CN208887567U - A Structured Light Projection 3D Measurement System with Automatic Shadow Compensation - Google Patents
A Structured Light Projection 3D Measurement System with Automatic Shadow Compensation Download PDFInfo
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Abstract
A kind of structured light projection three-dimension measuring system of auto shadows compensation, including CCD camera, projector, the measuring table and computer that can show different background light；The measuring table is used to provide bias light for measured object, the measuring table upper surface is smooth flat, the surface of the measuring table is equipped with support frame, the CCD camera and projector are set on the support frame, the optical axis of the CCD camera is perpendicular to measuring table, the CCD camera and projector respectively with calculate mechatronics, CCD camera is for obtaining after background image and measured object image and by background image and measured object image transmitting to computer, projector is used for from inclined direction to measuring table projective structure light, the computer obtains the 3 d measurement data of measured object to after measured object image progress shadow compensation and using phase shift method.The utility model improves the reliability and accuracy that machine vision technique uses structure light mode to measure.
Description
Technical field
The utility model relates to technical field of optical detection, and in particular to a kind of structured light projection three of auto shadows compensation
Tie up measuring system.
Background technique
In recent years, it is continuous in scientific research and life in practice to have become an individual subject for computer vision technique
Development, three-dimensional reconstruction is one of the most important content of computer vision and hot research direction and digital picture correlation skill
One of most important application of art, three-dimensional reconstruction refers to the mathematical model established to three-dimension object and be suitble to computer representation and processing,
It is to be handled it, operated and analyzed the basis of its property under computer environment, and establish expression visitor in a computer
See the key technology of the virtual reality in the world；Specifically, three-dimensional reconstruction, which refers to, passes through the image in two-dimensional world using computer
Come the three-dimensional model rebuild in realistic three-dimensional space, objective world is the three-dimensional space world that we live.Three
Dimension, which is rebuild, is based on principle of stereoscopic vision, makes every effort to restore three-dimensional spatial information from two dimensional image, it is intended to reach and understand from image
The purpose in the world, virtual reality, computer animation, three-dimensional measurement, in terms of have important application.
With the fast development of machine vision technique, carried out more and more using visible sensation method in the industrial production automatic
Change detection and measurement.For some delicate workpieces qualities screening and three-dimensional dimension measure, it is necessary to using NI Vision Builder for Automated Inspection into
Row non-contact measurement.Current main non-cpntact measurement scheme is divided into binocular vision and structured light projection.The former is usually applicable in
In the three-dimensionalreconstruction of large scene, the latter improves measurement accuracy due to can use phase information, is suitble to Small object short-range
Three-dimensional measurement.However consider project structured light angle, the problems such as the hole of measured object surface, this scheme unavoidably will appear
The phenomenon that shadow interference, shadow interference will lead to measurement and error occur, influence measurement effect.Therefore solve the problems, such as that shadow interference is
Improve an important research direction of reliability and accuracy that structure light mode measures.
Utility model content
The utility model aim is the shortcomings that overcoming the prior art and deficiency, provides a kind of knot of auto shadows compensation
Structure light projection three dimensional measuring system, to improve machine vision technique using the reliability and accuracy measured in a manner of structure light.
To achieve the above object, the technical solution adopted in the utility model is as follows:
A kind of structured light projection three-dimension measuring system of auto shadows compensation, including CCD camera, projector, can show not
With the measuring table and computer of bias light；The measuring table is used to provide bias light, the measuring table for measured object
Upper surface is smooth flat, and the surface of the measuring table is equipped with support frame, and the CCD camera and projector are located at support frame
On, the optical axis of the CCD camera perpendicular to measuring table, the CCD camera and projector respectively with calculate mechatronics, CCD
Camera is thrown for obtaining after background image and measured object image and by background image and measured object image transmitting to computer
Shadow instrument is used for from inclined direction to measuring table projective structure light, after the computer carries out shadow compensation to measured object image
And the 3 d measurement data of measured object is obtained using phase shift method.
From the foregoing, it will be observed that utility model works principle is as follows: being used for first by projector flat from inclined direction to measurement
Platform projective structure light obtains the background image with structural light stripes using CCD camera, and it is flat that measured object is then placed measurement
On platform or top, and the measured object image with structural light stripes is obtained using CCD camera, it is aobvious followed by measurement plane
Show bias light, CCD camera obtains the measured object image without project structured light, and CCD camera is by background image and measured object figure
Picture and computer is transmitted to without structure light image, computer obtain after shadow compensation and using phase shift method to measured object image
To the 3 d measurement data of measured object.
In summary, the utility model in the case where structured light projection by obtaining the Background with structural light stripes
Picture and measured object image, then computer is measured to after measured object image progress shadow compensation and using phase shift method
The 3 d measurement data of object avoids influence of the shade to structured light projection three-dimensional measurement effect, improves machine vision technique
The reliability and accuracy measured using structure light mode.
As a kind of improvement of the utility model, the measuring table is LED backlight measuring table, and the LED backlight is surveyed
Measuring platform is in black background colour, the LED backlight measuring table and calculating mechatronics in not display background light, by computer
LED backlight measuring table is controlled to shine.
As a kind of improvement of the utility model, the measuring table is equipped with infrared sensor, infrared sensor and meter
Mechatronics are calculated, infrared sensor is used to obtain the measured object signal on measuring table, and computer is obtained according to infrared sensor
Measured object signal and control CCD camera and projector movement.
Further include belt gear as a kind of improvement of the utility model, belt gear include transmission belt and
The driving wheel being driven by motor, the transmission belt are transparent transmission belt, and the transparent transmission belt is horizontally disposed, the measuring table
It is located at the lower section of zone face on transparent transmission belt.
The utility model also provides a kind of structured light projection method for three-dimensional measurement of auto shadows compensation.
A kind of structured light projection three-dimension measuring system progress structured light projection three-dimensional survey using the compensation of above-mentioned auto shadows
Amount method, comprising the following steps:
CCD camera and projector are demarcated, CCD camera optical center is obtained and measure vertical range l, the CCD phase of plane
The spacing d of machine optical center and projector optical center；
Measurement plane setting is displayed in white bias light, projector to measurement planar projective N width sine streak structure light,
In the phase difference of adjacent sine streak structure light be pi/2, N is greater than or equal to 3, and successively acquires using CCD camera N different phases
Background stripe pattern back_i, the i value of position corresponds to 1,2......N；
Measurement plane setting is displayed in white bias light, measured object is placed in measurement plane, and projector is flat to measurement
Face projects N width sine streak structure light, wherein the phase difference of adjacent sine streak structure light is pi/2, N is greater than or equal to 3, and benefit
Object stripe pattern obj_i, the i value that N outs of phase are successively acquired with CCD camera corresponds to 1,2......N；
Display background light is arranged in measurement plane, is acquired using CCD camera without the subject image under project structured light
Origin, and obtain the two-value mask image mask of subject image origin；
Image fortune is carried out using two-value mask image mask, background stripe pattern back_i and object stripe pattern obj_i
Calculate shadow compensation processing, subject image objfin_i after being compensated；
The pixel grey scale value matrix of subject image objfin_i after obtaining background stripe pattern back_i and compensating, respectively
IbackAnd Ifin；
Using the phase formula of phase shift method, subject image after background stripe pattern back_i and compensation is acquired respectively
The pixel-phase value of objfin_i, phase formula are as follows:
I is the pixel grey scale value matrix of image in formula, and I (x, y) is the grey scale pixel value of xth row y column in image, will
IbackAnd IfinSubstitution formula (1) respectively obtains the pixel phase of subject image objfin_i after background stripe pattern back_i and compensation
Place value isWith
The respective pixel phase value of subject image objfin_i after background stripe pattern back_i and compensation is subtracted each other to obtain
The each pixel-phase of the two is poor are as follows:
Phase difference height mapping formula (3) are substituted into using formula (2), obtain the Z axis coordinate of each pixel of measured object, Z axis
Coordinate, that is, altitude information h (x, y) value are as follows:
Wherein f is fringe frequency, x-axis, x-axis, the y-axis coordinate of y-axis coordinate and image pixel of each pixel of measured object
It is identical, the three-dimensional coordinate of each pixel of measured object can be obtained.
Further, measurement plane " is arranged display background light, is thrown using CCD camera acquisition without structure light by the step
Subject image origin under penetrating, and the two-value mask image mask " for obtaining subject image origin includes following sub-step:
A. under white background light, a measured object white background light object without project structured light is acquired using CCD camera
Image origin_white obtains the grey level histogram of white background light subject image origin_white, obtains the ash of measured object
It spends grade set { Pi, i=1,2...n }, sets a gray threshold T；
If b. each value of gray level set { Pi, i=1,2...n } is both greater than or equal to T, then it is arranged in black background light
Under, a measured object black background light subject image origin_black without structured light projection is acquired using CCD camera, to black
Bias light subject image origin_black carries out binary conversion treatment with threshold value T, obtains two mask image mask；
If existing also the having less than T greater than T of value c. in gray level set { Pi, i=1,2...n }, then be arranged black
Under bias light, a measured object black background light subject image origin_ without structured light projection is acquired using CCD camera
Black, dialogue bias light subject image origin_white and black background light subject image origin_black use threshold value T respectively
It after progress binary conversion treatment and is added, obtains two-value mask image mask；
If d. each value of gray level set { Pi, i=1,2...n } is both less than or is equal to T, then dialogue bias light object figure
Picture origin_white carries out binary conversion treatment with threshold value T, obtains two-value mask image mask.
Further, the step " utilizes two-value mask image mask, background stripe pattern back_i and object bar graph
As obj_i progress shadow compensation algorithm process, subject image objfin_i " includes following sub-step after being compensated:
Two-value exposure mask figure mask is negated to obtain reversed image maskinv；
Image algebra multiplying is carried out with two-value mask image mask and background stripe pattern back_i, obtains remover
Shaded background stripe pattern backnew_i after body；
Image algebra multiplying is carried out with reversed image maskinv and object stripe pattern obj_i, obtains the object of object
Body shadow-free image objnew_i；
Image algebra addition fortune is carried out with shaded background stripe pattern backnew_i and object shadow-free image objnew_i
It calculates, subject image objfin_i after the compensation after finally obtaining compensating shadow areas information.
Further, the value of the N is 4.
Compared with prior art, the utility model has the advantage that
The utility model in the case where structured light projection by obtaining the background image with structural light stripes and being tested
Object image is measured, then computer obtains the three-dimensional of measured object to after measured object image progress shadow compensation and using phase shift method
Measurement data avoids influence of the shade to structured light projection three-dimensional measurement effect, and the utility model may be implemented to more
The shadow compensation of color object improves reliability and accuracy that machine vision technique uses structure light mode to measure.
Detailed description of the invention
Fig. 1 is the schematic diagram of the structured light projection three-dimension measuring system of the utility model auto shadows compensation.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawings and examples.It is understood that described herein
Specific embodiment be used only for explaining the utility model, rather than the restriction to the utility model.It also should be noted that
For ease of description, part relevant to the utility model is illustrated only in attached drawing rather than full content.
Embodiment
Referring to FIG. 1, a kind of structured light projection three-dimension measuring system of auto shadows compensation, including CCD camera 10, projection
Instrument 20, the measuring table 30 and computer 40 that can show different background light；The measuring table 30 for measured object for providing
Bias light, 30 upper surface of measuring table are smooth flat, and the surface of the measuring table 30 is equipped with support frame 50, described
CCD camera 10 and projector 20 are located on support frame 50, and the optical axis of the CCD camera 10 is perpendicular to measuring table 30, the CCD
Camera 10 and projector 20 are electrically connected with computer 40 respectively, and CCD camera 10 is for obtaining background image and measured object image
Afterwards and by background image and measured object image transmitting to computer 40, projector 20 is used for from inclined direction to measuring table 30
Projective structure light, the computer 40 obtain measured object to after measured object image progress shadow compensation and using phase shift method
3 d measurement data.
From the foregoing, it will be observed that utility model works principle is as follows: being used for first by projector flat from inclined direction to measurement
Platform projective structure light obtains the background image with structural light stripes using CCD camera, and it is flat that measured object is then placed measurement
On platform or top, and the measured object image with structural light stripes is obtained using CCD camera, it is aobvious followed by measurement plane
Show bias light, CCD camera obtains the measured object image without project structured light, and CCD camera is by background image and measured object figure
Picture and computer is transmitted to without structure light image, computer obtain after shadow compensation and using phase shift method to measured object image
To the 3 d measurement data of measured object.
In summary, the utility model in the case where structured light projection by obtaining the Background with structural light stripes
Picture and measured object image, then computer is measured to after measured object image progress shadow compensation and using phase shift method
The 3 d measurement data of object avoids influence of the shade to structured light projection three-dimensional measurement effect, improves machine vision technique
The reliability and accuracy measured using structure light mode.
In the present embodiment, the measuring table 30 is LED backlight measuring table, and the LED backlight measuring table is not
It is in black background colour when display background light, the LED backlight measuring table is electrically connected with computer 40, is controlled by computer 40
LED backlight measuring table shines.The bias light of different colours, LED can be issued by controlling LED backlight measuring table by computer
Backlight measurement platform can select to show optimal bias light according to the color of measured object, lower to a certain degree to reduce measured object face
Influence of the color to measuring system.
In the present embodiment, the measuring table 30 is equipped with infrared sensor 60, infrared sensor 60 and computer 40
Electrical connection, infrared sensor 60 are used to obtain the measured object signal on measuring table 30, and computer 40 is according to infrared sensor
The 60 measured object signals obtained and control CCD camera 10 and projector 20 and act.When infrared sensor senses measuring table
On have measured object, inductive signal is then sent to computer by infrared sensor, then computer control projector projects structure light,
And CCD camera is taken pictures, so as to realize automatic measurement control.
It in the present embodiment, further include belt gear 70, belt gear 70 is including transmission belt 71 and by motor
The driving wheel 72 of driving, the transmission belt 70 are transparent transmission belt, and the transparent transmission belt 70 is horizontally disposed, the measuring table
30 are located at the lower section of zone face on transparent transmission belt 71.When measuring to measured object, measured object can be placed on transparent
On the upper zone face of transmission belt, the color of transparent transmission belt does not have an impact measuring system, while belt gear can be with
Measured object is conveyed and shifted, and motor start by set date and stopping can control by computer, and realizes measurement
The automation of process.
A kind of structured light projection three-dimension measuring system progress structured light projection three-dimensional survey using the compensation of above-mentioned auto shadows
Amount method, comprising the following steps:
S1. CCD camera and projector are demarcated, obtain CCD camera optical center and measures the vertical range l, CCD of plane
The spacing d of camera photocentre and projector optical center；
S2. measurement plane setting is displayed in white bias light, projector is to measurement planar projective N width sine streak structure
Light, wherein the phase difference of adjacent sine streak structure light is pi/2, N is greater than or equal to 3, and N are successively acquired using CCD camera
Background stripe pattern back_i, the i value of out of phase corresponds to 1,2......N；
S3. measurement plane setting is displayed in white bias light, measured object is placed in measurement plane, and projector is to measurement
Planar projective N width sine streak structure light, wherein the phase difference of adjacent sine streak structure light be pi/2, N be greater than or equal to 3, and
Object stripe pattern obj_i, the i value that N outs of phase are successively acquired using CCD camera corresponds to 1,2......N；
S4. display background light is arranged in measurement plane, is acquired using CCD camera without the subject image under project structured light
Origin, and obtain the two-value mask image mask of subject image origin；
S5. image is carried out using two-value mask image mask, background stripe pattern back_i and object stripe pattern obj_i
The processing of operation shadow compensation, subject image objfin_i after being compensated；
S6. the pixel grey scale value matrix of subject image objfin_i after obtaining background stripe pattern back_i and compensating, point
It Wei not IbackAnd Ifin；
S7. the phase formula for utilizing phase shift method acquires subject image after background stripe pattern back_i and compensation respectively
The pixel-phase value of objfin_i, phase formula are as follows:
I is the pixel grey scale value matrix of image in formula, and I (x, y) is the grey scale pixel value of xth row y column in image, will
IbackAnd IfinSubstitution formula (1) respectively obtains the pixel phase of subject image objfin_i after background stripe pattern back_i and compensation
Place value isWith
S8. the respective pixel phase value of subject image objfin_i after background stripe pattern back_i and compensation is subtracted each other
It is poor to each pixel-phase of the two are as follows:
S9. phase difference height mapping formula (3) are substituted into using formula (2), obtains the Z axis coordinate of each pixel of measured object, Z
Axial coordinate, that is, altitude information h (x, y) value are as follows:
Wherein f is fringe frequency, x-axis, x-axis, the y-axis coordinate of y-axis coordinate and image pixel of each pixel of measured object
It is identical, the three-dimensional coordinate of each pixel of measured object can be obtained.
In the present embodiment, measurement plane " is arranged display background light, is acquired using CCD camera without structure by the step
Subject image origin under light projection, and the two-value mask image mask " for obtaining subject image origin includes following sub-step
It is rapid:
A. under white background light, a measured object white background light object without project structured light is acquired using CCD camera
Image origin_white obtains the grey level histogram of white background light subject image origin_white, obtains the ash of measured object
It spends grade set { Pi, i=1,2...n }, sets a gray threshold T；
If b. each value of gray level set { Pi, i=1,2...n } is both greater than or equal to T, then it is arranged in black background light
Under, a measured object black background light subject image origin_black without structured light projection is acquired using CCD camera, to black
Bias light subject image origin_black carries out binary conversion treatment with threshold value T, obtains two mask image mask；
If existing also the having less than T greater than T of value c. in gray level set { Pi, i=1,2...n }, then be arranged black
Under bias light, a measured object black background light subject image origin_ without structured light projection is acquired using CCD camera
Black, dialogue bias light subject image origin_white and black background light subject image origin_black use threshold value T respectively
It after progress binary conversion treatment and is added, obtains two-value mask image mask；
If d. each value of gray level set { Pi, i=1,2...n } is both less than or is equal to T, then dialogue bias light object figure
Picture origin_white carries out binary conversion treatment with threshold value T, obtains two-value mask image mask.
Display background light scheme is determined by the judgement to measured object surface color gray level, when the surface of measured object
There are many when the big color of difference, by black background light and white background light complementation, the surface color of measured object can be effectively reduced
Influence to measurement effect, to improve the accuracy of measurement.
In the present embodiment, the step " utilizes two-value mask image mask, background stripe pattern back_i and object item
Print image obj_i carries out shadow compensation algorithm process, and subject image objfin_i " includes following sub-step after being compensated:
Two-value exposure mask figure mask is negated to obtain reversed image maskinv；
Image algebra multiplying is carried out with two-value mask image mask and background stripe pattern back_i, obtains remover
Shaded background stripe pattern backnew_i after body；
Image algebra multiplying is carried out with reversed image maskinv and object stripe pattern obj_i, obtains the object of object
Body shadow-free image objnew_i；
Image algebra addition fortune is carried out with shaded background stripe pattern backnew_i and object shadow-free image objnew_i
It calculates, subject image objfin_i after the compensation after finally obtaining compensating shadow areas information.
In the present embodiment, the value of the N is 4.
Above-described embodiment is the preferable embodiment of the utility model, but the embodiments of the present invention is not by above-mentioned
The limitation of embodiment, it is made under other any spiritual essence and principles without departing from the utility model to change, modify, replacing
In generation, simplifies combination, should be equivalent substitute mode, is included within the protection scope of the utility model.
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