CN107747915A - Closed loop 3D vision device based on DMD - Google Patents
Closed loop 3D vision device based on DMD Download PDFInfo
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- CN107747915A CN107747915A CN201711106479.7A CN201711106479A CN107747915A CN 107747915 A CN107747915 A CN 107747915A CN 201711106479 A CN201711106479 A CN 201711106479A CN 107747915 A CN107747915 A CN 107747915A
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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
- G01B11/2531—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 using several gratings, projected with variable angle of incidence on the object, and one detection device
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- Computer Vision & Pattern Recognition (AREA)
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- General Physics & Mathematics (AREA)
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Abstract
The invention discloses a kind of closed loop 3D vision device based on DMD, the device includes PC, control circuit, data processing module, motor, digital micro-mirror module, reference planes and camera, control circuit makes digital micro-mirror module produce different grating patterns, irradiate object under test, the image irradiated through camera collection by different grating patterns, data processing module is transferred to handle, data processing module is according to result motor, adjust digital micro-mirror module and camera angle and focal length, amplify object under test to projection and shooting area center, closed loop cycle said process, three-dimensional information can quickly and accurately be extracted, store to local or be uploaded to PC and show.Compared with conventional three-dimensional harvester, the present invention using digital micro-mirror speed-sensitive switch characteristic can projected at high velocity grating pattern, using motor, object can be positioned with fast accurate, picking rate is fast, closed loop acquisition precision is high, and image processing speed is fast, and flexibility is high.
Description
Technical field
The present invention relates to high-precision three-dimensional to rebuild field and electronic technology field, more particularly to DMD is in three-dimensional
A kind of closed loop 3D vision device based on DMD of application in terms of information gathering, the device can be used for high at a high speed
The three-dimensional information data acquisition of precision.
Background technology
People are lived in three-dimensional world, and in order to preferably express objective world, 3D vision technology becomes critically important.
When needing the three-dimensional information of high-speed, high precision object, it would be desirable to be able to the device of feedback closed loop measurement object under test is carried out, and very
High grating pattern velocity of projection, image capture and processing speed.
Traditional 3D vision device is to project a series of grating pattern to object under test by fixed LCD projector
Surface, picture is then shot by camera, PC is uploaded to and is processed and displayed.And traditional LCD projector refreshes speed
Rate only has 30-60fps, and projection and picking rate are very slow, and equipment is fixed, and can only carry out a fixed scene direction and focal length
Scanning, acquisition range is small, precision is low.In addition, camera collection picture needs to use PC to be processed and displayed, equipment is stupid
Weight, it is not portable.
The content of the invention
A kind of closed loop based on DMD that the purpose of the present invention is in view of the shortcomings of the prior art and provided
3D vision device, the fast modulation to spatial light is realized by digital micro-mirror first, can quickly produce a series of grating
Pattern, while get off by camera Quick Acquisition, transfer to embedded microprocessor to carry out three dimensional signal space extraction, finally on
Reach host computer to be shown, then display result is handled, obtain object under test and deviate the distance value of center picture, and drive
Dynamic motor adjustment digital micro-mirror module and camera angle and focal length, make the three-dimensional information that collects more accurate.With operation letter
It is single, acquisition range is big, acquisition process speed is fast, equipment is compact portable, the features such as showing convenient storage.
Realizing the concrete technical scheme of the object of the invention is：
A kind of closed loop 3D vision device based on DMD, feature are：The device includes：PC, control circuit,
Data processing module, motor, digital micro-mirror module, reference planes and camera, the PC are connected with control circuit；Control electricity
Road is connected with motor, digital micro-mirror module, camera respectively；Motor is connected with digital micro-mirror module, camera respectively；Numeral is micro-
Mirror module is connected with reference planes；Reference planes are connected with camera；Camera is connected with data processing module；
Wherein：
The control circuit connects including FPGA, 4 core Cortex-A9 processors, AS interfaces, USB interface, LED, button and UART
Mouthful, the FPGA is connected with AS interfaces, 4 core Cortex-A9 processors respectively；4 core Cortex-A9 processors connect with USB respectively
Mouth, LED, button and UART interface connection；
The data processing module includes 4 core Cortex-A9 processors, USB interface, DDR3, MIPI interface and eMMC, and described 4
Core Cortex-A9 processors are connected with USB interface, DDR3, MIPI interface and eMMC respectively；
The digital micro-mirror module includes light source, even optical wand, prismatic lens group, DMD, lens array, the light
Source is connected with even optical wand；Even optical wand is connected with prismatic lens group；Prismatic lens group is connected with DMD；Numeral is micro-
Mirror device is connected with lens array.
Apparatus of the present invention realize that closed loop 3D vision function includes step in detail below：
Step 1：PC control light source is irradiated on DMD
ⅰ）PC opens light source switch by control circuit；
ⅱ）For irradiation light by even optical wand, it is area source to make spot light broadening；
ⅲ）Irradiation light makes irradiation smooth surface meet DMD size by prismatic lens group；
Step 2：Control circuit control DMD is modulated and is irradiated on object under test to spatial light
ⅰ）Control circuit controls the anglec of rotation of each mirror of DMD, it is showed " opening " or " shut-off " shape
State, shape, the region of spatial light are controlled, complete the modulation to spatial light, continuous high speed produces a series of grating patterns；
ⅱ）Spatial light after modulation passes through lens array, is uniformly radiated at the determinand body surface for being placed on reference planes exactly
On face；
Step 3：The view data of control circuit control camera collection object under test is simultaneously handled in data processing module
ⅰ）Control circuit controls camera, is radiated in grating pattern caused by each DMD and is placed on reference planes
Object under test on after, immediately gather object under test view data and be stored in eMMC memories；
ⅱ）After object under test picture collection under a series of irradiation of grating patterns, 4 core Cortex-A9 processors are to figure
Piece carries out the operations such as binaryzation, structured light decoding, amount of distortion extraction；
Step 4：Control circuit control data processing module extraction object under test position, carries out second and gathers
ⅰ）After 4 core Cortex-A9 processors are completed to the processing of image, control circuit controls 4 core Cortex-A9 processors will
As a result eMMC memories are stored in, and the range information of object under test deviation center picture is sent to control circuit.
ⅱ）Control circuit motor adjusts digital micro-mirror module and camera angle and focal length, amplifies object under test
And center and the center of camera shooting picture in digital micro-mirror module projects pattern.
ⅲ）Repeat step 1 completes the higher collection of second of precision to step 3
Step 5：Data processing module collection result will be integrated twice, store to eMMC memories or transmission to PC and be shown
ⅰ）After the integration that 4 core Cortex-A9 processors complete to three-dimensional information twice, control circuit controls 4 core Cortex-A9
Processor stores the result into eMMC memories or by USB port upload process result to PC, is shown by host computer procedure
Extract the 3-D view of obtained object under test；
ⅱ）Can be in PC end adjustable range parameter according to display effect, the three-dimensional information of measuring targets is acquired whole again
Close.
The present invention solves at present that traditional 3D vision device acquisition range is small, acquisition precision is low, processing speed is slow, sets
The problems such as standby heavy, digital micro-mirror module and camera angle and focal length is driven to increase the collection of 3D vision device using motor
Precision, while irradiation light is modulated using DMD, the grating needed for three-dimensional information collection can be produced at a high speed
Pattern, three dimensional signal space extraction is carried out using 4 core Cortex-A9 processors after being gathered with camera, easily deposits result
Storage is in eMMC memories or is shown on PC, and realizes the function of tracking Dynamic Announce object under test three-dimensional information.
Brief description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 is control circuit structural representation of the present invention；
Fig. 3 is data processing module structural representation of the present invention；
Fig. 4 is digital micro-mirror modular structure schematic diagram of the present invention；
Fig. 5 is control circuit workflow diagram of the present invention；
Fig. 6 is data processing module workflow diagram of the present invention；
Fig. 7 is PC display interface schematic diagram of the present invention.
Embodiment
Below in conjunction with the accompanying drawings and embodiment the present invention will be described in detail.
Refering to Fig. 1, the present invention include PC 1, control circuit 2, data processing module 3, motor 4, digital micro-mirror module 5,
Reference planes 6, camera 7, the PC 1 are connected with control circuit 2；Control circuit 2 respectively with motor 4, digital micro-mirror module
5th, camera 7 connects；Motor 4 is connected with digital micro-mirror module 5, camera 7 respectively；Digital micro-mirror module 5 connects with reference planes 6
Connect；Reference planes 6 are connected with camera 7；Camera 7 is connected with data processing module 3.PC 1 controls number by control circuit 2
Word micro-mirror module 5 is modulated and is irradiated on object under test to spatial light, and control circuit 2 controls camera 7, in each numeral
After grating pattern caused by micro mirror element module 5 is radiated on object under test, the view data of object under test is gathered immediately and is deposited
Storage is in data processing module 3, after the object under test picture collection under a series of irradiation of grating patterns, data processing mould
Block 3 carries out the operations such as binaryzation, structured light decoding, amount of distortion extraction to picture, and data processing module 3, which obtains object under test, to be deviateed
The distance of center picture is simultaneously sent to control circuit 2, the motor 4 of control circuit 2 adjustment digital micro-mirror module 3 and camera 7
Angle and focal length, make object under test amplify and be in picture centre, repeat the above steps progress second of three-dimensional information collection,
Data processing module 3 collection result will be integrated twice, and integrated results are stored to data processing module 3 or send to PC 1
Row display, PC 1 can also adjust the distance of digital micro-mirror module 3 and camera 7 manually according to display effect and angle value enters
Row multi collect, to obtain the three-dimensional information of full accuracy.
It is the structural representation of control circuit 2 of the present invention refering to Fig. 2.The control circuit includes FPGA21,4 core Cortex-
A9 processors 22, AS interfaces 23, USB interface 24, LED25, button 26 and UART interface 27, the FPGA21 respectively with AS interfaces
23rd, 4 core Cortex-A922 connections；4 core Cortex-A9 processors 22 respectively with USB interface 24, LED25, button 26 and UART
Interface 27 connects.AS interfaces 23 are used for programming FPGA21 codes, and USB interface 24 is used for receiving PC order, 4 core Cortex-A9
Processor 22 is received by USB interface 24, will be sent relevant parameter to FPGA21 after command analysis or be passed through UART interface 27
Running parameter is sent to motor.If control circuit operation irregularity, control LED25 is prompted, and can also use button
26 restarting equipments.
It is the structural representation of data processing module 3 of the present invention refering to Fig. 3.The data processing module 3 includes 4 cores
Cortex-A9 processors 31, USB interface 32, DDR333, MIPI interface 34, eMMC35, the 4 core Cortex-A9 processors 31
It is connected respectively with USB interface 32, DDR333, MIPI interface 34 and eMMC 35.USB interface 32 is used for programming Cortex-A9 processing
The code of device 31 simultaneously receives order, and DDR333 is used for keeping in caused nonce in the running of 4 core Cortex-A9 processors 31
According to 4 core Cortex-A9 processors 31 control camera to gather picture by MIPI interfaces 34, store to eMMC35.In all figures
After the completion of piece collection, 4 core Cortex-A9 processors 31 take out picture from eMMC35, by binaryzation, structured light decoding, abnormal
Variable extraction etc. operation after, by three dimensional signal space extraction result be stored in eMMC35, or by USB interface 32 send to
PC.
It is the structural representation of digital micro-mirror module 5 of the present invention refering to Fig. 4.The digital micro-mirror module 5 include light source 51,
Even optical wand 52, prismatic lens group 53, DMD 54, lens array 55, the light source 51 are connected with even optical wand 52,
Even optical wand 52 is connected with prismatic lens group 53, and prismatic lens group 53 is connected with DMD 54, DMD 54
It is connected with lens array 55.PC is opened light source 51 by control circuit and switched, and irradiation light makes spot light by even optical wand 52
Broadening is area source, and irradiation light makes irradiation smooth surface meet the size of DMD 54, control circuit by prismatic lens group 53
Control DMD 54 makes its continuous high speed produce a series of grating patterns, and the spatial light after modulation passes through lens array
55, uniformly it is radiated at exactly on object under test surface.
It is control circuit workflow diagram of the present invention refering to Fig. 5.After equipment initialization, user assigns in PC 1 to be started to adopt
Collect the instruction of three-dimensional information, instruction is sent to 4 core Cortex-A9 processors of control circuit 2 by USB interface；4 cores
Cortex-A9 processors, light source is opened, motor 4 adjusts digital micro-mirror module 5 and the angle and focal length of camera 7, sets
Need to project the grating pattern on the object under test surface in reference planes 6, send to FPGA, FPGA is according to driving parameter numeral
Micro-mirror module 5, the object under test surface for making grating pattern be projected in reference planes 6, while control circuit 2 control camera 7
Picture is gathered, and is stored in data processing module 3, if not gathering the picture finished under all different grating pattern irradiations now,
Next grating pattern for needing to project then is set, drives digital micro-mirror module 5 and camera 7 to circulate above-mentioned work, if having adopted
Collection is finished, then data processing module 3 starts to handle picture, and the three-dimensional information for recovering to extract is judged, such as essence
To spend sufficiently high, closed-loop process finishes, then is stored in local, or is uploaded to PC 1 and is shown, if precision is insufficient, closed-loop process
Do not finish, then adjust digital micro-mirror module 5 and the angle of camera 7 and focal length, continue to repeat said process.
It is data processing module workflow diagram of the present invention refering to Fig. 6.Data processing module 3 is loaded into first shoots in advance
The reference planes image irradiated by different gratings, then carry out image binaryzation, structured light decoding, extraction amount of distortion waited
Journey.Object under test image is loaded into afterwards, is equally carried out image binaryzation, structured light decoding, the process of amount of distortion extraction, then will
The amount of distortion extracted subtracts the reference planes amount of distortion obtained before, remove as reference planes in itself caused by distortion.Will most
The amount of distortion for the object under test for recovering to extract eventually, which is stored in local or is uploaded to PC 1, to be shown.
Refering to Fig. 7, for the PC display interface schematic diagram of the present invention, three-dimensional in click scan, whole system can be by closing
Ring circulation extracts object under test high accuracy three-dimensional information, is shown in three-dimensional system of coordinate and conveniently checks and preserve.User
Scope interested can be manually set as needed, carry out the extraction of high-precision three-dimensional information.
Embodiment
People are lived in three-dimensional world, and in order to preferably express objective world, 3D vision technology becomes critically important.
, it is necessary to position object under test, rotatable, focusing grating pattern projection exemplified by obtaining object high accuracy three-dimensional information at a high speed
With image capture device so as to object under test of focusing, the grating pattern velocity of projection of high speed, image capture speed and image at
Manage speed.User's click scan three-dimensional information in the interface that PC 1 is shown, the FPGA 21 in control circuit 2 control numeral micro-
Mirror module 6 produces a series of grating pattern, while 4 core Cortex-A9 processors 22 control camera 7 shoots picture.Shooting
After, data processing module 3 is handled picture, and record object under test deviant returns to control circuit 2, control circuit 2
Motor 4 adjusts digital micro-mirror module 3 and the angle and focal length of camera 7 repeat said process, and measuring targets are closed
Ring circulation extraction high-precision three-dimensional information, and shown at the interface of PC 1.
This device is compared to traditional 3D vision device acquisition precision is high, processing speed is fast, equipment is compact portable, side
Just storage, flexibility height are shown.
Claims (2)
1. a kind of closed loop 3D vision device based on DMD, it is characterised in that the device includes：PC（1）、
Control circuit（2）, data processing module（3）, motor（4）, digital micro-mirror module（5）, reference planes（6）And camera（7）, institute
State PC（1）With control circuit（2）Connection；Control circuit（2）Respectively with motor（4）, digital micro-mirror module（5）, camera（7）
Connection；Motor（4）Respectively with digital micro-mirror module（5）, camera（7）Connection；Digital micro-mirror module（5）With reference planes（6）
Connection；Reference planes（6）With camera（7）Connection；Camera（7）With data processing module（3）Connection；Wherein：
The control circuit（2）Including FPGA（21）, 4 core Cortex-A9 processors（22）, AS interfaces（23）, USB interface
（24）、LED（25）, button（26）And UART interface（27）, the FPGA（21）Respectively with AS interfaces（23）, 4 core Cortex-A9
Processor（22）Connection；4 core Cortex-A9 processors（22）Respectively with USB interface（24）、LED（25）, button（26）And UART
Interface（27）Connection；
The data processing module（3）Including 4 core Cortex-A9 processors（31）, USB interface（32）、DDR3（33）, MIPI connects
Mouthful（34）And eMMC（35）, the 4 core Cortex-A9 processors（31）Respectively with USB interface（32）、DDR3（33）, MIPI connects
Mouthful（34）And eMMC（35）Connection；
The digital micro-mirror module（5）Including light source（51）, even optical wand（52）, prismatic lens group（53）, DMD
（54）And lens array（55）, the light source（51）With even optical wand（52）Connection；Even optical wand（52）With prismatic lens group
（53）Connection；Prismatic lens group（53）With DMD（54）Connection；DMD（54）With lens array（55）
Connection.
2. device according to claim 1, it is characterised in that described device realizes that closed loop 3D vision is included in detail below
Step：
Step 1：PC control light source is irradiated on DMD
ⅰ）PC opens light source switch by control circuit；
ⅱ）For irradiation light by even optical wand, it is area source to make spot light broadening；
ⅲ）Irradiation light makes irradiation smooth surface meet DMD size by prismatic lens group；
Step 2：Control circuit control DMD is modulated and is irradiated on object under test to spatial light
ⅰ）Control circuit controls the anglec of rotation of each mirror of DMD, it is showed " opening " or " shut-off " shape
State, shape, the region of spatial light are controlled, complete the modulation to spatial light, continuous high speed produces a series of grating patterns；
ⅱ）Spatial light after modulation passes through lens array, is uniformly radiated at the determinand body surface for being placed on reference planes exactly
On face；
Step 3：The view data of control circuit control camera collection object under test is simultaneously handled in data processing module
ⅰ）Control circuit controls camera, is radiated in grating pattern caused by each DMD and is placed on reference planes
Object under test on after, immediately gather object under test view data and be stored in eMMC memories；
ⅱ）After object under test picture collection under a series of irradiation of grating patterns, 4 core Cortex-A9 processors are to figure
Piece carries out the operations such as binaryzation, structured light decoding, amount of distortion extraction；
Step 4：Control circuit control data processing module extraction object under test position, carries out second and gathers
ⅰ）After 4 core Cortex-A9 processors are completed to the processing of image, control circuit controls 4 core Cortex-A9 processors will
As a result eMMC memories are stored in, and the range information of object under test deviation center picture is sent to control circuit；
ⅱ）Control circuit motor adjusts digital micro-mirror module and camera angle and focal length, object under test is amplified and is located
In the center of digital micro-mirror module projects pattern and the center of camera shooting picture；
ⅲ）Repeat step 1 completes the higher collection of second of precision to step 3；
Step 5：Data processing module collection result will be integrated twice, store to eMMC memories or transmission to PC and be shown
ⅰ）After the integration that 4 core Cortex-A9 processors complete to the three-dimensional information collected twice, control circuit controls 4 cores
Cortex-A9 processors store the result into eMMC memories or by USB port upload process results to PC, pass through host computer
The 3-D view of obtained object under test is extracted in program display；
ⅱ）Can be in PC end adjustable range parameter according to display effect, the three-dimensional information of measuring targets is acquired whole again
Close.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201711106479.7A CN107747915A (en) | 2017-11-10 | 2017-11-10 | Closed loop 3D vision device based on DMD |
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| CN201711106479.7A CN107747915A (en) | 2017-11-10 | 2017-11-10 | Closed loop 3D vision device based on DMD |
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