CN106289099B - A kind of single camera vision system and the three-dimensional dimension method for fast measuring based on the system - Google Patents
A kind of single camera vision system and the three-dimensional dimension method for fast measuring based on the system Download PDFInfo
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- 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
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- 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
- G01B11/30—Measuring arrangements characterised by the use of optical techniques for measuring roughness or irregularity of surfaces
Abstract
The present invention relates to videogrammetry methods, concretely relate to a kind of single camera vision system and the three-dimensional dimension method for fast measuring based on the system.A kind of single camera vision system, including CCD color camera and three-color LED annular light source.A kind of method for three-dimensional measurement of single camera vision system, including strictly being demarcated the mounting height of three-color LED annular light source, incident angle, distribution density respectively；Establish the optical imagery model of single camera vision system；It determines that method solves the optical imagery model of single camera vision system relative to the incidence angle of visual field plane using incident ray, obtains the elevation information of testee surface all the points.The present invention is designed a kind of special light source used for the present invention, is reduced the algorithm difficulty of characteristic extraction procedure image procossing, while improving the precision and reliability of system based on active optical mensuration；A kind of method for three-dimensional measurement based on single camera vision system is proposed on this basis, and there is wide prospects for commercial application.
Description
Technical field
The present invention relates to videogrammetry method, a kind of single camera vision system is concretely related to and based on the system
Three-dimensional dimension method for fast measuring.
Background technique
The quantitative evaluation information of product surface quality can be provided by measuring three-dimensional surface shape, facilitates subdivided product system
The defect of process is made, conducive to analyzing the regularity of distribution of its defect, leading to the reason of defect and predicting its development of defects trend, is convenient for
The collection and feedback of process product quality information are generated, is conducive to optimized production process parameter, prevents the generation of subsequent defective, is promoted
The quality of all round process product.And with the rapid development of automatic producing technology, need the table of Developing High-speed high reliability
Face three-dimensional dimension measurement method, fast and reliable service is provided for production process.Therefore, body surface three-dimensional proposed by the present invention
Dimension measurement method has great importance.
The achievement of existing three-dimensional measurement is broadly divided into contact and contactless two class.Traditional contact measurement method
Using three-coordinates measuring machine as representative.In terms of non-contact measurement, and it is divided into non-optical mensuration and optical measuring method.It is non-optical
Mensuration has acoustic method, time-of-flight method etc..In contrast, optical measuring method has non-contact, not damaged, high-resolution
It the advantages that rate, fast speed, is more and more widely used at present.According to the different type of lighting source, it can be divided into passively
Formula and active.Passive optical measurement has multi-vision visual method and monocular vision method, and the difficult point of multi-vision visual method is three-dimensional
Match, needs to carry out a large amount of matching operation during measuring three-dimensional surface shape and vulnerable to ambient lighting conditions, calculating
It is at high cost, measurement accuracy, limited speed.Monocular vision method obtains testee using a video camera under natural lighting
Surface three dimension information is commonly used and rebuilds (Shape From Shading-SFS) method measurement body surface three-dimensional shape based on light and shade
Looks, in fact, the SFS problem based on Lambertian illumination reflection model be it is ill, without unique solution；Existing algorithm is usual
Assuming that research object is the smooth object in surface, that is, think continuously, then the second-order partial differential coefficient of body surface height function is
The regularization model for establishing SFS problem according to correlated condition is solved, and mainly has minimization method, Law of Communication, local approach and line
Property method, however error can be brought by the solution that regularization process obtains problem, thus obtained three-dimensional appearance easily occurs not really
Determine phenomenon, and solution efficiency needs to improve, still has gap from online detection requirements.Active optical mensuration is based on fill-in light
Source irradiation carries out three-dimensional measurement, mainly has interferometry, phase measurement and trigonometry etc., wherein Through Optical Interference Spectra mainly has holography
Interferometry, Moire fringe technique etc., interferometry precision with higher, but its measurement range is small, and the requirement to environment is high, therefore micro-
Using less in manufacture and assembling process；Phase measurement mainly has phase shift method, fourier transform method, grating project etc., so
And by solution phase precision influenced, phase measurement for the measurement accuracy, speed and reliability of complex surface pattern need compared with
Big raising space；Trigonometry is measured by triangle geometrical relationship between projection source, testee and ccd image sensor
Object dimensional pattern mainly has laser triangulation, light cross-section method, structure Light Source Method etc., and wherein laser triangulation precision is high, fits
Wide with range, the measurement stability of this method is influenced vulnerable to factors such as depth of focus, speckle, measured surfaces.Light cross-section method can be used for quickly
The fields such as molding and three dimension profile measurement, but the optical losses position of light cross-section method is not easy accurately to extract, it is difficult to measuring has
The micro element surface topography of height arrangement.
It was found from the analysis of the search result of existing patent document：The surface three dimension size of Developing High-speed high reliability is online
Test problems are trends of the times, and the still difficult high speed that meets of existing surface three dimension dimension measurement method manufactures and assembling process product
Surface three dimension quality online detection requirements.
Summary of the invention
It is an object of the invention to solve, the hardware cost of existing method for three-dimensional measurement is high, it is highly reliable suitable for high speed to be difficult to
The problems such as surface three dimension online dimension detection of property, proposes a kind of single camera vision system and three-dimensional dimension based on the system is fast
Fast measurement method.
In order to achieve the above purpose, it adopts the following technical scheme that.A kind of single camera vision system, for acquiring measured object
The photo of body, including CCD color camera and three-color LED annular light source, the CCD color camera are arranged in upper end, three color
LED annular light source is arranged between the CCD color camera and testee, including the red LED annular being arranged from top to bottom
The measured surface setting of light source, green LED annular light source and blue led annular light source, the testee is colored in the CCD
In the visual field of camera.
A kind of method for three-dimensional measurement based on single camera vision system described in claim 1, includes the following steps：
S1 is strictly demarcated the mounting height of three-color LED annular light source, incident angle, distribution density respectively, simultaneously
Three-color LED annular light source is lighted, using the photo of CCD color camera acquisition testee；
S2 establishes the optical imagery model of single camera vision system；
S3 using incident ray relative to the incidence angle of visual field plane determine method solve single camera vision system optics at
As model, the elevation information of testee surface all the points is obtained.
When three coloured light irradiates same point in visual field, generation is represented into three kinds of color of light in the same location of pixels of color image
The gray value of intensity.Since the incoming position of three coloured light is different, thus can establish three imaging equation groups, so can solve by
The height that location is set.In the design and fabrication of three-color LED annular light source, to mounting height, the incidence angle of colors LED in light source
Degree, distribution density are strictly demarcated respectively, and making collected color image includes the location information of incident light.Also, it works
Middle each LED of annular light source is lighted simultaneously.After designing and demarcate by light source uniformity, it is believed that unit area (can be seen in visual field
Make area corresponding to single pixel) in receive light of same color shine intensity be uniform.
Step S2 includes：If coordinate of the light source in world coordinate system is e (xl,zl), the measurement point of testee is in the world
Coordinate in coordinate system is s (xi,zi), after measurement point is imaged by CCD color camera, the coordinate in imaging plane coordinate system
It is incident ray for p (u, v), straight line es, straight line sp is reflection light, the intersection point s (x of incident ray es and reflection light spi,
zi) corresponding z coordinate is testee in point (xi,zi) at height, corresponding Z axis coordinate be zi。
Step S2 is specifically included：
Establish world coordinate system, origin Ow(0,0) Z at the center of visual field is establishedwAxis is directed toward CCD color camera, XwAxis
Along horizontal line direction；
In Ow-Xw-ZwTwo-dimensional coordinate system in, OcPoint is optical center, coordinate Oc(0, l), l are object distance, if at light source position
Coordinate in world coordinate system is e (xl,zl), coordinate of the measurement point in world coordinate system is s (x on testeei,zi),
After point imaging, the coordinate in imaging plane coordinate system is p (u, v)；
Straight line es is incident ray, and reflection light is the intersection point s (x of straight line sp, incident ray es and reflection light spi,zi)
Corresponding z coordinate is testee in point (xi,zi) at height, corresponding Z axis coordinate be zi；
Define incident ray es and horizontal line, that is, XwThe angle of axis is α, reflected ray sp and horizontal line, that is, XwThe angle of axis is η,
According to the principle of reflection of light, the equation of reflected ray sp is represented by：
Reflected ray is with horizontal angle η：
In formula, f is the focal length of camera；L is object distance；(u0,v0) be imaging plane coordinate system origin, i.e. the optical axis of camera
With the intersection point of imaging plane；(u, v) is Point Coordinates on imaging plane；Dx, dy are respectively each pixel on the direction x, y
Physical size；The equation for deriving incident ray es is：
zes=kex(xes-xl)+zl=tan (180- α) × (xes-xl)+zl (3)
Joint type (1), (3) can acquire the intersection point (x of incident ray es and reflected ray spi,zi)：
In formula, (xl,zl) it is coordinate of the light source in world coordinate system；α is incident ray es and horizontal line, that is, X-axis folder
Angle.
Step S3 includes：The relationship between the curved surface direction of testee measured surface and brightness of image is established, according to
Know the parameter of calibration point, calculates measurement point OwiIncident ray and horizontal field of view angle αi, the angle α that will acquireiIt substitutes into single
In the optical imagery model of mesh vision system, the height of measurement point can be obtained.
Step S3 is specifically included：It is in that proportionate relationship then has if proportionality coefficient is k between curved surface direction and brightness of image：
In formula, θi、θoRespectively microcosmic surface Owi、OwoThe inclination angle at place；gi、goRespectively from microcosmic surface Owi、OwoIt obtains at place
The gray value obtained；
Known calibration point OwoParameter, including incident ray and horizontal angle are αo, microcosmic surface inclination angle thetao, ash
Angle value go, calculate measurement point OwiIncident ray and horizontal angle αi：
η is calculated according to formula (2)oAnd ηi, and substitute into formula (6), obtain incident ray and horizontal angle αi：
In formula, (ui,vi) it is measurement point coordinate on imaging plane；(uo’,vo') it is calibration point coordinate on imaging plane；
Formula (7) is updated in formula (4), and is enabled
Z can be acquiredi：
ziThe height value of measurement point as on testee.
Compared with prior art, the present invention is based on active optical mensuration, and design a kind of spy makes for the present invention
Light source, the i.e. light source are conducive to by measured surface three-dimensional appearance information projection into the image for lacking width as far as possible, and make image
In target information and background information obtain optimal separation, to reduce the algorithm difficulty of characteristic extraction procedure image procossing, together
The precision and reliability of Shi Tigao system；On this basis, the present invention proposes a kind of three-dimensional measurement based on single camera vision system
Method.Hardware cost of the present invention is low, measuring speed is fast, easy to use, can be widely used for surface three dimension measurement, the object of small items
The fields such as the 3D modeling of body and 3D printing, three-dimensional scenic measurement, have wide prospects for commercial application.
Detailed description of the invention
Fig. 1 is single camera vision system structural schematic diagram of the invention；
Fig. 2 is image capturing system structural schematic diagram of the invention；
Fig. 3 is imaging plane coordinate system schematic diagram of the invention；
Fig. 4 is the reflection schematic diagram of calibration point and arbitrary point of the invention.
Specific embodiment
The invention will be further described with reference to the accompanying drawing.
The structure of single camera vision system of the invention is as shown in Figure 1, include CCD color camera 1 and three-color LED ring light
Source, the setting of CCD color camera 1 are arranged between CCD color camera and testee 5 in upper end, three-color LED annular light source, packet
Include the red LED annular light source 2, green LED annular light source 3 and blue led annular light source 4 being arranged from top to bottom, testee 5
Measured surface 6 be arranged in the visual field of CCD color camera 1.
When three coloured light irradiates same point in visual field, generation is represented into three kinds of color of light in the same location of pixels of color image
The gray value of intensity.Since the incoming position of three coloured light is different, thus can establish three imaging equation groups, so can solve by
The height that location is set.In the design and fabrication of three-color LED annular light source, to mounting height, the incidence angle of colors LED in light source
Degree, distribution density are strictly demarcated respectively, and making collected color image includes the location information of incident light.Also, it works
Middle each LED of annular light source is lighted simultaneously.After designing and demarcate by light source uniformity, it is believed that unit area (can be seen in visual field
Make area corresponding to single pixel) in receive light of same color shine intensity be uniform.
For the ease of illustrating method for three-dimensional measurement of the invention, image capturing system as shown in Figure 2 is built, and in figure
Shown in establish imaging plane coordinate system as shown in Figure 3 in cutting plane AA.Wherein the origin of coordinate system is established in visual field
At the heart, ZwAxis is directed toward the direction of camera, XwThe axis tangentially direction AA.As previously mentioned, after designing and demarcate by light source uniformity,
It is believed that it is uniform for receiving the intensity that light of same color is shone in visual field in unit area.Therefore, imaging system as shown in Figure 3 is established
Representativeness is all had to all imaging points.
As shown in figure 3, in Ow-Xw-ZwTwo-dimensional coordinate system in, OwPoint is the origin of world coordinate system, coordinate Ow(0,
0), OcPoint is optical center, is O in the coordinate of world coordinate systemc(0, l), l are object distance.If light source position is in world coordinate system
Coordinate be e (xl,zl), coordinate of the certain point in world coordinate system is s (x on testeei,zi), the camera imaging
Afterwards, the coordinate in imaging plane coordinate system is p (u, v).Straight line es is incident ray, and reflection light is straight line sp.Incident light
Intersection point s (the x of line es and reflection light spi,zi) corresponding z coordinate is testee in point (xi,zi) at height, it is right
The Z axis coordinate answered is zi。
As shown in figure 3, defining incident ray es and horizontal line, that is, XwThe angle of axis is α, reflected ray sp and horizontal line, that is, XwAxis
Angle be defined as η.According to the principle of reflection of light, the equation of reflected ray sp as shown in Figure 3 is represented by：
Reflected ray as shown in Figure 3 is with horizontal angle η：
In formula, f is the focal length of camera；L is object distance；(u0,v0) be imaging plane coordinate system origin, i.e. the optical axis of camera
With the intersection point as plane, as unit of pixel；(u, v) is Point Coordinates on the plane of delineation, as unit of pixel；Dx, dy points
Not Wei physical size of each pixel on the direction x, y, with millimeter (mm) be unit.
It can derive herein, the equation of incident ray es is：
zes=kex(xes-xl)+zl=tan (180- α) × (xes-xl)+zl (3)
To sum up, joint type (1), (3) can acquire the intersection point (x of incident ray es and reflected ray spi,zi)：
In formula, (xl,zl) it is coordinate of the incident light source in world coordinate system；α is incident ray es and horizontal line, that is, X-axis
Angle, unit：Degree.
Due to incident ray and horizontal line, that is, XwThe angle α of axis is unknown, can not calculate the equation of incident ray es, i.e., can not ask
Solve the height of arbitrary point.To solve the problem, present invention proposition calculates angle α value using the method for calibration point.Fig. 4 is calibration
The reflectogram of point and arbitrary point.
For the same batch measurand of same sex material (non-high luminescent material), under same light source irradiation, based on acquisition
Single image curved surface can be simplified towards the relation table between (i.e. inclination angle) and brightness of image using the mode as expressed by Fig. 4
Show, the experimental results showed that being in proportionate relationship between curved surface direction and brightness of image, if proportionality coefficient is k.Then have：
In formula, θi、θoRespectively microcosmic surface Owi、OwoThe inclination angle at place, unit：Degree；gi、goRespectively from microcosmic surface
Owi、OwoLocate the gray value obtained.
In Fig. 4, such as known calibration point OwoParameter (such as incident ray and horizontal angle are αo, microcosmic surface inclines
Angle θo, gray value goValue etc.), calculate unknown point OwiIncident ray and horizontal angle αi：
η is calculated according to formula (2)oAnd ηi, and substitute into formula (6), obtain incident ray and horizontal angle αi：
In formula, (ui,vi) it is Point Coordinates on the plane of delineation, as unit of pixel；(uo’,vo') it is on the plane of delineation
Calibration point coordinate, as unit of pixel.
Formula (7) is updated in formula (4), and is enabled
Z can be acquiredi：
ziAs by the height value of certain point on object.
ziThe height value of eyeball is corresponded to for the section cutting line AA.Similarly, existed according to the section cutting line AA of testee
The pixel value of obtained color image can find out X-direction respectively by the Z axis coordinate of eyeball, each calculating point line is as tested
Cutting curve of the object in the section cutting line AA.In conjunction with the pole symmetry of monocular vision imaging system, using Z axis as rotation center,
By the long rotation of the section cutting line AA substep, the corresponding testee apparent height value of each sectional cross section is calculated separately out, until rotation
Corner can find out the height value of testee surface all the points until 360 degree.
Claims (3)
1. a kind of three-dimensional dimension method for fast measuring of single camera vision system, which is characterized in that include the following steps：S1 is by three colors
Mounting height, incident angle, the distribution density of LED annular light source are strictly demarcated respectively, while lighting three-color LED ring light
Source, using the photo of CCD color camera acquisition testee；
S2 establishes world coordinate system, origin Ow(0,0) Z at the center of visual field is establishedwAxis is directed toward CCD color camera, XwAxis edge
Horizontal line direction；
In Ow-Xw-ZwTwo-dimensional coordinate system in, OcPoint is optical center, coordinate Oc(0, l), l is object distance, if light source position is in generation
Coordinate in boundary's coordinate system is e (xl, zl), coordinate of the measurement point in world coordinate system is s (x on testeei, zi), this point
After imaging, the coordinate in imaging plane coordinate system is p (u, v)；
Straight line es is incident ray, and reflection light is the intersection point s (x of straight line sp, incident ray es and reflection light spi, zi) corresponding
Z coordinate be testee in point (xi, zi) at height, corresponding Z axis coordinate be Zi；
Define incident ray es and horizontal line, that is, XwThe angle of axis is α, reflection light sp and horizontal line, that is, XwThe angle of axis is η, root
According to the principle of reflection of light, the equation of reflection light sp is represented by：
Reflection light is with horizontal angle η：
In formula, f is the focal length of camera；L is object distance；(u0, v0) be imaging plane coordinate system origin, i.e., the optical axis of camera at
As the intersection point of plane；(u, v) is Point Coordinates on imaging plane；Dx, dy are respectively physics of each pixel on the direction x, y
Size；The equation for deriving incident ray es is：
zes=kex(xes-xl)+zl=tan (180- α) × (xes-xl)+zl (3)
Joint type (1), (3) can acquire the intersection point (x of incident ray es and reflection light spi, zi)：
In formula, (xl, zl) it is coordinate of the light source in world coordinate system；α is incident ray es and horizontal line, that is, X-axis angle
S3 determines that method solves the optical imagery mould of single camera vision system relative to the incidence angle of visual field plane using incident ray
Type obtains the elevation information of testee surface all the points.
2. the three-dimensional dimension method for fast measuring of single camera vision system according to claim 1, which is characterized in that step S3 packet
It includes：The relationship between the curved surface direction of testee measured surface and brightness of image is established, according to the parameter of known calibration point, meter
Calculate measurement point OwiIncident ray and horizontal field of view angle αi, the angle α that will acquireiSubstitute into single camera vision system optics at
As the height of measurement point can be obtained in model.
3. the three-dimensional dimension method for fast measuring of single camera vision system according to claim 2, which is characterized in that step S3 packet
It includes：It is in that proportionate relationship then has if proportionality coefficient is k between curved surface direction and brightness of image：
In formula, θi、θoRespectively microcosmic surface Owi、OwoThe inclination angle at place；gi、goRespectively from microcosmic surface Owi、OwoWhat place obtained
Gray value；
Known calibration point OwoParameter, including incident ray and horizontal angle are αo, microcosmic surface inclination angle thetao, gray value
go,
Calculate measurement point OwiIncident ray and horizontal angle αi：
η is calculated according to formula (2)oAnd ηi, and substitute into formula (6), obtain incident ray and horizontal angle αi
In formula, (ui, vi) it is measurement point coordinate on imaging plane；(uo', vo') it is calibration point coordinate on imaging plane；By formula
(7) it is updated in formula (4), and enables
Z can be acquiredi
ziThe height value of measurement point as on testee.
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