CN206905713U

CN206905713U - Three-dimensional detection device

Info

Publication number: CN206905713U
Application number: CN201720273430.XU
Authority: CN
Inventors: 曹亮; 周之琪; 尹兴; 龚婷
Original assignee: Beijing Qingying Machine Vision Technology Co Ltd
Current assignee: Beijing Qingying Machine Vision Technology Co Ltd
Priority date: 2017-03-20
Filing date: 2017-03-20
Publication date: 2018-01-19
Anticipated expiration: 2027-03-20

Abstract

Optical electron field of measuring technique is the utility model is related to, more particularly, to a kind of three-dimensional detection device.Including three camera arrays being made up of three cameras, wherein, three cameras are distributed in conplane optional position, and the optical axis of three cameras is parallel to each other.The utility model at least possesses following beneficial effect：Firstth, the matching by the versatility of viewpoint, uniqueness that can be imaged on three cameras；Secondth, realize to by the three-dimensional measurement regarding thing；3rd, three-dimensional perception and measurement quickly are realized.4th, it is few using camera, reduce application cost.

Description

Three-dimensional detection device

Technical field

Optical electron field of measuring technique is the utility model is related to, more particularly, to a kind of three-dimensional detection device.

Background technology

Three-dimensional stereoscopic visual measurement at present is typically shone using line laser light sectional drawing e measurement technology or binocular measurement plus structure light The main reason for bright mode, line laser or structure light are used widely in three-dimensional measurement be：Pass through line laser or structure The instruction of light makes to specify that corresponding match point in imaging, reduces the ambiguousness of matching, realizes determination and unique matching. But if eliminating the instruction of line laser or structure light, binocular ranging cannot avoid the occurrence of the ambiguousness of more Point matchings, from And measurement request can not be met, while line laser or structure light imaging position can only be surveyed using line laser or structure light Amount, the scope of application of the technology is defined, and the use of line laser or structure light can produce bad shadow to measured object such as people Ring.

In addition, binocular ranging frequently with a kind of also through being pasted the mode of identification point regarding thing surface at present, using this side Formula is also for the accuracy for improving matching.But existing in the mode that identification point is pasted regarding thing surface needs in advance to tested The shortcomings that thing carries out artificial treatment and intervened.

Patent document, " four phase unit planar array characteristic point matching methods and based on four phase unit planar array characteristic points The measuring method of matching process ", matching process include using an image plane in four image planes as base image plane, base picture are put down A characteristic point on face finds out the institute in image plane adjacent with the base image plane in a lateral direction with this feature Point matching There is match point；Found out for the characteristic point in base image plane in image plane adjacent with the base image plane in a longitudinal direction with being somebody's turn to do All match points of Feature Points Matching；All match points in the transverse and longitudinal both direction found out are matched again, find out all sons Match point group；Find out corresponding with the characteristic point in base image plane and all sub- match point groups found out in diagonal position image plane Match point；Determine to correspond to the same uniqueness match point group by viewpoint in four image planes.Matched for every group of uniqueness Point group, can be calculated by the three dimensional space coordinate of viewpoint according to the parameter as coordinate and camera system of the match point group in itself. As long as under any illumination condition gather image enough clearly for it is any on the image of four phase unit planar arrays imaging and Have certain characteristics of image by regarding thing, can be realized by regarding the three of thing using identical matching process and measuring method Dimension measurement.

Four phase unit planar array characteristic point matching methods are more using camera, application cost added, simultaneously as camera It is more, difficulty of processing and the complexity calculated are also increased, also have impact on measurement accuracy.

Utility model content

In view of this, the purpose of the utility model embodiment is to provide a kind of three-dimensional detection device；It is existing to reduce The complexity of polyphaser matching process and measuring method, simplify bulk calculating process, reduce systematic measurement error.

The utility model provides following technical scheme：

A kind of three-phase unit characteristic point matching method, comprises the following steps：

A1. using an image plane in the horizontal image plane of one group of three-phase unit as base image plane, put down for the base picture A characteristic point on face finds out the institute in image plane adjacent with the base image plane in a lateral direction with this feature Point matching There is match point；

A2. for the characteristic point in the base image plane in the step a1 and it is corresponding in a lateral direction with All match points in the adjacent image plane of the base image plane with this feature Point matching, the match point group of composition, find out The match point to match in three image planes with this to match point group, according to matching condition, remove for being unsatisfactory for matching condition With a group, formed by all existing match point group for meeting matching condition in three image planes；

A3. repeat step a1 and a2, all characteristic points that can realize matching and its corresponding are found out in base image plane With corresponding match point in other two image planes in a group, and match point group；

A4. corresponding match point in other two non-base image planes will be located in all match point groups and carry out full figure checking, Determine that three image planes correspond to the same uniqueness match point group by viewpoint.

Further,

In the step a1, for a characteristic point in the base image plane according to matching condition 1) find out in horizontal side All match points in the image plane adjacent with the base image plane with this feature Point matching upwards；

Wherein,

The matching condition 1), be one by viewpoint when being imaged in three image planes of one group of three-phase unit, in transverse direction Imaging point on direction in two adjacent image planes meets：This is existed by imaging point of the viewpoint in left image plane with this by viewpoint Imaging point in corresponding right image plane is located parallel on the same straight line of transverse coordinate axis, and in the left image plane Imaging point is relative to the horizontal offset of the origin of coordinates of the left image plane more than the imaging point in the right image plane relative to this The horizontal offset of the origin of coordinates of right image plane.

Further,

In the step a2, according to matching condition 2) and matching condition 3) find out in the 3rd image plane with this to matching The match point that point group matches；

Wherein, the matching condition 2) be, one by viewpoint when being imaged in three image planes of one group of three-phase unit, The imaging point in image plane in another short transverse is located at, in two image planes of the left and right sides adjacent with the image plane Imaging point with the intersection point of the line of the imaging point by viewpoint in the image plane, and two lines are respectively parallel to the quilt The line of central point in the image plane where viewpoint and the central point on corresponding trunnion axis in two or so image planes；

Wherein, the matching condition 3) it is that one by viewpoint corresponding in three image planes of one group of three-phase unit The necessary condition met with a group forms a triangle, the three sides of a triangle and three image planes for three imaging points Focus composition three sides of a triangle it is parallel, and the triangle is similar with the triangle that the focus of three image planes forms.

Further,

In step a4, if occurring same matching double points in other two non-base image planes answers two in base image plane Or during multiple match point groups, using the point as basic point, according to matching condition 1), 2) and 3), and step a1, a2 and a3, in base picture Match point corresponding to being found successively in plane, judges other match point group on the match point whether also be present, if so, just This matching relationship is deleted, untill there is matching relationship for corresponding unique match relation two-by-two；If always in the presence of one Point-to-multipoint, and two planes in non-base image plane be completed full figure checking in the case of, just the matching is closed System all deletes.

A kind of measuring method based on three-phase unit characteristic point matching method,

Comprise the following steps：

B1. after the completion of IMAQ, find out the base picture using three-phase unit characteristic point matching method as described above and put down Uniqueness match point group corresponding to all characteristic points in face；

B2. according to the picture coordinate of the uniqueness match point group obtained in the step b1, calculate by the locus of viewpoint Coordinate；

B3. according to the locus coordinate by viewpoint obtained in the step b2, three dimensional point cloud is formed, establishes three Point cloud chart shape is tieed up, reappears three-dimensional image.

Further,

The step b1 includes：

B11. using an image plane in the horizontal image plane of one group of three-phase unit as base image plane, put down for the base picture A characteristic point on face finds out the institute in image plane adjacent with the base image plane in a lateral direction with this feature Point matching There is match point；

B12. for the characteristic point in the base image plane in the step b11 and it is corresponding in a lateral direction In the image plane adjacent with the base image plane with all match points of this feature Point matching, the match point group of composition, according to With condition 2) and matching condition 3) match point to match in the 3rd image plane with this to match point group is found out, according to matching Condition, the match point group for being unsatisfactory for matching condition is removed, is formed and meets matching condition 3 by all existing in three image planes) Match point group；

B13. repeat step b11 and b12, all characteristic points that can realize matching and its corresponding are found out in base image plane Positioned at corresponding match point in other two image planes in match point group, and match point group；

B14. corresponding match point in other two image planes of non-base image plane will be located in all match point groups to carry out Full figure is verified, if occur same matching double points on the diagram and answer two or more match point groups in base image plane, with the point For basic point, found successively in base image plane according to matching principle and above step corresponding to match point, judge in the matching Whether other match point group also there is on point, if so, just deleting this matching relationship.Until there is matching relationship for two-by-two Untill corresponding unique match relation, if point to multi--point, and two planes in non-base image plane always be present In the case of being completed full figure checking, just the matching relationship is all deleted.

Further,

In the step b2,

Three-phase unit is set with arbitrary triangle, including is located at a cameras and b of the side position of space coordinates trunnion axis two respectively Camera, the c cameras positioned at vertical coordinate axle upper position, focus Oa, Ob, Oc of three cameras at grade, and three The focal length of camera is identical to be set to f, and the optical axis of three cameras is each perpendicular to the plane, by viewpoint P (Px, Py, Pz) and the point in a pictures Imaging point in plane, b image planes and c image planes is respectively that Pa (Pax, Pay), Pb (Pbx, Pby), Pc (Pcx, Pcy), m are OaOb length, u are the target surface length of the imaging sensor in each image plane, and v is that the target surface of the imaging sensor of each camera is wide Degree, P ＇ points, Pa ＇ points and Pb ＇ points are respectively the subpoint of P points, Pa points, Pb points on OXZ coordinate planes, and Pax and Pbx are respectively The coordinate value of the X-direction of Pa ＇ points and Pb ＇ points in a image planes and b image planes；θ a are a image plane pixel projections angle, and θ b are b Image plane pixel projection angle, wherein pixel projection angle θ (θ a or θ b) refer to for image known to a fixed focal length and parameter Acquisition system, each pixel is called pixel projection angle with the line of its focus and the angle of optical axis center on its image；

The expression formula of the locus coordinate of P points is：

Px coordinates calculation formula when a, b image plane laterally match：

Pz coordinates calculation formula when a, b image plane laterally match：

By laterally match known Px and Pz it is worth go out Py value：

Wherein：

A kind of three-dimensional detection device, above-mentioned measuring method, including three camera arrays being made up of three cameras are employed, Wherein, three cameras are distributed in conplane optional position, and the optical axis of three cameras is parallel to each other.

Further,

Also include the first substrate that is parallel to each other and second substrate, be arranged at the second substrate and deviate from the first substrate The control board of side, and for accommodating the fixation of the first substrate, the second substrate and the control board Rear shell；

The three cameras lens array is arranged on first substrate, the axis of each camera lens of the three cameras lens array The plane being respectively perpendicular to where the first substrate, the surface of the second substrate towards the first substrate are provided with photosensitive Element arrays, each photo-sensitive cell in the light-sensing element array corresponds with each camera lens to be set.

Further,

The light-sensing element array is welded on second substrate or is integrally formed with second substrate, the light-sensing element array The scan line horizontal parallel of two photo-sensitive cells of the triangular base of formation and up and down it is perfectly aligned, meanwhile, the sense The scan line of photo-sensitive cell at the top of optical component array is parallel with the scan line of the two of bottom photo-sensitive cells, and three institutes State photo-sensitive cell isosceles triangle of the composition using base the bottom of as or the right angled triangle using base as a right-angle side.

Further,

Fixed substrate including image generative circuit plate, for fixing described image generative circuit plate and positioned at described The image acquisition circuit plate at fixed substrate rear；

Three micro-lens, micro- correspondingly with three micro-lens are provided with described image generative circuit plate Type photo-sensitive cell and the image generative circuit being arranged at below the miniature photo-sensitive cell, three micro-lens form three-phase Machine lens array.

Further,

The miniature light-sensing element array is welded on image generative circuit plate or is integrally formed with image generative circuit plate, The scan line horizontal parallel of two miniature photo-sensitive cells of the triangular base that the miniature light-sensing element array is formed and It is perfectly aligned up and down, meanwhile, the scan line of the miniature photo-sensitive cell at the top of the miniature light-sensing element array and two of bottom The scan line of the miniature photo-sensitive cell is parallel, and three miniature photo-sensitive cells form the isosceles triangle using base the bottom of as Or the right angled triangle using base as a right-angle side.

Further,

Also include rear shell and fore shell, described image generative circuit plate, the fixed substrate and described image Acquisition Circuit Plate is integrated in be enclosed in the space set by fore shell and rear shell.

Further,

It is provided with the fore shell and corresponds the camera aperture set with the micro-lens.

Further,

Second source input port is provided with the rear shell.

Further,

The second data communication interface is provided with the rear shell.

Further,

According to the scope of measured object visual field, it can be formed using the three-dimensional detection device as fundamental measurement unit and be more than three The three-dimensional detection device plane monitoring-network camera array of platform camera.

The utility model at least possesses following beneficial effect：

1. plane three-phase unit characteristic point matching method, can according to by regarding one of thing by viewpoint in one group of plane three-phase The position of imaging point in three image planes of unit, Rapid matching go out this by viewpoint the corresponding uniqueness in three image planes Imaging point group, realize the matching by the versatility of viewpoint, uniqueness to can be imaged on three cameras；

2. based on the measuring method of plane three-phase unit characteristic point matching method, under any illumination condition, as long as collection Image it is clear enough, it is unknown by regarding thing in the case of, can using identical measuring method for any by regarding thing To realize to by the three-dimensional measurement regarding thing, and the measuring method be without do any demarcation to visual field, its measurement accuracy and resolution Rate is only relevant with measuring system, with that by unrelated regarding thing, can fully achieve independence measurement.

3. due to the matching process and the versatility and reliability of measuring method, it is easy to program optimization and realizes insertion The computing of formula rank and chip level, so as to quickly realize three-dimensional perception and measurement.

4. relative to four phase unit planar array characteristic point matching methods, this method is few using camera, reduces and is applied to This, simultaneously as camera is few, decreases difficulty of processing and the complexity calculated, improves measurement accuracy.

Brief description of the drawings

, below will be right in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art The required accompanying drawing used is briefly described in embodiment or description of the prior art, it should be apparent that, describe below In accompanying drawing be some embodiments of the present utility model, for those of ordinary skill in the art, do not paying creativeness On the premise of work, other accompanying drawings can also be obtained according to these accompanying drawings.

Fig. 1 is the schematic diagram for the space coordinates established based on three-phase unit；

Fig. 2 be by regarding thing some by viewpoint P (Px, Py, Pz) and the point in a image planes, b image planes and c image planes Imaging schematic diagram；

Fig. 3 is any imaging plane schematic diagram by viewpoint P on plane three-phase unit；

Fig. 4 is any imaging volume schematic diagram by viewpoint P on a, b phase unit；

Fig. 5 is perspective view of imaging point of the P points on a, b phase unit on OXZ coordinate planes；

Fig. 6 is that pixel projection angle and P points Y value calculate schematic diagram；

Fig. 7 is the explosive view for the one of which three-dimensional detection device that embodiment 3 provides；

Fig. 8 is Fig. 7 general assembly schematic diagram；

Fig. 9 is the structural representation of the fixation rear shell in Fig. 7；

Figure 10 is Fig. 8 sectional view；

Figure 11 is the explosive view for another three-dimensional detection device that embodiment 3 provides；

Figure 12 is Figure 11 general assembly schematic diagram；

Figure 13 is the flow chart of the measuring method based on three-phase unit characteristic point matching method.

Icon：100- first substrates；101- camera lenses；102- installation through-holes；200- second substrates；The photosensitive members of 201- Part；300- control boards；400- fixes rear shell；The power inlets of 401- first；The data communication interfaces of 402- first； 301- fixed columns；500- fore shells；501- camera apertures；600- image generative circuit plates；The miniature photo-sensitive cells of 601-；602- Mounting hole；603- micro-lens；604- image generative circuits；700- fixed substrates；800- image acquisition circuit plates； 900- rear shells；901- second sources input port；The data communication interfaces of 902- second.

Embodiment

The technical solution of the utility model is clearly and completely described below in conjunction with accompanying drawing, it is clear that described Embodiment is the utility model part of the embodiment, rather than whole embodiments.Based on the embodiment in the utility model, sheet The every other embodiment that field those of ordinary skill is obtained under the premise of creative work is not made, belongs to this practicality Novel protected scope.

, it is necessary to explanation in description of the present utility model, term " " center ", " on ", " under ", it is "left", "right", " perpendicular Directly ", the orientation of the instruction such as " level ", " interior ", " outer " or position relationship are based on orientation shown in the drawings or position relationship, are only Described for the ease of description the utility model and simplifying, rather than instruction or imply signified device or element must have it is specific Orientation, with specific azimuth configuration and operation, therefore it is not intended that to limitation of the present utility model.In addition, term " the One ", " second ", " the 3rd " are only used for describing purpose, and it is not intended that instruction or hint relative importance.

, it is necessary to which explanation, unless otherwise clearly defined and limited, term " are pacified in description of the present utility model Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integratedly Connection；Can be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected by intermediary, It can be the connection of two element internals.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition Concrete meaning of the language in the utility model.

Embodiment 1, embodiment 2 and embodiment 3 are described in detail below in conjunction with the accompanying drawings：

Fig. 1 is the schematic diagram for the space coordinates established based on three-phase unit；Fig. 2 be by regarding thing some by viewpoint P The imaging schematic diagram of (Px, Py, Pz) and this in a image planes, b image planes and c image planes；Fig. 3 be it is any by viewpoint P flat Imaging plane schematic diagram on the three-phase unit of face；Fig. 4 is any imaging volume schematic diagram by viewpoint P on a, b phase unit；Figure 5 be perspective view of imaging point of the P points on a, b phase unit on OXZ coordinate planes；Fig. 6 is pixel projection angle and P point Y value meters Calculate schematic diagram；Fig. 7 is the explosive view for the one of which three-dimensional detection device that embodiment 3 provides；Fig. 8 is Fig. 7 general assembly schematic diagram； Fig. 9 is the structural representation of the fixation rear shell 900 in Fig. 7；Figure 10 is Fig. 8 sectional view；Figure 11 is the another of the offer of embodiment 3 The explosive view of kind three-dimensional detection device；Figure 12 is Figure 11 general assembly schematic diagram.

In the utility model, imaging point refer to by regarding thing by viewpoint the respective pixel position in image plane (or image) Imaging, an imaging point in three image planes of one group of three-phase unit is corresponding with by viewpoint respectively depending on each of thing；Matching Point refers to that for the imaging point in an image plane what is searched out in the image plane or other image planes meets with the imaging point Certain matching condition and with the characteristics of image (such as texture, color or gray scale etc.) of the imaging point similar in imaging point.One into Match point corresponding to picture point may have one or more.

In the utility model, characteristic point refers to the following imaging point for being corresponding with one or more match points, imaging point tool Have any different in the characteristics of image of other imaging points, such as different textures, color or gray value etc., in the utility model embodiment It is not especially limited, different characteristics of image can be selected according to actual conditions as basis for estimation.In general, measured object edge Or the imaging point corresponding to viewpoint of the position such as texture transition area all has distinct characteristics of image, Figure 13 is to be based on three-phase unit The flow chart of the measuring method of characteristic point matching method.

Embodiment 1

The present embodiment is related to a kind of three-phase unit characteristic point matching method.

1st, establish before plane three-phase unit as model three-dimension measuring system and three-dimensional system of coordinate.

For the ease of illustrating the plane three-phase unit characteristic point matching method and measuring method of the utility model embodiment, need Establish plane three-phase unit three-dimension measuring system and the plane three-phase unit three-dimension measuring system institute for meeting to require Corresponding three-dimensional system of coordinate, in order to be more convenient the method using the utility model embodiment, using forward projection model, use with The plane three-phase unit three-dimension measuring system and corresponding three-dimensional system of coordinate that following manner is established：

Fig. 1 is the schematic diagram for the space coordinates established based on three-phase unit.

If the focus of three-phase unit is set with arbitrary triangle at grade, including horizontal positioned at space coordinates respectively A cameras and b cameras, the c cameras positioned at vertical coordinate axle upper position of the side position of axle two, the complete phase of configuration of three cameras Together, it is identical that the parameters such as the camera lens 101, imaging sensor, focal length of i.e. three cameras are similarly configured.The focus of three cameras Oa, Ob, Oc at grade, and three cameras focal length it is identical be set to f, the optical axis of three cameras is each perpendicular to the plane, Oa, Ob, Oc composition base are m, are highly h, two base angles are respectively α, β arbitrary triangle, the midpoint on the base of triangle O is set to, a three-dimensional cartesian coordinate system is established by origin of O.Wherein, on the base of triangle, the direction of X-axis is referred to as X-axis Length direction or horizontal direction or horizontal direction, X-axis can extend (using Z coordinate direction as camera image plane in the lateral direction Imaging direction, the direction shown in the arrow of X-axis are defined herein as positive direction to the right)；Y-axis perpendicular to the base of triangle, And, the direction of Y-axis is referred to as width or vertical direction or longitudinal direction with Oa, Ob, Oc at grade, Y-axis can be Upper and lower upwardly extends (direction shown in the arrow of Y-axis is upward, is defined herein as positive direction)；Z axis is where focus Plane and parallel with the optical axis direction of three cameras, the direction of Z axis are referred to as depth direction and (define the direction shown in the arrow of Z axis For the positive direction of depth direction).In the positive direction of Z axis, if it is parallel with the plane where focus Oa, Ob, Oc and with the plane Distance be focal length f plane, set tri- image planes of a, b, c, according to image-forming principle, the center of each image plane on this plane For each self-corresponding camera optical axis by point, if the plane coordinates origin of each image plane is the upper left corner of the image plane, Respectively Oa ＇, Ob ＇ and the two-dimentional rectangular axes of Oc ＇, a image planes are set to the two-dimentional rectangular axes of Oa ＇ XaYa, b image planes The two-dimentional rectangular axes for being set to Ob ＇ XbYb, c image planes are set to Oc ＇ XcYc, and the length for setting each image plane (corresponds to The target surface length of the imaging sensor of each camera) it is u, width (the target surface width for corresponding to the imaging sensor of each camera) is v (not shown).Meanwhile the horizontal scan line for defining tri- image planes of a, b, c is all parallel with X-direction, and bis- pictures of a, b The horizontal scan line of plane is lower in vertical direction to align.And the optical axis of the center of tri- image planes of a, b, c and corresponding camera Pass through overlap.

One group of plane three-phase unit of above arrangement is used as a minimum base proposed in the utility model This 3 D stereo measuring unit.Can be according to similar rules and methods structure by more polyphaser (positive integer for being more than or equal to 3) The multiphase unit planar array three-dimension measuring system of composition, while can build the camera of each group three according to similar rules and methods Three-dimensional system of coordinate corresponding to group, or the three-dimensional system of coordinate that structure is unified.The matching process of embodiment of the present utility model and survey Measured object that amount method is applied to be imaged on three cameras of one group of three-phase unit being arranged as above by viewpoint The matching and measurement of three-dimensional coordinate position.

2nd, the derivation of plane three-phase unit Feature Points Matching condition

Fig. 2 be by regarding thing some by viewpoint P (Px, Py, Pz) and the point in a image planes, b image planes and c image planes Imaging schematic diagram, referring to Fig. 2, according to image-forming principle, imaging point of the P points in a, b, c image plane be respectively Pa (Pax, Pay), Pb (Pbx, Pby), Pc (Pcx, Pcy).

Fig. 3 is any imaging plane schematic diagram by viewpoint P on plane three-phase unit.

In the image plane of three camera imagings, straight line PaPb and straight line OaOb that three imaging points Pa, Pb, Pc are separately constituted Parallel, straight line PaPc is parallel with straight line OaOc, and straight line PbPc is parallel with straight line ObOc, triangle PaPbPc and triangle OaObOc It is similar.Specific proof procedure is as follows：

Fig. 4 is referred to, Fig. 4 is any imaging volume schematic diagram by viewpoint P on a, b phase unit.P points, Pa points, Pb points Projection on the OXZ coordinate planes where two focuses Oa, Ob is respectively：P ' point, Pa ' point, Pb ' point.

Due to the imaging surface that OaOb straight line parallels form in a, two image planes of b, what three points of P points, Oa points and Ob points formed Plane where two image planes of triangle and a, b intersects, and intersection is straight line PaPb, so PaPb straight lines are put down with OaOb straight lines OK.

Similarly, can also prove, PbPc straight lines and ObOc straight line parallels, PaPc straight lines and OaOc straight line parallels, meanwhile, Demonstrate, triangle PaPbPc is similar with triangle OaObOc.

Fig. 5 is referred to, Fig. 5 is perspective view of imaging point of the P points on a, b phase unit on OXZ coordinate planes.M is OaOb length, u are the target surface length of each imaging sensor, and P ＇ points, Pa ＇ points and Pb ＇ points are respectively that P points, Pa points, Pb points exist Subpoint on OXZ coordinate planes, Pax and Pbx are respectively the X-direction of Pa ＇ points and Pb ＇ points in a image planes and b image planes Coordinate value.

It will be evident that Pax is more than Pbx, that is to say, that imaging point of the P points in a image planes is former relative to the coordinate of a image planes The horizontal offset of point is more than horizontal offset of imaging point of this in b image planes relative to the origin of coordinates of b image planes.

Proved more than, draw following matching condition：

Matching condition 1)：One by viewpoint when being imaged in three image planes of one group of three-phase unit, in a lateral direction Imaging point in two adjacent image planes meets：This by imaging point of the viewpoint in left image plane with this by viewpoint corresponding Imaging point in right image plane is located parallel on the same straight line of transverse coordinate axis, and the imaging point in the left image plane It is more than the imaging point in the right image plane relative to the horizontal offset of the origin of coordinates of the left image plane to put down relative to the right picture The horizontal offset of the origin of coordinates in face.

Due to PbPc straight lines and ObOc straight line parallels, PaPc straight lines and OaOc straight line parallels, triangle PaPbPc and triangle Shape OaObOc is similar, it can be deduced that following matching condition：

Matching condition 2)：One by viewpoint when being imaged in three image planes of one group of three-phase unit, another height The imaging point in image plane on direction is located at, the imaging point in two image planes of the left and right sides adjacent with the image plane with On the intersection point of the line of the imaging point by viewpoint in the image plane, and two lines be respectively parallel to this should where viewpoint The line of central point in image plane and the central point on corresponding trunnion axis in two or so image planes.

Thus, according to foregoing matching condition 1) and matching condition 2) following matching condition can be drawn：

Matching condition 3)：One by viewpoint, corresponding match point group meets in three image planes of one group of three-phase unit Necessary condition forms a triangles for three imaging points, what the focus of the three sides of a triangle and three image planes formed Three sides of a triangle are parallel, and the triangle is similar to the triangle of the focus composition of three image planes.

According to above matching condition, after an imaging point on arbitrary image is selected, it is right in other two images The imaging point answered, can 3) it be matched according to matching, corresponding match point forms a pair of match point groups on the three width images found.

3rd, plane three-phase unit characteristic point locus coordinate calculates.

Fig. 5 is referred to, Fig. 5 is perspective view of imaging point of the P points on a, b phase unit on OXZ coordinate planes.

Referring to Fig. 5, m is OaOb length, and u is the target surface length of each imaging sensor, and P ＇ points, Pa ＇ points and Pb ＇ points are distinguished For the subpoint of P points, Pa points, Pb points on OXZ coordinate planes, Pax and Pbx are respectively Pa ＇ points and Pb ＇ points in a image planes and b The coordinate value of X-direction in image plane.

Based on the above and Similar Principle of Triangle, have for Fig. 5：

According to 1. 2. deriving

According to 1. 3. deriving

By (P_ax-P_bx) imaging point when being defined as laterally matching in b image planes is relative to the imaging point in a image planes Lateral shift value, it is defined as Δ x.It is possible to draw：

Px coordinates calculation formula (formula one) when a, b image plane laterally match：

Pz coordinates calculation formula (formula two) when a, b image plane laterally match：

According to two formula that binocular vision is foregoing, X and Z value can be directly obtained for laterally matching us, can not Draw Y value.We further derive the computational methods of the Y value laterally matched below.

As shown in Figure 6, Fig. 6 is that pixel projection angle and P points Y value calculate schematic diagram；Known Px and Pz value is laterally matched, is needed Py value is further derived from, we introduce pixel projection angle θ concept.

Pixel projection angle θ refers to for image capturing system known to a fixed focal length and parameter, each on its image Pixel is called pixel projection angle with the line of its focus and the angle of optical axis center.Pixel projection line refers to focus and the pixel Line extended line composition a ray.θ angles as shown in Figure 6 are pixel projection angle, and OaP is pixel projection line.When After focal length and imaging sensor determine, the pixel projection angle of each of which pixel is a value uniquely determined, the imaging in the pixel Image corresponds to pixel projection line and by the intersection point image regarding thing.That is, by regarding thing corresponding to the imaging point of each pixel It is all located on the extended line of the pixel projection line.

By accompanying drawing 6, we can further be derived from Py value by laterally matching known Px and Pz value, wherein Pixel projection angle is set as θ a for a images, is set pixel projection angle as θ b for b images, is designated as formula three：

Wherein, for formula three：

4th, plane three-phase unit characteristic point matching method.

According to foregoing matching principle, matching condition, matching formula, a kind of plane three-phase unit Feature Points Matching side is obtained Method, comprise the following steps：

A1. using an image plane in the horizontal image plane of one group of three-phase unit as base image plane, in base image plane A characteristic point, according to matching condition 1) find out in image plane adjacent with the base image plane in a lateral direction with this feature All match points of Point matching；

A2. for the characteristic point in the base image plane in step a1 and corresponding adjacent with base image plane in a lateral direction Image plane on all match points with this feature Point matching, the match point group of composition, find out in the 3rd image plane with should The match point to match to match point group, according to matching condition 2) and 3), the match point group for being unsatisfactory for matching condition is removed, formed By all existing match point group for meeting matching condition in three image planes；

A3. repeat step a1 and a2, all characteristic points that can realize matching and its corresponding are found out in base image plane With a group, and in the match point group in other two image planes corresponding match point；

A4. by corresponding match point progress full figure checking in other two image planes in all match point groups, three are determined Individual image plane corresponds to the same uniqueness match point group by viewpoint.

In step a1, for a characteristic point in base image plane according to matching condition 1) find out in a lateral direction with this In the adjacent image plane of base image plane with all match points of this feature Point matching；

Wherein,

Matching condition 1), be one by viewpoint when being imaged in three image planes of one group of three-phase unit, in horizontal direction Imaging point in upper two adjacent image planes meets：This by imaging point of the viewpoint in left image plane with this by viewpoint corresponding Right image plane on imaging point be located parallel on the same straight line of transverse coordinate axis, and the imaging in the left image plane Point is relative to the horizontal offset of the origin of coordinates of the left image plane more than the imaging point in the right image plane relative to the right picture The horizontal offset of the origin of coordinates of plane.

In step a2, according to matching condition 2) and matching condition 3) find out in the 3rd image plane with this to match point group The match point to match；

Wherein, matching condition 2) be, one by viewpoint when being imaged in three image planes of one group of three-phase unit, another The imaging point in image plane in individual short transverse is located at, in two image planes of the left and right sides adjacent with the image plane into Picture point with the intersection point of the line of the imaging point by viewpoint in the image plane, and two lines are respectively parallel to this by viewpoint The line of central point in the image plane of place and the central point on corresponding trunnion axis in two or so image planes；

Wherein, matching condition 3) be, one by viewpoint in three image planes of one group of three-phase unit corresponding match point The necessary condition that group meets forms Jiao of a triangle, the three sides of a triangle and three image planes for three imaging points The three sides of a triangle of point composition are parallel, and the triangle is similar to the triangle of the focus composition of three image planes.

In step a4, two in base image plane are answered if there is the same matching double points in other two non-base image planes During individual or multiple match point groups, using the point as basic point, according to matching condition 1), 2) and 3), and step a1, a2 and a3, in base Match point corresponding to being found successively in image plane, judges whether other matching also be present on the match point in base image plane Point group, if so, just deleting this matching relationship, untill there is matching relationship for corresponding unique match relation two-by-two； If point to multi--point always be present, and two planes in non-base image plane are completed the situation of full figure checking Under, just the matching relationship is all deleted.

Embodiment 2

The present embodiment is related to a kind of three camera planar array characteristic point measuring methods.

Comprise the following steps：

B1. after the completion of IMAQ, all characteristic points in base image plane are found out using the method employed in embodiment 1 Corresponding uniqueness match point group；

B2. according to the picture coordinate of the uniqueness match point group obtained in step b1, calculate by the locus coordinate of viewpoint；

B3. according to the locus coordinate by viewpoint obtained in step b2, three dimensional point cloud is formed, establishes three-dimensional point Cloud atlas shape, reappear three-dimensional image.

Step b1 includes：

B11. using an image plane in the horizontal image plane of one group of three-phase unit as base image plane, in base image plane A characteristic point, according to matching condition 1) find out in image plane adjacent with the base image plane in a lateral direction with this feature All match points of Point matching；

B12. for the characteristic point in the base image plane in step b11 and it is corresponding in a lateral direction with base image plane phase All match points in adjacent image plane with this feature Point matching, the match point group of composition, according to matching condition 2) and matching bar Part 3) match point to match in the 3rd image plane with this to match point group is found out, according to matching condition, removal is unsatisfactory for The match point group of matching condition, formed and meet matching condition 3 by all existing in three image planes) match point group；

B14. by corresponding match point carries out full figure checking in other two image planes in all match point groups, if schemed It is former according to matching using the point as basic point when the upper same matching double points of appearance answer two or more match point groups in base image plane Reason and above step found successively in base image plane corresponding to match point, judge on the match point whether also to exist in addition Match point group, if so, just this matching relationship is deleted.Until there is matching relationship for corresponding unique match relation two-by-two Untill, if point to multi--point always be present, and two planes in non-base image plane are completed full figure checking In the case of, just the matching relationship is all deleted.

In step b2,

Three-phase unit is set with arbitrary triangle, including a cameras positioned at space coordinates trunnion axis leftward position, the right side respectively The b cameras of side position, the c cameras positioned at vertical coordinate axle upper position, focus Oa, Ob, Oc of three cameras are in same plane On, and three cameras focal length it is identical be set to f, the optical axis of three cameras is each perpendicular to the plane, by viewpoint P (Px, Py, Pz) and Imaging point of this in a image planes, b image planes and c image planes be respectively Pa (Pax, Pay), Pb (Pbx, Pby), Pc (Pcx, Pcy), m is OaOb length, and u is the target surface length of the imaging sensor in each image plane, and v is the imaging sensor of each camera Target surface width, P ＇ points, Pa ＇ points and Pb ＇ points are respectively the subpoint of P points, Pa points, Pb points on OXZ coordinate planes, Pax and Pbx is respectively the coordinate value of the X-direction of Pa ＇ points and Pb ＇ points in a image planes and b image planes；θ is pixel projection angle, wherein Pixel projection angle θ refers to for image capturing system known to a fixed focal length and parameter, on its image each pixel and its The line of focus and the angle of optical axis center are called pixel projection angle；

The expression formula of the locus coordinate of P points is：

Px coordinates calculation formula when a, b image plane laterally match：

Pz coordinates calculation formula when a, b image plane laterally match：

By laterally match known Px and Pz it is worth go out Py value：

Pixel projection angle wherein is set as θ a for a images, and pixel projection angle is set as θ b for b images：

Wherein：

Embodiment 3

The present embodiment is related to the three of a kind of three camera planar array feature point detecting methods for employing and being addressed in embodiment 2 Tie up detection means.

Wherein, above-mentioned three-dimensional measuring apparatus, including at least one group by the completely the same digital camera of three technical parameters Form, in the measuring system, the focus of three cameras forms a plane, and the optical axis of camera is perpendicular to the plane.

In the alternative of the present embodiment, as the one of which structure type of three-dimensional detection device, please with reference to Fig. 7 To Figure 10.

Including three camera lens arrays, the first substrate 100 being parallel to each other and second substrate 200, it is arranged at second substrate 200 deviate from the control board 300 of the side of first substrate 100, and for accommodating first substrate 100, second substrate 200 and control The fixation rear shell 400 of circuit board 300 processed.

Three camera lens arrays are arranged on first substrate 100, the axis point of each camera lens 101 of three camera lens arrays Not perpendicular to the plane where first substrate 100, the surface of second substrate 200 towards first substrate 100 is provided with photo-sensitive cell 201 arrays, each photo-sensitive cell 201 in the array of photo-sensitive cell 201 corresponds with each camera lens 101 to be set.In addition, it please join According to Figure 10, control board 300 is connected by fixed column 301 with second substrate 200.Fig. 9 is refer to, after fixation on shell 400 It is provided with the first power inlet 401 and the first data communication architecture 402.

The array of photo-sensitive cell 201 that multiple photo-sensitive cells 201 form is integrated on same substrate, therefore can be ensured The geometric accuracy of the mutual alignment of photo-sensitive cell 201, and parallel and array structure the geometric accuracy of the optical axis of camera lens 101, The distance between adjacent camera lens 101 can be reduced as needed.Above measure, it ensure that three-dimensional image accuracy and standard Exactness is higher, and measurement range is bigger, and the integrated level of camera is higher, facilitates processing and fabricating, the device is turned into truly Three-dimensional image acquisition apparatus.

More preferably, camera lens 101 mentioned above is industrial lens 101, each camera lens 101 and corresponding photo-sensitive cell 201 one industrial digital camera of composition, so as to form the industrial digital camera array formed by multiple industrial digital cameras, its In, industrial digital camera hereinafter referred to as camera, industrial digital camera array hereinafter referred to as camera array, the above-mentioned array of camera lens 101 In the model of each camera lens 101, type it is identical, it can be tight shot 101, or zoom lens 101.It is above-mentioned The effect of each photo-sensitive cell 201 in the array of photo-sensitive cell 201 is that the optical signal that camera lens 101 captures is changed into telecommunications Number, in order to successive image processing, it can be CCD (Charge-coupled Device, imaging sensor), can also CMOS (Complementary Metal Oxide Semiconductor, complementary metal oxide semiconductor), certainly, also may be used The electrical part for realizing that optical signal is changed into electric signal in image acquisition procedures can be applied by thinking known to other.

Second substrate 200 can use the mode of PCB (Printed Circuit Board, printed circuit board) circuit board, Then each photo-sensitive cell 201 is welded on second substrate 200 according to the laying requirement of foregoing camera lens 101.Using welding During mode, in order to ensure welding precision, the special positioning fixture of photo-sensitive cell 201 can be used, to ensure each photosensitive member after welding The positional precision of part 201.In addition, photo-sensitive cell 201 can also be integrally formed with second substrate 200, directly it is photosensitive array plate.

In above-mentioned alternative, the scanning of two photo-sensitive cells 201 of the triangular base that the array of photo-sensitive cell 201 is formed Line horizontal parallel and up and down it is perfectly aligned, meanwhile, the scan line of the photo-sensitive cell 201 of the array top of photo-sensitive cell 201 and bottom Two photo-sensitive cells 201 scan line it is parallel, and three photo-sensitive cells 201 form using base as the isosceles triangle at bottom or Right angled triangle using base as a right-angle side.

As another structure type of three-dimensional detection device, please with reference to Figure 11 and Figure 12.

Including image generative circuit plate 600, the fixed substrate 700 for still image generative circuit plate 600 and it is located at The image acquisition circuit plate 800 at the rear of fixed substrate 700；

Three micro-lens 603, one-to-one with three micro-lens 603 are provided with image generative circuit plate 600 Miniature photo-sensitive cell 601 and the image generative circuit 604 for being arranged at the miniature lower section of photo-sensitive cell 601, image generative circuit plate 600 surroundings are provided with mounting hole 602.Three micro-lens 603 form three camera lens arrays.

In addition, fore shell 500 and rear shell 900 are additionally provided with, image generative circuit plate 600, fixed substrate 700 and IMAQ Circuit board 800 is integrated in be enclosed in the space set by fore shell 500 and rear shell 900.It is provided with fore shell 500 and micro-lens 603 correspond the camera aperture 501 set, and the data communication interface of second source input port 901 and second is provided with rear shell 900 902。

Miniature photo-sensitive cell 601 includes CCD and/or CMOS, will according to field range, measurement accuracy and measuring speed etc. Ask, can select to be adapted to the miniature photo-sensitive cell 601 used, then image generative circuit plate 600 corresponding to design, image generation Circuit board 600 can use the mode of PCB (Printed Circuit Board, printed circuit board) circuit board, then will be each Miniature photo-sensitive cell 601 is welded on image generative circuit plate 600 according to the laying requirement of foregoing micro-lens 603.Using During welding manner, in order to ensure welding precision, the special positioning fixture of photo-sensitive cell 201 can be used, ensure each miniature after welding The positional precision of photo-sensitive cell 601.In addition, miniature photo-sensitive cell 601 can also be integrally formed with image generative circuit plate 600, Directly it is miniature photosensitive array plate.

Further, two miniature photo-sensitive cells 601 of the triangular base that the miniature array of photo-sensitive cell 601 is formed Scan line horizontal parallel and up and down it is perfectly aligned, meanwhile, the miniature photo-sensitive cell 601 of the miniature array top of photo-sensitive cell 601 Scan line is parallel with the scan line of two miniature photo-sensitive cells 601 of bottom, and three miniature photo-sensitive cells 601 are formed with base The isosceles triangle bottom of for or the right angled triangle using base as a right-angle side.

Finally it should be noted that：Various embodiments above is only to illustrate the technical solution of the utility model, rather than it is limited System；Although the utility model is described in detail with reference to foregoing embodiments, one of ordinary skill in the art should Understand：It can still modify to the technical scheme described in foregoing embodiments, either to which part or whole Technical characteristic carries out equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from this practicality newly The scope of each embodiment technical scheme of type.

Claims

A kind of 1. three-dimensional detection device, it is characterised in that including three camera arrays being made up of three cameras, wherein, three institutes State camera and be distributed in conplane optional position, and the optical axis of three cameras is parallel to each other；

Also include the first substrate (100) that is parallel to each other and second substrate (200), be arranged at the second substrate (200) and deviate from The control board (300) of first substrate (100) side, and for accommodating the first substrate (100), described second The fixation rear shell (400) of substrate (200) and the control board (300)；

Three camera lens (101) array is arranged on first substrate (100), three camera lens (101) array it is each The axis of individual camera lens (101) is respectively perpendicular to the plane where the first substrate (100), second substrate (200) direction The surface of the first substrate (100) is provided with photo-sensitive cell (201) array, each in photo-sensitive cell (201) array Photo-sensitive cell (201) is corresponded with each camera lens (101) and set.
2. three-dimensional detection device according to claim 1, it is characterised in that

Photo-sensitive cell (201) array is welded on second substrate (200) or is integrally formed with second substrate (200), described Photo-sensitive cell (201) array formed triangular base two photo-sensitive cells (201) scan line horizontal parallel and on Under it is perfectly aligned, meanwhile, the scan line of the photo-sensitive cell (201) of photo-sensitive cell (201) array top and two of bottom The scan line of the photo-sensitive cell (201) is parallel, and three photo-sensitive cells (201) form the isoceles triangle using base the bottom of as Shape or the right angled triangle using base as a right-angle side.
A kind of 3. three-dimensional detection device, it is characterised in that

Including three camera arrays being made up of three cameras, wherein, three cameras are distributed in conplane optional position, And the optical axis of three cameras is parallel to each other, including image generative circuit plate (600), for fix described image generation electricity The fixed substrate (700) of road plate (600) and the image acquisition circuit plate (800) positioned at the fixed substrate (700) rear；

Three micro-lens (603) and three micro-lens (603) are provided with described image generative circuit plate (600) One-to-one miniature photo-sensitive cell (601) and the image generative circuit being arranged at below the miniature photo-sensitive cell (601) (604), three micro-lens (603) composition three camera lens (101) arrays.
4. three-dimensional detection device according to claim 3, it is characterised in that

Miniature photo-sensitive cell (601) array be welded on image generative circuit plate (600) or with image generative circuit plate (600) it is integrally formed, two miniature photo-sensitive cells of the triangular base that miniature photo-sensitive cell (601) array is formed (601) scan line horizontal parallel and perfectly aligned up and down, meanwhile, miniature photo-sensitive cell (601) array top it is miniature The scan line of photo-sensitive cell (601) is parallel with the scan line of two of the bottom miniature photo-sensitive cells (601), and described in three Miniature photo-sensitive cell (601) isosceles triangle of the composition using base the bottom of as or the right angle trigonometry using base as a right-angle side Shape.
5. three-dimensional detection device according to claim 4, it is characterised in that

Also include rear shell (900) and fore shell (500), described image generative circuit plate (600), the fixed substrate (700) and Described image collecting circuit board (800) is integrated in be enclosed in the space set by fore shell (500) and rear shell (900).
6. three-dimensional detection device according to claim 5, it is characterised in that

It is provided with the fore shell (500) and corresponds the camera aperture (501) set with the micro-lens (603).
7. three-dimensional detection device according to claim 6, it is characterised in that

Second source input port (901) is provided with the rear shell (900).
8. three-dimensional detection device according to claim 7, it is characterised in that

The second data communication interface (902) is provided with the rear shell (900).
9. three-dimensional detection device according to claim 3, it is characterised in that

According to the scope of measured object visual field, it can be formed using the three-dimensional detection device as fundamental measurement unit and be more than three phases The three-dimensional detection device plane monitoring-network camera array of machine.