CN112066910A - Monocular three-dimensional measurement system based on plane mirror automatic rotating platform - Google Patents
Monocular three-dimensional measurement system based on plane mirror automatic rotating platform Download PDFInfo
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- CN112066910A CN112066910A CN202010859450.1A CN202010859450A CN112066910A CN 112066910 A CN112066910 A CN 112066910A CN 202010859450 A CN202010859450 A CN 202010859450A CN 112066910 A CN112066910 A CN 112066910A
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- 238000005259 measurement Methods 0.000 title claims abstract description 26
- 238000005286 illumination Methods 0.000 claims abstract description 13
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- 238000012545 processing Methods 0.000 abstract description 6
- 230000003287 optical effect Effects 0.000 abstract description 5
- 238000005516 engineering process Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 7
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- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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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
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Abstract
The invention discloses a monocular three-dimensional measurement system based on a plane mirror automatic rotating platform, and belongs to the field of optical measurement. The system comprises a plane mirror automatic rotating platform, a plane mirror, a camera, a computer, an illumination light source, a light softening plate and a light supplementing plate; the experiment is carried out twice shooting, firstly, the right plane mirror reflects the light reflected from the measured object to the plane mirror automatic rotating platform and then enters the camera for collection, and the first shooting is carried out; adjusting a stepping motor driving module, and utilizing a stepping motor subdivision technology to enable the plane mirror automatic rotating platform to accurately rotate 90 degrees clockwise, so that light from the left plane mirror is reflected into the camera for secondary collection; and finally, processing and analyzing the acquired calibration information and the object surface information to obtain the three-dimensional appearance of the object surface.
Description
Technical Field
The invention relates to a monocular three-dimensional measurement system based on a plane mirror automatic rotating platform, and belongs to the field of optical measurement.
Background
The non-contact measurement is always a hotspot of current research, the characteristic that the three-dimensional information of an object can be obtained without contacting the surface of the object is always impressive by researchers, and the non-contact measurement is widely applied to the industrial fields of nondestructive testing and the like. Optical measurement techniques are an important point in non-contact measurements. Active optical measurement needs to transmit a controllable signal to the surface of an object to be measured, and then the three-dimensional information of the surface of the object to be measured can be obtained by comparing the transmitted signal with a return signal, but no matter a laser ranging method, a structured light measuring method or a signal interference measuring method, a special projector is needed to project laser, structured light or speckle to the object to be measured, the manufacturing cost is high, and the cost is high.
The passive optical measurement is to reconstruct the three-dimensional information of the surface of the object to be measured by a photographic method; the measuring method based on the monocular camera is simple in structure, high in speed and low in investment, but the accuracy of the obtained three-dimensional information of the surface of the object to be measured is low. The measuring method based on the binocular camera needs two cameras to shoot the surface of an object to be measured from two different angles at the same time, and the obtained three-dimensional information is high in precision.
Disclosure of Invention
The invention provides a monocular three-dimensional measurement system based on a plane mirror automatic rotating platform, which has the advantages of simple structure, high speed and less investment; the three-dimensional information of the surface of the object to be measured can be accurately acquired only by enabling the ccd camera to take two pictures back and forth through plane mirror reflection.
The invention adopts the following technical scheme: a monocular three-dimensional measurement system based on a plane mirror automatic rotating platform comprises a plane mirror automatic rotating platform 1, a plane mirror I2, a plane mirror II 3, a camera 4, a computer 5, an illumination light source 6, a light softening plate 7 and a light compensating plate 8; the illumination light source 6 irradiates the surface of a measured object, light from the surface of the object is refracted to the plane mirror I2 and the plane mirror II 3, the angles of the plane mirror I2 and the plane mirror II 3 are adjusted, the light is made to enter the plane mirror III 16 on the plane mirror automatic rotating platform 1 at an angle of 45 degrees, the plane mirror III 16 reflects the light from the plane mirror I2 to the camera 4, the plane mirror III 16 rotates 90 degrees clockwise, the light from the plane mirror II 3 is reflected to the camera 4, the computer 5 carries out camera calibration and image processing on calibration information and experimental data collected by the camera 4 respectively, and the three-dimensional shape of the measured object is obtained.
Preferably, a light softening plate 7 and two light supplement plates 8 are further arranged above the illumination light source 6.
Preferably, the automatic plane mirror rotating platform 1 comprises a stepping motor 11, a circular gear I12, a crown gear 13, a circular gear II 14, a rotating platform 15, a plane mirror III 16 and a driving control module 17; a circular gear I12 is mounted on a rotating shaft of the stepping motor 11, the circular gear I12 is meshed with a crown gear of a crown gear 13, a circular gear of the crown gear 13 is meshed with a circular gear II 14, the circular gear II 14 is connected with a rotating platform 15 through a fixed shaft, and a plane mirror III 16 is fixed on the rotating platform; the driving control module 17 is connected with the stepping motor 11, and an output shaft of the stepping motor 11 is connected with the circular gear I12; the driving control module 17 drives the stepping motor 11, the crown gear 13 is driven to rotate through the circular gear I12, the circular gear II 14 is driven to rotate through the circular teeth of the crown gear 13, and finally the whole rotating platform is driven to rotate through the circular gear II 14.
Preferably, the camera 4 of the present invention is a common ccd industrial camera and is equipped with a common fixed focus lens.
Preferably, the stepping motor 11 of the present invention may be a two-phase stepping motor, a three-phase stepping motor or a four-phase stepping motor.
A monocular three-dimensional measurement system based on a plane mirror automatic rotation platform comprises the following steps:
(1) the object to be measured is fixed and the flat mirror is fixed to automatically rotate the platform so that the reflecting surface of the flat mirror faces 45 degrees towards the right first, as shown in the solid line part of fig. 1.
(2) The illuminating light source emits white light, which is softened by the light softening plate and then emitted to the object to be measured.
(3) The light-compensating plate reuses the light scattered by the object to be measured, so that the surface of the object to be measured is uniformly illuminated.
(4) The plane mirror II (3) reflects light rays from a measured object to the plane mirror automatic rotating platform, the reflecting surface of the plane mirror on the rotating platform faces to the right, and then the light rays enter the ccd camera through the reflecting mirror on the platform to carry out first shooting.
(5) And adjusting the driving control module to enable the plane mirror automatic rotating platform to rotate 90 degrees clockwise, enabling the plane mirror reflecting surface on the rotating platform to face to the left, collecting by the ccd camera, and shooting for the second time.
(4) And processing and analyzing the collected calibration information and the object surface information to obtain the three-dimensional appearance of the object surface.
The invention has the beneficial effects that:
according to the monocular three-dimensional measurement system based on the plane mirror automatic rotation platform, the CCD camera shoots two patterns back and forth through the plane mirror automatic rotation platform, so that the monocular camera system achieves the existing measurement precision of a binocular camera system, and the monocular three-dimensional measurement system only needs to calibrate one group of camera parameters, so that the complicated operations of synchronous shooting and calibration of multiple cameras are avoided; the system only uses a few plane mirrors, so that the refraction and reflection losses are reduced; the system adopts a stepping motor subdivision technology to drive the plane mirror rotating platform, greatly improves the rotating angle and the accuracy, and avoids the influence on the accuracy caused by platform vibration and misoperation caused by manual operation; the system collects pictures for the panoramic view field, and the resolution of the camera cannot be reduced or wasted.
Drawings
Fig. 1 is a schematic diagram of a monocular three-dimensional measurement system based on a plane mirror automatic rotating platform according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a plane mirror automatic rotation platform in a monocular three-dimensional measurement system based on the plane mirror automatic rotation platform according to an embodiment of the present invention.
In the figure: 1-a plane mirror automatic rotating platform; 2-a plane mirror; 3-a plane mirror; 4-a camera; 5-a computer; 6-an illumination light source; 7-a light softening plate; 8-a light supplementing plate; 11-a stepper motor; 12-a circular gear; 13-a crown gear; 14-a circular gear; 15-rotating the platform; 16-a plane mirror; 17-driving the control module.
Detailed Description
The present invention is further described in detail with reference to the following specific examples, but the scope of the present invention is not limited to the above description.
Example 1
The utility model provides a monocular three-dimensional measurement system based on level crossing autogiration platform which characterized in that: the system comprises a plane mirror automatic rotating platform 1, a plane mirror I2, a plane mirror II 3, a camera 4, a computer 5, an illumination light source 6, a light softening plate 7 and a light supplementing plate 8; the illumination light source 6 emits white light to make the surface of the object to be measured fully reflected, so that the camera 4 acquires clear images; a light softening plate 7 and two light compensating plates 8 are further arranged above the illumination light source 6, and the light softening plate 7 softens the light emitted by the illumination light source 6, so that the light reaching the object to be measured is softer, and the object to be measured is prevented from generating strong light spots; the light compensating plate 8 reuses the light reflected by the measured object, so that the loss of light on the light softening plate 7 is compensated, the surface of the measured object is uniformly illuminated, and the later-stage accurate processing is facilitated; the illumination light source 6 irradiates the surface of a measured object, light from the surface of the object is refracted to the plane mirror I2 and the plane mirror II 3, the angles of the plane mirror I2 and the plane mirror II 3 are adjusted according to requirements, the light is made to enter the plane mirror III 16 on the plane mirror automatic rotating platform 1 at an angle of 45 degrees, the plane mirror III 16 reflects the light from the plane mirror I2 to the camera 4, the plane mirror III 16 rotates 90 degrees clockwise, the light from the plane mirror II 3 is reflected to the camera 4, the computer 5 carries out camera calibration and image processing on calibration information and experimental data collected by the camera 4 respectively, and the three-dimensional shape of the measured object is obtained.
The plane mirror automatic rotating platform 1 comprises a stepping motor 11, a circular gear I12, a crown gear 13, a circular gear II 14, a rotating platform 15, a plane mirror III 16 and a driving control module 17; a circular gear I12 is mounted on a rotating shaft of the stepping motor 11, the circular gear I12 is meshed with a crown gear of a crown gear 13, a circular gear of the crown gear 13 is meshed with a circular gear II 14, the circular gear II 14 is connected with a rotating platform 15 through a fixed shaft, and a plane mirror III 16 is fixed on the rotating platform; the driving control module 17 is connected with the stepping motor 11, and an output shaft of the stepping motor 11 is connected with the circular gear I12; the driving control module 17 drives the stepping motor 11, drives the crown gear 13 to rotate through the circular gear i 12, drives the circular gear ii 14 to rotate through the circular teeth of the crown gear 13, and finally drives the whole rotating platform to rotate through the circular gear ii 14, as shown in fig. 2.
The stepping motor 11 according to this embodiment may be a two-phase stepping motor.
Example 2
The use method of the monocular three-dimensional measurement system based on the plane mirror automatic rotating platform comprises the following steps:
(1) the object to be measured is fixed, and the fixed plane mirror automatically rotates the platform 1 to enable the reflecting surface of the plane mirror III 16 to face 45 degrees towards the right firstly, as shown in the solid line part of the figure 1.
(2) The illumination light source 6 emits white light, which is softened by the light softening plate 7 and then emitted to the object to be measured.
(3) The light compensating plate 8 reuses the light scattered by the object to be measured, so that the surface of the object to be measured receives light uniformly.
(4) The plane mirror II 3 reflects light rays from a measured object to the plane mirror automatic rotating platform 1, at the moment, the reflecting surface of the plane mirror III 16 of the plane mirror automatic rotating platform 1 faces to the right, and then the light rays enter the ccd camera 4 through the reflecting mirror on the platform to carry out first shooting.
(5) And adjusting the driving control module to enable the plane mirror automatic rotating platform 1 to rotate 90 degrees clockwise, enabling the reflecting surface of the plane mirror III 16 on the plane mirror automatic rotating platform 1 to face to the left, collecting by the ccd camera 6, and shooting for the second time.
(4) And processing and analyzing the collected calibration information and the object surface information to obtain the three-dimensional appearance of the object surface.
The above embodiments are merely illustrative of the technical concepts and features of the present invention, and the purpose of the embodiments is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention; all equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (5)
1. The utility model provides a monocular three-dimensional measurement system based on level crossing autogiration platform which characterized in that: the system comprises a plane mirror automatic rotating platform (1), a plane mirror I (2), a plane mirror II (3), a camera (4), a computer (5), an illumination light source (6), a light softening plate (7) and a light supplementing plate (8); the surface of a measured object is irradiated by an illumination light source (6), light from the surface of the object is refracted to a plane mirror I (2) and a plane mirror II (3), the angles of the plane mirror I2 and the plane mirror II 3 are adjusted, light is made to enter a plane mirror III (16) on a plane mirror automatic rotating platform (1) at an angle of 45 degrees, the light from the plane mirror I (2) is reflected to a camera (4) firstly by the plane mirror III (16), the plane mirror III (16) rotates by 90 degrees clockwise, the light from the plane mirror II (3) is reflected to the camera (4) again, calibration information and experimental data collected by the camera (4) are calibrated and image-processed respectively by a computer (5), and the three-dimensional shape of the measured object is obtained.
2. The monocular three-dimensional measurement system based on a flat mirror automatic rotating platform of claim 1, wherein: a soft light plate (7) and two light supplement plates (8) are also arranged above the bright light source (6).
3. The monocular three-dimensional measurement system based on a flat mirror automatic rotating platform of claim 1, wherein: the plane mirror automatic rotating platform (1) comprises a stepping motor (11), a circular gear I (12), a crown gear (13), a circular gear II (14), a rotating platform (15), a plane mirror III (16) and a driving control module (17); a circular gear I (12) is mounted on a rotating shaft of the stepping motor (11), the circular gear I (12) is meshed with a crown gear of a crown gear (13), a circular gear of the crown gear (13) is meshed with a circular gear II (14), the circular gear II (14) is connected with a rotating platform (15) through a fixed shaft, and a plane mirror III (16) is fixed on the rotating platform; the driving control module (17) is connected with the stepping motor (11), and an output shaft of the stepping motor (11) is connected with the circular gear I (12); the driving control module (17) drives the stepping motor (11), the crown gear (13) is driven to rotate through the circular gear I (12), the circular gear II (14) is driven to rotate through the circular teeth of the crown gear (13), and finally the circular gear II (14) drives the whole rotating platform to rotate.
4. The monocular three-dimensional measurement system based on a flat mirror automatic rotating platform of claim 1, wherein: the camera (4) is a common ccd industrial camera and is provided with a common fixed focus lens.
5. The monocular three-dimensional measurement system based on a flat mirror autorotation platform of claim 1: the stepping motor (11) can be a two-phase stepping motor, a three-phase stepping motor or a four-phase stepping motor.
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| CN202010859450.1A CN112066910A (en) | 2020-08-24 | 2020-08-24 | Monocular three-dimensional measurement system based on plane mirror automatic rotating platform |
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| CN202010859450.1A CN112066910A (en) | 2020-08-24 | 2020-08-24 | Monocular three-dimensional measurement system based on plane mirror automatic rotating platform |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112697609A (en) * | 2020-12-10 | 2021-04-23 | 宁波大学 | DIC-based tooth root bending stress detection system and method in gear meshing process of RV reducer |
| CN113124819A (en) * | 2021-06-17 | 2021-07-16 | 中国空气动力研究与发展中心低速空气动力研究所 | Monocular distance measuring method based on plane mirror |
| CN113155049A (en) * | 2021-03-25 | 2021-07-23 | 深圳市海塞姆科技有限公司 | Light path system and fixation method of monocular three-dimensional image acquisition system |
| CN114264249A (en) * | 2021-12-14 | 2022-04-01 | 中国石油大学(华东) | Three-dimensional measuring system and method for deep hole narrow inner cavity |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112697609A (en) * | 2020-12-10 | 2021-04-23 | 宁波大学 | DIC-based tooth root bending stress detection system and method in gear meshing process of RV reducer |
| CN112697609B (en) * | 2020-12-10 | 2022-11-22 | 宁波大学 | DIC-based system and method for detecting tooth root bending stress in gear meshing process of RV reducer |
| CN113155049A (en) * | 2021-03-25 | 2021-07-23 | 深圳市海塞姆科技有限公司 | Light path system and fixation method of monocular three-dimensional image acquisition system |
| CN113124819A (en) * | 2021-06-17 | 2021-07-16 | 中国空气动力研究与发展中心低速空气动力研究所 | Monocular distance measuring method based on plane mirror |
| CN114264249A (en) * | 2021-12-14 | 2022-04-01 | 中国石油大学(华东) | Three-dimensional measuring system and method for deep hole narrow inner cavity |
| CN114264249B (en) * | 2021-12-14 | 2023-06-16 | 中国石油大学(华东) | Three-dimensional measurement system and method for deep hole narrow inner cavity |
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