CN106846488A - A kind of large-sized object three-dimensional modeling and method based on many three-dimensional tracking devices - Google Patents
A kind of large-sized object three-dimensional modeling and method based on many three-dimensional tracking devices Download PDFInfo
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- CN106846488A CN106846488A CN201710019188.8A CN201710019188A CN106846488A CN 106846488 A CN106846488 A CN 106846488A CN 201710019188 A CN201710019188 A CN 201710019188A CN 106846488 A CN106846488 A CN 106846488A
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- G—PHYSICS
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
- G06T17/30—Polynomial surface description
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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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Abstract
The invention discloses a kind of large-sized object three-dimensional modeling based on many three-dimensional tracking devices and method, including：One has two industrial cameras and projecting apparatus, the spatial digitizer being arranged on the support that can be moved along two closed slides, many three-dimensional tracking devices, GPU servers；Multiple LED marks are equipped with spatial digitizer and every three-dimensional tracking device；Industrial camera and projecting apparatus are connected to GPU servers by gigabit network cable and USB interface respectively.During modeling, spatial digitizer obtains the local data of object；LED marks on three-dimensional tracking device tracking spatial digitizer, calculate and splice local data according to the attitude of spatial digitizer, obtain complete three-dimensional data.The present invention can disposably complete the 3D shape modeling and measurement of large-sized object without being modeled body surface craft labelling, and efficiency high is simple and easy to do, and measuring accuracy is high.One kind is provided and does not contact body surface, can technology that is automatic, timely, convenient, accurately acquiring large-sized object three-dimensional shape.
Description
Technical field
The invention belongs to three-dimensional measurement technical field, it is related to a kind of large-sized object three-dimensional modeling and method, particularly
A kind of large-sized object three-dimensional modeling and method based on many three-dimensional tracking devices.
Technical background
In the industrial production, often there are many large-scale workpieces, such as segmentation of ship plank, ship surface, airplane skin etc.,
In process of production, the 3D shape of these large-scale workpieces of acquisition is generally required.Obtain large-sized object three-dimensional data it is basic
Thinking is：The three-dimensional data of regional area is obtained respectively, then splices local data, form the data for completing.Current three-dimensional
Shape acquisition methods, mainly including following several.One is to use structured light technique, and structured light technique is suitable for obtaining small-sized object
3D shape, speed is fast, high precision, but when large-sized object is measured, locally fine point result Bonding Problem still cannot be effective
Solve, often there is larger error.Two be using laser technology realize measurement, laser measuring technique measure large-sized object when,
Although precision is higher, speed is slower.
" reference mark based on structure light three-dimensional imaging detects (Three-dimensional to document in three-dimensional point cloud alignment
point cloud alignment detecting fiducial markers by structured light stereo
imaging)”【Barone,S.,Paoli,A.,Razionale,A.V.:Three-dimensional point cloud
alignment detecting fiducial markers by structured light stereo
imaging.Mach.Vis.Appl.23(2),217–229(2012)】, disclose a kind of method for measuring large-sized object, the party
Method is marked in tested large-sized object surface mount first, then gradually measures local data using structured light three-dimensional scanner,
Overall measurement is completed after local data is stitched together further according to mark.But, there is following defect in this method：One is to need
Manual mode binding mark is wanted, and for ship plank class workpiece in processing, because surface temperature is higher, labelling is relatively stranded
It is difficult.Two is that modeling can not be completed once, need to be measured several times, is then spliced, and causes whole modeling process complex operation, and efficiency is low
Under, measuring accuracy is low.
The content of the invention
It is an object of the invention to the weak point for overcoming prior art to exist, there is provided a kind of based on many three-dimensional tracking devices
Large-sized object three-dimensional modeling and method, without being modeled body surface craft labelling, can disposably complete large-scale thing
3D shape modeling and the measurement of body, efficiency high are simple and easy to do, and measuring accuracy is high.
In order to solve above-mentioned problem of the prior art, the present invention uses following technical scheme.
A kind of large-sized object three-dimensional modeling based on many three-dimensional tracking devices of the invention, it is characterised in that including：
One spatial digitizer containing two industrial cameras and a projecting apparatus, many three-dimensional tracking devices, it is respectively provided with
In two guide rails parallel each other, a GPU server of tested large-sized object both sides；
Described spatial digitizer is arranged on a support, and the support can move along a straight line along guide rail；
Many described three-dimensional tracking devices, by respective supporting member along the outside longitudinal direction for being tested the side rails of large-sized object one
It is spaced apart successively；Every three-dimensional tracking device is provided with two industrial cameras；
Multiple LED marks are mounted on described spatial digitizer and every three-dimensional tracking device；
Described industrial camera and projecting apparatus are connected to described GPU servers by gigabit network cable and USB interface respectively；
Described system measures each regional area of object by described spatial digitizer successively, using many solids with
Track device positions the attitude of spatial digitizer, then splices each local shape number that described spatial digitizer measures object successively
According to so as to the 3D shape for realizing large-sized object is modeled.
Spatial digitizer of many described three-dimensional tracking devices described in distance most nearby, is respectively labeled as successively：T1,
T2 ... Tk, it places principle is：Described three-dimensional tracking device Tk-1It can be seen that three-dimensional tracking device TkOn all LED mark；Institute
The k ∈ { 2 ..., n } for stating.
After n described three-dimensional tracking device is placed in order, position maintains static.
Described three-dimensional tracking device T1On do not install LED mark.
A kind of large-sized object three-dimensional modeling method based on many three-dimensional tracking devices of the invention, it is characterised in that including with
Lower step：
(1) spatial digitizer is placed on support, and support is installed on closed slide, can be moved along a straight line along guide rail；
On spatial digitizer, multiple emitting led marks are installed, as tracked mark；
(2) along the outside of the side rails of tested large-sized object one, longitudinal direction is spaced apart multiple three-dimensional tracking devices successively, makes TkTable
Show k-th three-dimensional tracking device, described k ∈ { 2 ..., n }；In three-dimensional tracking device TkUpper installation multiple LED is marked, but solid with
Track device T1On do not install LED mark.Many described three-dimensional tracking devices place principle：Described three-dimensional tracking device Tk-1Can be with
See three-dimensional tracking device TkOn all LED mark.
After n described three-dimensional tracking device is placed in order, position maintains static.
(3) before large-sized object is modeled, to spatial digitizer and three-dimensional tracking device TkOn LED mark detected,
Matching and demarcation, so as to calculate the attitude of three-dimensional tracking device；
(4) when starting measurement large-sized object, T1It is work three-dimensional tracking device；The projecting apparatus of spatial digitizer is projected to object
Special texture image, industrial camera shoots the photo of view field of projecting apparatus institute, and photo is reached into GPU servers, in GPU clothes
The partial 3 d data of large-sized object are rebuild on business device；
(5) spatial digitizer is moved forward along guide rail, rebuilds next partial 3 d data of tested large-sized object；It is three-dimensional
Tracker TkThe appearance of spatial digitizer will be successively detected, so as to turn into work tracker；
(6) T is worked askAfter becoming work tracker, TkUsing KLT track algorithms, the shifting of LED marks on tracking spatial digitizer
It is dynamic, so as to calculate the attitude of spatial digitizer；
(7) according to spatial digitizer attitude, local measurement data are spliced；Repeat step (4)-(7), until whole tested
Large-sized object modeling terminates.
Compared with prior art, the present invention includes advantages below and beneficial effect：
1. the present invention is fundamental measurement unit with structured light three-dimensional scanner, and it is existing to build splicing using multiple three-dimensional tracking devices
Field, the motion of tracking spatial digitizer, calculate the attitude of spatial digitizer, the locally fine point number that splicing spatial digitizer is obtained
According to the 3D shape for completing large-sized object is modeled.The present invention without contacting body surface, can it is automatic, in time, it is convenient, accurately
Large-sized object three-dimensional shape is obtained, scope is big, speed fast for its modeling, high precision, easy to use.
2. the present invention need not be modeled body surface craft labelling, increased the practicality of system, will be ship
Three-dimensional modeling in outside plate manufacture, the manufacture of aircraft outside plate, the manufacture of large ocean engineer equipment provides a kind of effective means.
Brief description of the drawings
Fig. 1 is that the system of one embodiment of the present of invention constitutes schematic diagram.
Fig. 2 is the method flow diagram of one embodiment of the present of invention.
Specific embodiment
The present invention is described in further details below in conjunction with the accompanying drawings.
Fig. 1 is that the composition of the large-sized object three-dimensional modeling based on many three-dimensional tracking devices of one embodiment of the present of invention is shown
It is intended to.As shown in figure 1, the spatial digitizer containing two industrial cameras 1 and a high-brightness projection instrument 2, a many solids
Tracker, two 4, GPU servers of guide rail parallel each other for being respectively arranged at tested large-sized object both sides；
Described spatial digitizer is arranged on a support 6, and the support can move along a straight line along guide rail；
Many described three-dimensional tracking devices, by respective supporting member along the outside longitudinal direction for being tested the side rails of large-sized object one
It is spaced apart successively；Every three-dimensional tracking device is provided with two industrial cameras；
Multiple LED marks 3 are mounted on described spatial digitizer and every three-dimensional tracking device；
Described industrial camera and projecting apparatus are connected to described GPU servers by gigabit network cable and USB interface respectively；
The resolution ratio of industrial camera be 5,000,000 pixels more than, more than frame per second 15fps.
Described system measures each regional area of object by described spatial digitizer successively, using many solids with
Track device positions the attitude of spatial digitizer, then splices each local shape number that described spatial digitizer measures object successively
According to so as to the 3D shape for realizing large-sized object is modeled.
Spatial digitizer of many described three-dimensional tracking devices described in distance most nearby, is respectively labeled as successively：T1,
T2 ... Tk, it places principle is：Described three-dimensional tracking device Tk-1It can be seen that three-dimensional tracking device TkOn all LED mark；Institute
The k ∈ { 2 ..., n } for stating.After placing in order, position is to maintain static to each three-dimensional tracking device.
Fig. 2 is the large-sized object three-dimensional modeling method flow based on many three-dimensional tracking devices of one embodiment of the present of invention
Figure.As shown in Fig. 2 the present embodiment method is comprised the following steps：
(1) spatial digitizer is placed on support, and support is installed on closed slide, can be moved along a straight line along guide rail；
On spatial digitizer, m emitting led mark (m is installed>12), as trace labelling, the power of each LED marks is 3 watts, can
To launch stronger light；
(2) along the outside of the side rails of tested large-sized object one, longitudinal direction is spaced apart n three-dimensional tracking device successively, and (value of n takes
Certainly in the size of modeling object, as a example by modeling 12 meters of objects long, a three-dimensional tracking device is placed every 4 meters, it is necessary to place 3
Individual three-dimensional tracking device), make Tk(k ∈ { 2 .., n }) represents k-th three-dimensional tracking device.In three-dimensional tracking device Tk(k∈{2,..,
N }), it is upper that m LED marks (m is installed>12), T1LED marks need not be installed；When placing three-dimensional tracking device, it is to be ensured that it is three-dimensional with
Track device Tk-1It can be seen that three-dimensional tracking device TkOn all LED mark；After n three-dimensional tracking device is placed, position is fixed not
It is dynamic.
(3) before large-sized object is modeled, for spatial digitizer and three-dimensional tracking device TkOn (k ∈ { 2 .., n })
LED is marked, and is marked, and is adopted using the detection of SIFT (Scale-invariant feature transform) algorithm, matching LED
LED is demarcated with the gridiron pattern calibration algorithm of Zhang Zhengyou to mark.According to the data demarcated, three-dimensional tracking device T is calculatedk(k∈{2,..,
N }) attitude (i.e. relative to first three-dimensional tracking device T1Position).Because three-dimensional tracking device Tk-1It can be seen that three-dimensional tracking
Device TkOn all LED mark, therefore, according to calibration result, you can to calculate tracker Tk-1And TkBetween coordinate transform
Relation.Assuming that Tk-1And TkBetween transformation relation be P(k-1)k(being the transformation matrix of coordinates of 4 row 4 row), then three-dimensional tracking device Tk
Attitude can represent that attitude is also the transformation matrix of coordinates of 4 row 4 row with below equation：
(4) when starting measurement large-sized object, T1It is work three-dimensional tracking device, i.e. T1Directly track the LED on spatial digitizer
Mark, the projecting apparatus of spatial digitizer projects special texture image to object, and work camera shoots the photograph of view field of projecting apparatus institute
Piece, and photo is reached into GPU servers, the partial 3 d data of large-sized object are rebuild on GPU servers；
(5) spatial digitizer is moved forward along guide rail, rebuilds next partial 3 d data of tested large-sized object；It is three-dimensional
Tracker TkThe appearance of spatial digitizer will be successively detected, so as to turn into work tracker；Assuming that in moment t, 3-D scanning
The projecting apparatus of instrument projects special construction light texture image to object, and industrial camera shoots the photo of view field, and photo is passed
To GPU servers, using structure light algorithm and triangulation algorithm, the partial 3 d data of large-sized object are rebuild, it is assumed that during t
Carve, partial 3 d data XtRepresent；
(6) if three-dimensional tracking device Tk(k ∈ { 2 .., n }), detects spatial digitizer, TkIt is work tracker to become,
Replace previous three-dimensional tracking device.Work as TkAfter becoming work tracker, TkTracked using KLT (Kanade-Lucas-Tomasi) and calculated
Method, the movement of LED marks on tracking spatial digitizer, so as to calculate the attitude Q of spatial digitizerS.Spatial digitizer is along guide rail
Push ahead, the next regional area to large-sized object is modeled.
(7) according to the attitude of three-dimensional tracking deviceWith the attitude Q of spatial digitizerS, using formulaTurn
Change the local data X obtained in moment tt, complete local data's splicing；Repeat step (5)-(7), it is large-scale until being entirely tested
Object modeling terminates.
In a word, the present invention is fundamental measurement unit with structured light three-dimensional scanner, is built using multiple three-dimensional tracking devices and spelled
Visual field, the motion of tracking spatial digitizer are connect, the attitude of spatial digitizer, the locally fine point that splicing spatial digitizer is obtained is calculated
Data, complete the 3D shape modeling of large-sized object.The present invention has a modeling, and scope is big, speed fast, high precision, easy to use
Advantage.
Claims (8)
1. a kind of large-sized object three-dimensional modeling based on many three-dimensional tracking devices, it is characterised in that including：
One spatial digitizer containing two industrial cameras and a projecting apparatus, many three-dimensional tracking devices, be respectively arranged at by
Survey two guide rails parallel each other, a GPU server of large-sized object both sides；
Described spatial digitizer is arranged on a support, and the support can move along a straight line along guide rail；
Many described three-dimensional tracking devices, it is longitudinal successively along the outside of the tested side rails of large-sized object one by respective supporting member
It is spaced apart；Every three-dimensional tracking device is provided with two industrial cameras；
Multiple LED marks are mounted on described spatial digitizer and every three-dimensional tracking device；
Described industrial camera and projecting apparatus are connected to described GPU servers by gigabit network cable and USB interface respectively；
Described system measures each regional area of object by described spatial digitizer successively, using many three-dimensional tracking devices
The attitude of spatial digitizer is positioned, then splices each local shape data that described spatial digitizer measures object successively, from
And realize the 3D shape modeling of large-sized object.
2. a kind of large-sized object three-dimensional modeling based on many three-dimensional tracking devices according to claim 1, its feature exists
In the spatial digitizer of described many three-dimensional tracking devices described in distance most nearby, is respectively labeled as successively：T1, T2... Tk,
It places principle：Described three-dimensional tracking device Tk-1It can be seen that three-dimensional tracking device TkOn all LED mark；Described k ∈
{ 2 ..., n }.
3. a kind of large-sized object three-dimensional modeling based on many three-dimensional tracking devices according to claim 2, its feature exists
In after n described three-dimensional tracking device is placed in order, position maintains static.
4. a kind of large-sized object three-dimensional modeling based on many three-dimensional tracking devices according to claim 2, its feature exists
In described three-dimensional tracking device T1On do not install LED mark.
5. a kind of large-sized object based on many three-dimensional tracking devices for implementing using the system as described in any one of Claims 1-4
Three-dimensional modeling method, it is characterised in that comprise the following steps：
(1) spatial digitizer is placed on support, and support is installed on closed slide, can be moved along a straight line along guide rail；In three-dimensional
On scanner, multiple emitting led marks are installed, as tracked mark；
(2) along the outside of the side rails of tested large-sized object one, longitudinal direction is spaced apart multiple three-dimensional tracking devices successively, makes TkRepresent kth
Individual three-dimensional tracking device, described k ∈ { 2 ..., n }；In three-dimensional tracking device TkUpper installation multiple LED marks；
(3) before large-sized object is modeled, to spatial digitizer and three-dimensional tracking device TkOn LED mark detected, match and
Demarcate, so as to calculate the attitude of three-dimensional tracking device；
(4) when starting measurement large-sized object, T1It is work three-dimensional tracking device, according to the result of tracking, calculates the fortune of spatial digitizer
Dynamic attitude；The projecting apparatus of spatial digitizer projects special texture image to object, and industrial camera shoots view field of projecting apparatus institute
Photo, and photo is reached into GPU servers, the partial 3 d data of large-sized object are rebuild on GPU servers；
(5) spatial digitizer is moved forward along guide rail, rebuilds next partial 3 d data of tested large-sized object；Three-dimensional tracking
Device TkThe appearance of spatial digitizer will be successively detected, so as to turn into work tracker；
(6) T is worked askAfter becoming work tracker, TkUsing KLT track algorithms, the movement of LED marks on tracking spatial digitizer, from
And calculate the attitude of spatial digitizer；
(7) according to spatial digitizer attitude, local measurement data are spliced；Repeat step (5)-(7), it is large-scale until being entirely tested
Object modeling terminates.
6. a kind of large-sized object three-dimensional modeling method based on many three-dimensional tracking devices according to claim 5, its feature exists
In many described three-dimensional tracking devices place principle is：Described three-dimensional tracking device Tk-1It can be seen that three-dimensional tracking device TkOn
All LED marks.
7. a kind of large-sized object three-dimensional modeling method based on many three-dimensional tracking devices according to claim 5, its feature exists
In after n described three-dimensional tracking device is placed in order, position maintains static.
8. a kind of large-sized object three-dimensional modeling method based on many three-dimensional tracking devices according to claim 5, its feature exists
In described three-dimensional tracking device T1On do not install LED mark.
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| CN112802002A (en) * | 2021-02-05 | 2021-05-14 | 杭州思锐迪科技有限公司 | Object surface data detection method and system, electronic device and storage medium |
| CN112880557A (en) * | 2021-01-08 | 2021-06-01 | 武汉中观自动化科技有限公司 | Multi-mode tracker system |
| CN112964196A (en) * | 2021-02-05 | 2021-06-15 | 杭州思锐迪科技有限公司 | Three-dimensional scanning method, system, electronic device and computer equipment |
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Application publication date: 20170613 |