CN106556357B - A kind of device and method based on one-dimensional Beams measurement 3 d shape - Google Patents
A kind of device and method based on one-dimensional Beams measurement 3 d shape Download PDFInfo
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- CN106556357B CN106556357B CN201611120261.2A CN201611120261A CN106556357B CN 106556357 B CN106556357 B CN 106556357B CN 201611120261 A CN201611120261 A CN 201611120261A CN 106556357 B CN106556357 B CN 106556357B
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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
- 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
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Abstract
The present invention provides a kind of device and method based on one-dimensional Beams measurement 3 d shape, wherein described device includes pedestal, lighting module, electric rotary table, image-forming module, motion controller, host computer, object under test, scaling board and power module.A kind of device and method based on one-dimensional Beams measurement 3 d shape provided by the invention, can reduce influence of the laser width to measurement result.
Description
Technical field
The invention belongs to three dimension profile measurement technical fields, and in particular to one kind is three-dimensional based on the measurement of one-dimensional Beams
The device and method of face shape.
Background technique
Three-dimension curved surface or measuring three-dimensional profile technology are widely used in the fields such as industry, scientific research, national defence, such as Automobile
On-line checking in the processing and manufacturing such as body, airframe, steamer hull, turbine blade, complex parts, tooth, shoe tree etc. three
Dimension modeling.High-resolution high accuracy three-dimensional measurement of curved surface is to guarantee product processing quality, promote properties of product or carry out reverse
The essential link of engineering.
Object dimensional surface shape measurement technology has contact and two kinds contactless at present.The Typical Representative of contact is three seats
Measuring instrument is marked, advantage is measurement accuracy height and can almost measure arbitrary surface, and disadvantage is that measurement accuracy is determined by digital control system
It is fixed, higher cost, and due to being contact, measurement type of goods is restricted.Contactless predominantly photoelectric method, can be divided into
Structure light method and laser line scanning method.Wherein Structure light method shoots the item in picture by inverting in body surface projected fringe
Line deformation obtains body surface face shape, and primary shooting can be obtained three-dimensional surface face graphic data, has that measurement is simple, speed it is fast and
Advantage with high accuracy, but its precision is limited by body surface reflectivity and uneven color.In contrast, laser line scanning
Method uses laser as light source, is not limited by object reflectance and color, and measurement range is wider, but due to can only once measure
Face shape at laser lighting, object overall picture can be obtained by needing manually or automatically to scan.
A kind of laser line scanning device using Sub-pixel Technique is disclosed in the prior art, is generated line using cylindrical mirror and is swashed
Light is deformed after exposing to body surface, utilizes the priori knowledge and repeatedly shooting superposition reduction of red laser black background
The technology of noise improves fringe center extraction accuracy, reduces the requirement to laser stripe width and brightness.
In addition, the prior art also discloses the laser line scanning device of a kind of combination multifaceted prism and simultaneous techniques, output
Stroboscopic line laser at most face prism, multifaceted prism rotate under the driving of high-speed motor, keep line-structured light scanned entire tested
Body surface, forming face structural light measurement striped, can measure whole by synchronization signal and prolonging exposure time mode, single exposure
A surface face shape, improves measuring speed.
Both the above mode is to generate line laser using a wordline laser device, but since this line laser is by focus of cylindrical mirror
It generates, is dissipated in transmission process, width generates variation, and laser width significantly affects Measurement Resolution and precision, therefore
When Object Depth difference, resolution ratio is same as precision to change, and needs to solve this.
Summary of the invention
The purpose of the present invention is to provide a kind of device and method based on one-dimensional Beams measurement 3 d shape, energy
Enough reduce influence of the laser width to measurement result.
To achieve the above object, the present invention provides a kind of device based on one-dimensional Beams measurement 3 d shape, institute
Stating device includes pedestal, lighting module, electric rotary table, image-forming module, motion controller, host computer, object under test, scaling board
And power module, in which: the lighting module includes semiconductor laser and cylindrical mirror, the plane and semiconductor of the cylindrical mirror
The optical axis of laser constitutes predetermined angle, can be fitted to cubic polynomial before the laser wave after cylindrical mirror；The electronic rotation
Turntable is controlled by the motion controller, drives the object under test rotation with default step angle；The image-forming module includes
Camera, adapter, zoom lens and the optical filter being sequentially connected, the camera are used to acquire the deformation on the object under test surface
Laser beam image, and be connected with the host computer；The zoom lens and laser beam plane constitute 45° angle；The calibration
Plate is used to obtain the conversion in the image-forming module between image space coordinate system and world coordinate system by Zhang Zhengyou calibration method and close
System.
It further, include stepper motor in the electric rotary table, the motion controller includes single-chip microcontroller and stepping
Motor driver, the single-chip microcontroller are connected with the host computer by serial ports, the stepper motor driver and stepping electricity
Machine is connected.
Further, whenever the electric rotary table rotates a step, the image-forming module acquires a width laser beam image.
Further, the fast axis direction angle of divergence of the semiconductor laser be ± 30 °, the slow-axis direction angle of divergence be ±
8°。
Further, the object under test is made of non-transparent material and surface is unpolished.
Further, the host computer includes: image capture module, for adjusting region of interest field parameter and the exposure of camera
Between light time, so that the camera single exposure can acquire laser stripe deformation pattern；Demarcating module, for default using extracting
The position of mesh point in the grid image of quantity, and using the mesh point of extraction as the known location point in coordinate system, in conjunction with
Grid position in real world coordinate system is calculated the inside and outside ginseng of camera using Zhang Zhengyou calibration method by object image point position relationship
Number；Motion-control module for being connected with the motion controller by serial ports, and settable baud rate and voluntarily enumerates string
Mouth connection, to control the electric rotary table movement；Image processing module, at the laser deforming stripe to shooting
Reason, to obtain shape information in face at striped；Triangle meshes module is obtained for carrying out trigonometric ratio to the three dimensional point cloud of measurement
The triangle gridding on the object under test surface must be characterized；File and display module, for being protected using ASCII character stl file format
It deposits point cloud data and shows the curved surface result of measurement on interface.
To achieve the above object, on the other hand the application also provides a kind of based on one-dimensional Beams measurement 3 d shape
Method, which comprises calibrated using the position that standard cylinder compares bright module and electric rotary table, to ensure to swash
The axle center that optical plane passes through electric rotary table；The inside and outside parameter of camera in the lighting module is demarcated using scaling board；By upper
Position machine adjusts region of interest field parameter and the time for exposure of the camera, so that the camera single exposure can acquire laser strip
Line deformation pattern；The host computer is connected by serial ports with motion controller, and baud rate is arranged and voluntarily enumerates serial ports company
It connects, to control the electric rotary table movement；The host computer sends rotation angle after obtaining the face shape information at current angular
To the motion controller, and the motion controller is waited to return to the signal that electric rotary table rotation terminates, shooting image into
Row processing is until the electric rotary table is rotated by 360 °, to have handled object under test overall picture.
Further, carrying out calibration using the position that standard cylinder compares bright module and electric rotary table includes: by standard
Cylinder is placed on a spinstand, and laser irradiation striped on cylinder is observed, and mobile cylinder makes the side of striped Yu the standard cylinder
Face is overlapped, and guarantees that laser plane is vertical with the end face of electric rotary table；Obtain quarter of the laser plane on the electric rotary table
Reading is spent, and adjust laser to make 180 ° of front and back difference of reading.
It further, the use of the inside and outside parameter that scaling board demarcates camera in the lighting module include: closing laser, with
Machine puts scaling board, and observes the scaling board image of the camera shooting；When scaling board image is entirely located in imaging region,
Image is shot to save；Repeat the above steps preset times, and extracts the grid angle point information of each width scaling board image, according to
The grid size known calculates the inside and outside parameter of the camera using Zhang Zhengyou calibration method.
Further, which comprises when saving last two width figure, open laser, shoot the laser on scaling board
Striped；The intersection point of laser plane and grid is calculated, laser plane position in world coordinate system is obtained；Mark is saved in host computer
Surely the camera and laser plane parameter obtained, for converting face shape information for striped deformation.
By the above-mentioned description of this invention it is found that compared with prior art, the invention has the following beneficial effects:
The present invention is using one-dimensional Beams as illuminating bundle, and laser beam width remains unchanged in communication process
And diffraction limit can be reached, it overcomes line laser Gaussian beam in the prior art and increases as propagation light beam constantly dissipates width
Defect, while zoom lens and laser beam plane constitute 45° angle, so as to constitute Scheimpflug condition, so that surveying
During amount when Object Depth changes, Measurement Resolution is able to maintain constant with precision.Generate the side of one-dimensional Beams
Formula is simple, only need to tilt plano-convex cylindrical lens, without increasing any additional component, is easily modified existing equipment realization, has
Help promote the application of the technology.
In addition, imaging moiety shoots laser beam deformation pattern using zoom lens, it can be according to actual determinand body
Size adjusting lens focus adjusts the measurement range of device, and host computer is provided demarcating module, realized using Zhang Zhengyou calibration method,
The camera parameter after adjusting camera lens is calculated by shooting the scaling board image that several put at random, is convenient to measure various sizes of
Object.Simultaneously because filtering out interference of stray light using narrow band filter, the measurement noise when main spot center of light beam is improved
The precision of extraction.
Detailed description of the invention
Fig. 1 is the schematic diagram of three dimension profile measurement device of the present invention；
Fig. 2 is one-dimensional Beams production principle schematic diagram；
Fig. 3 is that optical path difference is fitted to cubic polynomial schematic diagram at cylindrical mirror outgoing；
Fig. 4 is image-forming module schematic illustration.
Specific embodiment
In order to make those skilled in the art better understand the technical solutions in the application, below in conjunction with the application reality
The attached drawing in mode is applied, the technical solution in the application embodiment is clearly and completely described, it is clear that described
Embodiment is only a part of embodiment of the application, rather than whole embodiments.Based on the embodiment party in the application
Formula, all other embodiment obtained by those of ordinary skill in the art without making creative efforts, is all answered
When the range for belonging to the application protection.
Referring to Fig. 1, the application embodiment provides a kind of device based on one-dimensional Beams measurement 3 d shape,
Described device includes pedestal 1, lighting module 2, electric rotary table 3, image-forming module 4, motion controller 5, host computer 6, determinand
Body 7, scaling board 8 and power module 9.
In the present embodiment, the lighting module 2 includes semiconductor laser 21 and cylindrical mirror 22, the cylindrical mirror 22
Plane and semiconductor laser 21 optical axis constitute predetermined angle, the predetermined angle can be 60 °, after cylindrical mirror 22
Laser wave before can be fitted to cubic polynomial.
Referring to Fig. 3, the matched curve of the cubic polynomial can be formulated are as follows:
OPD/R=a+b (y/R-c)3
Wherein, OPD/R indicates that ordinate, a, b, c indicate that fitting coefficient, y/R indicate abscissa.
The electric rotary table 3 is controlled by the motion controller 5, drives the object under test to turn with default step angle
It is dynamic.
In the present embodiment, the lighting module 2 uses continuous semiconductor laser 21 as point light source, and wavelength is
650nm, power 5mW, the fast axis direction angle of divergence are about ± 30 °, and the slow-axis direction angle of divergence is about ± 8 °, and laser intensity can be by swashing
Light device power control box is controlled, and carries out shaping to laser beam using plano-convex cylindrical lens 22, cylindrical mirror curvature direction is fast
Axis direction, plane and optical axis constitute 60 ° of angle in cylindrical mirror, so that can be fitted to before laser wave after cylindrical mirror multinomial three times
Formula simulates phase-plate coding mode three times, and the Gaussian beam of laser emitting becomes salt free ligands Airy light beam after shaping, obtains big burnt
Deep feature, radial light distribution remains unchanged in communication process.
Stepper motor can be used in the electric rotary table 3, and angular resolution is higher than 0.0007 °, can be with 360 ° of continuous rotations
Turn, and is controlled by motion controller 5.
In the present embodiment, the image-forming module 4 includes camera 44, adapter 43, the zoom lens 42 being sequentially connected
And optical filter 41, the camera 44 are used to acquire the deformation laser beam image on the object under test surface, and with it is described upper
Machine 6 is connected；The zoom lens 42 constitutes 45° angle with laser beam plane.
In the present embodiment, the zoom lens 42, camera 44 and laser plane constitute Scheimpflug condition, make
When must change At Object Depth, defocus will not occur for camera lens, guarantee laser illuminator width of light beam and camera lens resolution ratio
It will not change in the measurements, optical filter 41 is narrow band filter, central wavelength 650nm, bandwidth 15nm, for filtering
Except interference of stray light, measurement signal-to-noise ratio is improved.
The zoom lens 42 is the zoom lens of 6-10mm, and aperture and focal length are adjustable, using c-type interface, using turning
Interface 43 is connected to camera 44.
The camera 44 is industrial camera, and the interface with zoom lens is that CS type interface is had using cmos sensor
ROI (Region Of Interests, area-of-interest) function, can be connected to host computer by usb protocol.
In the present embodiment, the scaling board 8 is used to obtain by Zhang Zhengyou calibration method in the image-forming module as empty
Between transformational relation between coordinate system and world coordinate system.
The scaling board 8 is the checkerboard image alternate with black and white grid, having a size of 150mm X 50mm, single grid ruler
Very little is 5mm X 5mm, it is made to cover the entire imaging region of camera.
It in the present embodiment, include stepper motor in the electric rotary table 3, the motion controller 5 includes monolithic
Machine and stepper motor driver, the single-chip microcontroller are connected with the host computer by serial ports, the stepper motor driver with
The stepper motor is connected.
The power module 9 can provide 24V and 5V two-way power supply, and wherein 24V voltage is used for motor movement, and 5V is for single
Piece machine and stepper motor driver.
In the present embodiment, whenever the electric rotary table rotates a step, the image-forming module acquires a width laser light
Beam images.
In the present embodiment, the object under test is made of non-transparent material and surface is unpolished, makes its reflection characteristic
The non-mirror reflection for diffusing reflection.
In the present embodiment, the host computer includes:
Image capture module, for adjusting region of interest field parameter and the time for exposure of camera, so that the camera is primary
Exposure can acquire laser stripe deformation pattern；
Demarcating module, for using the position of mesh point in the grid image for extracting preset quantity, and by the grid of extraction
Point, in conjunction with the grid position in real world coordinate system, uses Zhang Zhengyou calibration method as the known location point in coordinate system
The inside and outside parameter of camera is calculated by object image point position relationship；
Motion-control module, for being connected with the motion controller by serial ports, and settable baud rate and voluntarily
Serial ports connection is enumerated, to control the electric rotary table movement；
Image processing module, for handling the laser deforming stripe of shooting, to obtain shape information in face at striped；
Triangle meshes module obtains for carrying out trigonometric ratio to the three dimensional point cloud of measurement and characterizes the determinand
The triangle gridding in body surface face；
File and display module, for saving point cloud data using ASCII character stl file format and showing survey on interface
The curved surface result of amount.
The application embodiment also provides a kind of method based on one-dimensional Beams measurement 3 d shape, the method
Include:
It is calibrated using the position that standard cylinder compares bright module and electric rotary table, to ensure that laser plane passes through electricity
The axle center of dynamic turntable；
The inside and outside parameter of camera in the lighting module is demarcated using scaling board；
Region of interest field parameter and the time for exposure of the camera are adjusted by host computer, so that the camera single exposure
Laser stripe deformation pattern can be acquired；
The host computer is connected by serial ports with motion controller, and baud rate is arranged and voluntarily enumerates serial ports connection,
To control the electric rotary table movement；
The host computer sends rotation angle to the motion controller after obtaining the face shape information at current angular, and waits
Signal to the end of the motion controller returns to electric rotary table rotation, shooting image carry out processing until the electronic rotation
Platform is rotated by 360 °, to have handled object under test overall picture.
In the present embodiment, carrying out calibration using the position that standard cylinder compares bright module and electric rotary table includes:
Standard cylinder is placed on turntable, laser irradiation striped on cylinder is observed, mobile cylinder makes striped and institute
The side for stating standard cylinder is overlapped, and guarantees that laser plane is vertical with the end face of electric rotary table；
Scale reading of the laser plane on the electric rotary table is obtained, and adjust laser to make front and back difference of reading
180°。
In the present embodiment, include: using the inside and outside parameter that scaling board demarcates camera in the lighting module
Laser is closed, puts scaling board at random, and observes the scaling board image of the camera shooting；
When scaling board image is entirely located in imaging region, shooting image is saved；
Repeat the above steps preset times, and extracts the grid angle point information of each width scaling board image, according to known
Grid size calculates the inside and outside parameter of the camera using Zhang Zhengyou calibration method.
In the present embodiment, which comprises
When saving last two width figure, laser is opened, shoots the laser stripe on scaling board；
The intersection point of laser plane and grid is calculated, laser plane position in world coordinate system is obtained；
The camera and laser plane parameter that calibration obtains are saved in host computer, for converting face shape letter for striped deformation
Breath.
In a concrete application scene, one-dimensional Airy light beam production principle figure such as Fig. 2, by inclination cylindrical mirror in optical path
Middle introducing aberration, due to cylindrical mirror only some, be equivalent to the lower part for having only used complete cylindrical mirror so that originally
The aberration of even symmetry is believed that odd symmetry, so as to use cubic polynomial fitting optical path difference simulation phase-plate three times, compares
Phase-plate is fabricated separately and significantly reduces cost and complexity.
Industrial camera 44 is color cmos industrial camera, and number of pixels is 2560 (V) * 1920 (H), and host computer is supported to pass through
USB be arranged ROI and acquisition image, optical filter 41 be narrow band filter, central wavelength 650nm, bandwidth 15nm, converting interface 43
It is designed according to real lens, guarantees that the angle of optical axis deflection meets Scheimpflug condition, i.e. laser plane, lens plane
And camera detector plane intersects at a point in display two-dimensional surface, such as Fig. 4.
According to measuring principle composition triangle, angle is wanted by depth direction resolution ratio and range for camera lens optical axis and laser plane
Decision is asked, is set as 45 °.To lens focusing, the magnifying power for adjusting camera lens makes the overall picture of image covering object under test, first before measuring
First standard cylinder is placed on turntable, observes laser irradiation striped on cylinder, mobile cylinder makes striped and cylindrical side
It is overlapped, guarantees the verticality of laser plane and turntable end face, then observe the scale reading of laser plane on a spinstand, adjust
Whole laser makes its 180 ° of difference of reading of front and back, repeats two above step, until ensuring that laser plane passes through turntable axle center.Make
With scaling board calibration for cameras inside and outside parameter, scaling board is the alternate chessboard of black and white grid, and grid size is 5mm × 5mm, scaling board
Object under test range need to be covered to improve measurement accuracy in gamut.It is first shut off laser when calibration, puts scaling board at random,
And the scaling board image of camera shooting is observed, when scaling board image is entirely located in imaging region, shooting image is saved, and is repeated
6-8 times, each width checkerboard image grid angle point information is extracted, mirror is calculated using Zhang Zhengyou calibration method according to known grid size
The inside and outside parameter of head.When saving last two width figure, laser is opened, shoots the laser stripe on scaling board, calculates laser plane
With the intersection point of grid, laser plane position in world coordinate system is obtained.The camera and swash that calibration obtains are saved in host computer 6
Light-plane parameters, for converting face shape information for striped deformation.If camera lens and laser plane position are not adjusted after the completion of calibration,
Then without re-scaling, need to be demarcated before otherwise measuring.
Single-chip microcontroller turns USB chip connection host computer using serial ports in motion controller, and specified quantity pulse can be transmitted to step
Motor is set to turn an angle into motor driver, host computer automatically scanning serial ports identifies serial port, without manually setting, reduces
Operating process.Whole device is placed in darkroom or is covered using opaque black box to reduce external stray light interference shadow
It rings.
Host computer adaptively adjusts the camera exposure time first when measuring surface shape, make in image fringe intensity be not saturated and
Will not be too dark, it requires calculating stepper motor to rotate angle every time according to measuring speed and saves, host computer complete image per treatment
This rotation angle is sent to controller after obtaining the face shape information at current angular, and controller is waited to return to the letter that rotation terminates
Number, shooting image carry out processing until turntable be rotated by 360 °, handled object overall picture.
The host computer operation has software, and software can be divided into following functions module:
Image capture module: adjustable camera ROI parameter, time for exposure, single exposure can acquire laser stripe deformation
Image, the image that simultaneous display is shot in measurement process, convenient for checking whether that measurement goes wrong；
Demarcating module: the position of mesh point in 6-8 width grid image is extracted using OpenCV open source library, as coordinate system
Middle known location point, in conjunction with grid position in real world coordinate system, using Zhang Zhengyou calibration method by object image point position relationship meter
Calculate the inside and outside parameter of camera；
Motion-control module: being connect using serial ports with motion controller, settable baud rate, and serial ports connection is voluntarily enumerated,
The movement for controlling electric rotary table enables a device to realize 360 ° of measuring targets measurements；
Image processing module: handling the laser deforming stripe of shooting, obtains face shape information at striped, includes Airy
The main spot center extraction of light beam, is converted according between camera parameter image space coordinate system and world coordinate system, world coordinate system with to
Survey conversion and point cloud data filtering processing between body surface coordinate；
Triangle meshes module: carrying out trigonometric ratio using three dimensional point cloud of the Delaunay Triangulation Algorithm to measurement,
Obtain the triangle gridding of characterization body surface；
File and display module: for the ease of exchanging with other three-dimensional modelings or machining software and being carried out at processing to data
Reason, software can save point cloud data, use ASCII character stl file format；It, can in measurement process using OpenGL open source library
The curved surface of measurement is directly shown on interface as a result, convenient for observation and verifying.
By the above-mentioned description of this invention it is found that compared with prior art, the invention has the following beneficial effects:
The present invention is using one-dimensional Beams as illuminating bundle, and laser beam width remains unchanged in communication process
And diffraction limit can be reached, it overcomes line laser Gaussian beam in the prior art and increases as propagation light beam constantly dissipates width
Defect, while zoom lens and laser beam plane constitute 45° angle, so as to constitute Scheimpflug condition, so that surveying
During amount when Object Depth changes, Measurement Resolution is able to maintain constant with precision.Generate the side of one-dimensional Beams
Formula is simple, only need to tilt plano-convex cylindrical lens, without increasing any additional component, is easily modified existing equipment realization, has
Help promote the application of the technology.
In addition, imaging moiety shoots laser beam deformation pattern using zoom lens, it can be according to actual determinand body
Size adjusting lens focus adjusts the measurement range of device, and host computer is provided demarcating module, realized using Zhang Zhengyou calibration method,
The camera parameter after adjusting camera lens is calculated by shooting the scaling board image that several put at random, is convenient to measure various sizes of
Object.Simultaneously because filtering out interference of stray light using narrow band filter, the measurement noise when main spot center of light beam is improved
The precision of extraction.
Those skilled in the art are supplied to the purpose described to the description of the various embodiments of the application above.It is not
It is intended to exhaustion or be not intended to the application is limited to single disclosed embodiment.As described above, the application's is various
Substitution and variation will be apparent for above-mentioned technology one of ordinary skill in the art.Therefore, although specifically begging for
Some alternative embodiments are discussed, but other embodiment will be apparent or those skilled in the art are opposite
It is easy to obtain.The application is intended to include all substitutions, modification and the variation of the application discussed herein, and falls in
Other embodiment in the spirit and scope of above-mentioned application.
Each embodiment in this specification is described in a progressive manner, same and similar between each embodiment
Part may refer to each other, what each embodiment stressed is the difference with other embodiments.
Although depicting the application by embodiment, it will be appreciated by the skilled addressee that there are many deformations by the application
With variation without departing from spirit herein, it is desirable to which the attached claims include these deformations and change without departing from the application
Spirit.
Claims (5)
1. a kind of method based on one-dimensional Beams measurement 3 d shape, which is characterized in that be based on one-dimensional Beams
Measurement 3 d shape device include pedestal, lighting module, electric rotary table, image-forming module, motion controller, host computer, to
Survey object, scaling board and power module, in which:
The lighting module includes semiconductor laser and cylindrical mirror, the plane of the cylindrical mirror and the optical axis of semiconductor laser
Predetermined angle is constituted, cubic polynomial can be fitted to before the laser wave after cylindrical mirror；The matched curve of cubic polynomial can
To be formulated are as follows:
Wherein,Indicate ordinate,、、Indicate fitting coefficient,Indicate abscissa；
The electric rotary table is controlled by the motion controller, drives the object under test rotation with default step angle；
The image-forming module includes the camera being sequentially connected, adapter, zoom lens and optical filter, and the camera is for acquiring institute
The deformation laser beam image on object under test surface is stated, and is connected with the host computer；The zoom lens and laser beam are flat
Face constitutes 45° angle；
The scaling board is used to obtain image space coordinate system and world coordinate system in the image-forming module by Zhang Zhengyou calibration method
Between transformational relation；The host computer includes:
Image capture module, the emerging region parameter of sense and time for exposure for adjusting camera, so that the camera single exposure is
Laser stripe deformation pattern can be acquired；
Demarcating module is made for using the position of mesh point in the grid image for extracting preset quantity, and by the mesh point of extraction
For as the known location point in coordinate system, in conjunction with the grid position in real world coordinate system, using Zhang Zhengyou calibration method by object
The inside and outside parameter of image point position relationship calculating camera；
Motion-control module for being connected with the motion controller by serial ports, and settable baud rate and is voluntarily enumerated
Serial ports connection, to control the electric rotary table movement；
Image processing module, for handling the laser deforming stripe of shooting, to obtain shape information in face at striped；
Triangle meshes module obtains for carrying out trigonometric ratio to the three dimensional point cloud of measurement and characterizes the determinand body surface
The triangle gridding in face；
File and display module, for using ASCII character stl file format to save point cloud data and showing measurement on interface
Curved surface result；Based on one-dimensional Beams measurement 3 d shape method include:
It is calibrated using the position that standard cylinder compares bright module and electric rotary table, to ensure that laser plane passes through electronic rotation
The axle center of turntable；
The inside and outside parameter of camera in the lighting module is demarcated using scaling board；
The emerging region parameter of sense for adjusting the camera by host computer and time for exposure, so that the camera single exposure can be adopted
Collect laser stripe deformation pattern；
The host computer is connected by serial ports with motion controller, and baud rate is arranged and voluntarily enumerates serial ports connection, with control
Make the electric rotary table movement；
The host computer sends rotation angle to the motion controller after obtaining the face shape information at current angular, and waits institute
It states motion controller and returns to the signal that electric rotary table rotation terminates, shooting image carries out processing until the electric rotary table revolves
Turn 360 °, to have handled object under test overall picture；It is calibrated using the position that standard cylinder compares bright module and electric rotary table
Include:
Standard cylinder is placed on turntable, laser irradiation striped on cylinder is observed, mobile cylinder makes striped and the mark
The side of director circle column is overlapped, and guarantees that laser plane is vertical with the end face of electric rotary table；
Scale reading of the laser plane on the electric rotary table is obtained, and adjust laser to make 180 ° of front and back difference of reading；Make
Include: with the inside and outside parameter that scaling board demarcates camera in the lighting module
Laser is closed, puts scaling board at random, and observes the scaling board image of the camera shooting；
When scaling board image is entirely located in imaging region, shooting image is saved；
Repeat the above steps preset times, and extracts the grid angle point information of each width scaling board image, according to known grid
Size calculates the inside and outside parameter of the camera using Zhang Zhengyou calibration method；
When saving last two width figure, laser is opened, shoots the laser stripe on scaling board；
The intersection point of laser plane and grid is calculated, laser plane position in world coordinate system is obtained；
The camera and laser plane parameter that calibration obtains are saved in host computer, for converting face shape information for striped deformation.
2. the method according to claim 1 based on one-dimensional Beams measurement 3 d shape, which is characterized in that described
It include stepper motor in electric rotary table, the motion controller includes single-chip microcontroller and stepper motor driver, the single-chip microcontroller
It is connected with the host computer by serial ports, the stepper motor driver is connected with the stepper motor.
3. the method according to claim 1 based on one-dimensional Beams measurement 3 d shape, which is characterized in that whenever
The electric rotary table rotates a step, and the image-forming module acquires a width laser beam image.
4. the method according to claim 1 based on one-dimensional Beams measurement 3 d shape, which is characterized in that described
The fast axis direction angle of divergence of semiconductor laser is, the slow-axis direction angle of divergence is。
5. the method according to claim 1 based on one-dimensional Beams measurement 3 d shape, which is characterized in that described
Object under test is made of non-transparent material and surface is unpolished.
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| CN109324056B (en) * | 2018-08-29 | 2021-04-06 | 西安理工大学 | Sewing thread trace measuring method based on machine vision |
| CN109470148A (en) * | 2018-12-07 | 2019-03-15 | 哈尔滨工业大学 | Rotating cylindrical surface mirror high resolution stereo visual system and measurement method |
| CN109714535B (en) * | 2019-01-15 | 2020-12-22 | 南京信息工程大学 | Automatic focusing machine vision measuring device and method based on chromatic aberration |
| CN112611338A (en) * | 2020-12-14 | 2021-04-06 | 航天智造（上海）科技有限责任公司 | Large depth-of-field laser contourgraph based on shift lens |
| CN113639761B (en) * | 2021-08-25 | 2023-11-10 | 吉林大学 | Two-dimensional translation and rotation displacement and speed synchronous non-contact measurement method using black-and-white grid pattern code |
| TWI787081B (en) * | 2022-02-11 | 2022-12-11 | 南臺學校財團法人南臺科技大學 | Portable three-dimensional measuring device |
| CN115690226B (en) * | 2022-10-27 | 2024-02-13 | 合肥中科君达视界技术股份有限公司 | Large-view-field 3D contour measuring instrument calibration method based on Scheimpplug law |
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