CN113566734A - High-precision three-dimensional imaging device based on coaxial translation speckle projector - Google Patents
High-precision three-dimensional imaging device based on coaxial translation speckle projector Download PDFInfo
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- CN113566734A CN113566734A CN202110831782.3A CN202110831782A CN113566734A CN 113566734 A CN113566734 A CN 113566734A CN 202110831782 A CN202110831782 A CN 202110831782A CN 113566734 A CN113566734 A CN 113566734A
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- 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
- G01B11/2433—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures for measuring outlines by shadow casting
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Abstract
The invention relates to the field of optical three-dimensional imaging, and particularly discloses a high-precision three-dimensional imaging device based on a coaxial translation speckle projector. Compared with the traditional digital speckle projection technology, the automatic control system saves the time for replacing speckle patterns, ensures the translation distance parameter with the maximum pattern irrelevance according to experiments, is more favorable for realizing the real-time property of three-dimensional reconstruction compared with the prior scheme on the premise of ensuring higher precision, and realizes a novel high-speed high-precision three-dimensional reconstruction system.
Description
Technical Field
The invention relates to the field of optical three-dimensional imaging, in particular to a high-precision three-dimensional imaging device based on a coaxial translation speckle projector.
Background
In recent years, a binocular three-dimensional reconstruction technique based on structured light encoding is widely used in various fields. The three-dimensional reconstruction technology based on matching has the problems that a weak texture area is easy to be subjected to mismatching and the reconstruction effect is poor, and the active stereo vision can enrich or increase the surface texture of a measured object by projecting and transferring a well-designed pattern to the measured object, so that the matching ambiguity is overcome, the mismatching rate is reduced, and a more accurate and reliable three-dimensional reconstruction result can be obtained. The structured light coding mode is various, wherein the most widely used structured light based on the sine stripe coding and structured light based on the speckle pattern coding, and the basic principle of the three-dimensional reconstruction method based on the speckle pattern structured light coding is as follows: in a calibrated system, a plurality of frames of speckle patterns are projected to the surface of a measured object, the speckle patterns which are modulated and deformed are shot through a binocular camera, distortion correction and baseline correction are completed, depth information calculation is performed by utilizing a space-time stereo matching correlation algorithm, and finally three-dimensional data of the surface of the measured object are obtained.
Most of the existing three-dimensional reconstruction methods based on speckle structure light coding adopt digital projection equipment, have the characteristics of high price and large volume, and are not suitable for flexible scene requirements. And the rapid switching of patterns can not be realized in the experimental scene of multi-frame projection, and the requirement of real-time property is difficult to meet. Therefore, whether standing in the industrial or commercial needs, the three-dimensional reconstruction equipment is required to be more portable, flexible and cheap.
Disclosure of Invention
The invention aims to solve the problems that equipment of the existing three-dimensional reconstruction method is not suitable for flexible scene requirements, patterns cannot be rapidly switched under an experimental scene of multi-frame projection, and real-time requirements are difficult to meet, and aims to acquire three-dimensional data of an object to be measured, a novel speckle projector which is driven by a motor to perform speckle pattern translation switching is constructed, a mechanical structure provided with a speckle template can translate according to a set distance under the driving of the motor to complete rapid speckle pattern translation switching, wherein the switching time is less than or equal to 10ms, and a high-precision three-dimensional imaging device based on a coaxial translation speckle projector is provided. By adopting the device, the acquisition frame number can be determined according to the actual research or production task requirements, and the high-speed and high-precision reconstruction of the three-dimensional object to be detected can be carried out.
In order to achieve the above purpose, the invention provides the following technical scheme:
a high-precision three-dimensional imaging device based on a coaxial translation speckle projector comprises a control module (6), a drive circuit (7), a motor (8), chrome-plated glass (9) engraved with speckle patterns, an LED (light-emitting diode) illumination light source (11) and a Kohler illumination system (12) composed of a compound lens array;
the control module (6) outputs a motor control signal to the driving circuit (7), and the driving circuit (7) controls the motor (8) to enable the chromium-plated glass (9) engraved with the speckle pattern to translate according to the motor control signal; the control module (6) also outputs an illumination control signal to the LED illumination light source (11) at the same time, and the LED illumination light source (11) emits light to a Kohler illumination system (12) formed by the composite lens array; a Kohler illumination system (12) consisting of the compound lens array optically magnifies the light source and provides shadowless uniform illumination; the amplified light source is used for projecting the light source to the chromium-plated glass (9) which is translated and engraved with the speckle pattern to form a speckle projection image; and after the object to be measured receives the speckle projection image, forming a modulated speckle pattern.
As a preferable scheme of the invention, a main shaft of the control motor (8) drives a rack and pinion transmission part (19) to rotate, the rotating rack and pinion transmission part (19) enables the chrome-plated glass (9) engraved with the speckle pattern to translate, the rack and pinion transmission part (19) comprises a driving gear (27), a transmission gear (28) and a rack part (29), the driving gear (27) is meshed with the transmission gear (28), and the transmission gear (28) is meshed with the rack part (29).
As a preferable scheme of the invention, the chromium-plated glass (9) engraved with the speckle pattern is placed on a speckle piece mounting bracket (30), a gear is arranged outside the speckle piece mounting bracket (30), the gear outside the speckle piece mounting bracket (30) is meshed with the rack component (29), and the rack component (29) drives the speckle piece mounting bracket to move, so that the chromium-plated glass (9) engraved with the speckle pattern can be translated.
As a preferable scheme of the invention, the chromium-plated glass (9) engraved with the speckle pattern is translated at time interval periods, the translation distance in each period is 3mm, and the time interval period is less than or equal to 10 ms.
As the preferred scheme of the invention, the speckle piece mounting bracket (30) is placed on the main structure part (15), the middle of the main structure part (15) is of a hollow structure, and the LED illumination light source projects the amplified light source to the chromium-plated glass (9) which is translated and is engraved with the speckle pattern through the hollow structure in the middle of the main structure part (15) to form a speckle projection image; the device is characterized in that a double-sliding-groove structure (16) is arranged above the main structure part (15), and under the driving of the speckle piece mounting bracket (30), the chromium-plated glass (9) carved with speckle patterns can be translated along the double-sliding-groove structure (16).
The speckle pattern projection device comprises a main body structure upper cover, wherein the main body structure upper cover (22) and a main body structure component (15) form an accommodating space, the chromium-plated glass (9) of the speckle pattern, a speckle piece mounting bracket (30), a gear and rack transmission component (19), a driving circuit (7) and a motor (8) are accommodated in the accommodating space, the main body structure upper cover (22) is of a hollow structure, and the speckle projection pattern is projected out through the hollow structure of the main body structure upper cover (22).
As a preferable scheme of the invention, the speckle projection image is projected to an object to be measured through a projection lens component, the projection lens component comprises a projection lens (24) and a lens locking ring (23), and the projection lens (24) is fixed above the upper cover (22) of the main structure through the lens locking ring (23).
As a preferred scheme of the invention, the device also comprises a binocular camera (10);
the control module (6) further outputs a photographing signal to the binocular camera (10), and in the process that the chromium-plated glass (9) engraved with the speckle patterns is translated, the binocular camera (10) synchronously shoots the modulated speckle patterns to generate 2N speckle patterns, wherein N pieces of the left camera and N pieces of the right camera in the binocular camera (10) are respectively used.
Based on the same conception, the invention also provides a method for carrying out three-dimensional reconstruction on the high-precision three-dimensional imaging device based on the coaxial translation speckle projector, which comprises the following steps:
s1, constructing the high-precision three-dimensional imaging device according to any one of claims 1-8, controlling the speckle projection image to translate through the control module (6), and acquiring N pairs of temporally uncorrelated speckle image pairs, wherein the speckle image pairs comprise a left camera shooting image sequence and a right camera shooting image sequence;
s2, using a function interface provided by an image processing open source library opencv4.0 to perform distortion correction and epipolar line correction on the acquired N pairs of time-space uncorrelated speckle images;
s3, matching the corrected pictures line by using an ST-ZNCC algorithm, and setting the areas with low cross-correlation values and failing to pass the left-right consistency test as invalid parallaxes;
s4, converting the pixel-level parallax into sub-pixel-level parallax by using a three-point fitting method;
s5, performing parallax post-processing;
s6, filling the invalid parallax area by an interpolation method to obtain a sub-pixel precision parallax map;
s7, acquiring calibration substitution data;
and S8, reconstructing the three-dimensional object to be detected based on the disparity map obtained in the step S6 by using the calibration substitution data to obtain point cloud data of the three-dimensional object to be detected.
As a preferred embodiment of the present invention, in step S1, the step of controlling the speckle projection map to translate by the control module (6) specifically includes the following steps:
s11, the control module (6) outputs a motor control signal to the drive circuit (7), and the drive circuit (7) controls the motor (8) to rotate by a preset angle according to the motor control signal;
s12, the motor (8) rotates forward or backward to drive the chromium plating glass (9) engraved with speckle patterns to do reciprocating linear translation.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention provides a high-precision three-dimensional imaging device based on a coaxial translation speckle projector, which is characterized in that a control module sends a signal to a driving circuit to control a translation mechanism, so that a designed speckle pattern is translated according to a specified distance to obtain a space-time uncorrelated speckle pattern, and then a Kohler illumination system is used for illumination and projection to project the obtained speckle texture on an object to be measured. Compared with the traditional digital speckle projection technology, the automatic control system saves the time for replacing speckle patterns, ensures the translation distance parameter with the maximum pattern irrelevance according to experiments, is more favorable for realizing the real-time property of three-dimensional reconstruction compared with the prior scheme on the premise of ensuring higher precision, and realizes a novel high-speed high-precision three-dimensional reconstruction system.
2. The complexity and the assembly difficulty of the system are simplified, and the whole device is compact in structure, easy to assemble and low in cost. And the chromium plating glass engraved with the speckle patterns can be replaced according to the needs, the speckle patterns can be individually designed, and the experimental exploration is convenient.
Description of the drawings:
fig. 1 is a block diagram of an embodiment of a high-precision three-dimensional imaging device based on a coaxial translational speckle projector in embodiment 1 of the present invention;
fig. 2 is a schematic diagram of a high-precision three-dimensional imaging device based on a coaxial translational speckle projector in embodiment 1 of the present invention;
fig. 3 is an optical structural view of an in-line translating speckle projector in embodiment 1 of the present invention;
fig. 4-1 is a schematic three-dimensional structure diagram of a high-precision three-dimensional imaging device based on a coaxial translational speckle projector in embodiment 1 of the present invention;
fig. 4-2 is a side view of a high-precision three-dimensional imaging device based on a coaxial translation speckle projector in embodiment 1 of the present invention;
4-3 are top views of a high-precision three-dimensional imaging device based on a coaxial translational speckle projector in embodiment 1 of the present invention;
FIG. 5 is a schematic view of an illumination system of an in-line translating speckle projector employed in embodiment 1 of the present invention;
fig. 6-1 is an exploded analytic view of the coaxial translation speckle projector employed in embodiment 1 of the present invention;
FIG. 6-2 is an enlarged partial view of the translation mechanism of FIG. 4-1;
fig. 6-3 are self-contained views (including front and top views) of the coaxial translation speckle projector employed in embodiment 1 of the present invention;
fig. 6 to 4 are exploded analytic views of the translation mechanism and the driving structure in the coaxial translation speckle projector employed in embodiment 1 of the present invention;
FIGS. 6-5 are integral views of the optical and transmission parts of the coaxial translation speckle projector employed in embodiment 1 of the present invention;
FIG. 7 is a control flow diagram of a mechanical translation mechanism for coaxially translating the speckle projector employed in example 1 of the present invention;
fig. 8 is a flowchart of the steps of performing three-dimensional reconstruction by using the high-precision three-dimensional imaging device based on the coaxial translational speckle projector in embodiment 1 of the present invention.
Reference numerals: 1-a high-precision three-dimensional imaging device based on a coaxial translation speckle projector, 2-an object to be measured, 3-a three-dimensional reconstruction algorithm module, 4-reconstructed three-dimensional data of the object, 5-a high-speed high-precision speckle structure light field three-dimensional imaging system, 6-a control module, 7-a driving circuit, 8-a motor, 9-chromium-plated glass engraved with speckle patterns, 10-a binocular camera, 11-an LED illuminating light source, 12-a Kohler illuminating system, 13-an LED light source chip, 14-a Kohler illuminating system component, 15-a main body structure component, 16-a double-sliding-groove structure, 17-a rack frame, 18-a speckle piece element, 19-a gear and rack transmission component, 20-a motor driving system, 21-a transmission bin sealing element and 22-a main body structure upper cover, 23-a lens locking ring, 24-a projection lens, 25-a motor controller, 26-a motor spindle, 27-a driving gear, 28-a transmission gear, 29-a rack component, 30-a speckle piece mounting bracket, 31-a random speckle element, 32-an LED chip, 33-a Kohler lighting assembly and 34-a projection lens assembly.
Detailed Description
The present invention will be described in further detail with reference to test examples and specific embodiments. It should be understood that the scope of the above-described subject matter is not limited to the following examples, and any techniques implemented based on the disclosure of the present invention are within the scope of the present invention.
Example 1
Fig. 1 shows a block diagram of an embodiment of a high-precision three-dimensional imaging device based on a coaxial translational speckle projector, which uses an object to be measured (2) as a measurement target, and exemplarily illustrates the composition and the working principle of a three-dimensional imaging system (5). In fig. 1, a high-speed high-precision speckle structured light field three-dimensional imaging system (5) mainly comprises a high-precision three-dimensional imaging device (1) based on a coaxial translational speckle projector and a three-dimensional reconstruction algorithm module (3), wherein the three-dimensional imaging device (1) is used for projecting and shooting a space-time uncorrelated speckle pattern on an object to be measured (2), and the three-dimensional reconstruction algorithm module (3) is used for performing epipolar rectification and three-dimensional reconstruction on an image shot by the three-dimensional imaging device to obtain reconstructed object three-dimensional data (4).
The three-dimensional imaging device (1) comprises a control module (6), a driving circuit (7), a motor (8) (mainly comprising a gear rack mechanism, the motor, the driving circuit and a control system), chrome-plated glass (9) engraved with speckle patterns, an LED (light-emitting diode) lighting source (11), a Kohler lighting system (12) consisting of a composite lens array and a binocular camera (10). The control module controls the drive circuit (7) to enable the motor (8) to operate at a certain time interval, so that the connected chromium-plated glass (9) engraved with the speckle pattern can perform translation at a certain distance. In order to meet the requirements of high speed and high precision of experiments, the distance of the pattern translated every time is not suitable to be too small, and in order to meet the requirements of a system on quick imaging, the distance translated every time is not required to be too large, the translation distance is preferably about 3mm, the driving circuit controls the translation mechanism to realize quick translation switching of the speckle pattern, the switching time is less than or equal to 10ms, the switching time refers to a time period for switching the speckle pattern from one position to the next position, and the time period comprises the time of translation and the time of pause. And in the time of the translation pause, the control module (6) synchronously controls the binocular camera (10) to shoot images. After N translations, a sequence of N pairs of spatio-temporal uncorrelated images is obtained.
The schematic diagram of the high-precision three-dimensional imaging device (1) based on the coaxial translational speckle projector is shown in fig. 2. The high-precision three-dimensional imaging device (200) based on the coaxial translation speckle projector comprises a control module (201), a driving circuit (202), a motor (203), an LED illumination light source (204), a Kohler illumination system (207) consisting of a compound lens array, a binocular camera (206) and chrome-plated glass (205) carved with speckle patterns. Because the imaging device and the projection device are assembled on one module, the pattern can be very conveniently and simultaneously translated and snapshotted by combining the SDK matched with the module, and the requirements of automation and real-time performance in partial experimental scenes are met.
Fig. 3 is an optical structure diagram of the coaxial translational speckle projector, which shows a scene that the light (300) emitted by the LED point light source is homogenized by a kohler illumination system (301) composed of a compound lens array to illuminate chrome-plated glass (302) engraved with a speckle pattern, and the speckle pattern (303) is projected.
In particular, to ensure the stability of the system, the three-dimensional imaging device (1) of fig. 1 is integrated on a combined module comprising a speckle projector and a camera. The three-dimensional structure schematic diagram of the high-precision three-dimensional imaging device based on the coaxial translation speckle projector is shown in FIG. 4-1; the front view of the high-precision three-dimensional imaging device based on the coaxial translation speckle projector is shown in FIG. 4-2; a top view of a high precision three dimensional imaging device based on an in-line translating speckle projector is shown in fig. 4-3. The button gives a corresponding instruction, the upper computer control system drives the motor, the motor returns to an initial position (generally, an installation mark position) first, then the control motor rotates clockwise (anticlockwise) first through a certain pulse sequence, a driven wheel (a transmission gear) and a driving wheel (a driving gear) are opposite in rotation direction, so that the rack component on the speckle piece mounting bracket is driven to translate, the chromium-plated glass engraved with the speckle patterns is placed above the speckle piece mounting bracket, the speckle piece mounting bracket drives the chromium-plated glass engraved with the speckle patterns to correspond to a plurality of groups of pulse sequences according to the number of image acquisition frames set in a program, and a plurality of groups of corresponding micro-displacements are translated uniformly. The next image acquisition measurement is opposite to the motion process. And after the measurement is finished, automatically returning the initial mark bit.
Fig. 5 is a schematic view of an illumination system of a coaxial translational speckle projector, which shows an optical structure formed by a speckle projection system and a focal plane projection system in the design of the present invention, wherein the speckle projection system includes an LED illumination source and a kohler illumination system formed by two lens groups, and the focal plane projection system includes: the speckle projection + projection lens group. The speckle illumination system is an angle description system for emitting light from a light source, and the focal plane projection system describes the light condition on a speckle sheet from the angle of projection imaging of a lens, namely, the two parts are described in detail as two parts of an optical system, and the two parts are sequentially connected with a speckle sheet element to integrally form the speckle projection system.
Fig. 6-1 is an exploded analytic view of a coaxial translating speckle projector. It can be known from the figure that the structure of the coaxial translation speckle projector sequentially comprises an LED light source chip 13, a kohler lighting system assembly 14, a main structure component 15, a rack frame 16 (internally mounted glass speckle piece element), a speckle piece element 18 (chrome-plated glass engraved with speckle patterns), a gear rack transmission component 19 (an electrode main wheel + a driven wheel + a rack frame), a motor driving system 20 (an electrode + a driving circuit + a control module), a transmission bin sealing component 21, a main structure upper cover 22, a lens locking ring 23 and a projection lens 24 from bottom to top, wherein the main structure component 15 is provided with a double-sliding-groove structure 16.
FIG. 6-2 is an enlarged partial view of the translation mechanism of the coaxial translation speckle projector of FIG. 6-1; 6-3 are self-contained views (including front and top views) of a coaxial translating speckle projector; 6-4 are exploded views of the translation mechanism and drive structure in the coaxial translation speckle projector; the device comprises a motor controller 25, a motor spindle 26, a driving gear 27 (a motor main wheel), a transmission gear 28 (a driven wheel), a rack component 29, a speckle piece mounting bracket 30, a random speckle element 31 (chrome-plated glass with speckle patterns), an LED chip 32, a Kohler lighting component 33, a projection lens component 34, the rack component 29 and the speckle piece mounting bracket 30 which form a rack frame. 6-5 are self-contained views of the optical and transmission portions of the coaxial translating speckle projector;
fig. 7 is a control flow diagram of a mechanical translation mechanism for the coaxial translation speckle projector employed. The upper computer system sends a control signal to the control system, so that the control system outputs a motor control signal and an illumination control signal for driving the illumination system; the driving motor receives the motor control signal and then controls the gear rack transmission system to drive the speckle image to displace, and on the other hand, under the control of the illumination control signal, the illumination system controls the speckle projection system to project the speckle pattern of image movement and projects the moved speckle pattern through the speckle projection lens. The image acquisition imaging system synchronously acquires images modulated by the object to be measured, and three-dimensional modeling is realized based on the images.
The three-dimensional imaging device in fig. 4-1 acquires the speckle image modulated by the three-dimensional geometric shape of the object to be measured in real time: obtaining 2N speckle patterns under the configuration of a binocular camera, and obtaining N speckle patterns of the left camera and the right camera respectively.
The flow chart of the steps of performing three-dimensional reconstruction by using the high-precision three-dimensional imaging device based on the coaxial translational speckle projector is shown in fig. 8, and the specific steps comprise:
s1, controlling the coaxial translation speckle projector and the binocular camera to synchronously acquire N pairs of speckle images irrelevant to the space through the control module, wherein the speckle images irrelevant to the space comprise a left camera shooting image sequence and a right camera shooting image sequence;
s2, using a function interface provided by an image processing open source library opencv4.0 to perform distortion correction and epipolar line correction on the acquired N pairs of time-space uncorrelated speckle images;
s3, matching the corrected pictures line by using an ST-ZNCC algorithm, and setting the areas with lower cross correlation values and failing to pass the left-right consistency test as invalid parallaxes;
s4, converting the pixel-level parallax into sub-pixel-level parallax by using a three-point fitting method;
s5, performing parallax post-processing;
s6, filling the invalid parallax area by an interpolation method to obtain a sub-pixel precision parallax map;
s7, acquiring calibration substitution data;
and S8, utilizing the system calibration parameters to reconstruct the three-dimensional object to be detected based on the parallax map obtained in the step S6, and obtaining point cloud data of the three-dimensional object to be detected.
While there have been shown and described what are at present considered the fundamental principles and essential features of the invention and its advantages, it will be apparent to those skilled in the art that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, the embodiments do not include only one independent technical solution, and such description is only for clarity, and those skilled in the art should take the description as a whole, and the technical solutions in the embodiments may be appropriately combined to form other embodiments that can be understood by those skilled in the art.
Claims (10)
1. A high-precision three-dimensional imaging device based on a coaxial translation speckle projector is characterized by comprising a control module (6), a driving circuit (7), a motor (8), chrome-plated glass (9) carved with speckle patterns, an LED (light-emitting diode) illumination light source (11) and a Kohler illumination system (12) consisting of a composite lens array;
the control module (6) outputs a motor control signal to the driving circuit (7), and the driving circuit (7) controls the motor (8) to enable the chromium-plated glass (9) engraved with the speckle pattern to translate according to the motor control signal; the control module (6) also outputs an illumination control signal to the LED illumination light source (11) at the same time, and the LED illumination light source (11) emits light to a Kohler illumination system (12) formed by the composite lens array; a Kohler illumination system (12) consisting of the compound lens array optically magnifies the light source and provides shadowless uniform illumination; the amplified light source is used for projecting the light source to the chromium-plated glass (9) which is translated and engraved with the speckle pattern to form a speckle projection image; and after the object to be measured receives the speckle projection image, forming a modulated speckle pattern.
2. The high-precision three-dimensional imaging device based on the coaxial translation speckle projector is characterized in that a spindle of the control motor (8) drives a rack-and-pinion transmission part (19) to rotate, the rotating rack-and-pinion transmission part (19) enables the chrome-plated glass (9) engraved with the speckle patterns to translate, the rack-and-pinion transmission part (19) comprises a driving gear (27), a transmission gear (28) and a rack part (29), the driving gear (27) is meshed with the transmission gear (28), and the transmission gear (28) is meshed with the rack part (29).
3. The high-precision three-dimensional imaging device based on the coaxial translation speckle projector as claimed in claim 2, wherein the chrome-plated glass (9) engraved with the speckle pattern is placed on a speckle piece mounting bracket (30), a gear is arranged outside the speckle piece mounting bracket (30), the gear arranged outside the speckle piece mounting bracket (30) is meshed with the rack component (29), and the rack component (29) drives the speckle piece mounting bracket to move, so that the chrome-plated glass (9) engraved with the speckle pattern is translated.
4. A high precision three dimensional imaging device based on an in-line translating speckle projector as claimed in claim 3, characterised in that the chrome plated glass (9) engraved with the speckle pattern is translated in time interval periods, the distance of translation in each period being 3mm, the time interval period being less than or equal to 10 ms.
5. The high-precision three-dimensional imaging device based on the coaxial translational speckle projector as claimed in claim 3, wherein the speckle piece mounting bracket (30) is placed on the main structure component (15), the middle of the main structure component (15) is a hollow structure, and the LED illumination light source projects the amplified light source to the chrome-plated glass (9) engraved with the speckle pattern in the translation through the hollow structure in the middle of the main structure component (15) to form a speckle projection image; the device is characterized in that a double-sliding-groove structure (16) is arranged above the main structure part (15), and under the driving of the speckle piece mounting bracket (30), the chromium-plated glass (9) carved with speckle patterns can be translated along the double-sliding-groove structure (16).
6. The high-precision three-dimensional imaging device based on the coaxial translation speckle projector as claimed in claim 5, further comprising a main structure upper cover, wherein the main structure upper cover (22) and the main structure component (15) form an accommodating space, the chromium-plated glass (9) of the speckle pattern, the speckle piece mounting bracket (30), the rack-and-pinion transmission component (19), the driving circuit (7) and the motor (8) are accommodated in the accommodating space, the main structure upper cover (22) is a hollow structure, and the speckle projection pattern is projected through the hollow structure of the main structure upper cover (22).
7. The high-precision three-dimensional imaging device based on the coaxial translational speckle projector as claimed in claim 6, wherein the speckle projection pattern is projected onto the object to be measured through a projection lens component, the projection lens component comprises a projection lens (24) and a lens locking ring (23), and the projection lens (24) is fixed above the upper cover (22) of the main structure through the lens locking ring (23).
8. The high-precision three-dimensional imaging device based on the coaxial translational speckle projector as claimed in any one of claims 1 to 7, further comprising a binocular camera (10);
the control module (6) further outputs a photographing signal to the binocular camera (10), and in the process that the chromium-plated glass (9) engraved with the speckle patterns is translated, the binocular camera (10) synchronously shoots the modulated speckle patterns to generate 2N speckle patterns, wherein N pieces of the left camera and N pieces of the right camera in the binocular camera (10) are respectively used.
9. A method for carrying out three-dimensional reconstruction on a high-precision three-dimensional imaging device based on a coaxial translation speckle projector is characterized by comprising the following steps:
s1, constructing the high-precision three-dimensional imaging device according to any one of claims 1-8, controlling the speckle projection image to translate through the control module (6), and acquiring N pairs of temporally uncorrelated speckle image pairs, wherein the speckle image pairs comprise a left camera shooting image sequence and a right camera shooting image sequence;
s2, using a function interface provided by an image processing open source library opencv4.0 to perform distortion correction and epipolar line correction on the acquired N pairs of time-space uncorrelated speckle images;
s3, matching the corrected pictures line by using an ST-ZNCC algorithm, and setting the areas with low cross-correlation values and failing to pass the left-right consistency test as invalid parallaxes;
s4, converting the pixel-level parallax into sub-pixel-level parallax by using a three-point fitting method;
s5, performing parallax post-processing;
s6, filling the invalid parallax area by an interpolation method to obtain a sub-pixel precision parallax map;
s7, acquiring calibration substitution data;
and S8, reconstructing the three-dimensional object to be detected based on the disparity map obtained in the step S6 by using the calibration substitution data to obtain point cloud data of the three-dimensional object to be detected.
10. The method for three-dimensional reconstruction with high precision three-dimensional imaging device based on coaxial translation speckle projector as claimed in claim 9, wherein the step S1, the control module (6) controlling the speckle projection image translation specifically includes the following steps:
s11, the control module (6) outputs a motor control signal to the drive circuit (7), and the drive circuit (7) controls the motor (8) to rotate by a preset angle according to the motor control signal;
s12, the motor (8) rotates forward or backward to drive the chromium plating glass (9) engraved with speckle patterns to do reciprocating linear translation.
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