CN109579700A - High resolution Stereo Vision Measurement System and method are retouched in sweeping - Google Patents
High resolution Stereo Vision Measurement System and method are retouched in sweeping Download PDFInfo
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- CN109579700A CN109579700A CN201811497908.2A CN201811497908A CN109579700A CN 109579700 A CN109579700 A CN 109579700A CN 201811497908 A CN201811497908 A CN 201811497908A CN 109579700 A CN109579700 A CN 109579700A
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- lens
- sweeping
- retouched
- rotatable disk
- high resolution
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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
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- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The high resolution stereo vision measuring apparatus and method retouched the invention discloses sweeping, and in particular to a kind of device and method for retouching measurement by magnification system combination rapid survey large scale three-dimension object pattern, deformation, displacement etc. using stereoscopic vision and sweeping；High resolution stereoscopic vision monocular device composition is retouched in the device two or more sweeping, and it includes that measurement by magnification module is retouched in laser lighting module, vision photographing module, sweeping that high resolution stereoscopic vision monocular device is retouched in each sweeping；Object under test is placed within the scope of present apparatus field range and blur-free imaging by this method first；Secondly, passing through photographing module spot scan whole object using scanning measurement by magnification module；Collected picture is handled using 3 D visual image-forming principle to obtain the object dimensional pattern of high resolution；The present invention can significantly improve the measurement resolution of large scale vision system.
Description
Technical field
The present invention relates to Stereo Vision Measurement Systems and method, and retouch high resolution stereoscopic vision more particularly to a kind of sweeping
Measuring system and method belong to optical touchless three-dimensional measurement field.
Background technique
Stereoscopic vision is an important topic of computer vision field, its purpose is to reconstruct the three-dimensional geometry of scene
Information.The research of stereoscopic vision has important application value, and application includes the autonomous navigation system of mobile robot, aviation
And remote sensing survey, industrial automation system etc..Currently, the resolving power of stereo visual system is not relatively high, state-of-the-art solid
The resolving power of vision system is generally the visual field size of a ten thousandth, that is, when measuring for big visual field (meter level), is
The resolving power of system be grade, but with the development of science and technology, high-precision, high-resolution survey get more and more attention, lead to mesh
Preceding existing stereo visual system is unable to satisfy increasing resolving power requirement.
Therefore, how to design a kind of high resolution Stereo Vision Measurement System with method is that those skilled in the art need
It solves the problems, such as.
Summary of the invention
The invention discloses sweepings to retouch high resolution Stereo Vision Measurement System and method, which passes through introducing
Measurement by magnification module is retouched in sweeping, so that the equivalent focal length of whole system and scanning speed get a promotion, to improve entire system
The resolving power of system, and the introducing of pinhole array can be improved signal-to-noise ratio to be conducive to subsequent image procossing (registration, special before CCD
Sign point location etc.) and the visual field of field lens generally large exactly match imaging lens therefore do not need additional scanning mechanism i.e.
Big visual field can be achieved.
High resolution Stereo Vision Measurement System is retouched in sweeping, which is characterized in that including more than one monocular device；
The monocular device includes that measurement by magnification module is retouched in laser lighting module, vision photographing module and sweeping；
The laser lighting module includes: laser, collimator, rotatable disk-microlens array, PBS, first can revolve
Disk-pinhole array, lens, the first field lens, Guan Jing, 1/4 slide, object lens, the second field lens and the phtographic lens (2) turned；
The vision photographing module include: phtographic lens, the second field lens, object lens, 1/4 slide, Guan Jing, the first field lens, thoroughly
Mirror, first rotatable disk-pinhole array, PBS), condenser lens, second rotatable disk-pinhole array and CCD；
It includes: laser, collimator, rotatable disk-microlens array, PBS, that measurement by magnification module is retouched in the sweeping
One rotatable disk-pinhole array, lens, the first field lens, Guan Jing, 1/4 slide, object lens, the second field lens, PBS, condenser lens,
Second rotatable disk-pinhole array and CCD；
The lighting module, vision photographing module, sweeping retouch measurement by magnification module and share the second field lens, object lens, 1/4 glass
Piece, Guan Jing, the first field lens, scanning lens, first rotatable disk-pinhole array, PBS；
The lighting module, vision photographing module also share phtographic lens；
The lighting module, sweeping retouch measurement by magnification module and share laser, collimator, rotatable disk-lenticule battle array
Column；
The vision photographing module, sweeping retouch measurement by magnification module and share condenser lens, the second rotatable disk-pin hole battle array
Column and CCD；
Preferably, laser issues laser in the lighting module, directional light is formed after collimation, by rotatable disk-
Multi beam converged light is formed after microlens array, is formed after PBS reflection using first rotatable disk-pinhole array multiple
Point light source, after focused on after lens at the first field lens principal plane locations, light beam by Guan Jinghou formed multi beam directional light after pass through
The second field lens principal plane locations are focused on by object lens after 1/4 slide, then focuses on three-dimensional sample surface through phtographic lens and is formed
Multi-focus hot spot, the sending reflected light on focal beam spot irradiating sample surface；
Preferably, the sweeping retouch measurement by magnification module according to signal optical propagation direction be followed successively by laser, collimator, can
Disk-microlens array, PBS, first rotatable disk-pinhole array, lens, the first field lens, Guan Jing, 1/4 slide, object of rotation
Mirror, the second field lens, object lens, 1/4 slide, Guan Jing, the first field lens, lens, first rotatable disk-pinhole array, PBS, focusing
Lens, second rotatable disk-pinhole array and CCD.
Preferably, the reflected light that the three-dimensional sample surface issues successively passes through phtographic lens, the second field lens, object
Mirror, 1/4 slide, Guan Jing, the first field lens, scanning lens, first rotatable disk-pinhole array, PBS, condenser lens, second
It is collected after rotatable disk-pinhole array by CCD.
Preferably, the imaging mode of the stereo visual system is disk scanning imagery.
It should be noted that the imaging mode of the stereo visual system is disk scanning imagery, it is remarkably improved imaging speed
Degree.
Preferably, it needs to cooperate between the stereo visual system disk, wherein second rotatable disk-pinhole array
It is needed with first rotatable disk-pinhole array synchronous, imaging signal to noise ratio can be improved.
The measurement method of high resolution stereoscopic vision is retouched based on the sweeping that high resolution Stereo Vision Measurement System is retouched in sweeping,
The following steps are included:
Step a, high score is retouched using the composition sweeping of one or more high resolution stereoscopic vision monocular device
Distinguish power Stereo Vision Measurement System；
Step b, monocular correction is carried out to each monocular device device；
Step c, whole Stereo Vision Measurement System is corrected；
Step d, three-dimension object is placed at blur-free imaging and three-dimension object is imaged and calculates pattern.
The utility model has the advantages that
It added a whole set of sweeping after fixed-focus pick-up lens in the stereo visual system of the invention and retouch measurement by magnification
System is used to improve the equivalent focal length of whole system, and the multiplying power of raising depends on selected scanning measurement by magnification system, to mention
The resolving power of high entire stereo visual system, the present invention retouch measurement by magnification module by introducing sweeping, so that whole system etc.
Effect focal length and scanning speed get a promotion, to improve the resolving power of whole system, and the introducing of pinhole array itself can
Be conducive to subsequent image procossing registration, positioning feature point etc. to improve the resolution ratio of system and signal-to-noise ratio can be improved.
The introducing of the stereo visual system field lens can match visual field and group shot can be realized without additional moving sweep mechanism
As objective angular field is imaged.
Detailed description of the invention
Fig. 1 is the monocular structural schematic diagram that high resolution stereo vision measuring apparatus is retouched in sweeping of the present invention；
Fig. 2 is the overall structure diagram that high resolution stereo vision measuring apparatus is retouched in sweeping of the present invention；
Wherein: 1 sample, 2 phtographic lenses, 3 second field lenses, 4 object lens, 51/4 slide, 6 pipe mirrors, 7 first field lenses, 8
Lens, 9 first rotatable disk-pinhole array, 10PBS, 11 condenser lenses, 12 second rotatable disk-pinhole array,
13CCD, 14 rotatable disk-microlens arrays, 15 collimators, 16 lasers.
Specific embodiment
A specific embodiment according to the present invention provides a kind of sweeping and retouches high resolution stereo vision measuring apparatus, to
Three-dimension object high resolution imaging.
High resolution Stereo Vision Measurement System, including more than one monocular device are retouched in sweeping；
The monocular device includes that measurement by magnification module is retouched in laser lighting module, vision photographing module and sweeping；
The laser lighting module include: laser 16, collimator 15, rotatable disk-microlens array 14, PBS10,
It first rotatable disk-pinhole array 9, lens 8, the first field lens 7, Guan Jing 6,1/4 slide 5, object lens 4, the second field lens 3 and takes the photograph
Shadow camera lens 2；
The vision photographing module includes: phtographic lens 2, the second field lens 3, object lens 4,1/4 slide 5, Guan Jing 6, first
Mirror 7, the rotatable disk-pinhole array 9 of lens 8, first, PBS10, the rotatable disk-pinhole array 12 of condenser lens 11, second
And CCD13；
The sweeping retouch measurement by magnification module include: laser 16, collimator 15, rotatable disk-microlens array 14,
PBS10, first rotatable disk-pinhole array 9, lens 8, the first field lens 7, Guan Jing 6,1/4 slide 5, object lens 4, the second field lens
3, PBS10, the rotatable disk-pinhole array 12 of condenser lens 11, second and CCD13；
The lighting module, vision photographing module, sweeping retouch measurement by magnification module and share the second field lens 3, object lens 4,1/4 glass
Piece 5, Guan Jing 6, the first field lens 7, the rotatable disk-pinhole array 9 of scanning lens 8, first, PBS10；
The lighting module, vision photographing module also share phtographic lens 2；
It is micro- that the lighting module, sweeping retouch the shared laser 16 of measurement by magnification module, collimator 15, rotatable disk-
Lens array 14；
The vision photographing module, sweeping retouch measurement by magnification module and share the rotatable disk-pin hole of condenser lens 11, second
Array 12 and CCD13；
Further, laser 16 issues laser in the lighting module, forms directional light after collimation, process is rotatable
Disk-microlens array after formed multi beam converged light, using first rotatable disk-pinhole array after PBS10 reflects
9 form multiple point light sources, after focused on after lens 8 at first field lens, 7 principal plane locations, light beam forms more after pipe mirror 6
3 principal plane locations of the second field lens are focused on by object lens 4 after 1/4 slide 5 after beam directional light, then focus on three-dimensional through phtographic lens 2
1 surface of sample forms multi-focus hot spot, the sending reflected light on focal beam spot irradiating sample surface；
Further, the sweeping retouches measurement by magnification module and is followed successively by laser 16, standard according to signal optical propagation direction
Straight device 15, rotatable disk-microlens array 14, PBS10, first rotatable disk-pinhole array 9, lens 8, the first field lens
7, Guan Jing 6,1/4 slide 5, object lens 4, the second field lens 3, object lens 4,1/4 slide 5, Guan Jing 6, the first field lens 7, lens 8, first can
Disk-pinhole array 9, PBS10, the rotatable disk-pinhole array 12 of condenser lens 11, second and the CCD13 of rotation.
Further, the reflected light that three-dimensional 1 surface of sample issues successively passes through phtographic lens 2, second
Mirror 3, object lens 4,1/4 slide 5, Guan Jing 6, the first field lens 7, the rotatable disk-pinhole array 9 of scanning lens 8, first, PBS10,
It is collected after the rotatable disk-pinhole array 12 of condenser lens 11, second by CCD14.
Further, the imaging mode of the Stereo Vision Measurement System is disk scanning imagery.
Further, it cooperates between the Stereo Vision Measurement System disk, wherein second rotatable disk-pin hole
Array is synchronous with first rotatable disk-pinhole array.
Sweeping retouches high resolution Stereo Vision Measurement System and realizes that the measurement method of high resolution stereoscopic vision, packet are retouched in sweeping
Include following steps:
Step a, high score is retouched using the composition sweeping of one or more high resolution stereoscopic vision monocular device
Distinguish power Stereo Vision Measurement System；
Step b, monocular correction is carried out to each monocular device device；
Step c, whole Stereo Vision Measurement System is corrected；
Step d, three-dimension object is placed at blur-free imaging and three-dimension object is imaged and calculates pattern.
As shown in Fig. 2, Fig. 2 is that the overall schematic of high resolution stereo vision measuring apparatus is retouched in sweeping of the present invention, Fig. 2 by
High resolution stereo-visiuon measurement monocular device composition is retouched at least two sweeping, and Fig. 1 is that high resolution stereo-visiuon measurement is retouched in sweeping
Monocular device embodiment schematic diagram.
As shown in Fig. 2, S1, S2 and S3 are the monocular device that high resolution stereo vision measuring apparatus is retouched in sweeping.
The present invention is not limited to above-mentioned preferred forms, and anyone should learn that the knots made under the inspiration of the present invention
Structure variation or method are improved, and the technical schemes that are same or similar to the present invention each fall within protection scope of the present invention
Within.
Claims (7)
1. high resolution Stereo Vision Measurement System is retouched in sweeping, which is characterized in that including more than one monocular device；
The monocular device includes that measurement by magnification module is retouched in laser lighting module, vision photographing module and sweeping；
The laser lighting module includes: laser (16), collimator (15), rotatable disk-microlens array (14), PBS
(10), first rotatable disk-pinhole array (9), lens (8), the first field lens (7), Guan Jing (6), 1/4 slide (5), object lens
(4), the second field lens (3) and phtographic lens (2)；
The vision photographing module include: phtographic lens (2), the second field lens (3), object lens (4), 1/4 slide (5), Guan Jing (6),
First field lens (7), lens (8), first rotatable disk-pinhole array (9), PBS (10), condenser lens (11), second can revolve
Disk-the pinhole array (12) and CCD (13) turned；
It includes: laser (16), collimator (15), rotatable disk-microlens array that measurement by magnification module is retouched in the sweeping
(14), PBS (10), first rotatable disk-pinhole array (9), lens (8), the first field lens (7), Guan Jing (6), 1/4 slide
(5), object lens (4), the second field lens (3), PBS (10), condenser lens (11), second rotatable disk-pinhole array (12) and CCD
(13)；
The lighting module, vision photographing module, sweeping retouch measurement by magnification module and share the second field lens (3), object lens (4), 1/4 glass
Piece (5), Guan Jing (6), the first field lens (7), scanning lens (8), first rotatable disk-pinhole array (9), PBS (10)；
The lighting module, vision photographing module also share phtographic lens (2)；
It is micro- that the lighting module, sweeping retouch measurement by magnification module shared laser (16), collimator (15), rotatable disk-
Lens array (14)；
The vision photographing module, sweeping retouch measurement by magnification module and share condenser lens (11), the second rotatable disk-pin hole battle array
Arrange (12) and CCD (13).
2. high resolution Stereo Vision Measurement System is retouched in sweeping according to claim 1, which is characterized in that the illumination mould
Laser (16) issues laser in block, forms directional light after collimation, forms multi beam after rotatable disk-microlens array and converges
Optically focused forms multiple point light sources using first rotatable disk-pinhole array (9) after PBS (10) reflection, after by saturating
It is focused on after mirror (8) at the first field lens (7) principal plane locations, light beam is formed after multi beam directional light after Guan Jing (6) through 1/4 slide
(5) the second field lens (3) principal plane locations are focused on by object lens (4) after, then focus on three-dimensional sample (1) through phtographic lens (2)
Surface forms multi-focus hot spot, the sending reflected light on focal beam spot irradiating sample surface.
3. high resolution Stereo Vision Measurement System is retouched in sweeping according to claim 1, which is characterized in that the sweeping is retouched
Measurement by magnification module is followed successively by laser (16), collimator (15), rotatable disk-lenticule battle array according to signal optical propagation direction
Arrange (14), PBS (10), first rotatable disk-pinhole array (9), lens (8), the first field lens (7), Guan Jing (6), 1/4 slide
(5), object lens (4), the second field lens (3), object lens (4), 1/4 slide (5), Guan Jing (6), the first field lens (7), lens (8), first can
Disk-pinhole array (9), PBS (10), condenser lens (11), second rotatable disk-pinhole array (12) and the CCD of rotation
(13)。
4. high resolution Stereo Vision Measurement System is retouched in sweeping according to claim 1, which is characterized in that the three-dimensional quilt
Sample (1) surface issue reflected light successively pass through phtographic lens (2), the second field lens (3), object lens (4), 1/4 slide (5),
Guan Jing (6), the first field lens (7), scanning lens (8), first rotatable disk-pinhole array (9), PBS (10), condenser lens
(11), it is collected after second rotatable disk-pinhole array (12) by CCD (14).
5. high resolution Stereo Vision Measurement System is retouched in sweeping according to claim 1, which is characterized in that the stereopsis
The imaging mode for feeling measuring system is disk scanning imagery.
6. high resolution Stereo Vision Measurement System is retouched in sweeping according to claim 1, which is characterized in that the stereopsis
Feel and cooperate between measuring system disk, wherein second rotatable disk-pinhole array and first rotatable disk-pinhole array
It is synchronous.
7. sweeping according to claim 1 retouches high resolution Stereo Vision Measurement System and realizes that high resolution solid is retouched in sweeping
The measurement method of vision measurement, which is characterized in that included following steps:
Step a, high resolution is retouched using the composition sweeping of one or more high resolution stereoscopic vision monocular device
Stereo Vision Measurement System；
Step b, monocular correction is carried out to each monocular device device；
Step c, whole Stereo Vision Measurement System is corrected；
Step d, three-dimension object is placed at blur-free imaging and three-dimension object is imaged and calculates pattern.
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| CN201811497908.2A CN109579700B (en) | 2018-12-07 | 2018-12-07 | Disc scanning high-resolution stereo vision measuring system and method |
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| CN201811497908.2A CN109579700B (en) | 2018-12-07 | 2018-12-07 | Disc scanning high-resolution stereo vision measuring system and method |
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