CN106989736A - A kind of space mapping system and method based on structure optical arrays - Google Patents
A kind of space mapping system and method based on structure optical arrays Download PDFInfo
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- CN106989736A CN106989736A CN201710109934.2A CN201710109934A CN106989736A CN 106989736 A CN106989736 A CN 106989736A CN 201710109934 A CN201710109934 A CN 201710109934A CN 106989736 A CN106989736 A CN 106989736A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/002—Active optical surveying means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
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- Length Measuring Devices By Optical Means (AREA)
Abstract
The present invention relates to a kind of space mapping system and method based on structure optical arrays, its system includes array light emission module, array received module and processing module, the array light emission module is used for emitting structural optical arrays, and the structure optical arrays are by the testee formation array imaging in space；The array received module is used for by receiving simultaneously array imaging formation array imaging information described in preliminary treatment, and the array imaging information is sent into the processing module；The processing module is used to handle the array imaging information progress three dimensional point cloud for drawing testee.A kind of space mapping system based on structure optical arrays of the present invention can fast and accurately be scanned using structure optical arrays to space, while whole system is free of mechanical movement facilities, can greatly improve stability and the life-span of whole system.
Description
Technical field
A kind of space mapping based on structure optical arrays is specifically related to the present invention relates to a kind of space mapping system and method
System and method.
Background technology
Space mapping is that prior art is set by mechanical movement using the 3 D rendering for launching light scanning and realizing space
It is standby to drive single light emission source to complete spacescan, due to the stability and restricted lifetime of mechanical movement facilities, and it is single
The speed and accuracy rate of light emission source scanning are low, so as to seriously constrain the development of space mapping.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of space mapping system and method based on structure optical arrays,
Speed, stability, efficiency and the accuracy rate of space mapping can be improved.
The technical scheme that the present invention solves above-mentioned technical problem is as follows：A kind of space mapping system based on structure optical arrays
System, including array light emission module, array received module and processing module.
The array light emission module is used for emitting structural optical arrays, and the structure optical arrays are by tested in space
Object formation array imaging.
The array received module is used for by receiving simultaneously array imaging formation array imaging information described in preliminary treatment, and
The array imaging information is sent to the processing module.
The processing module is used to handle the array imaging information progress three dimensional point cloud for drawing testee.
The beneficial effects of the invention are as follows：A kind of space mapping system based on structure optical arrays of the present invention utilizes structure light battle array
Row can fast and accurately be scanned to space, while whole system is free of mechanical movement facilities, can be greatly improved whole
The stability of system and life-span.
On the basis of above-mentioned technical proposal, the present invention can also do following improvement.
Further, in addition to feedback modulation module.
The processing module is additionally operable to count the feature of the three dimensional point cloud, and by the spy of the three dimensional point cloud
Levy and give the feedback modulation module.
The feedback modulation module is used to produce modulated signal according to the feature of the three dimensional point cloud, and is adjusted described
Signal processed feeds back to the array light emission module.
The array light emission module is additionally operable to adjust the structure optical arrays of transmitting according to the modulated signal
System.
Beneficial effect using above-mentioned further scheme is：Feedback modulation module can make whole system reaction sensitiveer,
And distribution of the adjustment structure optical arrays on room and time can be changed in real time according to environment, surveyed so as to further improve space
The efficiency and accuracy painted.
Further, the array light emission module is additionally operable to the modulated signal passing to the processing module, described
Processing module draws measured object with reference to the modulated signal to array imaging Information Pull principle of triangulation progress processing
The three dimensional point cloud of body.
Beneficial effect using above-mentioned further scheme is：Processing module is with reference to the modulated signal to the array imaging
The progress of Information Pull principle of triangulation handles the three dimensional point cloud for drawing testee, can improve three dimensional point cloud
Accuracy.
Further, the array light emission module includes structured light array and light modulation array,
The structured light array is the array being made up of multigroup structured light light source, and the light modulation array is used for according to institute
State the light that modulated signal sends each structured light light source in the structured light array individually to be modulated, also use
In the modulated signal received is passed into the processing module.
Adjust is using the beneficial effect of above-mentioned further scheme：Structured light array is to be made up of multigroup structured light light source
Array, there is multi-beam to scan simultaneously during scanning, scanning range is big, so as to improve space mapping speed.
Further, the structured light light source includes spot light, line source, grid line source, grid spot light, random point light
One or more combinations in source, the light source of the spatial light intensity distribution formed with preset function and diffused light source.
Further, the array received module includes lens array and receiving array, the receiving array
The array imaging is received by the lens array, and noise reduction process formation image is amplified to the array imaging
Array information, and give the processing unit by the array imaging information transmission by the data structure of agreement.
Further, the lens array includes lens, speculum, diffraction optical element, gradient-index lens and complete
Cease one or more combinations in optics member.
Based on a kind of above-mentioned space mapping system based on structure optical arrays, the present invention also provides a kind of based on structure light battle array
The space mapping method of row.
A kind of space based on structure optical arrays of row surveys and paints method, comprises the following steps.
S1, emitting structural optical arrays, and the structure optical arrays are by the testee formation array imaging in space.
S2, is received and array imaging formation array imaging information described in preliminary treatment.
S3, handles the array imaging information progress three dimensional point cloud for drawing testee.
The beneficial effects of the invention are as follows：A kind of space mapping system, method structure light battle array based on structure optical arrays of the present invention
Row can fast and accurately be scanned to space, while without mechanical movement facilities, can greatly improve the stability of scanning
And the life-span.
On the basis of above-mentioned technical proposal, the present invention can also do following improvement.
Further, in addition to S4.
S4, counts the feature of the three dimensional point cloud, and according to the feature of the three dimensional point cloud
Modulated signal is produced, and the structure optical arrays of transmitting are modulated according to the modulated signal.
Beneficial effect using above-mentioned further scheme is：Feedback modulation can make reaction sensitiveer, and can be according to environment
Distribution of the structure optical arrays of change adjustment in real time on room and time, so as to further improve the efficiency and standard of space mapping
True property.
Further, in S3, the three dimensional point cloud of testee is drawn to array imaging information progress processing
Specific method is array imaging Information Pull principle of triangulation progress processing to be drawn with reference to the modulated signal tested
The three dimensional point cloud of object.
Beneficial effect using above-mentioned further scheme is：With reference to the modulated signal to the array imaging Information Pull
Principle of triangulation progress handles the three dimensional point cloud for drawing testee, can improve the accuracy of three dimensional point cloud.
Brief description of the drawings
Fig. 1 is a kind of structured flowchart of the space mapping system based on structure optical arrays of the present invention；
Fig. 2 is a kind of flow chart of the space mapping method based on structure optical arrays of the present invention.
Embodiment
The principle and feature of the present invention are described below in conjunction with accompanying drawing, the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the present invention.
As shown in figure 1, a kind of space mapping system based on structure optical arrays, including array light emission module, array connect
Receive module and processing module, the array light emission module, array received module and processing module are specifically described as follows：
The array light emission module is used for emitting structural optical arrays, and the structure optical arrays are by the testee in space
Form array imaging；Wherein, structure optical arrays are the array being made up of multigroup structure light, i.e., it is by multiple monochromatic light line emission sources
The optical arrays that the structure light of transmitting is combined.
The array received module is used for by receiving simultaneously array imaging formation array imaging information described in preliminary treatment, and
The array imaging information is sent to the processing module；Wherein, the preliminary treatment of the array received module is specifically included
The processing such as amplifying and noise reducing；The array imaging information is sent to the processing by array received module by the data structure of agreement
Module.
The data structure of the agreement includes the array for being singly not limited to one or more dimensions, chained list, address list, object-oriented
Class formation etc..
The processing module is used to handle the array imaging information progress three dimensional point cloud for drawing testee；
Wherein, the processing of the processing module is specially the processing that the image under the structure light of different characteristic is separated or integrated,
Separating treatment refers to independently extract the image under a kind of structure light of feature in the image under manifold structure light
The processing such as gray scale, binaryzation, rim detection, space filtering, temporal filtering and Image registration is carried out, integration processing refers to while carrying
The image under the structure light of two or more feature in the image under manifold structure light is taken to carry out gray scale, two-value
Change, rim detection, space filtering, temporal filtering and Image registration etc. are handled.
Also include feedback modulation module in the system of the present invention, the processing module is additionally operable to count the three-dimensional point cloud number
According to feature, and the feature of the three dimensional point cloud is sent to the feedback modulation module；The feedback modulation module is used
In producing modulated signal according to the feature of the three dimensional point cloud, and the modulated signal is fed back into the array light launched
Module.The array light emission module is additionally operable to be modulated the structure optical arrays of transmitting according to the modulated signal.
The array light emission module is additionally operable to the modulated signal passing to the processing module, and the processing module is with reference to described
Modulated signal handles the array imaging Information Pull principle of triangulation progress three dimensional point cloud for drawing testee.
Wherein, the feature of the three dimensional point cloud refers to the feature that three dimensional point cloud is distributed on room and time,
Including intensity, density, curvature etc..
Wherein, the array light emission module structure optical arrays are modulated including to the phase of structure light, polarization, partially
Turn, the distributed architecture of light intensity and light intensity spatially is modulated, the distributed architecture of light intensity spatially shines including object background
Bright, subregion illumination, point illumination, line illumination, grid lines illumination, mesh point illumination, diffusion illumination and the mixing of different lighting systems.
Wherein, principle of triangulation is:
Structure optical plane and the principle of triangulation angle that camera optical axis angle is machine vision-structural light measurement, take world coordinates
Be that Ow-Xw-Yw-Zw origin Ow is located at the intersection point of camera optical axis and structure optical plane, Xw axles and Yw axles respectively with camera coordinates
It is that Xc axles are parallel with Yc axles, Zw is overlapped but in opposite direction with camera coordinates system Zc, Ow and camera coordinates system Oc distance is l.
Then world coordinate system and camera coordinates system have the following relation to be,
。
A picture is A ', in world coordinate system, and sight OA ' equation is,
。
In world coordinate system, the equation of structure optical plane is,
。
Solve,
。
Again due to defining rectangular coordinate system Op-uv in digital picture, the coordinate (u, v) of each pixel is that the pixel exists respectively
Columns and line number in image array, (u, v) is coordinate of the picture point in digital picture coordinate system in units of pixel；Picture point exists
Physical location in image plane, sets up the image plane two-dimensional coordinate system Oi-xy represented with physical unit, the coordinate system x-axis and y-axis
Parallel with u axles and v axles respectively, origin is the intersection point of camera optical axis and image plane, is normally at picture centre, but in actual conditions
Under have small skew, the coordinate in Op-uv is designated as (u0, v0)；Physical size of each pixel in x-axis and y-axis direction
For Sx and Sy, then coordinate of any one pixel under two coordinate systems is represented using homogeneous coordinates and matrix form in image,
There is following relation,
。
Reverse-power is,
。
The corresponding relation that can be obtained between the world coordinate point of pixel one is,
。
Axle and in this specific embodiment：The array light emission module includes structured light array and light modulation battle array
Row, the structured light array is the array being made up of multigroup structured light light source, and the light modulation array is used for according to institute
State the light that modulated signal sends each structured light light source in the structured light array individually to be modulated, also use
In the modulated signal received is passed into the processing module.Wherein, the structured light light source include spot light, line source,
Grid line source, grid spot light, random spot light, the light source of the spatial light intensity distribution formed with preset function and diffused light
One or more combinations in source, but it is also not limited to the light source of above-mentioned display；Described preset function includes but is not limited to
Trigonometric function, power function, Gaussian function, wavelet function etc.;The light modulation array includes optical mirror slip, liquid crystal display, photoelectricity
One or more combinations in crystal, magneto-optic element and thermo-optic element, but it is also not limited to the element of above-mentioned display.
In this specific embodiment, the array received module includes lens array and receiving array, the receiving array
The array imaging is received by the lens array, and noise reduction process formation array imaging is amplified to the array imaging
Information, and give the processing unit by the array imaging information transmission by the data structure of agreement.Wherein, the eyeglass
Array includes the one or more in lens, speculum, diffraction optical element, gradient-index lens and holographic optics member
Combination, but be also not limited to the element of above-mentioned display.
Based on a kind of above-mentioned space mapping system based on structure optical arrays, the present invention also provides a kind of based on structure light battle array
The space mapping method of row.
As shown in Fig. 2 a kind of space mapping method based on structure optical arrays, comprises the following steps.
S1, emitting structural optical arrays, and the structure optical arrays are by the testee formation array imaging in space.
S2, is received and array imaging formation array imaging information described in preliminary treatment.
S3, handles the array imaging information progress three dimensional point cloud for drawing testee.
S4, counts the feature of the three dimensional point cloud, and produce modulation letter according to the feature of the three dimensional point cloud
Number, and the structure optical arrays of transmitting are modulated according to the modulated signal.
In S3, the specific method for the three dimensional point cloud for drawing testee is handled the array imaging information progress
To draw the three of testee to array imaging Information Pull principle of triangulation progress processing with reference to the modulated signal
Tie up cloud data.
The system and method for the present invention can be rapidly completed the scanning to space with band structure optical arrays, and whole system is not
Containing mechanical movement facilities so that the stability of system and life-span can greatly improve；Meanwhile, system is made by feedback module
Reaction is sensitiveer, and can change distribution of the adjustment structure optical arrays on room and time in real time according to environment, so as to enter one
Step improves the efficiency and accuracy of space mapping.
The foregoing is only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent substitution and improvements made etc. should be included in the scope of the protection.
Claims (10)
1. a kind of space mapping system based on structure optical arrays, it is characterised in that：Including array light emission module, array received
Module and processing module,
The array light emission module is used for emitting structural optical arrays, and the structure optical arrays are by the testee in space
Form array imaging；
The array received module is used for by receiving and array imaging formation array imaging information described in preliminary treatment, and by institute
State array imaging information and be sent to the processing module；
The processing module is used to handle the array imaging information progress three dimensional point cloud for drawing testee.
2. a kind of space mapping system based on structure optical arrays according to claim 1, it is characterised in that：Also include anti-
Present modulation module,
The processing module is additionally operable to count the feature of the three dimensional point cloud, and the feature of the three dimensional point cloud is sent out
Give the feedback modulation module；
The feedback modulation module is used to produce modulated signal according to the feature of the three dimensional point cloud, and the modulation is believed
Number feed back to the array light emission module；
The array light emission module is additionally operable to be modulated the structure optical arrays of transmitting according to the modulated signal.
3. a kind of space mapping system based on structure optical arrays according to claim 2, it is characterised in that：The array
Light emission module is additionally operable to the modulated signal passing to the processing module, and the processing module is with reference to the modulated signal
The three dimensional point cloud for drawing testee is handled the array imaging Information Pull principle of triangulation progress.
4. a kind of space mapping system based on structure optical arrays according to claim 3, it is characterised in that：The array
Light emission module includes structured light array and light modulation array, and the structured light array is by multigroup structure light light
The array of source composition, the light modulation array is used for according to the modulated signal to each in the structured light array
The light that individual structured light light source is sent individually is modulated, and the modulated signal for being additionally operable to receive passes to the processing mould
Block.
5. a kind of space mapping system based on structure optical arrays according to claim 4, it is characterised in that：The structure
Radiant includes spot light, line source, grid line source, grid spot light, random spot light, the space formed with preset function
One or more combinations in the light source and diffused light source of light distribution；
The light modulation array includes one kind in optical mirror slip, liquid crystal display, photoelectric crystal, magneto-optic element and thermo-optic element
Or a variety of combinations.
6. a kind of space mapping system based on structure optical arrays according to any one of claim 1 to 5, its feature exists
In：The array received module includes lens array and receiving array, and the receiving array receives institute by the lens array
Array imaging is stated, and noise reduction process formation array imaging information, and the data for passing through agreement are amplified to the array imaging
The array imaging information transmission is given the processing unit by structure.
7. a kind of space mapping system based on structure optical arrays according to claim 6, it is characterised in that：The eyeglass
Array includes the one or more in lens, speculum, diffraction optical element, gradient-index lens and holographic optics member
Combination.
8. a kind of space mapping method based on structure optical arrays, it is characterised in that：Comprise the following steps,
S1, emitting structural optical arrays, and the structure optical arrays are by the testee formation array imaging in space；
S2, is received and array imaging formation array imaging information described in preliminary treatment；
S3, handles the array imaging information progress three dimensional point cloud for drawing testee.
9. a kind of space mapping method based on structure optical arrays according to claim 8, it is characterised in that：Also include
S4,
S4, counts the feature of the three dimensional point cloud, and produces modulated signal according to the feature of the three dimensional point cloud, and
The structure optical arrays of transmitting are modulated according to the modulated signal.
10. a kind of space mapping method based on structure optical arrays according to claim 9, it is characterised in that：In S3,
It is to the specific method that the array imaging information progress handles the three dimensional point cloud for drawing testee, with reference to the modulation
Signal handles the array imaging Information Pull principle of triangulation progress three dimensional point cloud for drawing testee.
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| CN109814124A (en) * | 2019-01-28 | 2019-05-28 | 河北省科学院应用数学研究所 | A kind of robot positioning system and method based on structure light 3 D sensor |
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Application publication date: 20170728 |