CN103206926A - Panorama three-dimensional laser scanner - Google Patents
Panorama three-dimensional laser scanner Download PDFInfo
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- CN103206926A CN103206926A CN201310082444XA CN201310082444A CN103206926A CN 103206926 A CN103206926 A CN 103206926A CN 201310082444X A CN201310082444X A CN 201310082444XA CN 201310082444 A CN201310082444 A CN 201310082444A CN 103206926 A CN103206926 A CN 103206926A
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Abstract
The invention discloses a panorama three-dimensional laser scanner. An axis of a cylindrical lens of a linear laser is perpendicular to an optical axis of a first secondary curved-surface reflector and penetrates through a focus of the first secondary curved-surface reflector; an optical axis of a camera coincides with an optical axis of a second secondary curved-surface reflector, and the center of a lens of the camera coincides with a focus of the second secondary curved-surface reflector; a computer controls the linear laser to rotate; and the linear laser emits liner laser rays which penetrates through the first secondary curved-surface reflector to be projected on an object, part of the rays is projected into the camera through the second secondary curved-surface reflector through diffuse reflection, and a camera sensor obtains an image which is input in a computer through an image capture card and calculates three-dimensional position coordinates of surrounding objects. According to the panorama three-dimensional laser scanner, linear laser patterns are projected to the tested object actively, and matching of images acquired by the camera with corresponding points in the linear laser rays is simplified, accordingly, the accuracy and the robustness of measuring results are improved.
Description
Technical field
The present invention relates to a kind of panorama 3 D laser scanning device, belong to optical measurement and computer vision field.
Background technology
The panorama three-dimensional scanner is a kind of 360 degree panorama three-dimensional informations that improve, and this device has remedied the narrow and small shortcoming in the visual field of conventional three-dimensional scanister, can be widely used in three-dimensional picture measurement, robot navigation, virtual reality and surveillance.The panorama spatial digitizer mainly is made up of a panoramic projection device and a panorama camera, wherein the light path of panorama camera and panoramic projection instrument mainly contains lens and catoptron composition, difference according to catoptron, light path can be further divided into the light path that satisfies single-point constraint and do not satisfy single-point constraint, the great advantage that satisfies the light path of single-point constraint be all light all by a point, easy like this mathematical model and the polar curve geometrical constraint model that provides this light path system; The light path that does not satisfy single-point constraint is difficult to adopt mathematical model to express.Accurately tell measurement for easy realization, described mirror mirror shape adopts hyperboloid, parabola or ellipsoid; Simultaneously, the relative position relation of camera, a word laser line generator and catoptron will satisfy the condition of single viewpoint.1999, model and the requirement of single view have at length been introduced in No. 2 " A Theory of Single-Viewpoint Catadioptric Image Formation " literary composition of " INTERNATIONAL JOURNAL of COMPUTER VISION " the 35th volume in the 175th～196 page.
Chinese patent publication number CN1870759A, in open day on November 29th, 2006, patent of invention " equipment of panoramic stereo image is provided with single camera " discloses a kind of three-dimensional panorama stereoscopic imaging apparatus.This device utilizes single camera to gather the panoramic picture of two mirror reflects respectively, and searches out the corresponding point of two mirror reflects images, thereby determines the three dimensional local information in space, and this method can produce 360 panorama three-dimensional information, and compact conformation.But its weak point is: because this method is passive vision, image in two catoptrons does not have obvious characteristics (as being white wall around the catoptron), thereby is difficult to find two corresponding point in the image to can not determine three positional informations of this point so.The characteristics of image of the environment around therefore, the quality of this device panorama three-dimensional information depends on to a great extent.
Summary of the invention
The problem that the present invention is directed to above-mentioned passive vision provides a kind of panorama 3 D laser scanning device based on active vision.
In order to solve above-mentioned technical matters, technical scheme of the present invention is: a kind of panorama 3 D laser scanning device, it comprises a word laser line generator, quadric surface catoptron first and second curved reflector two and camera, the axis normal of the post lens of a described word laser line generator is in the optical axis of quadric surface catoptron one, and the axis of the post lens of a word laser line generator is through a focus of quadric surface catoptron one; The optical axis coincidence of the optical axis of described camera and quadric surface catoptron two, and the camera lens center overlaps with a focus of quadric surface catoptron two.
A described word laser line generator is rotatablely moved by the motor carrying optical axis direction along quadric surface catoptron one, and described motor is rotated by driver drives, described driver by computing machine by the motion control card control; On the object that the word laser rays process quadric surface catoptron one that one word laser line generator sends projects in the surrounding environment, diffuse reflection through body surface, part light projects in the camera through quadric surface catoptron two, and camera sensor acquisition image is input in the computing machine through image pick-up card and calculates the three-dimensional location coordinates of object on every side.
The external trigger of described camera is connected on the input/output port (IO) of motion control card, behind every rotation one fixed angle of motion control card control motor, by the external trigger control camera exposure imaging of camera.
The minute surface of described quadric surface catoptron one and quadric surface catoptron two is hyperboloid, parabola or ellipsoid, and the optical axis of quadric surface catoptron one and quadric surface catoptron two is parallel to each other.
The present invention adopts initiatively, and the projecting laser line is one of innovative point of the existing passive type panorama three-dimensional devices of difference, namely utilize a word laser line generator to quadric surface catoptron one projecting laser line, laser rays can be projected onto the measured object surface, and the light that is reflected by body surface can enter camera by quadric surface catoptron two; Computing machine reconstructs the surface configuration of testee by the deformation of analyzing laser rays.
This device can provide the scanning of 360 degree objects, and is convenient to search for point corresponding in camera and the word laser line generator.By the projection of laser rays, this scanister can not rely on texture and the color of body surface, obtains the 3D shape of accurate body surface.
Simultaneously, this device initiatively throws a word line laser pattern to tested object, has simplified the coupling of corresponding point in image that camera gathers and the word laser rays greatly, thereby has improved accuracy and the robustness of measurement result greatly.
Description of drawings
The present invention is further detailed explanation below in conjunction with the drawings and specific embodiments.
Fig. 1 is panorama 3 D laser scanning apparatus structure synoptic diagram of the present invention.
Embodiment
As shown in Figure 1, panorama 3 D laser scanning device of the present invention comprises near infrared (800nm) word laser line generator 1, quadric surface catoptron 1, quadric surface catoptron 23 and camera 4, quadric surface catoptron 1, quadric surface catoptron 23 all adopt the parabolic surface catoptron, or are hyperboloid, ellipsoidal mirror; And camera 4 adopts near infrared camera.
The axis normal of the post lens of an above-mentioned word laser line generator 1 is in the optical axis of quadric surface catoptron 1, and the axis of the post lens of a word laser line generator 1 is through a focus of quadric surface catoptron 1.
The optical axis coincidence of the optical axis of described camera 4 and quadric surface catoptron 23, and camera 4 optical centers overlap with a focus of quadric surface catoptron 23.
A described word laser line generator 1 is rotatablely moved by the optical axis direction of motor 5 carryings along quadric surface catoptron 1, and described motor 5 is driven by driver 6 and rotates, and described driver 6 is controlled by motion control card 8 by computing machine 7; Described motor 5, driver 6, computing machine 7 and motion control card 8 adopt four-way stepper motor, four-way stepper motor driver, industrial control computer and four-way motion control card respectively.
On the object that the light process quadric surface catoptron 1 of the word laser rays that one word laser line generator 1 sends projects in the surrounding environment, diffuse reflection through body surface, part light projects in the camera 4 through quadric surface catoptron 23, and camera 4 sensors obtain image and adopt the Matrox image pick-up cards through image pick-up card 9(image pick-up card 9) be input in the computing machine 7 and calculate the three-dimensional location coordinates of object on every side.
Industrial control computer is by motion control card control driver 6; Driver 6 drives stepper motor and is rotated motion, and a word laser line generator 1 rotates around the optical axis direction of parabolic surface catoptron (being quadric surface catoptron 1), and every rotation 1 degree of stepper motor stops; The light of a word laser rays of launching projects on the object in the surrounding environment through the parabolic surface catoptron, diffuse reflection through body surface, part light projects in the camera 4 through parabolic surface catoptron (being quadric surface catoptron 2 3), camera 4 sensors obtain image and are input to computing machine 7 through the Matrox image pick-up card, according to the angle of stepper motor rotation and the deformation degree of a word laser line generator 1, and calculate the three-dimensional location coordinates of object on every side.
Above-described embodiment does not limit the present invention in any way, and every employing is equal to replaces or technical scheme that the mode of equivalent transformation obtains all drops in protection scope of the present invention.
Claims (3)
1. panorama 3 D laser scanning device, it is characterized in that comprising a word laser line generator (1), quadric surface catoptron one (2), quadric surface catoptron two (3) and camera (4), the axis normal of the post lens of a described word laser line generator (1) is in the optical axis of quadric surface catoptron one (2), and the axis of the post lens of a word laser line generator (1) is through a focus of quadric surface catoptron one (2); The optical axis coincidence of the optical axis of described camera (4) and quadric surface catoptron two (3), and camera (4) optical center overlaps with a focus of quadric surface catoptron two (3); A described word laser line generator (1) is rotatablely moved along quadric surface catoptron one (2) optical axis direction by motor (5) carrying, described motor (5) is driven by driver (6) and rotates, and described driver (6) is controlled by motion control card (8) by computing machine (7); On the object that the word laser rays process quadric surface catoptron one (2) that one word laser line generator (1) sends projects in the surrounding environment, diffuse reflection through body surface, part light projects in the camera (4) through quadric surface catoptron two (3), and camera sensor acquisition image is input in the computing machine (7) through image pick-up card (9) and calculates the three-dimensional location coordinates of object on every side.
2. a kind of panorama 3 D laser scanning device according to claim 1, it is characterized in that: the external trigger of described camera (4) is connected on the input/output port of motion control card (8), behind every rotation one fixed angle of motion control card (8) control motor, by external trigger control camera (4) exposure image of camera (5).
3. a kind of panorama 3 D laser scanning device according to claim 1, it is characterized in that: the minute surface of described quadric surface catoptron one (2) and quadric surface catoptron two (3) is hyperboloid, parabola or ellipsoid, and the optical axis of quadric surface catoptron one (2) and quadric surface catoptron two (3) is parallel to each other.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310082444.XA CN103206926B (en) | 2013-03-14 | 2013-03-14 | A kind of panorama three-dimensional laser scanner |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310082444.XA CN103206926B (en) | 2013-03-14 | 2013-03-14 | A kind of panorama three-dimensional laser scanner |
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| CN103206926A true CN103206926A (en) | 2013-07-17 |
| CN103206926B CN103206926B (en) | 2016-03-30 |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104079918A (en) * | 2014-07-22 | 2014-10-01 | 北京蚁视科技有限公司 | Panoramic three dimensional camera shooting device |
| CN104215198A (en) * | 2014-08-25 | 2014-12-17 | 南京天睿朗自动化科技有限公司 | Scanner for scanning three-dimensional profile of internal surface of tubular object |
| CN104567708A (en) * | 2015-01-06 | 2015-04-29 | 浙江工业大学 | Tunnel full-section high-speed dynamic health detection device and method based on active panoramic vision |
| CN105300310A (en) * | 2015-11-09 | 2016-02-03 | 杭州讯点商务服务有限公司 | Handheld laser 3D scanner with no requirement for adhesion of target spots and use method thereof |
| CN106442544A (en) * | 2016-10-18 | 2017-02-22 | 凌云光技术集团有限责任公司 | Panoramic imaging system |
| CN110197174A (en) * | 2018-02-26 | 2019-09-03 | 刘风华 | The digitizing technique of historical relic, calligraphy and painting and original commodity |
| WO2019183741A1 (en) * | 2018-03-25 | 2019-10-03 | 张舒怡 | Sensor for obstacle detection of robot |
| CN112819805B (en) * | 2021-02-23 | 2024-05-10 | 北京布科思科技有限公司 | Object position identification method and device based on in-line laser |
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| EP0547635A2 (en) * | 1991-12-19 | 1993-06-23 | Eastman Kodak Company | Method and apparatus for sensing a three-dimensional scene |
| CN1452730A (en) * | 2000-03-22 | 2003-10-29 | 爱格斯露申光电子有限公司 | Panoramic image acquisition device |
| CN1888817A (en) * | 2006-07-20 | 2007-01-03 | 厦门大学 | Body surface three-dimensional topographic information measuring device |
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2013
- 2013-03-14 CN CN201310082444.XA patent/CN103206926B/en not_active Expired - Fee Related
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| EP0547635A2 (en) * | 1991-12-19 | 1993-06-23 | Eastman Kodak Company | Method and apparatus for sensing a three-dimensional scene |
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| 曾吉勇等: "基于双曲面折反射相机的柱面全景立体成像", 《光电子·激光》 * |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104079918A (en) * | 2014-07-22 | 2014-10-01 | 北京蚁视科技有限公司 | Panoramic three dimensional camera shooting device |
| CN107529053A (en) * | 2014-07-22 | 2017-12-29 | 北京蚁视科技有限公司 | Panorama three-dimensional image pickup device |
| CN104215198A (en) * | 2014-08-25 | 2014-12-17 | 南京天睿朗自动化科技有限公司 | Scanner for scanning three-dimensional profile of internal surface of tubular object |
| CN104567708A (en) * | 2015-01-06 | 2015-04-29 | 浙江工业大学 | Tunnel full-section high-speed dynamic health detection device and method based on active panoramic vision |
| CN105300310A (en) * | 2015-11-09 | 2016-02-03 | 杭州讯点商务服务有限公司 | Handheld laser 3D scanner with no requirement for adhesion of target spots and use method thereof |
| CN106442544A (en) * | 2016-10-18 | 2017-02-22 | 凌云光技术集团有限责任公司 | Panoramic imaging system |
| CN106442544B (en) * | 2016-10-18 | 2018-11-20 | 凌云光技术集团有限责任公司 | Omnidirectional imaging system |
| CN110197174A (en) * | 2018-02-26 | 2019-09-03 | 刘风华 | The digitizing technique of historical relic, calligraphy and painting and original commodity |
| WO2019183741A1 (en) * | 2018-03-25 | 2019-10-03 | 张舒怡 | Sensor for obstacle detection of robot |
| CN112819805B (en) * | 2021-02-23 | 2024-05-10 | 北京布科思科技有限公司 | Object position identification method and device based on in-line laser |
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|---|---|
| CN103206926B (en) | 2016-03-30 |
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Free format text: CORRECT: INVENTOR; FROM: XU JING GAO BINGTUAN TO: XU JING GAO BINGTUAN WU JUN |
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