CN202204482U - Projection device used for structured light three-dimensional measurement - Google Patents
Projection device used for structured light three-dimensional measurement Download PDFInfo
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- CN202204482U CN202204482U CN2011202576991U CN201120257699U CN202204482U CN 202204482 U CN202204482 U CN 202204482U CN 2011202576991 U CN2011202576991 U CN 2011202576991U CN 201120257699 U CN201120257699 U CN 201120257699U CN 202204482 U CN202204482 U CN 202204482U
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Abstract
The utility model provides a projection device used for structured light three-dimensional measurement, comprising a frame, a halogen cold light source, a light source power supply system, a light source collimated optical system, a lighting system fixing device, an amplitude type transmission grating, a grating projection optical system, a grating projection optical system fixing device, a grating fixing device, a grating moving device, a stepping motor and a stepping motor control system. The projection device of the utility model can accurately put each grating into a shooting area of a three-dimensional measuring system, and has the advantages of raising three-dimensional measuring speed, convenient use, satisfying requirements of the three-dimensional measurement based on Gray code and phase-shift method, etc.
Description
(1) technical field
The utility model relates to the three-dimensional measurement field, is specifically related to a kind of projection arrangement that structural light three-dimensional is measured that is used for.
(2) background technology
The optics non-contact three-dimensional technology for information acquisition of One's name is legion is widely used in the modern industrial and agricultural production process; Wherein structured light technique is because its active measuring principle; Sampling density is adjustable, and the measuring accuracy advantages of higher is widely used in reverse-engineering, archaeology, medical science, dress ornament, anthropological measuring etc. to be needed to recover in the field of 3D shape of objects.Structured light technique be utilize common or laser as light source, known pattern is projected the surface of measured object, according to the image that obtains from another angle through imaging device, utilize the triangle principle to obtain the three-dimensional information of sampled point.The structured light projection device plays crucial effects as a core devices to measurement result and precision.
At present, optical grating projection device commonly used mainly contains lantern projection's appearance and liquid crystal projection apparatus.Grating in the liquid crystal projection apparatus is to utilize computer programming method to generate various projected fringes, and this grating has alignment preferably, lower cost but can not projection has the striped of continuous light distribution, and contrast is lower, and is relatively more responsive to surround lighting.Lantern projection's appearance adopts film and a light source to accomplish projection, and this method adopts the Tabo effect projection grating mostly, but can not change the cycle and the phase place of grating at any time, can't realize the self-adaptation projection, can't guarantee the accurate arrangement of grating.Switching between the existing grating device is through the accurate displacement Realization by Machine, and is very high to the displacement accuracy requirement, and grating device is influenced by himself material in addition; Deformation etc. takes place under high light easily; And grating is very flexible in use, and therefore, its application receives very big restriction.In the projection arrangement that white light source and grating device had constituted at present; Though can solve problems such as the intensity of projection is discontinuous; But adopt the method for coding (like Gray code, binary coding etc.) to accomplish phase unwrapping mostly, the data precision that this method obtained has much relations with the coding figure place, when strip encoding is wide; Precision is not high, and because the coding at object edge place disappearance and can't launch phase value.For gathering the different image pictures that have structural light stripes, prior art adopts the different phase-shifted grating sheets of replacing to realize simultaneously.The shortcoming of prior art is that measuring speed is slow, uses inconvenient.
(3) summary of the invention
The purpose of the utility model is to provide a kind of can accurately every amplitude grating being sent into to take the district in the three-dimension measuring system; It is slow to improve three-dimensional measurement speed; Easy to use, can satisfy the projection arrangement that structural light three-dimensional is measured that is used for based on Gray code and phase-shift method three-dimensional measurement needs.
The purpose of the utility model is achieved in that it comprises frame 1, halogen cold light source 2, light source power supply system 3, light source collimating light system 4, illuminator stationary installation 5, vibration amplitude type transmission grating 6, optical grating projection optical system 7, optical grating projection optical system stationary installation 8, grating stationary installation 9, grating mobile device 10, stepper motor 11 and step motor control system 21; Light source power supply system 3 is connected with halogen cold light source 2 through lead; Halogen cold light source 2 is learned system 4 with light source collimating light and is connected with frame 1 through illuminator stationary installation 5; Halogen cold light source 2 is installed in the focus in object space place that light source collimating light is learned system 4; Vibration amplitude type transmission grating 6 is fixed on the grating mobile device 10 through grating stationary installation 9; Optical grating projection optical system 7 is fixed on the frame 1 through optical grating projection optical system stationary installation 8, and stepper motor 11 is connected with step motor control system 21 through lead.
The utility model also has some technical characterictics like this:
1, described grating mobile device 10 comprises tooth bar 13, spiral gear 14, spiral gear stationary installation 15, pressing plate 16, locks mechanism 17, retracing spring forms 18, grating mobile device fixed support 19 and retracing spring stiff end 20; Stepper motor 11 is connected with spiral gear 14 through spiral gear stationary installation 15; Spiral gear 14 is formed pinion and rack with tooth bar 13 engagements; Retracing spring stiff end 20 is arranged on tooth bar 13 1 ends; And retracing spring 18 is connected with tooth bar 13, the other end of retracing spring 18 is connected and fixed on the frame 1 through grating mobile device fixed support 19 and pressing plate 16, and pin clamping device 17 is fixed on the tooth bar 13;
2, described stepper motor 11 is fixed on the stepper motor erecting frame 12, and stepper motor erecting frame 12 is fixedly connected with frame 1;
3, described vibration amplitude type transmission grating 6 comprises 16 measure-alike gratings.
The utility model vibration amplitude type transmission grating 6 is by the vibration amplitude type transmission grating that is employed in coat of metal etching on the quartzy optical substrate; Form by 16 measure-alike gratings altogether; The first amplitude grating characteristic is the cross curve of etching on the quartzy optical substrate of white light, is used to the focal length adjustment of the aligning and the fringe projection system in the source of throwing; Second width of cloth is the quartzy optical substrate for the full white light transmission of the normalized usefulness of light intensity; The 3rd width of cloth to the ten amplitude gratings are the chequered with black and white gratings according to the gray encoding order of lattice; The 11 width of cloth to the 13 amplitude gratings are that transmitted light intensity is the transmission grating that equilateral triangle changes, and wherein comprise 115 cycles in the 11 width of cloth, and the 12 width of cloth comprises 94 cycles, and the 13 width of cloth comprises 80 cycles; The 14 width of cloth to the 16 amplitude gratings are transmission gratings that the projection light intensity is trapezoidal variation, wherein comprise 115 cycles in the 14 width of cloth, and the 15 width of cloth comprises 94 cycles, and the 16 width of cloth comprises 80 cycles.Pin clamping device 17 is fixed on the tooth bar 13, is mainly used in and when not needing return, locks retracing spring.Stepper motor 11 is through lead and step motor control system 21, and by the Current Control stepper motor rotation of step motor control system output, the level that forms the grating mobile device through pinion and rack moves back and forth.
The utility model can solve the striped that can not projection has continuous light distribution that exists in the existing grating device, can't guarantee precise displacement and the problem of launching phase value, can solve grating device simultaneously and influenced by himself material; Deformation takes place under high light easily; Shortcomings such as very flexible, beneficial effect is: by depicting several gratings on the quartzy optical substrate, can accurately every amplitude grating be sent into shooting district in the three-dimension measuring system through the grating mobile device; It is slow to improve three-dimensional measurement speed; Easy to use, enough satisfy three-dimensional measurement needs based on Gray code and phase-shift method, guaranteed to throw in the structured light three-dimensional measurement problems such as continuous distribution of intensity and light intensity; The final measurement precision is improved, has the important engineering practical value.
(4) description of drawings
Fig. 1 is the structural representation of the utility model;
Fig. 2 is an A-A face sectional view among Fig. 1;
Fig. 3 is the vertical view of the utility model.
(5) embodiment
Below in conjunction with accompanying drawing and embodiment the utility model is further described:
Embodiment one:
In conjunction with Fig. 1; Present embodiment comprises frame 1, halogen cold light source 2, light source power supply system 3, light source collimating light system 4, illuminator stationary installation 5, vibration amplitude type transmission grating 6, optical grating projection optical system 7, optical grating projection optical system stationary installation 8, grating stationary installation 9, grating mobile device 10, stepper motor 11, stepper motor erecting frame 12, tooth bar 13, spiral gear 14, spiral gear stationary installation 15, pressing plate 16, locks mechanism 17, retracing spring composition 18, grating mobile device fixed support 19, retracing spring stiff end 20 and step motor control system 21; Light source power supply system 3 is connected with halogen cold light source 2 through lead; Provide halogen cold light source 2 to discharge the electric energy of light beam; According to the size of power supply device output current, change the light intensity that halogen cold light source 2 discharges light beam simultaneously; Halogen cold light source 2 is learned system 4 with light source collimating light and is connected with frame 1 through illuminator stationary installation 5; Halogen cold light source 2 is installed in the focus in object space place that light source collimating light is learned system 4; The aperture diaphragm that the nearly sphere light beam that halogen cold light source 2 discharges is learned system 4 through light source collimating light forms the sphere light beam, forms the planar light beam vertical irradiation to vibration amplitude type transmission grating surface 6 through collimating optical system 4 backs; Vibration amplitude type transmission grating 6 is fixed on the grating mobile device 10 through grating stationary installation 9; The light beam that sees through vibration amplitude type transmission grating has carried coded message through the distribution of light intensity; Through optical grating projection optical system 7; The light beam amplification is projected the measured object surface, so that supply imaging device to obtain stripe pattern, optical grating projection optical system 7 is fixed on the frame 1 through optical grating projection optical system stationary installation 8.
Grating mobile device 10 by tooth bar 13, spiral gear 14, spiral gear stationary installation 15, pressing plate 16, lock that mechanism 17, retracing spring form 18, grating mobile device fixed support 19 and retracing spring stiff end 20 form; Stepper motor 11 is fixed on the stepper motor erecting frame 12; Stepper motor erecting frame 12 is fixedly connected with frame 1; Be connected with spiral gear 14 through spiral gear stationary installation 15; Spiral gear 14 is formed pinion and rack with tooth bar 13 engagements, realizes moving horizontally and return of transmission grating.Tooth bar 13 two ends have retracing spring stiff end 20, are used for retracing spring 18 is connected with tooth bar 13, and the other end of retracing spring 18 is connected and fixed on the frame 1 through grating mobile device fixed support 19 and pressing plate 16.Pin clamping device 17 is fixed on the tooth bar 13, is mainly used in and when not needing return, locks retracing spring.
Vibration amplitude type transmission grating 6 is by the vibration amplitude type transmission grating that is employed in coat of metal etching on the quartzy optical substrate; Form by 16 measure-alike gratings altogether; The first amplitude grating characteristic is the cross curve of etching on the quartzy optical substrate of white light, is used to the focal length adjustment of the aligning and the fringe projection system in the source of throwing; Second width of cloth is the quartzy optical substrate for the full white light transmission of the normalized usefulness of light intensity; The 3rd width of cloth to the ten amplitude gratings are the chequered with black and white gratings according to the gray encoding order of lattice; The 11 width of cloth to the 13 amplitude gratings are that transmitted light intensity is the transmission grating that equilateral triangle changes, and wherein comprise 115 cycles in the 11 width of cloth, and the 12 width of cloth comprises 94 cycles, and the 13 width of cloth comprises 80 cycles; The 14 width of cloth to the 16 amplitude gratings are transmission gratings that the projection light intensity is trapezoidal variation, wherein comprise 115 cycles in the 14 width of cloth, and the 15 width of cloth comprises 94 cycles, and the 16 width of cloth comprises 80 cycles.
In conjunction with Fig. 2, this embodiment is realized aligning and the focusing of projection pattern to measured object by first width of cloth, is up to the projection of 8 Gray code structure light coding pattern by the realization of second width of cloth to the, ten amplitude gratings.Through step motor control system 21 control step motors 11; Realize the CW rotation and rotation counterclockwise of spiral gear 14; The level of control tooth bar moves back and forth; Required grating is moved between the illuminator and optical grating projection optical system 7 of halogen cold light source 2 and light source collimating light system 4 compositions, realize the projection of projection pattern.
Embodiment two:
Present embodiment basic structure is with embodiment one; Difference is to realize aligning and the focusing of projection pattern to measured object by first width of cloth; By the 11 width of cloth to the 13 amplitude gratings is that transmitted light intensity is transmission grating that equilateral triangle changes and realizes being at most the projection of multicycle triangle phase-shift coding structured light projection pattern of three cycles coding; Through step motor control system 21 control step motors 11; The CW of realizing spiral gear 14 rotates and rotation counterclockwise, and the level of control tooth bar moves back and forth, and required grating is moved between the illuminator and optical grating projection optical system 7 of halogen cold light source 2 and light source collimating light system 4 compositions; And can control with the same width of cloth phase-shifted grating l/n cycle and move, to realize the projection of n step phase shift projection pattern.
Embodiment three:
Present embodiment basic structure is with embodiment one; Difference is to realize aligning and the focusing of projection pattern to measured object by first width of cloth; By the 14 width of cloth to the 16 amplitude gratings is that transmission grating that transmitted light intensity is trapezoidal variation realizes being at most the projection of multicycle trapezoidal phase-shift coding structured light projection pattern of three cycles coding; Through step motor control system 21 control step motors 11; The CW of realizing spiral gear 14 rotates and rotation counterclockwise, and the level of control tooth bar moves back and forth, and required grating is moved between the illuminator and optical grating projection optical system 7 of halogen cold light source 2 and light source collimating light system 4 compositions; And can control the same width of cloth phase-shifted grating l/n cycle and move, to realize the projection of n step phase shift projection pattern.
Embodiment four:
Present embodiment basic structure is with embodiment one; Difference is to realize aligning and the focusing of projection pattern to measured object by first width of cloth; Amplitude grating combination in second width of cloth to the, ten amplitude gratings in all or part of gray encoding grating and the 11 width of cloth to the 13 amplitude gratings; Through step motor control system 21 control step motors 11; Realize the CW rotation and rotation counterclockwise of spiral gear 14; The level of control tooth bar moves back and forth, and required grating is moved between the illuminator and optical grating projection optical system 7 of halogen cold light source 2 and light source collimating light system 4 compositions, can realize the projection of the phase shift of variable resolution triangle of forces and Gray's code combination time encoding structure light coding pattern.
Embodiment five:
Present embodiment basic structure is with embodiment one; Difference is to realize aligning and the focusing of projection pattern to measured object by first width of cloth; Amplitude grating combination in second width of cloth to the, ten amplitude gratings in all or part of gray encoding grating and 16 trapezoidal encode gratings of the 14 width of cloth to the; Through step motor control system 21 control step motors 11; Realize the CW rotation and rotation counterclockwise of spiral gear 14; The level of control tooth bar moves back and forth, and required grating is moved between the illuminator and optical grating projection optical system 7 of halogen cold light source 2 and light source collimating light system 4 compositions, can realize the trapezoidal phase shift of variable resolving power and the projection of Gray's code combination time encoding structure light coding pattern.
Existing technological level can satisfy the production and processing requirement of the required grating of the utility model, mechanical hook-up and electrical equipment fully.
Claims (4)
1. one kind is used for the projection arrangement that structural light three-dimensional is measured; It is characterized in that it comprises frame, halogen cold light source, light source power supply system, light source collimating light system, illuminator stationary installation, vibration amplitude type transmission grating, optical grating projection optical system, optical grating projection optical system stationary installation, grating stationary installation, grating mobile device, stepper motor and step motor control system; The light source power supply system is connected with the halogen cold light source through lead; The halogen cold light source is learned system with light source collimating light and is connected with frame through the illuminator stationary installation; The halogen cold light source is installed in the focus in object space place that light source collimating light is learned system; Vibration amplitude type transmission grating is fixed on the grating mobile device through the grating stationary installation; The optical grating projection optical system is fixed on the frame through optical grating projection optical system stationary installation, and stepper motor is connected with step motor control system through lead.
2. a kind of projection arrangement that structural light three-dimensional is measured that is used for according to claim 1; It is characterized in that described grating mobile device comprises tooth bar, spiral gear, spiral gear stationary installation, pressing plate, locks mechanism, retracing spring is formed, grating mobile device fixed support and retracing spring stiff end; Stepper motor is connected with spiral gear through the spiral gear stationary installation; Pinion and rack is formed in the engagement of helical teeth wheel and rack, and the retracing spring stiff end is arranged on tooth bar one end, and retracing spring is connected with tooth bar; The other end of retracing spring is connected and fixed on the frame through grating mobile device fixed support and pressing plate, and pin clamping device is fixed on the tooth bar.
3. a kind of projection arrangement that structural light three-dimensional is measured that is used for according to claim 2 is characterized in that described stepper motor is fixed on the stepper motor erecting frame, and stepper motor erecting frame and frame are fixed.
4. a kind of projection arrangement that structural light three-dimensional is measured that is used for according to claim 3 is characterized in that described vibration amplitude type transmission grating comprises 16 measure-alike gratings.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011202576991U CN202204482U (en) | 2011-07-20 | 2011-07-20 | Projection device used for structured light three-dimensional measurement |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011202576991U CN202204482U (en) | 2011-07-20 | 2011-07-20 | Projection device used for structured light three-dimensional measurement |
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| CN202204482U true CN202204482U (en) | 2012-04-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2011202576991U Expired - Fee Related CN202204482U (en) | 2011-07-20 | 2011-07-20 | Projection device used for structured light three-dimensional measurement |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102706294A (en) * | 2012-05-04 | 2012-10-03 | 东莞市奥普特自动化科技有限公司 | Device for detecting surface evenness of object |
| CN106123806A (en) * | 2016-06-20 | 2016-11-16 | 四川川大智胜软件股份有限公司 | A kind of based on micro electronmechanical structured light projection scheme |
-
2011
- 2011-07-20 CN CN2011202576991U patent/CN202204482U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102706294A (en) * | 2012-05-04 | 2012-10-03 | 东莞市奥普特自动化科技有限公司 | Device for detecting surface evenness of object |
| CN102706294B (en) * | 2012-05-04 | 2015-11-11 | 东莞市奥普特自动化科技有限公司 | A kind of for detecting the smooth device of object surface |
| CN106123806A (en) * | 2016-06-20 | 2016-11-16 | 四川川大智胜软件股份有限公司 | A kind of based on micro electronmechanical structured light projection scheme |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| DD01 | Delivery of document by public notice |
Addressee: Harbin University of Science and Technology Document name: Notification of Termination of Patent Right |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120425 Termination date: 20140720 |
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| EXPY | Termination of patent right or utility model |