CN111043989B - Sinusoidal fringe field projection module based on liquid crystal negative - Google Patents
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- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/254—Projection of a pattern, viewing through a pattern, e.g. moiré
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/2545—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object with one projection direction and several detection directions, e.g. stereo
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Abstract
本发明属于3D测量技术领域，提供一种基于液晶底片的正弦条纹场投射模块，特别适合用于微型化3D测量设备中；本发明采用液晶底片，通过电极选择组合显示二进制填充正弦图案，再通过投影成像镜头和扩展镜头，投射出正弦条纹，避开制作透射式正弦光栅中透过率不准确的问题，同时大幅度降低制作成本；电极选择组合使液晶底片可以分别显示三幅满足120°相移关系的二进制填充正弦图案，从而通过分时控制获得满足三步相移的三幅正弦条纹场，相移关系准确。本发明结构控制简单，尺寸小巧，特别适合要求整机体积微型化的3D测量设备；同时，基于简单的结构和控制以及低成本的元器件，本发明投影模块成本远低于DFP投影方式。
The invention belongs to the technical field of 3D measurement, and provides a sine fringe field projection module based on a liquid crystal film, which is especially suitable for use in miniaturized 3D measurement equipment; the invention adopts a liquid crystal film, selects and combines electrodes to display a binary filled sinusoidal pattern, and then The projection imaging lens and extension lens project sinusoidal fringes, avoiding the problem of inaccurate transmittance in the production of transmissive sinusoidal gratings, and at the same time greatly reducing the production cost; the combination of electrode selection allows the liquid crystal negative to display three images that meet the 120° phase. The binary filling sinusoidal pattern of the shift relationship is obtained, so that three sinusoidal fringe fields satisfying the three-step phase shift are obtained through time-division control, and the phase shift relationship is accurate. The present invention has simple structure control and small size, and is especially suitable for 3D measuring equipment requiring miniaturization of the whole machine; meanwhile, based on simple structure and control and low-cost components, the cost of the projection module of the present invention is much lower than that of the DFP projection method.
Description
Technical Field
The invention belongs to the technical field of 3D measurement, mainly relates to a 3D measurement technology using sine stripe structured light, and particularly relates to a sine stripe field projection module based on a liquid crystal negative.
Background
The structured light 3D measuring equipment realizes 3D measurement by projecting structured light to a measured target, shooting the target by a camera and processing the shot picture; there are many types of structured light projected, with a sinusoidal fringe field being one of the most commonly used; the 3D topography measuring technology using the sine stripe projection and the phase shift method has the advantages of high resolution and high precision, and is widely applied in many fields. The sinusoidal fringe projection technique is one of the core techniques of phase shift method 3D measurement, and has also undergone a long-term research process. In the early stage, a grating standard lamp sheet with sine change of transmittance is used as a projection negative film to generate sine stripes, and phase shift is realized through mechanical movement; the problems with this approach are mainly: sinusoidal characteristics are difficult to guarantee, high-precision motion is difficult to compare, and measurement errors are easy to introduce. In order to avoid the problems of mechanical movement, a scheme that liquid crystal is used as a projection negative film and liquid crystal patterns are Lambertian gratings is developed, and a sinusoidal light field with a better approximate effect is generated through defocusing projection. As Digital Fringe Projection (DFP) technology is widely used for structured light projection, it becomes simpler and more accurate to project sinusoidal fringes and achieve precise phase shift, but common commercial DFPs have a non-linear gamma effect in an 8-bit display mode and are not suitable for high frame rate projection. In order to realize high-speed 3D measurement, researchers propose that DFP works in a square wave binary state, an approximate sine projection light field is obtained by combining a defocusing method, then a plurality of research works are carried out to optimize a projected binary pattern, and the aim of obtaining 3D high-speed measurement by adopting DFP projection based on DLP and matching with a defocusing projection technology is also realized. Although the binary pattern in the foregoing study can also obtain a sinusoidal fringe field with a good approximation degree in combination with the defocus projection method, the defocus degree has an influence on the accuracy of the measurement result, and the defocus degree is not easy to control. In addition, the DFP projection technology is relatively complex in control and high in device cost, which is not favorable for reducing the equipment cost, and is not suitable for equipment requiring a small overall size. In practical application, application scenes are relatively fixed in many cases, complex projection is not required, the advantage of DFP projection is not obvious, and in comparison, the model lamp plate negative film mode is adopted, so that the process can be more refined, the size can be smaller, and the cost can be lower. However, the manufacturing of the standard transmissive sinusoidal grating negative is difficult, mainly the transmittance is difficult to guarantee, the main manufacturing method at present adopts photolithography, the manufacturing cost is high, and meanwhile, the realization of phase shift is troublesome and needs fine mechanical movement to realize.
In view of the above, the present invention provides a sinusoidal fringe field projection module based on a liquid crystal negative.
Disclosure of Invention
The invention aims to provide a liquid crystal negative film-based sine fringe field projection module, which provides a sine fringe illumination field meeting a three-step phase shift relationship for 3D measurement by adopting a decomposition pattern of a binary filled sine pattern as a pattern of each electrode of a liquid crystal negative film, matching with the selection combination control of the electrodes and combining with the use of a projection imaging lens and an expansion lens, and is particularly suitable for being used in miniaturized 3D measurement equipment.
In order to achieve the purpose, the invention adopts the technical scheme that:
a liquid crystal negative based sinusoidal fringe field projection module comprising: the backlight source, the liquid crystal negative, the projection imaging lens, the expansion lens and the electrode group control circuit; the liquid crystal negative film is characterized by comprising 3 groups of controllable electrode groups, wherein after a driving voltage is applied to any group of controllable electrode groups, the liquid crystal negative film displays a binary filled sinusoidal pattern under the irradiation effect of the backlight source; the light expansion direction of the expansion lens is vertical to the placing direction of the binary filling sinusoidal patterns, and the binary filling sinusoidal patterns form a sinusoidal fringe field in the target area under the action of the projection imaging lens and the expansion lens; the electrode group control circuit controls 3 groups of controllable electrode groups of the liquid crystal negative plate in a time-sharing manner, so that the liquid crystal negative plate respectively displays 3 binary filling sinusoidal patterns with 120-degree phase shift relationship, and correspondingly generates 3 sinusoidal fringe fields with 120-degree phase shift relationship in a projection manner in a target area.
Furthermore, the liquid crystal negative plate is rectangular and is divided into 8 types of areas by three same sine waveforms which are arranged along the long side direction of the liquid crystal negative plate and have a 120-degree phase shift relation in sequence, and the amplitude of each sine waveform is half of the wide side of the liquid crystal negative plate; the area formed between the sine waveform and the upper edge of the liquid crystal film is marked as a 7 th-type area, the area formed between the sine waveform and the lower edge of the liquid crystal film is marked as an 8 th-type area, and the areas between the three sine waveforms are sequentially marked as 1 st-6 th-type areas from left to right and from top to bottom; each type of area is controlled by an electrode, and the control electrodes of the same type of area are mutually communicated; the control electrodes of the 1 st, 4 th and 5 th areas form a 1 st group of controllable electrode groups, the control electrodes of the 2 nd, 5 th and 6 th areas form a 2 nd group of controllable electrode groups, the control electrodes of the 3 rd, 6 th and 4 th areas form a 3 rd group of controllable motor groups, the control electrodes of the 7 th area do not apply driving voltage in a normal state, and the control electrodes of the 8 th area apply driving voltage in a normal state.
Furthermore, the electrode group control circuit controls the three groups of controllable electrode groups in a time-sharing manner according to a required sequence, so that three corresponding binary sine filling patterns with 120-degree phase shift relation on the liquid crystal substrate are sequentially displayed according to the required sequence, and accurate three-step phase shift of a sine fringe field is realized.
The principle of the invention is as follows: three binary filling sinusoidal patterns with three-step phase shift relation are sequentially displayed on the liquid crystal substrate by time-sharing control of three groups of controlled electrode groups; the horizontal direction is taken as an X coordinate direction, the vertical direction is taken as a Y coordinate direction, the placing direction of a binary filled sinusoidal pattern displayed on the liquid crystal negative is X, and the Y-direction transmission width corresponding to the X coordinate position meets the sinusoidal characteristic on the premise that the periphery of the liquid crystal negative is completely incapable of transmitting light; when only a projection imaging lens is used and no expansion lens is used, a light field is projected at an image surface position to be an inverted image of a binary filling sine pattern displayed by a liquid crystal negative film, after the expansion lens is added, the projected light field is expanded in the Y direction, each point of the inverted image is expanded into a line up and down, the line corresponds to a specified X coordinate, the wider the transmission width in the Y direction is, the larger the light field illumination generated by superposition after expansion is, and if the backlight source is uniform, in a public superposition area, the light field illumination is in direct proportion to the transmission width in the Y direction; assuming that an irradiated light field without expansion is I (x, y), a point spread function generated by an expansion lens is PSF (x, y), a finally formed light field is convolution of I (x, y) and PSF (x, y), the point spread function of the expansion lens is approximate to a line, the inverted image of a binary filling sine pattern is expanded up and down by the convolution result, and a very large area meets the characteristic of a sine fringe field except for a small part of non-common superposed areas at the upper end and the lower end; the three groups of controlled electrode groups are controlled by an electrode group control circuit in a time-sharing mode according to the sequence, three binary filling sinusoidal patterns with three-step phase shift relation are sequentially displayed on the liquid crystal film according to the sequence, and finally three sinusoidal fringe fields obtained through projection have accurate three-step phase shift relation, so that the three sinusoidal fringe fields can be used for 3D measurement.
The invention has the beneficial effects that:
the invention provides a liquid crystal negative film-based sine fringe field projection module, which displays binary filling sine patterns on a liquid crystal negative film by controlling a controlled electrode group, utilizes an optical expansion lens to perform Y-direction expansion on an inverted image formed by the binary filling sine patterns through a projection imaging lens to obtain a sine fringe field, can avoid the problem of inaccurate transmittance in the manufacturing of a transmission type sine grating, and simultaneously has mature and reliable manufacturing process and greatly reduced cost; three binaryzation filling sine patterns meeting the 120-degree phase shift relation are compactly designed together in an electrode sharing mode, mechanical movement is replaced by an electric control mode, the structure is stable and reliable, and the phase shift relation is accurate; the electrode group control circuit controls the controlled electrode group in a time-sharing manner according to a required sequence, and three sinusoidal fringe fields meeting a three-step phase shift relation are obtained in a target area by projection according to the required sequence; the invention has simple structure, convenient control and small size, and is particularly suitable for 3D measuring equipment requiring the miniaturization of the whole machine; meanwhile, based on simple structure and control and low-cost components, the cost of the projection module is far lower than that of a DFP projection mode.
Drawings
FIG. 1 is a schematic view of a sinusoidal fringe field projection module based on a liquid crystal negative in an embodiment of the present invention; wherein, 1 is a backlight source, 2 is a liquid crystal negative plate, 3 is a projection imaging lens, 4 is an expansion lens, and 5 is an electrode group control circuit.
FIG. 2 is a schematic diagram of the division of the upper electrode of the liquid crystal substrate according to the embodiment of the present invention.
FIG. 3 is a schematic diagram of three binary filled sinusoidal patterns displayed on a liquid crystal negative in an embodiment of the invention.
FIG. 4 is a schematic diagram of three sinusoidal fringe patterns generated by projection according to an embodiment of the present invention.
Detailed Description
The present invention will be further described with reference to the following examples.
The present embodiment provides a sinusoidal fringe field projection module based on a liquid crystal negative, which has a structure as shown in fig. 1, and includes: the device comprises a backlight source 1, a liquid crystal negative plate 2, a projection imaging lens 3, an expansion lens 4 and an electrode group control circuit 5; wherein, all the electrode patterns on the liquid crystal negative can respectively realize the display of three binary sine filling patterns by grouping; as shown in fig. 2, the electrode pattern is divided by three identical sinusoidal waveforms stacked together, the three sinusoidal waveforms are arranged along the X direction and have a 120 ° phase shift relationship, so that all the electrode patterns are added together to form a rectangular pattern, i.e. the liquid crystal negative is rectangular; the 'triangle-like' area formed between the sine waveform and the upper edge of the liquid crystal negative is marked as a 7 th type area, the control electrode of the 'triangle-like' area is a '#' electrode, the 'triangle-like' area formed between the sine waveform and the lower edge of the liquid crystal negative is marked as a 8 th type area, and the control electrode of the 'triangle-like' area is a '#' electrode; taking the rising edge of any waveform as a boundary, the electrode pattern of the liquid crystal negative is in a periodic structure, 6 'sweet-like cone' areas which are arranged in a forward direction and a backward direction in a crossed manner are formed in the areas among three sine waveforms in a single period, and the areas are sequentially marked as a 1 st to a 6 th area and a subsection corresponding control electrode P1, P2, P3, P4, P5 and P6 from left to right and from top to bottom, wherein the 1 st to 3 rd areas are 'sweet-like cone' areas arranged in the forward direction, and the 4 th to 6 th areas are 'sweet-like cone' areas arranged in the backward direction; each type of area is controlled by an electrode, and the control electrodes of the same type of area are mutually communicated; correspondingly, in the embodiment, the # electrode is not electrified all the time, so that the corresponding area is normally light-tight; the 'X' electrode is always applied with a driving voltage to ensure that light normally passes through the corresponding region; the P1, P4 and P5 electrodes form a group of controlled electrode groups A, the P2, P5 and P6 electrodes form a group of controlled electrode groups B, and the P3, P6 and P4 electrodes form a group of controlled electrode groups C; the upper computer provides control signals KA, KB and KC of three groups of electrodes, the control signals KA, KB and KC are respectively used for controlling the opening and closing of A, B, C three groups of controlled electrode groups, and since A, B, C three groups of controlled electrode groups have common electrodes, an electrode group control circuit needs to realize a conversion function, so that liquid crystal driving voltages are added to P1, P4 and P5 when KA is high, liquid crystal driving voltages are added to P2, P5 and P6 when KB is high, and liquid crystal driving voltages are added to P3, P6 and P4 when KC is high; the external upper computer controls KA, KB and KC to be high through time sharing, three binary sine filling patterns with 120-degree phase shift are sequentially displayed on the liquid crystal negative film, the displayed patterns are as shown in figure 3 (compared with figure 2, a plurality of periods are taken, but only schematic diagrams are adopted, the number of the periods in practical application is determined according to needs), three sine fringe fields generated by corresponding projection are as shown in figure 4, the requirement of a three-step phase shift method is also met, a camera correspondingly shoots a target under the irradiation of the sine fringe fields, three pictures are obtained in total, and the 3D image of the target is resolved through processing.
All the electrodes with the same number except the # electrode of the liquid crystal bottom plate need to be communicated outside, and the connection can be realized by connecting the lead wires on the plate to external pins; proper intervals are needed between the electrodes, so when the electrode patterns are designed, the electrodes are pulled apart in the Y direction by a distance which can be as small as possible under the condition that the electrodes are electrically isolated; each controlled electrode is connected to an external lead starting from the outermost position, and at the same time, a light shielding treatment for the outside of the rectangular area is considered to avoid the electrode leads from interfering with the projected sinusoidal pattern as much as possible.
In conclusion, the sinusoidal fringe field projection module based on the liquid crystal negative film, which is manufactured by the invention, meets the requirement of projecting three-step phase-shift sinusoidal fringe fields required by 3D measurement, is simple to control, small in size and suitable for miniaturized 3D measurement equipment requiring the whole volume.
While the invention has been described with reference to specific embodiments, any feature disclosed in this specification may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise; all of the disclosed features, or all of the method or process steps, may be combined in any combination, except mutually exclusive features and/or steps.
Claims (2)
1. A liquid crystal negative based sinusoidal fringe field projection module comprising: the backlight source, the liquid crystal negative, the projection imaging lens, the expansion lens and the electrode group control circuit; the liquid crystal negative film is characterized by comprising 3 groups of controllable electrode groups, wherein after a driving voltage is applied to any group of controllable electrode groups, the liquid crystal negative film displays a binary filled sinusoidal pattern under the irradiation effect of the backlight source; the light expansion direction of the expansion lens is vertical to the placing direction of the binary filling sinusoidal patterns, and the binary filling sinusoidal patterns form a sinusoidal fringe field in the target area under the action of the projection imaging lens and the expansion lens; the electrode group control circuit controls 3 groups of controllable electrode groups of the liquid crystal negative plate in a time-sharing manner, so that the liquid crystal negative plate respectively displays 3 binary filling sinusoidal patterns with 120-degree phase shift relationship, and correspondingly generates 3 sinusoidal fringe fields with 120-degree phase shift relationship in a projection manner in a target area;
the liquid crystal negative plate is rectangular and is divided into 8 types of areas by three same sine waveforms which are arranged along the long side direction of the liquid crystal negative plate and sequentially have a 120-degree phase shift relation, and the amplitude of each sine waveform is half of the wide side of the liquid crystal negative plate; the area formed between the sine waveform and the upper edge of the liquid crystal film is marked as a 7 th-type area, the area formed between the sine waveform and the lower edge of the liquid crystal film is marked as an 8 th-type area, and the areas between the three sine waveforms are sequentially marked as 1 st-6 th-type areas from left to right and from top to bottom; each type of area is controlled by an electrode, and the control electrodes of the same type of area are mutually communicated; the control electrodes of the 1 st, 4 th and 5 th areas form a 1 st group controllable electrode group, the control electrodes of the 2 nd, 5 th and 6 th areas form a 2 nd group controllable electrode group, the control electrodes of the 3 rd, 6 th and 4 th areas form a 3 rd group controllable electrode group, the control electrodes of the 7 th area do not apply a driving voltage at normal state, and the control electrodes of the 8 th area apply a driving voltage at normal state.
2. The liquid crystal film-based sinusoidal fringe field projection module of claim 1, wherein said electrode set control circuit time-divisionally controls the three groups of controllable electrode sets in a desired sequence to sequentially display three corresponding binary sinusoidal fill patterns having a phase shift of 120 ° in the desired sequence to achieve three accurate phase shifts of the sinusoidal fringe field.
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| CN112762860B (en) * | 2020-12-28 | 2022-03-15 | 电子科技大学 | A high frame rate sinusoidal fringe field projection module |
| CN112764277B (en) * | 2020-12-28 | 2022-03-15 | 电子科技大学 | Four-step phase-shift sinusoidal fringe field projection module based on liquid crystal negative |
| CN115665933A (en) * | 2022-10-31 | 2023-01-31 | 南京云创大数据科技股份有限公司 | Method and device capable of realizing switching of multiple light sources |
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