CN204421902U - Artificial intelligent machine vision recognition device for common and special environment - Google Patents
Artificial intelligent machine vision recognition device for common and special environment Download PDFInfo
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Abstract
The utility model relates to an artificial intelligence machine vision recognition device in common and special environments, which solves the problem of small field range in the prior art and comprises a sine structure light output system, a vision collection recognition system consisting of a computer (14), a telecentric lens connected with the computer, a high-speed CCD or CMOS (11), a laser ranging system (12) and an internal environment control system (13), an output light path of the sine structure light output system and a target (10) to be recognized; the sine structure light output system and the vision acquisition and recognition system are arranged in a protective shell (15) with a radiation-proof protective window. The method has the advantages of realizing continuous output of sinusoidal structured light from low frequency to high frequency and high contrast, being suitable for large-field-of-view measurement from near to far, and considering the static state, low speed and mode identification of high-speed moving objects with different characteristics.
Description
Technical field
The utility model relates to a kind of Machine Vision Recognition equipment, particularly relates to a kind of artificial intelligence machine device for visual identification of common and particular surroundings.
Background technology
At present, artificial intelligence machine visual identity equipment mainly through directly taking image, and in conjunction with the identification of figure image recognition algorithm implementation pattern.To special object, use specific software algorithm identification; This type of method and technology, is also mainly used in specific, single identification object.Such as: the integrality identification of medicine Chinese medicine tablet, capsule; The liquid level identification of glue bottle beverage, drinks etc.; The rim detection identification fields etc. such as the image border integrity degree identification of dyeing; Other as: the fields such as harbour, airport, railway station, import and export Articles detecting, generally need human assistance identification; The special dimensions such as intense radiation, superhigh temperature, UHV (ultra-high voltage), the particular surroundingss such as such as mine, nuclear radiation pollution district, submarine hydrothermal solution district, planetary surface, the image remote that closely general needs are real-time is play, and indirect labor controls to carry out; The particular surroundingss such as remote planetary surface, are difficult to realize realtime graphic transmission and manual control, so, the requirement of algorithm is increased substantially, has also increased considerably the computational burden of CPU simultaneously.
On probe source, directly take with video camera, the lighting source that general employing is common; Also have and use point-like laser scanning, or linear laser scan method; Also the method using projector to export sinusoidal structured optical illumination is had; 3D solid identifies, existing dual camera method also has the interference technique adopting Hologram.These class methods, because the existence of Scan Architecture, speed is slow; Or, because use common apparatus, such as projector, and be not suitable for being used in the particular surroundingss such as high radiation, high temperature, high pressure; Or the operand of dual camera is also larger; Or, because utilize holographic interference methods, be only applicable to laboratory, limit environment for use.
The patent No. 200510016796.0 patent is the close patent of principle, to the effect that " modulation transfer function of optical system (MTF) measurement " that relate to.First inventor of the artificial present patent application of this patent first invention, after improving four gordian techniquies of this patent, can be used for the artificial intelligence machine visual identity of common and special multi-environment, reduces software operand, improve discrimination.
The first, do not have specific aim to the selection of key core parts rectangular raster, utilize merely the fabrication error of rectangular raster, the second order spectrum of realization exports, and does not have controllability; Improvement project is the rectangular transmission grating that will dutycycle used accurately to control the ratio of integers for being greater than 3: 1, and utility second order spectrum synthesizes, and realizes key position, and the multiplication of projection sinusoidal light exports.Single-frequency, double frequency, three sinusoidal light projection frequently can be used, there will not be frequency alias, easily realize filtering algorithm design, reduce software operand, alleviate the computing pressure of image procossing CPU, improve discrimination;
The second, the zero level frequency spectrum occupying input energy more than 70% can not effectively utilize, and can only reduce the contrast exporting sinusoidal light; Improvement project be according at different levels spectrum between phase relation, quarter wave plate or 1/2 wave plate is utilized zero-frequency luminous energy to be transferred to one-level frequency spectrum, secondary frequency spectrum, three grades of frequency spectrums, significantly improve the local fringe density of deep camber position and the contrast of sinusoidal light, be beneficial to and obtain remote and large-sized picture rich in detail, improve pattern-recognition rate;
3rd, fourier transform lens and zoom rate camera lens are universal design, and not for the targeted design of single wavelength light, the sinusoidal light image field aberration of output is comparatively large, is the large obstacle that measuring accuracy improves; Improvement project is for light source laser wavelength, the monochromatic camera lens of design specialized, do not need to consider aberration and achromatism problem, only need solve spherical aberration, the curvature of field, distortion, coma and astigmatism problem, reduce the difficulty of lens design, plated film and manufacture, and effectively can reduce the wave aberration of the sinusoidal light that projects, again in conjunction with laser distance measuring system, realize the real-Time Compensation in different distance position wave aberration, effectively improve the sharpness of reference object, improve accuracy of identification;
4th, directional light exports, if according to output lens size 4 inches design, namely projection size only has 4 inches, limits the field range of measurement, is unfavorable for large area projection shooting; Improvement project coordinates high power camera lens to export, and strengthens projected area; And coordinate the scanning of high-velocity scanning galvanometer, realize large scale, large area projection sinusoidal structured light output, coordinate telecentric lens and image mosaic technology, static shooting can reach the huge range of tens meters, the low speed object pattern-recognition of far and near different distance can be taken into account, and the seizure of high-speed moving object and pattern-recognition.
Utility model content
The utility model object is the above-mentioned defect overcoming prior art, provides a kind of artificial intelligence machine device for visual identification of common and particular surroundings.Have for the problem in background technology: artificial intelligence machine visual identity method graph image recognizer operand is large, and identify that characteristics of objects is single, discrimination is low; And use common apparatus, and be not suitable for the particular surroundings uses etc. such as ultralow temperature, high vacuum, microgravity, superhigh temperature, UHV (ultra-high voltage), deep-etching, intense radiation.This technology relates to artificial intelligence machine visual field, relate to and utilize wave plate, rectangular raster or sinusoidal grating, optical filter and optical spatial filter, carry out space frequency division, synthesis, produce the two-dimentional sinusoidal light higher than 100lp/mm spatial frequency, in conjunction with telecentric lens and high-speed CCD (CMOS), and image procossing and mode identificating software, carry out a kind of method and apparatus of artificial intelligence machine visual identity.
For achieving the above object, the utility model artificial intelligence machine device for visual identification that is common and particular surroundings comprises the single-mode laser 1 of the round hot spot output being configured in precision lead screw 8-1 and precise guide rail 8-2 along light path successively, beam shaping system 2, rectangular raster 3, monochromatic fourier transform lens 4, spectrum selector 5, wave plate 6, monochromatic zoom rate camera lens 7, the sinusoidal light output system that high-speed vibrating mirror 9 forms, by computing machine 14 and the telecentric lens be attached thereto and high-speed CCD or CMOS11, laser distance measuring system 12, the target to be identified 10 that the output light path of the vision collecting recognition system that internal environment control system 13 forms and sinusoidal light output system and the collection light path of vision collecting recognition system are pointed to, sinusoidal light output system and vision collecting recognition system are configured in the protecting sheathing 15 of band radiation proof protecting window.Have in conjunction with laser distance measuring system, by the demarcation to output corrugated, realize from low to high, high-contrast, image field correction is convenient, and the sinusoidal light being applicable to Large visual angle scope measurement from the close-by examples to those far off exports continuously, takes into account far and near different distance, the static state of different characteristic, low speed, and the advantage of the pattern-recognition of high-speed moving object.
As optimization, described beam shaping system 2 is positioned at after laser instrument 1, expands, collimates, shaping to laser beam; Rectangular raster 3 is positioned at after beam shaping system 2, and makes rectangular raster 3 be positioned on the front focal plane of monochromatic fourier transform lens 4; Wave plate 6 and spectrum selector 5 are positioned on the back focal plane of monochromatic fourier transform lens 4, and are positioned on the front focal plane of monochromatic zoom rate camera lens 7; High-speed vibrating mirror 9 is positioned on the output light path of monochromatic zoom rate camera lens 7 rear.
Adopt parallel light projection to export sinusoidal light, can directly take small size target object; Medium visual field, uses monochromatic zoom rate camera lens to export the non-parallel smooth sinusoidal light of low-angle, can realize; Large view field measurement, adjusts monochromatic zoom rate camera lens 7, exports the non-parallel smooth sinusoidal light of wide-angle, can realize; Or use high-speed vibrating mirror 9, significantly expand field range, high-speed vibrating mirror 9 is positioned after monochromatic zoom rate camera lens 7, in order to export sinusoidal light projection shooting.The shooting distance L that all photographic subjects modes need the parallax range b of synchronization and laser distance measuring system 12 to determine
0deng structural parameters support; Coordinate high power camera lens to export, strengthen projected area; And coordinate the scanning of high-speed vibrating mirror 9, realize large scale, large area projection sinusoidal structured light output, coordinate telecentric lens and high-speed CCD (CMOS) 11 and image mosaic technology, static shooting can reach the huge range of tens meters, the low speed object pattern-recognition of far and near different distance can be taken into account, and the seizure of high-speed moving object and pattern-recognition; The target image utilizing single-frequency, double frequency, three sinusoidal light projection shooting frequently obtained, there will not be frequency alias, easily realizes filtering algorithm design, reduce software operand, alleviate the computing pressure of image procossing CPU, improve discrimination; Zero-frequency luminous energy is transferred to one-level frequency spectrum, secondary frequency spectrum, three grades of frequency spectrums, significantly improve the local fringe density of deep camber position and the contrast of sinusoidal light, be beneficial to and obtain remote and large-sized picture rich in detail, improve pattern-recognition rate; In conjunction with laser distance measuring system 12, realize the real-Time Compensation in different distance position wave aberration, effectively improve the sharpness of reference object, improve accuracy of identification.
As optimization, described telecentric lens and high-speed CCD or CMOS11, laser distance measuring system 12 are set up in parallel.
As optimization, described telecentric lens and high-speed CCD or CMOS11 are positioned at inner side, the described laser distance measuring system 12 of closing on sinusoidal light output system and are positioned at outside away from sinusoidal light output system.
As optimization, described protecting sheathing 15 is configured with the zigzag radiation protection window 16-1 of sinusoidal light output system and the zigzag radiation protection window 16-2 of vision collecting recognition system respectively before sinusoidal light output system He before vision collecting recognition system.Protecting sheathing 15, with sinusoidal structured photoscanning output protection window (zigzag radiation protection window) 16-1, and target is taken and range finding receives input protection window (zigzag radiation protection window) 16-2; Fixing all elements, general design needs dust-proof, waterproofing protection, ensures inner member steady operation and maintains internal environment stabilization; Input, output protection window (zigzag radiation protection window) 16-1, protecting window (zigzag radiation protection window) 16-2, according to the mode using the different choice design of particular surroundings corresponding; General withstand voltage, high temperature resistant design alternative sapphire window, UV resistance design alternative quartz window, anti-High energy particles Radiation, design alternative zigzag radiation protection window etc., realize particular surroundings needs, as particular surroundingss such as ultralow temperature, high vacuum, microgravity, superhigh temperature, UHV (ultra-high voltage), deep-etching, intense radiations.
As optimization, described zigzag radiation protection window is that two ends two corners that reverse vertical stretches out the main cylinder of shading of shading end cylinder respectively configure the catoptron that a minute surface and described shading end cylinder axis and the main cylinder axis of shading are 45 degree of angles respectively.
As optimization, described shading end cylinder outer end is configured with transparent window, and described transparent window is sapphire window or quartz window or other transparent glasses lens; The outer end of the main cylinder of described shading or an outer shading end cylinder is packed on described protecting sheathing 15.
As optimization, described telecentric lens and high-speed CCD or CMOS11, laser distance measuring system 12 form shooting baseline b with high-speed vibrating mirror 9; By laser distance measuring system 12, obtain the captured in real-time distance L of target
0structured data parameter and target image, and send data to computing machine 14, carry out pattern recognition process and store; Internal environment control system 13, by the parameters of device interior, as temperature, pressure data transfer to computing machine 14, and control by it, realizes the stable of internal environment, ensures the normal work of each element.
As optimization, described beam shaping system 2 is laser beam expander formula, and the aperture circularity of its laser beam waist position is better than micron order, and impulse-free robustness; Described rectangular raster 3 requires that dutycycle is not equal to 1: 1; Described rectangular raster 3 and spectrum selector 5 are replaced by sinusoidal grating.
As optimization, described spectrum selector 5 comprises electricity, magnetic or optically addressed spatial light modulator SLM, digital micro-mirror device DMD, mechanical type aperture.
Possess following detection method:
A. first adjusting the devices such as laser instrument 1, beam shaping system 2, rectangular raster 3, monochromatic fourier transform lens 4, spectrum selector 5, wave plate 6, monochromatic zoom rate camera lens 7, high-speed vibrating mirror 9 is placed on precision lead screw 8-1 and precise guide rail 8-2; Telecentric lens and high-speed CCD (CMOS) 11, laser distance measuring system 12 determine installation site according to the parallax range b of design; The above-mentioned components and parts such as internal environment control system 13, computing machine and software analysis system 14 are installed in the protecting sheathing 15 with protecting window (zigzag radiation protection window) 16-1, protecting window (zigzag radiation protection window) 16-2, reach common and special multi-environment request for utilization;
B. laser instrument 1 select circle hot spot export single-mode laser, be convenient to wavefront measurement, and monochromatic fourier transform lens 4, wave plate 6, monochromatic zoom rate camera lens 7 monochromatic matched design.When selecting the laser instrument of different wave length, need monochromatic fourier transform lens 4, wave plate 6, monochromatic zoom rate camera lens 7 that corresponding design matches;
C. beam shaping system 2, adopts laser beam expander design, reduces the power density inciding rectangular raster 3, reduces grating damage, is convenient to the power improving laser instrument 1; The aperture of laser beam waist position, requires to be better than micron-sized circularity, and impulse-free robustness;
D. rectangular raster 3, requires that dutycycle is not equal to 1: 1, and convenient use one-level frequency spectrum, secondary frequency spectrum and three grades of frequency spectrums, make full use of its frequency multiplication relation, Quick high spatial frequency; Target simple scenario, rectangular raster also can be replaced by sinusoidal grating easily, now, removes spectrum selector 5;
E. monochromatic fourier transform lens 4 and monochromatic zoom rate camera lens 7, all need the Wavelength design coordinating laser instrument 1, implementation space optical Fourier transform, takes into account aperture and visual field requirement simultaneously;
F. spectrum selector 5, comprises electricity, magnetic or optically addressed spatial light modulator SLM, digital micro-mirror device DMD, mechanical type aperture, selects one-level frequency spectrum, secondary frequency spectrum and three grades of frequency spectrums, and slightly decay to zero level frequency spectrum to facilitate; Do not using rectangular raster 3, and under the condition not needing frequency spectrum to select, can remove; Select single-frequency, double frequency, three sinusoidal light projection frequently, there will not be frequency alias, easily realize filtering algorithm design, reduce software operand, alleviate the computing pressure of image procossing CPU, improve discrimination;
G. wave plate 6, coordinate the wavelength chooses wavelength of laser instrument 1, be placed on zero level spectrum position, coordinate and select one-level frequency spectrum, secondary frequency spectrum and three grades of frequency spectrums, corresponding selection quarter wave plate or 1/2 wave plate, be coupled into one-level frequency spectrum, secondary frequency spectrum and three grades of frequency spectrums by zero level frequency spectrum, significantly improve the local fringe density of deep camber position and the contrast of sinusoidal light, effectively utilize zero level spectrum energy, be beneficial to and obtain remote and large-sized picture rich in detail, improve pattern-recognition rate;
H. high-speed vibrating mirror 9, significantly expand field range, high-speed vibrating mirror 9 is positioned after monochromatic zoom rate camera lens 7, realize large scale, large area projection sinusoidal structured light output, coordinate telecentric lens and image mosaic technology, static shooting can reach the huge range of tens meters, can take into account the low speed object pattern-recognition of far and near different distance, and the seizure of high-speed moving object and pattern-recognition;
I. precision lead screw 8-1, precise guide rail 8-2, the devices such as adjustment and fixed laser 1, beam shaping system 2, rectangular raster 3, monochromatic fourier transform lens 4, spectrum selector 5, wave plate 6, monochromatic zoom rate camera lens 7, high-speed vibrating mirror 9;
J. telecentric lens and high-speed CCD (CMOS) 11, laser distance measuring system 12 are set up in parallel, and form shooting baseline b, by laser distance measuring system 12, obtain the captured in real-time distance L of target with high-speed vibrating mirror 9
0deng structured data parameter and target image, realize the real-Time Compensation in different distance position wave aberration, effectively improve the sharpness of reference object, improve accuracy of identification; And send data to computing machine and software analysis system 14, carry out pattern recognition process and store;
K. the parameters of internal environment control system 13 equipment inside, as the data such as temperature, pressure, transfers to computing machine and software analysis system 14, and controls by it, realizes the stable of internal environment, ensures the normal work of each element;
1. protecting sheathing 15, with sinusoidal structured photoscanning output protection window, and target is taken and range finding receives input protection window; Fixing all elements, general design has dust-proof, waterproofing protection function, ensures inner member steady operation and maintains internal environment stabilization; Particularly, as particular surroundingss such as ultralow temperature, high vacuum, microgravity, superhigh temperature, UHV (ultra-high voltage), deep-etching, intense radiations, targeted design is needed;
M. protecting window (zigzag radiation protection window) 16-1, protecting window (zigzag radiation protection window) 16-2, output, input protection window, the projection realizing sinusoidal light exports, identify the input of destination object image, and the protecting window of laser distance measuring system 12; According to the mode using the different choice design of particular surroundings corresponding; General withstand voltage, high temperature resistant design alternative sapphire window, UV resistance design alternative quartz window, anti-High energy particles Radiation, design alternative zigzag radiation protection windows etc., realize particular surroundings needs; In particular surroundingss such as ultralow temperature, high vacuum, microgravity, superhigh temperature, UHV (ultra-high voltage), deep-etching, intense radiations, need strengthening design and processing and manufacturing;
N. computing machine and software processing system 14, receive telecentric lens and high-speed CCD (CMOS) 11, laser distance measuring system 12, internal environment control system 13 etc. and obtain image, ranging data and internal environmental data, and carry out corresponding image, graphics calculations, and the control of achievement unit environment, and the pattern-recognition of object to be identified and data export.
Dutycycle is specifically used accurately to control the rectangular raster manufactured, carry out space frequency division, in conjunction with spectrum selector, time Spectrum synthesizing at the same level, utilize wave plate that zero-frequency luminous energy is transferred to odd-times frequency spectrum, improve the contrast of high spatial frequency sinusoidal light, in conjunction with the monochromatic special lens designed for single wavelength, effectively reduce wave aberration; In conjunction with laser distance measuring system, by the demarcation to output corrugated, realize from low to high, high-contrast, image field correction is convenient, and the sinusoidal light being applicable to Large visual angle scope measurement from the close-by examples to those far off exports continuously, takes into account far and near different distance, the static state of different characteristic, low speed, and the pattern-recognition of high-speed moving object.
Use the two-dimentional sinusoidal light exported, directly be projected to by target to be identified, equally distributed sinusoidal light is subject to the surface topography modulation being recorded object, directly produces the grid line of distortion, the grid line that the phase information of target object is out of shape is recorded as intensity distributions coding, principle is as follows:
According to the wide a of seam, grating constant, the rectangular raster of long L, then grating transmitance is expressed as:
Frequency spectrum after optical space Fourier transform is:
Projected output image again after optical space Fourier transform is formed:
According to (3) formula principle, the sinusoidal light of acquisition will be projected to three-dimensional object surface to be identified, the deformed grating striped after being modulated by surface topography is:
The elevation information of object, by telecentric lens, is recorded as the different stripe information of density by high-speed CCD (CMOS), realizes phase-encoded recording:
The digitized image obtained, the spatial frequency structure of projection is single, easily fast by software filtering, alleviates the pressure of image procossing CPU, easily realizes multiple goal, multimode recognition fast.
By (3) formula, according to spectral order time n, known projection sinusoidal light fringe density ratio is 1: 2: 3; The elevation information of target object can use one-level, secondary respectively, and the sinusoidal structured optical recording of three grades of spectrum, and filtering algorithm easily designs for single target frequency.
According to 40lp/mm rectangular raster, the moire grids density then exporting two-dimentional sinusoidal light can reach more than 40lp/mm, the details position of object, local utilizes 2 frequencys multiplication, 3 frequency multiplication multiplication fringe densities, the moire grids density of projected two-dimensional sinusoidal light can reach more than 120lp/mm, export in conjunction with zoom rate camera lens, moire grids density can also continue to increase substantially.
If the pattern-recognition of low speed object, use high-speed vibrating mirror scanning, telecentric lens and image mosaic technology, large sized object shooting can be realized and analyze; If high-speed moving object, high-speed CCD (CMOS) can be coordinated to realize.
Static state and dynamic object pattern-recognition, according to resolution and the coverage of target, adopt variable parallax range b mode, or fixed base distance b mode, determines that high-speed vibrating mirror is with the parallax range b between telecentric lens and high-speed CCD (CMOS); And by the shooting distance L of laser distance measuring system determination synchronization
0; For pattern-recognition provides the infrastructure data of shooting;
Particular surroundings is applied, as particular surroundingss such as ultralow temperature, high vacuum, microgravity, superhigh temperature, UHV (ultra-high voltage), deep-etching, intense radiations; Need to coordinate corresponding protecting sheathing, and protecting window realizes; Meanwhile, by corresponding internal environment Control System Design, realize normal, the steady operation of each element.
The utility model device comprises: laser instrument 1, beam shaping system 2, rectangular raster 3, monochromatic fourier transform lens 4, spectrum selector 5, wave plate 6, monochromatic zoom rate camera lens 7, precision lead screw 8-1, precise guide rail 8-2, high-speed vibrating mirror 9, target 10 to be identified, telecentric lens and high-speed CCD (CMOS) 11, laser distance measuring system 12, internal environment control system 13, computing machine and software analysis system 14, protecting sheathing 15, protecting window (zigzag radiation protection window) 16-1, protecting window (zigzag radiation protection window) 16-2.
Beam shaping system is positioned at after laser instrument, expands, collimates, shaping to laser beam; Rectangular raster is positioned at after beam shaping system, and makes rectangular raster be positioned on the front focal plane of monochromatic fourier transform lens; Wave plate and spectrum selector are positioned on the back focal plane of monochromatic fourier transform lens, and are positioned on the front focal plane of monochromatic zoom rate camera lens; High-speed vibrating mirror is positioned on the output light path of monochromatic zoom rate camera lens rear; Above-mentioned components and parts are all positioned in precision lead screw and precise guide rail group;
Telecentric lens and high-speed CCD (CMOS), laser distance measuring system are set up in parallel, and form shooting baseline b, by laser distance measuring system, obtain the captured in real-time distance L of target with high-speed vibrating mirror
0deng structured data parameter and target image, and send data to computing machine and software analysis system, carry out pattern recognition process and store;
The target image utilizing single-frequency, double frequency, three sinusoidal light projection shooting frequently obtained, there will not be frequency alias, easily realizes filtering algorithm design, reduce software operand, alleviate the computing pressure of image procossing CPU, improve discrimination; Zero-frequency luminous energy is transferred to one-level frequency spectrum, secondary frequency spectrum, three grades of frequency spectrums, significantly improve the local fringe density of deep camber position and the contrast of sinusoidal light, be beneficial to and obtain remote and large-sized picture rich in detail, improve pattern-recognition rate; In conjunction with laser distance measuring system, realize the real-Time Compensation in different distance position wave aberration, effectively improve the sharpness of reference object, improve accuracy of identification;
Internal environment control system, by the parameters of device interior, as the data such as temperature, pressure transfer to computing machine and software analysis system, and controls by it, realizes the stable of internal environment, ensures the normal work of each element;
Protecting sheathing, with sinusoidal structured photoscanning output protection window, and target is taken and range finding receives input protection window; Fixing all elements, general design needs dust-proof, waterproofing protection, ensures inner member steady operation and maintains internal environment stabilization; Particularly, as particular surroundingss such as ultralow temperature, high vacuum, microgravity, superhigh temperature, UHV (ultra-high voltage), deep-etching, intense radiations;
Input, output protection window, according to the mode using the different choice design of particular surroundings corresponding; General withstand voltage, high temperature resistant design alternative sapphire window, UV resistance design alternative quartz window, anti-High energy particles Radiation, design alternative zigzag radiation protection window etc., realize particular surroundings needs, as particular surroundingss such as ultralow temperature, high vacuum, microgravity, superhigh temperature, UHV (ultra-high voltage), deep-etching, intense radiations.
Adopt parallel light projection to export sinusoidal light, can directly take small size target object; Medium visual field, uses monochromatic zoom rate camera lens to export the non-parallel smooth sinusoidal light of low-angle, can realize; Large view field measurement, adjusts monochromatic zoom rate camera lens, exports the non-parallel smooth sinusoidal light of wide-angle, can realize; Or use high-speed vibrating mirror, significantly expand field range, high-speed vibrating mirror is positioned after monochromatic zoom rate camera lens, in order to export sinusoidal light projection shooting; All photographic subjects modes, all need the shooting distance L that the parallax range b of synchronization and laser distance measuring system are determined
0deng structural parameters support; Coordinate high power camera lens to export, strengthen projected area; And coordinate the scanning of high-speed vibrating mirror, realize large scale, large area projection sinusoidal structured light output, coordinate telecentric lens and image mosaic technology, static shooting can reach the huge range of tens meters, the low speed object pattern-recognition of far and near different distance can be taken into account, and the seizure of high-speed moving object and pattern-recognition.
Advantage of the present utility model: the utility model is in background technology, and artificial intelligence machine visual identity method graph image recognizer operand is large, and identify that characteristics of objects is single, discrimination is low; And use common apparatus, and be not suitable for the problems such as particular surroundings use such as ultralow temperature, high vacuum, microgravity, superhigh temperature, UHV (ultra-high voltage), deep-etching, intense radiation.
Propose to use dutycycle accurately to control the rectangular raster manufactured, carry out space frequency division, in conjunction with spectrum selector, time Spectrum synthesizing at the same level, utilize wave plate that zero-frequency luminous energy is transferred to odd-times frequency spectrum, improve the contrast of high spatial frequency sinusoidal light, in conjunction with the monochromatic special lens designed for single wavelength, effectively reduce wave aberration; Frequency division projection pattern, there will not be frequency alias, easily realizes filtering algorithm design, reduces software operand, alleviate the computing pressure of image procossing CPU; Effective utilization of zero-frequency luminous energy, improves the local fringe density of deep camber position and the contrast of sinusoidal light, is beneficial to and obtains remote and large-sized picture rich in detail, improves pattern-recognition rate; Utilize laser distance measuring system, realize the real-Time Compensation in different distance position wave aberration, effectively improve the sharpness of reference object, improve accuracy of identification;
After adopting technique scheme, artificial intelligence machine visual identity method and the device of the common and particular surroundings of the utility model have in conjunction with laser distance measuring system, by the demarcation to output corrugated, realize from low to high, high-contrast, image field correction is convenient, the sinusoidal light being applicable to Large visual angle scope measurement from the close-by examples to those far off exports continuously, take into account far and near different distance, the static state of different characteristic, low speed, and the advantage of the pattern-recognition of high-speed moving object.
Accompanying drawing explanation
Fig. 1 is the artificial intelligence machine device for visual identification structural representation of the common and particular surroundings of the utility model;
Fig. 2 is zigzag radiation protection window structure schematic diagram in Fig. 1 device.
Embodiment
As shown in the figure, the utility model artificial intelligence machine device for visual identification that is common and particular surroundings comprises the laser instrument 1 being configured in precision lead screw 8-1 and precise guide rail 8-2 along light path successively, beam shaping system 2, rectangular raster 3, monochromatic fourier transform lens 4, spectrum selector 5, wave plate 6, monochromatic zoom rate camera lens 7, the sinusoidal light output system that high-speed vibrating mirror 9 forms, by computing machine 14 and the telecentric lens be attached thereto and high-speed CCD (CMOS) 11, laser distance measuring system 12, the target to be identified 10 that the output light path of the vision collecting recognition system that internal environment control system 13 forms and sinusoidal light output system and the collection light path of vision collecting recognition system are pointed to, sinusoidal light output system and vision collecting recognition system are configured in the protecting sheathing 15 of band radiation proof protecting window.
Described beam shaping system 2 is positioned at after laser instrument 1, expands, collimates, shaping to laser beam; Rectangular raster 3 is positioned at after beam shaping system 2, and makes rectangular raster 3 be positioned on the front focal plane of monochromatic fourier transform lens 4; Wave plate 6 and spectrum selector 5 are positioned on the back focal plane of monochromatic fourier transform lens 4, and are positioned on the front focal plane of monochromatic zoom rate camera lens 7; High-speed vibrating mirror 9 is positioned on the output light path of monochromatic zoom rate camera lens 7 rear; Telecentric lens and high-speed CCD (CMOS) 11, laser distance measuring system 12 are set up in parallel.Described telecentric lens and high-speed CCD or CMOS11 are positioned at inner side, the described laser distance measuring system 12 of closing on sinusoidal light output system and are positioned at outside away from sinusoidal light output system.Have in conjunction with laser distance measuring system, by the demarcation to output corrugated, realize from low to high, high-contrast, image field correction is convenient, and the sinusoidal light being applicable to Large visual angle scope measurement from the close-by examples to those far off exports continuously, takes into account far and near different distance, the static state of different characteristic, low speed, and the advantage of the pattern-recognition of high-speed moving object.
Described protecting sheathing 15 is configured with the zigzag radiation protection window 16-1 of sinusoidal light output system and the zigzag radiation protection window 16-2 of vision collecting recognition system respectively before sinusoidal light output system He before vision collecting recognition system; Described zigzag radiation protection window is that two ends two corners that reverse vertical stretches out the main cylinder of shading of shading end cylinder respectively configure the catoptron that a minute surface and described shading end cylinder axis and the main cylinder axis of shading are 45 degree of angles respectively.Protecting sheathing 15, with sinusoidal structured photoscanning output protection window (zigzag radiation protection window) 16-1, and target is taken and range finding receives input protection window (zigzag radiation protection window) 16-2; Fixing all elements, general design needs dust-proof, waterproofing protection, ensures inner member steady operation and maintains internal environment stabilization; Input, output protection window (zigzag radiation protection window) 16-1, protecting window (zigzag radiation protection window) 16-2, according to the mode using the different choice design of particular surroundings corresponding; General withstand voltage, high temperature resistant design alternative sapphire window, UV resistance design alternative quartz window, anti-High energy particles Radiation, design alternative zigzag radiation protection window etc., realize particular surroundings needs, as particular surroundingss such as ultralow temperature, high vacuum, microgravity, superhigh temperature, UHV (ultra-high voltage), deep-etching, intense radiations.Described shading end cylinder outer end is configured with transparent window, and described transparent window is sapphire window or quartz window or other transparent glasses lens; The outer end of the main cylinder of described shading or an outer shading end cylinder is packed on described protecting sheathing 15.
Adopt parallel light projection to export sinusoidal light, can directly take small size target object; Medium visual field, uses monochromatic zoom rate camera lens to export the non-parallel smooth sinusoidal light of low-angle, can realize; Large view field measurement, adjusts monochromatic zoom rate camera lens 7, exports the non-parallel smooth sinusoidal light of wide-angle, can realize; Or use high-speed vibrating mirror 9, significantly expand field range, high-speed vibrating mirror 9 is positioned after monochromatic zoom rate camera lens 7, in order to export sinusoidal light projection shooting.The shooting distance L that all photographic subjects modes need the parallax range b of synchronization and laser distance measuring system 12 to determine
0deng structural parameters support; Coordinate high power camera lens to export, strengthen projected area; And coordinate the scanning of high-speed vibrating mirror 9, realize large scale, large area projection sinusoidal structured light output, coordinate telecentric lens and high-speed CCD (CMOS) 11 and image mosaic technology, static shooting can reach the huge range of tens meters, the low speed object pattern-recognition of far and near different distance can be taken into account, and the seizure of high-speed moving object and pattern-recognition; The target image utilizing single-frequency, double frequency, three sinusoidal light projection shooting frequently obtained, there will not be frequency alias, easily realizes filtering algorithm design, reduce software operand, alleviate the computing pressure of image procossing CPU, improve discrimination; Zero-frequency luminous energy is transferred to one-level frequency spectrum, secondary frequency spectrum, three grades of frequency spectrums, significantly improve the local fringe density of deep camber position and the contrast of sinusoidal light, be beneficial to and obtain remote and large-sized picture rich in detail, improve pattern-recognition rate; In conjunction with laser distance measuring system 12, realize the real-Time Compensation in different distance position wave aberration, effectively improve the sharpness of reference object, improve accuracy of identification.
Described telecentric lens and high-speed CCD or CMOS11, laser distance measuring system 12 form shooting baseline b with high-speed vibrating mirror 9, by laser distance measuring system 12, obtain the captured in real-time distance L of target
0deng structured data parameter and target image, and send data to computing machine and software analysis system 14, carry out pattern recognition process and store; Internal environment control system 13, by the parameters of device interior, as the data such as temperature, pressure transfer to computing machine and software analysis system 14, and controls by it, realizes the stable of internal environment, ensures the normal work of each element.
When adopting the utility model device to carry out visual identity:
A. first adjusting the devices such as laser instrument 1, beam shaping system 2, rectangular raster 3, monochromatic fourier transform lens 4, spectrum selector 5, wave plate 6, monochromatic zoom rate camera lens 7, high-speed vibrating mirror 9 is placed on precision lead screw 8-1 and precise guide rail 8-2; Telecentric lens and high-speed CCD (CMOS) 11, laser distance measuring system 12 determine installation site according to the parallax range b of design; The above-mentioned components and parts such as internal environment control system 13, computing machine and software analysis system 14 are installed in the protecting sheathing 15 with protecting window (zigzag radiation protection window) 16-1, protecting window (zigzag radiation protection window) 16-2, reach common and special multi-environment request for utilization;
B. laser instrument 1 select circle hot spot export single-mode laser, be convenient to wavefront measurement, and monochromatic fourier transform lens 4, wave plate 6, monochromatic zoom rate camera lens 7 monochromatic matched design.When selecting the laser instrument of different wave length, need monochromatic fourier transform lens 4, wave plate 6, monochromatic zoom rate camera lens 7 that corresponding design matches;
C. beam shaping system 2, adopts laser beam expander design, reduces the power density inciding rectangular raster 3, reduces grating damage, is convenient to the power improving laser instrument 1; The aperture of laser beam waist position, requires to be better than micron-sized circularity, and impulse-free robustness;
D. rectangular raster 3, requires that dutycycle is not equal to 1: 1, and convenient use one-level frequency spectrum, secondary frequency spectrum and three grades of frequency spectrums, make full use of its frequency multiplication relation, Quick high spatial frequency; Target simple scenario, rectangular raster also can be replaced by sinusoidal grating easily, now, removes spectrum selector 5;
E. monochromatic fourier transform lens 4 and monochromatic zoom rate camera lens 7, all need the Wavelength design coordinating laser instrument 1, implementation space optical Fourier transform, takes into account aperture and visual field requirement simultaneously;
F. spectrum selector 5, comprises electricity, magnetic or optically addressed spatial light modulator SLM, digital micro-mirror device DMD, mechanical type aperture, selects one-level frequency spectrum, secondary frequency spectrum and three grades of frequency spectrums, and slightly decay to zero level frequency spectrum to facilitate; Do not using rectangular raster 3, and under the condition not needing frequency spectrum to select, can remove; Select single-frequency, double frequency, three sinusoidal light projection frequently, there will not be frequency alias, easily realize filtering algorithm design, reduce software operand, alleviate the computing pressure of image procossing CPU, improve discrimination;
G. wave plate 6, coordinate the wavelength chooses wavelength of laser instrument 1, be placed on zero level spectrum position, coordinate and select one-level frequency spectrum, secondary frequency spectrum and three grades of frequency spectrums, corresponding selection quarter wave plate or 1/2 wave plate, be coupled into one-level frequency spectrum, secondary frequency spectrum and three grades of frequency spectrums by zero level frequency spectrum, significantly improve the local fringe density of deep camber position and the contrast of sinusoidal light, effectively utilize zero level spectrum energy, be beneficial to and obtain remote and large-sized picture rich in detail, improve pattern-recognition rate;
H. high-speed vibrating mirror 9, significantly expand field range, high-speed vibrating mirror 9 is positioned after monochromatic zoom rate camera lens 7, realize large scale, large area projection sinusoidal structured light output, coordinate telecentric lens and image mosaic technology, static shooting can reach the huge range of tens meters, can take into account the low speed object pattern-recognition of far and near different distance, and the seizure of high-speed moving object and pattern-recognition;
I. precision lead screw 8-1, precise guide rail 8-2, the devices such as adjustment and fixed laser 1, beam shaping system 2, rectangular raster 3, monochromatic fourier transform lens 4, spectrum selector 5, wave plate 6, monochromatic zoom rate camera lens 7, high-speed vibrating mirror 9;
J. telecentric lens and high-speed CCD (CMOS) 11, laser distance measuring system 12 are set up in parallel, and form shooting baseline b, by laser distance measuring system 12, obtain the captured in real-time distance L of target with high-speed vibrating mirror 9
0deng structured data parameter and target image, realize the real-Time Compensation in different distance position wave aberration, effectively improve the sharpness of reference object, improve accuracy of identification; And send data to computing machine and software analysis system 14, carry out pattern recognition process and store;
K. the parameters of internal environment control system 13 equipment inside, as the data such as temperature, pressure, transfers to computing machine and software analysis system 14, and controls by it, realizes the stable of internal environment, ensures the normal work of each element;
1. protecting sheathing 15, with sinusoidal structured photoscanning output protection window, and target is taken and range finding receives input protection window; Fixing all elements, general design has dust-proof, waterproofing protection function, ensures inner member steady operation and maintains internal environment stabilization; Particularly, as particular surroundingss such as ultralow temperature, high vacuum, microgravity, superhigh temperature, UHV (ultra-high voltage), deep-etching, intense radiations, targeted design is needed;
M. protecting window (zigzag radiation protection window) 16-1, protecting window (zigzag radiation protection window) 16-2, output, input protection window, the projection realizing sinusoidal light exports, identify the input of destination object image, and the protecting window of laser distance measuring system 12; According to the mode using the different choice design of particular surroundings corresponding; General withstand voltage, high temperature resistant design alternative sapphire window, UV resistance design alternative quartz window, anti-High energy particles Radiation, design alternative zigzag radiation protection windows etc., realize particular surroundings needs; In particular surroundingss such as ultralow temperature, high vacuum, microgravity, superhigh temperature, UHV (ultra-high voltage), deep-etching, intense radiations, need strengthening design and processing and manufacturing;
N. computing machine and software processing system 14, receive telecentric lens and high-speed CCD (CMOS) 11, laser distance measuring system 12, internal environment control system 13 etc. and obtain image, ranging data and internal environmental data, and carry out corresponding image, graphics calculations, and the control of achievement unit environment, and the pattern-recognition of object to be identified and data export.
Dutycycle is specifically used accurately to control the rectangular raster manufactured, carry out space frequency division, in conjunction with spectrum selector, time Spectrum synthesizing at the same level, utilize wave plate that zero-frequency luminous energy is transferred to odd-times frequency spectrum, improve the contrast of high spatial frequency sinusoidal light, in conjunction with the monochromatic special lens designed for single wavelength, effectively reduce wave aberration; In conjunction with laser distance measuring system, by the demarcation to output corrugated, realize from low to high, high-contrast, image field correction is convenient, and the sinusoidal light being applicable to Large visual angle scope measurement from the close-by examples to those far off exports continuously, takes into account far and near different distance, the static state of different characteristic, low speed, and the pattern-recognition of high-speed moving object.
Use the two-dimentional sinusoidal light exported, directly be projected to by target to be identified, equally distributed sinusoidal light is subject to the surface topography modulation being recorded object, directly produces the grid line of distortion, the grid line that the phase information of target object is out of shape is recorded as intensity distributions coding, principle is as follows:
According to the wide a of seam, grating constant, the rectangular raster of long L, then grating transmitance is expressed as:
Frequency spectrum after optical space Fourier transform is:
Projected output image again after optical space Fourier transform is formed:
According to (3) formula principle, the sinusoidal light of acquisition will be projected to three-dimensional object surface to be identified, the deformed grating striped after being modulated by surface topography is:
The elevation information of object, by telecentric lens, is recorded as the different stripe information of density by high-speed CCD (CMOS), realizes phase-encoded recording:
The digitized image obtained, the spatial frequency structure of projection is single, easily fast by software filtering, alleviates the pressure of image procossing CPU, easily realizes multiple goal, multimode recognition fast.
By (3) formula, according to spectral order time n, known projection sinusoidal light fringe density ratio is 1: 2: 3; The elevation information of target object can use one-level, secondary respectively, and the sinusoidal structured optical recording of three grades of spectrum, and filtering algorithm easily designs for single target frequency.
According to 40lp/mm rectangular raster, the moire grids density then exporting two-dimentional sinusoidal light can reach more than 40lp/mm, the details position of object, local utilizes 2 frequencys multiplication, 3 frequency multiplication multiplication fringe densities, the moire grids density of projected two-dimensional sinusoidal light can reach more than 120lp/mm, export in conjunction with zoom rate camera lens, moire grids density can also continue to increase substantially.
If the pattern-recognition of low speed object, use high-speed vibrating mirror scanning, telecentric lens and image mosaic technology, large sized object shooting can be realized and analyze; If high-speed moving object, high-speed CCD (CMOS) can be coordinated to realize.
Static state and dynamic object pattern-recognition, according to resolution and the coverage of target, adopt variable parallax range b mode, or fixed base distance b mode, determines that high-speed vibrating mirror is with the parallax range b between telecentric lens and high-speed CCD (CMOS); And by the shooting distance L of laser distance measuring system determination synchronization
0; For pattern-recognition provides the infrastructure data of shooting;
Particular surroundings is applied, as particular surroundingss such as ultralow temperature, high vacuum, microgravity, superhigh temperature, UHV (ultra-high voltage), deep-etching, intense radiations; Need to coordinate corresponding protecting sheathing, and protecting window realizes; Meanwhile, by corresponding internal environment Control System Design, realize normal, the steady operation of each element.
The utility model device comprises: laser instrument 1, beam shaping system 2, rectangular raster 3, monochromatic fourier transform lens 4, spectrum selector 5, wave plate 6, monochromatic zoom rate camera lens 7, precision lead screw 8-1, precise guide rail 8-2, high-speed vibrating mirror 9, target 10 to be identified, telecentric lens and high-speed CCD (CMOS) 11, laser distance measuring system 12, internal environment control system 13, computing machine and software analysis system 14, protecting sheathing 15, protecting window (zigzag radiation protection window) 16-1, protecting window (zigzag radiation protection window) 16-2.
Beam shaping system is positioned at after laser instrument, expands, collimates, shaping to laser beam; Rectangular raster is positioned at after beam shaping system, and makes rectangular raster be positioned on the front focal plane of monochromatic fourier transform lens; Wave plate and spectrum selector are positioned on the back focal plane of monochromatic fourier transform lens, and are positioned on the front focal plane of monochromatic zoom rate camera lens; High-speed vibrating mirror is positioned on the output light path of monochromatic zoom rate camera lens rear; Above-mentioned components and parts are all positioned in precision lead screw and precise guide rail group;
Telecentric lens and high-speed CCD (CMOS), laser distance measuring system are set up in parallel, and form shooting baseline b, by laser distance measuring system, obtain the captured in real-time distance L of target with high-speed vibrating mirror
0deng structured data parameter and target image, and send data to computing machine and software analysis system, carry out pattern recognition process and store;
The target image utilizing single-frequency, double frequency, three sinusoidal light projection shooting frequently obtained, there will not be frequency alias, easily realizes filtering algorithm design, reduce software operand, alleviate the computing pressure of image procossing CPU, improve discrimination; Zero-frequency luminous energy is transferred to one-level frequency spectrum, secondary frequency spectrum, three grades of frequency spectrums, significantly improve the local fringe density of deep camber position and the contrast of sinusoidal light, be beneficial to and obtain remote and large-sized picture rich in detail, improve pattern-recognition rate; In conjunction with laser distance measuring system, realize the real-Time Compensation in different distance position wave aberration, effectively improve the sharpness of reference object, improve accuracy of identification;
Internal environment control system, by the parameters of device interior, as the data such as temperature, pressure transfer to computing machine and software analysis system, and controls by it, realizes the stable of internal environment, ensures the normal work of each element;
Protecting sheathing, with sinusoidal structured photoscanning output protection window, and target is taken and range finding receives input protection window; Fixing all elements, general design needs dust-proof, waterproofing protection, ensures inner member steady operation and maintains internal environment stabilization; Particularly, as particular surroundingss such as ultralow temperature, high vacuum, microgravity, superhigh temperature, UHV (ultra-high voltage), deep-etching, intense radiations;
Input, output protection window, according to the mode using the different choice design of particular surroundings corresponding; General withstand voltage, high temperature resistant design alternative sapphire window, UV resistance design alternative quartz window, anti-High energy particles Radiation, design alternative zigzag radiation protection window etc., realize particular surroundings needs, as particular surroundingss such as ultralow temperature, high vacuum, microgravity, superhigh temperature, UHV (ultra-high voltage), deep-etching, intense radiations.
Claims (9)
1. the artificial intelligence machine device for visual identification of a common and particular surroundings, it is characterized in that the single-mode laser (1) comprising the round hot spot output being configured in precision lead screw (8-1) and precise guide rail (8-2) along light path successively, beam shaping system (2), rectangular raster (3), monochromatic fourier transform lens (4), spectrum selector (5), wave plate (6), monochromatic zoom rate camera lens (7), the sinusoidal light output system that high-speed vibrating mirror (9) forms, by computing machine (14) and the telecentric lens be attached thereto and high-speed CCD or CMOS (11), laser distance measuring system (12), the target to be identified (10) that the output light path of the vision collecting recognition system that internal environment control system (13) forms and sinusoidal light output system and the collection light path of vision collecting recognition system are pointed to, sinusoidal light output system and vision collecting recognition system are configured in the protecting sheathing (15) of band radiation proof protecting window.
2. device according to claim 1, is characterized in that described beam shaping system (2) is positioned at after laser instrument (1), expands, collimates laser beam, shaping; Rectangular raster (3) is positioned at after beam shaping system (2), and makes rectangular raster (3) be positioned on the front focal plane of monochromatic fourier transform lens (4); Wave plate (6) and spectrum selector (5) are positioned on the back focal plane of monochromatic fourier transform lens (4), and are positioned on the front focal plane of monochromatic zoom rate camera lens (7); High-speed vibrating mirror (9) is positioned on the output light path of monochromatic zoom rate camera lens (7) rear.
3. device according to claim 1, is characterized in that described telecentric lens and high-speed CCD or CMOS (11), laser distance measuring system (12) is set up in parallel.
4. device according to claim 3, is characterized in that described telecentric lens and high-speed CCD or CMOS (11) are positioned at the inner side closing on sinusoidal light output system, described laser distance measuring system (12) is positioned at outside away from sinusoidal light output system.
5. device according to claim 1, is characterized in that described protecting sheathing (15) is configured with the zigzag radiation protection window (16-1) of sinusoidal light output system and the zigzag radiation protection window (16-2) of vision collecting recognition system respectively before sinusoidal light output system He before vision collecting recognition system.
6. device according to claim 5, is characterized in that described zigzag radiation protection window is that two ends two corners that reverse vertical stretches out the main cylinder of shading of shading end cylinder respectively configure the catoptron that a minute surface and described shading end cylinder axis and the main cylinder axis of shading are 45 degree of angles respectively.
7. device according to claim 6, is characterized in that described shading end cylinder outer end is configured with transparent window, and described transparent window is sapphire window or quartz window or other transparent glasses lens; The outer end of the main cylinder of described shading or an outer shading end cylinder is packed on described protecting sheathing (15).
8. device according to claim 1, is characterized in that described telecentric lens and high-speed CCD or CMOS (11), laser distance measuring system (12) same to high-speed vibrating mirror (9) forms shooting baseline (b).
9. device according to claim 1, it is characterized in that described beam shaping system (2) is laser beam expander formula, the aperture circularity of its laser beam waist position is better than micron order, and impulse-free robustness; Described rectangular raster (3) requires that dutycycle is not equal to 1: 1; Described rectangular raster (3) and spectrum selector (5) are replaced by sinusoidal grating.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104964672A (en) * | 2015-06-29 | 2015-10-07 | 济南大学 | Long-distance obstacle perception sensor based on line structured light |
| CN106911877A (en) * | 2015-12-23 | 2017-06-30 | 高准精密工业股份有限公司 | Optical devices |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104964672A (en) * | 2015-06-29 | 2015-10-07 | 济南大学 | Long-distance obstacle perception sensor based on line structured light |
| CN104964672B (en) * | 2015-06-29 | 2017-05-31 | 济南大学 | A kind of long-distance barrier detecting sensor based on line-structured light |
| CN106911877A (en) * | 2015-12-23 | 2017-06-30 | 高准精密工业股份有限公司 | Optical devices |
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