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CN112325795A - A three-dimensional target flight time measurement method, system and device based on machine vision guidance - Google Patents

A three-dimensional target flight time measurement method, system and device based on machine vision guidance Download PDF

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CN112325795A
CN112325795A CN202011111709.0A CN202011111709A CN112325795A CN 112325795 A CN112325795 A CN 112325795A CN 202011111709 A CN202011111709 A CN 202011111709A CN 112325795 A CN112325795 A CN 112325795A
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target area
range finder
target
contour points
tof
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蒋明
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Huazhong University of Science and Technology
Ezhou Industrial Technology Research Institute of Huazhong University of Science and Technology
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Huazhong University of Science and Technology
Ezhou Industrial Technology Research Institute of Huazhong University of Science and Technology
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • 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
    • G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/46—Indirect determination of position data
    • G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves

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  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

本发明提出了一种基于机器视觉引导的三维目标飞行时间测量方法、系统和装置。所述方法包括步骤1、控制CCD相机针对目标采集目标对应的平面图像；步骤2、识别图像上待测量的三维坐标的目标区域，并对所述目标区域轮廓点Di进行标注；步骤3、控制TOF测距仪的旋转角度，使TOF测距仪发射可见激光对准所述目标区域轮廓点，依次照射所述目标区域轮廓点，并获取每个所述目标区域轮廓点对应的空间坐标；步骤4、对所述目标区域轮廓点扫描个数进行判断，完成对所有所述目标区域轮廓点Di的照射；步骤5、根据所述目标区域轮廓点Di的空间坐标计算获取所述目标区域的三维坐标，并根据所述三维坐标绘制目标三维图。

Figure 202011111709

The invention provides a method, system and device for measuring the flight time of a three-dimensional target based on machine vision guidance. The method includes step 1, controlling the CCD camera to collect a plane image corresponding to the target for the target; step 2, identifying the target area of the three-dimensional coordinate to be measured on the image, and marking the contour point D i of the target area; step 3, Control the rotation angle of the TOF range finder, so that the TOF range finder emits a visible laser and is aimed at the outline points of the target area, irradiates the outline points of the target area in turn, and obtains the space coordinates corresponding to each outline point of the target area; Step 4, judge the scanning number of the contour points of the target area, and complete the irradiation of all the contour points D i of the target area; Step 5, calculate and obtain the target according to the spatial coordinates of the contour points D i of the target area The three-dimensional coordinates of the area are drawn, and a three-dimensional map of the target is drawn according to the three-dimensional coordinates.

Figure 202011111709

Description

Three-dimensional target flight time measuring method, system and device based on machine vision guidance
Technical Field
The invention provides a three-dimensional target flight time measuring method, system and device based on machine vision guidance, and belongs to the technical field of flight time measurement.
Background
The tof (timeofflight) laser ranging technique principle is that a transmitter transmits light pulses to an object and a receiver determines the distance of the measured object by calculating the running time of the light pulses from the return to the receiver multiplied by the speed of light. Compared with a stereo camera or triangulation technology, the TOF camera is small in size, high in measurement processing speed, small in influence of surface characteristics of an object in the measurement process, stable in mm level basically and free of change of measurement precision along with distance change, can be used for very accurately measuring the distance of a space target, and is widely applied to the fields of laser radar for automatic automobile driving, satellite earth distance measurement, building size measurement and the like. However, the TOF phase method can only obtain the distance between the distance meter and the measured target, and cannot conveniently and quickly measure the three-dimensional shape and size of the space target.
Disclosure of Invention
The invention provides a three-dimensional target flight time measurement method, a system and a device based on machine vision guidance, which are used for solving the problem that the three-dimensional shape and size of a space target cannot be rapidly measured by the conventional flight time measurement, and adopt the following technical scheme:
a three-dimensional target time-of-flight measurement method based on machine vision guidance, the method comprising:
step 1, controlling a CCD camera to acquire a plane image corresponding to a target aiming at the target;
step 2, identifying a target area of a three-dimensional coordinate to be measured on the image, and aligning contour points D of the target areaiLabeling, wherein i represents the number of the contour points, and i is 1,2,3 … … n;
step 3, controlling the rotation angle of the TOF distance measuring instrument, enabling the TOF distance measuring instrument to emit visible laser to be aligned to the contour points of the target area, sequentially irradiating the contour points of the target area, and acquiring the space coordinate corresponding to each contour point of the target area;
step 4, judging the scanning number of the contour points of the target area to finish the scanning of all the contour points D of the target areaiIrradiation of (2);
step 5, according to the contour point D of the target areaiThe three-dimensional coordinates of the target area are obtained through calculation, and a target three-dimensional graph is drawn according to the three-dimensional coordinates.
Further, the step 3 of obtaining the spatial coordinates corresponding to each contour point of the target region includes:
301, controlling the CCD camera to acquire images emitted by the TOF range finder and sequentially irradiating contour points of the target area;
step 302, reading a range finder reading L obtained by aligning the TOF range finder with the contour point of the target area in sequencei；
Step 303, passing the rotation angle of the TOF rangefinder and the rangefinder reading LiObtaining the contour point D of the target areaiThe spatial coordinates of (a).
Further, the rotation angle of the TOF rangefinder comprises a rotation angle of the TOF rangefinder on the a-axis and the C-axis.
Further, the contour point D of the target area is obtained by the following formulaiSpatial coordinates of (a):
xd＝L·cos(θa)·cos(θc)
yd＝L·cos(θa)·sin(θc)
zd＝L·sin(θc)
wherein x isd、ydAnd zdRespectively representing the coordinate value of the xyz axis corresponding to each point in the three points, L representing the reading of the TOF distance meter corresponding to each point in the three points, and thetaaAnd thetacRespectively representing the rotation angles of the TOF rangefinder on the a-axis and the C-axis.
Further, the process of determining the number of scanning contour points of the target area in step 4 is as follows:
judging whether i is more than or equal to n, if i is less than n, repeating the content of the step 3 until the TOF range finder finds all the target area contour points DiFinishing irradiation; if i ≧ n, step 5 is performed.
A three-dimensional target time-of-flight measurement system based on machine vision guidance, the system comprising:
the CCD camera control module is used for controlling the CCD camera to acquire a plane image corresponding to the target aiming at the target;
an identification module for identifying a target area of three-dimensional coordinates to be measured on the image and identifying contour points D of the target areaiLabeling, wherein i represents the number of the contour points, and i is 1,2,3 … … n;
the TOF distance meter control module is used for controlling the rotation angle of the TOF distance meter, enabling the TOF distance meter to emit visible laser to be aligned to the contour points of the target area, sequentially irradiating the contour points of the target area and acquiring the space coordinate corresponding to each contour point of the target area;
a judging module for judging the scanning number of the target area contour points to finish the scanning of all the target area contour points DiIrradiation of (2);
a three-dimensional coordinate acquisition module for acquiring the contour point D of the target areaiThe three-dimensional coordinates of the target area are obtained through calculation, and a target three-dimensional graph is drawn according to the three-dimensional coordinates.
Further, the TOF rangefinder control module comprises:
the image acquisition control module is used for controlling the CCD camera to acquire images when the TOF range finder emits the contour points of the target area in sequence;
a reading module for reading the range finder reading L obtained by the TOF range finder aligning to the contour point of the target area in sequencei；
A space coordinate acquisition module for passing the rotation angle of the TOF range finder and the range finder reading LiObtaining the contour point D of the target areaiThe spatial coordinates of (a).
Further, the judging module comprises:
the number judgment module is used for judging whether i is larger than or equal to n;
a repeated starting module used for repeatedly starting the TOF range finder control module until all the TOF range finder control modules are started when the number judgment module determines that i is less than nThe contour point D of the target areaiAll the steps are finished irradiating;
and the starting module is used for starting the three-dimensional coordinate acquisition module when the number judgment module determines that the result i is more than or equal to n.
A three-dimensional target time-of-flight measurement device based on machine vision guidance, the measurement device comprising: a computer, a bearing platform, a CCD camera and a TOF range finder; the computer is electrically connected with the bearing table, the CCD camera and the TOF distance measuring instrument respectively; the CCD camera is arranged inside the bearing table; the TOF range finder is movably mounted on the bearing table in a rotatable mode.
Furthermore, a horizontal rotating shaft which rotates in the horizontal direction is arranged on the upper surface of the bearing table, and a vertical rotating shaft which rotates in the vertical direction is arranged on the horizontal rotating shaft; and the TOF range finder is fixedly arranged on the vertical rotating shaft.
The invention has the beneficial effects that:
the invention provides a three-dimensional target flight time measuring method based on machine vision guidance, which realizes automatic measurement of space morphology size data of a measured target by using a mode of combining a TOF range finder and a CCD camera. The three-dimensional target flight time measuring method based on machine vision guidance can effectively improve the three-dimensional size measuring accuracy of the measured target, simplify the space plane size measuring process, reduce the data processing amount in the measuring process and effectively improve the speed and efficiency of space plane size measurement. Meanwhile, the TOF range finder and the CCD camera are combined to realize the rapid measurement and the high-precision measurement of the three-dimensional shape and size of the target to be measured in any shape.
Drawings
FIG. 1 is a flow chart of the method of the present invention;
FIG. 2 is a schematic diagram of a method of the present invention;
FIG. 3 is a system block diagram of the system of the present invention;
FIG. 4 is a schematic view of the apparatus according to the present invention;
(1, computer; 2, stage; 3, CCD camera; 4, TOF rangefinder; 21, horizontal rotation axis; 22, vertical rotation axis).
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
A three-dimensional target time-of-flight measurement method based on machine vision guidance, as shown in fig. 1 and 2, the method comprising:
step 1, controlling a CCD camera to acquire a plane image corresponding to a target aiming at the target;
step 2, identifying a target area of a three-dimensional coordinate to be measured on the image, and aligning contour points D of the target areaiLabeling, wherein i represents the number of the contour points, and i is 1,2,3 … … n;
step 3, controlling the rotation angle of the TOF distance measuring instrument, enabling the TOF distance measuring instrument to emit visible laser to be aligned to the contour points of the target area, sequentially irradiating the contour points of the target area, and acquiring the space coordinate corresponding to each contour point of the target area;
step 4, judging the scanning number of the contour points of the target area to finish the scanning of all the contour points D of the target areaiIrradiation of (2);
step 5, according to the contour point D of the target areaiThe three-dimensional coordinates of the target area are obtained through calculation, and a target three-dimensional graph is drawn according to the three-dimensional coordinates.
The process of obtaining the spatial coordinates corresponding to each target area contour point in step 3 includes:
301, controlling the CCD camera to acquire images emitted by the TOF range finder and sequentially irradiating contour points of the target area;
step 302, reading a range finder reading L obtained by aligning the TOF range finder with the contour point of the target area in sequencei；
Step 303, passing the rotation angle of the TOF rangefinder and the rangefinder reading LiObtaining the contour point D of the target areaiSpatial coordinates of。
The rotation angle of the TOF range finder comprises rotation angles of the TOF range finder on an A axis and a C axis, wherein the A axis represents rotation of the TOF range finder in a vertical direction, and theta represents rotation of the TOF range finder in a vertical directionaI.e. representing the angle at which the TOF rangefinder is rotated in the vertical direction. The C-axis represents the rotation of the TOF range finder in the horizontal direction, θcI.e. representing the angle at which the TOF rangefinder rotates in the horizontal direction.
Obtaining the contour point D of the target area by the following formulaiSpatial coordinates of (a):
xd＝L·cos(θa)·cos(θc)
yd＝L·cos(θa)·sin(θc)
zd＝L·sin(θc)
wherein x isd、ydAnd zdRespectively representing the coordinate value of the xyz axis corresponding to each point in the three points, L representing the reading of the TOF distance meter corresponding to each point in the three points, and thetaaAnd thetacRespectively representing the rotation angles of the TOF rangefinder on the a-axis and the C-axis. Wherein the A axis represents the rotation of the TOF range finder in the vertical direction, θaI.e. representing the angle at which the TOF rangefinder is rotated in the vertical direction. The C-axis represents the rotation of the TOF range finder in the horizontal direction, θcI.e. representing the angle at which the TOF rangefinder rotates in the horizontal direction.
The process of judging the scanning number of the contour points of the target area in the step 4 is as follows:
judging whether i is more than or equal to n, if i is less than n, repeating the content of the step 3 until the TOF range finder finds all the target area contour points DiFinishing irradiation; if i ≧ n, step 5 is performed.
The working principle of the technical scheme is adopted; acquiring a planar image corresponding to a target by a CCD camera, identifying a target area of a three-dimensional coordinate to be measured on the planar image, and setting n contour points D on the target area of the three-dimensional coordinate to be measurediI is 1,2,3 … … n; then adjusting the angle of the TOF range finder to enable the TOF range finder to be sequentially arrangedAnd irradiating each contour point until all the contour points are irradiated, acquiring the space coordinate of each contour point, calculating through the space coordinate to acquire the three-dimensional coordinate of the measured target, and generating a three-dimensional graph.
The effect of the above technical scheme is as follows: and the automatic measurement of the spatial plane size data of the measured target is realized by combining a TOF distance meter and a CCD camera. The three-dimensional target flight time measuring method based on machine vision guidance can effectively improve the three-dimensional size measuring accuracy of the measured target, simplify the space plane size measuring process, reduce the data processing amount in the measuring process and effectively improve the speed and efficiency of space plane size measurement. Meanwhile, the TOF range finder and the CCD camera are combined to realize rapid measurement and high-precision measurement in the three-dimensional direction of the measured target in any shape.
The embodiment of the invention provides a three-dimensional target flight time measuring system based on machine vision guidance, and as shown in fig. 3, the system comprises:
the CCD camera control module is used for controlling the CCD camera to acquire a plane image corresponding to the target aiming at the target;
an identification module for identifying a target area of three-dimensional coordinates to be measured on the image and identifying contour points D of the target areaiLabeling, wherein i represents the number of the contour points, and i is 1,2,3 … … n;
the TOF distance meter control module is used for controlling the rotation angle of the TOF distance meter, enabling the TOF distance meter to emit visible laser to be aligned to the contour points of the target area, sequentially irradiating the contour points of the target area and acquiring the space coordinate corresponding to each contour point of the target area;
a judging module for judging the scanning number of the target area contour points to finish the scanning of all the target area contour points DiIrradiation of (2);
a three-dimensional coordinate acquisition module for acquiring the contour point D of the target areaiThe three-dimensional coordinates of the target area are obtained through calculation, and a target three-dimensional graph is drawn according to the three-dimensional coordinates.
Wherein the TOF rangefinder control module comprises:
the image acquisition control module is used for controlling the CCD camera to acquire images when the TOF range finder emits the contour points of the target area in sequence;
a reading module for reading the range finder reading L obtained by the TOF range finder aligning to the contour point of the target area in sequencei；
A space coordinate acquisition module for passing the rotation angle of the TOF range finder and the range finder reading LiObtaining the contour point D of the target areaiThe spatial coordinates of (a).
Wherein, the judging module comprises:
the number judgment module is used for judging whether i is larger than or equal to n;
a repeated starting module used for repeatedly starting the TOF range finder control module until all the target area contour points D when the number judgment module determines that i is less than niAll the steps are finished irradiating;
and the starting module is used for starting the three-dimensional coordinate acquisition module when the number judgment module determines that the result i is more than or equal to n.
The working principle of the technical scheme is as follows: firstly, controlling a CCD camera to acquire a planar image corresponding to a target by using a CCD camera control module; then, identifying a target area of three-dimensional coordinates to be measured on the image through an identification module, and carrying out contour point D on the target areaiLabeling is carried out; then, a TOF distance meter control module is adopted to control the rotation angle of the TOF distance meter, so that the TOF distance meter emits visible laser to be aligned to the contour points of the target area, the contour points of the target area are sequentially irradiated, and the space coordinates corresponding to each contour point of the target area are obtained; then, the scanning number of the contour points of the target area is judged by utilizing a judging module, and all the contour points D of the target area are finishediIrradiation of (2); finally, a three-dimensional coordinate acquisition module for acquiring the contour point D of the target areaiThe three-dimensional coordinates of the target area are obtained through calculation, and a target three-dimensional graph is drawn according to the three-dimensional coordinates.
The effect of the above technical scheme is as follows: and the automatic measurement of the spatial morphology size data of the measured target is realized by combining a TOF distance meter and a CCD camera. The three-dimensional target flight time measuring method based on machine vision guidance can effectively improve the three-dimensional size measuring accuracy of the measured target, simplify the space plane size measuring process, reduce the data processing amount in the measuring process and effectively improve the speed and efficiency of the three-dimensional shape and size measurement of the space target. Meanwhile, the TOF range finder and the CCD camera are combined to realize the rapid measurement and high-precision measurement of the three-dimensional space coordinate of the measured object in any shape.
The embodiment of the invention provides a three-dimensional target flight time measuring device based on machine vision guidance, and as shown in fig. 4, the measuring device comprises: the system comprises a computer 1, a bearing platform 2, a CCD camera 3 and a TOF range finder 4; the computer 1 is electrically connected with the bearing table 2, the CCD camera 3 and the TOF distance measuring instrument 4 respectively; the CCD camera 3 is arranged inside the bearing table 2; the TOF distance measuring instrument 4 is movably mounted on the bearing platform 2 in a rotatable mode.
A horizontal rotating shaft 21 which rotates in the horizontal direction is arranged on the upper surface of the bearing table 2, and a vertical rotating shaft 22 which rotates in the vertical direction is arranged on the horizontal rotating shaft 21; the TOF rangefinder 4 is fixedly mounted on the vertical axis of rotation 22.
The working principle of the technical scheme is as follows: the measuring device rotates through each rotation axis body on the computer control plummer, realizes the rotatory regulation on the TOF distancer horizontal direction through the rotation angle of adjusting horizontal rotation axis, realizes the rotatory regulation on the TOF distancer vertical direction through the rotation angle of adjusting vertical rotation axis. And the data obtained by the TOF distance meter and the CCD camera are sent to a computer by a data transmission method, and the computer calculates and obtains the three-dimensional data of the measured target by using the three-dimensional target flight time measuring method and the three-dimensional target flight time measuring system.
The effect of the above technical scheme is as follows: and the automatic measurement of the spatial plane size data of the measured target is realized by combining a TOF distance meter and a CCD camera. By combining the three-dimensional coordinate and size measurement accuracy of the measured target, the three-dimensional target flight time measurement method and the three-dimensional target flight time measurement system based on machine vision guidance can effectively improve the three-dimensional coordinate and size measurement accuracy of the measured target, simplify the space target size measurement process, reduce the data processing amount in the measurement process, and effectively improve the speed and efficiency of three-dimensional shape and size measurement of the space target. Meanwhile, the TOF range finder and the CCD camera are combined to realize the rapid measurement and high-precision measurement of the three-dimensional shape and the coordinates of the target with any shape to be measured.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims (10)

1.一种基于机器视觉引导的三维目标飞行时间测量方法，其特征在于，所述方法包括：1. a three-dimensional target time-of-flight measurement method based on machine vision guidance, is characterized in that, described method comprises: 步骤1、控制CCD相机针对目标采集目标对应的平面图像；Step 1. Control the CCD camera to collect the plane image corresponding to the target for the target; 步骤2、识别图像上待测量的三维坐标的目标区域，并对所述目标区域轮廓点Di进行标注，其中，i表示所述轮廓点的个数，i＝1,2,3……n；Step 2: Identify the target area of the three-dimensional coordinates to be measured on the image, and mark the contour points D i of the target area, where i represents the number of the contour points, i=1, 2, 3...n ; 步骤3、控制TOF测距仪的旋转角度，使TOF测距仪发射可见激光对准所述目标区域轮廓点，依次照射所述目标区域轮廓点，并获取每个所述目标区域轮廓点对应的空间坐标；Step 3. Control the rotation angle of the TOF range finder, so that the TOF range finder emits a visible laser at the contour points of the target area, irradiates the contour points of the target area in turn, and obtains the corresponding contour points of each target area. space coordinates; 步骤4、对所述目标区域轮廓点扫描个数进行判断，完成对所有所述目标区域轮廓点Di的照射；Step 4, judging the scanning number of the contour points of the target area, and completing the irradiation of all the contour points D i of the target area; 步骤5、根据所述目标区域轮廓点Di的空间坐标计算获取所述目标区域的三维坐标，并根据所述三维坐标绘制目标三维图。Step 5: Calculate and obtain the three-dimensional coordinates of the target area according to the spatial coordinates of the contour points D i of the target area, and draw a three-dimensional image of the target according to the three-dimensional coordinates. 2.根据权利要求1所述方法，其特征在于，步骤3所述获取每个所述目标区域轮廓点对应的空间坐标的过程包括：2. The method according to claim 1, wherein the process of obtaining the spatial coordinates corresponding to each of the target area contour points in step 3 comprises: 步骤301、控制所述CCD相机采集TOF测距仪发射依次照射所述目标区域轮廓点时的图像；Step 301, controlling the CCD camera to collect the images when the TOF range finder emits and sequentially illuminates the contour points of the target area; 步骤302、读取所述TOF测距仪依次对准所述目标区域轮廓点获取的测距仪读数Li；Step 302, read the range finder reading Li obtained by the TOF range finder aiming at the contour point of the target area in turn; 步骤303、通过所述TOF测距仪的旋转角度和测距仪读数Li获取所述目标区域轮廓点Di的空间坐标。Step 303: Obtain the spatial coordinates of the contour point D i of the target area through the rotation angle of the TOF range finder and the range finder reading Li . 3.根据权利要求1或2所述方法，其特征在于，所述TOF测距仪的旋转角度包括所述TOF测距仪在A轴和C轴上的旋转角度。3. The method according to claim 1 or 2, wherein the rotation angle of the TOF range finder comprises the rotation angles of the TOF range finder on the A-axis and the C-axis. 4.根据权利要求1或2所述方法，其特征在于，通过如下公式获取所述目标区域轮廓点Di的空间坐标：4. according to the described method of claim 1 and 2, it is characterized in that, obtain the space coordinate of described target area contour point D i by following formula: xd＝L·cos(θa)·cos(θc)x d =L·cos(θ a )·cos(θ c ) yd＝L·cos(θa)·sin(θc)y d =L·cos(θ a )·sin(θ c ) zd＝L·sin(θc)z d =L·sin(θ c ) 其中，xd、yd和zd分别表示所述三个点中，每个点对应的xyz轴坐标值，L表示所述三个点中，每个点对应的TOF测距仪读数，θa和θc分别表示所述TOF测距仪在A轴和C轴上的旋转角度。Among them, x d , y d and z d respectively represent the xyz-axis coordinate value corresponding to each point in the three points, L represents the TOF range finder reading corresponding to each point in the three points, θ a and θ c represent the rotation angles of the TOF rangefinder on the A-axis and C-axis, respectively. 5.根据权利要求1所述方法，其特征在于，步骤4中所述的对所述目标区域轮廓点扫描个数进行判断的过程为：5. method according to claim 1, is characterized in that, described in step 4, the process of judging the scanning number of described target area contour points is: 判断i是否大于等于n，如果i＜n，则重复步骤3的内容直至所述TOF测距仪将所有所述目标区域轮廓点Di照射完毕；如果i≥n，则执行步骤5。Determine whether i is greater than or equal to n. If i<n, repeat the content of step 3 until the TOF range finder has irradiated all the contour points D i of the target area; if i≥n, execute step 5. 6.一种基于机器视觉引导的三维目标飞行时间测量系统，其特征在于，所述系统包括：6. A three-dimensional target time-of-flight measurement system based on machine vision guidance, wherein the system comprises: CCD相机控制模块，用于控制CCD相机针对目标采集目标对应的平面图像；The CCD camera control module is used to control the CCD camera to collect the plane image corresponding to the target for the target; 识别模块，用于识别图像上待测量的三维坐标的目标区域，并对所述目标区域轮廓点Di进行标注，其中，i表示所述轮廓点的个数，i＝1,2,3……n；The identification module is used to identify the target area of the three-dimensional coordinates to be measured on the image, and mark the contour points D i of the target area, where i represents the number of the contour points, i=1, 2, 3... ...n; TOF测距仪控制模块，用于控制TOF测距仪的旋转角度，使TOF测距仪发射可见激光对准所述目标区域轮廓点，依次照射所述目标区域轮廓点，并获取每个所述目标区域轮廓点对应的空间坐标；The TOF range finder control module is used to control the rotation angle of the TOF range finder, so that the TOF range finder emits a visible laser at the contour points of the target area, illuminates the contour points of the target area in sequence, and obtains each The spatial coordinates corresponding to the contour points of the target area; 判断模块，用于对所述目标区域轮廓点扫描个数进行判断，完成对所有所述目标区域轮廓点Di的照射；a judgment module, used for judging the scanning number of the contour points of the target area, and completing the irradiation of all the contour points D i of the target area; 三维坐标获取模块，用于根据所述目标区域轮廓点Di的空间坐标计算获取所述目标区域的三维坐标，并根据所述三维坐标绘制目标三维图。A three-dimensional coordinate acquisition module, configured to calculate and acquire the three-dimensional coordinates of the target area according to the spatial coordinates of the contour points D i of the target area, and draw a three-dimensional map of the target according to the three-dimensional coordinates. 7.根据权利要求6所述系统，其特征在于，所述TOF测距仪控制模块包括：7. The system according to claim 6, wherein the TOF rangefinder control module comprises: 图像采集控制模块，用于控制所述CCD相机采集TOF测距仪发射依次照射所述目标区域轮廓点时的图像；an image acquisition control module, configured to control the CCD camera to acquire the images when the TOF range finder emits and sequentially illuminates the contour points of the target area; 读取模块，用于读取所述TOF测距仪依次对准所述目标区域轮廓点获取的测距仪读数Li；A reading module is used to read the range finder reading Li obtained by the TOF range finder at the contour point of the target area in turn; 空间坐标获取模块，用于通过所述TOF测距仪的旋转角度和测距仪读数Li获取所述目标区域轮廓点Di的空间坐标。The spatial coordinate acquisition module is used to acquire the spatial coordinates of the contour point D i of the target area through the rotation angle of the TOF range finder and the range finder reading Li . 8.根据权利要求6所述系统，其特征在于，所述判断模块包括：8. The system according to claim 6, wherein the judging module comprises: 个数判断模块，用于判断i是否大于等于n；The number judgment module is used to judge whether i is greater than or equal to n; 重复启动模块，用于在所述个数判断模块确定i＜n时，重复启动TOF测距仪控制模块直至所有所述目标区域轮廓点Di的均完成照射；Repeated starting module, used for repeatedly starting the TOF rangefinder control module until all the contour points D i of the target area are irradiated when i<n is determined by the number judging module; 启动模块，用于在所述个数判断模块确定果i≥n时，启动三维坐标获取模块。The starting module is configured to start the three-dimensional coordinate acquiring module when the number judging module determines that i≥n. 9.一种基于机器视觉引导的三维目标飞行时间测量装置，其特征在于，所述测量装置包括：计算机(1)、承载台(2)、CCD相机(3)和TOF测距仪(4)；所述计算机(1)分别与所述承载台(2)、CCD相机(3)和TOF测距仪(4)进行电连接；所述CCD相机(3)设置于承载台(2)内部；所述TOF测距仪(4)以可旋转方式活动安装于所述所述承载台(2)上。9. A three-dimensional target time-of-flight measurement device based on machine vision guidance, characterized in that the measurement device comprises: a computer (1), a carrying platform (2), a CCD camera (3) and a TOF range finder (4) ; Said computer (1) is electrically connected with said carrying platform (2), CCD camera (3) and TOF range finder (4) respectively; Said CCD camera (3) is arranged inside the carrying platform (2); The TOF range finder (4) is movably mounted on the carrying platform (2) in a rotatable manner. 10.根据权利要求9所述装置，其特征在于，所述承载台(2)的上表面设置有水平方向旋转的水平旋转轴(21)，所述水平旋转轴(21)上设有垂直方向转动的垂直转动轴(22)；所述TOF测距仪(4)固定安装在所述的垂直转动轴(22)上。10. The device according to claim 9, characterized in that, the upper surface of the bearing platform (2) is provided with a horizontal rotation shaft (21) that rotates in a horizontal direction, and the horizontal rotation shaft (21) is provided with a vertical direction A rotating vertical rotating shaft (22); the TOF range finder (4) is fixedly installed on the vertical rotating shaft (22).
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