CN109470144B - Line scanning high-resolution stereo vision measuring system and method - Google Patents
Line scanning high-resolution stereo vision measuring system and method Download PDFInfo
- Publication number
- CN109470144B CN109470144B CN201811496664.6A CN201811496664A CN109470144B CN 109470144 B CN109470144 B CN 109470144B CN 201811496664 A CN201811496664 A CN 201811496664A CN 109470144 B CN109470144 B CN 109470144B
- Authority
- CN
- China
- Prior art keywords
- lens
- line
- scanning
- line scanning
- resolution
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Classifications
-
- 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
Abstract
The field of optical non-contact three-dimensional measurement of a line scanning high-resolution stereoscopic vision measuring system and method, in particular to a device and a method for measuring the appearance, deformation, displacement and the like of a large-scale three-dimensional object by using a stereoscopic vision and line scanning amplification measuring system together; the device consists of two or more line scanning high-resolution stereo vision monocular measuring devices, wherein each line scanning high-resolution stereo vision monocular measuring device comprises a laser lighting module, a vision camera module and a line scanning amplification measuring module; firstly, placing an object to be detected in a view field range and a clear imaging range of the device; secondly, scanning the whole object line by using a line scanning amplification measurement module through a camera module; processing the acquired picture by using a visual three-dimensional imaging principle to obtain a high-resolution object three-dimensional shape; the invention can obviously improve the measurement resolution of the large-scale vision system.
Description
Technical Field
The invention belongs to the technical field of optical non-contact three-dimensional measurement, and particularly relates to a line scanning high-resolution stereoscopic vision measurement system and method.
Background
Stereo vision is an important topic in the field of computer vision, and its aim is to reconstruct the three-dimensional geometric information of a scene. The research of the stereoscopic vision has important application value, and the application of the stereoscopic vision comprises an autonomous navigation system of a mobile robot, aviation and remote sensing measurement, an industrial automation system and the like. At present, the resolution of a stereoscopic vision system is relatively low, the resolution of the most advanced stereoscopic vision system is generally one ten thousandth of the size of a view field, namely when the measurement is performed on a large view field (meter level), the resolution of the system is a millimeter level, but along with the development of science and technology, the measurement of high precision and high resolution is increasingly emphasized, so that the existing stereoscopic vision system cannot meet the requirement of the resolution which is increasingly improved.
Disclosure of Invention
The invention discloses a line scanning high-resolution stereo vision measuring system and method, which improves the equivalent focal length of the whole system by introducing a line scanning amplification measuring module, thereby improving the resolution of the whole system, and the introduction of the line scanning amplification measuring system can improve the signal-to-noise ratio to be beneficial to the subsequent image processing (registration, characteristic point positioning and the like), and the field of view of a field lens is generally larger and can be completely matched with a camera lens, so that the large field of view can be realized without an additional scanning mechanism.
The purpose of the invention is realized as follows:
the line scanning high-resolution stereo vision measuring system comprises:
three-dimensional object and a plurality of line scanning high-resolution stereo vision monocular measuring device.
The line scanning high-resolution stereo vision monocular measuring device comprises a laser lighting module, a vision camera module and a line scanning amplification measuring module;
the laser lighting module sequentially comprises the following components in the direction of the lighting light propagation: the device comprises a laser, a PBS, a one-dimensional galvanometer, a scanning lens, a first field lens, a tube lens, 1/4 glass slides, a first cylindrical lens, a second field lens and a photographic lens.
The visual camera module is as follows: the device comprises a photographic lens, a field lens II, a cylindrical lens I, 1/4 glass slides, a tube lens, a field lens I, a scanning lens, a one-dimensional galvanometer, a PBS (polarizing beam splitter), a cylindrical lens II, a slit and a linear array PMT (photomultiplier tube) detector.
The line scanning amplification measurement module sequentially comprises the following components in the signal light propagation direction: the device comprises a laser, a PBS, a one-dimensional galvanometer, a scanning lens, a first field lens, a tube lens, 1/4 glass slides, a first cylindrical lens, a second field lens, a first cylindrical lens, a 1/4 glass slide, a tube lens, a first field lens, a scanning lens, a one-dimensional galvanometer, the PBS, a second cylindrical lens, a slit and a linear array PMT detector;
the laser illumination module, the visual camera module and the line scanning amplification measurement module share a field lens II, a cylindrical lens I, 1/4 glass slides, a tube lens, a field lens I, a scanning lens, a one-dimensional galvanometer and a PBS (polarizing beam splitter);
the laser lighting module and the visual camera module also share a photographic lens;
the laser illumination module and the line scanning amplification measurement module share a laser;
the visual camera module and the line scanning amplification measuring module share a cylindrical mirror II, a slit and a linear array PMT detector;
the laser in the laser lighting module emits laser, parallel light is formed after collimation, the laser is focused at the optical center position of the field lens after being reflected by PBS and passing through the one-dimensional galvanometer and the scanning lens, light beams form parallel light after passing through the tube lens and then are focused at the position of the two main surfaces of the field lens by the first cylindrical lens after passing through 1/4 glass slides, and then are focused on the surface of a three-dimensional object through the photographic lens to form a focal line light spot, and the focal line light spot irradiates the surface of the three-dimensional object to emit reflected light;
and reflected light emitted by the surface of the three-dimensional object passes through a photographic lens, a field lens II, a cylindrical lens I, an 1/4 glass slide, a tube lens, the field lens I, a scanning lens, a one-dimensional galvanometer, a PBS, the cylindrical lens II and a slit in sequence and is collected by a linear array PMT detector.
Preferably, a whole set of line scanning magnification measuring system is added behind the photographic lens in the monocular measuring device to improve the equivalent focal length of the whole system, and the improved magnification depends on the selected line scanning magnification measuring system, so that the resolution of the whole stereo vision system is improved.
Preferably, the imaging mode of the monocular measuring device is galvanometer scanning imaging, and the introduction of a slit in a line scanning amplification measuring system can improve the signal-to-noise ratio of the collected signals.
Preferably, the introduction of the first field lens and the second field lens in the monocular measuring device can match the field of view, so that full-field imaging can be realized without an additional motion scanning mechanism.
Preferably, the monocular measuring device is line scanning imaging, and the scanning imaging speed can be improved.
A line scanning high-resolution stereo vision measuring method comprises the following steps:
a, selecting and using a plurality of line scanning high-resolution stereo vision monocular measuring devices to form a line scanning high-resolution stereo vision measuring system according to specific requirements;
b, performing monocular correction on each monocular measuring device;
c, correcting the whole stereoscopic vision measurement system;
and d, placing the three-dimensional object at the clear imaging position, imaging the three-dimensional object and calculating the shape.
Has the advantages that:
the invention improves the equivalent focal length and scanning speed of the whole system by introducing the line scanning amplification measurement module, thereby improving the resolution of the whole system, and the introduction of the line scanning amplification measurement system slit can improve the resolution of the system and can improve the signal-to-noise ratio, thereby being beneficial to the subsequent image processing (registration, characteristic point positioning and the like).
Drawings
FIG. 1 is a schematic view of a monocular configuration of the line-scan high-resolution stereo vision measurement system of the present invention.
In fig. 1: 1 three-dimensional object, 2 photographic lenses, 3 field lenses II, 4 cylindrical lenses I, 51/4 glass slides, 6 tube lenses, 7 field lenses I, 8 scanning lenses, 9 one-dimensional galvanometers, 10 PBS, 11 lasers, 12 cylindrical lenses II, 13 slits and 14 linear array PMT detectors.
FIG. 2 is a schematic diagram of the line-scan high-resolution stereo vision measurement system of the present invention.
In fig. 2: 15 is the monocular transposition of the line scanning high-resolution stereo vision measuring system, and 1 is a three-dimensional object.
Detailed Description
According to an embodiment of the present invention, a system and method for line-scan high-resolution stereo vision measurement for high-resolution imaging of three-dimensional objects is provided.
Example 1
Referring to fig. 1-2, the present invention provides a line-scanning high-resolution stereoscopic vision measuring system, comprising a three-dimensional object 1 and at least two line-scanning high-resolution stereoscopic vision monocular measuring devices 15;
the line scanning high-resolution stereoscopic vision monocular measuring device 15 comprises a laser lighting module, a vision camera module and a line scanning amplification measuring module;
the laser lighting module is sequentially as follows according to the propagation direction of the lighting light: the device comprises a laser 11, a PBS10, a one-dimensional galvanometer 9, a scanning lens 8, a field lens I7, a tube lens 6, a 1/4 glass slide 5, a cylindrical lens I4, a field lens II 3 and a photographic lens 2;
the visual camera module is: the device comprises a photographic lens 2, a field lens II 3, a cylindrical lens I4, 1/4 slide 5, a tube lens 6, a field lens I7, a scanning lens 8, a one-dimensional galvanometer 9, a PBS10, a cylindrical lens II 12, a slit 13 and a linear array PMT detector 14;
the line scanning amplification measurement module is sequentially as follows according to the signal light propagation direction: the device comprises a laser 11, a PBS10, a one-dimensional galvanometer 9, a scanning lens 8, a field lens I7, a tube lens 6, a 1/4 glass slide 5, a cylindrical lens I4, a field lens II 3, a cylindrical lens I4, a 1/4 glass slide 5, a tube lens 6, a field lens I7, a scanning lens 8, a one-dimensional galvanometer 9, a PBS10, a cylindrical lens II 12, a slit 13 and a linear array PMT detector 14;
the laser illumination module, the visual camera module and the line scanning magnification measuring module share a field lens II 3, a cylindrical lens I4, an 1/4 glass slide 5, a tube lens 6, a field lens I7, a scanning lens 8, a one-dimensional galvanometer 9 and a PBS 10;
the laser lighting module and the visual camera module also share the photographic lens 2;
the laser illumination module and the line scanning amplification measurement module share a laser 11;
the visual camera module and the line scanning amplification measuring module share a second cylindrical mirror 12, a slit 13 and a linear array PMT detector 14;
a laser 11 in the laser lighting module emits laser, parallel light is formed after collimation, the laser is focused at the optical center position of a field lens I7 after being reflected by PBS and passing through a one-dimensional galvanometer 9 and a scanning lens 8, a light beam forms parallel light after passing through a tube lens 6, the parallel light is focused into a line beam by a cylindrical lens I4 after passing through an 1/4 glass slide 5, the line beam is focused at the main surface position of a field lens II 3, the line beam is focused on the surface of a three-dimensional object 1 through a photographic lens 2 to form a focal line light spot, and the focal line light spot irradiates the surface of the three-dimensional object 1;
the reflected light emitted from the surface of the three-dimensional object 1 passes through the photographic lens 2, the field lens two 3, the cylindrical lens one 4, the 1/4 glass slide 5, the tube lens 6, the field lens one 7, the scanning lens 8, the one-dimensional galvanometer 9, the PBS10, the cylindrical lens two 12 and the slit 13 in sequence and then is collected by the linear array PMT detector 14.
In order to further optimize the technical scheme, a whole set of line scanning magnification measuring system is added behind the photographic lens in the monocular measuring device to improve the equivalent focal length of the whole system, and the improved multiplying power depends on the selected line scanning magnification measuring system, so that the resolution of the whole stereoscopic vision system is improved.
In order to further optimize the technical scheme, the imaging mode of the monocular measuring device is the combination of galvanometer scanning and cylindrical mirror line scanning imaging, and the introduction of the slit in the line scanning amplification measuring module can improve the signal-to-noise ratio of the collected signals.
In order to further optimize the technical scheme, the field lens I and the field lens II in the monocular measuring device can be matched with the field of view, so that the field of view imaging of the full-camera objective lens can be realized without an additional motion scanning mechanism.
In order to further optimize the technical scheme, the monocular measuring device is used for line scanning imaging, and the scanning imaging speed can be improved.
Example 2
The invention provides a line scanning high-resolution stereo vision measuring method, which comprises the following steps:
a, selecting and using a plurality of line scanning high-resolution stereo vision monocular measuring devices to form a line scanning high-resolution stereo vision measuring system according to specific requirements;
b, performing monocular correction on each eye measuring device;
c, correcting the whole stereoscopic vision measurement system;
and d, placing the three-dimensional object at the clear imaging position, imaging the three-dimensional object and calculating the shape.
The present invention is not limited to the above-described preferred embodiments, and any structural changes or process modifications made in the light of the present invention shall be construed as being within the scope of the present invention, and all technical solutions similar or equivalent to the present invention shall be construed as being included in the present invention.
Claims (4)
1. Line scanning high resolution stereovision measurement system, its characterized in that includes:
a three-dimensional object (1) and a plurality of line-scanning high-resolution stereoscopic vision monocular measuring devices (15);
the line scanning high-resolution stereo vision monocular measuring device (15) comprises a laser lighting module, a vision camera module and a line scanning amplification measuring module;
the laser lighting module sequentially comprises the following components in the direction of the lighting light propagation: the device comprises a laser (11), a PBS (10), a one-dimensional galvanometer (9), a scanning lens (8), a field lens I (7), a tube lens (6), an 1/4 wave plate (5), a cylindrical lens I (4), a field lens II (3) and a photographic lens (2);
the visual camera module is as follows: the device comprises a photographic lens (2), a field lens II (3), a cylindrical lens I (4), an 1/4 wave plate (5), a tube lens (6), a field lens I (7), a scanning lens (8), a one-dimensional galvanometer (9), a PBS (10), a cylindrical lens II (12), a slit (13) and a linear array PMT detector (14);
the line scanning amplification measurement module sequentially comprises the following components in the signal light propagation direction: the device comprises a laser (11), a PBS (10), a one-dimensional galvanometer (9), a scanning lens (8), a field lens I (7), a tube lens (6), an 1/4 wave plate (5), a cylindrical lens I (4), a field lens II (3), a cylindrical lens I (4), a 1/4 wave plate (5), a tube lens (6), a field lens I (7), a scanning lens (8), a one-dimensional galvanometer (9), a PBS (10), a cylindrical lens II (12), a slit (13) and a PMT detector (14);
the laser illumination module, the visual camera module and the line scanning amplification measurement module share a second field lens (3), a first cylindrical lens (4), a 1/4 wave plate (5), a tube lens (6), a first field lens (7), a scanning lens (8), a one-dimensional galvanometer (9) and a PBS (10);
the laser lighting module and the visual camera module also share a photographic lens (2);
the laser illumination module and the line scanning amplification measurement module share a laser (11);
the visual camera module and the line scanning amplification measuring module share a cylindrical mirror II (12), a slit (13) and a linear array PMT detector (14);
a laser (11) in the laser lighting module emits laser, parallel light is formed after collimation, the laser is reflected by PBS and then passes through a one-dimensional galvanometer (9) and a scanning lens (8) to be focused at the optical center position of a field lens I (7), a light beam forms parallel light after passing through a tube lens (6), the parallel light is focused into a line beam by a cylindrical lens I (4) after passing through an 1/4 wave plate (5) to be positioned at the main surface of a field lens II (3), the line beam is focused on the surface of a three-dimensional object (1) through a photographic lens (2) to form a focusing line spot, and the focusing line spot irradiates the surface of the three-dimensional object (1) to emit reflected light;
the reflected light emitted from the surface of the three-dimensional object (1) is collected by a linear array PMT detector (14) after sequentially passing through a photographic lens (2), a field lens II (3), a cylindrical lens I (4), an 1/4 wave plate (5), a tube lens (6), a field lens I (7), a scanning lens (8), a one-dimensional galvanometer (9), a PBS (10), a cylindrical lens II (12) and a slit (13).
2. The line-scan high-resolution stereoscopic vision measuring system according to claim 1, wherein the line-scan high-resolution stereoscopic vision monocular measuring device (15) is used for both galvanometer scanning and cylindrical mirror line scanning imaging.
3. The line scan high resolution stereo vision measurement system according to claim 1, characterized in that the line scan high resolution stereo vision monocular measurement device (15) is a line scan imaging.
4. The method for realizing the line scanning high-resolution stereo vision measurement by the line scanning high-resolution stereo vision measurement system according to claim 1, is characterized by comprising the following steps:
a, selecting a plurality of line scanning high-resolution stereo vision monocular measuring devices according to specific requirements to form a line scanning high-resolution stereo vision measuring system;
b, performing monocular correction on each line scanning high-resolution stereoscopic vision monocular measuring device;
c, correcting the whole stereoscopic vision measurement system;
and d, placing the three-dimensional object at the clear imaging position, imaging the three-dimensional object and calculating the appearance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811496664.6A CN109470144B (en) | 2018-12-07 | 2018-12-07 | Line scanning high-resolution stereo vision measuring system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811496664.6A CN109470144B (en) | 2018-12-07 | 2018-12-07 | Line scanning high-resolution stereo vision measuring system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109470144A CN109470144A (en) | 2019-03-15 |
| CN109470144B true CN109470144B (en) | 2020-11-20 |
Family
ID=65674849
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811496664.6A Expired - Fee Related CN109470144B (en) | 2018-12-07 | 2018-12-07 | Line scanning high-resolution stereo vision measuring system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109470144B (en) |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2568388B2 (en) * | 1994-09-15 | 1997-01-08 | シーケーディ株式会社 | Shape measuring device |
| CN1208952C (en) * | 2000-06-19 | 2005-06-29 | 张海涛 | Method and device for improving image definition |
| CN101377410A (en) * | 2008-10-10 | 2009-03-04 | 哈尔滨工业大学 | Large caliber aspheric surface measuring apparatus and method based on ultra-precise revolving scanning |
| JP5654583B2 (en) * | 2009-06-17 | 2015-01-14 | ３シェイプ アー／エス | Focus control device |
| JP6306724B2 (en) * | 2014-01-09 | 2018-04-04 | ザイゴ コーポレーションＺｙｇｏ Ｃｏｒｐｏｒａｔｉｏｎ | Measuring topography of aspheric and other non-planar surfaces |
| CN105891075B (en) * | 2016-04-12 | 2019-01-22 | 中国科学院长春光学精密机械与物理研究所 | A kind of multi-point cooperative mode of laser group and gas detecting system |
| CN108036737B (en) * | 2017-12-12 | 2019-11-12 | 南京信息工程大学 | A kind of device and method of the fast illuminated detection reflecting surface face shape of Whole-field illumination |
-
2018
- 2018-12-07 CN CN201811496664.6A patent/CN109470144B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN109470144A (en) | 2019-03-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107219533B (en) | Laser radar point cloud and image co-registration formula detection system | |
| CN102494609B (en) | Three-dimensional photographing process based on laser probe array and device utilizing same | |
| CN101832760B (en) | Remote three-dimensional micro-deformation visual on-line monitoring method and system | |
| CN103791860B (en) | The tiny angle measurement device and method of view-based access control model detection technique | |
| CN101846745B (en) | Laser radar based on highly-correlated quantum imaging principle | |
| Rioux et al. | Compact three-dimensional camera for robotic applications | |
| CN103994719A (en) | High-precision three-dimensional imaging device based on Geiger APD arrays and using method thereof | |
| CN203216702U (en) | Focal length measuring device for long focal length optical system | |
| CN105954734B (en) | Large-caliber laser radar optical axis monitoring device | |
| Zhang et al. | Flying spot laser triangulation scanner using lateral synchronization for surface profile precision measurement | |
| Wang et al. | A compact 3D lidar based on an electrothermal two-axis MEMS scanner for small UAV | |
| CN203855581U (en) | Disk diffusion method medicine sensitivity inhibition zone measuring instrument | |
| CN109470147B (en) | Self-adaptive high-resolution stereo vision system and measuring method | |
| CN109470143B (en) | External light source high-resolution stereo vision measuring system and method | |
| CN109470144B (en) | Line scanning high-resolution stereo vision measuring system and method | |
| CN109596064B (en) | Binocular confocal stereoscopic vision scanning galvanometer position error correction device and method | |
| CN109470146B (en) | High-resolution stereo vision system and measuring method | |
| CN116105638A (en) | U-shaped turntable coaxiality detection system and detection method | |
| CN109579700B (en) | Disc scanning high-resolution stereo vision measuring system and method | |
| CN109596063B (en) | Multi-wavelength high-resolution stereo vision measuring device and method | |
| Oh et al. | Autofocus technique for three-dimensional imaging, direct-detection laser radar using Geiger-mode avalanche photodiode focal-plane array | |
| CN114063111A (en) | Radar detection system and method of image fusion laser | |
| CN109470145A (en) | Polarization Modulation high resolution Stereo Vision Measurement System and method | |
| JP7314659B2 (en) | Range finder and camera | |
| RU2734070C1 (en) | Method of measuring spatial distance between small objects |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20201120 Termination date: 20211207 |