information that interactional physical phenomenon is obtained object to occur, as sound, light, electromagnetism etc., wherein the modern method for measuring three-dimensional shape that grows up of applied optics principle is most widely used, as laser spots measuring method, line-structured light measuring method, optical grating projection measuring method, laser interferance method and vision measuring method etc.Laser spots mensuration and line-structured light mensuration all need laser head is arranged on to be done scanning motion and could realize on three coordinate measuring machine or numerically-controlled machine, these two kinds of methods have higher measuring accuracy and resolution, but measurement range is subjected to the restriction of scanning moving mechanism, is mainly used to measure the part of small-medium size; Optical grating projection is measured a zone on energy one-shot measurement object, but splices the larger object of measurement size by data, but due to the restriction on principle of work, its measuring accuracy and Measurement Resolution are all lower.
Vision measuring method has fully merged the development result of industrial photogrammetry and Digital image technology, advanced, simple in structure, the on-the-spot advantage such as easy to use possesses skills, can reach high precision, on a large scale, high efficiency measurement requirement, be a kind of measuring method that has future.Form according to camera, typical vision measurement scheme has monocular system, binocular or many range estimations amount system.The monocular system is mainly used in the static point object pose and measures, and must increase the constraint conditions such as unique point cursor, distance, outline when obtaining depth information; Binocular or estimate metering method more and resolve the pose parameter by triangle relation and object matching can be realized dynamic or accurate kinetic measurement on a large scale, but the ambiguousness that how to solve Stereo matching is particularly difficulty and the problem that must face during binocular is measured.
In order to overcome the problems referred to above, many scholars have proposed many new monocular stereoscopic imaging methods, calculate the depth information of space object by obtaining parallax.At present, the monocular stereo imaging system obtains the method that parallax mainly adopts and mainly contains three kinds: based on the method for focusing, based on the method for out of focus with based on the method for zoom.Method based on focusing can obtain the higher depth map of precision by taking several pictures, yet higher to hardware requirement, real-time is bad; Take two width pictures based on minimum needs of the method for out of focus, be difficult to explication but calculate required point spread function, often can only define with Gaussian function, the depth recovery precision is lower.Method based on zoom is by changing the focal length size, same scene to be taken two width or several pictures rich in detail, and required camera parameters is less, and algorithm is easy to realize.
Formerly technology [1] is (referring to Liu Hongbo, Zhao Xunjie etc., ranging technology research based on bifocal imaging, laser and infrared, the 40th the 10th phase of volume, in October, 2010) method that proposes the change camera focus realizes the three-dimensional information of space object is obtained, yet the method is not suitable for the depth survey of remote and central area object point.In addition, need to change frequently the focal length of video camera due to system, this can bring the optical jitter of camera, thereby affects the levels of precision of picture point vector.
Formerly technology [2] is (referring to Xu Shushu, Wang Yuanqing etc., the preparation method of the disparity map of new single eye stereo vision, computer utility, the 31st the 2nd phase of volume, in February, 2011) in, single cover imaging system comprises long and short two focal lengths (corresponding two detectors), can gather at one time two width images, and resolve the depth information of space object by the parallax of two width images, can overcome the caused error of time lag.Yet this system adopts bi-focal to focus scheme, and single cover system is difficult to take into account imaging precision and imaging viewing field.
In order to overcome defects, the present invention proposes the varifocal three-dimension measuring system of a kind of double-view field, can realize that the three-dimensional information quick high accuracy of stationary body obtains, and can realize again the tracking measurement of dynamic object.
Summary of the invention
The object of the invention is to propose the varifocal three-dimension measuring system of a kind of double-view field.
The varifocal three-dimension measuring system of double-view field that the present invention proposes merges primary and secondary mirror imaging measurement system 01 and bidimensional tracking mirror device 02 mutually, can realize that the three-dimensional information quick high accuracy of stationary body extracts, and can carry out tracking measurement to dynamic object again.
The varifocal three-dimension measuring system of double-view field that the present invention proposes comprises primary and secondary mirror imaging measurement system 01, bidimensional tracking mirror device 02 and adaptive control system, wherein:
Described primary and secondary mirror imaging measurement system 01 is comprised of long burnt subsystem, short burnt subsystem and transmitting illuminant 7, the burnt subsystem of described length is comprised of main lens 1, the first spectroscope 2, the second spectroscope 5 and detector 1, the focal length of the burnt subsystem of described length is the focal length of main lens 1, has long focal length value; Before described the first spectroscope 2 is positioned at the focus of main lens 1, and with the placement at 45 ° of the optical axis of main lens 1; Described the second spectroscope 5 was positioned at main lens 1 before the focus that forms on the reflected light path of the first spectroscope 2, and was arranged in parallel with the first spectroscope 2, and described detector 1 is positioned at the focus place of long burnt subsystem; Described transmitting illuminant 7 is positioned on the reflected light path of the second spectroscope 5; Described short focal length subsystem is comprised of main lens 1, the first spectroscope 2, inferior lens 3 and detector 24, and the focal length of described short burnt subsystem is the combined focal length of main lens 1 and time lens 3, has shorter focal length value; Described time lens 3 were positioned at main lens 1 before the focus that forms on the transmitted light path of the first spectroscope 2, and were arranged in parallel with the first spectroscope 2, and described detector 24 is positioned at the focus place of short burnt subsystem; Transmitting illuminant 7 sends the collimated light beam of specific wavelength, incides testee and reflection; After light beam returns, be divided into two-way through main lens 1 and the first spectroscope 2, a route exploration device 1 receives, and is received by detector 24 after another road process time lens 3.
Described bidimensional tracking mirror device 02 can point to by rotate to control outgoing beam at the space bidimensional.Described bidimensional tracking mirror device 02 is comprised of catoptron 21, electric rotating machine 22, adjusting handle 23, upper semiaxis 24, lower semiaxis 25 and transverse axis 26, catoptron 21 tops are provided with semiaxis 24, the bottom is provided with lower semiaxis 25, one side is provided with transverse axis 26, electric rotating machine 22 connects catoptron 21 by upper semiaxis 24, adjusting handle 23 connects catoptron 21 1 sides by transverse axis 26, realizes that respectively catoptron 21 is around upper semiaxis 24, lower semiaxis 25 and transverse axis 26 rotations.
Described adaptive control system is processed with control circuit 34 by computing machine 31, I/O control circuit 32, motor driver 33 and signal and is formed, adaptive control system can closed-loop control, computing machine 31 connects motor driver 33 by I/O control circuit 32, motor driver 33 connects electric rotating machine 22 and adjusting handle 23, adjusting handle 23 connects catoptron 21, detector 1 is connected catoptron 21 with the input end of detector 24, output terminal connects control circuit 34, and control circuit 34 connects computing machine 31.Detector 1 sends computing machine 31 with the characteristics of image that detector 24 is taken to through signal processing and control circuit 34, thereby closed loop realizes the real-time adjustment of beam-pointing.
In the present invention, described detector 1 is positioned at the focus place of long burnt subsystem, and the image visual field of shooting is less, resolution is higher; Described detector 24 is positioned at the focus place of short burnt subsystem, and the image visual field of shooting is large, resolution is lower.Poor by the visual field that image processing means obtains between detector 1 and detector 24 photographic images, for the depth information that resolves testee.
In the present invention, the distance dependent between the focal length value of described short burnt subsystem and main lens 1 and inferior lens 3.Described lens 3 can be before the focus that main lens 1 forms after the first spectroscope 2 along the optical axis direction traveling priority of main lens 1, to adjust the focal length value of short burnt subsystem.Described detector 24 is followed time lens 3 and is done corresponding movement, is positioned at all the time the focus place of short burnt subsystem, guarantees the clear picture of taking.
In the present invention, described electric rotating machine 22 and adjusting handle 23 also can adopt other the driving element that rotatablely moves.
In the present invention, as Figure 1-Figure 4, transmitting illuminant 7 sends the collimated light beam of specific wavelength, after 02 deflection of bidimensional tracking mirror device, incides testee and reflection; After light beam returns, be divided into two-way through main lens 1 and the first spectroscope 2, a route exploration device 1 receives, and is received by detector 24 after another road process time lens 3.Detector 1 and detector 24 gather two width images in same observation station, can resolve the three-dimensional information of testee by characteristic matching and the poor depth recovery in double image visual field, not only can avoid time lag and the error introduced because of zoom repeatedly, and greatly easy Image Feature Matching and Depth Information Acquistion.
Primary and secondary mirror imaging measurement system 01 and bidimensional tracking mirror device 02 are merged mutually, come the spatial pose of accommodation reflex mirror 21 to control the sensing of outgoing beam by controlling electric rotating machine 22 and adjusting handle 23, realize the tracking measurement to dynamic object.
Technique effect of the present invention:
1. the three-dimensional information that primary and secondary mirror imaging measurement system can the quick obtaining testee.
Coordinate by the primary and secondary lens in primary and secondary mirror imaging measurement system and have a long and short two focal length (corresponding two detectors), gather two width images in the same time shutter, satisfy respectively the requirement of large view field imaging and high-resolution imaging, time lag and the error of having avoided existing imaging system to introduce because of repeatedly focusing or zoom; The two width images that gather simultaneously can improve the accuracy of same place feature registration, but also can effectively solve the difficult problem of Depth Information Acquistion.
2. by the short coke number of regulating system, can better take into account imaging precision and imaging viewing field under the different measuring environment.
In primary and secondary mirror imaging measurement system 01, inferior lens 3 can be along the optical axis direction traveling priority of main lens 1, thereby adjusts the focal length value of short burnt subsystem.Detector 24 is followed time corresponding movement of lens 3, guarantees the clear picture of taking.Measuring accuracy is a pair of mutual restricting factor with measuring the visual field, and all relevant with the short coke number of system, and therefore by regulating short coke number, system can well take into account imaging precision and the imaging viewing field of different measuring target.
3. the present invention not only can satisfy the static three-dimensional imaging, and can satisfy the requirement of continuous varied angle dynamic 3 D visual imaging after coordinating bidimensional tracking mirror device.
In the present invention, primary and secondary mirror imaging measurement system 01 not only can obtain the three-dimensional information of stationary body efficiently, coordinates bidimensional tracking mirror device 02 to control the sensing of outgoing beam, also can realize the three-dimensional measurement of dynamic object.The bifocal imaging feature feeds back to the bidimensional tracking mirror, adjusts in real time the sensing of irradiating light beam, can improve the measuring precision.
4. adaptive control system of the present invention can be carried out closed-loop control.
Beneficial effect of the present invention is:
With respect to technology formerly, the varifocal three-dimension measuring system of double-view field of the present invention has traditional monocular vision and the advantage of binocular vision concurrently, and system coordinates by the primary and secondary lens and has a long and short two focal length, and two detectors of correspondence.Two detectors are implemented synchronous the shooting in same observation station to object, obtain the bifocal stereo-picture pair of optical axis coincidence, realize respectively large view field imaging and high-resolution imaging, disturbed by the factor such as ambient lighting little, time lag and the error that can effectively avoid existing imaging system to introduce because of repeatedly focusing or zoom, and the bifocal image between the content degree of overlapping high, can improve the accuracy of imaging efficiency and same place feature registration.By the short coke number of regulating system, can take into account simultaneously imaging precision and imaging viewing field.The present invention is merged primary and secondary mirror imaging measurement system and bidimensional tracking mirror device mutually, sets up the measurement scheme that both adapt to joint control, not only can satisfy the high-precision three-dimensional imaging requirements, and can realize continuous varied angle dynamic 3 D visual imaging.The bifocal imaging feature feeds back to the bidimensional tracking mirror, adjusts in real time the sensing of irradiating light beam, can improve systematic tracking accuracy.Characteristics of compact layout of the present invention, measure convenient and efficient, be suitable for the online three-dimensional measurement of sound attitude object.
Description of drawings
Fig. 1 is the conceptual scheme of the varifocal three-dimension measuring system of double-view field of the present invention.
Fig. 2 is the 3 d effect graph of the varifocal three-dimensional measuring apparatus of double-view field of the present invention.
Fig. 3 is the 3 d effect graph of primary and secondary mirror imaging measurement system of the present invention.
Fig. 4 is the 3 d effect graph of bidimensional tracking mirror device of the present invention.
Fig. 5 is adaptive control system block scheme of the present invention.
Fig. 6 is the imaging model of the varifocal imaging system of bi-focal.
Number in the figure: 01 is primary and secondary mirror imaging measurement system, and 02 is bidimensional tracking mirror device, and 1 is main lens, and 2 is the first spectroscope, 3 is time lens, and 4 is that detector two, 5 is the second spectroscope, 6 is that detector one, 7 is transmitting illuminant, and 21 is catoptron, 22 is electric rotating machine, and 23 is adjusting handle, and 24 is upper semiaxis, 25 is lower semiaxis, and 26 is transverse axis, and 31 is computing machine, 32 is the I/O control circuit, and 33 is motor driver, and 34 are signal processing and control circuit.
Embodiment
Below in conjunction with drawings and Examples, the varifocal three-dimension measuring system of double-view field of the present invention is described further, but should limit protection scope of the present invention with this.
Embodiment 1: first consult Fig. 1-shown in Figure 5.Fig. 1 is the conceptual scheme of the varifocal three-dimension measuring system of double-view field of the present invention.Fig. 2 is the 3 d effect graph of the varifocal three-dimensional measuring apparatus of double-view field of the present invention.Fig. 3 is the 3 d effect graph of primary and secondary mirror imaging measurement system of the present invention.Fig. 4 is the 3 d effect graph of bidimensional tracking mirror device of the present invention.Fig. 5 is adaptive control system block scheme of the present invention.By Fig. 1-Fig. 5 as seen, the varifocal three-dimension measuring system of double-view field of the present invention is comprised of primary and secondary mirror imaging measurement system 01, bidimensional tracking mirror device 02 and adaptive control system.Wherein:
Described primary and secondary mirror imaging measurement system 01 is comprised of long burnt subsystem, short burnt subsystem and transmitting illuminant 7, long burnt subsystem is comprised of main lens 1, the first spectroscope 2, the second spectroscope 5 and detector 1, the focal length of the burnt subsystem of described length is the focal length of main lens 1, has long focal length value; Before described the first spectroscope 2 is positioned at the focus of main lens 1, and with the placement at 45 ° of the optical axis of main lens 1; Described the second spectroscope 5 was positioned at main lens 1 before the focus that forms on the reflected light path of the first spectroscope 2, and was arranged in parallel with the first spectroscope 2, and described detector 1 is positioned at the focus place of long burnt subsystem; Described transmitting illuminant 7 is positioned on the reflected light path of the second spectroscope 5; Described short focal length subsystem is comprised of main lens 1, the first spectroscope 2, inferior lens 3 and detector 24, and the focal length of described short burnt subsystem is the combined focal length of main lens 1 and time lens 3, has shorter focal length value; Described time lens 3 were positioned at main lens 1 before the focus that forms on the transmitted light path of the first spectroscope 2, and were arranged in parallel with main lens 1, and described detector 24 is positioned at the focus place of short burnt subsystem; Transmitting illuminant 7 sends the collimated light beam of specific wavelength, incides testee and reflection; After light beam returns, be divided into two-way through main lens 1 and the first spectroscope 2, a route exploration device 1 receives, and is received by detector 24 after another road process time lens 3.
Described bidimensional tracking mirror device 02 can point to by rotate to control outgoing beam at the space bidimensional.Described bidimensional tracking mirror device 02 is comprised of catoptron 21, electric rotating machine 22, adjusting handle 23, upper semiaxis 24, lower semiaxis 25 and transverse axis 26, catoptron 21 tops are provided with semiaxis 24, the bottom is provided with lower semiaxis 25, one side is provided with transverse axis 26, electric rotating machine 22 connects catoptron 21 by upper semiaxis 24, adjusting handle 23 connects catoptron 21 1 sides by transverse axis 26, realizes that respectively catoptron 21 is around upper semiaxis 24, lower semiaxis 25 and transverse axis 26 rotations.
In the present invention, as shown in Figure 5, adaptive control system is processed with control circuit 34 by computing machine 31, I/O control circuit 32, motor driver 33 and signal and is formed, adaptive control system can closed-loop control, computing machine 31 connects motor driver 33 by I/O control circuit 32, motor driver 33 connects electric rotating machine 22 and adjusting handle 23, adjusting handle 23 connects catoptron 21, detector 1 is connected catoptron 21 with the input end of detector 24, output terminal connects control circuit 34, and control circuit 34 connects computing machine 31.Detector 1 sends computing machine 31 with the characteristics of image that detector 24 is taken to through signal processing and control circuit 34, thereby closed loop realizes the real-time adjustment of beam-pointing.
In the present invention, described detector 1 is positioned at the focus place of long burnt subsystem, and the image visual field of shooting is less, resolution is higher; Described detector 24 is positioned at the focus place of short burnt subsystem, and the image visual field of shooting is large, resolution is lower.Process by image the visual field that obtains between detector 1 and detector 24 photographic images poor, can resolve the depth information of testee.
Because two width images gathered in the same time shutter, disturbed by the factor such as ambient lighting little, time lag and the error of effectively having avoided existing imaging system to introduce because of repeatedly focusing or zoom are conducive in real-time measurement; Two width images are stared shooting from same observation station, the bifocal image between the content degree of overlapping high, both improved imaging efficiency, improved again the accuracy of same place feature registration.
In the present invention, the distance dependent between the focal length value of described short burnt subsystem and main lens 1 and inferior lens 3.Described lens 3 can be before the focus that main lens 1 forms after the first spectroscope 2 along the optical axis direction traveling priority of main lens 1, to adjust the focal length value of short burnt subsystem.Described detector 24 is followed time lens 3 and is done corresponding movement, is positioned at all the time the focus place of short burnt subsystem, guarantees the clear picture of taking.
In the present invention, described main lens 1 and time lens 3 are lens combination or the non-spherical lens with positive focal power.
In the present invention, as Figure 1-Figure 4, transmitting illuminant 7 sends the collimated light beam of specific wavelength, after 02 deflection of bidimensional tracking mirror device, incides testee and reflection; After light beam returns, be divided into two-way through main lens 1 and the first spectroscope 2, a route exploration device 1 receives, and is received by detector 24 after another road process time lens 3.The image that two width that detector 1 and detector 24 gather have homonome, different visual fields feature, the poor steps such as depth recovery of process characteristic matching and double image visual field can be resolved the three-dimensional information of testee.Not only can avoid time lag and the error introduced because of zoom repeatedly, and greatly easy Image Feature Matching and Depth Information Acquistion.Because two width images form in same observation station, same time shutter, and have homonome, therefore not only can avoid time lag and the error introduced because of zoom repeatedly, and can be easy the steps such as Image Feature Matching and Depth Information Acquistion.
Primary and secondary mirror imaging measurement system 01 and bidimensional tracking mirror device 02 are merged mutually, come the spatial pose of accommodation reflex mirror 21 to control the sensing of outgoing beam by controlling electric rotating machine 22 and adjusting handle 23, realize the tracking measurement to dynamic object.
Fig. 6 is the imaging model of the varifocal imaging system of bi-focal, wherein H
1And H
2Be respectively the principal plane of long burnt subsystem and short burnt subsystem, O
1And O
2Be the optical axis center of two principal planes, f
1And f
2Be respectively the focal length value of long burnt subsystem and short burnt subsystem, θ is the angle of image of system, R be dimensional target point apart from optical axis distance, L be two principal planes along the distance of optical axis direction, z is that dimensional target point is from principal plane H
1Distance (degree of depth).
r
1And r
2Be respectively the imaging point of spatial point through growing burnt subsystem and short burnt subsystem apart from optical axis distance, if spatial point (X, Y) is respectively (x two as the coordinate on the plane by the imaging system imaging
1, y
1), (x
2, y
2), the picture centre point coordinate is (x
0, y
0), have:
As shown in Figure 6, can be got by the triangle geometric relationship:
Can solve depth z is:
The focal distance f of the short-and-medium burnt subsystem of formula
2Be the combined focal length of main lens 1 and time lens 3 for focal length, its computing formula is:
F in formula
1Be the focal length value of main lens, f
3Be the focal length value of inferior lens, d is the spacing of primary and secondary lens.
Claims (3)
1. the varifocal three-dimension measuring system of double-view field, comprise primary and secondary mirror imaging measurement system (01), bidimensional tracking mirror device (02) and adaptive control system, it is characterized in that:
Described primary and secondary mirror imaging measurement system (01) is comprised of long burnt subsystem, short burnt subsystem and transmitting illuminant (7), the burnt subsystem of described length is comprised of main lens (1), the first spectroscope (2), the second spectroscope (5) and detector one (6), the focal length of the burnt subsystem of described length is the focal length of main lens (1), has long focal length value; Before described the first spectroscope (2) is positioned at the focus of main lens (1), and with the optical axis placement at 45 ° of main lens (1); Described the second spectroscope (5) was positioned at main lens (1) before the focus that forms on the reflected light path of the first spectroscope (2), and be arranged in parallel with the first spectroscope (2), described detector one (6) is positioned at the focus place of long burnt subsystem; Described transmitting illuminant (7) is positioned on the reflected light path of the second spectroscope (5); Described short focal length subsystem is comprised of main lens (1), the first spectroscope (2), inferior lens (3) and detector two (4), the focal length of described short burnt subsystem is the combined focal length of main lens (1) and time lens (3), has shorter focal length value; Described lens (3) were positioned at main lens (1) before the focus that forms on the transmitted light path of the first spectroscope (2), and were arranged in parallel with the first spectroscope (2), and described detector two (4) is positioned at the focus place of short burnt subsystem; Transmitting illuminant (7) sends the collimated light beam of specific wavelength, incides testee and reflection; After light beam returns, be divided into two-way through main lens (1) and the first spectroscope (2), a route exploration device one (6) receives, and another road is received by detector two (4) through time lens (3) are rear;
Described bidimensional tracking mirror device (02) can point to by rotate to control outgoing beam at the space bidimensional; described bidimensional tracking mirror device (02) is by catoptron (21), electric rotating machine (22), adjusting handle (23), upper semiaxis (24), lower semiaxis (25) and transverse axis (26) form, catoptron (21) top is provided with semiaxis (24), the bottom is provided with lower semiaxis (25), one side is provided with transverse axis (26), electric rotating machine (22) connects catoptron (21) by upper semiaxis (24), adjusting handle (23) connects catoptron (21) one sides by transverse axis (26), realize that respectively catoptron (21) is around upper semiaxis (24), lower semiaxis (25) and transverse axis (26) rotation,
described adaptive control system is by computing machine (31), I/O control circuit (32), motor driver (33) and signal are processed with control circuit (34) and are formed, adaptive control system can closed-loop control, computing machine (31) connects motor driver (33) by I/O control circuit (32), motor driver (33) connects electric rotating machine (22) and adjusting handle (23), adjusting handle (23) connects catoptron (21), detector one (6) is connected catoptron (21) with the input end of detector two (4), output terminal connects control circuit (34), control circuit (34) connects computing machine (31), detector one (6) sends computing machine (31) with the characteristics of image that detector two (4) is taken to through signal processing and control circuit (34), and closed loop realizes the real-time adjustment of beam-pointing.
2. the varifocal three-dimension measuring system of double-view field according to claim 1, the focal length value that it is characterized in that described short burnt subsystem is adjusted, described lens (3) before the focus that main lens (1) forms the first spectroscope (2) afterwards along the optical axis direction traveling priority of main lens (1), to adjust the focal length value of short burnt subsystem; Described detector two (4) is followed time lens (3) and is done corresponding movement, is positioned at all the time the focus place of short burnt subsystem.
3. the varifocal three-dimension measuring system of double-view field according to claim 1, is characterized in that described electric rotating machine (22) and adjusting handle (23) adopt other the driving element that rotatablely moves.
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Cited By (6)
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| CN105547189A (en) * | 2015-12-14 | 2016-05-04 | 南京航空航天大学 | Mutative scale-based high-precision optical three-dimensional measurement method |
| CN108089196A (en) * | 2017-12-14 | 2018-05-29 | 中国科学院光电技术研究所 | The noncooperative target pose measuring apparatus that a kind of optics master is passively merged |
| CN109946832A (en) * | 2015-12-29 | 2019-06-28 | 核心光电有限公司 | Based on Dual-Aperture zoom digital camera with automatic adjustable focal length visual field |
| CN110108230A (en) * | 2019-05-06 | 2019-08-09 | 南京理工大学 | Two-value optical grating projection defocus degree assessment method based on image difference Yu LM iteration |
| CN110196023A (en) * | 2019-04-08 | 2019-09-03 | 深圳奥比中光科技有限公司 | A kind of double Zoom structure optical depth cameras and Zooming method |
| CN113129413A (en) * | 2021-04-25 | 2021-07-16 | 上海埃阿智能科技有限公司 | Virtual image feedback action system and method based on three-dimensional engine |
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