CN109406520A - A kind of separating latent marks device and method for the structure light that the micro- mirror techniques of MEMS generate - Google Patents
A kind of separating latent marks device and method for the structure light that the micro- mirror techniques of MEMS generate Download PDFInfo
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Abstract
The present invention provides the separating latent marks device and methods for the structure light that a kind of micro- mirror techniques of MEMS generate, including the micro- galvanometer of shell, laser, optical lens, MEMS, camera, control system and processor；The micro- galvanometer of MEMS, optical lens, laser are set gradually, and display screen is set on shell, and control system, processor are set in shell.Various traces of accurately extraction that not only can be contactless, and it can will repeatedly extract trace and directly display out, the point cloud information of equipment output is used directly for 3D printing, the tool of trace will be caused to reappear out using 3D printing or engraving machine, it compares repeatedly, which greatly improves the working efficiency of China personnel in charge of the case, opens a new route for China's criminal investigation work, small in size, any environment can use.
Description
Technical field
The invention belongs to separating latent marks technical fields, and in particular to a kind of trace for the structure light that the micro- mirror techniques of MEMS generate
Mark extraction element and method.
Background technique
Separating latent marks be mainly used for criminal investigation, detection comparison field, be mainly used for the soles spoor decorative pattern to scene of a crime,
Barefoot trace decorative pattern, fingerprint, palmmprint, guilty tool or tire marking etc. extract.They first is that people in standing and walking,
Perhaps other receiving face contacts are formed by video trace second is that other utensils or vehicle left in its environment with ground
The marking.These traces are the important material evidence being commonly used in investigation in present criminal suit.
But traditional trace compare mainly by personnel in charge of the case perhaps the experience of testing staff or using gypsum or its
His mold, the evidence collecting method of this contact depend on operator's state, and nonrepeatability, often will cause scene weight
Evidence is wanted to have destruction to lose.And in the prior art, separating latent marks are only limitted to footprint extraction, relatively simple, and need motor,
Volume is big, and when work also needs power supply, and use environment is extremely constrained.
Therefore, the prior art also requires further improvement and develops.
Summary of the invention
The purpose of the invention is to provide a kind of separating latent marks device of the MEMS structure light that micro- mirror techniques generate and
Method, it is intended to it solves in the prior art, it is not reproducible, it is easily damaged scene, and relatively simple, use environment is controlled to ask
Topic.
Used technical solution are as follows: a kind of separating latent marks device for the structure light that the micro- mirror techniques of MEMS generate, including
The micro- galvanometer of shell, laser, optical lens, MEMS, camera, control system and processor；MEMS micro- galvanometer, swashs at optical lens
Light device is set gradually, and display screen is set on shell, and control system, processor are set in shell；
Wherein, laser generates the hot spot of certain Energy distribution；
Optical lens is used for the hot spot that shaped laser device generates, and makes hot spot that fan-shaped diverging be presented；
The micro- galvanometer of MEMS is located in the optical path through optical lens, and the micro- galvanometer of MEMS does rotary motion around shaft, will lead to
The fan beam scanning for crossing optical lens becomes light curtain；
Scanning light curtain is modulated into volume by the vibration frequency of control laser to flicker with the micro- galvanometer of MEMS by control system
Code structure light；
Camera is by the photosensitive pattern being incident upon on trace, and inversely decoding goes out the three-dimensional point cloud pattern of trace, by the trace
Point cloud chart case is three-dimensional to be shown；
Processor inversely decoding goes out the three-dimensional point cloud pattern of trace.
Laser is single mode Gaussian beams.
At least one is arranged in camera, and camera is CCD camera.
The micro- galvanometer of MEMS does rotary motion around shaft.
The point cloud information of generation visualizes.
The separating latent marks method of the structure light that the micro- mirror techniques of MEMS generate the following steps are included:
A. laser generates the light hot spot of certain Energy distribution；
B. optical lens is used for the hot spot that shaped laser device generates, and makes hot spot that fan-shaped uniformly diverging be presented；
The micro- galvanometer of C.MEMS is located in the optical path through optical lens, and the micro- galvanometer of MEMS does rotary motion around shaft, will
Become light curtain by the fan beam scanning of optical lens；
D. scanning light curtain is modulated by control system by the vibration frequency of control laser to flicker with the micro- galvanometer of MEMS
Coded structured light；
E. camera passes through the photosensitive pattern being incident upon on trace；
F. processor inversely decoding goes out the three-dimensional point cloud pattern of trace；
G. display screen showing trace point cloud chart case solid.
Step E, F specifically:
S1. optical grating construction light projection will be encoded to target object surface, using coding grating structured light to object body surface
Face is scanned；
S2. the image of two different perspectivess of target object is obtained using camera；
S3. binocular image is handled, and carries out phase calculation using data after handling and coding grating fringe and stands
Body matching, the point cloud data of object surface structure is calculated with this；
S4. it is rebuild by three-dimensional structure surface of the point cloud data to target object；
S5. the multiframe depth image after reconstruction is registrated, spliced, obtain the 3 d structure model of target object.
The utility model has the advantages that the present invention provides a kind of separating latent marks device of the structure light of the micro- mirror techniques generation of MEMS and sides
Method, various traces of accurately extraction that not only can be contactless, and can will repeatedly extract trace and directly display out, the equipment
The point cloud information of output is used directly for 3D printing, and the tool of trace will be caused to reappear out using 3D printing or engraving machine
Come, compare repeatedly, which greatly improves the working efficiency of China personnel in charge of the case, opens one newly for China's criminal investigation work
Path, small in size, any environment can use.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the separating latent marks device for the structure light that the micro- mirror techniques of MEMS of the present invention generate；
Fig. 2 is the sectional view of the separating latent marks device for the structure light that the micro- mirror techniques of MEMS of the present invention generate；
Fig. 3 is the local specific structure signal of the separating latent marks device for the structure light that the micro- mirror techniques of MEMS of the present invention generate
Figure；
Fig. 4 is the flow chart of the separating latent marks method for the structure light that the micro- mirror techniques of MEMS of the present invention generate；
Fig. 5 is the energy profile of the separating latent marks method for the structure light that the micro- mirror techniques of MEMS of the present invention generate；
Fig. 6 is the part specific flow chart of the separating latent marks method for the structure light that the micro- mirror techniques of MEMS of the present invention generate.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer and more explicit, right as follows in conjunction with drawings and embodiments
The present invention is further described.
The separating latent marks device for the structure light that a kind of micro- mirror techniques of MEMS generate as shown in Figure 1 and Figure 2, including shell
100, the micro- galvanometer 400 of laser 200, optical lens 300, MEMS, camera 500, control system, processor and display screen 600, can
Depending on changing, facilitate observation；As shown in figure 3, the micro- galvanometer 400 of MEMS, optical lens 300, laser 200 are set gradually, display screen 600
It is set on shell 100, control system, processor are set in shell 100；Stepper motor is not needed, stepper motor is dragging
One wordline becomes structure light.Various traces can be extracted, the unicity of extraction is avoided.
Wherein, laser 200 generates the hot spot of certain Energy distribution；200 power of laser is small, can use battery, standby
It is lasting to use.
Optical lens 300 is used for the hot spot that shaped laser device 200 generates, and makes hot spot that fan-shaped diverging be presented；
The micro- galvanometer 400 of MEMS is located in the optical path through optical lens 300, and during the work time, the micro- galvanometer 400 of MEMS encloses
Rotary motion is done around the shaft, and the fan beam scanning by optical lens 300 is become into light curtain；
Control system will scan light curtain tune by the vibration frequency of control laser 300 to flicker with the micro- galvanometer 400 of MEMS
Coded structured light is made；When the coded structured light is incident upon on trace, it can be risen and fallen and re-modulate by the height of trace.
Camera 500 is by the photosensitive pattern being incident upon on trace, and inversely decoding goes out the three-dimensional point cloud pattern of trace, by the trace
Mark point cloud chart case is three-dimensional to be shown；
Processor inversely decoding goes out the three-dimensional point cloud pattern of trace, which can directly display, or be set by other
Standby display generates.
Laser 200 is single mode Gaussian beams, for generating the hot spot of specific shape.
At least one is arranged in camera 500, and camera 500 is CCD camera 500.CCD camera 500 is arranged one, CCD camera 500
Optical axis and 180 degree is arrived in 0 by the central axis of the breadth of the Scan Architecture light of the micro- galvanometer 400 of MEMS, the angle and required mention
The trace position taken is related.
In another embodiment, CCD camera 500 has 2, and the optical axis of 2 CCD cameras 500 is located at laser scanning breadth
Middle part, 3 can be asymmetrically placed.
The point cloud information of generation visualizes, and the point cloud information of generation can be transmitted to other equipment and show, or be transmitted to other
Equipment reappears its cloud trace.
The separating latent marks method for the structure light that micro- 400 technology of galvanometer of MEMS generates includes the following steps, as shown in Figure 4:
A. laser 200 generates the light hot spot of certain Energy distribution；Its wavelength can be all 200 wavelength of laser, red
Outside, it is seen that light or ultraviolet selects 200 power of laser according to practical service environment, which should have standard
Direct line system, emerging beam are Gaussian beam, and size meets the launching spot requirement of plus lens and dispersing lens.The laser
200 can should control the bright of laser 200 when having energy modulation function under the control of external command or built-in command
Degree, so that realizing specific coding structure light pattern.
B. optical lens 300 is used for the hot spot that shaped laser device 200 generates, and makes hot spot that fan-shaped uniformly diverging be presented；Its energy
Amount distribution should be as shown in Figure 5 " several " font, or the other shapes close to the shape.
The micro- galvanometer 400 of C.MEMS is located in the optical path through optical lens 300, and the micro- galvanometer 400 of MEMS is returned around shaft
Transhipment is dynamic, and the fan beam scanning by optical lens 300 is become light curtain；The micro- galvanometer 400 of the MEMS should have scanning galvanometer
Control function and the scanning galvanometer torsion of vibration and angle information abstraction function.It can be in the control of external command or built-in command
The brightness of lower control laser 200, so that realizing specific coding structure light pattern.
D. control system will scan light curtain by the vibration frequency of control laser 200 to flicker with the micro- galvanometer 400 of MEMS
It is modulated into coded structured light；
E. as shown in fig. 6, optical grating construction light projection will be encoded to body surface, using coding grating structured light to object
Body surface face is scanned；Optical grating construction light output is encoded, for same target object, exports the coding of at least two different frequencies
Grating structured light encodes grating structured light the difference is that grating line number is different and phase shift is different.
F. the image of two different perspectivess of target object is obtained using two CCD cameras 500；Two CCD cameras 500 use
Preceding carry out combined calibrating, is calculated the inside and outside parameter of two CCD cameras 500, so calculate two CCD cameras 500 rotation
Torque battle array and displacement vector.The calibration object of the combined calibrating of two CCD cameras 500 is machine vision MV-SB type plane reference plate.
G. binocular image is handled, and carries out phase and three-dimensional using data after processing and coding grating fringe
Match, the point cloud data of object surface structure is calculated with this；The corresponding points pair of object point are found with phase matched by demarcating, so
Spatial point coordinate corresponding to the group point is found out based on principle of triangulation afterwards, obtains the point cloud number of target object surface structure
According to being removed dryness to obtained point cloud data and smoothing processing；Depth image processing specifically includes: effective coverage in depth image
Selection, utilize spin matrix and displacement vector to carry out binocular solid correction, carry out analytic solution phase according to raster image, it is three-dimensional
Matching, Denoising disposal etc..
H. it is rebuild by three-dimensional structure surface of the point cloud data to target object；Point cloud data three-dimensional reconstruction, specifically
Step can be divided into the acquisition of the acquisition of coded image, the processing of coded image and three-dimensional point cloud.
I. the multiframe depth image after reconstruction is registrated, spliced, obtain the 3 d structure model of target object.It utilizes
Measurement is taken multiple scan to target object from different orientation and obtains multiple depth images, calculates the point cloud of each depth image
Data determine the rotation between different point cloud datas and translation relation, by the Point-clouds Registration repeatedly measured at an entirety,
Registration fitting is carried out to spliced cloud using Geomagic, generates the 3 d structure model of target object.Specifically, splicing
Point cloud method, point cloud method based on index point based on mechanical constraint etc. can be selected in method.
J. the showing trace point cloud chart case solid of display screen 600.
The entire extraction process of the present invention is Entirely contactless formula, will not generate any influence to trace itself, can be multiple
Extraction compares repeatedly.The point cloud chart case of generation can be directly used in 3D printing after simply highly negating processing, restore
The original utensil of trace is caused, out to identify, providing strong support through the process of detecing.
It should be understood that the application of the present invention is not limited to the above for those of ordinary skills can
With improvement or transformation based on the above description, all these modifications and variations all should belong to the guarantor of appended claims of the present invention
Protect range.
Claims (7)
1. a kind of separating latent marks device for the structure light that the micro- mirror techniques of MEMS generate, which is characterized in that including shell, laser
The micro- galvanometer of device, optical lens, MEMS, camera, control system and processor；The micro- galvanometer of the MEMS, optical lens, laser according to
Secondary setting, the display screen are set on shell, and control system, processor are set in shell；
Wherein, the laser generates the hot spot of certain Energy distribution；
The optical lens is used for the hot spot that shaped laser device generates, and makes hot spot that fan-shaped diverging be presented；
The micro- galvanometer of MEMS is located in the optical path through optical lens, and the micro- galvanometer of MEMS does rotary motion around shaft, will lead to
The fan beam scanning for crossing optical lens becomes light curtain；
Scanning light curtain is modulated into volume by the vibration frequency of control laser to flicker with the micro- galvanometer of MEMS by the control system
Code structure light；
The camera is by the photosensitive pattern being incident upon on trace, and inversely decoding goes out the three-dimensional point cloud pattern of trace, by the trace
Point cloud chart case is three-dimensional to be shown；
The processor inversely decoding goes out the three-dimensional point cloud pattern of trace.
2. the separating latent marks device for the structure light that the micro- mirror techniques of MEMS according to claim 1 generate, which is characterized in that
The laser is single mode Gaussian beams.
3. the separating latent marks device for the structure light that the micro- mirror techniques of MEMS according to claim 1 generate, which is characterized in that
At least one is arranged in the camera, and the camera is CCD camera.
4. the separating latent marks device for the structure light that the micro- mirror techniques of MEMS according to claim 1 generate, which is characterized in that
The micro- galvanometer of MEMS does rotary motion around shaft.
5. the separating latent marks device for the structure light that the micro- mirror techniques of MEMS according to claim 1 generate, which is characterized in that
The point cloud information of generation visualizes.
6. the structure light extracting method that device according to claim 1-5 is realized, which is characterized in that its method packet
Include following steps:
A. laser generates the light hot spot of certain Energy distribution；
B. optical lens is used for the hot spot that shaped laser device generates, and makes hot spot that fan-shaped uniformly diverging be presented；
The micro- galvanometer of C.MEMS is located in the optical path through optical lens, and the micro- galvanometer of MEMS does rotary motion around shaft, will pass through
The fan beam scanning of optical lens becomes light curtain；
D. scanning light curtain is modulated into coding by the vibration frequency of control laser to flicker with the micro- galvanometer of MEMS by control system
Structure light；
E. camera passes through the photosensitive pattern being incident upon on trace；
F. processor inversely decoding goes out the three-dimensional point cloud pattern of trace；
G. display screen showing trace point cloud chart case solid.
7. sinusoidal light extracting method according to claim 6, which is characterized in that step E, F specifically:
S1. will coding optical grating construction light projection arrive target object surface, using encode grating structured light to target object surface into
Row scanning；
S2. the image of two different perspectivess of target object is obtained using camera；
S3. binocular image is handled, and carries out phase calculation and three-dimensional using data after processing and coding grating fringe
Match, the point cloud data of object surface structure is calculated with this；
S4. it is rebuild by three-dimensional structure surface of the point cloud data to target object；
S5. the multiframe depth image after reconstruction is registrated, spliced, obtain the 3 d structure model of target object.
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Cited By (2)
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| CN111486791A (en) * | 2020-05-27 | 2020-08-04 | 中科融合感知智能研究院(苏州工业园区)有限公司 | Device for adaptively adjusting light quality of sine stripe structure and operation method |
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