CN107835931A - Method for monitoring linear dimensions of three-dimensional solids - Google Patents

Abstract

The invention provides a method for 3D object measurement comprising projecting an image with a periodic structure of lines using a projector, recording projector light reflected from the object using pixels of a camera receiving matrix, wherein a triangulation angle is formed between a central beam of the projector and a central beam of the camera, then identifying lines formed by received pixels and reflected light of the camera matrix to determine coordinates and identify lines in the camera image, projecting an image composed of two sets of intersecting lines using the projector, parallel to each other in each set and at an angle to the vertical axis of the triangulation angle plane, then determining and identifying intersections of each pair of lines with each other and pixel columns and lines of the camera matrix registered by the same, each intersection of a pair of projection lines found on the matrix with the vertical column of pixels is determined as the coordinate Xn of a point N on the object, the intersection of a pixel horizontal line with the pair of lines is determined as the coordinate Yn on the object, and the Z coordinate Yn of a pixel horizontal line with the pair of lines found on the object is determined as the vertical line y N on the object, and the Z coordinate y on the object is determined as a projection line in a vertical line in a pixel matrix (1) and a vertical line in a pixel in.

Description

Method for monitoring linear dimensions of three-dimensional solids

technical field

The present invention relates to measurement equipment and can be used for accurate three-dimensional (3D) measurement and visualization of three-dimensional object contours by observing known projected patterns at different triangulation angles.

Background technique

There is known a method for optically measuring the shape of a surface comprising: arranging a surface in the illumination field of a projection optical system and simultaneously in the field of view of an image detector of the above-mentioned surface; Luminous flux, projecting a set of images onto a surface under test; detecting a corresponding set of images of the surface when viewed at an angle different from the angle at which the set of images are projected, and determining the shape of the surface under test based on the recorded images. Furthermore, at least three periodic light intensity distributions are alternately projected onto said surface, said periodic light intensity distribution being a collection of light bands whose intensities vary in a sinusoidal order in the transverse direction, and said periodic light intensity distribution is projected onto said surface alternately Discrimination is offset by a controlled amount within the band in a direction perpendicular to the band, and the registered image is processed to obtain a preliminary phase distribution comprising phases corresponding to the surface points. Furthermore, an additional light intensity distribution is projected once onto said surface such that for each point of said surface the number of light bands from said set of light bands can be determined for each point of said surface, the additional image of said surface being registered, each visible of said surface The resulting phase distribution of points is obtained based on the above-mentioned image of the object illuminated by the above-mentioned preliminary phase distribution and the above-mentioned image of said object illuminated by the complementary illumination distribution. The absolute coordinates of the points of the above surface are obtained based on the above obtained phase distribution using pre-calibration data. When performing measurements using the method described above, the assumption is that the image registration of each surface point occurs under the condition that it is only illuminated by the direct beam of the projector, and that the illumination of the image of this target point in the image detector is controlled by Considered to be proportional to the brightness of the beam incident on the point directly from the projector (RU No. 2148793).

Disadvantages of this method lie in the complexity of its implementation and the duration of the process, which requires a considerable amount of time for measurements and takes account of sources of error in the case of mechanical fluctuations of the device position (projector and camera).

A method and a device for contactless control and recognition of surfaces of three-dimensional objects by means of structured lighting are known, which comprise: a source of optical radiation and a transparent body capable of forming a non-periodic line structured light band; an afocal optical system, It is used to project the image of the transparent body onto the controlled surface; the receiving lens, which forms an image of the line structure pattern appearing on the controlled object surface distorted by the contour of the controlled object surface; the photographic recorder, which takes the receiving lens The formed image is converted into a digital image; the calculation digital electronic unit recalculates the digital image produced by the photographic recorder into the coordinates of the controlled surface, the above-mentioned components are installed in sequence along the radiation path; and there are provided: additional N-1 radiation sources, each of which is different from the rest of the radiation spectral range; N-1 transparent bodies, each of which is different from the rest for at least one light band; N-1 lenses mounted behind the transparent bodies; N-1 a mirror, which is installed in front of the second part of the afocal optical system and at an angle of 45° to the optical axis of each of the N-1 lenses, and is installed behind the receiving lens and connected to the N-1 lenses. The optical axis of the receiving lens is at an angle of 45°; N-1 secondary receiving lenses, each of which is installed behind each second N-1 reflecting mirrors, and forms a controlled object together with the receiving lens images of line-structure patterns appearing on the surface of a controlled object distorted by the contours of the surface; N-1 photographic recorders, each of which has a region of spectral sensitivity corresponding to the spectral radiation range of one of the N-1 radiation sources; N-1 calculation digital electronic units; image addition electronic units designed to have a number of inputs equal to the number of calculation digital electronic units, each input of the image addition electronic block being connected to each calculation digital electronic unit , and the number N is determined by the formula N=Log ₂ (L), where L is the number of spatial resolution element pairs of the photographic recorder (RU No. 2199718).

Disadvantages of this method are also the complexity of its implementation and the duration of the process, which requires a considerable amount of time for measurements and takes account of sources of error in the case of mechanical fluctuations in the position of the devices (projector and camera).

A method and a device for implementing it are known to monitor the linear dimensions of a three-dimensional object by means of three Cartesian coordinates. The two cameras are located on the right and left of the projector to form a stereo pair just like human vision. A projector projects a strip image onto an object. Images are obtained from the right and left cameras, and then these two images are compared by a correlation method, i.e., for each strip from the right image, a similar pair in the left image is searched from all light strips from the left image by a direct search method ( US 6377700).

The disadvantage of this method is that it takes a long time to search for all possible light band pairs and run the correlation algorithm on the computer.

A method for three-dimensional object measurement using structured lighting is known, wherein: a predetermined image with at least two non-intersecting lines is projected along one of the longitudinal axes onto the object to be inspected by the projector; Cameras at different distances from the projector record the projector's light reflected from the object, while the center beam of the projector forms different triangulation angles with the center beam of the camera; the line coordinates obtained by the camera are then identified by comparing the line coordinates obtained by the camera. each line formed by the reflected light projected by the projector and received by each camera, where the triangulation angle between the central beam of the projector and the central beam of the first camera located at the smallest distance from the projector is chosen to project The arc tangent of the ratio of the distance between the light bands to the depth of field of the camera lens; in the image of the first camera, the longitudinal and vertical coordinates of the centers of the lines are determined as the longitudinal coordinates in relation to the center beam of the projector and the second The quotient of the tangent to the triangulation angle between the central beams of a camera, whose value is obtained using a second camera located at a greater triangulation angle than the first, for the purpose of specifying the vertical coordinates, and is therefore identified in the image of the second camera Out: the position of the same line as the line closest to the longitudinal coordinate calculated as the product of the vertical coordinate determined by the first camera multiplied by the tangent of the triangulation angle of the second camera; Specify values for longitudinal and vertical coordinates (WO2014074003, prototype).

The disadvantages of this method are as follows: In the implementation, at least two cameras are required, three or more cameras are better, and if one camera is used to determine the Z coordinate, there may be significant errors, which are due to the The error in the points on the reflected line and the field recorded by the camera associated with the period on the line and pixel column of the camera matrix, while the receptive field associated with the period of the reflected line is positioned at the maximum of the camera matrix Number of pixels in columns and lines. The image obtained by the first camera at a small angle to the projector, in which the area where the line can be projected never occupies the area of another line wherever the object is located in the workspace where the line is reflected, but where the 3D coordinates are determined Accuracy is not very high, and the second camera is used for clarity.

The line field in the camera image is the area of the camera matrix pixels where the center of the projected lines can be located, the size of the field depends on the period between the projected lines and the thickness of the projected lines. It is almost impossible to specify the area of the projected location of the target point on the matrix without using a second camera.

Contents of the invention

The technical purpose of the present invention is to develop an efficient method for performing 3D object measurement using structured lighting and to expand the range of methods for performing 3D object measurement using structured lighting.

The technical effects of providing a solution to the formulated task are: shortening the duration, reducing—related to errors in determining points along lines reflected by objects and fields recorded by cameras in pixel columns and lines of the camera matrix— - Probability of imaging and measurement errors of the measured object, since the search and formation of each point in the camera image is carried out along two lines, i.e. as the intersection of two mutually perpendicular lines, which almost excludes false searches for points along the lines Possibility of erroneous determination of and row numbers, where the receptive field of reflected intersection lines rotated relative to matrix columns and rows is located on the smallest possible number of pixel columns and lines of a unique camera matrix required to implement the claimed method. In this application, a projected horizontal line perpendicular to the vertical line is used as the second camera, all intersections of the vertical and horizontal lines are uniquely assigned the number of horizontal lines, and the 3D coordinates are determined by the intersection of the lines or by the horizontal line by using one camera , and is in the image of a camera.

Consequently, the blurred area - the area where the desired point is located - contains a minimum number of pixels and is therefore significantly smaller than when implementing known methods.

The essence of the invention is that the method for making a measurement of a 3D object comprises: using a projector to project an image having a periodic structure of lines; A triangulation angle is formed between the central beam of the projector and the central beam of the camera; the line formed by the receiving pixels of the camera matrix and the reflected light is then identified to determine the coordinates and identify the line in the camera image; the intersection of the two sets is made using the projector projection An image of lines, in each set of which are parallel to each other and at an angle to the vertical axis of the triangulation angle plane, then determine and identify the intersection of each pair of lines with each other and the pixel columns of the camera matrix on the camera matrix registered by them and line.

Preferably, each intersection point of a pair of projection lines found on the matrix and the vertical column of pixels is determined as the coordinate Xn of point N on the object, and the intersection point of the pixel horizontal line with the pair of lines is determined as the coordinate Yn on the object, And the coordinate Z is determined by the relation Z=M*Yn/sin(α), where M is the lens scale factor used to represent the pixel in the spatial dimension and α is the triangulation angle.

Preferably, the sets of parallel projection lines are in pairs perpendicular to each other, and the lines in each set are located equidistant from each other, while the angle of inclination of the projection lines is chosen to be acute.

Preferably, one of the mutually perpendicular lines lies at an acute angle to said column and the other (the pixel line of the camera matrix chosen from the relation: β=arcsin(Tv2*M/((z2-z1 )*sinα)), where: β is the angle of the projection line position, Тv2 is the distance between adjacent projection lines, M is the lens scale factor used to represent pixels in the spatial dimension, Z1 and Z2 are projector 1 and camera 5 is the boundary of the joint workspace, and α is the triangulation angle.

Preferably, the measurement and coordinate determination is performed using a computer processor, and a 3D image of the measured object is formed on a computer monitor.

Description of drawings

Figure 1 shows a layout of a projector and a camera when projecting a single horizontal line onto an object;

Figure 2 shows the layout of the projector and camera when projecting a line rotated by an angle β with respect to the camera pixel column and line to an object;

Figure 3 shows the layout of the projector and camera when projecting two mutually perpendicular lines rotated relative to the camera pixel columns and lines onto an object;

Figure 4 shows the intersection of projected mutually perpendicular lines and pixel columns on the camera matrix;

Figure 5 is the blurred area formed when the columns of the camera matrix intersect the mutually perpendicular lines of the projection.

In the drawings, the reference position includes: a projector 1 comprising a radiation source 2 , a template pattern 3 for projecting an image and a lens 4 . The camera 5 comprises a reception matrix 6 and a lens 4 identical to the projector lens.

Template pattern 3 (equivalent: transparency, template, slide, etc.), for example a thin plate, which has different absorptivity or refractive index at different points of the plane on which the beam of radiation source 2 strikes. The projector 1 and the camera 5 are positioned at a distance A between their lenses 4 and the center beam of the projector 1 and the camera 5 form a triangulation angle α and a triangulation plane. In this case, Z1 and Z2 in FIG. 1 are boundaries (depths) of the joint working area of the projector 1 and the camera 5 . The scanner's workspace is geometrically viewed as the region of space where the projector's beams intersect to form an image on the object, while the beams define the camera's coverage area.

Detailed ways

In Fig. 1, the horizontal line 8 projected by the projector 1 onto the measured object 7 is reflected on the latter and is captured by the matrix of the camera 5 in the area Ly (delimited by the horizontal dashed line in the figure) over the entire width of the matrix 6 6 on pixel recording. In Fig. 2, the intersection of the horizontal line 8 and the line 9 projected onto the measured object 7 at an angle β is reflected on the measured object and recorded by the pixels on the matrix 6 of the camera 5 in the area Ly*Tv2, said The area Ly*Tv2 contains a significantly smaller number of pixels located in the area delimited by the slanted and horizontal dashed lines in the figure, which are records of mutually perpendicular lines 8 and 9 rotated by an angle β in the plane of the template pattern 3 The image is thus at an angle β to the pixel columns and lines in the plane of the matrix 6 of the camera 5 . In FIG. 3 , mutually perpendicular lines 10 and 11 projected onto the measured object 7 at an acute angle β are reflected on the measured object 7 and recorded by pixels on the matrix 6 of the camera 5 in the intersecting region as follows, The intersection area contains a smaller number of pixels in the area bounded by the oblique dashed lines (which are the recorded images of lines 10 and 11 ) on the pixel column 13 .

The top of Fig. 4 shows the intersection of mutually perpendicular lines 9 and 11, 12 projected onto the measured object 7 at an angle β, which is reflected on the measured object 7 and is captured by the matrix 6 of the camera 5 in the region Two columns of 13, 14 pixel records of , which contain the minimum number of pixel columns located in the area bounded by the two thick black dots in the figure (which are the recorded image of the intersection of line 9 with lines 11 and 12) and Wire.

The bottom of Fig. 4 shows the intersection of mutually perpendicular lines 9 and 11, 12 projected onto the measured object 7 at an angle β to the triangulation plane (columns and lines of pixels of the camera matrix), which are on the measured object 7 is reflected and recorded by two columns of 13,14 pixels on the matrix 6 of the camera 5 in the area containing the recorded image defined by the four thick black dots in the figure which are the intersections of the projection lines The minimum number of pixel columns and lines in a region.

5 shows the recording field 15 of the reflected cross field (thickness b) of the lines 9, 11 rotated with respect to the triangulation plane and the columns 13 of the matrix located at the smallest possible number of the matrix 6 of the camera 5 Pixel columns and lines.

The method is carried out as follows.

The method comprises projecting an image of the periodic structure onto the surface of an object 7 by means of a projector 1 . The light of the projector 1 reflected from the object 7 is recorded using the pixels of the receiving matrix 6 of the camera 5, which is displaced by a distance A relative to the projection system of the projector 1 and which is arranged so that the central beam of the projector 1 and The central beams of the cameras 5 form a triangulation angle α between them.

Using the projector 1, an image of the periodic structure is simultaneously projected onto the investigation object 7, which consists of two pairs of intersecting lines, e.g. relative to the plane of the triangulation angle (triangulation plane)—that is, generally speaking relative to the camera Columns 13 of pixels of the matrix 6 of 5 and lines - mutually perpendicular lines 9 , 10 , 11 at an acute angle β, the light of the projector 1 reflected from the object 7 is recorded by the pixels of the reception matrix 6 of the camera 5 . One set of lines provides an initial measure of the shape of the object 7, while a second set (eg, perpendicular to the first set) is used for its refinement.

In FIG. 1 , as in known analogues, projector 1 projects an image of a stencil pattern 3 consisting of a horizontal line 8 passing through the center of the image of projector 1 . The camera 5 observes the object 7 at an angle α and, depending on the position of the object 7 in the work zone z1-z2, the lines 8 reflected from the object 7 are projected onto the matrix 6 of the cameras 5 at different positions in the Ly area. In addition, Ly=((z1-z2)*sin(α))/M, where M is the scaling factor of the lens 4 used to project the image onto the matrix 6 of the camera 5 . It can thus be observed that, depending on the position of the object 7 in the working area, the projection line 8 can occupy any position in the range Ly on the matrix 6 of the camera. Thus, in order to uniquely identify and not confuse projected lines at least on the matrix 6 of the camera 5, it is necessary to project lines with a period greater than Ly, ie T v1>Ly=((z1-z2)*sin(α)) /M.

In this case, it is assumed for the sake of clarity that the same lens 4 with the same scale factor can be used for both projector 1 and camera 5 . If different lenses are used, the value M should take into account the proportional ratio between the different projection lenses on projector 1 and on camera 5 . M can be not only a number, but also a per-lens matrix containing scale corrections for the horizontal and vertical directions of the projected image. These corrections are aimed at correcting the distortion of the lens (optical distortion of space).

If the image in projector 1 is rotated and instead of projecting horizontal lines but lines 9 at angle β to the triangulation plane, as shown in Figure 2, more parallel lines can be projected, ie with a shorter period. In this case, the period between lines will depend on the angle of rotation β of the projected image in projector 1 . The distance between parallel lines is Тv2>Ly*sin(β).

If the period Tv2 is smaller than Ly*sin(β), the wire may be located in the Tv2 area of another wire, and the number of wires may be erroneously detected, and thus the position Z of the object 7 in the working area may be erroneously determined.

A higher number of projectors (e.g. two projectors with their central beams in one triangulation plane) can be used to design a composite periodic image of lines 9,11,12, but in this case the computation becomes more complicated.

All lines 9 projected with this rotation angle β and period are unique, i.e. depending on the position of the object 7 in the working zone Z2-Z1, all projected lines will be projected to their specific area on the matrix 6 of the camera 5 middle.

The mutually perpendicular lines 9 and 11 , 12 in FIGS. 4 and 5 lie on the vertical axis of the plane with respect to the triangulation angle α and at an acute angle β with respect to the pixel columns of the camera 5 . One of the mutually perpendicular lines, for example line 9 , lies at an acute angle to the pixel column of matrix 6 of camera 5 and the other lines (for example lines 11 , 12 ). In this case, the acute angle β is preferably equal to the ratio of the distance between the projection lines to the working area multiplied by the sine of the triangulation angle α taking into account the scale factor, i.e. determined by the relationship: β=(arcsin(Tv2*M/(( z2-z1)*sinα)), where: β is the angle of the projection line, Tv2 is the distance between adjacent projection lines, M is the lens scale factor used to represent the pixel in the spatial dimension, Z1 and Z2 are the projectors 1 and the boundary of the joint workspace of camera 5, α is the triangulation angle.

Therefore, when the image 3 is rotated in the projector 1, more lines 9, 11, 12 can be projected onto the matrix 6 of the camera 5 and more information about the object 7 can be obtained, thereby narrowing the Blur region for each point of object 7 on matrix 6.

Since the camera 5 is positioned at an angle α relative to the projector 1 in the vertical plane, movement of the object 7 along the axis Z within the workspace results in all lines and points on the lines along the vertical pixels on the matrix 6 of the camera 5 The line of the column moves.

The following determination (positioning and investigation) of the intersection area of each pair of projection lines with each other and with pixel columns and lines on the matrix 6 of the camera 5 is based on the following.

If a line 9 projected at an angle β to the vertical (hereinafter referred to as "vertical") in the image of the projector 1 intersects a line 11 perpendicular to it at an angle β to the horizontal (hereinafter referred to as "horizontal"), Then on the matrix 6 of the cameras 5 the intersection 10 of the above-mentioned lines will always be projected onto the vertical columns of the matrix 6 of the cameras 5 .

If line 9 intersects lines 11 and 12, each intersection point will be projected onto its column on matrix 6, as shown in FIG. 4 . The intersection of lines 9 and 12 will be projected onto column 14, and the intersection of lines 9 and 11 onto column 13.

Each line formed by the reflected light and the recording pixels of the matrix 6 of the camera 5 is identified to determine the coordinate line in the image of the camera 5 .

If it is necessary to make measurements as accurate as possible for each specific template pattern 3, it is possible (before operating the system consisting of camera 5 and projector 1) to preset the line and column numbers of the pixels on the matrix 6 of the camera 5 zero position. This operation can be used for advance correction of distortion of the lens (optical space distortion) and refinement of the scale factor M described above.

The zero position setting is performed by a predetermined calibration procedure (before setting the object 7), where an arbitrarily selected calibration plane (for example in the form of a moving screen) in the working area of the device is moved along the coordinate Z, and the projection line The movements of all intersections along all columns of the matrix 6 of the camera 5 are recorded. The position of the calibration plane at the intersection of the beams of projector 1 and camera 5 is chosen as the zero position. At the zero position, the line 9 passing through the center of the image 3 in the image 3 of the projector 1 will be projected onto the matrix 6 of the camera 5 at its center, and this position of the projected line 9 on the camera matrix will also be called to zero. In FIG. 1 , the zero position is marked 0 along the axis Y. The deviation ΔYn of a line on the matrix 6 of cameras 5 is used to refine the location intersection of this line on the matrix 6 when the calibration plane is moved closer or further away from the system consisting of camera 5 and projector 1 .

The positioning of the line 9 on the matrix 6 of the camera 5 is performed by searching for the center of the line 9 of FIG. 5 , since in reality the projected line has a certain thickness b on the matrix 6 of the camera 5 , which occupies several pixels. When the image 3 of the projector 1 is rotated, the thickness of the line 9 intersecting the pixel column 13 on the matrix 6 increases. And the positioning of the line 9 may be less accurate, which leads to ambiguity in determining the intersection of the "vertical" line and the "horizontal" line. In this respect, it is best to choose the period between the "horizontal" lines 9 to be larger than the blurred region 15 shown in Figure 5 at the intersection of the columns 13 and the lines 9, i.e., Тgor>b/tg(β), where b is the thickness of the projected line 9 and Tgor is the period between the "horizontal" lines 11,12.

In order to project more lines 11,12 than horizontal lines, it is necessary to rotate the "vertical" lines 9, as shown in Fig. 1, where a line and its position area Ly on the matrix occupy almost the entire matrix 6 of the camera 5, therefore, The "vertical" line 9 is projected at an angle β with respect to vertical. Figure 2 shows that the region Tv2 is much smaller than the region Ly. The "vertical" line 9 intersects the "horizontal" lines 11, 12, and the intersection of these lines unambiguously provides data on the number of vertical and horizontal lines intersecting at a given point.

It is reasonable to choose the "horizontal" lines 11, 12 to be equal to or smaller than the vertical lines in order to avoid ambiguities in determining line intersections. At the same time, it is advisable to choose the period of the horizontal line to be larger than the blurred area that occurs when the lines intersect, which causes ambiguity in determining the intersection point of the vertical line with the horizontal line.

Therefore, the image projected by the projector 1 can be realized with a vertical lattice period Тv2>((z1-z2)*sin(α)*sin(β))/M and a horizontal lattice period Тgor>b/tg(β) 3. Image 3 should be rotated by angle β with respect to vertical column 13 of pixels of matrix 6 .

Such an image projected on the object 7 allows an accurate determination of the number of projected "horizontal" lines 11, 12, which enables: In the case of the angle α) of the system composed of the camera 1, the shape Z=M*Yn/sin(α) of the object 7 in the working area of the system composed of the camera 5 and the projector 1 can be determined. Yn is the offset (number) of the horizontal line 11 on the matrix 6 of the camera 5 relative to its central position, ie its position when it passes through the center m of the matrix 6 . When the object 7 is in the middle of the workspace, the line 11 intersects the center 6 of the matrix.

Therefore, it is possible to quickly and accurately determine the intersection points between the projection lines and the pixel columns on the camera matrix. In addition, the intersection point of the pair of projection lines and the nearest vertical column on the camera matrix is defined as point N on the object The coordinate Xn of the paired line and the nearest horizontal pixel line is determined as the coordinate Yn on the object, and the coordinate Z is determined by the relationship Z=M*Yn/sin(α), where M is used to represent the pixel in the spatial dimension The lens scale factor of , the angle α is the triangulation angle.

Figure 5 shows that the blur region 15 - the position field of the desired point for determining the number of lines - contains a minimum number of pixels and is therefore substantially smaller than when implementing known methods. This does not require the use of a second camera, which simplifies the design of the equipment used, the technology and the processing of the measurement results. Measurement (calculation of specific properties) and coordinate determination are performed by using a computer processor, and a 3D image of the measured object is formed on a computer monitor.

Thus, the duration can be shortened, the imaging of the measured object and the probability of measurement errors reduced.

Industrial applicability

The present invention is implemented using general-purpose equipment widely used in industry.

Claims (5)

1. A method for performing 3D object measurements, comprising: using a projector to project an image having a periodic structure of lines; using pixels of a camera reception matrix to record projector light reflected from an object, wherein, at the projector's A triangulation angle is formed between the central beam and the central beam of the camera; the line formed by the receiving pixels of the camera matrix and the reflected light is then identified to determine the coordinates and identify the line in the camera image; a projector is used to project the line formed by the two sets of intersecting lines Image, in each set of lines parallel to each other and at an angle to the vertical axis of the triangulation angle plane, the intersection of each pair of lines with each other and the pixel columns and lines of the camera matrix on the camera matrix registered therewith are then determined and identified. 2. The method according to claim 1, characterized in that each intersection point of a pair of projection lines found on the matrix with the vertical column of pixels is determined as the coordinate Xn of point N on the object, the pixel horizontal line and the pair The intersection of the lines is determined as coordinate Yn on the object, and coordinate Z is determined by the relation Z=M*Yn/sin(α), where M is the lens scale factor used to represent pixels in the spatial dimension and α is the triangulation angle. 3. The method according to claim 1 or 2, characterized in that groups of parallel projection lines are perpendicular to each other in pairs, and the lines in each group are located equidistant from each other, and the inclination angle of the projection lines is selected as an acute angle . 4. The method of claim 3, wherein one of the mutually perpendicular lines is located at an acute angle to the column and the other (the pixel line of the camera matrix selected from the relationship: β =arcsin(Tv2*M/((z2-z1)*sinα)), where: β is the angle of the projected line position, Тv2 is the distance between adjacent projected lines, and M is the lens used to represent pixels in the spatial dimension The scale factors, Z1 and Z2 are the boundaries of the joint working area of the projector (1) and camera (5), and α is the triangulation angle. 5. A method according to claim 1, 2 or 4, characterized in that a computer processor is used for measurement and coordinate determination and a 3D image of the measured object is formed on a computer monitor.