CN107576277B - A kind of 3d space scanning imaging system and its imaging method - Google Patents
A kind of 3d space scanning imaging system and its imaging method Download PDFInfo
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Abstract
The invention belongs to scanning technique fields, more particularly to a kind of 3d space scanning imaging system and its imaging method.A kind of 3d space scanning imaging system of present invention proposition and its imaging method, according to the principle of interference of light measure testee each point to light source 3d space distance, and according to the Coordinate generation 3D rendering of these points, measuring device is utilized to emit the monochromatic source of two beam identical frequencies to testee, the two-beam source will produce bright alternate interference fringe when meeting, it rotates at an angle simultaneously, interference fringe brightness, which is will produce, on testee surface is much larger than non-body surface brightness, when detecting that brightness is more than certain threshold values, the angle in two-beam source is recorded at this time, because the distance in two-beam source is known to fixation, testee can be calculated at a distance from measuring device according to trigonometric function, ultimately form the 3D rendering of object.
Description
Technical field
The invention belongs to scanning technique fields, more particularly to a kind of 3d space scanning imaging system and its imaging method.
Background technology
The basic definition of 3-D scanning is geometrical construction and the surface image that scanned object is obtained by certain method.Mesh
The method of preceding 3-D scanning is more, and the field of 3-D scanning application has：（1）Reverse-engineering.Article is obtained by 3-D scanning
Three-dimensional information is then input in software and modifies, perfect, finally obtains accurate threedimensional model.（2）Product testing.Three
Dimension scanning is applied on production line, is detected the shape of product, is controlled the quality of product.（3）Biologic medical field.Such as tooth
Correction, organ partitioning etc..（4）Archaeology field.Such as the reproduction of the cultural relics.
The development of 3-D scanning so that the three-dimensional modeling process from rough draft picture greatly accelerates before, shortens to reality
The period of commodity modeling simplifies industry, medical and other related industries to design and develop process.3-D scanning technology is close
It in the past few years gradually enters into daily life from fields such as industrial design, biological medicine, digital historical relic classical collections, is obtained using simple device
The 3 D scanning system of better quality threedimensional model is taken to continue to bring out.
3d space scan imaging method uses a kind of three-dimensional structure optical scanning technology at present, that is, utilizes structured light technique, phase
The complex three-dimensional non-contact measuring technology of position measuring technique, computer vision technique.It is thrown by optical grating projection device when measurement
In the structure light to object under test of shadow number width specific coding, two cameras forming an angle, which synchronize, adopts to obtain respective image, so
Image is decoded afterwards and phase calculation, and using matching technique, triangulation principle, it is public to calculate two cameras
The three-dimensional coordinate of pixel in vision area.It is with following shortcomings and deficiencies：Precision is not high：Measurement accuracy is in 1mm or more；Measurement away from
From short：The distance of measurement is short, is less than 3m；Measurement range is small：The object volume of measurement is less than：Length, width and height 1m*1m*1m；Measure effect
Rate is low：Imaging time is 5s/m2；It is of high cost：It is expensive as a result of line-scan digital camera.
Invention content
To solve the above problems, a kind of 3d space scanning imaging system of present invention proposition and its imaging method, according to light
Principle of interference measures testee each point to the 3d space distance of light source, and according to the Coordinate generation 3D rendering of these points, i.e.,
Emit the monochromatic source of two beam identical frequencies to testee using measuring device, which will produce bright when meeting
Alternate interference fringe, while rotating at an angle, interference fringe brightness is will produce much larger than non-on testee surface
Body surface brightness records the angle in two-beam source at this time when detecting that brightness is more than certain threshold values, because two-beam source
Distance is can to calculate testee known to fixation at a distance from measuring device according to trigonometric function, ultimately form object
3D rendering.
The specific technical solution of the present invention is：
A kind of 3d space scanning imaging system, the 3d space scanning imaging system include one-wavelength laser emitter,
With frequency light source light-dividing device, beam direction scanning means, light intensity test device, real-time calculation processing unit, wherein：
Using single linear, high-precision linear light sorurce, wire body beam diameter is the one-wavelength laser emitter
0.1mm；
The same frequency light source light-dividing device is arranged in front of the transmitting terminal of one-wavelength laser emitter, will be monochromatic linear sharp
Light is divided into two, and obtains two beams with frequency light beam；
The beam direction scanning means setting is detaching in front of original beam at 20MM, flat at 75 degree with original hot spot
Angle, at about 93MM distances, harmonic wave is swung the frequency for making the same frequency light beam separated set back and forth between 1-90 degree；
The light intensity test device setting scans middle at two with frequency light beam, with original beam about 18MM-25MM
Place, the strong hot spot occurred to body surface（Light intensity >=500LUX）Carry out light-intensity test；
The real-time calculation processing unit is connected with light intensity test device, the data that light intensity test device is detected into
Row processing.
Preferably, further, the one-wavelength laser emitter is using monochromatic green light or feux rouges.
Preferably, further, isolated two beam of same frequency light source light-dividing device is with the distance of frequency light beam
180mm.Theoretically the bigger this distance the more accurate, but considering due to modern manufacturing technique and precision, chooses here
180MM。
Preferably, further, the spot intensity of light intensity test device filtering is 500LUX
Preferably, further, the real-time calculation processing unit uses FPGA or ARM or dsp processor, specific
Processing step is：
If Dc is two beams with frequency laser linear light beam distance；A1, A2 are that two beams scan dress with frequency laser line in beam direction
The angle of deflection 1 set, α 2, it follows that distance d1, d2：
d12=d2*Dc*cos(A2)+d1*d2*cos(180-A1-A2)；
d22=d1*Dc*cos(A1)+d1*d2*cos(180-A1-A2)；
Dc, A1, A2 are it is known that d1 can be found out, the value of d2, it is possible thereby to solve coordinate of the light beam from testee.
3D scannings are carried out to testee using above-mentioned 3d space scanning imaging system, the specific steps are：
1）Coordinate using light beam from testee obtains coordinate sampled point of the light beam from testee；
2）Utilize step 1）The sampled point for acquiring different moments on the straight line of space, constitutes the third dimension, no by time shaft
The data acquired in the same time, which combine, is formed the data in the spaces entire three D.
Advantageous effect
Compared with traditional 3d space scanning imaging system, technical scheme of the present invention has the following advantages, specific manifestation
：
1. precision higher：Measurement accuracy is at 0.05mm or more (measurement distance is within 2m)；
2. measuring distance range bigger：0.001m-1000m；
3. measurement range bigger：Length, width and height 1000m*1000m*1000m；
4. measurement efficiency higher：Imaging time is 5ms/m
5. equipment cost is low：Due to not using line-scan digital camera, and it is simple in structure, equipment manufacturing cost is cheap.
Description of the drawings
Fig. 1 is the structure principle chart of the present invention；
Fig. 2 is the structure diagram of the present invention；
Fig. 3 is the vehicle retrieval method flow diagram based on vehicle-mounted ornament area image sparse coding,
1- one-wavelength lasers emitter, 2- are the same as frequency light source light-dividing device, 3- beam directions scanning means, 4- light-intensity tests dress
It sets, the real-time calculation processing units of 5-.
Specific implementation mode
Below in conjunction with the embodiment of the present invention and attached drawing, technical solution in the embodiment of the present invention carries out clear, complete
Ground describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on this
Embodiment in invention, every other reality obtained by those of ordinary skill in the art without making creative efforts
Example is applied, shall fall within the protection scope of the present invention.
The 3d space scanning imaging system of the present invention includes one-wavelength laser emission source（Linear laser generator）, with frequency light source
Light-dividing device, beam direction scanning means, light intensity test device, the components such as real-time calculation processing unit, as shown in Figure 1
1）One-wavelength laser emission source：Single linear, high-precision linear light sorurce are provided for system, hot spot is about 0.1 millimeter big
Small wire body light beam, aggregation is good, and hot spot diffusivity is within 1% within 20 meters.Monochromatic green light or feux rouges can be used, energy is wanted
It is small, high-energy is unable in order to avoid burning out testee.
2）With frequency light source light-dividing device：Monochromatic linear laser is divided into two, and distance away, theoretically two beams
The light of separation apart from any distance can, but consider actual processing precision and error, distance preferably it is appropriate big this.It is recommended that
180mm or so.It is 180mm that the same frequency light needs branched away simultaneously, which are transferred to suitable distance herein,.Here Dc (Dc are denoted as
=180.00mm).
3）Beam direction scanning means：The same frequency light beam separated, needs humorous back and forth between 1-90 degree with certain frequency
Wave is swung, and specific angular range has light at a distance from measurement, when the angle parallel of two-beam, never has the dry of light
It relates to, the maximum distance of the smaller survey of angle is longer, and angle is bigger, and the maximum distance of survey is shorter.Angle is denoted as α 1, α 2. successively
4）Light intensity test device：When light beam in the air（Non- body surface）Also it will appear hot spot when interference, but light intensity is too late
In body surface, this is interference term, and light intensity test device should filter this out.The strong hot spot ability only occurred in body surface
As the condition that light-intensity test arrives, it is denoted as B=1, whens other interference remembers B=0
5）Real-time calculation processing unit：Using microprocessor（FPGA or ARM or dsp processor）With the frequency collection light of K
Strong detection device data, if rotational frequency=1KHz, the angular range of rotary scanning device is 0.5-30.5 degree, and sampling degree is
0.01 degree, then the processing speed of K=(30.5-0.5)/0.01*2*1000=6000000, result treatment method are as shown in Figure 2：
Dc is two beams with frequency laser linear light beam distance；
A1A2 is α 1, thus α 2. obtains distance d1, d2；
d12=d2*Dc*cos(A2)+d1*d2*cos(180-A1-A2)；
d22=d1*Dc*cos(A1)+d1*d2*cos(180-A1-A2)；
Dc, A1, A2 are it is known that d1 can be found out, the value of d2；It is possible thereby to solve coordinate of the light beam from testee.
The present invention be using the principle of interference of light measure testee each point to light source 3d space distance, and according to this
The Coordinate generation 3D rendering put a bit.Measuring device is utilized to emit the monochromatic source of two beam identical frequencies to testee（It utilizes
Light-dividing device detaches the light beam of same frequency）, which will produce bright alternate interference fringe when meeting（Hot spot）.
Then, while rotating at an angle again, will produce interference fringe on testee surface（Hot spot）Brightness is much larger than non-object
Body surface brightness, detect brightness be more than certain threshold values when, record the angle in two-beam source at this time because two-beam source away from
From be it is fixed known to, testee can be calculated at a distance from measuring device according to trigonometric function, with 1KHz-100KHz's
Frequency rotary beam then can continuously scan out the object 3D distances of surrounding.Object can be formed by the coordinate of these distances
3D rendering carries out 3D scannings using above-mentioned 3d space scanning imaging system to testee, the specific steps are：It is obtained by aforementioned 5
Sampled point on the straight line of road space constitutes the third dimension by time shaft, and the data of different moments acquisition, which combine, just to be formed
The data in the spaces entire three D.
Compared with traditional 3d space scanning imaging system, technical scheme of the present invention has the following advantages, specific manifestation
：Precision higher：Measurement accuracy is at 0.05mm or more (measurement distance is within 2m)；Measuring distance range bigger：0.001m-
1000m；Measurement range bigger：Length, width and height 1000m*1000m*1000m；Measurement efficiency higher：Imaging time is 5ms/m；Equipment
It is at low cost：Due to not using line-scan digital camera, and it is simple in structure, equipment manufacturing cost is cheap.
Finally, above example and attached drawing are merely illustrative of the technical solution of the present invention and unrestricted, although by above-mentioned
Embodiment is described in detail the present invention, however, those skilled in the art should understand that, can in form and carefully
Various changes are made to it on section, without departing from claims of the present invention limited range.
Claims (5)
1. a kind of 3d space scanning imaging system, which is characterized in that the 3d space scanning imaging system includes one-wavelength laser
Emitter, with frequency light source light-dividing device, beam direction scanning means, light intensity test device, real-time calculation processing unit,
In：
It is 0.1mm that the one-wavelength laser emitter, which uses the linear light sorurce of single linear, wire body beam diameter,；
The same frequency light source light-dividing device is arranged in front of the transmitting terminal of one-wavelength laser emitter, by monochromatic linear laser one
It is divided into two, obtains two beams with frequency light beam；
The described beam direction scanning means setting is in front of the separation original beam at 20MM, with original hot spot at 75 degree of straight angles,
Harmonic wave is swung the frequency for making the same frequency light beam separated set back and forth between 1-90 degree；
The light intensity test device setting scans middle at two with frequency light beam, right at original beam 18MM-25MM
Hot spot of the brightness that body surface occurs higher than 500LUX carries out light-intensity test；
The real-time calculation processing unit is connected with light intensity test device, at the data detected to light intensity test device
Reason；
The course of work of the 3d space scanning imaging system is as follows：Emit the light beam of two beam identical frequencies to testee, it should
Two light beams will produce bright alternate interference fringe when meeting, long-range in the interference fringe brightness that testee surface generates
In non-body surface brightness the angle of two light beams is recorded at this time, because of two-beam when detecting that brightness is more than certain threshold value
The distance of beam is testee can be calculated at a distance from measuring device according to trigonometric function, known to fixation with 1KHz-
The frequency rotary beam of 100KHz then can continuously scan out the object 3D distances of surrounding, can be with shape by the coordinate of these distances
At the 3D rendering of object.
2. a kind of 3d space scanning imaging system according to claim 1, it is characterised in that：The one-wavelength laser transmitting
Device is using monochromatic green light or feux rouges.
3. a kind of 3d space scanning imaging system according to claim 1, it is characterised in that：The same frequency light source light splitting
Isolated two beam of device is 180mm with the distance of frequency light beam.
4. a kind of 3d space scanning imaging system according to claim 1, it is characterised in that：The light intensity test device
The spot intensity of filtering is the intensity higher than 500LUX.
5. a kind of 3d space scanning imaging system according to claim 1, it is characterised in that：The real-time calculation processing
Unit uses FPGA or ARM or dsp processor, and specific processing step is：
If Dc is two beams with frequency laser linear light beam distance；A1, A2 are for two beams with frequency laser line in beam direction scanning means
Angle of deflection 1, α 2, it follows that distance d1, d2：
d12=d2*Dc*cos(A2)+d1*d2*cos(180-A1-A2)；
d22=d1*Dc*cos(A1)+d1*d2*cos(180-A1-A2)；
Dc, A1, A2 are it is known that d1 can be found out, the value of d2, it is possible thereby to solve coordinate of the light beam from testee.
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