CN204730809U - A kind of structural light three-dimensional scanning and measuring apparatus - Google Patents
A kind of structural light three-dimensional scanning and measuring apparatus Download PDFInfo
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- CN204730809U CN204730809U CN201520355400.4U CN201520355400U CN204730809U CN 204730809 U CN204730809 U CN 204730809U CN 201520355400 U CN201520355400 U CN 201520355400U CN 204730809 U CN204730809 U CN 204730809U
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Abstract
The utility model discloses a kind of structural light three-dimensional scanning and measuring apparatus, comprise optical projection device, optical projection device is arranged on following projection framework, the exportable projection light of optical projection device, the light direction of optical projection device is just to the reflecting surface of following catoptron, and the light direction of optical projection device is fixed; Catoptron, catoptron is arranged on following projection framework, and catoptron comprises a reflecting surface, and the projection light of optical projection device is diagonal to the reflecting surface of catoptron, and the projection light of optical projection device is reflexed to the surface of measurement target by the reflecting surface of catoptron; Projection framework, projection framework is arranged at measurement target at a distance, and projection framework is fixedly connected with optical projection device and catoptron, and projection framework is known to the distance of measurement target; Measurement target, measurement target receives the projection light of catoptron reflection and carries out diffuse reflection.
Description
Technical field
The utility model relates to optical measuring technique, especially, relates to a kind of structural light three-dimensional scanning and measuring apparatus.
Background technology
Structured light three-dimensional vision measuring technique of the prior art, refer in binocular stereo vision is measured, one of them camera is replaced with optical projection device, and optical projection device produces certain optical mode, as optical plane, cross optical plane, latticed light beam etc., the locus of scenario objects is retrained, obtains the three-dimensional coordinate of Chosen Point position in scenario objects like this.
Conventional structured light, such as the Mesh Point Battle, grating, projection line etc., because projection energy according to the change of image-forming range and range size, effectively cannot regulate, cause structured light to be difficult to effectively be applied in long distance indoor or outdoors environment.General projection line length, mainly realizes regulating by the different interpupillary distance glass filters of mechanical replacing.Such one side changes the troublesome poeration of optical filter, can not realize the continuous adjustment needed according to scene; On the other hand, also can accomplish the effect regulating projection line length although it is so, but when projection line shortens, a lot of projection energy is just disabled loss with shielding mode, can not play the effect of Enhanced Imaging ability.
Can not regulate continuously and the problem projecting the invalid loss of energy for projection line length in prior art, not yet have effective solution at present.
Utility model content
Can not regulate continuously and the problem projecting the invalid loss of energy for projection line length in prior art, the purpose of this utility model is to propose a kind of structural light three-dimensional scanning and measuring apparatus, can need to regulate continuously projection line length, without the need to repeatedly changing optical filter according to scene; No longer making projection energy produce loss when regulating projection line length simultaneously, enhancing imaging capability.
Based on above-mentioned purpose, the technical scheme that the utility model provides is as follows:
According to an aspect of the present utility model, provide a kind of structural light three-dimensional scanning and measuring apparatus, comprising:
Optical projection device, optical projection device is arranged on following projection framework, the exportable projection light of optical projection device, and the light direction of optical projection device is just to the reflecting surface of following catoptron, and the light direction of optical projection device is fixed;
Catoptron, catoptron is arranged on following projection framework, and catoptron comprises a reflecting surface, and the projection light of optical projection device is diagonal to the reflecting surface of catoptron, and the projection light of optical projection device is reflexed to the surface of measurement target by the reflecting surface of catoptron;
Projection framework, projection framework is arranged at measurement target at a distance, and projection framework is fixedly connected with optical projection device and catoptron, and projection framework is known to the distance of measurement target;
Measurement target, measurement target receives the projection light of catoptron reflection and carries out diffuse reflection;
Optical receiver, optical receiver is arranged at measurement target at a distance, and have certain distance between optical receiver and projection framework, optical receiver gathers the projection light in measurement target, and sends the form signals of projection light to following three-dimensional point cloud extraction element;
Three-dimensional point cloud extraction element, the form signals of the projection light that three-dimensional point cloud extraction element gathers from optical receiver, three-dimensional point cloud extraction element extracts three-dimensional point cloud from the form signals of projection light, and splicing simulates the three-dimensional appearance of measurement target.
Wherein, catoptron is fixed on projection framework, and the reflecting surface of catoptron can rotate among a small circle, and the reflecting surface of catoptron makes the projection light of optical projection device form projection line on projection framework surface by rotating among a small circle.
Further, catoptron also comprises a Vib.; The reflecting surface of catoptron can rotate among a small circle relative to projection framework, the reflecting surface that Vib. for catoptron can control catoptron carries out among a small circle simple harmonic oscillation perpendicular to the center line of optical projection device light direction for axle with reflecting surface, the amplitude of simple harmonic oscillation and frequency can be regulated by the Vib. of catoptron among a small circle, and the Vib. of catoptron projects the projection line length on framework surface by regulating the amplitude of simple harmonic oscillation among a small circle and frequency to regulate.
Wherein, projection framework is set and optical receiver should be less than or equal to 100 meters to the distance of measurement target.
Wherein, the projection light that optical projection device exports is pointolite.
Above-mentioned optical receiver gathers the projection light in measurement target, and the form signals of projection light sent to following three-dimensional point cloud extraction element, from the form signals of projection light, extract three-dimensional point cloud with three-dimensional point cloud extraction element, and the three-dimensional appearance that splicing simulates measurement target comprises:
Nominal light receiver, and build in optical receiver gatherer process and stablize constant partial 3 d coordinate system;
Optical receiver carries out continuous synchronization imaging to the projection line of measurement target, and obtains sequence stereo-picture;
The projection line three-dimensional point cloud of target surface is extracted from sequence stereo-picture;
After continuous synchronization imaging completes, the projection line three-dimensional point cloud that sequence stereo-picture obtains is spliced, and the three-dimensional appearance of establishing target.
As can be seen from above, the technical scheme that the utility model provides to project on framework and the reflecting surface of catoptron can the technological means of controlled rotation by using optical projection device and catoptron to be fixed on, traditional optical filter is replaced to control catoptron, reach the effect regulated continuously, and without the need to repeatedly manually changing in adjustment process, improve work efficiency; Meanwhile, limited projection luminous energy has focused on visible projection line by controlled rotation, produce power can not lose, improve the intensity of projection line, reduce the device sensitivity requirement to optical receiver, reduce soft or hard cost because of occlusion effect.
Accompanying drawing explanation
In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment below, apparently, accompanying drawing in the following describes is only embodiments more of the present utility model, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the structural drawing of a kind of structural light three-dimensional scanning and measuring apparatus according to the utility model embodiment.
Embodiment
Clearly understand for making the purpose of this utility model, technical scheme and advantage, below in conjunction with the accompanying drawing in the utility model embodiment, to the technical scheme in the utility model embodiment carry out further clear, complete, describe in detail, obviously, described embodiment is only the utility model part embodiment, instead of whole embodiments.Based on the embodiment in the utility model, the every other embodiment that those of ordinary skill in the art obtain, all belongs to the scope of the utility model protection.
According to embodiment of the present utility model, provide a kind of structural light three-dimensional scanning and measuring apparatus.
As shown in Figure 1, the structural light three-dimensional scanning and measuring apparatus provided according to the utility model embodiment comprises:
Optical projection device 1, optical projection device 1 is arranged on following projection framework 3, the exportable projection light of optical projection device 1, and the light direction of optical projection device 1 is just to the reflecting surface of following catoptron 2, and the light direction of optical projection device 1 is fixed;
Catoptron 2, catoptron 2 is arranged on following projection framework 3, and catoptron 2 comprises a reflecting surface, and the projection light of optical projection device 1 is diagonal to the reflecting surface of catoptron 2, and the projection light of optical projection device 1 is reflexed to the surface of measurement target 4 by the reflecting surface of catoptron 2;
Projection framework 3, projection framework 3 is arranged at measurement target 4 at a distance, and projection framework 3 is fixedly connected with optical projection device 1 and catoptron 2, and projection framework 3 is known to the distance of measurement target 4;
Measurement target 4, measurement target 4 receives the projection light of catoptron 2 reflection and carries out diffuse reflection;
Optical receiver (not shown), optical receiver (not shown) is arranged at measurement target 4 at a distance, between optical receiver (not shown) and projection framework 3, there is certain distance, optical receiver (not shown) gathers the projection light in measurement target 4, and the form signals of projection light is sent to following three-dimensional point cloud extraction element (not shown);
Three-dimensional point cloud extraction element (not shown), the form signals of the projection light that three-dimensional point cloud extraction element (not shown) gathers from optical receiver (not shown), three-dimensional point cloud extraction element (not shown) extracts three-dimensional point cloud from the form signals of projection light, and splicing simulates the three-dimensional appearance of measurement target 4.
Wherein, catoptron 2 is fixed on projection framework 3, and the reflecting surface of catoptron 2 can rotate among a small circle, and the reflecting surface of catoptron 2 makes the projection light of optical projection device 1 form projection line on projection framework 3 surface by rotating among a small circle.
Further, catoptron 2 also comprises a Vib.; The reflecting surface of catoptron 2 can rotate among a small circle relative to projection framework 3, the reflecting surface that Vib. for catoptron 2 can control catoptron 2 carries out among a small circle simple harmonic oscillation perpendicular to the center line of optical projection device 1 light direction for axle with reflecting surface, the amplitude of simple harmonic oscillation and frequency can be regulated by the Vib. of catoptron 2 among a small circle, and the Vib. of catoptron 2 projects the projection line length on framework 3 surface by regulating the amplitude of simple harmonic oscillation among a small circle and frequency to regulate.
Move on basis at the projection light physical pendulum of optical projection device 1, be incident upon the surperficial luminous point high-speed mobile of measurement target 4, because the effect of persistence of vision can form projection line, the sinusoidal curve shown in measurement target 4 surface in projection line and Fig. 1; As long as swing speed is enough fast, in the light acquisition time of limited optical receiver (not shown), also projection line can be formed completely.And the Vib. of catoptron 2 by the adjustment to pendulum angle amplitude, can effectively control the projection line length on measurement target 4 surface.
When the distance that projection framework 3 arrives measurement target 4 is constant, the projection line of different length can be obtained; Meanwhile, at the swing speed of the reflecting surface of catoptron 2 under constant and less reciprocal angle case, in unit length, laser projection energy also can proportionally increase.
Wherein, projection framework 3 and optical receiver (not shown) are set and should be less than or equal to 100 meters to the distance of measurement target 4.The system and device that variable projectional angle matches with optical receiver (not shown), significantly can strengthen structured light at the effective working ability comparatively at a distance and under outdoor environment, break away from general only indoor available and be no more than at most the structured light condition restriction of 3 meters of distances, equal Absorbable organic halogens projection imaging under indoor and outdoor condition, coverage can reach 80 meters even farther.When excessively far away, during as exceeded 100 meters, the precision by the Vib. of catoptron 2 limits, and its projection line can be distorted, and produces measuring error.
Wherein, the projection light that optical projection device 1 exports is pointolite.
Above-mentioned optical receiver (not shown) gathers the projection light in measurement target 4, and the form signals of projection light sent to following three-dimensional point cloud extraction element (not shown), from the form signals of projection light, extract three-dimensional point cloud with three-dimensional point cloud extraction element (not shown), and the three-dimensional appearance that splicing simulates measurement target 4 comprises:
Nominal light receiver (not shown), and build in optical receiver (not shown) gatherer process and stablize constant partial 3 d coordinate system;
Optical receiver (not shown) carries out continuous synchronization imaging to the projection line of measurement target 4, and obtains sequence stereo-picture;
The projection line three-dimensional point cloud of target surface is extracted from sequence stereo-picture;
After continuous synchronization imaging completes, the projection line three-dimensional point cloud that sequence stereo-picture obtains is spliced, and the three-dimensional appearance of establishing target.
In sum, by means of technique scheme of the present utility model, to project on framework and the reflecting surface of catoptron can the technological means of controlled rotation by using optical projection device and catoptron to be fixed on, traditional optical filter is replaced to control catoptron, reach the effect regulated continuously, and without the need to repeatedly manually changing in adjustment process, improve work efficiency; Meanwhile, limited projection luminous energy has focused on visible projection line by controlled rotation, produce power can not lose, improve the intensity of projection line, reduce the device sensitivity requirement to optical receiver, reduce soft or hard cost because of occlusion effect.
Those of ordinary skill in the field are to be understood that: the foregoing is only specific embodiment of the utility model; be not limited to the utility model; all within spirit of the present utility model and principle; any amendment of making, equivalent replacement, improvement etc., all should be included within protection domain of the present utility model.
Claims (6)
1. a structural light three-dimensional scanning and measuring apparatus, is characterized in that, comprising:
Optical projection device, described optical projection device is arranged on following projection framework, the exportable projection light of described optical projection device, and the light direction of described optical projection device is just to the reflecting surface of following catoptron, and the light direction of described optical projection device is fixed;
Catoptron, described catoptron is arranged on following projection framework, described catoptron comprises a reflecting surface, and the projection light of described optical projection device is diagonal to the reflecting surface of described catoptron, and the projection light of described optical projection device is reflexed to the surface of measurement target by the reflecting surface of described catoptron;
Projection framework, described projection framework is arranged at measurement target at a distance, and described projection framework is fixedly connected with described optical projection device and catoptron, and described projection framework is known to the distance of described measurement target;
Measurement target, described measurement target receives the projection light of described catoptron reflection and carries out diffuse reflection;
Optical receiver, described optical receiver is arranged at measurement target at a distance, have certain distance between described optical receiver and described projection framework, described optical receiver gathers the projection light in described measurement target, and sends the form signals of described projection light to following three-dimensional point cloud extraction element;
Three-dimensional point cloud extraction element, the form signals of the projection light that described three-dimensional point cloud extraction element gathers from described optical receiver, described three-dimensional point cloud extraction element extracts three-dimensional point cloud from the form signals of described projection light, and splicing simulates the three-dimensional appearance of described measurement target.
2. a kind of structural light three-dimensional scanning and measuring apparatus according to claim 1, it is characterized in that, described catoptron is fixed on described projection framework, the reflecting surface of described catoptron can rotate among a small circle, and the reflecting surface of described catoptron makes the projection light of described optical projection device form projection line on described projection framework surface by described rotation among a small circle.
3. a kind of structural light three-dimensional scanning and measuring apparatus according to claim 2, it is characterized in that, described catoptron also comprises a Vib.; The reflecting surface of described catoptron can rotate among a small circle relative to described projection framework, the reflecting surface that Vib. for described catoptron can control described catoptron carries out among a small circle simple harmonic oscillation perpendicular to the center line of described optical projection device light direction for axle with reflecting surface, the amplitude of described simple harmonic oscillation among a small circle and frequency can be regulated by the Vib. of described catoptron, the Vib. of described catoptron by the amplitude of simple harmonic oscillation among a small circle described in regulating and frequency to regulate the projection line length on described projection framework surface.
4. according to a kind of structural light three-dimensional scanning and measuring apparatus described in claim 1, it is characterized in that, described projection framework and described optical receiver are set and should be less than or equal to 100 meters to the distance of measurement target.
5. a kind of structural light three-dimensional scanning and measuring apparatus according to claim 1, is characterized in that, the projection light that described optical projection device exports is pointolite.
6. according to a kind of structural light three-dimensional scanning and measuring apparatus in claim 1-5 described in any one, it is characterized in that, described optical receiver gathers the projection light in described measurement target, and the form signals of described projection light sent to following three-dimensional point cloud extraction element, from the form signals of described projection light, extract three-dimensional point cloud with described three-dimensional point cloud extraction element, and the three-dimensional appearance that splicing simulates described measurement target comprises:
Demarcate described optical receiver, and build in described optical receiver gatherer process and stablize constant partial 3 d coordinate system;
Described optical receiver carries out continuous synchronization imaging to the projection line of described measurement target, and obtains sequence stereo-picture;
The projection line three-dimensional point cloud of target surface is extracted from described sequence stereo-picture;
After described continuous synchronization imaging completes, the projection line three-dimensional point cloud that sequence stereo-picture obtains is spliced, and the three-dimensional appearance of establishing target.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520355400.4U CN204730809U (en) | 2015-04-07 | 2015-05-28 | A kind of structural light three-dimensional scanning and measuring apparatus |
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| CN201520202026 | 2015-04-07 | ||
| CN201520355400.4U CN204730809U (en) | 2015-04-07 | 2015-05-28 | A kind of structural light three-dimensional scanning and measuring apparatus |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106197307A (en) * | 2015-05-28 | 2016-12-07 | 长沙维纳斯克信息技术有限公司 | A kind of structural light three-dimensional scanning and measuring apparatus and method |
| CN107968888A (en) * | 2017-11-30 | 2018-04-27 | 努比亚技术有限公司 | A kind of method for controlling mobile terminal, mobile terminal and computer-readable recording medium |
-
2015
- 2015-05-28 CN CN201520355400.4U patent/CN204730809U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106197307A (en) * | 2015-05-28 | 2016-12-07 | 长沙维纳斯克信息技术有限公司 | A kind of structural light three-dimensional scanning and measuring apparatus and method |
| CN107968888A (en) * | 2017-11-30 | 2018-04-27 | 努比亚技术有限公司 | A kind of method for controlling mobile terminal, mobile terminal and computer-readable recording medium |
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Granted publication date: 20151028 Termination date: 20210528 |
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| CF01 | Termination of patent right due to non-payment of annual fee |