CN201255630Y - Three-dimensional surface modeling system based on both eyes - Google Patents
Three-dimensional surface modeling system based on both eyes Download PDFInfo
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- CN201255630Y CN201255630Y CNU2008200408631U CN200820040863U CN201255630Y CN 201255630 Y CN201255630 Y CN 201255630Y CN U2008200408631 U CNU2008200408631 U CN U2008200408631U CN 200820040863 U CN200820040863 U CN 200820040863U CN 201255630 Y CN201255630 Y CN 201255630Y
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Abstract
A dual-purpose three-dimensional surface modeling system is characterized in that the system consists of a lasing light emitter, wherein, laser beams from the lasing light emitter are subsequently projected onto each position to be measured on the surface of an object to be modeled, then the independent laser faculae of each laser beam is formed on the surface of the object to be modeled; two cameras which are fixed on the relative positons are used for shooting independently a same laser facula from each location to obtain respective faculae image of the facula in the two cameras; a computer controlling system calculates the three-dimensional space coordinates of the facula according to different positions of the same facula in the images taken by different cameras by adopting the faculae matching and the space triangle method; the modeling of the three-dimensional surface is implemented by Delauny triangularization according to the three-dimensional space coordinates of each projection position on the object to be modeled. The utility model has precise measurement and is suitable for being used in industrial scenes.
Description
Technical field
The utility model relates to and is used for measuring system is carried out on the object dimensional surface, particularly is applied to the three-dimensional surface model building system of three-dimensional object surface location.
Background technology
The three-dimensional surface location technology of object is used increasingly extensive in fields such as industrial design and manufacturing, quality testing and control, topographical surveying and exploration, virtual realities.Along with the development of reverse engineer, object is carried out focus and the difficult point that modeling fast and effectively becomes research.This carries out effective decision problem with regard to relating to the surface of three-dimensional body.
It is contact and contactless that the three-dimensional object surface location mainly contains two class methods at present.Contact type measurement precision height, but measuring speed is slow, to the environmental requirement height, the object size is had requirement.Therefore when using, be very limited.Contactless measurement mainly need be used laser and the video camera instrument as the location, is divided into and only needs the laser of laser generator and relevant support equipment method two-way time, and need the comprehensive computer vision methods of using laser generator and video camera.The principle of work of preceding a kind of method is the three-dimensional coordinate of putting on the Measuring Object by the two-way time of Laser Measurement pulse, because the speed of light is very fast, thus just very high to the requirement of equipment, involve great expense.Be enhanced in precision in recent years based on the method for computer vision, and relative low price, therefore use also more and more widely.Method based on computer vision generally is to utilize laser generator that required modeling object is throwed, then utilize multiple-camera that the laser projection state is taken, by corresponding algorithm the laser spot in the multiple-camera is mated calculating with three-dimensional space position then.
The rapid modeling of three-dimensional surface is significant for the robotization of industry spot such as mine.But industry spot such as mine are because dust is bigger, a slice laser site that traditional modeling method based on computer vision is launched or several laser stripes are often because the relative difficulty of dust coupling big, that work under bad environment causes these laser sites and laser stripe, thereby the result of modeling exists bigger error, and finally causing carrying out in these fields fast, real-time modeling is restricted.
The utility model content
The utility model is for avoiding above-mentioned existing in prior technology weak point, provides a kind of and measure accurately, is suitable for the three-dimensional surface model building system based on binocular that uses in industry spot.
The utility model technical solution problem adopts following technical scheme:
The utility model is that its system constitutes based on the design feature of the three-dimensional surface model building system of binocular:
One lasing light emitter, the laser beam of self-excitation light source is projected on each position to be measured for the treatment of the modeling body surface one by one in the future, is treating that the modeling object surfaces forms the independent laser facula of each bundle laser beam;
The video cameras that two relative positions are fixing respectively at same independent hot spot of its position photographs separately, obtain described hot spot separately light spot image in two video cameras;
One computer control system according to the diverse location of same hot spot in the captured image of different cameras, by the hot spot coupling, and adopts the space trigonometry, calculates the 3 d space coordinate that obtains this hot spot; At treating that each is thrown according to locational 3 d space coordinate on the modeling object,, finish the modeling of three-dimensional surface by the Delauny trigonometric ratio.
The utility model also is based on the design feature of the three-dimensional surface model building system of binocular:
Fixedly install lasing light emitter, at described lasing light emitter and treat between the modeling body surface that the adjustable reflective mirror of reflective angle is set, and laser beam is projected on the described reflective mirror, adjust the reflective angle of reflective mirror, laser beam is projected on the setting surface location for the treatment of the modeling object through reflection.
For the collection for the treatment of independent facula information on each position to be measured of modeling body surface, be to be projected on this position with laser beam to form independent hot spot, video camera is taken hot spot to finish the collection of described light spot image is a work period then; For the collection for the treatment of the different positions to be measured of modeling body surface facula information, be to finish an above work period to begin just now afterwards the next work period.
Improve modeling accuracy by increasing position to be measured in the dense degree for the treatment of the modeling body surface.
Compared with the prior art, the utility model beneficial effect is embodied in:
1, the utility model utilizes laser beam treating that each position to be measured of modeling body surface throws photograph one by one, form independent hot spot, this form has antijamming capabilities such as stronger anti-dust, anti-water smoke, can finish the work in real time in fields such as the industry spot modeling process of face improves the understanding of user to face condition effectively.
2, the utility model treats that the modeling body surface is an independent hot spot in the gatherer process of light spot image, can improve the accuracy of modeling greatly, reduces the difficulty of the hot spot coupling of Flame Image Process in the stage, improves accurate positioning.
3, the utility model can be finished the modeling to the different accuracy of workplace according to measuring increase in demand or reducing the tested point position.
Description of drawings
Fig. 1 constitutes synoptic diagram for the utility model system.
Fig. 2 is the structural representation of the utility model lasing light emitter.
Number in the figure: 1 computer control system, 2 video camera A, 3 video camera B, 4 lasing light emitters, 5 cables, 6 are treated modeling object, 7 hot spots, 8 laser beams, 9 reflective mirrors, 10 drive motor, 11 laser generators, 12 optical filters
Below by embodiment, the utility model is described in further detail in conjunction with the accompanying drawings
Embodiment
Referring to Fig. 1, the present embodiment system constitutes:
Come the laser beam 8 of self-excitation light source 4 to be projected on each position to be measured, surface for the treatment of modeling object 6, form independent hot spot 7 on the surface for the treatment of modeling object 6;
Video camera A (number in the figure is 2) that two relative positions are fixing and video camera B (number in the figure is 3) be respectively at same independent hot spot 7 of its position photographs separately, obtains hot spot 7 separately light spot image in video camera A and video camera B respectively;
Computer control system 1 is according to the diverse location of same hot spot 7 in video camera A and the captured image of video camera B, by filter make an uproar, the hot spot coupling, adopt the space trigonometry, calculate the 3 d space coordinate that obtains this hot spot 7; At treating that each is thrown according to locational 3 d space coordinate on the modeling object,, finish the modeling of three-dimensional surface by the Delauny trigonometric ratio; Computer control system 1 connects by cable 5 formation systems.
In concrete the enforcement, relative set also comprises:
Shown in Figure 2, the setting of lasing light emitter comprises and fixedly installs laser generator 11, at laser generator 11 and treat between the surface of modeling object 6, the adjustable reflective mirror 9 of reflective angle is set, laser generator 11 sees through 12 optical filters and forms beam of laser light beam 8, and laser beam 8 is projected on the reflective mirror 9, accurately adjusts the reflective angle of reflective mirror 9 by drive motor 10, make laser beam 8 form folded light beam, be projected on the setting surface location for the treatment of the modeling object through reflective mirror 9.
For the collection for the treatment of each position to be measured independence facula information of modeling body surface, be to throw according to this position with laser beam to form independent hot spot, video camera is taken hot spot to finish the collection of described light spot image is a work period then; For the collection for the treatment of the different positions to be measured of modeling body surface facula information, be not finish an above work period to begin just now afterwards the next work period.
Improve modeling accuracy by increasing position to be measured in the dense degree for the treatment of the modeling body surface.
The course of work:
1, adjusts drive motor 10 reflective mirror 9 is changed to initial position;
2, emission laser beam 8 utilizes video camera A and video camera B that laser facula is taken;
3, the light spot image that collects passes to computer control system, the coupling laser facula;
4, operating software calculates the 3 d space coordinate of laser facula in computer control system, simultaneously the coordinate points that calculates is stored;
5, adjust the reflection angle that drive motor 10 changes reflective mirror 9, repeat above-mentioned steps 2-4, finish, then finish the image acquisition of laser facula, enter next step when once rotating fully of drive motor 10;
6, the laser facula 3 d space coordinate that step 4 is obtained utilizes the software kit on the computing machine to carry out the Delauny triangle gridding as input, finishes the modeling to workplace.
Claims (2)
1,, it is characterized in that described system constitutes based on the three-dimensional surface model building system of binocular:
One lasing light emitter, the laser beam of self-excitation light source is projected on each position to be measured for the treatment of the modeling body surface one by one in the future, is treating that the modeling object surfaces forms the independent laser facula of each bundle laser beam;
The video cameras that two relative positions are fixing respectively at same independent hot spot of its position photographs separately, obtain described hot spot separately light spot image in two video cameras;
One computer control system according to the diverse location of same hot spot in the captured image of different cameras, by the hot spot coupling, and adopts the space trigonometry, calculates the 3 d space coordinate that obtains this hot spot; At treating that each is thrown according to locational 3 d space coordinate on the modeling object,, finish the modeling of three-dimensional surface by the Delauny trigonometric ratio.
2, the three-dimensional surface model building system based on binocular according to claim 1, it is characterized in that described lasing light emitter is the laser generator (11) that fixedly installs, at described laser generator (11) and treat between the modeling body surface, the adjustable reflective mirror of reflective angle (9) is set, laser beam (8) is projected on the described reflective mirror (9), adjust the reflective angle of reflective mirror (9), laser beam (8) is projected on the setting surface location for the treatment of the modeling object through reflection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008200408631U CN201255630Y (en) | 2008-07-15 | 2008-07-15 | Three-dimensional surface modeling system based on both eyes |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008200408631U CN201255630Y (en) | 2008-07-15 | 2008-07-15 | Three-dimensional surface modeling system based on both eyes |
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| Publication Number | Publication Date |
|---|---|
| CN201255630Y true CN201255630Y (en) | 2009-06-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2008200408631U Expired - Lifetime CN201255630Y (en) | 2008-07-15 | 2008-07-15 | Three-dimensional surface modeling system based on both eyes |
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| CN (1) | CN201255630Y (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102506748A (en) * | 2011-10-21 | 2012-06-20 | 李志扬 | Laser-probe-array-based three-dimensional measurement method and device |
| CN103776390A (en) * | 2014-01-22 | 2014-05-07 | 广东工业大学 | Three-dimensional natural texture data scanning machine and multi-view-field data splicing method |
| TWI485361B (en) * | 2013-09-11 | 2015-05-21 | Univ Nat Taiwan | Measuring apparatus for three-dimensional profilometry and method thereof |
| CN104764417A (en) * | 2015-03-06 | 2015-07-08 | 南京宇行软件有限公司 | Method for measuring ovality of dynamic rotary kiln |
-
2008
- 2008-07-15 CN CNU2008200408631U patent/CN201255630Y/en not_active Expired - Lifetime
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102506748A (en) * | 2011-10-21 | 2012-06-20 | 李志扬 | Laser-probe-array-based three-dimensional measurement method and device |
| CN102506748B (en) * | 2011-10-21 | 2013-09-04 | 李志扬 | Laser-probe-array-based three-dimensional measurement method and device |
| TWI485361B (en) * | 2013-09-11 | 2015-05-21 | Univ Nat Taiwan | Measuring apparatus for three-dimensional profilometry and method thereof |
| CN103776390A (en) * | 2014-01-22 | 2014-05-07 | 广东工业大学 | Three-dimensional natural texture data scanning machine and multi-view-field data splicing method |
| CN103776390B (en) * | 2014-01-22 | 2017-05-17 | 广东工业大学 | Multi-view-field data splicing method based on three-dimensional natural texture data scanning machine |
| CN104764417A (en) * | 2015-03-06 | 2015-07-08 | 南京宇行软件有限公司 | Method for measuring ovality of dynamic rotary kiln |
| CN104764417B (en) * | 2015-03-06 | 2017-12-12 | 南京宇行软件有限公司 | A kind of method for measuring dynamic rotary kiln ovality |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Effective date of abandoning: 20080715 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |