CN107421466A - A kind of synchronous acquisition device and acquisition method of two and three dimensions image - Google Patents
A kind of synchronous acquisition device and acquisition method of two and three dimensions image Download PDFInfo
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- CN107421466A CN107421466A CN201710482589.7A CN201710482589A CN107421466A CN 107421466 A CN107421466 A CN 107421466A CN 201710482589 A CN201710482589 A CN 201710482589A CN 107421466 A CN107421466 A CN 107421466A
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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
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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
- G01B11/30—Measuring arrangements characterised by the use of optical techniques for measuring roughness or irregularity of surfaces
- G01B11/303—Measuring arrangements characterised by the use of optical techniques for measuring roughness or irregularity of surfaces using photoelectric detection means
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention provides a kind of synchronous acquisition device and acquisition method of two and three dimensions image, harvester include be used for obtain workpiece for measurement daytime frame and night frame scanning element and for handling frame on daytime and night frame and generating the two-dimensional texture map of workpiece for measurement and the computing unit of three-dimensional point cloud atlas, scanning element communicates to connect with computing unit, and computing unit is additionally operable to control the working condition of scanning element；Two-dimensional texture map carries out image mosaic according to the displacement information between daytime frame and obtained, and three-dimensional point cloud atlas carries out image mosaic according to the displacement information between night frame and obtained, and coordinate corresponding relation between two-dimensional texture map and three-dimensional point cloud atlas be present.The invention provides a kind of synchronous acquisition device and acquisition method of two and three dimensions image, the synchronous acquisition of the two-dimensional texture map and three-dimensional point cloud atlas to workpiece for measurement can be realized, and, three-dimensional point cloud atlas can with the xy coordinates of two-dimensional texture map it is accurate it is corresponding on so that the result for gathering measurement is more accurate.
Description
Technical field
The invention belongs to IMAQ field, it is related to synchronous acquisition device and the collection side of a kind of two and three dimensions image
Method.
Background technology
3-D scanning technology based on structure light is to integrate light, mechanical, electrical and computer technology new and high technology, mainly
For being scanned to workpiece space profile and structure, to obtain the spatial shape information of workpiece surface.Wherein, sweep at a high speed online
The construction for often using one camera fit structure optical transmitting set is retouched, is generally used because its is simple in construction, measuring speed is fast, its
Principle is, after pattern is projected into scanned workpiece surface using structured light device, is obtained using camera because being scanned work
Part surface bumps and cause the pattern that is projected of pattern deformation, so as to obtain out the configuration of surface information of scanned workpiece.
The structure of above-mentioned one camera fit structure optical transmitting set, by being scanned to the successive projection for being scanned workpiece, calculate
Generate the Complete three-dimensional point cloud information of workpiece.However, there is following deficiency in this method：First, this method is only capable of obtaining workpiece
Three-dimensional point cloud information, i.e. workpiece three-D profile information, it is impossible to obtain the surface texture information of workpiece；Secondly, testing
Cheng Zhong, the XY coordinates of the three-dimensional point cloud information of workpiece and the XY coordinates of workpiece two-dimensional texture map can not be corresponded to accurately, so as to influence
Zone location precision during specific region is measured, and then influences measurement result.
The content of the invention
An object of the present invention is, there is provided a kind of synchronous acquisition device and acquisition method of two and three dimensions image,
Aim to solve the problem that in the prior art can not be to the two-dimensional texture map and three-dimensional point cloud atlas synchronous acquisition of workpiece the problem of.
In order to solve the above technical problems, the invention provides a kind of synchronous acquisition device of two and three dimensions image, including
For obtain workpiece for measurement several on daytimes frame and several night frames scanning element and for handling several frames on daytime
With night frame several described and generate the two-dimensional texture map of workpiece for measurement and the computing unit of three-dimensional point cloud atlas, the scanning element
Communicated to connect with the computing unit, the computing unit is additionally operable to control the working condition of the scanning element；Wherein, it is described
Frame was shot under light source irradiation and obtained daytime, and the night frame is shot in the environment of structure light scan to be obtained；The scanning is single
Member often obtain N number of night frame after, obtain one daytime frame, N >=1；Adjacent night frame and night frame or adjacent night frame will be shot
Interframe displacement information is defined as with the displacement information of workpiece for measurement during frame on daytime；The two-dimensional texture map passes through described
Computing unit obtains according to the interframe displacement information to frame progress on daytime image mosaic several described；The three-dimensional point cloud atlas
Image mosaic is carried out by the computing unit to night frame several described according to the interframe displacement information to obtain；Described three
Tie up between the xy coordinates of point cloud chart and the xy coordinates of the two-dimensional texture map and mapping relations be present, the mapping relations are according to several
The frame on daytime, several described night frames and the interframe displacement information obtain.
Further, the scanning element includes：For camera, light source, the structure light hair taken pictures to workpiece for measurement
Emitter and the motion for making the workpiece for measurement and scanning element generation relative motion；It is the camera, described
Light source and the structured light device communicate to connect with the computing unit；The motion is provided with one and is used to determine
The motion motion state obtains the sensor of kinematic parameter, and the sensor communicates to connect with the computing unit, institute
Sensor is stated to be used to generate a trigger signal according to the kinematic parameter and pass to the computing unit；The computing unit is also
For generating a control signal according to the trigger signal, and according to the control signal control the camera, the light source with
And the working condition of the structured light device.
Further, the sensor is used for according to the default triggering step-length of the size of workpiece for measurement, and according to the motion
Parameter and the triggering step-length generate the trigger signal；The computing unit is used for according to the size of workpiece for measurement is default
Daytime frame and the night frame ratio, and generated according to the trigger signal and the ratio of the frame on daytime and the night frame
The control signal, the interframe displacement information obtain according to the triggering step-length.
Further, the control signal includes opening frame pattern on daytime or opens night frame pattern, when the control letter
During number to open frame pattern on daytime, the computing unit controls the light source to open, controls the structured light device to close, simultaneously
The camera is controlled to take pictures；When the control signal is opens night frame pattern, the computing unit controls the light source to close
Close, control the structured light device to open and control the camera to take pictures.
Further, the sensor is displacement quantity sensor or velocity sensor.
Further, the scanning element is fixed, and the motion is used to drive the band to measure workpiece relative to institute
State scanning element motion；Or, the workpiece for measurement is fixed, the motion is used to drive the scanning element relative to described
Workpiece for measurement moves.
Further, the triggering step-length is the displacement of setting or the angle value of setting, when the kinematic parameter is equal to
During the triggering step-length, the sensor generates the trigger signal.
Present invention also offers the method that a kind of synchronous acquisition device of the two-dimensional/three-dimensional image described in utilization is acquired,
Comprise the following steps：
S1：According to the size of workpiece for measurement, the default triggering step-length of the sensor, the computing unit preset frame on daytime and
The ratio of night frame, and obtain the interframe displacement information.
S2：Opening the motion makes relative motion occurs between the workpiece for measurement and the scanning element.
S3：Sensor detects the motion state of the motion in real time, obtains the kinematic parameter of the motion, when
When the kinematic parameter is equal to the triggering step-length, the sensor generates trigger signal and passes to the computing unit.
S4：The computing unit is according to the trigger signal and the ratio of above-mentioned frame on daytime and night frame production control letter
Number, and according to the working condition of control signal control light source and structured light device, and control camera to be taken pictures, obtain
Take frame or night frame and pass to the computing unit daytime of workpiece for measurement, the computing unit judges to be measured according to frame on daytime
Workpiece whether within sweep of the eye remove field range outside.
S5：When the computing unit judges that workpiece for measurement from when being moved out within sweep of the eye outside field range, does not repeat S3-
S4；When the computing unit judges workpiece for measurement from when being moved out within sweep of the eye outside field range, the computing unit control
Scanning element processed is stopped.
S6：The computing unit is handled frame on several of acquisition on daytimes, obtains the two-dimensional texture map of workpiece for measurement；Institute
Computing unit is stated to handle multiple night frames of acquisition according to the interframe displacement information and the frame on multiple on daytimes,
Obtain the three-dimensional point cloud atlas of workpiece for measurement；The computing unit according to the interframe displacement information, several described frames on daytime with
And several described night frames obtain the mapping relations between the three-dimensional point cloud atlas and the xy coordinates of the two-dimensional texture map；It is described
Computing unit exports the two-dimensional texture map and three-dimensional point cloud atlas of the workpiece for measurement, completes collection.
Further, the motion is conveyer belt or line slideway, and the conveyer belt includes transmission belt and electricity
Machine, the output shaft of the motor are connected to drive the transmission belt to move with the transmission belt, the kinematic parameter bag
Include the displacement of the line slideway or the transmission belt, or the rotational angle of the output shaft of the motor, the triggering step
The displacement of a length of setting or the angle value of setting.
Further, in the S1, the ratio of the frame on daytime and night frame is 1:N, N >=1；In the S4, the meter
After calculating the control signal that unit often generates N number of unlatching night frame pattern, the control signal of frame pattern on daytime is once opened in generation.
Compared with prior art, the invention provides a kind of synchronous acquisition device of two and three dimensions image and collection side
Method, it is possible to achieve the synchronous acquisition of two-dimensional texture map and three-dimensional point cloud atlas to workpiece for measurement, moreover, three-dimensional point cloud atlas can be with
On the xy coordinates of two-dimensional texture map accurately correspond to so that the result for gathering measurement is more accurate.
Brief description of the drawings
Fig. 1 is a kind of structural representation of the synchronous acquisition device for two and three dimensions image that one embodiment of the invention provides
Figure；
Fig. 2 be one embodiment of the invention provide a kind of two and three dimensions image synchronous acquisition device in scanning element
Structural representation；
Fig. 3 be a kind of two and three dimensions image that one embodiment of the invention provides synchronous collection method in daytime frame and black
The shooting beat square wave figure of night frame.
Wherein, 1- scanning elements；2- computing units；3- workpieces for measurement；11- cameras；12- light sources；13- structured lights
Device；14- motions；15- sensors；16- fixed supports；141- transmission belts；142- motors.
Embodiment
A kind of synchronous acquisition of two and three dimensions image proposed by the present invention is filled below in conjunction with the drawings and specific embodiments
Put and acquisition method is described in further detail.According to following explanation and claims, advantages and features of the invention will more
It is clear.It should be noted that accompanying drawing uses using very simplified form and non-accurately ratio, only to convenient, apparent
Ground aids in illustrating the purpose of the embodiment of the present invention.
Fig. 1 is a kind of schematic diagram of the synchronous acquisition device for two and three dimensions image that one embodiment of the invention provides.Please
With reference to figure 1, a kind of synchronous acquisition device of two and three dimensions image includes：For obtain workpiece for measurement 3 several on daytimes frame and
The scanning element 1 of several night frames and for handling several described frames on daytime and several described night frames and generating workpiece for measurement
Two-dimensional texture map and three-dimensional point cloud atlas computing unit 2, the scanning element 1 communicates to connect with the computing unit 2, described
Computing unit 2 is additionally operable to control the working condition of the scanning element 1, wherein, the frame on daytime is shot under light source irradiation
Arrive, the night frame is shot in the environment of structure light scan to be obtained, and after the scanning element often obtains N number of night frame, is obtained
One daytime frame, N >=1；By workpiece for measurement when shooting adjacent night frame and night frame or adjacent night frame and frame on daytime
Displacement information is defined as interframe displacement information；The two-dimensional texture map is by the computing unit according to the interframe displacement
Amount information obtains to frame progress on daytime image mosaic several described；The three-dimensional point cloud atlas is by the computing unit according to
Interframe displacement information carries out image mosaic to night frame several described and obtained；The xy coordinates of the three-dimensional point cloud atlas and described two
Mapping relations be present between the xy coordinates of dimension texture maps, the mapping relations are according to several described frames on daytime, several described nights
Frame and the interframe displacement information obtain.By obtaining frame and night frame on several of workpiece for measurement, profit in the present invention on daytimes
The two-dimensional texture map of workpiece for measurement is obtained with frame on several on daytimes, utilizes several night frames for shooting to obtain under structure light scan environment
The three-dimensional point cloud atlas of workpiece for measurement is obtained, the synchronous acquisition of two and three dimensions image is so achieved that, moreover, three-dimensional point cloud atlas
Xy coordinates and the two-dimensional texture map xy coordinates between mapping relations be present, specifically, when needing three-dimensional point cloud atlas
In some xy coordinate for putting when being mapped on two-dimensional texture map on the xy coordinates of corresponding point, it is first determined in three-dimensional point cloud atlas
Xy coordinate of this on corresponding night frame, then believed according to the previous frame on daytime and interframe displacement of the night frame
Breath, it is possible to xy coordinate of this on previous frame on daytime is calculated, so as to be found on corresponding two-dimensional texture map pair
The xy coordinates answered, the mapping relations for the xy coordinates established between three-dimensional point cloud atlas and two-dimensional texture map so that three-dimensional point cloud atlas energy
It is enough it is accurately corresponding with the xy coordinates of two-dimensional texture map on, measurement result is more accurate.
Fig. 2 is refer to, wherein, the scanning element 1 includes：For camera 11, the light source taken pictures to workpiece for measurement 3
12nd, structured light device 13 and the motion for making the workpiece for measurement 3 and the scanning element 1 generation relative motion
14；The camera 11, the light source 12 and the structured light device 13 communicate to connect with the computing unit 2；It is described
Motion 14 is provided with one and is used to determine the sensor 15 that the motion state of motion 14 obtains kinematic parameter, the biography
Sensor 15 communicates to connect with the computing unit 2, and the sensor 15 is used to generate a trigger signal according to the kinematic parameter
And pass to the computing unit 2；The computing unit 2 is additionally operable to generate a control signal, and root according to the trigger signal
The working condition of the camera 11, the light source 12 and the structured light device 13 is controlled according to the control signal.
In the present embodiment, the camera 11, the light source 12 and said structure optical transmitting set 13 can be fixed on one
On fixed support 16, the motion 14 is arranged at the camera 11, the light source 12 and the structured light device 13
Lower section, when the workpiece for measurement, which is placed on, to be moved on the motion 14, the camera 11 can be to the work to be measured
Part is taken pictures, and the light that the light source 12 and the structured light device 13 are sent can be irradiated on the workpiece for measurement.
Further, the sensor 15 is used for according to the default triggering step-length of the size of workpiece for measurement 3, the interframe displacement
Amount information can obtain according to the triggering step-length, and the sensor 15 is always according to the kinematic parameter and the triggering step-length life
Into the trigger signal；The computing unit 2 is used to preset the frame on daytime and the night frame according to the size of workpiece for measurement 3
Ratio, and the control signal is generated according to the trigger signal and the ratio of the frame on daytime and the night frame.Work as biography
When sensor 15 detects that the kinematic parameter of the motion 14 meets triggering step-length, the sensor 15 transmits trigger signal
To computing unit 2, computing unit 2 is set to control scanning element 1 to open scan pattern, wherein, the control signal includes opening in vain
Its frame pattern opens night frame pattern, the mode of operation of 1 each part of scanning element according to the ratio of frame on daytime and night frame come
Determine, as shown in figure 3, in general, when daytime frame and the ratio of night frame be 1：During N (N >=1), the computing unit 2 is represented
After the control signal for often generating N number of unlatching night frame pattern, the control signal of frame pattern on daytime is once opened in generation.
Specifically, when the control signal is opens frame pattern on daytime, the computing unit 2 controls the light source 12
Unlatching makes the intensity of illumination that camera 11 is taken pictures in the visual field more than a certain setting value and controls the structured light device 13 to make knot
The intensity of structure light (is defined, according to the material and phase of workpiece for measurement 3 below a certain setting value by the acquisition for not influenceing frame on daytime
Depending on the parameter of machine 11) or close structured light device 13 and control the camera 11 to take pictures, obtain frame on daytime；When described
When control signal is opens night frame pattern, the computing unit 2 controls the light source 12 to make intensity of illumination in another setting value
The light source 12 (is defined) or closed below by the acquisition for not influenceing night frame, the control unlatching of structured light device 13 makes knot
The intensity of structure light is more than another setting value and controls the camera 11 to take pictures, and obtains night frame.
Relative motion between the workpiece for measurement 3 and the scanning element 1 can include two kinds of motion modes, a kind of
It is：The scanning element 1 is fixed, and the motion 14 is used to drive the band to measure workpiece 3 relative to the scanning element 1
Motion；Second scheme is：The workpiece for measurement 3 is fixed, the motion 14 be used for drive the scanning element 1 relative to
The workpiece for measurement 3 moves.
In such scheme, the computing unit 2 passes through camera data line, light source control line, structure light control line respectively
And sensor signal lines and the corresponding camera 11, the light source 12, the structured light device 13 and the sensing
Device 15 connects.
Optionally, the motion 14 can be conveyer belt or line slideway, and the conveyer belt includes transmission belt 141
And motor 142, the output shaft 143 of the motor 142 are connected to drive the transmission belt with the transmission belt 141
141 motions.The sensor 15 can be displacement sensor (such as rotary encoder) or velocity sensor.The motion ginseng
Number includes the displacement of the line slideway or the transmission belt, or the rotational angle of the output shaft of the motor 142.Its
In, the triggering step-length can be the displacement of setting or the angle value of setting, when triggering the displacement that step-length is setting, institute
State interframe displacement information and be equal to the displacement；When triggering the angle value that step-length is setting, the interframe displacement information can
With the radiuscope according to the power transmission shaft of the angle value and the motion 14 (such as power transmission shaft of the transmission belt 141)
Obtain.When the kinematic parameter is equal to the triggering step-length, the sensor 15 generates the trigger signal.
As preferable, the structured light device 13 can use single pattern transmitter or variable pattern transmitter.
Present invention also offers a kind of method that synchronous acquisition device using two-dimensional/three-dimensional image is acquired, including such as
Lower step：
S1：According to the size of workpiece for measurement 3, the default triggering step-length of the sensor 15, the computing unit 2 presets daytime
The ratio of frame and night frame, and obtain the interframe displacement information.For example, when motion 14 is conveyer belt, can incite somebody to action
The rotational angle of the displacement of transmission belt 141 or the output shaft 143 of motor 142 is set as triggering step-length, i.e., whenever described
Sensor 15 detects that the displacement of the motion of transmission belt 141 setting or the output shaft 143 rotate the angle of setting
When, i.e. can generate trigger signal passes to the computing unit 2 to the sensor 15, makes the generation of the computing unit 2 control letter
Number control scanning element 1 works.
S2：Opening the motion 14 makes relative motion occurs between the workpiece for measurement 3 and the scanning element 1.
In the present embodiment, workpiece for measurement 3 can be placed on the objective table on the feed belt 141, passes through feed belt 141
Motion drive the workpiece for measurement 3 to be moved relative to the scanning element 1 so that from the beginning the scanning element 1 can be
To the scanning workpiece for measurement 3 of tail, the overall picture of workpiece for measurement 3 is collected.
S3：Sensor 15 detects the motion state of the motion 14 in real time, obtains the motion of the motion 14
Parameter, when the kinematic parameter is equal to the triggering step-length, the sensor 15 generates trigger signal and passes to the meter
Calculate unit 2.
S4：The computing unit 2 is according to the trigger signal and the production control of the ratio of above-mentioned frame on daytime and night frame
Signal, and according to the working condition of control signal control light source 12 and structured light device 13, and control camera 11 to enter
Row is taken pictures, and the daytime for obtaining workpiece for measurement 3 or night frame and passes to the computing unit 2 at frame, and the computing unit 2 is according to white
Its frame judge workpiece for measurement 3 whether within sweep of the eye remove field range outside.Specifically, the control signal includes opening
Open frame pattern on daytime or open night frame pattern, the mode of operation of 1 each part of scanning element is according to frame on daytime and the ratio of night frame
Example determines, in general, as shown in figure 3, when daytime frame and the ratio of night frame be 1：During N (N >=1), the calculating is represented
After unit 2 often generates the control signal of N number of unlatching night frame pattern, the control signal of frame pattern on daytime is once opened in generation.When
When the control signal is opens frame pattern on daytime, the computing unit 2 controls the light source 12 to open, control the structure light
Transmitter 13 is closed and controls the camera 11 to take pictures, and obtains frame on daytime；When the control signal is unlatching night frame pattern
When, the computing unit 2 controls the light source 12 to close, controls the structured light device 13 to open and controls the camera
11 take pictures, and obtain night frame.Meanwhile computing unit 2 can also to shooting to daytime frame judge, judge in frame on daytime
Whether workpiece for measurement 3 from removing outside field range within sweep of the eye, and when shooting frame on daytime for the first time, workpiece for measurement 3 may be also
Do not appear within sweep of the eye, or be already present within sweep of the eye, at this moment, harvester may proceed to work；When in daytime frame
Workpiece for measurement 3 within sweep of the eye remove field range outside after, surface scan unit 1 is had been completed to workpiece for measurement 3
Overall picture scans.
S5：When the computing unit 2 judges that workpiece for measurement from when being moved out within sweep of the eye outside field range, does not repeat
S3-S4；When the computing unit 2 judges workpiece for measurement from when being moved out within sweep of the eye outside field range, the calculating is single
Member 2 controls scanning element 1 to be stopped.
S6：The computing unit 2 is handled frame on several of acquisition on daytimes, obtains the two-dimensional texture map of workpiece for measurement 3；
The computing unit 2 according to the interframe displacement information and frame on several on daytimes to several night frames of acquisition at
Reason, obtains the three-dimensional point cloud atlas of workpiece for measurement 3, the computing unit 2 is according to the interframe displacement information, several described daytimes
Frame and several described night frames obtain the mapping relations between the three-dimensional point cloud atlas and the xy coordinates of the two-dimensional texture map,
The computing unit 2 exports the two-dimensional texture map and three-dimensional point cloud atlas of the workpiece for measurement 3, completes collection.Specifically, calculate
Unit 2 can be carried out image mosaic according to interframe displacement information, restore workpiece for measurement to multiple frame progress on daytime splicings
3 complete two-dimensional texture maps；Due to that can intert some frames on daytime in multiple night frames, i.e. night frame is not continuous now, to count
The three-dimensional information of shooting frame on daytime moment workpiece can be calculated according to a few width night frames before and after the shooting frame moment on daytime by calculating unit 2,
Such as mean value method can be used to calculate three-dimensional height information of frame on the daytime moment workpiece for measurement 3 in the position, due to actual mistake
Cheng Zhong, the ratio value of night frame and frame on daytime is very big, and therefore, the error of this reckoning is very small, by this method, can obtain
Complete night frame to workpiece for measurement in all positions, then computing unit 2 is black to several further according to interframe displacement information
Night frame carries out image mosaic, can obtain the complete three-dimensional point cloud atlas of workpiece for measurement 3.So it is achieved that the two dimension of workpiece for measurement 3
The synchronous acquisition of texture maps and three-dimensional point cloud atlas, moreover, computing unit 2 can also according to several described frames on daytime, several are described black
The xy coordinates that night frame and the interframe displacement information are established between the three-dimensional point cloud atlas and the two-dimensional texture map reflect
Penetrate relation.
In summary, can be with the invention provides a kind of synchronous acquisition device and acquisition method of two and three dimensions image
Realize to the two-dimensional texture map of workpiece for measurement and the synchronous acquisition of three-dimensional point cloud atlas, moreover, three-dimensional point cloud atlas can be with two-dimentional line
The xy coordinates for managing figure accurately correspond to so that the result for gathering measurement is more accurate.
Foregoing description is only the description to present pre-ferred embodiments, not to any restriction of the scope of the invention, this hair
Any change, the modification that the those of ordinary skill in bright field does according to the disclosure above content, belong to the protection of claims
Scope.
Claims (10)
- A kind of 1. synchronous acquisition device of two and three dimensions image, it is characterised in that including for obtain workpiece for measurement several Daytime, frame was with the scanning element of several night frames and for handling several described frames on daytime and several described night frames and generating The two-dimensional texture map of workpiece for measurement and the computing unit of three-dimensional point cloud atlas, the scanning element and the computing unit communication link Connect, the computing unit is additionally operable to control the working condition of the scanning element；Wherein, the frame on daytime is shot under light source irradiation and obtained, and the night frame is shot in the environment of structure light scan Arrive, after the scanning element often obtains N number of night frame, obtain one daytime frame, N >=1；Adjacent night frame and night frame will be shot Or the displacement information of the workpiece for measurement is defined as interframe displacement information when adjacent night frame and frame on daytime；The two-dimensional texture map is by the computing unit according to the interframe displacement information to daytime several described, frame was carried out Image mosaic obtains；The three-dimensional point cloud atlas is carried out by the computing unit according to the interframe displacement information to night frame several described Image mosaic obtains；Mapping relations between the xy coordinates of the three-dimensional point cloud atlas and the xy coordinates of the two-dimensional texture map be present, the mapping is closed System obtains according to several described frames on daytime, several described night frames and the interframe displacement information.
- A kind of 2. synchronous acquisition device of two and three dimensions image according to claim 1, it is characterised in that the scanning Unit includes：For the camera, light source, structured light device and for making the workpiece for measurement taken pictures to workpiece for measurement The motion of relative motion occurs with the scanning element；The camera, the light source and the structured light device communicate to connect with the computing unit；The motion is provided with one and is used to determine the sensor that the motion motion state obtains kinematic parameter, described Sensor communicates to connect with the computing unit, and the sensor is used to generate a trigger signal according to the kinematic parameter and passed Pass the computing unit；The computing unit is additionally operable to generate a control signal according to the trigger signal, and controls institute according to the control signal State the working condition of camera, the light source and the structured light device.
- A kind of 3. synchronous acquisition device of two-dimensional/three-dimensional image according to claim 2, it is characterised in that the sensor For generating described touch according to the default triggering step-length of the size of workpiece for measurement, and according to the kinematic parameter and the triggering step-length Signal；Ratio of the computing unit for presetting the frame on daytime and the night frame according to the size of workpiece for measurement, and according to The trigger signal and the ratio of the frame on daytime and the night frame generate the control signal, the interframe displacement information Obtained according to the triggering step-length.
- A kind of 4. synchronous acquisition device of two-dimensional/three-dimensional image according to claim 3, it is characterised in that the control letter Number include open daytime frame pattern or open night frame pattern,When the control signal is opens frame pattern on daytime, the computing unit controls the light source to open, control the knot Structure optical transmitting set is closed and controls the camera to take pictures；When the control signal is opens night frame pattern, the computing unit controls the light source to close, control the knot Structure optical transmitting set is opened and controls the camera to take pictures.
- A kind of 5. synchronous acquisition device of two-dimensional/three-dimensional image according to claim 3, it is characterised in that the sensor For displacement quantity sensor or velocity sensor.
- 6. the synchronous acquisition device of a kind of two-dimensional/three-dimensional image according to claim 2, it is characterised in that the scanning is single Member is fixed, and the motion is used to drive the band measurement workpiece to move relative to the scanning element.
- A kind of 7. synchronous acquisition device of two-dimensional/three-dimensional image according to claim 2, it is characterised in that the work to be measured Part is fixed, and the motion is used to drive the scanning element to move relative to the workpiece for measurement.
- A kind of 8. synchronous acquisition device of two-dimensional/three-dimensional image according to claim 3, it is characterised in that the triggering step The displacement of a length of setting or the angle value of setting, when the kinematic parameter is equal to the triggering step-length, the sensor life Into the trigger signal.
- 9. the side that a kind of synchronous acquisition device of two-dimensional/three-dimensional image using as described in claim any one of 1-8 is acquired Method, it is characterised in that comprise the following steps：S1：According to the size of workpiece for measurement, the default triggering step-length of the sensor, the computing unit presets frame on daytime and night The ratio of frame, and obtain the interframe displacement information；S2：Opening the motion makes relative motion occurs between the workpiece for measurement and the scanning element；S3：Sensor detects the motion state of the motion in real time, the kinematic parameter of the motion is obtained, when described When kinematic parameter is equal to the triggering step-length, the sensor generates trigger signal and passes to the computing unit；S4：The computing unit generates control signal according to the trigger signal and the ratio of the frame on daytime and night frame, And the working condition of light source and structured light device is controlled according to the control signal, and control camera to be taken pictures, obtain The daytime of workpiece for measurement or night frame and passes to the computing unit at frame, and the computing unit judges work to be measured according to frame on daytime Part whether within sweep of the eye remove field range outside；S5：When the computing unit judges that workpiece for measurement from when being moved out within sweep of the eye outside field range, does not repeat S3-S4； When the computing unit judges workpiece for measurement from when being moved out within sweep of the eye outside field range, the computing unit control is swept Unit is retouched to be stopped；S6：The computing unit is handled frame on several of acquisition on daytimes, obtains the two-dimensional texture map of workpiece for measurement；The meter Calculate unit to handle several night frames of acquisition according to the interframe displacement information and frame on several on daytimes, obtain The three-dimensional point cloud atlas of workpiece for measurement；The computing unit is according to the interframe displacement information, several described frames on daytime and more Night frame described in width obtains the mapping relations between the three-dimensional point cloud atlas and the xy coordinates of the two-dimensional texture map；The calculating Unit exports the two-dimensional texture map and three-dimensional point cloud atlas of the workpiece for measurement, completes collection.
- A kind of 10. synchronous collection method of two-dimensional/three-dimensional image according to claim 9, it is characterised in that the motion Mechanism is conveyer belt or line slideway, and the conveyer belt includes transmission belt and motor, the output shaft of the motor with it is described Transmission belt is connected to drive the transmission belt to move, and the kinematic parameter includes the line slideway or the transmission skin The displacement of band, or the rotational angle of the output shaft of the motor, the triggering step-length are the displacement of setting or the angle of setting Angle value.
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