CN106767535B - Contactless duplex measurement instrument and its measurement method - Google Patents
Contactless duplex measurement instrument and its measurement method Download PDFInfo
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- CN106767535B CN106767535B CN201710019562.4A CN201710019562A CN106767535B CN 106767535 B CN106767535 B CN 106767535B CN 201710019562 A CN201710019562 A CN 201710019562A CN 106767535 B CN106767535 B CN 106767535B
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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
- G01B11/2527—Projection by scanning of the object with phase change by in-plane movement of the patern
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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)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
Invention is related to measuring the device and method field of object, especially disclose a kind of contactless duplex measurement instrument, it is characterized by comprising for disposing the tri- axis mobile platform (1) of X-Y-Z of object under test, image capture module (2) above tri- axis mobile platform (1) of X-Y-Z, the external light source (3) of illumination is provided for image capture module (2) and tri- axis mobile platform (1) of X-Y-Z, positioned at the peripheral projection module (4) towards object under test of image capture module (2), integrated manipulator (5) and CP(6), the integrated manipulator (5) connects tri- axis mobile platform (1) of X-Y-Z, image capture module (2), external light source (3), projection module (4) and CP(6).The inventive structure is simple, and the accuracy of measurement is high, is suitable for object two dimension, three-dimensional measurement.
Description
Technical field
The present invention relates to the device and method fields of measurement object, more particularly, to a kind of contactless duplex measurement instrument and
Its measurement method.
Background technique
Three-dimensional contour outline measuring set based on area-structure light is succeeded application in field of precision measurement, however current
The objective table of the contourgraph based on area-structure light be opaque black, the apparent height letter of testee can only be obtained
Breath, can not accurately obtain the outer profile of testee, therefore, many sizes of testee can not measure, nothing
Method meets product in modern precision manufacturing industry and increasingly complicates, and measures the demand more refined.If by objective table optics
Glass substitution, then the projection information of area-structure light can partially penetrate glass objective table, and small part mirror-reflection, this is to three-dimensionalreconstruction
Noise is introduced, so that three-dimensional measurement precision reduces.Moreover, existing measuring instrument exists, structure is complicated, and manufacturing cost height etc. lacks
Point.Particularly, existing measuring instrument can only obtain the surface tri-dimensional profile data of testee, can not meet the needs of two-dimemsional number
It is analyzed and is handled under the same coordinate system according to being obtained simultaneously with three-dimensional data and needing to merge two dimension, three-dimensional data
Requirement.
Summary of the invention
The present invention for overcome the deficiencies in the prior art, provides a kind of measuring accuracy height, structure is simple, is suitable for object two
Dimension, the contactless duplex measurement instrument of three-dimensional measurement and its measurement method.
To achieve the goals above, invention uses following technical scheme: a kind of contactless duplex measurement instrument, feature exist
In: including being located above tri- axis mobile platform (1) of X-Y-Z for disposing the tri- axis mobile platform (1) of X-Y-Z of object under test
Image capture module (2), is image capture module (2) and tri- axis mobile platform (1) of X-Y-Z provides the external light source (3) of illumination,
Positioned at the peripheral projection module (4) towards object under test of image capture module (2), integrated manipulator (5) and CP (6), the collection
At controller (5) connection tri- axis mobile platform (1) of X-Y-Z, image capture module (2), external light source (3), projection module (4) and
CP(6).The configuration of the present invention is simple, design rationally, can carry out three-D profile and bidimensional image accurate measurement simultaneously, easily operated
And control.Particularly with structure is complicated, the accurate testee of curved surface multiplicity can by the fusion measurement of two dimension, three-dimensional
The one-stop measurement result of complicated size is obtained, has the features such as high-precision, high efficiency.
Further, described image acquisition module (2) include the industrial camera (21) set gradually from the top down, first thoroughly
Mirror mould group (22), diaphragm (23) and the second lens module (24)；The industrial camera (21) is color camera or black and white camera.
The design meets the requirement of doubly telecentric parallel light path simultaneously, is able to carry out high-acruracy survey.
Further, the projection module (4) includes two groups of projection lists for being symmetrically set in image capture module (2) two sides
Member；Each projecting cell includes first light source (41) and the lens module (42) below first light source (41), first light source
(41) integrated manipulator (5) are connected；The external light source (3) includes surface source of light (31) and parallel backlight (32), surface light
Source (31) is installed on immediately below image capture module (2), and with image capture module (2) optical axis coincidence, surface source of light is annular nothing
Shadow light source can emit white light, can also emit red, green, blue monochromatic light, and light emitting region and luminescent color can pass through
Integrated manipulator (5) controls to adjust, and collimated backlight source (32) connect below tri- axis mobile platform (1) of X-Y-Z and Image Acquisition mould
Block (2), surface source of light (31) optical axis coincidence, the collimated backlight source (32) and surface source of light (31) are all connected with integrated manipulator (5).
The module can effectively solve the problem that the optical fiber occlusion issue of unilateral projection module by the symmetric design of projection module, obtain more
Comprehensive data.Can be improved measurement efficiency by the centralized control of light source, projection and X-Y-Z mobile platform, save manufacture at
This.Simultaneously, the surface source of light can complete the irradiation control of different directions and different colours, to obtain testee surface more
The characteristics of image of horn of plenty completes high-precision measurement.
Further, the tri- axis mobile platform (1) of X-Y-Z includes the tunable optical glass loading for disposing object under test
Plane (12) and the three axis mobile platform sheets that tunable optical glass loading plane (12) can be driven to move along X-axis, Y-axis or Z-direction
Body (11), the three axis mobile platform ontology (11) and tunable optical glass loading plane (12) are all connected with integrated manipulator (5).
In addition, the invention also discloses a kind of measurement method for contactless duplex measurement instrument, including three-dimensional measurement
Process and two-dimensional measurement process:
The three-dimensional measurement process is as follows:
(a) testee is placed on tri- axis mobile platform (1) of X-Y-Z；
(b) PC (6) sends task to integrated manipulator (5), after integrated manipulator (5) receives task, controls projective module
Block (4) is to testee irradiating structure light；
(c) integrated manipulator (5) controls the image of image capture module (2) shooting testee again, and in integrated control
Device is stored in (5)；
(d) step (a)-(c) is repeated, required all images are obtained；
(e) integrated manipulator (5) is handled all images using decoding algorithm, obtains testee surface three dimension wheel
Wide point cloud data；
(f) point cloud data is transmitted to the client software of PC by integrated manipulator (5)；
The two-dimensional measurement process: integrated manipulator (5) controls external light source (3) and irradiates testee, then integrates control
The two dimensional image of device (5) processed triggering image capture module (2) shooting testee, last integrated manipulator (5) is by image transmitting
To PC (6).
Further, the three-dimensional measurement process further includes step (g): when the whole that can not disposably obtain tested region
When three-D profile information, integrated manipulator (5) control tri- axis mobile platform (1) of X-Y-Z is moved along X-axis, Y-axis or Z axis, and then band
Dynamic testee is mobile relative to optical axis, repeats step (a)-(f), makes PC (6) that can obtain required all point cloud datas.
Further, in the step (b), the projection module (4) to the structure light that testee irradiates include black and white
Striped coding and sinusoidal coding；
In the step (b), in the structure light and step (c) that the projection module (4) is irradiated to testee, the figure
As the detailed process of the image of acquisition module (2) shooting testee are as follows:
(A) projection module (4) is to testee projection black and white strip coding, the position that mobile black and white strip encodes,
Image capture module (2) shoots each black and white strip and encodes corresponding image；
(B) projection module (4) is to testee reprojection sinusoidal coding, and moves the position of sinusoidal coding, image
Acquisition module (2) shoots the corresponding image of each sinusoidal coding again.
Further, step (e) integrated manipulator (5) is handled all images using decoding algorithm, is obtained
The process of testee surface tri-dimensional profile point cloud data is as follows:
(C) step (A) image obtained is decoded, the point cloud data of testee surface profile is obtained, by sentencing
The normal vector of disconnected point cloud data obtains the coordinate information of testee apparent height mutation；
(D) using the coordinate of generation height mutation as line of demarcation, the image of step (B) is divided into different blocks, utilizes phase
Shifting method decodes to obtain the profile of each block.
Further, after testee is placed on tri- axis mobile platform (1) of X-Y-Z by the step (a)；When needs obtain
When taking testee three-dimensional image information, the tunable optical glass that integrated manipulator (5) controls tri- axis mobile platform (1) of X-Y-Z is carried
Object plane (11) is in impermeable optical mode；And when needing to obtain testee two-dimensional image information, integrated manipulator (5) control
The tunable optical glass loading plane (12) of tri- axis mobile platform (1) of X-Y-Z is in light transmission mode.
Principle based on area-structure light passes through the reference using tunable optical glass, when so that doing projection three-dimensional measurement, loading
Platform be it is nontransparent, when needing to obtain testee two dimension outer profile information, being able to use keeps tunable optical objective table transparent；Using
Bilateral telecentric beam path, so that the depth of parallelism of light greatly enhances, the fusion of two dimension, three-dimensional data can significantly improve three-D profile
Measurement accuracy, it is particularly, equal when due to previous simple tripleplane's coding and decoding methods progress three-dimensionalreconstruction by a certain kind
Have the defects that the method different degrees of, the present invention proposes a kind of combination black and white strip coding and sine, it will by normal direction information
Image carries out accurate subregion, therefore can be in conjunction with various methods a little, and then carries out precision three-dimensional weight to testee surface
Structure and measurement are possibly realized.
In conclusion inventive structure is simple, the accuracy of measurement is high, is suitable for object two dimension, three-dimensional measurement.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of inventive embodiments 1；
Fig. 2 is the image capture module structural schematic diagram of the embodiment of the present invention 1；
Fig. 3 is the projection module structural schematic diagram of the embodiment of the present invention 1；
Fig. 4 is the outer light source structural schematic diagram of the embodiment of the present invention 1；
Fig. 5 is the tri- axis mobile platform structural schematic diagram of X-Y-Z of the embodiment of the present invention 1；
Fig. 6 is the black and white strip coding schematic diagram of the embodiment of the present invention 2；
Fig. 7 is the sinusoidal coding schematic diagram of the embodiment of the present invention 2.
Specific embodiment
In order to make those skilled in the art better understand scheme of the invention, below in conjunction with attached in inventive embodiments
Figure, carries out clear, complete description to the technical solution in inventive embodiments.
Embodiment 1
As shown in Figs. 1-5, a kind of contactless duplex measurement instrument, including tri- axis mobile platform 1 of X-Y-Z, Image Acquisition mould
Block 2, external light source 3, projection module 4, integrated manipulator 5 and PC6.
As shown in Figure 1, the tri- axis mobile platform 1 of X-Y-Z is for disposing object under test, image capture module 2 is located at X-
Tri- axis mobile platform of Y-Z, 1 top, and the figure acquisition module 2 is located at the surface of object under test.External light source 3 can be image
Acquisition module 2 and tri- axis mobile platform 1 of X-Y-Z provide illumination, and projection module 4 is located at 2 periphery of image capture module, and tilts court
To object under test, the integrated manipulator 5 connects tri- axis mobile platform 1 of X-Y-Z, image capture module 2, external light source 3, projection
Module 4 and PC6.
As shown in figure 3, described image acquisition module 2 includes industrial camera 21, the first lens set gradually from the top down
Mould group 22, diaphragm 23 and the second lens module 24；Wherein the first lens module 22, the second lens module 24 and the common structure of diaphragm 23
Telecentric lens in pairs, the industrial camera 21 be preferably color camera perhaps its chip of black and white camera can be CCD chip or
COMS chip.
As shown in Fig. 2, the projection module 4 includes two groups of projecting cells for being symmetrically set in 2 two sides of image capture module；And
And two groups of projecting cell structures are identical.Specifically, each projecting cell includes first light source 41 and lens module 42, first light source
41 and lens module 42 constitute unilateral telecentric beam path so that optical axis of the light projected each parallel to lens module 42.Lens
Mould group 42 is located at the lower section of first light source 41, and first light source 41 and lens module 42 are tilted towards object under test, while first
Light source 41 and lens module 42 are respectively positioned on same straight line.First light source 41 connects integrated manipulator 5, is controlled by integrated manipulator 5
Make and determine that the pattern that projection module 4 is projected, the pattern projected are pre-stored in integrated manipulator 5 and can compile
Volume, first light source 41 is combined with the light source control that the projecting cell in integrated manipulator 5 collectively constitutes projection module, can be base
In DMD (digital micromirror elements), the projection theory of LCD (liquid crystal display) or LCoS (liquid crystal on silicon).
As shown in figure 4, the external light source 3 includes surface source of light 31 and parallel backlight 32,32 He of collimated backlight source
Surface source of light 31 is all connected with integrated manipulator 5.The surface source of light 31 is installed on immediately below image capture module 2, is adopted with image
Collect 2 optical axis coincidence of module, surface source of light 31 is annular shadowless light source, can emit white light, can also emit red, green, blue list
Coloured light, and light emitting region and luminescent color can be controlled to adjust by integrated manipulator 5.Source of parallel light 32 is installed on X-Y-Z
The lower section of three axis mobile platform 1, and with image capture module 2,31 optical axis coincidence of surface source of light, can be controlled by integrated manipulator 5
Make its light emission luminance.
As shown in figure 5, the tri- axis mobile platform 1 of X-Y-Z includes that tunable optical glass loading plane 12 and three axis are mobile flat
Playscript with stage directions body 11, for tunable optical glass loading plane 12 for disposing object under test, three axis mobile platform ontologies 11 can drive tunable optical
Glass loading plane 12 is moved along X-axis, Y-axis or Z-direction, and then object under test is driven to move along X-axis, Y-axis or Z-direction
It is dynamic, and existing structure can be used in tri- axis mobile platform 1 of X-Y-Z, and details are not described herein again.The three axis mobile platform ontology 11 and can
Dimming glass loading plane 12 is all connected with integrated manipulator 5.Three axis mobile platform ontologies 11 are driven and are controlled by integrated manipulator 5
It is either opaque can to control 12 light transmission of tunable optical glass loading plane by integrated manipulator 5 for system.
Embodiment 2
A kind of measurement method for contactless duplex measurement instrument, including three-dimensional measurement process and two-dimensional measurement process.
The three-dimensional measurement process is as follows:
(a) testee is placed on tri- axis mobile platform 1 of X-Y-Z.
(b) PC6 sends task to integrated manipulator 5, after integrated manipulator 5 receives task, as needed, control projection
Module 4 is to testee irradiating structure light.
(c) by the synchronizing function in integrated manipulator 5, integrated manipulator 5 controls the shooting of image capture module 2 again and is tied
The image of the testee of structure light irradiation, and captured image is stored into integrated manipulator 5.
(d) step (a)-(c) is repeated, required all images are obtained, is i.e. acquisition a series of images.
(e) data processing unit of integrated manipulator 5 is handled all images using decoding algorithm, obtains measured object
Body surface tri-dimensional profile point cloud data.
(f) point cloud data is transmitted to the client software of PC by integrated manipulator 5.
The case where whole three-D profile information for can not disposably obtain tested region, also adds step (g): collection
Tri- axis mobile platform 1 of X-Y-Z is controlled at controller 5 to move along X-axis, Y-axis or Z axis, and then drives testee relative to optical axis
It is mobile, step (a)-(f) is repeated, PC6 is enable to obtain required all point cloud datas.
The case where for needing to obtain testee two-dimensional image information, two-dimentional measurement process are as follows: integrated manipulator 5 is controlled
External light source 3 processed irradiates testee, and then integrated manipulator 5 triggers the X-Y scheme that image capture module 2 shoots testee
Picture, last integrated manipulator 5 is by the client software of image transmitting to PC6.
In addition, as shown in Figure 6 and Figure 7, in order to further increase the accuracy of measurement, then, in the step (b), institute
State projection module 4 to the structure light that testee irradiates include black and white strip coding and sinusoidal coding；In the step (b), institute
It states in the structure light and step (c) that projection module 4 is irradiated to testee, described image acquisition module 2 shoots testee
The detailed process of image is to carry out in two times:
(A) projection module 4 is schemed to testee projection black and white strip coding, the position of mobile black and white strip coding
Corresponding image is encoded as acquisition module 2 shoots each black and white strip.This process is the projective module in the step (b)
In the structure light and step (c) that block 4 is irradiated to testee, described image acquisition module 2 shoots the of the image of testee
Once-through operation.
(B) projection module 4 is to testee reprojection sinusoidal coding, and the position of mobile sinusoidal coding, image are adopted
Collection module 2 shoots the corresponding image of each sinusoidal coding again.This process is the projection module 4 in the step (b)
In the structure light and step (c) irradiated to testee, described image acquisition module 2 shoots second of the image of testee
Operation.
After step (B), step (e) integrated manipulator 5 is handled all images using decoding algorithm, is obtained
The process of testee surface tri-dimensional profile point cloud data is as follows:
(C) step (A) image obtained is decoded, the point cloud data of testee surface profile is obtained, by sentencing
The normal vector of disconnected point cloud data obtains the coordinate information of testee apparent height mutation；
(D) using the coordinate of generation height mutation as line of demarcation, the image of step (B) is divided into different blocks, utilizes phase
Shifting method decodes to obtain the profile of each block；
In addition, the accuracy in order to guarantee measurement, is convenient for measuring, testee is placed in X-Y-Z by the step (a) simultaneously
After on three axis mobile platforms 1；When needing to obtain testee three-dimensional image information, integrated manipulator 5 controls tri- axis of X-Y-Z
The tunable optical glass loading plane 11 of mobile platform 1 is in impermeable optical mode；And believe when needing to obtain testee two dimensional image
When breath, the tunable optical glass loading plane 12 that integrated manipulator 5 controls tri- axis mobile platform 1 of X-Y-Z is in light transmission mode.
The present invention passes through the application of tunable optical glass, so that device can either keep keeping non-in projection three-dimensional reconstruction process
Pellucidity, overcome the problems, such as transparent objective table can not reflective projection light, while using its light transmission state use collimated backlight
Source obtains accurate two-dimensional silhouette information.Simultaneously by combining black and white strip and the flexible subregion of sine streak to carry out three-dimensional reconstruction
Method, so that three-dimensionalreconstruction can adapt to complicated surface precise measurement.This contactless duplex measurement instrument and its measurement method
Two and three dimensions data abundant can be utilized, the accurate measurement of Various Complex size is carried out, surface texture is also can adapt to and rises
Volt, the testee of contour structure multiplicity greatly improve the feasibility of the complicated measurement in precision manufactureing.
Obviously, described embodiment is only a part of the embodiment invented, instead of all the embodiments.Based on hair
Embodiment in bright, every other implementation obtained by those of ordinary skill in the art without making creative efforts
The range of invention protection all should belong in example.
Claims (2)
1. a kind of measurement method for contactless duplex measurement instrument, including three-dimensional measurement process and two-dimensional measurement process: institute
It is as follows to state three-dimensional measurement process:
(a) testee is placed on tri- axis mobile platform (1) of X-Y-Z；
(b) PC (6) sends task to integrated manipulator (5), after integrated manipulator (5) receives task, controls projection module (4)
To testee irradiating structure light；
(c) integrated manipulator (5) controls the image of image capture module (2) shooting testee again, and in integrated manipulator (5)
In stored；
Step (a)-(c) is repeated, required all images are obtained；
(d) integrated manipulator (5) is handled all images using decoding algorithm, obtains testee surface tri-dimensional profile point
Cloud data；
(e) point cloud data is transmitted to the client software of (6) PC by integrated manipulator (5)；
(f) the two-dimensional measurement process: integrated manipulator (5) controls external light source (3) and irradiates testee, then integrated control
Device (5) triggers the two dimensional image of image capture module (2) shooting testee, and last integrated manipulator (5) arrives image transmitting
PC(6)；
The three-dimensional measurement process further includes step (g): when the whole three-D profile information that can not disposably obtain tested region
When, integrated manipulator (5) control tri- axis mobile platform (1) of X-Y-Z is moved along X-axis, Y-axis or Z axis, and then drives testee phase
It is mobile for optical axis, step (a)-(f) is repeated, makes PC (6) that required all point cloud datas can be obtained；
In the step (b), the projection module (4) to the structure light that testee irradiates includes black and white strip coding and sinusoidal
Coding；
In the step (b), in the structure light and step (c) that the projection module (4) is irradiated to testee,
Described image acquisition module (2) shoots the detailed process of the image of testee are as follows:
(A) projection module (4) is to testee projection black and white strip coding, the position that mobile black and white strip encodes, image
Acquisition module (2) shoots each black and white strip and encodes corresponding image；
(B) projection module (4) is to testee reprojection sinusoidal coding, and moves the position of sinusoidal coding, Image Acquisition
Module (2) shoots the corresponding image of each sinusoidal coding again；
Step (e) integrated manipulator (5) is handled all images using decoding algorithm, obtains testee surface three
The process for tieing up profile point cloud data is as follows:
(C) step (A) image obtained is decoded, the point cloud data of testee surface profile is obtained, by judging a little
The normal vector of cloud data obtains the coordinate information of testee apparent height mutation；
(D) using the coordinate of generation height mutation as line of demarcation, the image of step (B) is divided into different blocks, utilizes phase shift method
Decoding obtains the profile of each block.
2. the measurement method according to claim 1 for contactless duplex measurement instrument, it is characterised in that: the step
(a) after testee being placed on tri- axis mobile platform (1) of X-Y-Z；When needing to obtain testee three-dimensional image information,
The tunable optical glass loading plane (11) of integrated manipulator (5) control tri- axis mobile platform (1) of X-Y-Z is in impermeable optical mode；
And when needing to obtain testee two-dimensional image information, integrated manipulator (5) control tri- axis mobile platform (1) of X-Y-Z can
Dimming glass loading plane (12) is in light transmission mode.
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| CN107272196A (en) * | 2017-08-03 | 2017-10-20 | 苏州天准科技股份有限公司 | A kind of method for weakening the annular optical illumination ghost of telecentric optical system |
| CN107677218A (en) * | 2017-10-13 | 2018-02-09 | 华东师范大学 | Dual camera high speed three-dimensional Information Collecting ＆ Processing device |
| CN107830817A (en) * | 2017-11-10 | 2018-03-23 | 华东师范大学 | Active high speed three-dimensional sighting device based on DMD |
| CN107747915A (en) * | 2017-11-10 | 2018-03-02 | 华东师范大学 | Closed loop 3D vision device based on DMD |
| CN108332684A (en) * | 2018-04-23 | 2018-07-27 | 中国科学院苏州生物医学工程技术研究所 | A kind of measuring three-dimensional profile method based on Structured Illumination microtechnic |
| CN108961379B (en) * | 2018-06-14 | 2023-03-31 | 广东韩丽家居集团股份有限公司 | Method for customizing furniture based on automatic measurement |
| CN111693549B (en) * | 2020-05-14 | 2021-08-20 | 西安电子科技大学 | Method for detecting and classifying defects of mobile phone cover plate glass |
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| JPH0843044A (en) * | 1994-07-26 | 1996-02-16 | Tokai Rika Co Ltd | Measuring apparatus for three dimensional coordinate |
| JPH08110807A (en) * | 1995-09-04 | 1996-04-30 | Omron Corp | Method and device for automatic calibration |
| CN102141525A (en) * | 2011-01-01 | 2011-08-03 | 上海创波光电科技有限公司 | Adjustable lighting detection device for front and back light sources |
| CN102261896A (en) * | 2011-04-19 | 2011-11-30 | 长春东瑞科技发展有限公司 | Method and system for measuring three-dimensional shape of object based on phase measurement |
| CN103400366B (en) * | 2013-07-03 | 2016-04-13 | 西安电子科技大学 | Based on the dynamic scene depth acquisition methods of fringe structure light |
| CN105841618B (en) * | 2016-06-08 | 2019-05-10 | 浙江汉振智能技术有限公司 | Two-dimentional three-dimensional combined type measuring instrument and its data fusion scaling method |
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