CN106595523A - Portable three-dimensional morphology measurement system and portable three-dimensional morphology measurement system based on smart phone - Google Patents
Portable three-dimensional morphology measurement system and portable three-dimensional morphology measurement system based on smart phone Download PDFInfo
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- CN106595523A CN106595523A CN201611206846.6A CN201611206846A CN106595523A CN 106595523 A CN106595523 A CN 106595523A CN 201611206846 A CN201611206846 A CN 201611206846A CN 106595523 A CN106595523 A CN 106595523A
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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
- G01B11/2433—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures for measuring outlines by shadow casting
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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
- G01B11/2441—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures using interferometry
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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
- G01B11/254—Projection of a pattern, viewing through a pattern, e.g. moiré
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- Engineering & Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a portable three-dimensional morphology measurement system and a portable three-dimensional morphology measurement system based on a smart phone. The system comprises a miniature projection module, the smart phone and a stripe image data processing APP system. According to the system and the method of the invention, an original camera is replaced by the smart phone for realizing a photographing function of the camera and a data processing function of a computer, thereby totally eliminating the computer and the camera. Not only are system size reduction and system cost reduction realized, but also popularization of three-dimensional morphology measurement technology is realized, thereby realizing high portability and high real-time performance of three-dimensional morphology measurement. Through a stripe projection method, the programmable smart phone is used as a core. The miniature projection module is external equipment or internal integrated equipment. The image data processing APP system is utilized for performing data processing. The portable three-dimensional morphology measurement system with advantages of high precision and noncontact measurement is realized.
Description
Technical field
The invention belongs to three-dimensional measurement field of engineering technology, more particularly to a kind of Portable three-dimensional shape based on smart mobile phone
Looks measuring system and method,
Background technology
In daily life, particularly in industrial production, it is often necessary to carry out three-dimensional appearance (face shape) survey to manufacturing product
Amount, obtain its accurate three-dimensional data information, due to the wilderness demand of productive life, and its noncontact, high speed, high precision,
High degree of automation, is easy to the features such as measuring in real time, optical triangle method technology to have become the optical main research side of information
One of to, also widely it is employed for the measuring three-dimensional morphology of complex object.With technology development and the common people in daily life
In demand growth to object dimensional topographic data, some measuring three-dimensional morphology technologies come into commercial stage, but are mostly
Can not be popularized by masses as the measuring instrument of specialty, and need to be calculated by computer and data analysis, and into
Ben Taigao, is not suitable for popular portable type measuring.Kinect Xbox such as Microsoft's exploitation can be with independent trails object
Movement locus, but can not accurately recover each moment object appearance information；The Autodesk 123D Catch of Adobe exploitations
The Rendor developed with newly established enterprise Replica Labs can be the APP for directly running on mobile phone, panel computer, and it leads to
Crossing carries out the shooting of multi-angle to object and data is passed to into high in the clouds to rebuild the threedimensional model of object, and it can not realize unit
Operation.
In sum, current measuring three-dimensional morphology technology has that cost is too high, is not suitable for popular portable survey
Amount, it is impossible to the problems such as realizing single-set operation.
The content of the invention
It is an object of the invention to provide a kind of Portable three-dimensional shape measurement system and method based on smart mobile phone, purport
Have that cost is too high current measuring three-dimensional morphology technology is solved, be not suitable for popular portable type measuring, it is impossible to realize
The problem of single-set operation.
The present invention is achieved in that a kind of Portable three-dimensional shape measurement system based on smart mobile phone, described to be based on
The Portable three-dimensional shape measurement system of smart mobile phone includes：
Minitype projection module, for grating fringe figure and fringe period code pattern for needed for projection automatically to testee
Surface, rear end calculating acquisition is corresponding to be blocked phase place and carries out phase unwrapping；Minitype projection module be integrated in mobile phone shell with
Smart mobile phone combination connection or it is stand-alone integrated be a pluggable part and smart mobile phone carries out wired connection；
Smart mobile phone, for shooting deforming stripe image, obtains the raw image data that body surface is highly distributed；Pass through
Mobile phone and system are demarcated, obtain camera lens intrinsic parameter and space outside parameter；Calculated, processed to obtaining data,
Finally recover, store and show object dimensional topographic data；
Stripe image data processes APP systems, for being calculated, being processed to obtaining view data, calls and has demarcated
Data recovery, store and show three-dimensional appearance data.
Further, the smart mobile phone carries camera, direct access deforming stripe image.
Another object of the present invention is to provide a kind of Portable three-dimensional shape measurement system based on smart mobile phone
Portable three-dimensional topography measurement method, the Portable three-dimensional topography measurement method using based on smart mobile phone portable three
Dimension shape measurement system measuring targets are measured, and obtain the topographic data of object under test.
Further, the Portable three-dimensional topography measurement method is comprised the following steps：
Step one, is demarcated using two-dimentional target to mobile phone camera；
Step 2, control minitype projection module projects grating fringe figure and fringe period code pattern automatically；
Step 3, control smart mobile phone shoots deforming stripe figure, calculates, recovers, stores and show three-dimensional appearance data.
Further, the bar graph is phase shifted sinusoidal bar graph and gray encoding figure, and by programming Control, it broadcasts automatically
Put and project；When a width sine streak figure projects body surface, the deforming stripe obtained by smart mobile phone is expressed as：
I (x, y)=a (x, y)+b (x, y) cos [φ (x, y)]；
Wherein a (x, y) is background light intensity, and b (x, y) is light field modulate intensity, and φ (x, y) is the phase place point for modulating light field
Cloth, characterizes the deformation of striped, with the corresponding relation that object height h (x, y) has determination；Sine streak is equal in a cycle
Even mobile N (N >=3) is secondary, and the 1/N in its cycle is moved every time, and the phase place of deforming stripe is also correspondingly moved 2 π/N every time, by
Imaging device obtain N frame bar graphs be：
In(x, y)=a (x, y)+b (x, y) cos [the π n/N of φ (x, y)+2] n=1,2 ..., N；
Using the mode that phase place is solved in optical interference measurement, φ (x, y) is just calculated：
The phase (x, y) for solving (- π, π] in, it is the phase place being truncated, and carries out phase unwrapping and obtains continuous phaseObject height distribution could be recovered.
Further, assist to carry out phase unwrapping with the complementary Gray code of projection；The extra Gray code bar graph of projection is to tested
Thing surface, it is ensured that Gray code codeword width is identical with sinusoidal cycles, binaryzation coding is carried out by Gray code to deforming stripe figure,
Again corresponding phase level time found out by decoding during phase unwrapping, carry out phase unwrapping；After obtaining continuous phase, recycle and demarcate number
According to three-dimensional appearance is recovered, data storage will be rebuild and including on mobile phone.
Further, using smart mobile phone come the data processing method of computing：After into mobile phone A PP software main interface, APP
It is stand-by that software can read first the data demarcated, and then can select " taking pictures " and " existing stripe pattern is chosen from picture library "
Two kinds of mode of operations；If choosing " existing stripe pattern is chosen from picture library " pattern, picture library, modified strip needed for choosing can be entered
Line figure；If " taking pictures " pattern of selection, interface of taking pictures can be entered, the deforming stripe of measurement body surface needed for shooting obtains new
Deforming stripe figure；After choosing or having shot deforming stripe figure, image data can be converted to array number by APP softwares first
According to picture array being calculated using phase shift algorithm and phase-unwrapping algorithm be processed into phase array afterwards, finally using prior
Phase array is converted into 3 d shape array by the nominal data of reading, is stored in mobile phone.
The Portable three-dimensional shape measurement system based on smart mobile phone and method that the present invention is provided, are replaced with smart mobile phone
Instead of the data processing work of the shoot function of front video camera and computer, has been completely free of computer and video camera, not only will just
Take formula three-dimensional measurement instrument size class and be not reduced to hand held from portable, hand-held, while the mobile phone that everybody is had is utilized
Get up, make the cost of system from the original thousands of popular popularizations for being reduced in hundreds of unit, making measuring three-dimensional morphology technology
Become possibility, so as to realize portability and the real time implementation of measuring three-dimensional morphology.By fringe projection method, using programmable intelligence
Used as core, minitype projection module is external equipment or is internally integrated equipment energy mobile phone, is entered using image real time transfer APP systems
Row data processing, realizes that a precision reaches submillimeter magnitude, fully meets public recreation demand, non-contacting Portable three-dimensional
Shape measurement system.
Present invention smart mobile phone instead of deforming stripe in conventional three-dimensional measuring instrument and shoot and the big mould of data processing two
Block so that three-dimensional measurement becomes simple, quick as Taking Photographic, drastically increases the portable degree of device；To clap
Take the photograph picture, processing data and storage and display data whole process is written as algorithm, in being encapsulated into an application program, because
The powerful portability of the popularization and application program of smart mobile phone so that it is wide that this device is suitable for crowd, it is easy to promotes；Use
Mini projecting component or system carry out fringe projection, on the premise of projected fringe quality is ensured, also further ensure device
Portability.
Description of the drawings
Fig. 1 is the Portable three-dimensional shape measurement system structural representation based on smart mobile phone provided in an embodiment of the present invention
Figure；
In figure：1st, minitype projection module；2nd, smart mobile phone；3rd, stripe image data processes APP systems.
Fig. 2 is the Portable three-dimensional topography measurement method flow diagram based on smart mobile phone provided in an embodiment of the present invention.
Fig. 3 is the Portable three-dimensional measuring system measuring principle figure based on smart mobile phone provided in an embodiment of the present invention.
Fig. 4 is that the Portable three-dimensional measuring system physical object simulating based on smart mobile phone provided in an embodiment of the present invention is illustrated
Figure.
Fig. 5 is the APP software workflow figures in smart mobile phone provided in an embodiment of the present invention.
Specific embodiment
In order that the objects, technical solutions and advantages of the present invention become more apparent, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that specific embodiment described herein is not used to only to explain the present invention
Limit the present invention.
The application principle of the present invention is explained in detail below in conjunction with the accompanying drawings.
As shown in figure 1, the Portable three-dimensional shape measurement system based on smart mobile phone provided in an embodiment of the present invention includes：
Minitype projection module 1：Its function for needed for automatically projection grating fringe figure and fringe period code pattern to tested
Body surface, calculates to obtain for rear end and corresponding block phase place and carry out phase unwrapping.
Minitype projection module 1 can be programmable digital projector；Can also be with light source Jing optical projection systems directly to grating
Template is projected.Minitype projection module can be integrated in mobile phone shell and combine connection with smart mobile phone, also can be by its independent sets
Become a pluggable part carries out wired connection with smart mobile phone.
Smart mobile phone 2：To shoot deforming stripe image, the raw image data that body surface is highly distributed is obtained；It is logical
Cross and mobile phone and system demarcated, obtain camera lens intrinsic parameter and space outside parameter, for three-dimensional appearance reconstruct necessity is provided
Parameter；Calculated, processed to obtaining data, finally recovered, stored and shown object dimensional topographic data.
The smart mobile phone 2 has independent application programming ability, and all carries camera, is easy to direct access to deform
Stripe pattern.
Stripe image data processes APP systems 3：Calculated, processed to obtaining view data, called existing nominal data
Recover, store and show three-dimensional appearance data.
As shown in Fig. 2 the Portable three-dimensional topography measurement method based on smart mobile phone provided in an embodiment of the present invention is utilized
Measured based on the Portable three-dimensional shape measurement system measuring targets of smart mobile phone, and obtain the pattern of object under test
(scene) data, wherein the method is comprised the following steps：
S101：Mobile phone camera is demarcated using two-dimentional target；
S102：Control minitype projection module projects grating fringe figure and fringe period code pattern automatically；
S103：Control mobile phone shoots deforming stripe figure, calculates, recovers, stores and show three-dimensional appearance data.
Step S101 is specially：Mobile phone camera is demarcated using the scaling method of Zhang Zhengyou, obtains mobile phone
The inside and outside parameter of camera, so as to provide call parameter for three-dimensional reconstruction.
Step S102 is specially：Required grating fringe perspective view and fringe period code pattern are stored in projecting apparatus,
Projecting apparatus is programmed, its automatic projection is controlled and is stored in picture.
Step S103 is specially：In order to preferably manipulate based on the three-dimension measuring system of smart mobile phone, while in order to
The computing independence of system is realized, departs from dependence of the processing data to computer, control mobile phone is shot and fringe projection measurement
Principle is write as algorithm, in being encapsulated into an application program, realizes that mobile phone, from bar graph is shot to processing data, is finally stored and shown
Show the complete procedure of three-dimensional appearance data.
In present example, Fig. 3, this mainly has two big modules based on the Portable three-dimensional measuring system of smart mobile phone：
Smart mobile phone camera module and minitype projection module, two big modules pass through the embedded connection of mobile phone shell.In minitype projection module
Written into required bar graph, the bar graph of embodiment of the present invention projection is phase shifted sinusoidal bar graph and gray encoding figure, can be led to
It plays and projects automatically to cross programming Control.When a width sine streak figure projects body surface, the deformation obtained by mobile phone
Striped can be expressed as：
I (x, y)=a (x, y)+b (x, y) cos [φ (x, y)] (1)
Wherein a (x, y) is background light intensity, and b (x, y) is light field modulate intensity, and φ (x, y) is the phase place point for modulating light field
Cloth, characterizes the deformation of striped, with the corresponding relation that object height h (x, y) has determination.In order to obtain body surface height, need
Solve phase distribution φ (x, y).In practical application, the most frequently used solution phase method is that standard N walks phase shift algorithm, i.e., sine
Striped uniform mobile N (N >=3) in a cycle is secondary, and the 1/N in its cycle is moved every time, and the phase place of deforming stripe is every time
Correspondingly by mobile 2 π/N, the N frame bar graphs obtained by imaging device are：
In(x, y)=a (x, y)+b (x, y) cos [the π n/N of φ (x, y)+2] n=1,2 ..., N (2)
Using the mode that phase place is solved in traditional optical interference measurement, φ (x, y) just can be calculated：
The phase (x, y) solved by formula (3) (- π, π] in, it is the phase place being truncated, it is therefore desirable to carry out phase
Launch to obtain continuous phase in positionObject height distribution could be recovered.
Phase unwrapping is the key for recovering correct phase and face shape, in order to ensure the correct expansion of phase place, it is to avoid error
Propagate, present example assists to carry out phase unwrapping using the complementary Gray code of projection.The main thought of the method is that projection is extra
Gray code bar graph to measured object surface, it is ensured that Gray code codeword width is identical with sinusoidal cycles, by Gray code to deformation
Bar graph carries out binaryzation coding, and by decoding corresponding phase level time is found out again during phase unwrapping, carries out phase unwrapping.
After obtaining continuous phase, recycle nominal data to recover three-dimensional appearance, data storage will be rebuild and including in hand
On machine.
In order to realize above step, whole flow chart of data processing is write as algorithm, be encapsulated into an application APP, profit
Whole data handling procedure is run with smart mobile phone.The idiographic flow of smart mobile phone APP software works is being entered referring to Fig. 4
After mobile phone A PP software main interface, it is stand-by that APP softwares can read first the data demarcated, then can select " taking pictures " and " from
Two kinds of mode of operations of the existing stripe pattern of selection in picture library ".If choosing " existing stripe pattern is chosen from picture library " pattern, can
Into picture library, deforming stripe figure needed for choosing；If " taking pictures " pattern of selection, interface of taking pictures can be entered, measurement thing needed for shooting
The deforming stripe in body surface face, obtains new deforming stripe figure.After choosing or having shot deforming stripe figure, APP softwares first can
Image data is converted to into array data, picture array can be calculated using phase shift algorithm and phase-unwrapping algorithm be processed into afterwards
Phase array, is finally converted into 3 d shape array using the prior nominal data read in by phase array, is stored in mobile phone.
One mask model using this measurement device, the three-dimensional data recovered is shown as measurement result, from measurement
As a result as can be seen that the Portable three-dimensional measuring system and method based on smart mobile phone has recovered well the three-dimensional shaped of object
Looks, compared to existing measurement apparatus, the present invention has more portability, and by the work for shooting and calculating two large divisions intelligence has been given
Mobile phone is that excellent basis has been established in the penetration and promotion of three-dimensional measurement instrument completing.
Presently preferred embodiments of the present invention is the foregoing is only, not to limit the present invention, all essences in the present invention
Any modification, equivalent and improvement made within god and principle etc., should be included within the scope of the present invention.
Claims (7)
1. a kind of Portable three-dimensional shape measurement system based on smart mobile phone, it is characterised in that described based on smart mobile phone
Portable three-dimensional shape measurement system includes：
Minitype projection module, for grating fringe figure and fringe period code pattern for needed for projection automatically to measured object body surface
Face, rear end calculating acquisition is corresponding to be blocked phase place and carries out phase unwrapping；Minitype projection module is integrated in mobile phone shell and intelligence
Can cellular phone combination connection or it is stand-alone integrated be a pluggable part and smart mobile phone carries out wired connection；
Smart mobile phone, for shooting deforming stripe image, obtains the raw image data that body surface is highly distributed；By opponent
Machine and system are demarcated, obtain camera lens intrinsic parameter and space outside parameter；Calculated, processed to obtaining data, finally
Recover, store and show object dimensional topographic data；
Stripe image data processes APP systems, for being calculated, being processed to obtaining view data, calls existing nominal data
Recover, store and show three-dimensional appearance data.
2. the Portable three-dimensional shape measurement system of smart mobile phone is based on as claimed in claim 1, it is characterised in that the intelligence
Energy mobile phone carries camera, direct access deforming stripe image, and can carry out APP programming developments.
3. it is a kind of as claimed in claim 1 based on smart mobile phone Portable three-dimensional shape measurement system Portable three-dimensional pattern
Measuring method, it is characterised in that the Portable three-dimensional topography measurement method is using the Portable three-dimensional shape based on smart mobile phone
Looks measuring system measuring targets are measured, and obtain the topographic data of object under test.
4. Portable three-dimensional topography measurement method as claimed in claim 3, it is characterised in that the Portable three-dimensional pattern is surveyed
Amount method is comprised the following steps：
Step one, is demarcated using two-dimentional target to mobile phone camera；
Step 2, control minitype projection module projects grating fringe figure and fringe period code pattern automatically；
Step 3, control smart mobile phone shoots deforming stripe figure, calculates, recovers, stores and show three-dimensional appearance data.
5. Portable three-dimensional topography measurement method as claimed in claim 4, it is characterised in that the bar graph is phase shifted sinusoidal
Bar graph and gray encoding figure, by programming Control, it plays and projects automatically；When a width sine streak figure projects object
Surface, the deforming stripe obtained by smart mobile phone is expressed as：
I (x, y)=a (x, y)+b (x, y) cos [φ (x, y)]；
Wherein a (x, y) be background light intensity, b (x, y) be light field modulate intensity, φ (x, y) be modulate light field phase distribution, table
The deformation of striped is levied, with the corresponding relation that object height h (x, y) has determination；Sine streak is uniform in a cycle
Mobile N (N >=3) is secondary, moves the 1/N in its cycle every time, the phase place of deforming stripe every time also correspondingly by mobile 2 π/N, by being imaged
Equipment obtain N frame bar graphs be：
In(x, y)=a (x, y)+b (x, y) cos [the π n/N of φ (x, y)+2] n=1,2 ..., N；
Using the mode that phase place is solved in optical interference measurement, φ (x, y) is just calculated：
The phase (x, y) for solving (- π, π] in, it is the phase place being truncated, and carries out phase unwrapping and obtains continuous phase(x,
Y), object height distribution could be recovered.
6. Portable three-dimensional topography measurement method as claimed in claim 5, it is characterised in that assisted with the complementary Gray code of projection
Carry out phase unwrapping；The extra Gray code bar graph of projection is to measured object surface, it is ensured that Gray code codeword width and sinusoidal cycles
It is identical, binaryzation coding is carried out to deforming stripe figure by Gray code, again corresponding phase level found out by decoding during phase unwrapping
It is secondary, carry out phase unwrapping；After obtaining continuous phase, recycle nominal data to recover three-dimensional appearance, data storage will be rebuild simultaneously
It is displayed on mobile phone.
7. Portable three-dimensional topography measurement method as claimed in claim 4, it is characterised in that using smart mobile phone come computing
Data processing method：After into mobile phone A PP software main interface, it is stand-by that APP softwares can read first the data demarcated, then
" taking pictures " and " existing stripe pattern is chosen from picture library " two kinds of mode of operations can be selected；If selection " is chosen from picture library
Have stripe pattern " pattern, then can enter picture library, deforming stripe figure needed for choosing；If " taking pictures " pattern of selection, can enter and take pictures
Interface, the deforming stripe of measurement body surface, obtains new deforming stripe figure needed for shooting；Choosing or shooting deforming stripe
After figure, image data can be converted to array data by APP softwares first, can be incited somebody to action using phase shift algorithm and phase-unwrapping algorithm afterwards
Picture array is calculated and is processed into phase array, finally phase array is converted into into 3 d shape using the prior nominal data read in
Array, is stored in mobile phone.
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