CN105547195A - Colorful 3D measuring system - Google Patents
Colorful 3D measuring system Download PDFInfo
- Publication number
- CN105547195A CN105547195A CN201510940550.6A CN201510940550A CN105547195A CN 105547195 A CN105547195 A CN 105547195A CN 201510940550 A CN201510940550 A CN 201510940550A CN 105547195 A CN105547195 A CN 105547195A
- Authority
- CN
- China
- Prior art keywords
- egative film
- place plane
- catoptron
- light
- lighting device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000005259 measurement Methods 0.000 claims description 24
- 230000005540 biological transmission Effects 0.000 claims description 4
- 238000005286 illumination Methods 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 15
- 238000000034 method Methods 0.000 description 13
- 238000005516 engineering process Methods 0.000 description 8
- 230000008901 benefit Effects 0.000 description 4
- 238000013461 design Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 239000004615 ingredient Substances 0.000 description 3
- 238000000691 measurement method Methods 0.000 description 3
- 239000000523 sample Substances 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000021615 conjugation Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000004438 eyesight Effects 0.000 description 2
- 210000003128 head Anatomy 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 239000000376 reactant Substances 0.000 description 2
- 230000017105 transposition Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000004040 coloring Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000005338 frosted glass Substances 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 210000000214 mouth Anatomy 0.000 description 1
- 230000010363 phase shift Effects 0.000 description 1
- 238000007747 plating Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000003908 quality control method Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000012163 sequencing technique Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000004304 visual acuity Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/2545—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object with one projection direction and several detection directions, e.g. stereo
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/2509—Color coding
Landscapes
- Engineering & Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention provides a colorful 3D measuring system which is characterized by comprising an illumination device, a 3D measuring and texture collecting device and a time sequence control circuit. The illumination device projects light on an measured object; the 3D measuring and texture collecting device is used to obtain an image of the measured object; and the time sequence control circuit is connected with the illumination device and the 3D measuring and texture collecting device to control the operation sequence of the illumination device and the 3D measuring and texture collecting device.
Description
Technical field
The present invention relates to a kind of colored 3D measuring system.
Background technology
The binocular stereo visual sensor that three-dimensional measurement mainly adopts two video cameras or a video camera and optics mirror-lens system to form, the multiple image of the same space object is obtained from diverse location or angle shot, the three-dimensional geometric information of object can be obtained based on principle of parallax, rebuild 3D shape and the position of scene around.Three-dimensional measurement has following several method usually:
The first, structure light vision measuring technique.Mainly through the structured light to measurand projection corresponding modes, take distortion optical strip image by video camera, obtain the three-dimensional information of body surface based on optical triangulation theory.This technology has become one of effective way solving many on-line measurements such as object surface appearance measurement, spatial position measuring, three-dimensional motion information acquisition, there is the features such as noncontact, dynamic response is fast, system flexibility is good, be widely used in the numerous areas such as Product rapid design and processing quality control, reverse-engineering and automatic control.
The second, phase shift measurement technique (PMP).It is the phase value utilizing several grating fringe images of certain phase differential to calculate each pixel, then calculates the elevation information of object according to phase value.Detailed process is as follows: first to testee surface projection grating fringe, the striped projected is subject to the shape modulation of body surface and produces distortion, again the stripe pattern of distortion is processed, demodulate the phase information of representative height, eventually pass Carrier-smoothed code and geometry and calculate the three-dimensional geometric information that just can obtain testee surface.PMP method needs the grating fringe image of more than at least three width just can carry out phase calculation, and testee can not move in shooting process simultaneously, is generally suitable for the three-dimensional measurement of stationary body.
Three, cofocus scanning technology.Based on an illumination, some imaging and the principle putting detection 3 conjugation, when measured surface and test surface conjugation, the picture point on point probe is minimum, and the luminous energy that point probe receives is maximum; When measured surface departs from object point, the picture point on detector becomes large, and the luminous energy that point probe receives diminishes.Control object point during measurement to overlap with tested surface, ensure that the output valve of detector is maximum, just can depict the pattern of measured surface.Confocal measurement method (as confocal laser scanning microscope) is due to its high precision, high resolving power and be easy to realize the digitized unique advantage of three-dimensional imaging and be used widely in fields such as biomedicine, semiconductor detections.
Four, digital speckle technology, with numerical approach record speckle image, by mating speckle image before and after deformation, obtains the deformation data of object under test, namely digital speckle correlation measurement method.Here " image " represents the visual carrier of all reactant surface informations, comprises the other forms of image of laser speckle image, artificial speckle image and reactant region feature.Due to digital speckle correlation measurement technology have fairly simple to the acquisition mode of raw data, low to the requirement of measurement environment, directly can measure displacement and strain two groups of information, be convenient to realize the advantages such as Automatic survey, be used widely in fields such as material stress strain measurement, the analyses of structure holding capacity.
In addition, in CA2686904A1, also disclose a kind of hand-held scanner device, 3-D scanning can be completed under two kinds of operator schemes.
But above-mentioned method for three-dimensional measurement can only obtain the three-dimensional geometric information of object under test usually, and cannot provide full color information.In order to obtain chromatic information, in prior art, also there is certain methods, specific as follows:
CN104251995A discloses in the introduction and adopts color camera to carry out two dimension to scene and take pictures, then photochrome and three dimensional point cloud is synthesized, and indirectly obtains color three dimension cloud data, generation colorful three-dimensional model.
CN104776815A further discloses in the introduction in measuring three-dimensional profile process, measure two kinds of solutions of object color information: one is projection infrared structure light, before the color data camera for obtaining object color information, add IR-cut filter plate simultaneously; Two is the modes by stroboscopic structured light, first projecting structural optical, take the image of structured light for calculating three-D profile, then closing structure light color image shot is for calculating the colouring information of object simultaneously.
The spatial digitizer and the scan method thereof that only adopt black and white camera to obtain coloured image is further provided in CN102980526A.Spatial digitizer disclosed in it, comprises a projector, at least one black and white camera and a control system.Described projector is respectively to scanned object projection red, green, blue three kinds of monochromatic light.When described projector is to scanned object projection often kind of monochromatic light, multiple images of scanned object taken respectively by least one black and white camera described from multiple angle.Described control system can throw the value of gray-scale value as red channel of the image that red light collects using projector, throw the value of gray-scale value as green channel of the image that green light collects, to throw the value of gray-scale value as blue channel of the image that blue light collects, obtain complete coloured image by the triple channel value combined, thus obtain the coloured image of the multiple angle of scanned object.
Know-why and the CN102980526A of CN202074952U are similar, wherein highlight the three-dimensional appearance only using one camera-single projector and color texture acquisition system further.
Disclose a kind of Aristogrid in CN1426527A, comprising two cameras and two projectors, an optical grating element for the coding pattern that projects on target object surface in projector, another is for obtaining the texture information of target object.
The present invention realizes three-dimensional data based on digital speckle technology to obtain, but the data obtained like this can not provide full color information, therefore, when needs colored structures, matched by the image of texture information collected by camera and three-dimensional data, colored three-dimensional object structure can be obtained.
Summary of the invention
The object of this invention is to provide the colored 3D measuring equipment of a kind of miniaturization, be mainly used in the color three dimension data acquisition as human oral cavity tooth or other limited space place.
The invention provides a kind of colored 3D measuring system, it is characterized in that, comprising: lighting device, 3D measure and texture collection device, sequential control circuit.Lighting circuit is used for projection ray to testee, 3D measurement and texture collection device are for obtaining the image of testee, sequential control circuit is connected to lighting device and 3D measures and texture collection device, for controlling the operation sequential of lighting device and 3D measurement and texture collection device.
Lighting device comprises two-way light source, the first egative film, the second egative film, the first catoptron, the second catoptron, projection lens, spectroscope.
First egative film is code film, and the second egative film is white light egative film.Two-way light source is used for illuminating the first egative film and the second egative film.
First egative film is positioned in the light path of two-way light source.
First catoptron and the second catoptron are placed, and are positioned in the light path of the light that two-way light source sends to make the second egative film.
Projection lens is used for the first egative film be illuminated and the second egative film to project out.Spectroscope is half-reflection and half-transmission spectroscope, can either allow some light transmission, can allow again the half-reflection and half-transmission spectroscope of another part light reflection.Projection lens and spectroscope are in same light path.
First egative film place plane and the second egative film place plane orthogonal, spectroscope place plane and the first egative film and the second egative film place plane respectively in angle of 45 degrees, the first catoptron, the second catoptron place plane orthogonal.
The light path of what two-way light source sent illuminate respectively the first egative film and the second egative film light is identical after spectroscope.
Sequential control circuit, is connected to lighting device and 3D measures and texture collection device.
Within the period 1, sequential control circuit controls two-way light illuminating first egative film of lighting device, thus is launched by the first egative film by projection lens, forms coding pattern, and synchro control 3D measures and texture collection device obtains the first view data.
Within second round, sequential control circuit controls two-way light illuminating second egative film of lighting device, thus is launched by the second egative film by projection lens, forms homogenous white light, and synchro control 3D measures and texture collection device obtains the second view data.
Wherein, the first image is the view data for generating three-dimensional data, and the second image is the view data of testee color texture.
The present invention has following technique effect:
1, adopt digital speckle measuring method, have the advantages that speed is fast, precision is high, can be applicable to the measurement of dynamic change target.
2, adopt the surface color and polish texture of color texture camera coupling three-dimensional body, the acquisition of 3 D color object data can be realized.
3, the design of miniaturization can be completed, this equipment can be made to be applied to the three-dimensional vision information in limited space place.
Accompanying drawing explanation
Fig. 1 is the system assumption diagram of the colored 3D measuring system of the present invention;
Fig. 2 A-2B measures according to 3D of the present invention and longitudinal sectional drawing of the first embodiment of texture collection device and projection lens;
Fig. 3 A measures according to 3D of the present invention and longitudinal sectional drawing of the second embodiment of texture collection device and projection lens;
Fig. 3 B measures according to 3D of the present invention and longitudinal sectional drawing of the 3rd embodiment of texture collection device and projection lens;
Fig. 3 C measures according to 3D of the present invention and longitudinal sectional drawing of the 4th embodiment of texture collection device and projection lens;
Fig. 3 D measures according to 3D of the present invention and longitudinal sectional drawing of the 5th embodiment of texture collection device and projection lens;
Fig. 4 is the light channel structure schematic diagram of the first embodiment according to lighting device of the present invention;
Fig. 5 is the light channel structure schematic diagram of the second embodiment according to lighting device of the present invention;
Fig. 6 A-6C is the light channel structure schematic diagram of the 3rd embodiment according to lighting device of the present invention;
Fig. 7 A-7D is the light channel structure schematic diagram of the 4th embodiment according to lighting device of the present invention;
Fig. 8 A-8B is the light channel structure schematic diagram of the 5th embodiment according to lighting device of the present invention;
Fig. 9 A-9B is the light channel structure schematic diagram of the 6th embodiment according to lighting device of the present invention;
Figure 10 A-Figure 10 B is the light channel structure schematic diagram of the lighting device according to use grating egative film of the present invention;
Figure 11 is the logical schematic of certain embodiment according to sequential control circuit of the present invention.
Embodiment
For making the object, technical solutions and advantages of the present invention clearly, by the present invention is described in further detail by reference to the accompanying drawings.This description is that unrestriced mode describes the embodiment consistent with principle of the present invention by example, the description of these embodiments is enough detailed, to make those skilled in the art to put into practice the present invention, other embodiments can be used without departing from the scope and spirit of the present invention and can change and/or replace the structure of each key element.Therefore, the following detailed description should do not understood from restrictive, sense.
See Fig. 1, colored 3D measuring system of the present invention, comprising: lighting device 200,3D measure and texture collection device 100, sequential control circuit 300, and lighting device 200 comprises projection lens 210 further.Sequential control circuit 300, is connected to lighting device 200 and 3D measures and texture collection device 100.Within the period 1, sequential control circuit 300 controls lighting device 200 and projects coding pattern, and synchro control 3D measures and texture collection device 100 obtains the first view data; Within second round, sequential control circuit 300 controls lighting device 200 and projects white light, and synchro control 3D measures and texture collection device 100 obtains the second view data.First image is the view data for generating three-dimensional data, and the second image is the view data of testee color texture.Obviously, the sequencing on period 1 and second round have no time, namely those skilled in the art can fully understand that this preferred implementation also can obtain the second view data within the period 1, obtain the first view data within second round.
Fig. 2 A-2B measures according to 3D of the present invention and longitudinal sectional drawing of the first embodiment of texture collection device and projection lens, and Fig. 4 is the light channel structure schematic diagram of the first embodiment according to lighting device of the present invention.The first preferred implementation of the present invention is described in detail below with reference to Fig. 2 A-2B and Fig. 4.
As shown in Figure 2 A, 3D measurement of the present invention and texture collection device 100 comprise the first monochrome cameras 110, second monochrome cameras 120 and color camera 130.Wherein, the first monochrome cameras 110 and the second monochrome cameras 120 are for obtaining the first view data, and color camera 130 is for obtaining the second view data.Model and/or the parameter of the first monochrome cameras 110 and the second monochrome cameras 120 can be identical, also can not be identical, but preferably identical.
Preferably, the first monochrome cameras 110, second monochrome cameras 120 and color camera 130 all adopt telecentric beam path camera lens.
For the position relationship of projection lens, monochrome cameras and color camera, preferred a kind of embodiment as shown in Figure 2 A, comprise: projection lens is placed on centre, first monochrome cameras and the second monochrome cameras are positioned at the left and right of projection lens or upper and lower both sides, and color camera is positioned at up/down portion or the left/right portion of projection lens accordingly.Preferred another kind of embodiment as shown in Figure 2 B, comprising: projection lens is placed on centre, and the first monochrome cameras, the second monochrome cameras and color camera are placed on the position of 8 points, 4 and 12, all become 120 degree of angles with the line of projection lens.Obviously, the position relationship shown in Fig. 2 A and Fig. 2 B is illustrative, and not restrictive.Such as, projection lens can be positioned at centre position, also can not be positioned at centre position; For another example, when projection lens mediates, the first monochrome cameras, the second monochrome cameras and the distance between color camera with projection lens can be identical, also can be different.It is to be noted; those skilled in the art have the ability completely according to the mechanical design requirements of colored 3D measuring system; the position relationship thus reach of adjustment projection lens, monochrome cameras and color camera is measured and texture collection function with the same or similar 3D of position relationship shown in Fig. 2 A and Fig. 2 B, and therefore the diverse location relation of projection lens, monochrome cameras and color camera all falls into protection scope of the present invention.
And those skilled in the art also can fully understand that the 3D of the present invention shown in Fig. 3 A-3D measures and the second to the five embodiment of texture collection device and projection lens also defers to above-mentioned explanation, therefore repeat no more in the explanation of corresponding embodiment.
As shown in Figure 4, lighting device 200 of the present invention comprises the first lighting unit, the second lighting unit, projection lens 210, half-reflection and half-transmission spectroscope 220.Wherein, the first lighting unit comprises the first light source 232, first egative film 234, second lighting unit and comprises secondary light source 236, second egative film 238.Model and/or the parameter of the first light source 232 and secondary light source 236 can be identical, also can not be identical, but preferably identical.First light source and secondary light source are preferably LED light source.
First egative film 234 is code film, and coding preferably uses the coding that just can be generated three-dimensional data by single frames collection, to improve the acquisition efficiency of the first image.Preferred, coding uses speckle, and corresponding code film is speckle egative film, thus can be applicable to material or color surface widely.Second egative film 238 is white light egative film, preferably uses the light transmissive material sheet with even light action, such as frosted glass plate etc.Obviously, the light source shown in Fig. 4 and egative film position relationship are illustrative, and not restrictive.Such as, the position of the first egative film 234 and the second egative film 238 can as shown in Figure 4, also can the two transposition; The position of the first light source 232 and secondary light source 236 can as shown in Figure 4, also can the two transposition.
Projection lens 210 is for going out to form structured light by the coding pattern/White Light Projection on egative film.
In the first preferred embodiment, sequential control circuit 300 is electrically connected to lighting device 200 and 3D and measures and texture collection device 100.Concrete, sequential control circuit 300 is at least electrically connected to the first monochrome cameras 110, second monochrome cameras 120 and color camera 130 of 3D measurement and texture collection device 100; Sequential control circuit 300 is also at least electrically connected to the first light source 232 and the secondary light source 236 of lighting device 200.Within the period 1, sequential control circuit 300 drives the first light source 232 to illuminate the first egative film 234, controls the first monochrome cameras 110 and the second monochrome cameras 120 obtains the first view data simultaneously.Within second round, sequential control circuit 300 drives secondary light source 236 to illuminate the second egative film 238, controls color camera 130 simultaneously and obtains the second view data.
As shown in figure 11, sequential control circuit of the present invention comprise controller, gyroscope, for driving the first driving circuit of the first light source, for driving the second driving circuit of secondary light source.Controller synchronous under, two monochrome cameras and color camera alternately carry out image acquisition to two light source images, in the data that image acquisition moment controller record gyroscope is current.Controller communicates with main frame, and transmits the view data of collection under the control of main frame.Complete sequence at main frame and judge the complicated algorithms such as process and calculating, realize real-time image mosaic and display recovery.Controller can be implemented as processor or the microprocessor of FPGA, single-chip microcomputer or other any types.
Half-reflection and half-transmission spectroscope 220, for can either allow some light transmission, can allow again the spectroscope of another part light reflection.Such as, half-reflection and half-transmission spectroscope can be the spectroscope of powered pressure-controlled, and namely under the first voltage, it shows as diaphotoscope, and under the second voltage, it shows as catoptron; Further, sequential control circuit 300 is also electrically connected with half-reflection and half-transmission spectroscope, provides the first/the second voltage or the second/the first voltage respectively within period 1 and second round to half-reflection and half-transmission spectroscope.Preferably, half-reflection and half-transmission spectroscope is realized by plating spectro-film; In this case, sequential control circuit 300 need not be electrically connected with half-reflection and half-transmission spectroscope, thus under the prerequisite completing corresponding function, saves circuit arrangement.Preferably, transmitted ray accounts for the 10%-90% of whole light, and reflection ray accounts for the 90%-10% of whole light.Preferred, transmitted ray accounts for the 40%-60% of whole light, and reflection ray accounts for the 60%-40% of whole light.Most preferred, transmitted ray and reflection ray are 50% of whole light.
In the first preferred embodiment, first egative film 234 place plane and the second egative film 238 place plane orthogonal, in angle of 45 degrees, half-reflection and half-transmission spectroscope 220 place plane and the second egative film 238 place plane are also in angle of 45 degrees for half-reflection and half-transmission spectroscope 220 place plane and the first egative film 234 place plane.And, first light source 232, secondary light source 236 and half-reflection and half-transmission spectroscope 220 are placed in place, the light that first light source 232 is sent and the light path of the light that secondary light source 236 sends are identical after half-reflection and half-transmission spectroscope 220, thus can ensure that this preferred implementation has better homogeneity than technical scheme disclosed in CN1426527A, namely intensity of illumination can be made to be consistent, and the exposure parameter of camera need not be adjusted.
Introduce the second to the five embodiment of 3D of the present invention measurement and texture collection device and projection lens below in conjunction with Fig. 3 A-3D, the technology contents identical with the first embodiment repeats no more.
Fig. 3 A measures according to 3D of the present invention and longitudinal sectional drawing of the second embodiment of texture collection device and projection lens.As shown in Figure 3A, 3D measurement of the present invention and texture collection device 100 comprise monochrome cameras 140 and color camera 150.
In this embodiment, sequential control circuit 300 is connected to monochrome cameras 140 and color camera 150.Within the period 1, sequential control circuit 300 controls monochrome cameras 140 and color camera 150 obtains the first view data; Within second round, sequential control circuit 300 controls color camera 150 and obtains the second view data.
Compared with the first embodiment, pass through the multiplexing of color camera 150 in this embodiment, thus decrease a camera, simplify hardware configuration, reduce the volume of 3D measurement and texture collection device 100.
Fig. 3 B measures according to 3D of the present invention and longitudinal sectional drawing of the 3rd embodiment of texture collection device and projection lens.As shown in Figure 3 B, 3D measurement of the present invention and texture collection device 100 comprise the first color camera 160, second color camera 170.
In this embodiment, sequential control circuit 300 is connected to the first color camera 160 and the second color camera 170.Within the period 1, sequential control circuit 300 controls the first color camera 160 and the second color camera 170 obtains the first view data; Within second round, 300 sequential control circuits control the first color camera 160 or the second color camera 170 obtains the second view data.
Compared with aforementioned embodiments, another color camera still can be used in this embodiment after a color camera loss of function to obtain the second view data, there is fault tolerance.
Fig. 3 C measures according to 3D of the present invention and longitudinal sectional drawing of the 4th embodiment of texture collection device and projection lens.As shown in Figure 3 C, 3D measurement of the present invention and texture collection device 100 comprise monochrome cameras 180.
In this embodiment, sequential control circuit 300 is connected to monochrome cameras 180.Within the period 1, sequential control circuit 300 controls monochrome cameras 180 and obtains the first view data; Within second round, sequential control circuit 300 controls monochrome cameras 180 and obtains the second view data.The mode using monochrome cameras to obtain coloured image has detailed introduction in CN102980526A and CN202074952U, introduces completely at this.
Compared with aforementioned two embodiments, in this embodiment, pass through the multiplexing of monochrome cameras, only need a camera can complete 3D and measure and texture collection function, further simplify hardware configuration, reduce the volume of 3D measurement and texture collection device.
Fig. 3 D measures according to 3D of the present invention and longitudinal sectional drawing of the 5th embodiment of texture collection device and projection lens.As shown in Figure 3 D, 3D measurement of the present invention and texture collection device 100 comprise color camera 190.
In this embodiment, sequential control circuit 300 is connected to color camera 190.Within the period 1, sequential control circuit 300 controls color camera 190 and obtains the first view data; Within second round, sequential control circuit 300 controls color camera 190 and obtains the second view data.
Compared with aforementioned embodiments, by using color camera to replace monochrome cameras in this embodiment, shorten the time needing when obtaining color texture repeatedly to take pictures.
Introduce the second to the six embodiment of lighting device of the present invention below in conjunction with Fig. 5-10, the technology contents identical with the first embodiment repeats no more.
Fig. 5 is the light channel structure schematic diagram of the second embodiment according to lighting device of the present invention.As shown in Figure 5, lighting device 200 comprises projection lens 210, half-reflection and half-transmission spectroscope 220, two-way light source 246, first egative film 222, second egative film 224, first catoptron 242, second catoptron 244.In this embodiment, first egative film 222 place plane and the second egative film 224 place plane orthogonal, half-reflection and half-transmission spectroscope 220 place plane and the first egative film 234 place plane are in angle of 45 degrees, also in angle of 45 degrees, half-reflection and half-transmission spectroscope 220, first catoptron 242, second catoptron 244 place plane is parallel for half-reflection and half-transmission spectroscope 220 place plane and the second egative film 224 place plane.First catoptron 242 is placed on the light reflection sent by two-way light source 246 and illuminates in the primary importance of the first egative film 222, and the second catoptron 244 is placed on the light reflection sent by two-way light source 246 and illuminates in the second place of the second egative film 224.
In this embodiment, within the period 1, sequential control circuit 300 drives two-way light source 246 to send towards the light of the first catoptron 242, to illuminate the first egative film 222.Within second round, sequential control circuit 300 drives two-way light source 246 to send towards the light of the second catoptron 244, to illuminate the second egative film 224.
Fig. 6 A-6C is the light channel structure schematic diagram of the 3rd embodiment of lighting device of the present invention.As shown in figs 6 a-6 c, lighting device 200 comprises projection lens 210, half-reflection and half-transmission spectroscope 220, two-way light source 256, first egative film 222, second egative film 224, first catoptron 252, second catoptron 254.In this embodiment, first egative film 222 place plane and the second egative film 224 place plane orthogonal, in angle of 45 degrees, half-reflection and half-transmission spectroscope 220 place plane and the second egative film 224 place plane are also in angle of 45 degrees for half-reflection and half-transmission spectroscope 220 place plane and the first egative film 222 place plane.
In this embodiment, the first catoptron 252 place plane and the second catoptron 254 place plane orthogonal, thus the light that two-way light source 256 is sent can illuminate the second egative film 224 after the first catoptron 252 and the second catoptron 254.Preferably, in embodiment as shown in Figure 6A, in angle of 45 degrees, the second catoptron 254 place plane and the second egative film 224 place plane are in angle of 45 degrees for the first catoptron 252 place plane and the first egative film 222 place plane.In another embodiment, as shown in figures 6 b-6 c, first catoptron 252 place plane becomes to be greater than or less than 45 degree of angles with the first egative film 222 place plane, and the second catoptron 254 place plane and the second egative film 224 place plane become corresponding and be less than or greater than 45 degree of angles.
In this embodiment, within the period 1, sequential control circuit 300 drives two-way light source 256 to send towards the light of the first egative film 222, to illuminate the first egative film 222.Within second round, sequential control circuit 300 drives two-way light source 256 to send light towards the first catoptron 252 and the second catoptron 254, to illuminate the second egative film 224.
Compared with aforementioned two kinds of embodiments, this embodiment fully can ensure the dirigibility of each ingredient mechanical layout design of lighting device.
Fig. 7 A-7D is the light channel structure schematic diagram of the 4th embodiment according to lighting device of the present invention.As shown in figures 7 a-7d, lighting device 200 comprises projection lens 210, light source 262, first egative film 222, second egative film 224 and turning axle 264.In this embodiment, the first egative film 222 and the second egative film 224 are all fixed on turning axle 264.In this embodiment, within the period 1 (as shown in Fig. 7 A or 7C), sequential control circuit 300 controls turning axle 264 and rotates, and is placed in the light path of light source 262 by the first egative film 222, and driving light source 262 illuminates the first egative film 222 simultaneously.Within second round (as shown in Fig. 7 B or 7D), sequential control circuit 300 controls turning axle 264 and rotates, and is placed in the light path of light source 262 by the second egative film 224, and driving light source 262 illuminates the second egative film 224 simultaneously.
In preferred a kind of embodiment, side view as shown in figs. 7 a-b, the first egative film 222 and the second egative film 224 are all secured directly on turning axle 264.
In preferred another kind of embodiment, front elevation as shown in figs. 7 c and 7d, the first egative film 222 and the second egative film 224 are fixed on turning axle 264 respectively by head rod (not showing Reference numeral) and the second connecting link (not showing Reference numeral).Preferred, the angle that the angle between head rod and the second connecting link is set to make the first egative film 222 and the second egative film 224 adjoin is minimum, thus makes the space needed for lighting device minimum.
Compared with aforementioned embodiments, in this embodiment, lighting device no longer comprises the ingredients such as half-reflection and half-transmission spectroscope and catoptron, and only needs a light source, therefore, it is possible to effectively reduce the volume of lighting device.
Fig. 8 A-8B is the light channel structure schematic diagram of the 5th embodiment according to lighting device of the present invention.As shown in figures 8 a-8b, lighting device 200 comprises projection lens 210, light source 262, first egative film 222, second egative film 224 and gear train (not shown).The upper underdrive that the direction of motion of obvious gear train can show as Fig. 8 A-8B, also can left and right transmission.
In this embodiment, within the period 1 (as shown in Figure 8 A), sequential control circuit 300 controls gear train, is placed in the light path of light source 262 by the first egative film 222, and driving light source 262 illuminates the first egative film 222 simultaneously.Within second round (as shown in Figure 8 B), sequential control circuit 300 controls gear train, is placed in the light path of light source 262 by the second egative film 224, and driving light source 262 illuminates the second egative film 224 simultaneously.
Similar with the 4th embodiment shown in Fig. 7 A-7D, in this embodiment, lighting device no longer comprises the ingredients such as half-reflection and half-transmission spectroscope and catoptron, and only needs a light source, therefore, it is possible to effectively reduce the volume of lighting device.
Fig. 9 A-9B is the light channel structure schematic diagram of the 6th embodiment according to lighting device of the present invention.As shown in figs. 9 a-9b, lighting device 200 comprises projection lens 210, light source 262, first egative film 222, second egative film 224, first spool 272 and the second spool 274.Wherein, the first egative film 222 and the second egative film 224 are flexible material and make.The vertical scrolling that the direction of motion of obvious first spool 272 and the second spool 274 can show as Fig. 9 A-9B, also can horizontal scrolling.
In this embodiment, within the period 1 (as shown in Figure 9 A), sequential control circuit 300 controls the first spool 272 and the second spool 274, first egative film 222 is placed in the light path of light source 262, twisted in by second egative film 224 on second spool 274, driving light source 262 illuminates the first egative film 222 simultaneously.Within second round (as shown in Figure 9 B), sequential control circuit 300 controls the first spool 272 and the second spool 274, be placed in the light path of light source 262 by the second egative film 224, twisted in by the first egative film 222 on first spool 272, driving light source 262 illuminates the second egative film 224 simultaneously.
As compared to fourth, fifth embodiment shown in Fig. 7 A-7D with Fig. 8 A-8B, this embodiment can reduce the volume of lighting device further.
Figure 10 A-Figure 10 B is the light channel structure schematic diagram of the lighting device according to use grating egative film of the present invention.
As shown in Figure 10 A, lighting device 200 comprises projection lens 210, light source 410, grating egative film 420.
As shown in Figure 10 B, lighting device 200 comprises projection lens 210, light source 262, grating egative film 420, catoptron 440.Preferably, catoptron 440 becomes miter angle with the incident light of light source 262; Preferred, catoptron 440 becomes 60 degree of angles with the incident light of light source 262.
In this embodiment, within the period 1, sequential control circuit 300 controls grating egative film 420 and forms code film, and within second round, sequential control circuit 300 controls grating egative film 420 and forms white light egative film.
Compared with aforementioned embodiments, in this embodiment, the physical construction of lighting device is simpler, makes the volume of lighting device less.
In addition, according to disclosed instructions of the present invention, of the present invention other realize for those skilled in the art being obvious.The various aspects of embodiment and/or embodiment can be used in system and method for the present invention separately or with any combination.Instructions and example wherein should be only regard as exemplary, actual range of the present invention and spirit represented by appended claims.
Claims (6)
1. a colored 3D measuring system, is characterized in that, comprising: lighting device, 3D measure and texture collection device, sequential control circuit; Described lighting circuit is used for projection ray to testee, described 3D measurement and texture collection device are for obtaining the image of testee, described sequential control circuit is connected to described lighting device and 3D measures and texture collection device, for controlling the operation sequential of described lighting device and 3D measurement and texture collection device.
2. colored 3D measuring system as claimed in claim 1, is characterized in that:
Described lighting device comprises two-way light source, the first egative film, the second egative film, the first catoptron, the second catoptron, projection lens, spectroscope;
Described first egative film is code film, and described second egative film is white light egative film; Described two-way light source is used for illuminating described first egative film and described second egative film;
Described first egative film is positioned in the light path of described two-way light source;
Described first catoptron and described second catoptron are placed, and are positioned in the light path of the light that described two-way light source sends to make described second egative film;
Described projection lens is used for the first egative film be illuminated and the second egative film to project out; Described spectroscope is half-reflection and half-transmission spectroscope, can either allow some light transmission, can allow again the half-reflection and half-transmission spectroscope of another part light reflection; Described projection lens and described spectroscope are in same light path;
Described first egative film place plane and the second egative film place plane orthogonal, described spectroscope place plane and described first egative film place plane and described second egative film place plane respectively in angle of 45 degrees, described first catoptron, described second catoptron place plane orthogonal;
The light path of what described two-way light source sent illuminate respectively described first egative film and described second egative film light is identical after described spectroscope;
Described sequential control circuit, is connected to described lighting device and 3D measures and texture collection device;
Within the period 1, first egative film described in the described two-way light illuminating that described sequential control circuit controls described lighting device, thus by described projection lens, the first egative film is launched, form coding pattern, and 3D described in synchro control measures and texture collection device obtains the first view data;
Within second round, second egative film described in the described two-way light illuminating that described sequential control circuit controls described lighting device, thus by described projection lens, the second egative film is launched, form homogenous white light, and 3D described in synchro control measures and texture collection device obtains the second view data;
Wherein, described first image is the view data for generating three-dimensional data, and described second image is the view data of testee color texture.
3. colored 3D measuring system according to claim 2, wherein, described code film is speckle egative film or striped egative film.
4. colored 3D measuring system according to claim 2, is characterized in that: described sequential control circuit also comprises and can carry out with main frame the controller that communicates, and described controller can transmit the view data of collection under the control of main frame.
5. colored 3D measuring system according to claim 2, is characterized in that: described first catoptron place plane becomes miter angle with described first egative film place plane, and described second catoptron place plane becomes miter angle with described second egative film place plane.
6. colored 3D measuring system according to claim 2, it is characterized in that: described first catoptron place plane does not become miter angle with described first egative film place plane, described second catoptron place plane does not also become miter angle with described second egative film place plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510940550.6A CN105547195B (en) | 2015-12-15 | 2015-12-15 | A kind of colour 3D measuring systems |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510940550.6A CN105547195B (en) | 2015-12-15 | 2015-12-15 | A kind of colour 3D measuring systems |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105547195A true CN105547195A (en) | 2016-05-04 |
| CN105547195B CN105547195B (en) | 2018-04-17 |
Family
ID=55826555
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510940550.6A Active CN105547195B (en) | 2015-12-15 | 2015-12-15 | A kind of colour 3D measuring systems |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105547195B (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3894802A (en) * | 1973-04-16 | 1975-07-15 | Bendix Corp | Stereoscopic gage and gaging system |
| WO2002082009A1 (en) * | 2001-04-06 | 2002-10-17 | Intek Plus Co., Ltd. | Method and apparatus for measuring the three-dimensional surface shape of an object using color informations of light reflected by the object |
| CN1426527A (en) * | 2000-04-25 | 2003-06-25 | 英斯派克公司 | Combined stereovision, color 3D digitizing and motion capture system |
| WO2008028058A2 (en) * | 2006-08-30 | 2008-03-06 | Anatomage Inc. | Patient-specific three-dimensional dentition model |
| CN101904773A (en) * | 2009-06-03 | 2010-12-08 | 卡尔斯特里姆保健公司 | The equipment that is used for dental surface shape and shade imaging |
| CN102008282A (en) * | 2010-10-29 | 2011-04-13 | 深圳大学 | Number stamp intraoral scanner and oral cavity internal surface topography image real-time reconstructing system |
| CN202074952U (en) * | 2011-05-04 | 2011-12-14 | 李中伟 | Three dimensional profiles and colored textures acquisition system based on single camera-single overhead projector |
| CN202771145U (en) * | 2012-07-12 | 2013-03-06 | 芜湖雅图数字视频技术有限公司 | Lighting device and projector |
| CN103228228A (en) * | 2010-07-12 | 2013-07-31 | 3形状股份有限公司 | 3d modeling of an object using textural features |
| US20150054922A1 (en) * | 2009-06-17 | 2015-02-26 | 3Shape A/S | Focus scanning apparatus |
| CN204831219U (en) * | 2015-04-27 | 2015-12-02 | 宁波频泰光电科技有限公司 | Handheld three -dimensional scanning device and mobile terminal |
-
2015
- 2015-12-15 CN CN201510940550.6A patent/CN105547195B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3894802A (en) * | 1973-04-16 | 1975-07-15 | Bendix Corp | Stereoscopic gage and gaging system |
| CN1426527A (en) * | 2000-04-25 | 2003-06-25 | 英斯派克公司 | Combined stereovision, color 3D digitizing and motion capture system |
| WO2002082009A1 (en) * | 2001-04-06 | 2002-10-17 | Intek Plus Co., Ltd. | Method and apparatus for measuring the three-dimensional surface shape of an object using color informations of light reflected by the object |
| WO2008028058A2 (en) * | 2006-08-30 | 2008-03-06 | Anatomage Inc. | Patient-specific three-dimensional dentition model |
| CN101904773A (en) * | 2009-06-03 | 2010-12-08 | 卡尔斯特里姆保健公司 | The equipment that is used for dental surface shape and shade imaging |
| US20150054922A1 (en) * | 2009-06-17 | 2015-02-26 | 3Shape A/S | Focus scanning apparatus |
| CN103228228A (en) * | 2010-07-12 | 2013-07-31 | 3形状股份有限公司 | 3d modeling of an object using textural features |
| CN102008282A (en) * | 2010-10-29 | 2011-04-13 | 深圳大学 | Number stamp intraoral scanner and oral cavity internal surface topography image real-time reconstructing system |
| CN202074952U (en) * | 2011-05-04 | 2011-12-14 | 李中伟 | Three dimensional profiles and colored textures acquisition system based on single camera-single overhead projector |
| CN202771145U (en) * | 2012-07-12 | 2013-03-06 | 芜湖雅图数字视频技术有限公司 | Lighting device and projector |
| CN204831219U (en) * | 2015-04-27 | 2015-12-02 | 宁波频泰光电科技有限公司 | Handheld three -dimensional scanning device and mobile terminal |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105547195B (en) | 2018-04-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104990516B (en) | Intensity and colored display for three-dimensional metrology system | |
| CN106500627B (en) | 3-D scanning method and scanner containing multiple and different long wavelength lasers | |
| CN205317164U (en) | Lighting device that colored 3D measurement system used | |
| CN105222724B (en) | Multi-thread array laser 3 D scanning system and multi-thread array laser 3-D scanning method | |
| CN105203046B (en) | Multi-thread array laser 3 D scanning system and multi-thread array laser 3-D scanning method | |
| CN105333838A (en) | Color three-dimensional (3D) measuring system | |
| US9860520B2 (en) | Method, system, apparatus, and computer program for 3D acquisition and caries detection | |
| US7274470B2 (en) | Optical 3D digitizer with enlarged no-ambiguity zone | |
| CN108076654A (en) | For carrying out the method and camera of three-dimensional measurement to dental object | |
| CN106500628A (en) | A kind of 3-D scanning method containing multiple different wave length laser instrument and scanner | |
| CN102628671A (en) | Three-dimensional coordinate measuring method based on single-camera two-color linear structured light | |
| CN107131848A (en) | The optical triangle method device of quick and fine and close SHAPE DETECTION can be realized | |
| CN101762243A (en) | Structured light vision method for measuring three-dimensional profile of restricted space | |
| CN104614925B (en) | Projection device and depth measurement system | |
| CN106767526A (en) | A kind of colored multi-thread 3-d laser measurement method based on the projection of laser MEMS galvanometers | |
| CN106595519A (en) | Flexible 3D contour measurement method and device based on laser MEMS projection | |
| CN113251952B (en) | Three-dimensional measurement system and three-dimensional measurement method for grating translation structured light | |
| CN102878925A (en) | Synchronous calibration method for binocular video cameras and single projection light source | |
| CN104279981A (en) | Mirror surface/mirror-surface-like object absolute surface shape measuring method and device based on stripe reflection | |
| CN205426086U (en) | Lighting device that colored 3D measurement system used | |
| CN105547191A (en) | Colorful 3D measuring system | |
| Smithwick et al. | Depth enhancement using a scanning fiber optical endoscope | |
| CN105571522A (en) | Color 3D measurement system | |
| CN205192448U (en) | Lighting device that colored 3D measurement system used | |
| CN205192446U (en) | Lighting device that colored 3D measurement system used |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Color three-dimensional (3D) measuring system Effective date of registration: 20190715 Granted publication date: 20180417 Pledgee: Ningbo Tianjin Enterprise Service Co., Ltd. Pledgor: NINGBO FREQTY PHOTOELECTRIC TECHNOLOGY CO., LTD. Registration number: 2019330000196 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20200702 Granted publication date: 20180417 Pledgee: Ningbo Tianjin Enterprise Service Co.,Ltd. Pledgor: NINGBO FREQTY OPTOELECTRONICS TECHNOLOGY Co.,Ltd. Registration number: 2019330000196 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Color three-dimensional (3D) measuring system Effective date of registration: 20200706 Granted publication date: 20180417 Pledgee: Ningbo Tianjin Enterprise Service Co.,Ltd. Pledgor: NINGBO FREQTY OPTOELECTRONICS TECHNOLOGY Co.,Ltd. Registration number: Y2020330000443 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20211015 Granted publication date: 20180417 Pledgee: Ningbo Tianjin Enterprise Service Co.,Ltd. Pledgor: NINGBO FREQTY OPTOELECTRONICS TECHNOLOGY Co.,Ltd. Registration number: Y2020330000443 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right |