CN110360930A - A kind of laser displacement normal sensor and its measurement method - Google Patents
A kind of laser displacement normal sensor and its measurement method Download PDFInfo
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- CN110360930A CN110360930A CN201910807972.4A CN201910807972A CN110360930A CN 110360930 A CN110360930 A CN 110360930A CN 201910807972 A CN201910807972 A CN 201910807972A CN 110360930 A CN110360930 A CN 110360930A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
Abstract
Invention is related to machine vision three-dimensional field of measuring technique, specifically disclose a kind of laser displacement normal sensor, wherein, it include: structure light laser, line-scan digital camera and Two-dimensional PSD position sensor, structure light laser is arranged in the linear array plane of line-scan digital camera formation, the light of structure light laser sending is arranged on the reflection direction after measured target reflects in Two-dimensional PSD position sensor, structure light laser is used to issue incident ray to measured target, measured target can carry out incident ray to reflect to form reflection light, reflection light includes diffusing reflection light and mirror-reflection light；Line-scan digital camera is for receiving diffusing reflection light and according to the line imaging that diffuses；Two-dimensional PSD position sensor is for receiving mirror-reflection light and according to mirror-reflection image formation by rays.The invention also discloses a kind of measurement methods of laser displacement normal sensor.Laser displacement normal sensor provided by the invention improves the measurement accuracy of structured light technique three-dimensional measurement technology.
Description
Technical field
The present invention relates to machine vision three-dimensional field of measuring technique more particularly to a kind of laser displacement normal sensor and swash
The measurement method of light displacement normal sensor.
Background technique
It is also more and more extensive to the measurement demand of real world three dimensional structure recently as the development of industrial technology.Its
In in terms of structure light main development gone out structure light technology, line-structured light technology and area-structure light technology.Utilize point structure
Light can obtain three-dimensional information coordinate of the diffusing reflection body surface under camera coordinates system.But when body surface shows as mixing
When reflecting (having diffusing reflection and mirror-reflection concurrently) surface characteristic, structure light causes to survey since spot center extraction error is larger
Amount error, which reduces, cannot even obtain effective measurement result.
Summary of the invention
The present invention provides the measurement methods of a kind of laser displacement normal sensor and laser displacement normal sensor, solve
The big problem of three-dimensional structure measurement error present in the relevant technologies.
As one aspect of the present invention, a kind of laser displacement normal sensor is provided, wherein the laser displacement normal
Sensor includes: structure light laser, line-scan digital camera and Two-dimensional PSD position sensor, and the structure light laser is arranged in institute
In the linear array plane for stating line-scan digital camera formation, the Two-dimensional PSD position sensor is arranged in what the structure light laser issued
Light is on the reflection direction after measured target reflects,
The structure light laser is used to issue incident ray to measured target, wherein the measured target can be to described
Incident ray carries out reflecting to form reflection light, and the reflection light includes diffusing reflection light and mirror-reflection light；
The line-scan digital camera is for receiving the diffusing reflection light and according to the line imaging that diffuses；
The Two-dimensional PSD position sensor for receive the mirror-reflection light and according to the mirror-reflection light at
Picture.
Further, the laser displacement normal sensor further includes two-dimensional movement platform, the structure light laser, line
Array camera and Two-dimensional PSD position sensor are respectively positioned in the two-dimensional movement platform.
As another aspect of the present invention, a kind of measurement side of laser displacement normal sensor as previously described is provided
Method, which is characterized in that the measurement method of the laser displacement normal sensor includes:
Obtain the incident ray that structure light laser issues；
The reflection light that measured target forms the incident ray is obtained, wherein the reflection light includes diffusing
Line and mirror-reflection light；
The normal information of measured target is determined according to the incident ray and the mirror-reflection light；
The three-dimensional information of measured target is determined according to the normal information.
Further, described to determine that the normal of measured target is believed according to the incident ray and the mirror-reflection light
Breath, comprising:
Calculate the angle of the incident ray Yu the mirror-reflection light；
The normal information is obtained according to the angle calcu-lation angular bisector.
Further, the three-dimensional information that measured target is determined according to the normal information, comprising:
The normal information is carried out to the gradient information for being converted to measured target；
Determine that mirror shape determines the three-dimensional information of measured target according to the gradient information.
Further, the gradient information that the normal information is carried out to be converted to measured target, comprising:
N=[nx ny nz],
Wherein, [gx gy] indicate measured target target point gradient, n=[nx ny nz] indicate that the normal of measured target is believed
Breath.
It is further, described that mirror shape is determined according to the gradient information, comprising:
Mirror shape is determined by radial basis value function according to the gradient information.
Further, the kernel function of the radial basis value function includes Wendland function kernel function, wherein institute
State the expression formula of Wendland function kernel function are as follows:
Wherein, x and y indicates the coordinate of ground point of measured target,
Further, the measurement method of the laser displacement normal sensor further includes in the acquisition structure light laser
It was carried out before the step of incident ray of sending:
The direction for the incident ray that structure light laser issues is demarcated, comprising:
A1,3 d pose of the two-dimensional target for being located at first position under line-scan digital camera coordinate system is obtained, wherein described two
Target setting is tieed up in tested visual field, and line-scan digital camera can obtain the image of two-dimensional target；
A2, center of the laser facula on the image of two-dimensional target is extracted by gravity model appoach, and determine structure light laser
The incident ray of sending and the intersection point of two-dimensional target, wherein the laser facula is the structure light laser illumination described two
It is formed on dimension target；
A3, three-dimensional appearance of the two-dimensional target for being located at multiple and different second positions under line-scan digital camera coordinate system is obtained respectively
State, and repeat step a1 and a2 and obtain the incident ray of multiple structure light lasers and the intersection point of two-dimensional target；
A4, the incident ray of all structure light lasers and the intersection point of two-dimensional target progress straight line fitting are obtained into structure
The calibration in the direction for the incident ray that light laser issues.
Further, the measurement method of the laser displacement normal sensor further includes in the acquisition structure light laser
It was carried out before the step of incident ray of sending:
The position orientation relation of Two-dimensional PSD position sensor and line-scan digital camera is demarcated, comprising:
B1, the three-dimensional coordinate reflection light corresponding with its for obtaining umbilical point of the tested standard ball on multiple positions exist
Imaging point on PSD position sensor；
B2, sphere surface fitting is carried out to the three-dimensional coordinate of the umbilical point on each position, and calculates the spherical surface on each position
The normal information of point；
B3, the position orientation relation that Two-dimensional PSD position sensor and line-scan digital camera are solved by nonlinear least square method.
By above-mentioned laser displacement normal sensor and its measurement method, issued by structure light laser to measured target
Incident ray, and diffusing reflection light and mirror-reflection light, Two-dimensional PSD position sensor energy are formed after measured target reflects
Enough according to mirror-reflection image formation by rays, line-scan digital camera can be according to the line imaging that diffuses, may finally be by obtaining incident light
The information of line and mirror-reflection light obtains the normal information of measured target, and obtains measured target according to the normal information
Three-dimensional information information, this laser displacement normal sensor can be improved the measurement essence of structure light technology three-dimensional measurement technology
Degree, and the normal information of laser displacement normal sensor acquisition is able to reflect the Curvature varying of measured surface, it can be from normal dimension
The measurement accuracy of upper reflection measured target.
Detailed description of the invention
The drawings are intended to provide a further understanding of the invention, and constitutes part of specification, with following tool
Body embodiment is used to explain the present invention together, but is not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is the structure measurement schematic diagram of laser displacement normal sensor provided by the invention.
Fig. 2 is the flow chart of the measurement method of laser displacement normal sensor provided by the invention.
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combine.The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
In order to make those skilled in the art more fully understand the present invention program, below in conjunction with attached in the embodiment of the present invention
Figure, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only this
The embodiment of a part is invented, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, should fall within the scope of the present invention.
It should be noted that description and claims of this specification and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to the embodiment of the present invention described herein.In addition, term " includes " and " tool
Have " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing a series of steps or units
Process, method, system, product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include without clear
Other step or units listing to Chu or intrinsic for these process, methods, product or equipment.
A kind of laser displacement normal sensor is provided in the present embodiment, and Fig. 1 is provided according to embodiments of the present invention
Structural schematic diagram, as shown in Figure 1, comprising: structure light laser 1, line-scan digital camera 2 and Two-dimensional PSD position sensor 3, the knot
Structure light laser 1 is arranged in the linear array plane that the line-scan digital camera 2 is formed, and the Two-dimensional PSD position sensor 3 is arranged in institute
The light of the sending of structure light laser 1 is stated on the reflection direction after the reflection of measured target 4,
The structure light laser 1 is used to issue incident ray to measured target 4, wherein the measured target 4 can be right
The incident ray carries out reflecting to form reflection light, and the reflection light includes diffusing reflection light and mirror-reflection light；
The line-scan digital camera 2 is for receiving the diffusing reflection light and according to the line imaging that diffuses；
The Two-dimensional PSD position sensor 3 is for receiving the mirror-reflection light and according to the mirror-reflection light
Imaging.
By above-mentioned laser displacement normal sensor, incident ray is issued to measured target by structure light laser, and
Diffusing reflection light is formed after measured target reflects and mirror-reflection light, Two-dimensional PSD position sensor can be according to mirror surfaces
Reflection light imaging, line-scan digital camera can be according to the line imagings that diffuses, may finally be by obtaining incident ray and mirror surface
The information of reflection light obtains the normal information of measured target, and is believed according to the three-dimensional information that the normal information obtains measured target
Breath, this laser displacement normal sensor can be improved the measurement accuracy of structured light technique three-dimensional measurement technology, and laser displacement
The normal information that normal sensor obtains is able to reflect the Curvature varying of measured surface, can reflect measured target from normal dimension
Measurement accuracy.
In order to facilitate the movement of laser displacement normal sensor, the laser displacement normal sensor further includes two-dimensional movement
Platform, the structure light laser, line-scan digital camera and Two-dimensional PSD position sensor are respectively positioned in the two-dimensional movement platform.
Specifically, as shown in Figure 1, laser displacement normal sensor includes structure light laser 1, line-scan digital camera 2 and two
Tie up PSD position sensor 3；The structure light laser 1 and line-scan digital camera 2 form structure light system, tested for obtaining
The three-dimensional information cloud information of target；The Two-dimensional PSD position sensor 3 perceives the structure light of measured target reflection, for true
Determine measured target normal information.The laser displacement normal sensor can be placed in two-dimensional movement platform, tested for obtaining
The three-dimensional information cloud and normal information of target；It is by radial base that the laser displacement normal sensor, which obtains accurate three-dimensional information,
Function interpolation is obtained from the gradient information that normal is converted.
As another embodiment of the present invention, a kind of measurement side of laser displacement normal sensor as previously described is improved
Method, wherein as shown in Fig. 2, the measurement method of the laser displacement normal sensor includes:
S110, the incident ray that structure light laser issues is obtained；
S120, the reflection light that measured target forms the incident ray is obtained, wherein the reflection light includes unrestrained
Reflection light and mirror-reflection light；
S130, the normal information that measured target is determined according to the incident ray and the mirror-reflection light；
S140, the three-dimensional information that measured target is determined according to the normal information.
By the measurement method of above-mentioned laser displacement normal sensor, by structure light laser to measured target issue into
Light is penetrated, and forms diffusing reflection light and mirror-reflection light after measured target reflects, Two-dimensional PSD position sensor can
According to mirror-reflection image formation by rays, line-scan digital camera can be according to the line imaging that diffuses, may finally be by obtaining incident ray
And the information of mirror-reflection light obtains the normal information of measured target, and obtains the three of measured target according to the normal information
Information is tieed up, the measurement method of this laser displacement normal sensor can be improved the survey of structured light technique three-dimensional measurement technology
Accuracy of measurement, and the normal information of laser displacement normal sensor acquisition is able to reflect the Curvature varying of measured surface, it can be from normal
Reflect the measurement accuracy of measured target in dimension.
Specifically, as shown in Figure 1, using laser 1, line-scan digital camera 2 and Two-dimensional PSD position sensor 3 to measured target 4
It measures, determines three-dimensional information and normal information of the surface of measured target under line-scan digital camera coordinate system.
The light that structure light laser 1 issues is reflected through the surface point o of measured target, and reflection light includes two parts: unrestrained
Reflection light and mirror-reflection light.Wherein, diffusing reflection light warp array camera optical center is imaged on camera CCD, mirror-reflection
Light edge is with 1 light incident direction i of structure light laser about the symmetrical reflection direction f of normal n in Two-dimensional PSD position sensor
3 point q imaging.Then the three-dimensional coordinate of object point o is the intersection point of structure light laser 1 light incident direction and diffusing reflection direction, object
The normal of point is the angular bisector of incident direction and mirror-reflection direction i.Measurement method is for determining camera intrinsic parameter, laser
Direction, Two-dimensional PSD position sensor and camera position orientation relation RT.
Firstly, line-scan digital camera intrinsic parameter is demarcated, Zhang Zhengyou calibration method and Iterative calibration can be used, is mainly used for accurate
Determine diffusing reflection radiation direction.
Secondly, the measurement method of the laser displacement normal sensor further includes issuing in the acquisition structure light laser
Incident ray the step of before carry out:
The direction for the incident ray that structure light laser issues is demarcated, comprising:
A1,3 d pose of the two-dimensional target for being located at first position under line-scan digital camera coordinate system is obtained, wherein described two
Target setting is tieed up in tested visual field, and line-scan digital camera can obtain the image of two-dimensional target；
A2, center of the laser facula on the image of two-dimensional target is extracted by gravity model appoach, and determine structure light laser
The incident ray of sending and the intersection point of two-dimensional target, wherein the laser facula is the structure light laser illumination described two
It is formed on dimension target；
A3, three-dimensional appearance of the two-dimensional target for being located at multiple and different second positions under line-scan digital camera coordinate system is obtained respectively
State, and repeat step a1 and a2 and obtain the incident ray of multiple structure light lasers and the intersection point of two-dimensional target；
A4, the incident ray of all structure light lasers and the intersection point of two-dimensional target progress straight line fitting are obtained into structure
The calibration in the direction for the incident ray that light laser issues.
Further specifically, the direction calibration of structure light laser, can be carried out using two-dimensional target multiposition standardization
Calibration:
A1, two-dimensional target being placed in tested visual field, line-scan digital camera obtains the image of two-dimensional target, and extracts characteristic point,
3 d pose of the two-dimensional target under line-scan digital camera coordinate system is obtained by PnP method.
It should be noted that PnP method is well known to those skilled in the art, details are not described herein again.
A2, structure light laser illumination is extracted into laser facula in two-dimensional target in two-dimensional target, and through gravity model appoach
Center on image is asked by light and hands over the intersection point for determining the incident ray that structure light laser issues and two-dimensional target.
A3, the position for changing two-dimensional target, and repeat a1 and a2 and obtain the incident ray that multiple structure light lasers issue
With the intersection point of two-dimensional target.
A4, all intersection points obtained in a3 are carried out to the incident ray side that the achievable structure light laser of straight line fitting issues
Calibration to i.
It should be noted that the straight line fitting is well known to those skilled in the art, details are not described herein again.
Finally,
The measurement method of the laser displacement normal sensor further includes entering what the acquisition structure light laser issued
It is carried out before the step of penetrating light:
The position orientation relation of Two-dimensional PSD position sensor and line-scan digital camera is demarcated, comprising:
B1, the three-dimensional coordinate reflection light corresponding with its for obtaining umbilical point of the tested standard ball on multiple positions exist
Imaging point on PSD position sensor；
B2, sphere surface fitting is carried out to the three-dimensional coordinate of the umbilical point on each position, and calculates the spherical surface on each position
The normal information of point；
B3, the position orientation relation that Two-dimensional PSD position sensor and line-scan digital camera are solved by nonlinear least square method.
It is demarcated using position orientation relation RT of the nonlinear least square method to Two-dimensional PSD position sensor and line-scan digital camera.Mark
Periodically, laser displacement normal sensor need to be placed in two-dimensional movement platform, calibration is carried out by standard ball.
B1, a standard ball is measured by two-dimensional movement platform, each position can get the three-dimensional coordinate of tested umbilical point
Imaging point of the reflection light on PSD position sensor is corresponded to it.
B2, sphere surface fitting is carried out to the three-dimensional coordinate for being tested umbilical point obtained in b1, and calculates every normal information.
B3, position orientation relation RT is solved by nonlinear least square method, gives Initial R T value, and according to incident ray and instead
The angular bisector for penetrating light calculates normal, and objective function is to calculate the normal information deviation being fitted in normal and b2, works as mesh
Scalar functions correspond to optimal position orientation relation RT when being minimum value.
Specifically, when measurement, laser displacement normal sensor can be placed in two-dimensional movement platform, passes through two-dimensional movement
It can get the three-dimensional coordinate and corresponding points normal information of measured surface.Directly by light solve calculate three-dimensional information precision compared with
It is low, measured surface three-dimensional information can be rebuild by obtained normal in high precision.
Specifically, the normal information that measured target is determined according to the incident ray and the mirror-reflection light,
Include:
Calculate the angle of the incident ray Yu the mirror-reflection light；
The normal information is obtained according to the angle calcu-lation angular bisector.
Further specifically, the three-dimensional information that measured target is determined according to the normal information, comprising:
The normal information is carried out to the gradient information for being converted to measured target；
Determine that mirror shape determines the three-dimensional information of measured target according to the gradient information.
Further specifically, the gradient information that the normal information is carried out to be converted to measured target, comprising:
N=[nx ny nz],
Wherein, [gx gy] indicate measured target target point gradient, n=[nx ny nz] indicate that the normal of measured target is believed
Breath.
It should be noted that described determine mirror shape according to the gradient information, comprising:
Mirror shape is determined by radial basis value function according to the gradient information.
Preferably, the kernel function of the radial basis value function includes Wendland function kernel function, wherein described
The expression formula of Wendland function kernel function are as follows:
Wherein, x and y indicates the coordinate of ground point of measured target,
Curve surface definition is the basic function linear combination of sampled point, is represented by following form:
Wherein, αkAnd βkIt is coefficient,WithIt is the partial derivative of radial basis function φ respectively in the x and y direction, p table
Show that the coordinate of object point o, k indicate k-th point on the surface of measured target, the number put on the surface of N expression measured target is
Design factor matrix will calculate derivative and match with the gradient acquired.
It is defined according to gradient:
Then solving following system of linear equations can be obtained coefficient matrix,
After acquiring above-mentioned coefficient matrix, bring into radial basis function linear combination carry out calculate can be obtained accurately quilt
Survey face shape.
Therefore, laser displacement normal sensor provided in an embodiment of the present invention and its measurement method can obtain tested simultaneously
The three-dimensional information and normal information of target improve point structure from the gradient information that normal is converted by Interpolation Property of Radial Basis Function method
Light three-dimensional measurement precision, and the normal information obtained is able to reflect the Curvature varying of measured surface, can reflect from normal dimension
The measurement accuracy of measured target.
It is understood that the principle that embodiment of above is intended to be merely illustrative of the present and the exemplary implementation that uses
Mode, however the present invention is not limited thereto.For those skilled in the art, essence of the invention is not being departed from
In the case where mind and essence, various changes and modifications can be made therein, these variations and modifications are also considered as protection scope of the present invention.
Claims (10)
1. a kind of laser displacement normal sensor, which is characterized in that the laser displacement normal sensor includes: structure ray laser
Device, line-scan digital camera and Two-dimensional PSD position sensor, it is flat that the linear array that the line-scan digital camera is formed is arranged in the structure light laser
On face, the light of the structure light laser sending is arranged in after measured target reflects in the Two-dimensional PSD position sensor
Reflection direction on,
The structure light laser is used to issue incident ray to measured target, wherein the measured target can be to the incidence
Light carries out reflecting to form reflection light, and the reflection light includes diffusing reflection light and mirror-reflection light；
The line-scan digital camera is for receiving the diffusing reflection light and according to the line imaging that diffuses；
The Two-dimensional PSD position sensor is for receiving the mirror-reflection light and according to the mirror-reflection image formation by rays.
2. laser displacement normal sensor according to claim 1, which is characterized in that the laser displacement normal sensor
It further include two-dimensional movement platform, the structure light laser, line-scan digital camera and Two-dimensional PSD position sensor are respectively positioned on the two dimension
On mobile platform.
3. a kind of measurement method of laser displacement normal sensor as claimed in claim 1 or 2, which is characterized in that described to swash
Light displacement normal sensor measurement method include:
Obtain the incident ray that structure light laser issues；
Obtain the reflection light that is formed to the incident ray of measured target, wherein the reflection light include diffusing reflection light with
Mirror-reflection light；
The normal information of measured target is determined according to the incident ray and the mirror-reflection light；
The three-dimensional information of measured target is determined according to the normal information.
4. the measurement method of laser displacement normal sensor according to claim 3, which is characterized in that described according to
Incident ray and the mirror-reflection light determine the normal information of measured target, comprising:
Calculate the angle of the incident ray Yu the mirror-reflection light；
The normal information is obtained according to the angle calcu-lation angular bisector.
5. the measurement method of laser displacement normal sensor according to claim 3, which is characterized in that described according to
Normal information determines the three-dimensional information of measured target, comprising:
The normal information is carried out to the gradient information for being converted to measured target；
Determine that mirror shape determines the three-dimensional information of measured target according to the gradient information.
6. the measurement method of laser displacement normal sensor according to claim 5, which is characterized in that described by the method
Line information carries out the gradient information for being converted to measured target, comprising:
N=[nx ny nz],
Wherein, [gx gy] indicate measured target target point gradient, n=[nx ny nz] indicate measured target normal information.
7. the measurement method of laser displacement normal sensor according to claim 5, which is characterized in that described according to
Gradient information determines mirror shape, comprising:
Mirror shape is determined by radial basis value function according to the gradient information.
8. the measurement method of laser displacement normal sensor according to claim 7, which is characterized in that the radial direction basis
The kernel function of value function includes Wendland function kernel function, wherein the table of the Wendland function kernel function
Up to formula are as follows:
Wherein, x and y indicates the coordinate of ground point of measured target,ρ>0。
9. the measurement method of laser displacement normal sensor according to claim 3, which is characterized in that the laser displacement
The measurement method of normal sensor further includes the steps that carrying out before the incident ray that the acquisition structure light laser issues:
The direction for the incident ray that structure light laser issues is demarcated, comprising:
A1,3 d pose of the two-dimensional target for being located at first position under line-scan digital camera coordinate system is obtained, wherein the two dimension target
Mark setting is in tested visual field, and line-scan digital camera can obtain the image of two-dimensional target；
A2, center of the laser facula on the image of two-dimensional target is extracted by gravity model appoach, and determine that structure light laser issues
Incident ray and two-dimensional target intersection point, wherein the laser facula is the structure light laser illumination in the two-dimentional target
It puts on to be formed；
A3,3 d pose of the two-dimensional target for being located at multiple and different second positions under line-scan digital camera coordinate system is obtained respectively,
And it repeats step a1 and a2 and obtains the incident ray of multiple structure light lasers and the intersection point of two-dimensional target；
A4, the incident ray of all structure light lasers and the intersection point of two-dimensional target progress straight line fitting are obtained structure light and swashed
The calibration in the direction for the incident ray that light device issues.
10. the measurement method of laser displacement normal sensor according to claim 3, which is characterized in that the laser position
The measurement method for moving normal sensor further includes the steps that carrying out before the incident ray that the acquisition structure light laser issues
:
The position orientation relation of Two-dimensional PSD position sensor and line-scan digital camera is demarcated, comprising:
B1, three-dimensional coordinate reflection light corresponding with its of umbilical point of the tested standard ball on multiple positions is obtained in PSD
Imaging point on position sensor；
B2, sphere surface fitting is carried out to the three-dimensional coordinate of the umbilical point on each position, and calculates umbilical point on each position
Normal information；
B3, the position orientation relation that Two-dimensional PSD position sensor and line-scan digital camera are solved by nonlinear least square method.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110910506A (en) * | 2019-12-03 | 2020-03-24 | 江苏集萃华科智能装备科技有限公司 | Three-dimensional reconstruction method and device based on normal detection, detection device and system |
| CN112985302A (en) * | 2021-03-01 | 2021-06-18 | 上海盛晃光学技术有限公司 | Three-dimensional measurement system, method, apparatus, medium, and electronic device |
| CN114413750A (en) * | 2021-12-01 | 2022-04-29 | 广西交科集团有限公司 | Positioning sensor, positioning system and positioning method based on laser scattering light spots |
| CN114543668A (en) * | 2022-01-24 | 2022-05-27 | 上海卫星工程研究所 | Measuring system and method suitable for ultra-large array plane orientation change |
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