CN103206926B - A kind of panorama three-dimensional laser scanner - Google Patents
A kind of panorama three-dimensional laser scanner Download PDFInfo
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- CN103206926B CN103206926B CN201310082444.XA CN201310082444A CN103206926B CN 103206926 B CN103206926 B CN 103206926B CN 201310082444 A CN201310082444 A CN 201310082444A CN 103206926 B CN103206926 B CN 103206926B
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Abstract
The invention discloses a kind of panorama three-dimensional laser scanner, the axes normal of the post lens of this device one word line laser device is in the optical axis of Mirrors with second order surface one, and the axis of the post lens of a word line laser device is through a focus of Mirrors with second order surface one; The optical axis of camera and the optical axis coincidence of Mirrors with second order surface two, and camera lens center overlaps with a focus of Mirrors with second order surface two; Computing machine controls a word line laser device rotary motion; One word line laser device sends a word laser rays and projects on object through Mirrors with second order surface one, through diffuse reflection, some light projects in camera through Mirrors with second order surface two, and camera sensor obtains image and to be input in computing machine through image pick-up card and to calculate the three-dimensional location coordinates of surrounding objects; This device initiatively projects a wordline laser pattern to tested object, simplifies the image of collected by camera and mating of corresponding point in a word laser rays, thus improves accuracy and the robustness of measurement result.
Description
Technical field
The present invention relates to a kind of panorama three-dimensional laser scanner, belong to optical measurement and computer vision field.
Background technology
Panorama three-dimensional scanner is that one can improve 360 degree of panorama three-dimensional informations, and this device compensate for 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.Panorama spatial digitizer is primarily of a panoramic projection device and a panorama camera composition, wherein the light path of panorama camera and panoramic projection instrument mainly contains lens and catoptron composition, according to the difference of catoptron, light path can be further divided into the light path meeting single-point constraint and do not meet single-point constraint, the great advantage meeting the light path of single-point constraint be all light all by a point, easy like this mathematical model and the epipolar geom etry restricted model providing this light path system; The light path not meeting single-point constraint is difficult to adopt mathematical model to express.In order to easily realize accurately telling measurement, described mirror mirror shape adopts hyperboloid, parabola or ellipsoid; Meanwhile, the relative position relation of camera, a word line laser device and catoptron will meet the condition of single viewpoint.1999, " INTERNATIONALJOURNALofCOMPUTERVISION " the 35th described model and the requirement of single view in No. 2nd, volume " ATheoryofSingle-ViewpointCatadioptricImageFormation " literary composition in detail in 175th ~ 196 pages.
China Patent Publication No. CN1870759A, publication date on November 29th, 2006, patent of invention " equipment with providing panoramic stereo image 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 catoptron reflections respectively, and searches out the corresponding point of two catoptron reflected images, thus determines the three dimensional local information in space, and the method can produce the panorama three-dimensional information of 360, and compact conformation.But its weak point is: because the method is passive vision, when the image in two catoptrons does not have obvious feature (if catoptron surrounding is white wall), be so difficult to find the corresponding point in two images thus can not determine three positional informations of this point.Therefore, the quality of this device panorama three-dimensional information depends on the characteristics of image of the environment of surrounding 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 three-dimensional laser scanner based on active vision.
In order to solve above-mentioned technical matters, technical scheme of the present invention is: a kind of panorama three-dimensional laser scanner, it comprises a word line laser device, Mirrors with second order surface first and second curved reflector two and camera, the axes normal of the post lens of a described word line laser device is in the optical axis of Mirrors with second order surface one, and the axis of the post lens of a word line laser device is through a focus of Mirrors with second order surface one; The optical axis of described camera and the optical axis coincidence of Mirrors with second order surface two, and camera lens center overlaps with a focus of Mirrors with second order surface two.
A described word line laser device carries the optical axis direction rotary motion along Mirrors with second order surface one by motor, and described motor is rotated by driver drives, and described driver passes through motion control card control by computing machine; The word laser rays that one word line laser device sends projects on the object in surrounding environment through Mirrors with second order surface one, through the diffuse reflection of body surface, some light projects in camera through Mirrors with second order surface two, and camera sensor obtains image and to be input in computing machine through image pick-up card and to calculate the three-dimensional location coordinates of surrounding objects.
The external trigger of described camera is connected in the input/output port (IO) of motion control card, after motion control card control motor often rotates a fixed angle, by the external trigger control camera exposure imaging of camera.
The minute surface of described Mirrors with second order surface one and Mirrors with second order surface two is hyperboloid, parabola or ellipsoid, and the optical axis of Mirrors with second order surface one and Mirrors with second order surface two is parallel to each other.
The present invention adopts initiatively projecting laser line to be one of innovative point distinguishing existing passive type panorama three-dimensional devices, namely utilize a word line laser device to Mirrors with second order surface one projecting laser line, laser rays can be projected onto measured object surface, can be entered camera by the light that body surface reflects by Mirrors with second order surface two; Computing machine reconstructs the surface configuration of testee by the deformation analyzing laser rays.
This device can provide the scanning of 360 degree of objects, and is convenient to search for point corresponding in camera and a word line laser device.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.
Meanwhile, this device initiatively projects a wordline laser pattern to tested object, enormously simplify the image of collected by camera and mating of corresponding point in a word laser rays, thus substantially increases accuracy and the robustness of measurement result.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the present invention is further detailed explanation.
Fig. 1 is panorama three-dimensional laser scanner structural representation of the present invention.
Embodiment
As shown in Figure 1, panorama three-dimensional laser scanner of the present invention comprises near infrared (800nm) word line laser device 1, Mirrors with second order surface 1, Mirrors with second order surface 23 and camera 4, Mirrors with second order surface 1, Mirrors with second order surface 23 all adopt parabolic surface catoptron, or are hyperboloid, ellipsoidal mirror; And camera 4 adopts near infrared camera.
The axes normal of the post lens of an above-mentioned word line laser device 1 is in the optical axis of Mirrors with second order surface 1, and the axis of the post lens of a word line laser device 1 is through a focus of Mirrors with second order surface 1.
The optical axis of described camera 4 and the optical axis coincidence of Mirrors with second order surface 23, and camera 4 optical center overlaps with a focus of Mirrors with second order surface 23.
A described word line laser device 1 carries the optical axis direction rotary motion along Mirrors with second order surface 1 by motor 5, 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.
The light of the word laser rays that one word line laser device 1 sends projects on the object in surrounding environment through Mirrors with second order surface 1, through the diffuse reflection of body surface, some light projects in camera 4 through Mirrors with second order surface 23, and camera 4 sensor obtains image and adopts Matrox image pick-up card through image pick-up card 9(image pick-up card 9) to be input in computing machine 7 and to calculate the three-dimensional location coordinates of surrounding objects.
Industrial control computer is by motion control card control and drive system 6; Driver 6 Driving Stepping Motor is rotated, and a word line laser device 1 rotates around the optical axis direction of parabolic surface catoptron (i.e. Mirrors with second order surface 1), and stepper motor often rotates 1 degree and stops; The light of the word laser rays launched projects on the object in surrounding environment through parabolic surface catoptron, through the diffuse reflection of body surface, some light projects in camera 4 through parabolic surface catoptron (i.e. Mirrors with second order surface 2 3), camera 4 sensor obtains image and is input to computing machine 7 through Matrox image pick-up card, the angle rotated according to stepper motor and the deformation degree of a word line laser device 1, and calculate the three-dimensional location coordinates of surrounding objects.
Above-described embodiment does not limit the present invention in any way, and the technical scheme that the mode that every employing is equal to replacement or equivalent transformation obtains all drops in protection scope of the present invention.
Claims (3)
1. a panorama three-dimensional laser scanner, it is characterized in that comprising a word line laser device (1), Mirrors with second order surface one (2), Mirrors with second order surface two (3) and camera (4), the axes normal of the post lens of a described word line laser device (1) is in the optical axis of Mirrors with second order surface one (2), and the axis of the post lens of a word line laser device (1) is through a focus of Mirrors with second order surface one (2); The optical axis of described camera (4) and the optical axis coincidence of Mirrors with second order surface two (3), and camera (4) optical center overlaps with a focus of Mirrors with second order surface two (3); A described word line laser device (1) is carried along Mirrors with second order surface one (2) optical axis direction rotary motion by motor (5), 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); The word laser rays that one word line laser device (1) sends projects on the object in surrounding environment through Mirrors with second order surface one (2), through the diffuse reflection of body surface, some light projects in camera (4) through Mirrors with second order surface two (3), and camera sensor obtains image and to be input in computing machine (7) through image pick-up card (9) and to calculate the three-dimensional location coordinates of surrounding objects.
2. a kind of panorama three-dimensional laser scanner according to claim 1, it is characterized in that: the external trigger of described camera (4) is connected in the input/output port of motion control card (8), after motion control card (8) control motor often rotates a fixed angle, by external trigger control camera (4) exposure image of camera (5).
3. a kind of panorama three-dimensional laser scanner according to claim 1, it is characterized in that: the minute surface of described Mirrors with second order surface one (2) and Mirrors with second order surface two (3) is hyperboloid, parabola or ellipsoid, and the optical axis of Mirrors with second order surface one (2) and Mirrors with second order surface two (3) is parallel to each other.
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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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| CN201310082444.XA CN103206926B (en) | 2013-03-14 | 2013-03-14 | A kind of panorama three-dimensional laser scanner |
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| CN103206926A CN103206926A (en) | 2013-07-17 |
| CN103206926B true CN103206926B (en) | 2016-03-30 |
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Families Citing this family (7)
| 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 |
| CN104567708B (en) * | 2015-01-06 | 2018-03-16 | 浙江工业大学 | Full section of tunnel high speed dynamical health detection means 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 |
| 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 |
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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 |
| CN102736075A (en) * | 2011-03-31 | 2012-10-17 | 电装波动株式会社 | Laser radar for three-dimensional scanning |
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2013
- 2013-03-14 CN CN201310082444.XA patent/CN103206926B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN102736075A (en) * | 2011-03-31 | 2012-10-17 | 电装波动株式会社 | Laser radar for three-dimensional scanning |
Non-Patent Citations (1)
| Title |
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| 基于双曲面折反射相机的柱面全景立体成像;曾吉勇等;《光电子·激光》;20060630;第17卷(第6期);第728-732页 * |
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