CN108534710A - A kind of the three-D profile scanning means and method of single line laser - Google Patents
A kind of the three-D profile scanning means and method of single line laser Download PDFInfo
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- CN108534710A CN108534710A CN201810443974.5A CN201810443974A CN108534710A CN 108534710 A CN108534710 A CN 108534710A CN 201810443974 A CN201810443974 A CN 201810443974A CN 108534710 A CN108534710 A CN 108534710A
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- line laser
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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
Abstract
A kind of the three-D profile scanning means and method of single line laser, the device include：Laser line generator, the line laser of the translated surface emission measurement relative to testee；Scanning angle regulating device adjusts angle of the laser line generator relative to the translated surface of testee, with the line laser of two or more different scanning angle emission measurements；Motion translation device is matched with the laser line generator, translational motion is carried out with testee, to complete line laser structured light process；Image collecting device carries out Image Acquisition to the line laser structured light image of testee；Control and data processing equipment, the motion translation device is controlled to be moved, and the line laser structured light image of described image harvester acquisition testee is controlled, it receives the line laser structured light image and it is handled, obtain the three-D profile information of actual object.The three-D profile scanning means carries out high accuracy three-dimensional profile scan more particularly to be directed to complicated, smooth metal surface.
Description
Technical field
The present invention relates to three-dimensional measurement fields, more particularly to a kind of three-D profile scanning means of single line laser and side
Method.
Background technology
Non-contact 3-D measuring technique is exactly to measure dress Tatami to contact with testee surface, can be completed to quilt
Survey the measuring three-dimensional morphology of body surface.Compared with contact-type 3 D measurement method, it has the following advantages：To testee surface
Basic no damage, fast efficient, the operating distance flexibility and changeability of measuring speed are protected from environmental smaller.Non-contact measurement
Technology is applied to three-dimensional measurement field since its lossless measurement method is more and more extensive, and wherein line laser structured light technology is due to it
Use of simple in structure, the features such as principle is simple, sweep speed is fast, scanning accuracy is higher in three-dimensional measurement field is also increasingly wider
It is general.
Line laser structured light technology refers to projecting one-dimensional line laser to body surface using laser line generator, and image collecting device is adopted
The line laser for collecting body surface deformation, then obtains the three-dimensional information of body surface corresponding position according to principle of triangulation.
The advantages of line laser structured light method is：Principle of device is simple, and precision is higher, relatively low to environmental requirement.The disadvantage is that：Sweep time
It is longer, for the more demanding of data processing.
Smooth metal surface with labyrinth, can be due to mirror-reflection to metal during carrying out line laser structured light
The other parts on surface are reflected on the imaging plane of camera again, and the secondary reflection problem generated in this way is to measuring three-dimensional profile
Precision have a huge impact, to reduce the precision of measurement.Existing line laser structured light product removes this by manual
The problem of influencing a bit, not can be well solved this respect.
In short, existing technology the problem is that：When complicated, smooth metal surface carries out three-D profile scanning
It waits, precision when three-D profile scanning can be influenced due to the presence of secondary reflection phenomenon, three-dimensional measurement cannot be carried out well.
Invention content
It is a primary object of the present invention to overcome the deficiencies of the prior art and provide a kind of three-D profile scanning of single line laser
Device and method, for solving the interference that secondary reflection phenomenon is brought when carrying out three-D profile scanning to body surface, to
Obtain the 3-D scanning result of higher precision.
To achieve the above object, the present invention uses following technical scheme：
A kind of three-D profile scanning means of single line laser, including：
Laser line generator, the line laser of the translated surface emission measurement relative to testee；
Scanning angle regulating device is coupled to the laser line generator, for adjusting the laser line generator relative to measured object
The angle of the translated surface of body, with the line laser with two or more different scanning angles to testee emission measurement；
Motion translation device is matched with the laser line generator, and translational motion is carried out with testee, is swashed to complete line
Optical scanning process；
Image collecting device carries out Image Acquisition to the line laser structured light image of testee；
Control and data processing equipment, control the motion translation device and are moved, and control described image acquisition dress
The line laser structured light image for setting acquisition testee, receives the line laser structured light image and handles it, obtain reality
The three-D profile information of object.
Further：
The scanning angle regulating device is precise rotating platform, fixes the laser line generator, and by rotating to change
State the angle of laser line generator transmitting line laser.
The laser line generator is "-" type laser line generator.
Described image harvester is CCD camera or CMOS cameras.
A kind of three-D profile scan method, using the three-D profile scanning means of the single line laser to testee
Three-D profile is scanned.
Further：
The laser line generator is wherein controlled successively with two or more different scannings by the scanning angle regulating device
Angle is scanned testee, using multi collect to scan data respectively obtain testee true three-dimension profile believe
While breath, the secondary counter exit point information on testee surface is also obtained, the three-D profile information for obtaining Multiple-Scan is passed through
It is compared, comparison removal is carried out after the alignment of data of same profile, then by secondary reflection noise spot, to be gone
True three-dimension profile information after being interfered except secondary counter exit point.
The scanning angle regulating device is precise rotating platform, fixes the laser line generator, and by rotating to change
State the angle of laser line generator transmitting line laser.
The laser line generator is "-" type laser line generator.
Described image harvester is CCD camera or CMOS cameras.
The testee is the metalwork of the smooth surface with labyrinth.
Compared with prior art, the present invention its remarkable advantage is：
1) the three-D profile scanning means and scan method of single line laser of the invention, overcomes traditional wire laser scanning device
Can prodigious measurement error be generated due to secondary reflection phenomenon in scanning complexity, smooth metal surface, by using single line
Then laser varied angle device is compared with the same testee of multiple angle scannings, to remove secondary reflection interference
Point realizes high-precision measurement；
2) the three-D profile scanning means of single line laser of the invention carries out the side of 3-D scanning using two laser line generators
Formula, hardware cost is relatively low, and mode is easy, and measurement accuracy is higher, is easy to be used for quickly detecting；
3) the three-D profile scanning means of single line laser of the invention is simple in structure, is deposited for complicated, smooth metal surface
Secondary reflection phenomenon measurement problem, using the single line laser three-D profile scanning means carry out three-D profile scanning,
The accuracy of measurement is improved, measurement efficiency is high, and versatile.
Description of the drawings
Fig. 1 is the overall structure figure of the three-D profile scanning means of the single line laser of an embodiment of the present invention；
Fig. 2 is the flow chart of the three-D profile scan method of the single line laser of an embodiment of the present invention；
Fig. 3 is laser triangulation used by a kind of single line laser three-D profile scanning means of an embodiment of the present invention
Schematic diagram.
Specific implementation mode
It elaborates below to embodiments of the present invention.It is emphasized that following the description is only exemplary,
The range being not intended to be limiting of the invention and its application.
Refering to fig. 1 to Fig. 3, in one embodiment, a kind of three-D profile scanning means of single line laser, including：
Laser line generator 1, the line laser of the translated surface emission measurement relative to testee；
Scanning angle regulating device 2 is coupled to the laser line generator 1, for adjusting laser line generator 1 relative to testee
Translated surface angle, with the line laser with two or more different scanning angles to testee emission measurement；
Motion translation device 4 is matched with the laser line generator 1, translational motion is carried out with testee, to complete line
Laser scanning process；
Image collecting device 3 carries out Image Acquisition to the line laser structured light image of testee；
Control and data processing equipment 5, control the motion translation device 4 and are moved, and control described image acquisition
Device 3 acquires the line laser structured light image of testee, receives the line laser structured light image and handles it, obtains reality
The three-D profile information of border object.
Specifically, the figure that control will be obtained by laser line generator 1 with different launch angle scanning from data processing equipment 5
After the alignment of data of same profile as in, then wherein it will lead to unjustified secondary counter because of the difference of secondary reflection point position
Exit point data remove, and obtain the true three-dimension profile information after removal secondary counter exit point interference.
In one embodiment, the scanning angle regulating device 2 is precise rotating platform, fixes laser line generator 1, and pass through
It rotates to change the angle that laser line generator 1 emits line laser.
In one embodiment, the laser line generator 1 is "-" type laser line generator.
In various embodiments, CCD camera or CMOS cameras may be used in described image harvester 3.Image Acquisition
Device 3 may include lens 301.
Refering to fig. 1 to Fig. 3, in another embodiment, a kind of three-D profile scan method uses the single line laser
Three-D profile scanning means the three-D profile of testee is scanned.
In one embodiment, which includes：The line is controlled by scanning angle regulating device 2
The angle of laser 1 is successively scanned testee with two or more (such as two kinds) different scanning angle, using more
While secondary collected scan data respectively obtains testee true three-dimension profile information, testee surface is also obtained
Secondary counter exit point information is compared by the three-D profile information for obtaining Multiple-Scan, and specific method may include figure
Image position correction, image difference and image superposition carry out pair after the alignment of data of same profile, then by secondary reflection noise spot
Than removal, to obtain the true three-dimension profile information after removal secondary counter exit point interference.
In one embodiment, the scanning angle regulating device 2 is precise rotating platform, fixes laser line generator 1, and can be with
Change the angle for the line laser that laser line generator 1 emits.
In one embodiment, the laser line generator 1 is "-" type laser line generator.
In various embodiments, CCD camera or CMOS cameras may be used in described image harvester 3.
In a kind of exemplary embodiments, the testee is the metalwork of the smooth surface with labyrinth.
Specific embodiments of the present invention are further described below in conjunction with attached drawing.
As shown in Figure 1, the three-D profile scanning means of single line laser include laser line generator 1, scanning angle regulating device 2,
Image collecting device 3, control and data processing equipment 5 and motion translation device 4.Testee is positioned over motion translation device
On 4 objective table, laser line generator 1 is fixed in scanning angle regulating device 2, and scanning angle regulating device 2 controls laser line generator 1
The angle of translated surface relative to testee, to be used to testee emission measurement with two or more different scanning angles
Line laser.Control is connected with image collecting device 3, motion translation device 4 respectively with data processing equipment 5.Image collector
It sets 3 and beats image on testee surface for acquiring line laser, and drive testee to move by motion translation device 4,
The image on testee different location is beaten to acquire line laser.Control is with data processing equipment 5 for carrying out to collecting
Image data handled, to obtain the outline data on testee surface, and three-dimensional point cloud can be obtained.
The concrete principle of laser triangulation is as shown in figure 3, concrete principle is：
Testee is on datum plane S2, and the line laser that laser line generator is sent out projects the surface S1 of testee,
Its reflection image is imaged on camera, and image space can be subjected to displacement since hot spot projects the difference of point height in body surface,
And elevation information of the image point position with body surface in the incident point has unique geometrical correspondence.So according to shooting line
Photo of the laser irradiation on testee surface can obtain the profile of body surface, and then motion translation device drives measured object
Body is moved, so that it may to obtain the three-D profile information of body surface.
It is generated by the line laser structured light of two or more different angles with removing complicated, smooth metal surface secondary reflection
Noise spot, specific method are (by taking two angle scannings as an example)：
Because the twice sweep angle of light of laser line generator is different, the secondary counter exit point in metal surface appears in not
Same position.The data being scanned in this way with two different scanning angles of laser line generator will arrive object actual profile
While, the information of the secondary counter exit point on testee surface is also obtained, is carried out by the threedimensional model for obtaining twice sweep
It compares and analyzes, can be by the alignment of data of same profile after align data, it can be by two using the difference of secondary reflection point position
The information of secondary reflection point removes, and can be obtained by the actual profile information after removal secondary counter exit point interference in this way, improves
The precision of 3-D scanning.
Optionally, in the specific embodiment of the invention, the line laser wavelength can select 450nm, 650nm etc. different
Wavelength parameter.
Optionally, in the specific embodiment of the invention, the scanning angle of the laser line generator can select 45o, 65o etc. no
Same scanning angle parameter.
Optionally, in the specific embodiment of the invention, image collecting device 3 can use CCD camera, CMOS cameras etc..
In one embodiment, a kind of three-D profile scan method of single line laser the described method comprises the following steps：
A) internal reference and outer ginseng of the control with 5 calibration for cameras of data processing equipment refers specifically to camera system and is sat in space
Focal length, pixel dimension, the degree of distortion etc. of position and camera in mark system；
B) motion translation device 4 controls testee and is moved, while image collecting device 3 acquires laser line generator 1 and beats
Image on testee surface, control are converted into the profile information of body surface with data processing equipment 5；
C) angle for changing laser line generator repeats the testee surface profile data that b) step acquires another angle；It can
The scan data on testee surface under different line laser angles is acquired to be repeated as many times the operation of c) step；
D) the profile scan data obtained under different scanning angle are compared, it can be by tested metal object surface
Since the measurement error that secondary reflection phenomenon is brought is eliminated, the precision of three-dimensional reconstruction is improved.
The three-D profile scanning means of the single line laser of the present invention carries out height more particularly to be directed to complicated, smooth metal surface
The three-D profile of precision scans.
The above content is specific/preferred embodiment further description made for the present invention is combined, cannot recognize
The specific implementation of the fixed present invention is confined to these explanations.For those of ordinary skill in the art to which the present invention belongs,
Without departing from the inventive concept of the premise, some replacements or modification can also be made to the embodiment that these have been described,
And these are substituted or variant all shall be regarded as belonging to protection scope of the present invention.
Claims (10)
1. a kind of three-D profile scanning means of single line laser, which is characterized in that including：
Laser line generator, the line laser of the translated surface emission measurement relative to testee；
Scanning angle regulating device is coupled to the laser line generator, for adjusting the laser line generator relative to testee
The angle of translated surface, with the line laser with two or more different scanning angles to testee emission measurement；
Motion translation device is matched with the laser line generator, is carried out translational motion with testee, is swept to complete line laser
Retouch process；
Image collecting device carries out Image Acquisition to the line laser structured light image of testee；
Control and data processing equipment, control the motion translation device and are moved, and control described image harvester and adopt
The line laser structured light image for collecting testee, receives the line laser structured light image and handles it, obtain actual object
Three-D profile information.
2. three-D profile scanning means as described in claim 1, which is characterized in that the scanning angle regulating device is precision
Turntable fixes the laser line generator, and changes the angle of the laser line generator transmitting line laser by rotating.
3. three-D profile scanning means as claimed in claim 1 or 2, which is characterized in that the laser line generator is "-" type line
Laser.
4. three-D profile scanning means as claimed in claim 1 or 2, which is characterized in that described image harvester is CCD phases
Machine or CMOS cameras.
5. a kind of three-D profile scan method, which is characterized in that using such as Claims 1-4 any one of them single line laser
Three-D profile scanning means the three-D profile of testee is scanned.
6. three-D profile scan method as claimed in claim 5, which is characterized in that wherein adjusted and filled by the scanning angle
It sets the control laser line generator to be successively scanned testee with two or more different scanning angles, uses multi collect
To scan data respectively obtain testee true three-dimension profile information while, also obtain the secondary counter on testee surface
Exit point information is compared by the three-D profile information for obtaining Multiple-Scan, after the alignment of data of same profile,
Secondary reflection noise spot is subjected to comparison removal again, to obtain the true three-dimension profile letter after removal secondary counter exit point interference
Breath.
7. three-D profile scan method as claimed in claim 6, which is characterized in that the scanning angle regulating device is precision
Turntable fixes the laser line generator, and changes the angle of the laser line generator transmitting line laser by rotating.
8. three-D profile scan method as claimed in claims 6 or 7, which is characterized in that the laser line generator is "-" type line
Laser.
9. such as claim 6 to 8 any one of them three-D profile scan method, which is characterized in that described image harvester
For CCD camera or CMOS cameras.
10. such as claim 6 to 9 any one of them three-D profile scan method, which is characterized in that the testee is tool
There is the metalwork of the smooth surface of labyrinth.
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| CN201810443974.5A CN108534710B (en) | 2018-05-10 | 2018-05-10 | Single-line laser three-dimensional contour scanning device and method |
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| CN201810443974.5A CN108534710B (en) | 2018-05-10 | 2018-05-10 | Single-line laser three-dimensional contour scanning device and method |
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| CN109557550A (en) * | 2018-12-25 | 2019-04-02 | 武汉万集信息技术有限公司 | Three-dimensional solid-state laser radar apparatus and system |
| CN110376208A (en) * | 2019-07-18 | 2019-10-25 | 深圳市鹰眼在线电子科技有限公司 | The detection method and spot gluing equipment of point glue equipment and its dispensing size |
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| CN109557550A (en) * | 2018-12-25 | 2019-04-02 | 武汉万集信息技术有限公司 | Three-dimensional solid-state laser radar apparatus and system |
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| CN110488314A (en) * | 2019-09-18 | 2019-11-22 | 苏芃 | A kind of underwater 3 D scan method and underwater 3 D scanning device |
| CN111947594A (en) * | 2020-08-14 | 2020-11-17 | 上海大学 | Dual-wavelength laser three-dimensional shape scanning device and method |
| CN114252025A (en) * | 2020-09-20 | 2022-03-29 | 浙江四点灵机器人股份有限公司 | Multi-parallel line laser object three-dimensional contour measuring device and measuring method |
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| CN114754702A (en) * | 2022-04-13 | 2022-07-15 | 湖北中烟工业有限责任公司 | Three-dimensional scanning method and device for object surface contour and electronic equipment |
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