CN109600531B - Binocular vision scanning system and scanning method - Google Patents
Binocular vision scanning system and scanning method Download PDFInfo
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- CN109600531B CN109600531B CN201810245792.7A CN201810245792A CN109600531B CN 109600531 B CN109600531 B CN 109600531B CN 201810245792 A CN201810245792 A CN 201810245792A CN 109600531 B CN109600531 B CN 109600531B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N1/00—Scanning, transmission or reproduction of documents or the like, e.g. facsimile transmission; Details thereof
- H04N1/04—Scanning arrangements, i.e. arrangements for the displacement of active reading or reproducing elements relative to the original or reproducing medium, or vice versa
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N1/00—Scanning, transmission or reproduction of documents or the like, e.g. facsimile transmission; Details thereof
- H04N1/04—Scanning arrangements, i.e. arrangements for the displacement of active reading or reproducing elements relative to the original or reproducing medium, or vice versa
- H04N1/19—Scanning arrangements, i.e. arrangements for the displacement of active reading or reproducing elements relative to the original or reproducing medium, or vice versa using multi-element arrays
- H04N1/195—Scanning arrangements, i.e. arrangements for the displacement of active reading or reproducing elements relative to the original or reproducing medium, or vice versa using multi-element arrays the array comprising a two-dimensional array or a combination of two-dimensional arrays
- H04N1/19589—Optical means, e.g. an optical fibre bundle, for mapping the whole or a part of a scanned image onto the array
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N1/00—Scanning, transmission or reproduction of documents or the like, e.g. facsimile transmission; Details thereof
- H04N1/04—Scanning arrangements, i.e. arrangements for the displacement of active reading or reproducing elements relative to the original or reproducing medium, or vice versa
- H04N1/19—Scanning arrangements, i.e. arrangements for the displacement of active reading or reproducing elements relative to the original or reproducing medium, or vice versa using multi-element arrays
- H04N1/195—Scanning arrangements, i.e. arrangements for the displacement of active reading or reproducing elements relative to the original or reproducing medium, or vice versa using multi-element arrays the array comprising a two-dimensional array or a combination of two-dimensional arrays
- H04N1/19594—Scanning arrangements, i.e. arrangements for the displacement of active reading or reproducing elements relative to the original or reproducing medium, or vice versa using multi-element arrays the array comprising a two-dimensional array or a combination of two-dimensional arrays using a television camera or a still video camera
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Abstract
The invention is suitable for the technical field of three-dimensional scanning, and provides a binocular vision scanning system and a scanning method, wherein the system comprises a control module, an optical structure projection device and an image acquisition device; the optical structure projection device comprises a lighting device, an optical lens, a fixed grating and a movable grating which are sequentially arranged; the control module is connected with the lighting device and the movable grating, and is used for controlling the brightness of the lighting device and the movement of the movable grating to generate preset stripe structure light; the control module is also connected with the image acquisition device and controls the image acquisition device to acquire the image of the target object under the preset stripe structure light projection in real time. The brightness and the speed of the generated preset stripe structure light are adjustable, the requirement for the projection of the stripe structure light with high speed and high brightness is met, and the image acquisition efficiency of the target object can be improved.
Description
Technical Field
The invention belongs to the technical field of three-dimensional scanning, and particularly relates to a binocular vision scanning system and a scanning method.
Background
The development of computer vision technology provides powerful technical support for the application of non-contact three-dimensional measurement technology in reverse engineering, industrial detection, quality control and the like, and meanwhile, the development of vision three-dimensional measurement technology is promoted by the increasingly wide application in the fields.
At present, a conventional binocular vision scanning system projects structured light in stripes on a target mainly by configuring a projector. However, the working frequency of the projector is 60Hz, and only three groups of stripe-structured light can be projected in one second, so that the image acquisition of the target object cannot be completed quickly, and the scanning efficiency is affected.
Disclosure of Invention
In view of this, embodiments of the present invention provide a binocular vision scanning system and a scanning method, which can implement fast and high-brightness projection of stripe-structured light, and improve the efficiency of image acquisition on a target object.
In a first aspect of the embodiments of the present invention, there is provided a binocular vision scanning system, including:
the device comprises a control module, an optical structure projection device and an image acquisition device;
the optical structure projection device comprises a lighting device, an optical lens, a fixed grating and a movable grating which are sequentially arranged;
the control module is connected with the lighting device and the movable grating, and is used for controlling the brightness of the lighting device and the movement of the movable grating to generate preset stripe structure light;
the control module is also connected with the image acquisition device and controls the image acquisition device to acquire the image of the target object under the preset stripe structure light projection in real time.
In a second aspect of the embodiments of the present invention, a scanning method based on the binocular vision scanning system includes:
the control module sends a brightness control instruction to the lighting device to control the brightness of the lighting device;
the control module sends a driving command to the driving motor, and the driving command is used for driving the driving motor to drive the movable grating to move to generate preset stripe structure light;
the control module sends an image acquisition instruction to the image acquisition device to control the image acquisition device to acquire an image of a target object under the projection of the preset stripe structured light in real time, and the image acquisition instruction is synchronous with the brightness control instruction and the driving instruction.
Compared with the prior art, the embodiment of the invention has the beneficial effects that: according to the binocular vision scanning system and the scanning method provided by the embodiment of the invention, the optical structure projection device comprises the illuminating device, the optical lens, the fixed grating and the movable grating which are sequentially arranged, the control module is connected with the illuminating device and the movable grating and controls the brightness of the illuminating device and the movement of the movable grating to generate the preset stripe structure light, the brightness and the speed of the preset stripe structure light generated by the embodiment are high-precision and adjustable, the requirement on the rapid and high-brightness projection of the stripe structure light is met, and the image acquisition efficiency of a target object can be improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic structural diagram of a binocular vision scanning system according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a movable grating according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a binocular vision scanning system according to another embodiment of the present invention;
fig. 4 is a schematic flowchart of a scanning method based on a binocular vision scanning system according to an embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to a determination" or "in response to a detection". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
In order to explain the technical means of the present invention, the following description will be given by way of specific examples.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a binocular vision scanning system according to an embodiment of the present invention. The binocular vision scanning system in the embodiment can be applied to, but not limited to, three-dimensional scanning of targets for reverse engineering, industrial inspection and quality control. The binocular vision scanning system provided by the embodiment comprises:
The optical structure projection apparatus 200 includes an illumination apparatus 201, an optical lens 202, a fixed grating 203, and a movable grating 204, which are arranged in this order. More specifically, the centers of the illumination device 201, the optical lens 202, the fixed grating 203, and the movable grating 204, which are arranged in this order, are on a straight line. Light emitted from the illumination device 201 is changed into parallel light beams by the optical lens 202, and the parallel light beams are irradiated on the object 400 through the fixed grating 203 and the movable grating 204. The target 400 is a target to be three-dimensionally scanned.
The control module 100 is connected with the illumination device 201 and the movable grating 204, and controls the brightness of the illumination device 201 and the movement of the movable grating 204 to generate the preset stripe-structured light. The control module 100 may be a personal computer and/or a field programmable gate array module. The control module 100 sends a brightness control command to control the brightness of the illumination device 201, and synchronously the control module 100 sends a driving command to control the movable grating to move, light emitted by the illumination device 201 is changed into parallel light beams through the optical lens 202, and the parallel light beams are irradiated on a target object through the fixed grating 203 and the movable grating 204 to generate preset stripe structure light. The preset stripe structure light is stripe structure light with preset brightness and preset frequency.
The control module 100 is further connected to the image collecting device 300, and controls the image collecting device 300 to collect an image of the target object under the preset stripe structure light projection in real time. After the image acquisition device 300 finishes image acquisition of the target object, the acquired image information is sent to the control module to be processed to obtain a three-dimensional image of the target object.
According to the embodiment, the optical structure projection device comprises the illuminating device, the optical lens, the fixed grating and the movable grating which are sequentially arranged, the control module is connected with the illuminating device and the movable grating to control the brightness of the illuminating device and the movement of the movable grating to generate the preset stripe structure light, the brightness and the speed of the preset stripe structure light generated by the embodiment are adjustable, the requirement for projection of the stripe structure light with high speed and high brightness is met, and the efficiency of image acquisition of a target object can be improved.
Referring to fig. 2, in an embodiment of the present invention, the movable grating 204 includes a grating body 2041, a screw sliding table 2042, and a driving motor 2043. The driving motor 2043 is connected to the control module 100. The grating body 2041 is disposed on the screw rod sliding table 2042, and the driving motor 2043 drives the grating body 2041 to slide along the screw rod sliding table 2042 according to a control command of the control module 100. The frequency of the preset stripe structure light generated by the present embodiment can reach 180Hz (180 stripe structure lights per second).
Known from this embodiment, the grating body, lead screw slip table and driving motor of this embodiment's simple structure, small in size, easy integration, with low costs, the frequency of the predetermined stripe structure light of production simultaneously is higher.
Referring to fig. 3, in one embodiment of the invention, the control module 100 includes a personal computer 101 and a field programmable gate array module 102. The personal computer 101 is connected with the field programmable gate array module 102, and the field programmable gate array module is connected with the lighting device, the movable grating and the image acquisition device.
The Field-Programmable Gate Array (FPGA) has excellent parallel processing capability, and accurate image acquisition control of the image acquisition device can be achieved through clock management and parallel synchronous processing. A Personal Computer (PC) sends a control instruction to an FPGA through a network port, and the FPGA can realize synchronous image acquisition in multiple modes, so that the problem of instruction delay of direct control of the PC is avoided.
In one embodiment of the present invention, the illumination device 201 is a high brightness light emitting diode. Wherein the high brightness light emitting diode increases the brightness of the generated light of the stripe structure relative to a conventional projector.
Referring to fig. 3, in an embodiment of the present invention, the image capture device 300 includes a first camera 301 and a second camera 302, and the first camera 301 and the second camera 302 are respectively connected to the control module 100.
The first camera 301 and the second camera 302 may use a common Complementary Metal Oxide Semiconductor (CMOS) image sensor in the low-speed acquisition application, and need to use a high-speed CMOS image sensor in the fast acquisition application; for example, 30/130/200/500 million pixel CMOS image sensors may be selected based on customer differing requirements for the pixels.
As can be seen from the present embodiment, by matching different image sensors as the first camera and the second camera, actual requirements of different customers are satisfied.
It should be noted that: the FPGA comprises a third-generation Double-Data-Rate Synchronous Dynamic Random Access Memory (DDR 3) which is used for storing image information collected by the first camera and the second camera and is read by a PC reading instruction.
Referring to fig. 4, fig. 4 is a schematic flowchart of a scanning method based on a binocular vision scanning system according to an embodiment of the present invention, where the binocular vision scanning system is the binocular vision scanning system described in the foregoing embodiment, and the method is detailed as follows:
s401: the control module sends a brightness control instruction to the lighting device to control the brightness of the lighting device.
S402: the control module sends a driving command to the driving motor, and the driving command is used for driving the movable grating to move to generate preset stripe structure light.
S403: the control module sends an image acquisition instruction to the image acquisition device, and controls the image acquisition device to acquire an image of a target object under the preset stripe structured light projection in real time, wherein the image acquisition instruction is synchronous with the brightness control instruction and the driving instruction.
In this embodiment, the preset stripe structure light includes a structure light with a preset brightness and a preset frequency. The brightness control command comprises a brightness parameter, and the brightness parameter is used for indicating the lighting device to work according to preset brightness. The driving instruction comprises a speed parameter, and the speed parameter is used for instructing the movable grating to move according to a preset speed to generate the stripe structure light with a preset frequency.
Known from this embodiment, in light structure projection arrangement is including arranging lighting device, optical lens, fixed grating and the portable grating that sets up in proper order, control module with lighting device, portable grating are connected, control lighting device's luminance with the removal of portable grating produces predetermined stripe structure light, and the luminance and the adjustable speed that this embodiment produced predetermined stripe structure light satisfy the projection of quick, high-brightness stripe structure light, can improve the efficiency to the image acquisition of target object.
In one embodiment of the invention, the movable grating comprises a grating body, a screw rod sliding table and a driving motor, wherein the driving motor is connected with the control module;
the control module sends a driving command to the driving motor, wherein the driving command is used for the driving motor to drive the movable grating to move, and the driving command comprises the following steps:
the control module sends a driving command to the driving motor, and the driving command is used for driving the driving motor to drive the movable grating to slide along the screw rod sliding table.
In one embodiment of the invention, the image acquisition device comprises a first camera and a second camera, and the first camera and the second camera are respectively connected with the control module; the control module comprises a personal computer and a field programmable gate array module; the personal computer is connected with the field programmable gate array module, and the field programmable gate array module is connected with the illuminating device, the movable grating and the image acquisition device;
the first camera collects a first image of a target object under the projection of the preset stripe structured light and sends the first image to the programmable gate array module;
the second camera acquires a second image of the target object under the preset stripe structure light projection, and sends the first image to the programmable gate array module;
the programmable gate array module searches the first image and the second image through matching points to complete matching of the first image and the second image;
and the programmable gate array module sends the matched first image and the second image to the personal computer to construct a three-dimensional image.
Specifically, the searching of the first image and the second image by the programmable gate array module through matching points is performed to complete the matching of the first image and the second image, and the matching includes:
the programmable gate array module divides the first image into a preset number of first sub-images and divides the second image into a preset number of second sub-images;
and the programmable gate array module corresponds the first sub-images to the second sub-images one by one, and searches the corresponding matching points of the first sub-images and the second sub-images to complete the matching of the first sub-images and the second sub-images.
According to the embodiment, the programmable gate array module is used for preprocessing the first image and the second image, so that the pressure of processing data by a later-stage personal computer can be reduced, and the construction period of the three-dimensional image by the personal computer can be shortened.
In an embodiment of the present invention, after the image capturing device captures an image of a target object under a preset fringe structure light projection in real time, the method further includes:
and the programmable gate array module performs median filtering processing on the image information, and performs edge and contour extraction and binarization processing on the filtered image information.
It should be noted that: the binocular vision scanning system provided by the embodiment of the invention can complete the projection and image acquisition of 16 pieces of stripe structured light within less than 0.1 second. Compared with the traditional projector scheme, the method is improved by 3 times.
In another embodiment of the present invention, a computer-readable storage medium is provided, which stores a computer program, where the computer program includes program instructions, where the program instructions implement all or part of the procedures in the method of the above embodiments when executed by a processor, and may also be implemented by a computer program instructing associated hardware, where the computer program may be stored in a computer-readable storage medium, and where the computer program can implement the steps of the above method embodiments when executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain other components which may be suitably increased or decreased as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media which may not include electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.
The computer readable storage medium may be an internal storage unit of the terminal according to any of the foregoing embodiments, for example, a hard disk or a memory of the terminal. The computer readable storage medium may also be an external storage device of the terminal, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like provided on the terminal. Further, the computer-readable storage medium may also include both an internal storage unit and an external storage device of the terminal. The computer-readable storage medium is used for storing the computer program and other programs and data required by the terminal. The computer readable storage medium may also be used to temporarily store data that has been output or is to be output.
Those of ordinary skill in the art will appreciate that the elements and algorithm steps of the examples described in connection with the embodiments disclosed herein may be embodied in electronic hardware, computer software, or combinations of both, and that the components and steps of the examples have been described in a functional general in the foregoing description for the purpose of illustrating clearly the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the terminal and the unit described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed terminal and method can be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may also be an electric, mechanical or other form of connection.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment of the present invention.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. A binocular vision scanning system, comprising: the device comprises a control module, an optical structure projection device and an image acquisition device;
the optical structure projection device comprises a lighting device, an optical lens, a fixed grating and a movable grating which are sequentially arranged; the movable grating comprises a grating body, a screw rod sliding table and a driving motor; the grating body is arranged on the screw rod sliding table, and the driving motor drives the grating body to slide along the screw rod sliding table according to a control command of the control module;
the control module is connected with the lighting device and the movable grating, and is used for controlling the brightness of the lighting device and the movement of the movable grating to generate preset stripe structure light;
the control module is also connected with the image acquisition device and controls the image acquisition device to acquire the image of the target object under the preset stripe structure light projection in real time.
2. The binocular vision scanning system of claim 1, wherein the control module comprises a personal computer and a field programmable gate array module;
the personal computer is connected with the field programmable gate array module, and the field programmable gate array module is connected with the illuminating device, the movable grating and the image acquisition device.
3. The binocular vision scanning system of claim 1, wherein the illumination device is a high brightness light emitting diode.
4. The binocular vision scanning system of claim 1, wherein the image capturing device includes a first camera and a second camera, the first camera and the second camera being connected to the control module, respectively.
5. A scanning method based on the binocular vision scanning system of claim 1, comprising:
the control module sends a brightness control instruction to the lighting device to control the brightness of the lighting device;
the control module sends a driving instruction to the driving motor, and the driving instruction is used for driving the driving motor to drive the movable grating to move to generate preset stripe structure light; the movable grating comprises a grating body, a screw rod sliding table and a driving motor, and the driving motor is connected with the control module; the control module sends a driving instruction to the driving motor, wherein the driving instruction is used for the driving motor to drive the movable grating to move, and the control module comprises: the control module sends a driving instruction to the driving motor, and the driving instruction is used for driving the driving motor to drive the movable grating to slide along the screw rod sliding table;
the control module sends an image acquisition instruction to the image acquisition device to control the image acquisition device to acquire an image of a target object under the projection of the preset stripe structured light in real time, and the image acquisition instruction is synchronous with the brightness control instruction and the driving instruction.
6. The binocular vision scanning system based scanning method of claim 5, wherein the image capturing device comprises a first camera and a second camera, the first camera and the second camera being respectively connected with the control module; the control module comprises a personal computer and a field programmable gate array module; the personal computer is connected with the field programmable gate array module, and the field programmable gate array module is connected with the illuminating device, the movable grating and the image acquisition device;
the first camera collects a first image of a target object under the projection of the preset stripe structured light and sends the first image to the field programmable gate array module;
the second camera acquires a second image of the target object under the preset stripe structure light projection, and sends the first image to the field programmable gate array module;
the field programmable gate array module searches the first image and the second image through matching points to complete matching of the first image and the second image;
and the field programmable gate array module sends the matched first image and the second image to the personal computer to construct a three-dimensional image.
7. The scanning method based on binocular vision scanning system of claim 6,
after the image acquisition device acquires the image of the target object under the preset fringe structure light projection in real time, the method further comprises the following steps:
and the field programmable gate array module performs median filtering processing on the image, and performs edge and contour extraction and binarization processing on the filtered image.
8. The binocular vision scanning system based scanning method of claim 6, wherein the field programmable gate array module performs matching of the first image and the second image by searching the first image and the second image through matching points, comprising:
the field programmable gate array module divides the first image into a preset number of first sub-images and divides the second image into a preset number of second sub-images;
and the field programmable gate array module corresponds the first sub-images to the second sub-images one by one, and searches the corresponding matching points of the first sub-images and the second sub-images to complete the matching of the first sub-images and the second sub-images.
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