CN117433450A - Cross line three-dimensional camera and modeling method - Google Patents
Cross line three-dimensional camera and modeling method Download PDFInfo
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- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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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
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/2513—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object with several lines being projected in more than one direction, e.g. grids, patterns
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- G—PHYSICS
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- 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
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/254—Projection of a pattern, viewing through a pattern, e.g. moiré
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- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
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- G01N21/88—Investigating the presence of flaws or contamination
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- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
- G01N2021/0106—General arrangement of respective parts
- G01N2021/0112—Apparatus in one mechanical, optical or electronic block
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
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- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
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- G01N2021/8829—Shadow projection or structured background, e.g. for deflectometry
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- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
- G01N2021/8883—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges involving the calculation of gauges, generating models
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
- G01N2021/8887—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges based on image processing techniques
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Abstract
The invention discloses a cross line three-dimensional camera and a modeling method, which belong to the fields of optical originals and machine vision, wherein laser emitted by different word line lasers is distinguished by periodically controlling the closing and opening of two word line lasers, and then the two word line lasers are simultaneously opened together, and the word line lasers to which the currently extracted laser point position belongs are determined by comparing with the position extracted by a previous frame, so that the frame rate of a point cloud can be increased to 1.3 times; the invention can effectively distinguish the light planes of the cross line lasers.
Description
Technical Field
The invention belongs to the fields of optical elements and machine vision, and particularly relates to a cross line three-dimensional camera and a modeling method.
Background
The cross line structure optical camera is a device for capturing the shape and surface geometric information of an object, and can solve the problem that the measured edge is parallel to the light bar because two projected line structure optical planes are mutually intersected.
The traditional method for distinguishing the emission plane of the cross line laser is to alternately project by using two lasers, only one laser line appears in the camera each time, and the frame rate of the point cloud is lower. The other is to use two kinds of laser with different colors and to use color camera to distinguish different laser planes.
Disclosure of Invention
The invention aims to provide a laser three-dimensional camera light and modeling method for distinguishing cross wires, which can effectively distinguish the light plane of the cross wire laser. The invention distinguishes the laser emitted by different lasers by periodically controlling the closing and opening of the two lasers, simultaneously opens the two lasers together, determines the laser to which the currently extracted laser point position belongs by comparing with the position extracted by the previous frame, and can improve the frame rate of the point cloud to 1.3 times of the original frame rate. The cross line laser three-dimensional camera is suitable for various objects, including irregularly shaped objects.
The technical solution for realizing the purpose of the invention is as follows:
a cross line three-dimensional camera comprises a camera, a word line laser A, a word line laser B, a controller and a computer;
the two word line lasers output laser lines which are arranged in a crossing way;
the camera is used for collecting stripes formed by laser striking on an object;
the controller is used for controlling photographing of the camera and starting sequence of the two one-word line lasers: a word line laser A is turned on, a word line laser A is turned off, a word line laser B is turned on, and two word line lasers are turned on simultaneously;
the computer is used for extracting the center of the shot laser line stripe and processing the stripe position of the image: comparing the center of two stripes when two one-word line lasers are simultaneously opened with the center of the stripe when the two one-word line lasers are independently opened, judging which one-word line laser the stripe belongs to, and carrying out three-dimensional reconstruction of an extraction point after determining the one-word line laser to which the stripe belongs.
Compared with the prior art, the invention has the remarkable advantages that:
(1) The efficiency is high: the cross line laser three-dimensional camera adopts a frame inserting design, and the efficiency is 1.3 times that of the traditional three-dimensional camera;
(2) The price is low: the cross line laser three-dimensional camera is a black-and-white camera, and compared with the traditional three-dimensional camera, the cross line laser three-dimensional camera has the advantage that the color camera is cheaper;
(3) Easy to use: the cross line laser three-dimensional camera does not need complex setting and calibration, so that the cross line laser three-dimensional camera can be easily used by non-professional staff.
Drawings
Fig. 1 is a diagram of the working state of a word line laser a in a cross-line three-dimensional camera.
Fig. 2 is a diagram of the working state of a word line laser B in a cross-line three-dimensional camera.
Fig. 3 is a diagram of the operation of one word line laser a and B in a cross-line three-dimensional camera.
Fig. 4 is a schematic diagram of the image acquisition and processing of a cross-line three-dimensional camera.
Detailed Description
The invention is further described with reference to the drawings and specific embodiments.
Example 1
Referring to fig. 1 to 3, a cross-line three-dimensional camera of the present embodiment includes a camera 1, a connection board 2, a word line laser A3, a word line laser B4, a controller 8, and a computer;
the camera 1, the word line laser A3 and the word line laser B4 are fixed together through the connecting plate 2, the camera 1 and the two word line lasers are connected to the controller 8, and the controller 8 is responsible for opening and closing the two word line lasers and photographing the camera 1. When a word line laser A3 is turned on, a first stripe 6 formed by laser striking on an object 5 is shot by a camera 1, the shot laser line center is extracted by a computer through a gray center method, the word line laser A3 is turned off by a controller 8, the laser 4 is turned on, and a second stripe 7 formed by the laser on the object is shot by the camera 1. And extracting the center of the shot laser line by a gray level center method. After a word line laser A3 and a word line laser B4 are simultaneously turned on, a first stripe 6 and a second stripe 7 are simultaneously formed on the measured object, and the centers of the two stripes are extracted to pass through and are compared with the center point of the previous grabbing laser. The turn-on sequence of the two one-word line lasers is: a word line laser a is on, a word line laser a is off and a word line laser B, two word line lasers are on at the same time, so that periodic cyclic opening is performed.
The computer is used for processing the image shot by the camera 1, and the processing procedure is as follows:
in FIG. 4, the current frame is denoted as N when a word line laser A3 is on, and the center of the light bar is extracted in the j-th column of the image, whose abscissa isThe center set of the light bars extracted on all columns C of the image is
(1)
When a word line laser B4 is turned on, the current frame is recorded as N+1 frames, the j th column extracts the center of the light bar, and the abscissa isThe center set of the light bars extracted on all columns C of the image is
(2)
One word line laserWhen the device A3 and the word line laser B4 are simultaneously turned on, the current frame is recorded as an N+2 frame, the j column extracts the center of the light bar, and the abscissa isThe center set of the light bars extracted on all columns C of the image is
(3)
In the aboveThe recorded light bar position has ambiguity and needs to be distinguished, and can be obtained by the following formula
(4)
And
(5)
and (5) comparing.A threshold is allowed for the extraction of the light bar position. If equation (4) is satisfied, it can be determined that the light bar belongs to a word line laser A3. Satisfying equation (5), it is determined that the stripe belongs to a word line laser B4. If equations (4) and (5) are both satisfied, indicating that the two lines are very close, possibly at the intersection of the laser lines or overlapping due to jitter during acquisition, the extracted points are not reconstructed in three dimensions. After the point extracted by the laser center determines the laser to which the point belongs, three-dimensional reconstruction of the extracted point can be performed through a light plane equation calibrated in advance by the laser.
Example 2
Based on the above-mentioned cross line three-dimensional camera, the present embodiment proposes a modeling method of the cross line three-dimensional camera, including the following steps:
firstly, a word line laser A is turned on, the laser line center of a stripe formed on an object is extracted, the current frame of an image is recorded as N, and the abscissa of the center of the stripe in the j-th row of image extraction isCenter set of light bars extracted on all columns C of imageThe method comprises the following steps:
(1)
turning off a word line laser A and turning on a word line laser B, extracting the laser line center of a stripe formed on an object, recording the current frame of an image as N+1, and extracting the abscissa of the center of the j-th stripe of the image asCenter set of light bars extracted on all columns C of imageThe method comprises the following steps:
(2)
simultaneously turning on a word line laser A and a word line laser B, extracting the laser line center of the stripe formed on the shot object, recording the current frame of the image as N+2, and extracting the abscissa of the center of the j-th stripe of the image asCenter set of light bars extracted on all columns C of imageThe method comprises the following steps:
(3)
can be achieved by the following method
(4)
(5)
Comparison: if the formula (4) is satisfied, determining that the stripe belongs to a word line laser A; if the formula (5) is satisfied, determining that the stripe belongs to a word line laser B; if the formulas (4) and (5) are both satisfied, the extracted points are not reconstructed in three dimensions;the threshold is allowed for the extraction of the fringe position.
The invention provides a novel cross line laser three-dimensional camera, which adopts cross line laser composed of two line lasers to project on the surface of a measured object, and a black-and-white camera captures reflection points on the surface of the object and generates a three-dimensional model through computer processing. Compared with the traditional three-dimensional camera, the camera has the advantages of high efficiency, low price, easy use and wide application range. The technology can be applied to the fields of robot vision, unmanned operation, medical treatment and the like. The scope of the present patent application is intended to include both the various embodiments and applications of the technology, as well as all claims and benefits associated with the technology.
Claims (5)
1. A cross line three-dimensional camera comprises a camera, a word line laser A, a word line laser B, a controller and a computer; it is characterized in that the method comprises the steps of,
the two word line lasers output laser lines which are arranged in a crossing way;
the camera is used for collecting stripes formed by laser striking on an object;
the controller is used for controlling photographing of the camera and starting sequence of the two one-word line lasers: a word line laser A is turned on, a word line laser A is turned off, a word line laser B is turned on, and two word line lasers are turned on simultaneously;
the computer is used for extracting the center of the shot laser line stripe and processing the stripe position of the image: comparing the center of two stripes when two one-word line lasers are simultaneously opened with the center of the stripe when the two one-word line lasers are independently opened, judging which one-word line laser the stripe belongs to, and carrying out three-dimensional reconstruction of an extraction point after determining the one-word line laser to which the stripe belongs.
2. The cross-line three-dimensional camera of claim 1, wherein the computer processes: the current frame is marked as N when a word line laser A is turned on, and the abscissa at the center of the j-th column stripe of image extraction isLight bar center set extracted on all columns C of image +.>The method comprises the following steps:
(1)
the current frame is marked as n+1 when a word line laser B is turned on, and the abscissa at the center of the j-th column stripe in image extraction isLight bar center set extracted on all columns C of image +.>The method comprises the following steps:
(2)
when a word line laser A and a word line laser B are simultaneously turned on, the current frame is marked as N+2, and the abscissa of the center of the j-th row stripe in image extraction isLight bar center set extracted on all columns C of image +.>The method comprises the following steps:
(3)
can be achieved by the following method
(4)
(5)
Comparison: if the formula (4) is satisfied, determining that the stripe belongs to a word line laser A; if the formula (5) is satisfied, determining that the stripe belongs to a word line laser B; if the formulas (4) and (5) are both satisfied, the extracted points are not reconstructed in three dimensions;the threshold is allowed for the extraction of the fringe position.
3. The cross-line three-dimensional camera according to claim 1, wherein the shot laser line center is extracted by a gray-scale center method.
4. The cross-line three-dimensional camera of claim 1, wherein the camera, a word line laser a, a word line laser B are secured together by a web.
5. The modeling method of the cross line three-dimensional camera is characterized by comprising the following steps of:
firstly, a word line laser A is turned on, the laser line center of a stripe formed on an object is extracted, the current frame of an image is recorded as N, and the abscissa of the center of the stripe in the j-th row of image extraction isCenter set of light bars extracted on all columns C of imageThe method comprises the following steps:
(1)
turning off a word line laser A and turning on a word line laser B, extracting the laser line center of a stripe formed on an object, recording the current frame of an image as N+1, and extracting the abscissa of the center of the j-th stripe of the image asLight bar center set extracted on all columns C of image +.>The method comprises the following steps:
(2)
simultaneously turning on a word line laser A and a word line laser B to extract the image formed on the objectThe center of the laser line of the stripe is recorded as N+2 in the current frame of the image, and the abscissa of the center of the stripe in the j-th row of image extraction isLight bar center set extracted on all columns C of image +.>The method comprises the following steps:
(3)
can be achieved by the following method
(4)
(5)
Comparison: if the formula (4) is satisfied, determining that the stripe belongs to a word line laser A; if the formula (5) is satisfied, determining that the stripe belongs to a word line laser B; if the formulas (4) and (5) are both satisfied, the extracted points are not reconstructed in three dimensions;the threshold is allowed for the extraction of the fringe position.
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| KR20130016838A (en) * | 2011-08-09 | 2013-02-19 | (주)위시스 | Apparatus for measuring device unit using the cross beam laser |
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