CN1865844A - Portable railless-structured optical three-D scanning measuring system and measuring method therefor - Google Patents
Portable railless-structured optical three-D scanning measuring system and measuring method therefor Download PDFInfo
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- CN1865844A CN1865844A CN 200610014189 CN200610014189A CN1865844A CN 1865844 A CN1865844 A CN 1865844A CN 200610014189 CN200610014189 CN 200610014189 CN 200610014189 A CN200610014189 A CN 200610014189A CN 1865844 A CN1865844 A CN 1865844A
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Abstract
The disclosed portable no-guide optical three-dimension scanning and measuring system comprises: a calibrating platform, a computer, a commercial projector connected to former display card, and two color or black-white TVs. Wherein, the application method includes preparation, determining measurement benchmark, scanning and measuring. This invention overcomes defects in prior art, has no limitation on target material or color, and can fit to request on special material 3D appearance.
Description
Technical field
The present invention relates to a kind of surveying instrument of reverse-engineering, in particular, the present invention relates to a kind of three-D scanning measuring system and measuring method thereof that is used for reverse-engineering.
Background technology
The execution of reverse-engineering, needing has sufficient understanding to the characteristic of product with the making flow process, and many products are made up of free form surface and (are designed as motorcycle profile in the reality, mould manufacturing etc.), finish the construction of such model, must do accurate identification to the groove on the model, perforate or other features, to finish the construction of model.How the accurate processing of the data of each point is gone out useful curve, curved surface with construction? to this, simple is not enough by experienced slip-stick artist, like that may be consuming time oversize or error is bigger, if mix suitable instrument, then can reach the effect of getting twice the result with half the effort.
At present, the traditional measurement instrument that is used for reverse-engineering in use has many limitations.Contact type measurement for example exists speed slowly, easily to cause problems such as the wear of work and probe operation limitation, and traditional non-contact measurement, has low precision (10-100um), measuring speed significant deficiency such as (1000-12000 point/second), error be big slowly again.Existing ripe three-dimensional measurement instrument mainly contains three coordinate measuring machine, laser scanner and grating measuring instrument, and they to a certain extent can the march planar survey, but also has the following disadvantages respectively:
Described three coordinate measuring machine is high-precision instrument with contacts, can only measure a point at every turn, and measuring speed is slow, is difficult to carry out the shape-designing of curved surface, and can't measure soft object, and it is very loaded down with trivial details to operate;
Described laser scanner belongs to the non-contact optical surveying instrument, this instrument is bulky, need guide rail (normally translate stage and rotation platform), thereby make its precision, speed limited by guide rail, be difficult to realize high precision, high-speed measurement, simultaneously because the restriction of its active platform size, make its measurement range very narrow again, if the test product change in size is a lot, then need just energy measurement of multiple devices, therefore can increase financial burden.In addition, laser also has certain harm to staff's eyes;
Described grating style three-dimension measuring instrument adopts grating as light source, and this instrument can be realized the non-contact three-dimensional planar survey to the object profile, has improved measuring speed (for example De Guo ATOS) greatly.But the raster pattern measuring method is subjected to the restriction of color of object surface, not energy measurement black object and reflective object, and when measuring, need spray one deck developer usually.
This shows, develop a kind of measuring accuracy height, speed is fast, error is little scanning measurement system,, become industry-by-industry geometric sense is detected active demand with design to adapt to the measurement of curved surface in all directions in the configuration design.
Summary of the invention
Purpose of the present invention overcomes above the deficiencies in the prior art exactly, provides a kind of portable no guide rail structure light three-D scanning measuring system of reliable, practical, simple operation, to remedy the defective that prior art exists.
The composition of portable no guide rail structure light three-D scanning measuring system of the present invention comprises:
Be used to set up the calibrating platform of high-precision coordinate benchmark;
The computing machine that is used for precision control, image acquisition and data processing;
Be used to provide the business projector of light source and expansion projective structure striation;
Two colours or the B that are used for images acquired;
Be used to place the scanning platform of described business projector and described two video cameras;
The relatively independent setting of described calibrating platform, it is provided with the moving slider that connects hand screw, and the demarcation target that described moving slider is provided with, described demarcation target are provided with the demarcation circle that is used to write calibrating procedure, described demarcation circle is 2～50, is preferably 20～30; The middle part of described scanning platform is provided with described business projector, and each fixes a described video camera both sides of described business projector, and guarantees that as far as possible described camera lens equates to the distance of camera lens of projector; Described computer installation has the double end video card, and one of them video card connects display, and another video card connects business projector, and described two video cameras connect described computing machine by the USB mouth.
The job step of the portable no guide rail structure light three-D scanning measuring system of the present invention was divided into for three steps:
(1) demarcate preceding the preparation: the scanning platform that will be provided with described business projector and described video camera moves on to the front of described calibrating platform, open the control program that is used to demarcate, determine after the clear picture of the described demarcation target that 2 video cameras described in the control program are seen, to carry out the setting of calibrating parameters.
(2) determine measuring basis: press the fixed step size between 5mm～20mm, described demarcation circle is carried out 4 hyposynchronization move above demarcation, and calculate the average error value of nominal data,, begin to measure if its value is then finished demarcation between 0.01-0.04mm; If its value goes beyond the scope, then demarcate again; Described step-length is preferably 10mm, and the described step moves and is preferably 10 times.
(3) scanning survey: press the scanning survey operating process in the control program, the testee that has placed is carried out 3-D scanning, its process is:
The first step: by described business projector to testee center of projection structure striation;
Second step: computing machine is by described video camera 2 and 3 automatic images acquired;
The 3rd the step: computing machine automatically to image carry out smoothly, denoising Processing;
The 4th step: change the angle shot testee, repeat first three step operation, gather at least 3 width of cloth images;
The 5th step: computing machine outputs to the three dimensions cloud data of resulting testee specific 3D processing softwares such as surfacer or geomagic and further handles, thereby sets up the three-dimensional appearance of object.
The invention has the beneficial effects as follows: adopt no guide rail structure, solved the existing problems such as the wear of work and probe operation limitation that easily cause with quasi-instrument; Adopt area-structure light as measurement light source, solved the three-dimensional measurement difficult problem of black object and reflective object, to the material of measured object and color without limits, expanded the application of three-dimension measuring system, and can satisfy the three-dimensional demand that detects and rebuild the object dimensional pattern of special material.
Description of drawings
Fig. 1 is layout, the connection diagram of each parts of scanning measurement system of the present invention;
Fig. 2 is a control flow chart of the present invention;
Fig. 3 is the structural representation of calibrating platform in the scanning measurement system of the present invention;
Fig. 4 is the left view of Fig. 3;
Fig. 5 is a three-dimensional measurement of the present invention interface synoptic diagram;
Fig. 6, Fig. 7 and Fig. 8, Fig. 9 are respectively the comparison diagrams of tested material object and measurement effect of the present invention.
Embodiment
The present invention is described in further detail below in conjunction with drawings and embodiments.
As Fig. 1, Fig. 3, shown in Figure 4, the portable no guide rail structure light three-D scanning measuring system of the present invention, the business projector 1 that comprise the calibrating platform 6 that is used to set up high-precision coordinate basis and high-precision calibrating circle is provided, the computing machine 4 that is used for precision control, image acquisition and data processing, is connected by the double end video card with described computing machine 4 and two colours that are connected with described computing machine 4 by the USB mouth or B 2 and 3.Described calibrating platform 6 is relatively independent, and it is provided with the moving slider 7 of band hand screw 10, and target 8 is demarcated in fixed installation on the described moving slider 7.The connected mode of these each parts of system is: described business projector 1 is arranged on the middle part of scanning platform, two video cameras 2 and 3 are separately fixed at the both sides of described business projector 1, and the camera lens that as far as possible guarantees two video cameras 2 and 3 equates to the distance of described business projector 1 camera lens.In this technical scheme, described business projector 1 has replaced the raster generator of triplex scanner in the past, and its main effect is light source to be provided and to utilize extended screen projective structure striation for scanning.Described calibrating platform 6 is cylinder iron made, its material and weight have determined the degree of stability of calibrating platform 6, degree of stability is good more, the precision of demarcating is also high more, write calibrating procedure for convenience, on described demarcation target 8, be provided with the demarcation circle 9 of some same diameter, and guarantee to demarcate between the circle 9 and any two of same row are demarcated distance of center circle between the circle 9 from equating with any two of delegation.In order to guarantee precision effectively, several can be set on described demarcation target 8 demarcate circle 9, preferably be provided with 20～30,30 above better effects if.This set method is than 2 or 3 calibrating platform precision height of demarcating circle only are set in the existing scanning device.
The job step of the portable no guide rail structure light three-D scanning measuring system of the present invention is:
(1) demarcate preceding the preparation: the scanning platform that will be provided with described business projector 1 and described video camera 2,3 moves on to the front of described calibrating platform 6, open control program as shown in Figure 2, enter three-dimensional measurement interface as shown in Figure 5, click " demarcation ", enter calibration interface, adjust the focal length of described 2 video cameras 2,3, and determine after the clear picture of the described demarcation target 8 that 2 video cameras described in the control program are seen, demarcate the number of circle 9 and respectively demarcate OC setting between the circle 9, and preserve setting value.
(2) determine measuring basis: be operatively connected the hand screw 10 of moving slider 7, press the fixed step size between 5mm～20mm, to 9 demarcation of carrying out more than 4 times of described demarcation circle, and calculate its average error value, if its average error between 0.01-0.04mm, is then finished demarcation, begin to measure; If calibrated error goes beyond the scope, then demarcate again.Should be a step-length with 10mm, described demarcation circle 9 carried out 10 times demarcated, and calculated 10 groups of data of being demarcated that effect is fine with embodiment.
(3) scanning survey: at the stable placement in optional position testee 5 in the face of scanning system, it is not obviously rocked, then by the scanning survey flow process in the control program shown in Figure 2, click " measurement " button on the interface shown in Figure 5, begin testee 5 is carried out 3-D scanning, described scanning process is:
The first step: by 1 pair of testee of business projector, 5 center of projection structure striations;
Second step: computing machine 4 is by described video camera 2 and 3 automatic images acquired;
The 3rd the step: computing machine 4 automatically to image carry out smoothly, denoising Processing;
The 4th step: change the angle shot testee, repeat first three step operation, gather at least 3 width of cloth images;
The 5th step: computing machine obtains the three dimensions cloud data of testee 5, click " file "-" the saving as " at interface shown in Figure 5-measured three dimensional point cloud is outputed to specific 3D processing softwares such as surfacer or geomagic further to handle, thereby set up the three-dimensional appearance of object.
The maximum difference of the portable grating three-dimension measuring system of the present invention and prior art, be to adopt area-structure light as measurement light source, thereby solved the difficult problem of the three-dimensional measurement of black object and reflective object, from Fig. 6, Fig. 7 and Fig. 8, Fig. 9 as can be seen, the present invention is the photo in kind of plaster statue to the measurement effect of common material object and black object and reflective object: Fig. 6, and Fig. 7 is the measurement effect figure of the present invention to plaster statue shown in Figure 6; Fig. 8 is the photo in kind of black, reflective object, and Fig. 9 is the measurement effect figure of the present invention to black shown in Figure 8, reflective object.
The difference of the present invention and existing this quasi-instrument also is: need not any special hardware equipment, and do not need special optical grating projection instrument customized; Software then is at this instrument self-written measuring programs; Calibrating platform is relatively independent, and main effect provides high-precision series circle, to set up high-precision coordinate basis; Selected computer configuration double end video card, one of them video card connects display, and the another one video card is used for business projector; The double end video card of business projector by computing machine can utilize extended screen projective structure striation with after computing machine links to each other; Colour or B link to each other with computing machine by USB mouth (USB is the universal serial bus structural of Intel Company's exploitation, and common commercial computer all disposes four USB mouths usually at present) at least; The effect of computing machine is to control projector, acquisition camera image and data processing in the present invention.
In sum, the advantage of the portable no guide rail structure light three-D scanning measuring system of the present invention is:
(1) little (500mm * 50mm * 100mm), (10 kilograms) in light weight are convenient for carrying volume, can arbitrarily remove to the measured object position and do in-site measurement;
(2) adopt no guide rail structure, the working method freedom, scalable is arbitrarily angled does comprehensive measurement, has solved the existing problems such as limitation that easily cause the wear of work and probe to operate with quasi-instrument simultaneously;
(3) the single face measurement range is 400mm * 500mm, if dimension of object is big, can carry out unlimited measurement by splicing, solve effectively the piecemeal of large-scale workpiece is measured, measurement data amalgamation automatically in real time simultaneously is fit to the measurement of all size and shaped objects very much, measures applied widely;
(4) adopt area-structure light as measurement light source, make it without limits, changed that the three-dimensional optical scanning system can not be to the present situation of black and reflective object scanning survey in the past the material of measured object and color;
(5) adopt software control procedure that video camera and commercial projector are controlled; Improve the accuracy of scanning survey;
(6) adopt double end video card control light source, saved video controller card, reduced equipment cost;
(7) adopt the single light line location, the mode of multi-light line scanning has guaranteed the reliability and the authenticity of three-dimensional measurement;
(8) adopt method of difference that image is handled, improved the accuracy of Flame Image Process, make measurement more near actual measured amount;
(9) measuring accuracy height can reach 0.01～0.02mm.
The present invention adopts structured light noncontact photographic measurement principle and light source projection pattern, makes its measuring accuracy very high, and is widely used, and the body surface (as workpiece, model, mould, sculpture, human body etc.) that is suitable for any material carries out digitized measurement.
Below schematically the present invention and embodiment thereof are described, this description does not have limitation, and shown in the accompanying drawing also is one of embodiments of the present invention.So; if those of ordinary skill in the art is enlightened by it; under the situation that does not break away from the invention aim; adopt the same base part of other form or each component layouts mode of other form; without creationary technical scheme similar and the embodiment of designing, all should belong to protection scope of the present invention to this technical scheme.
Claims (5)
1. a portable no guide rail structure light three-D scanning measuring system is characterized in that it comprises the calibrating platform that is used to set up the high-precision coordinate benchmark; The computing machine that is used for precision control, image acquisition and data processing; Be used to provide the business projector of light source and expansion projective structure striation; Two colours or the B that are used for images acquired; Be used to place the scanning platform of described business projector and described two video cameras;
The relatively independent setting of described calibrating platform, it is provided with the moving slider that connects hand screw, the demarcation target that described moving slider is provided with, described demarcation target are provided with the demarcation circle that is used to write calibrating procedure, and described demarcation circle is 2～50;
Described business projector is arranged on the middle part of described scanning platform, and described 2 video cameras are arranged on the both sides of described business projector, and the camera lens of described 2 video cameras equates to the distance of projector lens;
Described computer installation has the double end video card, and one of them video card connects display, and another video card connects business projector, and described two video cameras connect described computing machine by the USB mouth.
2. portable no guide rail structure light three-D scanning measuring system according to claim 1 is characterized in that the demarcation circle on the described demarcation target is 20～30.
3. a method of using the described portable no guide rail structure light three-D scanning measuring system of claim 1 to carry out scanning survey is characterized in that it comprises the steps:
(1) demarcate preceding the preparation: the scanning platform that will be provided with described business projector and described video camera moves on to the front of described calibrating platform, open the control program that is used to demarcate, determine after the clear picture of the described demarcation target that 2 video cameras described in the control program are seen, to carry out the setting of calibrating parameters.
(2) determine measuring basis: press the step-length between 5mm～20mm, described demarcation circle is carried out 4 hyposynchronization move above demarcation, and calculate the average error value of nominal data,, begin to measure if its value is then finished demarcation between 0.01-0.04mm; If its value goes beyond the scope, then demarcate again.
(3) scanning survey: press the scanning survey operating process in the control program, the testee that has placed is carried out 3-D scanning, its process is:
The first step: by described business projector to testee center of projection structure striation;
Second step: computing machine is by described 2 automatic images acquired of video camera;
The 3rd the step: computing machine automatically to image carry out smoothly, denoising Processing;
The 4th step: change the angle shot testee, repeat first three step operation, gather at least 3 width of cloth images;
The 5th step: computing machine outputs to the three dimensions cloud data of resulting testee specific 3D processing softwares such as surfacer or geomagic and further handles, thereby sets up the three-dimensional appearance of object.
4. portable no guide rail structure light three-D scanning measuring system according to claim 3 carries out the method for scanning survey, it is characterized in that, determines that the described step-length in the measuring basis step is 10mm.
5. portable no guide rail structure light three-D scanning measuring system according to claim 3 carries out the method for scanning survey, it is characterized in that, determines that it is 10 times that described step in the measuring basis step moves.
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| CN101799924A (en) * | 2010-03-09 | 2010-08-11 | 哈尔滨工业大学 | Method for calibrating projector by CCD (Charge Couple Device) camera |
| CN101813462A (en) * | 2010-04-16 | 2010-08-25 | 天津理工大学 | Three-dimensional feature optical measuring system controlled by uniprocessor and measuring method |
| CN101739177B (en) * | 2008-11-27 | 2012-05-02 | 财团法人交大思源基金会 | Three-dimensional interactive display and method for detecting three-dimensional coordinate thereof |
| CN101765755B (en) * | 2007-07-27 | 2012-07-25 | 欧姆龙株式会社 | Three-dimensional shape measuring device, three-dimensional shape measuring method |
| CN102878948A (en) * | 2012-09-26 | 2013-01-16 | 哈尔滨工业大学 | Visual measuring device and visual measuring method for coordinates of surface of target based on round light spot marks |
| CN103649676A (en) * | 2011-04-15 | 2014-03-19 | 法罗技术股份有限公司 | Six degree-of-freedom laser tracker that cooperates with a remote structured-light scanner |
| CN105157602A (en) * | 2015-07-13 | 2015-12-16 | 西北农林科技大学 | Remote three-dimensional scanning system and method based on machine vision |
| CN105466397A (en) * | 2015-12-22 | 2016-04-06 | 广东工业大学 | Multi-scale dual axial rotation laser image three dimension reconstruction system and method thereof |
| CN107514979A (en) * | 2017-07-20 | 2017-12-26 | 重庆大学 | A kind of gear Integrated Measurement System and its method based on structure light |
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| US5349378A (en) * | 1992-12-21 | 1994-09-20 | Robotic Vision Systems, Inc. | Context independent fusion of range and intensity imagery |
| US6466305B1 (en) * | 1999-05-24 | 2002-10-15 | Lmi Technologies Inc. | High speed laser triangulation measurements of shape and thickness |
| US6666855B2 (en) * | 1999-09-14 | 2003-12-23 | Visx, Inc. | Methods and systems for laser calibration and eye tracker camera alignment |
| FI112279B (en) * | 2001-11-21 | 2003-11-14 | Mapvision Oy Ltd | Method for determining offset points |
| CN1260544C (en) * | 2004-07-14 | 2006-06-21 | 天津大学 | Compatible and accurate calibration method for double eye line structure photo-sensor and implementing apparatus |
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| CN101765755B (en) * | 2007-07-27 | 2012-07-25 | 欧姆龙株式会社 | Three-dimensional shape measuring device, three-dimensional shape measuring method |
| CN101739177B (en) * | 2008-11-27 | 2012-05-02 | 财团法人交大思源基金会 | Three-dimensional interactive display and method for detecting three-dimensional coordinate thereof |
| CN101799924A (en) * | 2010-03-09 | 2010-08-11 | 哈尔滨工业大学 | Method for calibrating projector by CCD (Charge Couple Device) camera |
| CN101813462A (en) * | 2010-04-16 | 2010-08-25 | 天津理工大学 | Three-dimensional feature optical measuring system controlled by uniprocessor and measuring method |
| CN103649676A (en) * | 2011-04-15 | 2014-03-19 | 法罗技术股份有限公司 | Six degree-of-freedom laser tracker that cooperates with a remote structured-light scanner |
| CN102878948A (en) * | 2012-09-26 | 2013-01-16 | 哈尔滨工业大学 | Visual measuring device and visual measuring method for coordinates of surface of target based on round light spot marks |
| CN105157602A (en) * | 2015-07-13 | 2015-12-16 | 西北农林科技大学 | Remote three-dimensional scanning system and method based on machine vision |
| CN105466397A (en) * | 2015-12-22 | 2016-04-06 | 广东工业大学 | Multi-scale dual axial rotation laser image three dimension reconstruction system and method thereof |
| CN105466397B (en) * | 2015-12-22 | 2018-09-25 | 广东工业大学 | Multiple dimensioned dual-axis rotation laser image three-dimensional reconfiguration system and its method |
| CN107514979A (en) * | 2017-07-20 | 2017-12-26 | 重庆大学 | A kind of gear Integrated Measurement System and its method based on structure light |
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