CN207675140U - Novel lines structural light three-dimensional sensing device - Google Patents
Novel lines structural light three-dimensional sensing device Download PDFInfo
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- CN207675140U CN207675140U CN201721812492.XU CN201721812492U CN207675140U CN 207675140 U CN207675140 U CN 207675140U CN 201721812492 U CN201721812492 U CN 201721812492U CN 207675140 U CN207675140 U CN 207675140U
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Abstract
This application discloses a kind of novel lines structural light three-dimensional sensing devices.The sensor includes array of source device, diffraction optical element, image acquiring device and the control circuit board controlled array of source device and image acquiring device, for emitting several light beams from different perspectives, the control terminal of array of source device and the control signal output of control circuit board connect array of source device；Projected spot is lines hot spot after diffraction optical element is used to be split and control beam splitter to the light beam that array of source device emits, and by lines dot projection to perspective plane and is positioned on the testee in front of perspective plane；Image acquiring device is connected for obtaining projection image of the lines hot spot on perspective plane and testee, the control terminal of image acquiring device and the control signal output of control circuit board.The technical problem that present application addresses three-dimensional measurement precision is low, conversion speed is slow.
Description
Technical field
This application involves the three-dimensional measurement fields of object, are sensed in particular to a kind of novel lines structural light three-dimensional
Device.
Background technology
Spatial digitizer has extensively in fields such as human-computer interaction, industrial detection, safety monitoring, robot and automatic Pilots
Purposes, when carrying out three-dimensional measurement to object, common method has one-line scanning and striated structure light measurement, two ways can
Enough high precision three-dimensional measurements realized to object.Wherein, the principle of striated structure light measurement is set using projecting apparatus or grating etc.
It is standby, the chequered with black and white candy strip of variation is projected into testee surface, is continuously shot multiple pictures, identifies item in photo
The position of line, and depth information is calculated by optical triangulation photometry.As shown in Figure 1, being seven rank binary system bar graphs
Case transform sequence, seven rank stripeds can generate 128 kinds of patterns, need to be continuously shot seven photos and obtain a secondary depth map.Single line
Although scanning, principle is simple, and sweep time needs the several seconds that could complete, and being unsuitable for high-precision field progress three-dimensional measurement makes
With；Striated structure light measurement precision compared with one-line scanning is low, but the projecting apparatus or grating used that there are conversion speeds is slow,
Sweep time length, expensive disadvantage.
For the problem that three-dimensional measurement precision is low, conversion speed is slow in the related technology, effective solution is not yet proposed at present
Scheme.
Utility model content
The main purpose of the application is to provide a kind of novel lines structural light three-dimensional sensing device, to solve three-dimensional measurement
The problem that precision is low, conversion speed is slow.
To achieve the goals above, this application provides a kind of novel lines structural light three-dimensional sensing devices.
According to the novel lines structural light three-dimensional sensing device of the application, including：Array of source device, diffraction optics member
Part, image acquiring device and the control circuit board that the array of source device and described image acquisition device are controlled,
Array of source device for several light beams to be emitted from different perspectives, the control terminal of array of source device with
The control signal output of the control circuit board connects；
The light beam that diffraction optical element is used to emit the array of source device is split and controls the light beam
Projected spot is lines hot spot after beam splitting, and by the lines dot projection to perspective plane and is positioned in front of the perspective plane
Testee on；
Image acquiring device is for obtaining projection of the lines hot spot on the perspective plane and the testee
Image, the control terminal of described image acquisition device are connect with the control signal output of the control circuit board.
Further, the quantity of described image acquisition device is multiple, and described image acquisition device obtains from different perspectives
Projection image of the lines hot spot on the perspective plane and the testee.
Further, the novel lines structural light three-dimensional sensing device further includes shell, the diffraction optical element, institute
State array of source device, described image acquisition device and control circuit board setting inside the shell.
Further, the array of source device is laser array.
Further, described image acquisition device is camera.
Further, it is offered on the inner wall of the shell and the projection hole of external perforation and shooting hole, the light source battle array
Array apparatus and diffraction optical element alignment projection hole, the shooting end alignment shooting hole of image acquiring device.
Further, the diffraction optical element is mounted in projection hole.
Further, the novel lines structural light three-dimensional sensing device further includes the power cord being powered, described outer
The electric source line interface with external perforation is offered on the inner wall of shell, the power cord passes through electric source line interface to be obtained with described image
The power end of device connects.
Further, the novel lines structural light three-dimensional sensing device further includes the power cord being powered, described outer
The electric source line interface with external perforation is offered on the inner wall of shell, the power cord passes through electric source line interface and the control circuit
The power end of plate connects.
Further, the novel lines structural light three-dimensional sensing device further includes the data transmission of transmission data signal
Line, offer on the inner wall of the shell with external perforation data line interface, the data line pass through data line interface with
The data transmission terminal of the control circuit board connects.
In the embodiment of the present application, light beam is split using diffraction optical element, and controls the hot spot of light beam projection
Shape, instead of original bright dark fringe structure light to the three-dimensional measurement scheme of object, by array of source device from several
The external projecting beam of different angle, light beam project perspective plane and testee after beam splitting in the form of lines hot spot
On, the lines light spot image projected on perspective plane and testee is obtained by image acquiring device, passes through structure
Pumped FIR laser mensuration can calculate the three-dimensional space position of testee.Pass through the light beam crevice projection angle to array of source device
It is controlled with light beam projection quantity, different projected spot combinations can be formed, reached quick projection, precision can be from main regulation
Purpose, improve that three-dimensional measurement precision is low and the technique effect of conversion speed to realize, and then solve three-dimensional measurement essence
Spend technical problem low, that conversion speed is slow.
Description of the drawings
The attached drawing constituted part of this application is used for providing further understanding of the present application so that the application's is other
Feature, objects and advantages become more apparent upon.The illustrative examples attached drawing and its explanation of the application is for explaining the application, not
Constitute the improper restriction to the application.In the accompanying drawings：
Fig. 1 is the schematic diagram of binary system stripe pattern in existing fringe structure light method for three-dimensional measurement；
Fig. 2 is the overhead sectional view of the novel lines structural light three-dimensional sensing device of the application；
Fig. 3 is the front view of the novel lines structural light three-dimensional sensing device of the application；
Fig. 4 is the work flow diagram of the novel lines structural light three-dimensional sensing device of the application；
Fig. 5 is signal of the novel lines structural light three-dimensional sensing device of the application using equidistant dichotomy projection image
Figure；And
Fig. 6 is the fundamental diagram of the novel lines structural light three-dimensional sensing device of the application.
Specific implementation mode
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, technical solutions in the embodiments of the present application are clearly and completely described, it is clear that described embodiment is only
The embodiment of the application part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
The every other embodiment that member is obtained without making creative work should all belong to the model of the application protection
It encloses.
It should be noted that term " comprising " in the description and claims of this application and above-mentioned attached drawing and he
Any deformation, it is intended that cover it is non-exclusive include, for example, containing the process of series of steps or unit, method, being
System, product or equipment those of are not necessarily limited to clearly to list step or unit, but may include not listing clearly or
For the intrinsic other steps of these processes, method, product or equipment or unit.
In this application, term "upper", "inner", "outside", " in " etc. instructions orientation or positional relationship for based on attached drawing institute
The orientation or positional relationship shown.These terms are not intended to primarily to preferably describe the utility model and embodiment
Particular orientation must be had by limiting indicated device, element or component, or is constructed and operated with particular orientation.
Also, above-mentioned part term is other than it can be used to indicate that orientation or positional relationship, it is also possible to for indicating it
His meaning, such as term "upper" also are likely used for indicating certain relations of dependence or connection relation in some cases.For ability
For the those of ordinary skill of domain, the concrete meaning of these terms in the present invention can be understood as the case may be.
In addition, term " setting ", " connection " shall be understood in a broad sense.For example, it may be being fixedly connected, it is detachably connected, or
Monolithic construction；Can be mechanical connection, or electrical connection；It can be directly connected, or indirectly connected through an intermediary,
Or it is two connections internal between device, element or component.It for those of ordinary skills, can be with
The concrete meaning of above-mentioned term in the present invention is understood as the case may be.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
As shown in Figure 2 and Figure 3, this application involves a kind of novel lines structural light three-dimensional sensing device, the novel linears
Fiber optics sensing device, including shell 1, diffraction optical element (DOE) 9, array of source device 4, image acquiring device 8 and control
Circuit board 5 offers on the inner wall of shell 1 and the projection hole 2 of external perforation and shoots hole 3, diffraction optical element 9, light source battle array
Array apparatus 4, image acquiring device 8 and control circuit board 5 are arranged in shell 1, and diffraction optical element 9 is mounted in projection hole 2,
Array of source device 4 is directed at diffraction optical element 9, the shooting end alignment shooting hole 3 of image acquiring device 8, array of source device 4
For several light beams to be emitted from different perspectives；The light beam that diffraction optical element 9 is used to emit array of source device 4
It is lines hot spot to be split and control projected spot after beam splitter, and by lines dot projection to perspective plane and placement
On testee in front of the perspective plane；Image acquiring device 8 is for obtaining lines hot spot in perspective plane and testee
Projection image.The control terminal of array of source device 4 is connect with the control signal output of control circuit board 5, and image obtains dress
8 control terminal is set to connect with the control signal output of control circuit board 5.
The quantity of image acquiring device 8 can be multiple, and each image acquiring device 8 obtains lines light from different perspectives respectively
Projection image of the spot on perspective plane and testee obtains projection image from multi-angle, can ensure acquisition
It is more accurate to project image, so as to reach more stable and accurate measurement effect.
Array of source device 4 employed in some embodiments of the present application is laser array, and used image obtains
It is camera to take device 8.
As shown in figure 4, the working method of the device is as described below：
Step S1：Testee is positioned in front of perspective plane；
Step S2：The light beam that array of source device 4 is emitted passes through diffraction after 9 beam splitting of diffraction optical element
Light beam is projected in the form of lines hot spot on perspective plane and testee after optical element 9 controls beam splitting, and passes through image
Acquisition device 8 inscribes the projection image on perspective plane and testee when obtaining this；
Step S3：After often obtaining primary projection image by image acquiring device 8, in the projectional angle different from light beam before
Increase a light beam directive diffraction optical element 9 on degree, diffraction optical element 9 after each Beam Control beam splitting respectively to being projected
Each lines hot spot project side by side on perspective plane and testee；
Step S4：Often increase a light beam, will be obtained on perspective plane and testee by image acquiring device 8
Projection image.
From several different angles project light beam in, increase or reduce at least one light beam, to perspective plane with
And new image is obtained on testee；
From the light beam that several different angles project, change the width of at least one light beam, on perspective plane and
New image is obtained on testee；
Step S5：It is calculated by structure light coding mensuration according to the collected each projection image of image acquiring device 8
The three-dimensional space position of testee.
In some embodiments of the present application, the light source of projecting beam can be visible light source, or invisible light source.
As shown in figure 5, by diffraction optical element 9 to the beam splitting of light beam using equidistantly, for dichotomy, to the application into
Row illustrates：
In t=1, after a light beam is by diffraction optical element 9, it includes 1 to be generated on perspective plane and testee
The projection image of strip light spots；
In t=2, after increasing a light beam by diffraction optical element 9, original is incident upon on perspective plane and testee
Generate the projection image for including 2 strip light spots；
In t=3, after increasing a light beam by diffraction optical element 9, original is incident upon on perspective plane and testee
Generate the projection image for including 4 strip light spots；
In t=4, after increasing a light beam by diffraction optical element 9, original is incident upon on perspective plane and testee
Generate the projection image for including 8 strip light spots；
And so on；
In t=7, after increasing a light beam by diffraction optical element 9, original is incident upon on perspective plane and testee
Generate the projection image for including 128 strip light spots.
Image acquiring device 8 continuously acquires the projection image at lower t=1 to t=7 moment, according to lines hot spot in image
Quantity and change in location rule, light beam and the projection of any time position can be determined by structure light coding mensuration
Lines hot spot correspondence in image.
Structure light coding mensuration is the existing measurement method to dynamic scene depth, and wherein structure light coding measures
Method includes the following steps：
Step C1：Seek the bianry image B of deforming stripe U；
Step C2：Black and white strip is to decoding；
Step C3：Ask black and white strip to serial number according to De Bruijn sequences；
Step C4：The continuous serial number of black and white strip pair is sought with EP point section；
Step C5：Matching point coordinates is sought with phase difference；
Step C6：Depth value is sought with segment-Facet intersection relationship.
It can be seen from the above description that the utility model realizes following technique effect：Using diffraction optical element
9 pairs of light beams are split, and control the light spot shape of light beam projection, instead of original bright dark fringe structure light to the three of object
Measurement scheme is tieed up, by array of source device 4 from the external projecting beam of several different angles, light beam is after beam splitting with lines
The form of hot spot projects on perspective plane and testee, by image acquiring device 8 on perspective plane and testee
The lines light spot image of projection is obtained, and the three-dimensional space meta position of testee can be calculated by structure light coding mensuration
It sets.Quantity is projected by the light beam crevice projection angle and light beam to array of source device 4 to control, and can form different projection lights
Spot combines, and has reached quick projection, and precision can improve that three-dimensional measurement precision is low and conversion from the purpose of main regulation to realize
The technique effect of speed.
The foregoing is merely the preferred embodiments of the application, are not intended to limit this application, for the skill of this field
For art personnel, the application can have various modifications and variations.Within the spirit and principles of this application, any made by repair
Change, equivalent replacement, improvement etc., should be included within the protection domain of the application.
Claims (10)
1. a kind of novel lines structural light three-dimensional sensing device, which is characterized in that including：Array of source device, diffraction optics member
Part, image acquiring device and the control circuit board that the array of source device and described image acquisition device are controlled,
Array of source device for several light beams to be emitted from different perspectives, the control terminal of array of source device with it is described
The control signal output of control circuit board connects；
The light beam that diffraction optical element is used to emit the array of source device is split and controls the beam splitter
Projected spot is lines hot spot afterwards, and by the lines dot projection to perspective plane and the quilt being positioned in front of the perspective plane
It surveys on object；
Image acquiring device is used to obtain projection image of the lines hot spot on the perspective plane and the testee,
The control terminal of described image acquisition device is connect with the control signal output of the control circuit board.
2. novel lines structural light three-dimensional sensing device according to claim 1, which is characterized in that described image obtains dress
The quantity set is multiple, and described image acquisition device obtains the lines hot spot on the perspective plane and described from different perspectives
Projection image on testee.
3. novel lines structural light three-dimensional sensing device according to claim 1, which is characterized in that the novel lines knot
Structure light three-dimensional sensing device further includes shell, the diffraction optical element, the array of source device, described image acquisition device
Inside the shell with control circuit board setting.
4. novel lines structural light three-dimensional sensing device according to claim 1, which is characterized in that the array of source dress
It is set to laser array.
5. novel lines structural light three-dimensional sensing device according to claim 1, which is characterized in that described image obtains dress
It is set to camera.
6. novel lines structural light three-dimensional sensing device according to claim 3, which is characterized in that the inner wall of the shell
On offer and project hole with the projection hole of external perforation and shooting hole, the array of source device and diffraction optical element alignment,
The shooting end alignment shooting hole of image acquiring device.
7. novel lines structural light three-dimensional sensing device according to claim 6, which is characterized in that the diffraction optics member
Part is mounted in projection hole.
8. novel lines structural light three-dimensional sensing device according to claim 3, which is characterized in that the novel lines knot
Structure light three-dimensional sensing device further includes the power cord being powered, and the power supply with external perforation is offered on the inner wall of the shell
Line interface, the power cord are connect across electric source line interface with the power end of described image acquisition device.
9. novel lines structural light three-dimensional sensing device according to claim 3, which is characterized in that the novel lines knot
Structure light three-dimensional sensing device further includes the power cord being powered, and the power supply with external perforation is offered on the inner wall of the shell
Line interface, the power cord are connect across electric source line interface with the power end of the control circuit board.
10. novel lines structural light three-dimensional sensing device according to claim 3, which is characterized in that the novel lines
Structural light three-dimensional sensing device further includes the data line of transmission data signal, is offered on the inner wall of the shell and outside
Data line interface is penetrated through, the data line is connect across data line interface with the data transmission terminal of the control circuit board.
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| CN201721812492.XU CN207675140U (en) | 2017-12-21 | 2017-12-21 | Novel lines structural light three-dimensional sensing device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108036742A (en) * | 2017-12-21 | 2018-05-15 | 北京驭光科技发展有限公司 | New lines structural light three-dimensional method for sensing and device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108036742A (en) * | 2017-12-21 | 2018-05-15 | 北京驭光科技发展有限公司 | New lines structural light three-dimensional method for sensing and device |
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