CN201983758U - Device for measuring three-dimensional object space based on small hole imaging principle - Google Patents
Device for measuring three-dimensional object space based on small hole imaging principle Download PDFInfo
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- CN201983758U CN201983758U CN2011200229277U CN201120022927U CN201983758U CN 201983758 U CN201983758 U CN 201983758U CN 2011200229277 U CN2011200229277 U CN 2011200229277U CN 201120022927 U CN201120022927 U CN 201120022927U CN 201983758 U CN201983758 U CN 201983758U
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Abstract
The utility model belongs to the field of detection of three-dimensional objects, in particular to a device for measuring three-dimensional object space based on a small hole imaging principle. The device comprises a small hole imaging and imaging detection unit, transmission lines, a computer and a display terminal, wherein the small hole imaging and imaging detection unit comprises a laser scanning device, small holes and a charge coupled device (CCD) detector; the laser scanning device and the CCD detector are connected with the computer through the transmission lines; the computer is connected with the display terminal; the laser scanning device is used for emitting an invariable-size light spot to illuminate a three-dimensional object; a stepper motor is controlled by the computer to adjust upward, downward, leftward and rightward rotation of a laser probe so as to realize point-to-point scanning illumination of the three-dimensional object; points on the illuminated three-dimensional object are captured by the CCD detector through small hole imaging, and are transmitted to the computer through a data line to realize synchronous recording; and the sizes and positions of image points on the detector are analyzed and computed by the computer, so that the space information of the three-dimensional object is acquired. The device is particularly suitable for simple distance measuring and three-dimensional detection.
Description
Technical field
The utility model belongs to the three-dimensional body field of detecting, is specially a kind of three-dimensional body space measurement device based on the pinhole imaging system principle.
Background technology
Open an aperture on the wall of a dark cabin, the people if at this moment the light oblique incidence is arranged on the person, the shadow of a handstand just occurred facing to the aperture station without on the wall on aperture opposite in the room, and this is famous pinhole imaging system phenomenon.The Mohist School explains that light passes aperture as shooting an arrow, is straightaway, light above people's head has covered, Cheng Ying are in bottom, and people's foot has covered following light, Cheng Ying has on top just formed the shadow that stands upside down, and this is the scientific explarnation first time to linear propagation of light.Pinhole imaging system is actually that a kind of projection is non-improves imaging, utilizes the pinhole imaging system principle that the space measurement of three-dimensional body was not also had.
The utility model content
At problems of the prior art, the purpose of this utility model is to provide a kind of technical scheme of the three-dimensional body space measurement device based on the pinhole imaging system principle.
Described three-dimensional body space measurement device based on the pinhole imaging system principle, it is characterized in that comprising pinhole imaging system and imaging detection unit, transmission line, computing machine and display terminal, described pinhole imaging system and imaging detection unit comprise laser scanning device, aperture and ccd detector, laser scanning device links to each other with computing machine by transmission line with ccd detector, and computing machine connects display terminal.
Described three-dimensional body space measurement device based on the pinhole imaging system principle is characterized in that described laser scanning device, ccd detector and computing machine carry out the pointwise record by imaging by aperture to target object, and the three-dimensional information of target object is surveyed.
Described three-dimensional body space measurement device based on the pinhole imaging system principle is characterized in that the synchronizing detection and the synchronous recording data of described computer control laser scanning device and ccd detector.
Described three-dimensional body space measurement device based on the pinhole imaging system principle, it is characterized in that being equipped with on the described laser scanning device lower rotary shaft and left and right sides turntable, the interoperation of laser probe by last lower rotary shaft and left and right sides turntable to target object scan up and down, about scanning.
Described three-dimensional body space measurement device based on the pinhole imaging system principle, it is characterized in that described upward lower rotary shaft and left and right sides turntable are connected with stepper motor respectively, the laser that laser probe sends by computer-controlled stepper motor rotate drive lower rotary shaft and left and right sides turntable rotate to target object scan up and down, about scanning, and by computer control synchronous recording pinhole imaging system information.
Described three-dimensional body space measurement device based on the pinhole imaging system principle, it is characterized in that being equipped with on the described laser scanning device left and right sides galvanometer and galvanometer up and down, scanning about the laser that the interoperation by two galvanometers sends laser probe carries out target object, scanning up and down.
Described three-dimensional body space measurement device based on the pinhole imaging system principle, it is characterized in that described left and right sides galvanometer and up and down galvanometer be connected with stepper motor respectively, the laser that laser probe sends rotates by computer-controlled stepper motor and drives two galvanometer swings to scanning about target object, scanning up and down, and by computer control synchronous recording pinhole imaging system information.
The utility model is simple in structure, realize easily, production cost is low, workable, utilize pinhole imaging system and laser scanning to carry out the three-dimensional body space measurement, laser scanning device sends a hot spot that size is constant, the illumination three-dimensional object, and regulate laser probe by computer-controlled stepper motor and rotate up and down, realization is to the point by point scanning illumination of three-dimensional body, point on the three-dimensional body that is illuminated is caught by pinhole imaging system and by ccd detector, pass to the computer realization synchronous recording by data line, the spatial information that computing machine obtains three-dimensional body by the size and the positional information of the picture point on the analytical calculation detector is particularly useful for daily simple range finding and three-dimensional detection.
Description of drawings
Fig. 1 is a schematic diagram of the present utility model;
Fig. 2 is the utility model pinhole imaging system and imaging detection cellular construction synoptic diagram;
Fig. 3 is the structural representation one of the utility model laser probe;
Fig. 4 is the structural representation two of the utility model laser probe;
Fig. 5 is the image of three different points of orientation;
Fig. 6 is the image of expansion luminous point.
Embodiment
Below in conjunction with Figure of description the utility model is described further:
Fig. 1 shows principle of work of the present utility model, laser scanning device sends a hot spot that size is constant, the illumination three-dimensional object, and regulate laser probe 1 by computing machine 6 control step motors and rotate up and down, realization is to the point by point scanning illumination of three-dimensional body, point on the three-dimensional body that is illuminated is caught by aperture 4 imagings and by ccd detector 2, pass to the computer realization synchronous recording by data line, the spatial information that computing machine 6 obtains three-dimensional object point by the size and the positional information of the picture point on the analytical calculation detector, thereby realize utilizing aperture 4 imagings to advance the space measurement of three-dimensional body, be particularly useful for daily simple range finding and three-dimensional detection.
The utility model comprises pinhole imaging system and imaging detection unit, transmission line, computing machine 6 and display terminal 3, described pinhole imaging system and imaging detection unit comprise laser scanning device, aperture 4 and ccd detector 2, laser scanning device links to each other with computing machine 6 by transmission line 5 with ccd detector 2, and computing machine 6 connects display terminal 3; The laser probe 1 emission laser of laser scanning device, on the target of the throwing light on three-dimensional body, the information of the point on the illuminated three-dimensional body is imaged on the ccd detector 2 by aperture 4, obtain the depth information of illuminated point, depth information is delivered to computing machine 6 by transmission line 5, and send display terminal to show output result of detection; Described laser scanning device, ccd detector 2 and computing machine 6 carry out the pointwise record by imaging by 4 pairs of target objects of aperture, and the three-dimensional information of target object surveyed the synchronizing detection of computer control laser scanning device and ccd detector and synchronous recording data.
Fig. 2 shows the agent structure of the utility model pinhole imaging system and imaging detection unit, comprises the laser probe 1 that the top is fixing, is used for the aperture 4 and the ccd detector 2 of imaging.Laser probe 1 is used for producing illumination detection luminous point, and scanning illumination three-dimensional object, and aperture 4 is used to realize pinhole imaging system, and the illuminated luminous point on the three-dimensional body is imaged on the ccd detector.
Fig. 3 shows a kind of structure of laser probe, be equipped with lower rotary shaft 7 and left and right sides turntable 8 on the laser scanning device, last lower rotary shaft 7 is used to control the luminous point that laser probe 1 produces and rotates up and down, left and right sides turntable 8 and left and right sides rotating shaft are used to control the luminous point left-right rotation that laser probe 1 produces, thereby realize two-dimensional scan.Laser probe 1 rotates under the cooperation of last lower rotary shaft 7 and left and right sides turntable 8, thereby can carry out scanning probe to produce the object point that aperture 4 imagings are used to target object.Particularly, last lower rotary shaft 7 and left and right sides turntable 8 are connected with stepper motor respectively, the laser that laser probe 1 sends by computing machine 6 control step motors rotate drive lower rotary shaft 7 and left and right sides turntable 8 rotate to target object scan up and down, about scanning, and by computer control synchronous recording pinhole imaging system information.
Fig. 4 shows the another kind of structure of laser probe, on laser scanning device, be equipped with left and right sides galvanometer 9 and galvanometer 10 up and down, galvanometer 10 is used to control the luminous point that laser probe 1 produces and rotates up and down up and down, left and right sides galvanometer 9 is used to control the luminous point left-right rotation that laser probe 1 produces, thereby realizes two-dimensional scan.Laser probe 1 is a stationary state, scanning about the laser that its interoperation by two galvanometers sends laser probe carries out target object, scanning up and down.Particularly, left and right sides galvanometer 9 and up and down galvanometer 10 be connected with stepper motor respectively, the laser that laser probe sends rotates by computer-controlled stepper motor and drives two galvanometer swings to scanning about target object, scanning up and down, and by computer control synchronous recording pinhole imaging system information.
It is different that Fig. 5 has provided three-dimensional information (degree of depth), three luminous point A that the orientation is also different, and B, C, these three luminous points to the screen on aperture opposite, form A ', B ', three discs of confusion of C ' by aperture O projection imaging.Can find that from Fig. 5 because the depth information of three luminous points is different, the size of disc of confusion is also different.Therefore, to pinhole imaging system, in fact be not that a thing becomes the some picture.If regard point on the object plane such as A as on the physical significance point, then its " picture point " can be regarded the A point as and send the optical illumination aperture, wherein can pass and finally project to the projection hot spot that hot spot on the image planes is actually aperture behind the aperture, the size of hot spot is relevant with the size of A point orientation and aperture.The size of supposing aperture is d
p, be y for its object height of A point supposition, object distance is z, and picture point is A ' on the corresponding image planes, and image height is y ', and image distance is z ', the A point is d in image planes projection laser image spot size
A'.
Utilize the triangle similarity, the size that can obtain the projection hot spot is:
Formula (1)
The size of following formula explanation pinhole imaging system is relevant with the size and the object distance of aperture.
In practice, because luminous point can not be for infinitely small, and certain yardstick is always arranged, under the situation of this limited yardstick, the imaging situation that we have provided the expansion luminous point as shown in Figure 6.In Fig. 6, the size of luminous point is made as d
AB, because aperture has certain width, so the A spot projection is a disperse hot spot on the pinhole imaging system face, A ' of this hot spot is because the limited size of aperture will be expanded downwards, we are labeled as d the size of its expansion
Adown', can according to top formula (1) try to achieve into:
In like manner can obtain the upwards size d of expansion of B point
Bup' be
The size of AB section after infinitesimal aperture projection is d
AB', have according to the similar triangles theorem
The big or small d ' that can obtain later its hot spot of limited little luminous point AB process pinhole imaging system according to formula (2)-(4) is:
Promptly can calculate luminous point according to top limited big or small luminous point as Size Formula (5) from the distance z of aperture is
Here for for the purpose of general, with d
ABBe rewritten into d
1, d ' has been rewritten into d
1', represent the size of spot definition, luminous point disperse picture respectively.
Determine to utilize the similar triangles characteristic can determine that luminous point is at paper direction Y coordinate height again after the object distance
Formula (7)
According to the principle of right-handed scale (R.H.scale), the X coordinate by paper inwardly, its derivation principle is the same with the Y coordinate direction, directly writes out as follows:
To obtain after the above correlation formula distortion
Formula (9)
Be not difficult to find from formula (9), as long as known the big or small d of aperture
p, the aperture plane from the distance z of pinhole imaging system face ', the big or small d of illumination spot
1Three fixing parameters are if we can be by measuring the big or small d of thing spot projection hot spot simultaneously
1', just can directly calculate the depth information z of object point A, had after the depth information z, just can calculate the enlargement ratio β of pinhole imaging system, can also be projected in the center 0 of image planes by measuring aperture itself, so just can measure any one hot spot from the offset distance at this center (x ', y '), can calculate three-dimensional coordinate (x, the y of object, z), thus realize object space luminous point three-dimensional coordinate measurement.
By luminous point being beaten on three-dimensional object plane,, just can rebuild whole three-dimensional body as the principle of television scanning.
Claims (7)
1. based on the three-dimensional body space measurement device of pinhole imaging system principle, it is characterized in that comprising pinhole imaging system and imaging detection unit, transmission line, computing machine and display terminal, described pinhole imaging system and imaging detection unit comprise laser scanning device, aperture and ccd detector, laser scanning device links to each other with computing machine by transmission line with ccd detector, and computing machine connects display terminal.
2. the three-dimensional body space measurement device based on the pinhole imaging system principle according to claim 1, it is characterized in that described laser scanning device, ccd detector and computing machine carry out the pointwise record by imaging by aperture to target object, and the three-dimensional information of target object is surveyed.
3. the three-dimensional body space measurement device based on the pinhole imaging system principle according to claim 1 is characterized in that the synchronizing detection and the synchronous recording data of described computer control laser scanning device and ccd detector.
4. the three-dimensional body space measurement device based on the pinhole imaging system principle according to claim 1, it is characterized in that being equipped with on the described laser scanning device lower rotary shaft and left and right sides turntable, the interoperation of laser probe by last lower rotary shaft and left and right sides turntable to target object scan up and down, about scanning.
5. the three-dimensional body space measurement device based on the pinhole imaging system principle according to claim 4, it is characterized in that described upward lower rotary shaft and left and right sides turntable are connected with stepper motor respectively, the laser that laser probe sends by computer-controlled stepper motor rotate drive lower rotary shaft and left and right sides turntable rotate to target object scan up and down, about scanning, and by computer control synchronous recording pinhole imaging system information.
6. the three-dimensional body space measurement device based on the pinhole imaging system principle according to claim 1, it is characterized in that being equipped with on the described laser scanning device left and right sides galvanometer and galvanometer up and down, scanning about the laser that the interoperation by two galvanometers sends laser probe carries out target object, scanning up and down.
7. the three-dimensional body space measurement device based on the pinhole imaging system principle according to claim 6, it is characterized in that described left and right sides galvanometer and up and down galvanometer be connected with stepper motor respectively, the laser that laser probe sends rotates by computer-controlled stepper motor and drives two galvanometer swings to scanning about target object, scanning up and down, and by computer control synchronous recording pinhole imaging system information.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011200229277U CN201983758U (en) | 2011-01-25 | 2011-01-25 | Device for measuring three-dimensional object space based on small hole imaging principle |
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| CN2011200229277U CN201983758U (en) | 2011-01-25 | 2011-01-25 | Device for measuring three-dimensional object space based on small hole imaging principle |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102175148A (en) * | 2011-01-25 | 2011-09-07 | 余韵致 | Spatial measuring device of three-dimensional object based on pinhole imaging principle |
| CN102941410A (en) * | 2012-10-18 | 2013-02-27 | 北京航空航天大学 | Calibration method of spot scanning galvanometer of three-dimensional measuring system |
| CN102984423A (en) * | 2012-11-26 | 2013-03-20 | 中国科学院长春光学精密机械与物理研究所 | Spot scanning imaging method for trigger exposure of encoder |
| CN104897069A (en) * | 2015-07-01 | 2015-09-09 | 丁千寻 | Laser measuring device for measuring length and area of remote macroscopic object |
| CN109949899A (en) * | 2019-02-28 | 2019-06-28 | 未艾医疗技术(深圳)有限公司 | Image three-dimensional measurement method, electronic equipment, storage medium and program product |
| CN113847956A (en) * | 2021-09-23 | 2021-12-28 | 华北水利水电大学 | Landslide sliding displacement and sliding speed monitoring method based on optical dispersion |
-
2011
- 2011-01-25 CN CN2011200229277U patent/CN201983758U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102175148A (en) * | 2011-01-25 | 2011-09-07 | 余韵致 | Spatial measuring device of three-dimensional object based on pinhole imaging principle |
| CN102941410A (en) * | 2012-10-18 | 2013-02-27 | 北京航空航天大学 | Calibration method of spot scanning galvanometer of three-dimensional measuring system |
| CN102984423A (en) * | 2012-11-26 | 2013-03-20 | 中国科学院长春光学精密机械与物理研究所 | Spot scanning imaging method for trigger exposure of encoder |
| CN104897069A (en) * | 2015-07-01 | 2015-09-09 | 丁千寻 | Laser measuring device for measuring length and area of remote macroscopic object |
| CN104897069B (en) * | 2015-07-01 | 2017-12-05 | 丁千寻 | A kind of laser measuring device for measuring for measuring long-range macro object length and area |
| CN109949899A (en) * | 2019-02-28 | 2019-06-28 | 未艾医疗技术(深圳)有限公司 | Image three-dimensional measurement method, electronic equipment, storage medium and program product |
| CN109949899B (en) * | 2019-02-28 | 2021-05-28 | 未艾医疗技术(深圳)有限公司 | Image three-dimensional measurement method, electronic device, storage medium, and program product |
| CN113847956A (en) * | 2021-09-23 | 2021-12-28 | 华北水利水电大学 | Landslide sliding displacement and sliding speed monitoring method based on optical dispersion |
| CN113847956B (en) * | 2021-09-23 | 2023-11-17 | 华北水利水电大学 | Landslide sliding displacement and sliding speed monitoring method based on light dispersion |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110921 Termination date: 20130125 |
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| CF01 | Termination of patent right due to non-payment of annual fee |