CN204177356U - A kind of dimensional topography sensing device based on laser dot-matrix mark - Google Patents

Abstract

The utility model discloses a kind of dimensional topography sensing device based on laser dot-matrix mark, this device is made up of two video cameras and two groups of laser array generators; Often organize laser array generator to be made up of laser instrument, collimating apparatus, Darman raster and prism group; Carrying out placing array laser in the middle of two video cameras of binocular stereo vision detection, thus producing laser array, to realize matrix lamp and the sampling of three-dimensional body in search coverage.The utility model is more more accurate than the mode of directly carrying out again mating with two camera detection, and laser dot-matrix makes image detail enrich, and is conducive to searching and the Stereo matching of unique point, improves the degree of accuracy of binocular stereo vision detection landform.Can be used for the detection of landform under weak details landform and dim environment.

Description

A kind of dimensional topography sensing device based on laser dot-matrix mark

Technical field

The utility model belongs to dimensional topography sensor measuring field, particularly relates to a kind of dimensional topography sensing device based on laser dot-matrix mark and method.

Background technology

Vision Builder for Automated Inspection instrument is quick, and noncontact, precision advantages of higher is used widely in various fields.Existing sensing technology has two kinds: the first kind is sonar input system, and it can detect existence and the distance of barrier fast.But acquisition range is little, in large space and complex environment, transmission of information that can not be stable; Equations of The Second Kind is image input system, and this syetematic view is large, and the environmental information collected is abundanter.Wherein technique of binocular stereoscopic vision recovers the three-dimensional information of object by the two width images obtained from different perspectives same object, mainly comprises Image Acquisition, camera calibration, Stereo matching and the several aspect of three dimensional signal space.This vision technique is utilized to detect topography and geomorphology and recover its dimensional topography, at navigation and guide field important in inhibiting.Stereo matching is most important in stereoscopic vision is also the most difficult problem.When space three-dimensional scene is projected as two dimensional image, the image of unified scenery under different points of view can be very different, and many scene factors also can impact.

Summary of the invention

The purpose of this utility model is for the deficiencies in the prior art, provides a kind of dimensional topography sensing device based on laser dot-matrix mark.

The purpose of this utility model is achieved through the following technical solutions: a kind of dimensional topography sensing device based on laser dot-matrix mark, is made up of two video cameras and two groups of laser array generators; Described laser array generator of often organizing is made up of laser instrument, collimating apparatus, Darman raster and prism group, can produce the uniform laser array of 9 beam energy; Often organize the laser instrument of laser array generator, collimating apparatus, Darman raster and prism group to arrange on same optical axis successively, two groups of laser array generators are fitted layout up and down, the axis of described laser array generator is vertical with the baseline of two video cameras, and two prism groups of laminating are in the center of two video cameras; The wavelength X of described laser instrument is 0.974 μm;

Described Darman raster is single order, three cycle Darman rasters, and the cycle is 18.8 μm, phase place be π, refractive index n is 1.4507; The etching depth e of Darman raster 4 is 0.63 μm:

Described each prism group is made up of 9 trapezoidal tuning prisms; The refractive index of described trapezoidal tuning prism is 1.4507; First trapezoidal tuning prism of the prism group in top is followed successively by 56.55 °, 50.18 °, 39.55 °, 22.73 °, 0 °, 22.73 °, 39.55 °, 50.18 °, 56.55 ° to the angle of carving between the reflecting surface and the plane of incidence of the 9th trapezoidal tuning prism; First trapezoidal tuning prism of the prism group in below is followed successively by-48.27 ° ,-39.52 ° ,-25.98 ° ,-7.14 °, 13.92 °, 31.85 °, 44.41 °, 52.46 °, 56.72 ° to the angle of carving between the reflecting surface and the plane of incidence of the 9th trapezoidal tuning prism;

Base length between described two video cameras is 100mm-200mm; The length, width and height of described prism group are respectively 32mm, 7mm, 8mm.

Compared with prior art, the utility model has following useful technique effect: the utility model device, by increasing Darman raster and trapezoidal tuning prism group, produces the uniform laser array of 9 × 2 beam energy in detection viewing field; Relative to existing technology of carrying out binocular stereo vision detection only by two video cameras, the utility model device can realize laser dot-matrix as Matching unit, adding unique point details makes the degree of accuracy of Stereo matching process higher, range of application is wider, be applicable to the detection of the less landform of details, because this device volume is little, simply therefore structure is convenient to implement.The laser dot-matrix being arranged in visual field has illuminating effect, is conducive to the dimensional topography detection under dim environment.

Accompanying drawing explanation

Fig. 1 is configured in parallel dual camera system principle of triangulation figure;

Fig. 2 is the utility model dimensional topography sensing device schematic diagram;

Fig. 3 is the utility model Darman raster structural representation;

Fig. 4 is binocular vision structured flowchart;

In figure, video camera 1, prism group 2, laser array 3, Darman raster 4, collimating apparatus 5, laser instrument 6.

Embodiment

Describe the utility model in detail below in conjunction with embodiment and accompanying drawing, but the utility model is not limited to this.

Be illustrated in figure 1 binocular distance measurement principle.Two parallel camera pitch length are B, and focal length is all f, and O3, O4 are cam lens central point.The picture point that object P becomes on left camera sensitized lithography o1x1y1 is P1 (x1, y1), and coordinate (x1, y1) arranges for the xth 1 of left camera photosensitive array, and y1 is capable; The picture point that right camera sensitized lithography o2x2y2 becomes is P1 (x2, y2), and coordinate (x2, y2) arranges for the xth 2 of right camera photosensitive array, and y2 is capable.If the spacing of each pixel of camera is d, object at the parallax D of two camera imagings is:

$D=d\×\sqrt{{(x_1-x_2)}^2+{(y_1-y_2)}^2}$

The formula calculating object distance L can be derived according to the proportional relation of similar triangles opposite side:

$\frac{B}{D}=\frac{L}{f}\→L=\frac{B\×f}{D}$

The three-dimensional coordinate of reference point can be calculated by above coordinate relation.

As shown in Figure 2, a kind of dimensional topography sensing device based on laser dot-matrix mark of the utility model, is made up of two video cameras 1 and two groups of laser array generators; Described laser array generator of often organizing is made up of laser instrument 6, collimating apparatus 5, Darman raster 4 and prism group 2, can produce the uniform laser array 3 of 9 beam energy; Often organize the laser instrument 6 of laser array generator, collimating apparatus 5, Darman raster 4 and prism group 2 to arrange on same optical axis successively, two groups of laser array generators are fitted layout up and down, the axis of described laser array generator is vertical with the baseline of two video cameras 1, and two prism groups 2 of laminating are in the center of two video cameras 1.

The wavelength X of described laser instrument 6 is 0.974 μm.

As shown in Figure 3, described Darman raster 4 is single order, three cycle Darman rasters, and the cycle is 18.8 μm, phase place be π, refractive index n is 1.4507; The etching depth e that can be obtained Darman raster 4 by following formula is 0.63 μm:

$(\mathrm{ne}-e)\frac{2\mathrm{\π}}{\mathrm{\λ}}=\mathrm{\π}$

Table 1 Darman raster ideal point is to description

	1	2	3
				a	0	2.4197	8.5852
b	1.2536	5.3747	11.1089

If incident intensity is 1, then the light intensity of diffraction light at different levels is as follows:

Table 2 diffraction intensity at different levels

Level time	0	±1	±2	±3	±4
						Intensity	0.088	0.084	0.072	0.080	0.083

For ensureing that the luminous point projecting ground is uniformly distributed, adding the mode of prism group in the optical path, each light beam being refracted to successively to the position of needs.Each prism group 2 is made up of 9 trapezoidal tuning prisms, the in the same size of hot spot is ensured for the ease of gluing together and trying one's best, the lower surface of each trapezoidal tuning prism of prism group 2 is vertical with incident ray, according to each geometrical length and angle and fused quartz refractive index at that wavelength (1.4507498), what can calculate each prism carves angle.First trapezoidal tuning prism of the prism group 2 in top is followed successively by 56.55 °, 50.18 °, 39.55 °, 22.73 °, 0 °, 22.73 °, 39.55 °, 50.18 °, 56.55 ° to the angle of carving between the reflecting surface and the plane of incidence of the 9th trapezoidal tuning prism; First trapezoidal tuning prism of the prism group 2 in below is followed successively by-48.27 ° ,-39.52 ° ,-25.98 ° ,-7.14 °, 13.92 °, 31.85 °, 44.41 °, 52.46 °, 56.72 ° to the angle of carving between the reflecting surface and the plane of incidence of the 9th trapezoidal tuning prism.Base length between described two video cameras 1 is 100mm-200mm; The length, width and height of described prism group are respectively 32mm, 7mm, 8mm.After refraction, the length of the corresponding zero order light of each spot distance is as following table:

Table 3 reflects the length of the corresponding zero order light of rear each spot distance

Level time	±1	±2	±3	±4
					Distance	0.25	0.50	0.75	1.00

Then just in time form the dot matrix that overall length is 2 meters.

As shown in Figure 4, the utility model can realize using laser dot-matrix as Matching unit, utilizes binocular stereo vision principle, obtains the three-dimensional information of detection landform through the step such as Image semantic classification, Stereo matching.Concrete processing procedure is as follows:

(1) laser beam of laser instrument 6 output is after collimating apparatus 5 collimates, and is divided into 9 beam optical paths by Darman raster 4, then carries out tuning by prism group 2 to 9 beam optical paths and energy even forms laser dot-matrix 3; The laser dot-matrix 3 that the prism group 2 being positioned at top is formed is positioned at the 0.75m place, dead ahead of two video cameras 1, and the laser dot-matrix 3 that the prism group 2 being positioned at below is formed is positioned at the 0.91m place, dead ahead of two video cameras 1;

(2) terrain graph of Same Scene is obtained by two video cameras 1;

(3) traditional standardization is taked, parasitic light process is carried out to the laser dot-matrix 3 of the terrain graph obtained in step 2, it can be used as calibrated reference, seek out inner parameter and the external parameter of camera model, calculate the position of laser array 3 in video camera 1 coordinate;

(4) to the terrain graph pre-service obtained, utilize that middle finger filtering algorithm carries out filtering, Laplacian algorithm carries out sharpening and canny operator carries out the pre-service such as Iamge Segmentation;

(5) using laser dot-matrix 3 as match objects, utilize Feature Correspondence Algorithm to carry out Stereo matching to terrain graph;

(6) Stereo matching establish detection terrain graph between corresponding relation after, calculated the three-dimensional coordinate of the detection of a target by above-mentioned triangulation principle, obtain the gradient of landform, relative height and absolute altitude, finally simulate dimensional topography.

Claims (1)

1., based on a dimensional topography sensing device for laser dot-matrix mark, it is characterized in that, be made up of two video cameras (1) and two groups of laser array generators; Described laser array generator of often organizing is made up of laser instrument (6), collimating apparatus (5), Darman raster (4) and prism group (2); Often organize the laser instrument (6) of laser array generator, collimating apparatus (5), Darman raster (4) and prism group (2) to arrange on same optical axis successively, two groups of laser array generators are fitted layout up and down, the axis of described laser array generator is vertical with the baseline of two video cameras (1), and two prism groups (2) of laminating are in the center of two video cameras (1);

The wavelength X of described laser instrument (6) is 0.974 μm;

Described Darman raster (4) is single order, three cycle Darman rasters, and the cycle is 18.8 μm, phase place is π, refractive index nbe 1.4507; The etching depth e of Darman raster (4) is 0.63 μm:

Described each prism group (2) is made up of 9 trapezoidal tuning prisms; The refractive index of described trapezoidal tuning prism is 1.4507; First the trapezoidal tuning prism being positioned at the prism group (2) of top is followed successively by 56.55 °, 50.18 °, 39.55 °, 22.73 °, 0 °, 22.73 °, 39.55 °, 50.18 °, 56.55 ° to the angle of carving between the reflecting surface and the plane of incidence of the 9th trapezoidal tuning prism; First the trapezoidal tuning prism being positioned at the prism group (2) of below is followed successively by-48.27 ° ,-39.52 ° ,-25.98 ° ,-7.14 °, 13.92 °, 31.85 °, 44.41 °, 52.46 °, 56.72 ° to the angle of carving between the reflecting surface and the plane of incidence of the 9th trapezoidal tuning prism;

Base length between described two video cameras (1) is 100 mm-200mm; The length, width and height of described prism group are respectively 32mm, 7mm, 8mm.