CN106643563B - A kind of Table top type wide view-field three-D scanning means and method - Google Patents
A kind of Table top type wide view-field three-D scanning means and method Download PDFInfo
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- CN106643563B CN106643563B CN201611117477.3A CN201611117477A CN106643563B CN 106643563 B CN106643563 B CN 106643563B CN 201611117477 A CN201611117477 A CN 201611117477A CN 106643563 B CN106643563 B CN 106643563B
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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
- G01B11/2518—Projection by scanning of the object
- G01B11/2522—Projection by scanning of the object the position of the object changing and being recorded
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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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- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of Table top type three-dimensional scanner and method, a kind of Table top type wide view-field three-D scanning means is made of multiple groups camera, laser MEMS galvanometer projector and precision rotation platform, and projector is arranged among multiple groups camera, is used for projecting structural optical；Multiple groups camera is symmetrically distributed in projector two sides, wherein symmetrical two cameras are one group.The present invention can cover the 3-D scanning from smaller size smaller to bulky objects, and object is smaller, and measurement accuracy is higher；One-touch scanning may be implemented in this method, obtains 360 degree of relatively good complete models.
Description
Technical field
The invention belongs to field of optical detection, are related to a kind of optical detecting method of three-D profile, especially a kind of big scape
The structural light three-dimensional measurement method of deep, big visual field.
Background technique
3-D scanning reverse-engineering, industrial detection, in terms of have important application, with 3D printing
Universal, 3-D scanning is more extensive in the application of the industries such as reverse engineer, educational training.Has spatial digitizer mainly for work
Professional domains, the scanners of the ordinary consumer towards industries such as vast reverse engineer, 3D printing education such as industry detection are less.
Currently, 3-D scanning generallys use the methods of laser line scanning, white light structure light, stereoscopic vision.Laser line scanning
Development is the most mature, and the measurement depth of field is big, but its low efficiency, splicing precision are low, high to telecontrol equipment required precision, at high cost.
White light structure light is high-efficient, but its system calibrating is difficult.Stereovision technique is measurement there are the uncertainty of Stereo matching
Precision is low.Phase shift technology of profiling in white light structure light is combined with the method for binocular stereo vision, overcomes phase shift technology of profiling
Demarcate the difficult problem of difficult problem and stereoscopic vision matching.But the method is needed through DLP projection arrangement encoded light, measurement
The depth of field is limited by the projection depth of field；Measure visual field simultaneously is influenced by the triangle relation angle of binocular vision.In actual use,
The size and shape of object is different, and depth of field deficiency leads to problems such as measurement fail.
Summary of the invention
The purpose of the present invention is to overcome the shortcomings of the existing technology, provides a kind of Table top type three-dimensional scanner, the device
The projection depth of field is improved using laser MEMS galvanometer projection arrangement；The change in different field ranges is captured using multiple groups camera
Shape bar graph improves measurement range；The positional relationship between multiple angle models, which is determined, with precision rotation logo is spliced into complete mould
Type.The present invention can cover the 3-D scanning from smaller size smaller to bulky objects, while testee is smaller, and measurement accuracy is got over
It is high；One-touch scanning may be implemented in this method, obtains 360 degree of relatively good complete models.
It is an object of the present invention to provide a kind of big visual field table three-dimensional scanners of Table top type.
Its technical solution are as follows:
It is made of 4 to 10 cameras, 1 laser MEMS galvanometer projection arrangement and precision rotation platform；Laser MEMS galvanometer is thrown
Image device is arranged in centre, is used for projecting structural optical, camera is symmetrically disposed at laser MEMS galvanometer projection arrangement two sides two-by-two, right
The distance between the camera placed is referred to as L1, L2, L3, L4, L5, wherein L1 < L2 < L3 < L4 < L5；Turntable is placed on above-mentioned camera
One or more field ranges in.Turntable is placed in one or more field ranges of above-mentioned camera.
Projection light source of the laser MEMS vibration mirror scanning projection arrangement as 3-D scanning, laser MEMS vibration mirror scanning projection system
System is different from the optical projection systems such as traditional DLP, LCD, and without projection lens, principle is that laser is projected by MEMS vibration mirror reflected
To body surface, MEMS galvanometer does the two dimensional image scanning that two-dimension vibration realizes space, while current-modulation laser light intensity, raw
At the image of grey scale change.Since its light source is laser, Projection Depth range is greatly improved.
Multiple groups camera is respectively used to shoot the structure light in different visual fields with the matching pursuit device depth of field, improves scanner
Measurement range.Since camera cost is more much lower than projection arrangement, equipment cost is many there is no increasing, but survey greatly improved
Measure range and performance.Meanwhile meeting the primary condition of binocular stereo vision, every group of viewing field of camera is overlapped as far as possible, and angle is general
It is 10 ° to 60 °, preferably 15 ° to 45 °.
For device in 3-D scanning, object placement rotates n times on a spinstand, and each rotation alpha degree, N=360/ α times, N are
Integer.Every turn primary, projects one group of grating pattern or linear pattern to body surface with laser MEMS galvanometer, is clapped with above-mentioned camera
The pattern for taking the photograph body surface is transferred to progress three-dimensional point cloud calculating on computer；
Positional relationship between calibrating precise turntable center and camera, according to calibration result, to the three of each angle reconstruction
Dimension module carries out rigid transformation, the complete model slightly spliced；Splicing is optimized with ICP, obtains 360 degree of 3-dimensional digital moulds
Type.
Beneficial effect
The present invention is substantially increased using laser MEMS galvanometer projection arrangement as the projection light source of three-dimensional structure light measurement
Project the depth of field；Using multiple groups camera design, with matching pursuit visual field；3 are improved compared to traditional spatial digitizer surface sweeping range
~5；Various sizes of measurement accuracy is different, and wisp precision is more preferable；It being matched using precise rotating platform, matching robustness is high,
Effect is good, reduces the use difficulty of user；The portable design of turntable reduces the volume and weight of product.
Detailed description of the invention
Fig. 1 laser gaussian beam propagates figure；
Fig. 2 spatial digitizer structure arrangement schematic diagram；
Fig. 3 camera coordinates system and turntable coordinate system schematic diagram；
Wherein: 21 --- laser MEMS galvanometer projection arrangement；22 --- camera；A --- small-size object range；B——
Medium size objects range；C --- large sized object range.
Specific embodiment:
The calculating of scanner measurement range is mainly determined by projection arrangement, matches its measurement range using multiple groups camera, is scanned
Instrument system configuration parameter calculates as follows:
The first step determines that the laser MEMSA galvanometer optical projection system depth of field calculates:
Such as Fig. 1, the gauss laser beam that laser 11 issues is incident on MEMS scanning galvanometer 13 after collimation lens 12
On, it is re-reflected into body surface.The focusing surface of Gaussian beam is in L0Place, the depth of field are Δ L.It can be calculated light beam according to abcd matrix
Spot size after passing through lens, maximum functional distance L2Locate spot size ω2, minimum operating distance L1Locating spot size is
ω1, constrained by following formula 1-1, finally determine L1And L2。
The depth of field of laser MEMS galvanometer projection arrangement can be determined according to measurement range demand.Second step designs camera number
The flux matched projection depth of field
Typical optical imaging system, depth of field calculation formula are
In formula: Δ L --- the camera depth of field；ΔL1、ΔL2--- the preceding depth of field and the rear depth of field of imaging system；δ --- allow
Disperse circular diameter generally takes 2 times of Pixel size；The F number of F --- camera lens；L --- object distance.For example, f=20mm, F=2.0, L
=500mm；7.5 μm of Pixel size, therefore δ=0.015mm.Depth of field Δ L is calculated by 3-2 formulaC1=75mm.
Different camera and camera lens are chosen, if one group of camera depth of field cannot cover projection field depth, while using multiple groups
Camera, so that its field depth matches with the projection depth of field.It is illustrated in figure 2 three groups of camera arragement constructions, three groups of camera difference
Corresponding measurement visual field is A, B, C, and respectively corresponds the testee of different size size.△ L is the projection depth of field and system
The measurement depth of field, relative to traditional structure photoscanner, measurement range is greatly improved.Meanwhile this system compatibility is different size of
Measurement object, simultaneously for A group wisp, measurement accuracy is higher.Optical axis is as shown below between every group of camera, in measurement visual field
Center intersection, angle are generally between 10 degree to 60 degree, and preferably 15 ° to 45 °.
Working method and data processing
The desktop spatial digitizer scanning mode that the present invention designs is as follows, if system includes three groups of cameras:
1, system designs:
Measurement phase unit is selected according to measured object size, such as A group, B group, C group；Every group of camera corresponds to different measurement models
It encloses, i.e. different size measurand.
A) measurement range of laser MEMS galvanometer projection arrangement, i.e. depth bounds are determined according to above-mentioned formula；
B) depth of field for selecting camera, i.e. depth bounds are calculated；
C) according to the method in foregoing invention content, suitable phase unit is selected.
2, turntable is demarcated
As shown below, we are using rotating coordinate system as world coordinate system, and set up an office Pw(xw,yw,zw) take up an official post for testee
It anticipates a bit, point Pθ(xwθ,ywθ,zwθ) it is the corresponding coordinate of P point when turntable is around axis rotated counterclockwise by angle θ, then they meet
Relationship:
P=Rzpθ
Wherein, pw(xw,yw,zw, 1)TAnd pθ(xwθ,ywθ,zwθ,1)TFor Pw(xw,yw,zw) and Pθ(xwθ,ywθ,zwθ) in turntable
Homogeneous coordinates under coordinate system, RzCorresponding spin matrix when rotating about the axis angle, θ for turntable,
It is practical that we rebuild obtained model points coordinate Pc(xc,yc,zc) it is to be sat under camera coordinates system with the world
Mark is lower corresponding points Pw(xw,yw,zw) meet: Pc=RPw+T。
The coordinate transform between camera coordinates and world coordinates can pass through R=R (α, beta, gamma) and T=as available from the above equation
(tx,ty,tz)TIn six parameters describe, α, beta, gamma is respectively around x, y, the Eulerian angles of z-axis rotation, when successively with x, y, z
When rotation is coordinately transformed,
If Pc(xc,yc,zc) and Pw(xw,yw,zw) corresponding homogeneous coordinates are pc(xc,yc,zc, 1) and pw(xw,yw,zw,
1), then pc=Mpw。
Wherein,By in turntable coordinate mooring points cloud to x, the no requirement (NR) of y-axis direction, so can set
γ=0, then transition matrix M can simplify are as follows:
Therefore, we are rebuild with the known point P under obtained camera coordinates systemc(xc,yc,zc) turntable is around the axis inverse time
Needle rotates angle, θ corresponding points Pcθ(xcθ,ycθ,zcθ), they meet:
pc=MRzM-1pcθ \*MERGEFORMAT(3-7)
Wherein pc(xc,yc,zc, 1) and pcθ(xcθ,ycθ,zcθ, 1) and it is Pc(xc,yc,zc) and Pcθ(xcθ,ycθ,zcθ) corresponding
Homogeneous form.
Correct placement turntable position, the turntable center that gridiron pattern scaling board is placed, so that object is in one group of camera
Two picture centres；Calculate coordinate P of the angle point on scaling board under camera coordinates systemc(xc,yc,zc), between ± 60 °,
Every 10 ° of rotation, shoots two scaling board pictures, and calculate its world coordinates.
We obtain a series of p as a result,c(xc,yc,zc, 1) and pcθ(xcθ,ycθ,zcθ, 1), wherein
M is acquired according to above formula.
3, testee is placed on a spinstand, and one circle of scanning that is, after each rotation alpha degree of turntable, static a period of time, is swept
The complete model scanning at an angle of instrument is retouched, altogether progress n times wheel measuring, N=360/ α times (N is integer)；For example, α=45 °,
N=8.
4, according to the turntable center of calibration as a result, using, what is slightly spliced is complete each angle progress rigid transformation
Integral mould；
Rebuild the known point P under obtained camera coordinates systemc(xc,yc,zc) turntable is around α pairs of axis rotated counterclockwise by angle
It should point Pcα(xcα,ycα,zcα), they meet:
pc=MRzM-1pcθ
Wherein pc(xc,yc,zc, 1) and Pcα(xcα,ycα,zcα, 1) and it is Pc(xc,yc,zc) and Pcα(xcα,ycα,zcα) corresponding
Homogeneous form.Matrix M can be obtained by the calibration of step 2 turntable,
RzCorresponding spin matrix when rotating about the axis angle [alpha] for turntable,α is
The rotation angle being manually set in 3 steps.
Therefore, we use Pose=MR to corresponding modelzM-1Matrix of consequence, which is coordinately transformed, can complete a cloud
The thick splicing of model data.
5, accurately spliced with ICP (Iterative Closed Point)；
The above described is only a preferred embodiment of the present invention, be not intended to limit the present invention in any form, though
So the present invention has been disclosed as a preferred embodiment, and however, it is not intended to limit the invention, any technology people for being familiar with this profession
Member, without departing from the scope of the present invention, when the method and technique content using the disclosure above make it is a little more
Equivalent embodiment that is dynamic or being modified to equivalent variations, but anything that does not depart from the technical scheme of the invention content, according to the present invention
Technical spirit any simple modification, equivalent change and modification to the above embodiments, still fall within technical solution of the present invention
In range.
Claims (3)
1. a kind of Table top type wide view-field three-D scanning means, it is characterised in that: by 10 cameras, 1 laser MEMS galvanometer projection
Device and precision rotation platform are constituted；Laser MEMS galvanometer projection arrangement is arranged in centre, is used for projecting structural optical, and camera is right two-by-two
Title is placed on laser MEMS galvanometer projection arrangement two sides, and the distance between symmetrically placed camera is L1, L2, L3, L4, L5,
Middle L1 < L2 < L3 < L4 < L5；Turntable is placed in one or more field ranges of above-mentioned camera；Device is in 3-D scanning, object
Body placement rotates n times on a spinstand, and each rotation alpha degree, N=360/ α times, N are integer；Every turn primary, is shaken with laser MEMS
Mirror projects one group of grating pattern or linear pattern and is transferred to meter with the pattern of above-mentioned camera shooting body surface to body surface
Three-dimensional point cloud calculating is carried out on calculation machine；Positional relationship between calibrating precise turntable center and camera is right according to calibration result
The threedimensional model of each angle reconstruction carries out rigid transformation, the complete model slightly spliced；Splicing is optimized with ICP, is obtained
360 degree of three-dimensional digital models.
2. the scan method based on Table top type wide view-field three-D scanning means described in claim 1, it is characterised in that: its scanner
The projection depth of field is improved using laser MEMS galvanometer projection device structure light in part；It is captured using multiple groups camera different
Deforming stripe figure in field range improves measurement range；Determine the position between multiple angle models with precision rotation logo to close
System, is spliced into complete 360 degree of models for spatial digitizer scanning result.
3. the scan method based on Table top type wide view-field three-D scanning means described in claim 2, which is characterized in that the three-dimensional
The calculating of scanner measurement range is determined by projection arrangement, covers its measurement range, beam scanner system configuration ginseng using multiple groups camera
Number calculates as follows:
The first step determines that the laser MEMS galvanometer optical projection system depth of field calculates:
The gauss laser beam that laser issues is incident on MEMS scanning galvanometer after collimation lens, is re-reflected into object
Surface；The focusing surface of Gaussian beam is in L0Place, the depth of field are Δ L；Light beam is calculated after passing through lens according to abcd matrix
Spot size, maximum functional distance L2Locate spot size ω2, minimum operating distance L1Place's spot size is ω1, pass through following formula 1-
1 constraint, finally determines L1And L2；
According to measurement range demand, the depth of field of laser MEMS galvanometer projection arrangement is determined；
Second step, design camera quantity Matching project the depth of field:
Typical optical imaging system, depth of field calculation formula are
In formula: Δ L --- the camera depth of field；ΔL1--- the preceding depth of field of imaging system；ΔL2--- the rear depth of field of imaging system；
δ --- the disperse circular diameter allowed generally takes 2 times of Pixel size；The F number of F --- camera lens；L --- object distance.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107144236A (en) * | 2017-05-25 | 2017-09-08 | 西安交通大学苏州研究院 | A kind of robot automatic scanner and scan method |
| CN109961463B (en) * | 2017-12-14 | 2021-12-31 | 北京京东尚科信息技术有限公司 | View registration method, system, device and storage medium based on dual quaternion |
| CN109186493B (en) * | 2018-04-17 | 2021-02-19 | 苏州佳世达光电有限公司 | Three-dimensional scanning system |
| CN109242873B (en) * | 2018-08-22 | 2022-10-11 | 浙江大学 | Method for carrying out 360-degree real-time three-dimensional reconstruction on object based on consumption-level color depth camera |
| CN110609386B (en) * | 2019-08-16 | 2020-10-13 | 浙江大学 | Design method and application of small-F-number large-depth-of-field lens based on superlens |
| CN111750805B (en) * | 2020-07-06 | 2021-12-10 | 山东大学 | Three-dimensional measuring device and method based on binocular camera imaging and structured light technology |
| CN116571875B (en) * | 2023-07-13 | 2023-11-03 | 西南交通大学 | Laser processing and detecting integrated equipment and method based on active projection technology |
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Denomination of invention: A desktop large field of view 3D scanning device and method Effective date of registration: 20210121 Granted publication date: 20190312 Pledgee: Pudong Development Bank of Shanghai Limited by Share Ltd. Xi'an branch Pledgor: XI'AN CHISHINE OPTOELECTRONICS TECHNOLOGY Co.,Ltd. Registration number: Y2021610000019 |