CN112710250A - Three-dimensional measurement method based on line structured light and sensor - Google Patents
Three-dimensional measurement method based on line structured light and sensor Download PDFInfo
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Abstract
The invention provides a three-dimensional measurement method and a sensor based on line structured light, wherein the method comprises the following steps: receiving section data of the object to be detected and respectively acquired by each sensing head and attitude data respectively corresponding to each sensing head, wherein the section data comprises the elevation, the gray level and the laser line width of the surface of the object to be detected corresponding to the laser line; based on the attitude data of any sensing head, correcting the section data acquired by the sensing head; and matching and splicing the corrected section data corresponding to each sensing head respectively to obtain the three-dimensional point cloud of the surface of the object to be detected. The three-dimensional measuring method and the sensor based on the line structured light, provided by the invention, have the advantages that the measuring range is enlarged, the measurement of a large section or an oversized section is realized, the influence of the measuring posture of the sensing head on the precision of section data is eliminated, and the precision of the section data is improved.
Description
Technical Field
The invention relates to the technical field of three-dimensional measurement, in particular to a three-dimensional measurement method based on line structured light and a sensor.
Background
The three-dimensional laser scanning measurement technology adopts a non-contact active measurement mode to directly acquire high-precision three-dimensional data, can scan any object, has no limitation of day and night, quickly converts information of the real world into data which can be processed, and has the characteristics of high scanning speed, strong real-time performance, high precision, strong activity, full digital characteristic and the like.
The mode of acquiring the three-dimensional data can put forward special requirements along with the change of a research object, for example, for traditional homeland survey, measurement mapping, building modeling, mineral survey and the like, the three-dimensional point cloud on the surface of the object is acquired from a macroscopic angle, and the requirements can be met by utilizing point cloud modeling, so that the method has the characteristics of wide range, relatively low precision requirement (such as centimeter level), permission of fixed site measurement, requirement of covering the researched object by the point cloud, no special requirement on the relation between single points forming the point cloud, and often the measurement result is the absolute distance relative to a measurement site; for specific researches such as antique archaeology, pavement disease detection, tunnel measurement, airport runway foreign matter and disease detection, chip defect detection and the like, the rapid measurement is required under a high dynamic environment, the precision reaches the micron level, the point clouds need to meet specific relations, and the measurement result is often the relative distance relative to the measured object.
In order to obtain the three-dimensional point cloud on the surface of an object, the existing three-dimensional laser scanning measurement technology generally adopts a mode of measuring a single section by a rotating prism and scanning the whole view field by a rotating holder to obtain the three-dimensional point cloud of the object, based on time flight difference pulse measurement, the measurement precision reaches millimeter level, the measurement speed reaches more than million points per second, the prism and the holder rotate synchronously during measurement, and the measurement section is not a section in a strict sense (a section obtained under the condition of non-same time and space) but the three-dimensional point cloud on the surface of the object consisting of discrete points.
However, in aspects such as road disease detection, tunnel measurement, rail disease detection, antique archaeology and the like, measurement in a high dynamic environment is required, and one measurement is required to obtain a strictly-defined measurement section, that is, points on the section are measured at the same attitude and at the same time, such as rail profile detection, highway rut detection and the like, the measurement width is at least 2000 mm or more, the measurement resolution (the distance between the points on the same section is at least up to mm), the distance measurement accuracy is up to 0.001 mm, the measurement frequency is more than 10KHz, which is equivalent to measuring 2 million points per second, and the existing three-dimensional laser scanning measurement technology cannot meet the measurement requirements.
Disclosure of Invention
The invention provides a three-dimensional measurement method based on line structured light and a sensor, which are used for solving the defects that the sensor in the prior art cannot meet the measurement application in a high dynamic environment and is low in measurement precision.
The invention provides a three-dimensional measurement method based on line structured light, which comprises the following steps:
receiving section data of an object to be detected, which are acquired by each sensing head respectively, and attitude data corresponding to each sensing head respectively, wherein the section data comprise an elevation, a gray level and a laser line width of a laser line corresponding to the surface of the object to be detected;
based on the attitude data of any sensing head, correcting the section data acquired by any sensing head;
and matching and splicing the corrected section data corresponding to each sensing head respectively to obtain the three-dimensional point cloud of the surface of the object to be detected.
According to the three-dimensional measurement method based on the structured light, provided by the invention, the correction of the section data acquired by any sensing head is carried out based on the attitude data of the sensing head, and the method comprises the following steps:
and correcting the elevations of all measuring points in the measuring section acquired by any sensing head at any moment based on the measuring attitude angle and the working distance of any sensing head relative to the horizontal plane at any moment in the attitude data of any sensing head and the mounting inclination angle and the working distance acquired by any sensing head under the static calibration condition.
According to the three-dimensional measurement method based on the structured light, provided by the invention, the correcting of the elevations of all measuring points in the measurement section acquired by any one sensing head at any one time comprises the following steps:
correcting the elevation of any measuring point in the measuring section acquired by any one sensing head at any time based on the following formula:
z'ti＝zti+dt-D+(xi-xM)*tan(βt) i＝1,2,…,N
in formula (II) z'tiCorrected elevation, z, of the ith measuring point in the measuring section acquired at time ttiThe elevation of the ith measuring point in the measuring section acquired at the moment t, N is the number of all measuring points in the measuring section, and xiIs the position, x, corresponding to the ith measuring point along the distribution direction of the measuring points of the sectionMThe position corresponding to the Mth measuring point along the distribution direction of the measuring points of the section, wherein M is N/2, D is the working distance acquired by any one sensing head under the static calibration condition, and betatAnd dtRespectively measuring an attitude angle and a working distance of any sensing head relative to a horizontal plane at the moment t;
wherein, the measuring attitude angle beta of any sensing head relative to the horizontal plane at the time ttIs determined based on the following method:
if the attitude sensor in any sensing head acquires the included angle between any sensing head and the horizontal plane, the beta ist＝αt(ii) a If the attitude sensor in any sensing head acquires the motion angle of any sensing head relative to the installation attitude, the beta value is obtainedt＝αt+θ，αtThe attitude angle is acquired by an attitude sensor in any sensing head at the time t, and theta is the installation inclination angle of any sensing head relative to the horizontal plane.
According to the three-dimensional measurement method based on structured light provided by the invention, the matching and splicing of the corrected section data corresponding to each sensing head respectively comprises the following steps:
determining a matching relation between section data acquired by any two adjacent sensing heads in the moving measurement direction based on the trigger signals when the sensing heads respectively acquire data and combining the measurement distance of each sensing head in the moving measurement direction acquired by static calibration and the sampling distance of each sensing head in the moving measurement direction, and matching the section data acquired by each sensing head;
determining the overlapping area between any two adjacent sensing heads in the section measuring direction based on the overlapping area of each sensing head in the section measuring direction and the sampling interval of each sensing head in the section measuring direction, which are obtained by static calibration;
and based on the consistency of data in the superposition area among the sensing heads, searching homonymous feature points in a self-adaptive manner, and based on the position relation of the homonymous feature points, splicing the section data respectively collected by the sensing heads.
The three-dimensional measurement method based on the structured light further comprises the following steps:
calculating the average gray scale or the average laser line width of any measuring unit based on the gray scale or the laser line width of any measuring unit in the section data acquired by any sensing head, wherein any measuring unit comprises a plurality of measuring sections;
updating a gray segmentation threshold value based on the average gray scale and a preset gray scale range or the average laser line width and a preset laser line width range, and configuring data acquisition parameters of any sensing head based on the updated gray segmentation threshold value.
According to the three-dimensional measurement method based on the structured light, the updating of the gray segmentation threshold value based on the average gray scale and the preset gray scale range or the average laser line width and the preset laser line width range comprises:
if the average gray scale is larger than the maximum value of the preset gray scale, or the average laser line width is larger than the maximum value of the preset laser line width, taking the sum of the gray scale division threshold and the adjustment step length of the preset gray scale threshold as the updated gray scale division threshold;
and if the average gray scale is smaller than the minimum value of the preset gray scale, or the average laser line width is smaller than the minimum value of the preset laser line width, taking the difference between the gray scale division threshold and the preset gray scale threshold adjustment step length as the updated gray scale division threshold.
The three-dimensional measurement method based on the structured light further comprises the following steps:
based on the gray scale or the elevation of any measuring unit in the section data acquired by any sensing head, whether the working state of any sensing head is abnormal is checked, and if abnormal conditions occur, abnormal state information is sent out, wherein any measuring unit comprises a plurality of measuring sections.
According to the three-dimensional measurement method based on the structured light provided by the invention, whether the working state of any sensing head is abnormal or not is checked based on the gray scale of any measurement unit in the section data acquired by any sensing head, and the method comprises the following steps:
if the strip-shaped obvious mutation position exists in any measurement unit, updating the number of gray level mutation of any measurement unit, wherein the number of gray level mutation is the number of measurement points with continuous obvious mutation in any measurement unit;
if the number of the gray abrupt changes is larger than a threshold value of the gray abrupt changes, determining that any one of the sensing heads works abnormally, and if not, setting the number of the gray abrupt changes to zero;
the strip-shaped obvious mutation positions satisfy the gray levels of all the measuring points (M)g-G)/Mg>KTgIn a band-like region of (1), wherein MgIs the average value of the gray scale of any measuring unit, G is the gray scale of any measuring point, KTgIs the mutation threshold.
According to the three-dimensional measurement method based on the structured light, provided by the invention, the step of checking whether the working state of any sensing head is abnormal or not based on the elevation of any measurement unit in the section data acquired by any sensing head comprises the following steps:
determining the number of elevation sudden changes of any measurement unit, wherein the number of elevation sudden changes is that the absolute value of the elevation difference between any measurement unit and the adjacent measurement point is greater than an elevation threshold TeThe number of the measuring points of (1), wherein Te＝ke*Me，MeIs the average value, k, of the absolute values of the height differences of all measuring points and the adjacent measuring points in any measuring uniteIs a coefficient;
and if the ratio of the elevation mutation number to the total number of the measuring points contained in any measuring unit is greater than a preset ratio threshold, determining that any sensing head works abnormally.
The invention also provides a three-dimensional measuring sensor based on the line structured light, which comprises a controller and a plurality of sensing heads, wherein each sensing head comprises a three-dimensional camera, an attitude sensor and a line laser;
the three-dimensional camera and the line laser are installed at a certain angle, the included angle between the three-dimensional camera and the line laser ranges from 4 degrees to 30 degrees, and the attitude sensor, the three-dimensional camera and the line laser are installed on the same rigid plane;
the controller controls the plurality of sensing heads to acquire section data of the surface of the object to be measured and attitude data corresponding to the plurality of sensing heads respectively, and determines the three-dimensional point cloud of the surface of the object to be measured by adopting any one of the structured light-based three-dimensional measurement methods.
According to the three-dimensional measurement method based on the line structured light and the sensor, the section data of the object to be measured, which are respectively collected by each sensing head, and the posture data which respectively corresponds to each sensing head are received, the section data collected by the sensing heads are corrected based on the posture data of any sensing head, and then the corrected section data which respectively corresponds to each sensing head are matched and spliced to obtain the three-dimensional point cloud on the surface of the object to be measured, so that the measurement range is enlarged, the measurement of a large section or an oversized section is realized, the influence of the measurement posture of the sensing head on the precision of the section data is eliminated, and the precision of the section data is improved.
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In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a schematic flow chart of a three-dimensional measurement method based on line structured light according to the present invention;
fig. 2 is a schematic structural diagram of a three-dimensional measurement sensor based on line structured light according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a sensor head according to the present invention;
FIG. 4 is a schematic structural diagram of an electronic device provided by the present invention;
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic flow chart of a three-dimensional measurement method based on line structured light according to an embodiment of the present invention, as shown in fig. 1, the method includes:
and step 130, matching and splicing the corrected section data corresponding to each sensing head respectively to obtain a three-dimensional point cloud of the surface of the object to be detected.
Specifically, the basic principle of laser triangulation is: the laser projects the laser line to the object surface that awaits measuring, and the three-dimensional camera is through being certain contained angle with the laser and obtaining the two-dimensional image information of laser line at the object surface that awaits measuring, and wherein the laser line is used for the elevation deformation condition on mark object surface that awaits measuring. And combining a gray scale division threshold value, extracting an effective structured light region position in the two-dimensional image, extracting a representative pixel position of the structured light region of each column in the two-dimensional image, and outputting the gray scale information, namely the gray scale sum of the structured light representative pixel position of each column and each pixel in the effective structured light region, and the laser line width information, namely the total number of the pixels in the structured light region of each column.
Based on the laser triangulation principle, the embodiment of the invention adopts the multiple sensing heads to respectively acquire the section data of the object to be detected, and receives the section data of the object to be detected respectively acquired by each sensing head and the posture data respectively corresponding to each sensing head, wherein the section data comprises the elevation, the gray level and the laser line width of the laser line corresponding to the surface of the object to be detected.
Here, each sensing head may be distributed in parallel along the direction of a section measuring point, any sensing head may include a three-dimensional camera, a line laser and a posture sensor, the posture data of any sensing head may include a measured posture angle of the sensor at each moment, and the posture data of any sensing head may be obtained based on a posture sensor built in the sensing head.
Under the condition of high movement speed, the measurement attitude of the sensing head easily influences the accuracy of the acquired section data. Therefore, for any sensor head, the attitude data of the sensor head is matched with the section data collected by the sensor head, and the section data collected by the sensor head is corrected based on the attitude data of the sensor head. The attitude data of each sensing head acquired based on the attitude sensor built in each sensing head is used for correcting the section data, so that the influence of the measuring attitude of the sensing head on the accuracy of the section data is eliminated, and the accuracy of the section data is improved.
And after the correction of the section data acquired by each sensing head is completed, matching and splicing the corrected section data corresponding to each sensing head respectively to obtain the three-dimensional point cloud of the surface of the object to be detected. Data acquisition is carried out through adopting a plurality of sensing heads to match and splice the section data that each sensing head gathered respectively, increased measuring range, can realize big section or super large section's measurement.
Here, the section data acquired by each sensing head may be matched based on a trigger signal, such as mileage or time, when each sensing head acquires data, in combination with the relative installation distance and movement speed of each sensing head in the movement direction of the sensing head or the movement direction of the object to be detected, and the matched section data is arranged according to the sequence of data acquisition and spliced to obtain the three-dimensional point cloud on the surface of the object to be detected.
According to the method provided by the embodiment of the invention, the section data of the object to be measured, which are respectively collected by each sensing head, and the posture data which respectively correspond to each sensing head are received, the section data collected by the sensing heads are corrected based on the posture data of any sensing head, and then the corrected section data which respectively correspond to each sensing head are matched and spliced, so that the three-dimensional point cloud of the surface of the object to be measured is obtained, the measurement range is enlarged, the measurement of a large section or an ultra-large section is realized, the influence of the measurement posture of the sensing head on the precision of the section data is eliminated, and the precision of the section data is improved.
Based on any of the above embodiments, step 120 includes:
and correcting the elevations of all measuring points in the measuring section acquired by the sensing head at any moment based on the measuring attitude angle and the working distance of the sensing head relative to the horizontal plane at any moment in the attitude data of any sensing head and the mounting inclination angle and the working distance acquired by the sensing head under the static calibration condition.
Specifically, during the measurement process, one measurement section is obtained by any one sensor head at each moment, and one measurement section comprises a plurality of measurement points. The attitude sensor built in any sensing head can measure the attitude of the sensing head in real time to obtain the attitude data of the sensing head at each moment, wherein the attitude data of the sensing head at any moment can comprise the measured attitude angle and the working distance of the sensing head relative to the horizontal plane at the moment.
Based on the measurement attitude angle and the working distance of any sensing head relative to the horizontal plane at any moment and the installation inclination angle and the working distance acquired by the sensing head under the static calibration condition, the influence of the measurement attitude of the sensing head on the measurement section acquired by the sensing head at the moment can be determined, and then the elevations of all measuring points in the measurement section acquired by the sensing head are corrected.
Based on any one of the above embodiments, the correcting the elevations of all the measurement points in the measurement section acquired by the sensor head at the time includes:
and correcting the elevation of any measuring point in the measuring section acquired by the sensing head at the moment based on the following formula:
z'ti＝zti+dt-D+(xi-xM)*tan(βt) i＝1,2,…,N
in formula (II) z'tiCorrected elevation, z, of the ith measuring point in the measuring section acquired at time ttiThe elevation of the ith measuring point in the measuring section acquired at the moment t, N is the number of all measuring points in the measuring section, and xiIs the position, x, corresponding to the ith measuring point along the distribution direction of the measuring points of the sectionMThe position corresponding to the Mth measuring point along the distribution direction of the measuring points of the section is M (N/2), D is the working distance acquired by the sensing head under the static calibration condition, and betatAnd dtRespectively measuring an attitude angle and a working distance of the sensing head relative to a horizontal plane at the moment t;
wherein the sensing head measures an attitude angle beta relative to the horizontal plane at time ttIs determined based on the following method:
if the attitude sensor in the sensing head acquires the included angle between the sensing head and the horizontal plane, beta ist＝αt(ii) a If the attitude sensor in the sensing head acquires the motion angle of the sensing head relative to the installation attitude, betat＝αt+θ，αtThe attitude angle of the attitude sensor in the sensing head collected at the time t, and theta is the installation inclination angle of the sensing head relative to the horizontal plane.
Specifically, firstly, an installation inclination angle θ of any one sensor head relative to a horizontal plane and a working distance D of the sensor head under a static calibration condition are obtained by using an indoor static calibration mode.
Then, based on the attitude sensor in any sensorObtaining the measurement attitude angle beta of the sensor at the time ttHere, if the attitude sensor in the sensor head acquires the included angle between the sensor head and the horizontal plane, the attitude angle α acquired by the attitude sensor at that moment is directly acquiredtAs betatI.e. betat＝αt(ii) a If the attitude sensor in the sensing head acquires the motion angle of the sensing head relative to the installation attitude, the acquired attitude angle alphatThe angle obtained by adding the installation inclination angle theta of the sensor head relative to the horizontal plane is taken as betatI.e. betat＝αt+θ。
The measurement section acquired by the sensor at the time t comprises N measurement points, and the elevation of the ith measurement point acquired at the time t is ztiTo measure a measuring point x at an intermediate position in the cross sectionMAs a reference, based on the ith measuring point and the measuring point xMAnd the measured attitude angle beta of the sensor head relative to the horizontal planetDetermining the deviation of the measuring attitude of the sensor head in elevation at time t, and combining the working distance d of the sensor head at time ttAnd calculating the corrected elevation z of the ith measuring point by the difference between the working distance D and the working distance D acquired under the static calibration conditiont'i。
Specifically, the corrected elevation z of the ith measuring point at the t moment is calculated by the following formulat'i：
z'ti＝zti+dt-D+(xi-xM)*tan(βt) i＝1,2,…,N
In the formula, xiIs the position, x, corresponding to the ith measuring point along the distribution direction of the measuring points of the sectionMAnd M is equal to N/2, which is the position corresponding to the Mth measuring point along the distribution direction of the measuring points of the section.
Based on any of the above embodiments, step 130 includes:
based on the trigger signals when the sensing heads respectively acquire data, the interval between the section data acquired by any two adjacent sensing heads in the moving measurement direction is calculated by combining the measurement interval of each sensing head in the moving measurement direction acquired by static calibration and the sampling interval of each sensing head in the moving measurement direction, and the section data acquired by each sensing head is matched;
determining the overlapping area between any two adjacent sensing heads in the section measuring direction based on the overlapping area of each sensing head in the section measuring direction obtained by static calibration and the sampling interval of each sensing head in the section measuring direction;
based on the consistency of data in the overlapping area between each sensing head, homonymous feature points are searched in a self-adaptive mode, and the section data collected by each sensing head respectively are spliced based on the position relation of the homonymous feature points.
Specifically, the relation between the installation positions of the sensing heads is obtained in a static calibration mode, and the relation comprises a measurement interval in a moving measurement direction and an overlapping area in a section measurement direction, wherein the moving measurement direction is the movement direction of the sensing heads or the movement direction of an object to be measured, and the section measurement direction is the distribution direction of section measurement points.
Based on the trigger signal when each sensing head respectively collects data, the measuring distance of each sensing head in the moving measuring direction obtained by static calibration and the sampling distance of each sensing head in the moving measuring direction in actual measurement are combined, the matching relation between the section data obtained by any two adjacent sensing heads in the moving measuring direction can be determined, and then the section data respectively collected by each sensing head is matched. For example, for two adjacent sensor heads a and B, the matching relationship between the profile data acquired by a and B in the movement measurement direction may be that of the ith profile data of a and the jth profile data of B, wherein the number of the profile data acquired by the sensor heads is determined based on the trigger signal.
After the matching of the section data acquired by each sensing head is completed, the overlapping area of each sensing head in the section measuring direction acquired based on static calibration and the acquisition interval of each sensing head in the section measuring direction in actual measurement can be determined, and the overlapping area of any two adjacent sensing heads in the section measuring direction can be determined.
For any two adjacent sensing heads, the homonymous feature points are searched in a self-adaptive mode based on the consistency of data of the two adjacent sensing heads in the overlapping area of the cross section measuring direction, and the cross section data of the two sensing heads are spliced by using the position relation of the homonymous feature points. All carry out above-mentioned operation to all adjacent sensing heads, can accomplish the section data to each sensing head and splice. It should be noted that the cross-sectional data for matching and splicing may be at least one of gray scale, elevation and laser line width.
According to the method provided by the embodiment of the invention, the section data respectively collected by each sensing head are matched and spliced, so that the measuring range is enlarged, the section measurement with large width is realized, and the problem that the single sensing head cannot cover simultaneously due to the large width of the object to be measured in the road disease detection and tunnel measurement detection processes is solved.
Based on any of the above embodiments, the method further comprises:
calculating the average gray scale or the average laser line width of a measuring unit based on the gray scale or the laser line width of any measuring unit in the section data acquired by the sensing head, wherein the measuring unit comprises a plurality of measuring sections;
updating the gray segmentation threshold value based on the average gray scale and the preset gray scale range or the average laser line width and the preset laser line width range, and configuring the data acquisition parameters of the sensing head based on the updated gray segmentation threshold value.
Specifically, according to the basic principle of laser triangulation, after a two-dimensional image acquired by a three-dimensional camera is obtained, a region of effective structured light in the two-dimensional image is extracted based on a grayscale segmentation threshold. In order to adaptively adjust the gray segmentation threshold, firstly, the section data collected by any one sensor head is divided into a plurality of measurement units, one measurement unit comprises a plurality of measurement sections, for example, 1000 measurement sections, and one measurement section comprises a plurality of measurement points.
For any measuring unit, based on the gray scale or laser line width of a plurality of measuring sections included by the measuring unit, the average gray scale or the average laser line width of the measuring unit is calculated, and based on the average gray scale and a preset gray scale range or the average laser line width and a preset laser line width range, the gray scale division threshold value is updated, and the updated gray scale division threshold value is configured to the data acquisition parameters of the sensing head, so that the three-dimensional camera in the sensing head can extract the effective structured light area based on the updated gray scale division threshold value.
According to the method provided by the embodiment of the invention, the gray segmentation threshold value configured by the three-dimensional camera in the sensing head is updated based on the gray or laser line width in the section data acquired by the sensing head, so that the gray segmentation threshold value is set in a self-adaptive manner aiming at the acquired section data, and the accuracy of extracting the effective structured light area is further improved.
Based on any of the above embodiments, the updating the grayscale segmentation threshold based on the average grayscale and the preset grayscale range, or the average laser line width and the preset laser line width range, includes:
if the average gray scale is larger than the maximum value of the preset gray scale or the average laser line width is larger than the maximum value of the preset laser line width, taking the sum of the gray scale division threshold value and the preset gray scale threshold value adjustment step length as an updated gray scale division threshold value;
and if the average gray scale is smaller than the preset minimum gray scale value or the average laser line width is smaller than the preset minimum laser line width value, taking the difference between the gray scale division threshold value and the preset gray scale threshold value adjustment step length as the updated gray scale division threshold value.
Specifically, the preset gray scale range includes a preset gray scale maximum value and a preset gray scale minimum value, and the preset laser line width range includes a preset laser line width maximum value and a preset laser line width minimum value.
If the average gray scale is larger than the maximum value of the preset gray scale, or the average laser line width is larger than the maximum value of the preset laser line width, the gray scale or the laser line width of the corresponding measuring unit is larger, the gray scale segmentation threshold value can be adaptively improved, and then the gray scale segmentation threshold value T is divided into the gray scalegAnd presetting a gray threshold adjusting step length SgThe sum is used as the updated gray dividing threshold value Tg', i.e. Tg'＝Tg+Sg。
If the average gray scale is less than the preset gray scaleThe small value or the average laser line width is smaller than the preset laser line width minimum value, which represents that the gray scale or the laser line width of the corresponding measuring unit is smaller, the gray scale segmentation threshold value can be adaptively reduced, and then the gray scale segmentation threshold value T is usedgAnd presetting a gray threshold adjusting step length SgThe difference is used as the updated gray-scale division threshold value Tg', i.e. Tg'＝Tg-Sg。
Based on any of the above embodiments, the method further comprises:
based on the gray scale or elevation of any measuring unit in the section data collected by any sensing head, whether the working state of the sensing head is abnormal or not is checked, and if the abnormal condition occurs, abnormal state information is sent out, wherein the measuring unit comprises a plurality of measuring sections.
Specifically, to detect an abnormality of the sensor head, the profile data collected by any one sensor head is first divided into a plurality of measurement units, and one measurement unit includes a plurality of measurement profiles, for example, 1000 measurement profiles.
For any measuring unit, whether gray level mutation or elevation mutation occurs in the measuring unit can be detected based on gray level or elevation of a plurality of measuring sections contained in the measuring unit, and whether the working state of the sensing head is abnormal can be further detected. If the sensing head is in an abnormal working state, sending abnormal state information to remind a worker to check the working state of the sensing head.
Based on any embodiment, the checking whether the working state of any one of the sensing heads is abnormal based on the gray scale of any one of the measurement units in the section data acquired by any one of the sensing heads includes:
if the measurement unit has a strip-shaped obvious mutation position, updating the number of gray level mutations of the measurement unit, wherein the number of gray level mutations is the number of measurement points with continuous obvious mutations in the measurement unit;
if the number of the gray abrupt changes is larger than the threshold value of the gray abrupt changes, determining that the sensing head works abnormally, otherwise, setting the number of the gray abrupt changes to zero;
the gray levels of all the measuring points at the strip-shaped obvious mutation positions are satisfied (M)g-G)/Mg>KTgIn a band-like region of (1), wherein MgIs the average value of the gray scale of the measuring unit, G is the gray scale of any measuring point, KTgIs the mutation threshold.
Specifically, based on the gray levels of a plurality of measurement sections contained in the measurement unit, the gray level average value of the measurement unit is calculated, and based on the gray level average value, whether a strip-shaped obvious mutation position with obvious gray level mutation generated by a plurality of continuous measurement points exists is judged, wherein the strip-shaped obvious mutation position is such a position that the gray levels of all the measurement points meet (M)g-G)/Mg>KTgIn a band-like region of (1), wherein MgIs the average value of the gray scale of the measuring unit, G is the gray scale of any measuring point, KTgIs the mutation threshold.
And if the measurement unit has a strip-shaped obvious mutation position, updating the number of gray level mutation of the measurement unit by the number of all the measurement points in the strip-shaped obvious mutation position, wherein the number of gray level mutation is the number of the measurement points with continuous obvious mutation in the measurement unit.
If the number of the gray abrupt changes is larger than the threshold value of the gray abrupt changes, the sensing head is determined to be abnormal in work, otherwise, the number of the gray abrupt changes is set to zero. For example, the gray level jump threshold is 100, if the number of gray level jumps is 150, that is, a strip-shaped obvious jump position containing 150 measuring points exists, and the number of gray level jumps is greater than the gray level jump threshold, it is determined that the sensor head is abnormal in operation; if the number of the gray level abrupt changes is 20, namely, a band-shaped obvious abrupt change position containing 20 measuring points exists, and the number of the gray level abrupt changes is smaller than a gray level abrupt change threshold value, the number of the gray level abrupt changes is set to zero, and whether the band-shaped obvious abrupt change position exists in the measuring unit is continuously judged.
Based on any embodiment, the checking whether the working state of any sensing head is abnormal based on the elevation of any measuring unit in the section data acquired by any sensing head includes:
determining the number of elevation sudden changes of the measuring unit, wherein the number of the elevation sudden changes is that the absolute value of the elevation difference between the measuring unit and the adjacent measuring point is larger than an elevation threshold value TeThe number of the measuring points of (1), wherein Te＝ke*Me，MeIs the average value, k, of the absolute values of the height differences of all the measuring points and the adjacent measuring points in the measuring uniteIs a coefficient;
and if the ratio of the number of the elevation sudden changes to the total number of the measuring points contained in the measuring unit is greater than a preset ratio threshold, determining that the sensing head works abnormally.
Specifically, based on the elevations of a plurality of measuring sections in the measuring unit, the average value M of the absolute values of the elevation differences of all measuring points and adjacent measuring points in the measuring unit is calculatedeAnd is based on MeObtaining an elevation threshold value TeWherein, Te＝ke*Me，keIs a coefficient between 1.5 and 3.
Judging the absolute value of the height difference between all the measuring points and the adjacent measuring points in the measuring unit, counting the number of the measuring points of which the absolute value of the height difference between the measuring points and the adjacent measuring points is greater than an elevation threshold value as the number of elevation sudden changes of the measuring unit, and if the ratio of the number of the elevation sudden changes to the total number of the measuring points contained in the measuring unit is greater than a preset ratio threshold value, indicating that the plurality of measuring points in the measuring unit generate the elevation sudden changes, determining that the sensing head works abnormally; otherwise, the sensing head is determined to work normally.
Based on any of the above embodiments, fig. 2 is a schematic structural diagram of a three-dimensional measurement sensor based on line-structured light according to an embodiment of the present invention, as shown in fig. 2, the sensor includes a controller 210 and a plurality of sensing heads 220, and the sensing heads 220 include a three-dimensional camera, an attitude sensor, and a line laser;
the three-dimensional camera and the line laser are installed at a certain angle, the included angle between the three-dimensional camera and the line laser ranges from 4 degrees to 30 degrees, and the attitude sensor, the three-dimensional camera and the line laser are installed on the same rigid plane;
the controller 210 controls the plurality of sensor heads 220 to obtain the section data of the surface of the object to be measured and the posture data corresponding to the plurality of sensor heads 220, and determines the three-dimensional point cloud of the surface of the object to be measured by using the structured light-based three-dimensional measurement method provided in any of the embodiments.
Specifically, the three-dimensional measurement sensor based on the line structured light includes a controller 210 and a plurality of sensor heads 220, the sensor heads 220 are responsible for acquiring cross-section data and self-attitude information and performing matching between the cross-section data and the self-attitude information, the controller 210 controls the plurality of sensor heads 220 to acquire the cross-section data of the surface of the object to be measured and the attitude data corresponding to the plurality of sensor heads 220 respectively, and determines a three-dimensional point cloud of the surface of the object to be measured by using the three-dimensional measurement method based on the structured light provided by any of the above embodiments, and the controller 210 can also control each sensor head to supply power, trigger the sensor head to acquire, control the exposure time of the.
Fig. 3 is a schematic structural diagram of a sensing head according to an embodiment of the present invention, and as shown in fig. 3, the sensing head 220 includes a line laser 221, a three-dimensional camera 222, and a posture sensor 223, where the line laser 221 and the three-dimensional camera 222 are installed at a certain angle, and the elevation and gray scale information of the object surface corresponding to the laser line is obtained by using the principle of laser triangulation, the posture sensor 222 is installed on the same rigid plane as the line laser 221 and the three-dimensional camera 223, and the posture sensor 222 reflects the measurement postures of the line laser 221 and the three-dimensional camera 223 in real time.
The line laser 221 is perpendicular to the surface of the object to be measured, the three-dimensional camera 222 and the line laser 221 form an included angle alpha, and the range of the alpha is 4-30 degrees. In the embodiment of the invention, the included angle between the three-dimensional camera and the line laser is set within the range of 4-30 degrees, the installation distance between the camera and the laser can be shortened by reducing the installation angle, and the attitude sensor of the three-dimensional measuring sensor, the three-dimensional camera and the laser are installed on the same rigid plane, so that the influence of the measurement attitude in a dynamic measurement environment on the measurement result can be effectively reduced by reducing the relative movement speed of the camera and the laser in a small-range rigid installation mode.
The distance between the three-dimensional camera 222 and the line laser 221 is L, the range of L is 60-1000 mm, the working distance of the sensing head 220 is 100-5000 mm, the measuring range is 20-300 mm, and the measuring resolution can reach 0.0005-0.2 mm. When the working distance changes, the included angle and the distance between the three-dimensional camera and the line laser need to be adjusted, and the specific installation parameters are shown in the following table:
the three-dimensional measuring sensor based on the linear structured light integrates the three-dimensional camera, the laser and the attitude sensor into the sensing head, the working distance can reach 100-5000 mm, the measuring range of the three-dimensional measuring sensor based on the linear structured light can reach 20-300 mm in the working range, the precision can reach 0.0005-0.2 mm, the synchronous measurement of objects to be measured can be realized at the same attitude and the same time, the high-speed and high-precision measurement can be completed in high-dynamic environments such as road disease detection, tunnel measurement, rail disease detection and cultural relic archaeology, and the measuring precision can reach micron level.
When the sensing head collects data, the attitude sensor can complete the matching of the attitude data and the section data, and the attitude data can be used for correcting the section value of the section data as required in the subsequent data processing process, so that the aim of improving the data precision is fulfilled. One controller can be connected with a plurality of sensing heads for data acquisition, and the matching among the data of the plurality of sensing heads is completed, so that the measuring range of the three-dimensional measuring sensor based on the line structured light can be enlarged.
According to any of the above embodiments, the sensor head further comprises a control daughter board 224, and the control daughter board 224 comprises a first power supply unit, a first control unit and an acquisition unit. The first power supply unit supplies power to all equipment in the sensor head; the first control unit controls the three-dimensional camera and the laser to work; the acquisition unit acquires the three-dimensional camera, the attitude sensor, the trigger signal and the state information, and performs data matching on the three-dimensional camera, the attitude sensor and the trigger signal.
After the sensing head is electrified to work, three tasks are started: the system comprises an attitude sensor data acquisition task, a three-dimensional camera data acquisition task and a state information acquisition task. The attitude sensor data acquisition task comprises the following steps: 1. acquiring attitude sensor data; 2. analyzing the attitude sensor data and storing the attitude sensor data into a data cache; 3. and (5) repeating the step 1 and the step 2.
The process of the three-dimensional camera data acquisition task comprises the following steps: 1. the control daughter board waits for the trigger signal, if not, the control daughter board continues to wait, and if so, the control daughter board carries out the next step; 2. adding 1 to the count of the trigger signal for later data matching; 3. triggering the three-dimensional camera to acquire data and waiting for the three-dimensional camera to return the data; 4. receiving three-dimensional camera data and storing the three-dimensional camera data into a data cache; 5. acquiring latest attitude data from an attitude sensor data cache; 6. carrying out data matching on the three-dimensional camera data, the attitude data and the trigger signal; 7. and (5) repeating the steps 1-6.
The state information acquisition task comprises the following steps: 1. collecting state data; 2. sending status data; 3. and (5) repeating the step 1 and the step 2.
In any of the above embodiments, the controller 220 comprises a control motherboard, which is connected to one or more sensor heads; the control motherboard comprises a second power supply unit, a second control unit and a processing unit; the second power supply unit provides a required power supply for the sensing head and supplies power for the control motherboard; the second control unit receives an external trigger signal or generates a trigger signal to trigger the sensing head to work, the exposure time of the sensing head is controlled by the trigger signal, and the upper computer can control the plurality of sensors to work by the external trigger signal; the processing unit receives data of one or more sensing heads, checks the validity of the data, matches the data of the sensing heads by using the trigger signal, processes the data of the sensing heads by using a built-in algorithm, and finally outputs the processed result.
After the controller is electrified to work, four tasks are started: the system comprises a sensing head data acquisition task, a data processing task, a data sending task and a state information acquisition task.
The sensing head data acquisition task flow comprises the following steps: 1. waiting for an externally input trigger signal or a trigger signal generated by a control motherboard; 2. receiving positioning and attitude determining information input from the outside after receiving the trigger signal; 3. sending a trigger signal to each sensing head to control the acquisition and exposure time of the sensing head; 4. waiting for receiving the original data of each sensing head, checking the validity of the data, and storing the original data and the positioning and attitude determination information into an original data cache; 5. and (5) repeating the steps 1-4.
The data processing task flow comprises the following steps: 1. waiting for original data, mainly detecting whether data in original data cache is updated; 2. performing data matching on the original data including the section data of each sensing head and the positioning and attitude determining information by using the trigger signal; 3. processing the original data by using a built-in data processing algorithm of the control motherboard to generate result data, and storing the result data into a result data cache; 4. and (4) repeating the steps 1-3.
The data sending process comprises the following steps: 1. waiting for result data, mainly detecting whether data in a result data cache is updated; 2. sending result data to an upper computer; 3. and (5) repeating the step 1 and the step 2.
Based on any embodiment, the three-dimensional measuring sensor based on the line structured light can receive positioning and attitude determining information of an external measuring system and match the positioning and attitude determining information with section data; and receiving a trigger signal of an external measurement system, triggering the system to acquire data, and acquiring the data according to a certain frequency.
Each sensing head in the three-dimensional measuring sensor based on line structure light utilizes the mode of RS485 or CAN bus to carry out the network deployment, the running state of each sensing head in the transmission system.
The three-dimensional measuring sensor based on the line structured light outputs the running state information of the system and receives the control instruction of the upper computer; or outputting the original data acquired by the system, wherein the original data comprises matched section data and attitude data of each sensing head; the output result data is processed by an algorithm built in the controller. Different algorithms can be built in according to different measurement requirements to obtain different result data.
The three-dimensional measuring sensor based on the line structured light reduces the requirement of the upper computer, and the controller completes part of data processing tasks, so that the data interaction amount with the upper computer is reduced, and the requirement of the upper computer is reduced.
Fig. 4 illustrates a physical structure diagram of an electronic device, which may include, as shown in fig. 4: a processor (processor)410, a communication Interface 420, a memory (memory)430 and a communication bus 440, wherein the processor 410, the communication Interface 420 and the memory 430 are communicated with each other via the communication bus 440. The processor 410 may call logic instructions in the memory 430 to perform the following method: receiving section data of the object to be detected and respectively acquired by each sensing head and attitude data respectively corresponding to each sensing head, wherein the section data comprises the elevation, the gray level and the laser line width of the surface of the object to be detected corresponding to the laser line; based on the attitude data of any sensing head, correcting the section data acquired by the sensing head; and matching and splicing the corrected section data corresponding to each sensing head respectively to obtain the three-dimensional point cloud of the surface of the object to be detected.
In addition, the logic instructions in the memory 430 may be implemented in the form of software functional units and stored in a computer readable storage medium when the software functional units are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, the computer program including program instructions, when the program instructions are executed by a computer, the computer can execute the methods provided by the above-mentioned method embodiments, for example: receiving section data of the object to be detected and respectively acquired by each sensing head and attitude data respectively corresponding to each sensing head, wherein the section data comprises the elevation, the gray level and the laser line width of the surface of the object to be detected corresponding to the laser line; based on the attitude data of any sensing head, correcting the section data acquired by the sensing head; and matching and splicing the corrected section data corresponding to each sensing head respectively to obtain the three-dimensional point cloud of the surface of the object to be detected.
In yet another aspect, an embodiment of the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program is implemented by a processor to execute the methods provided by the foregoing embodiments, for example: receiving section data of the object to be detected and respectively acquired by each sensing head and attitude data respectively corresponding to each sensing head, wherein the section data comprises the elevation, the gray level and the laser line width of the surface of the object to be detected corresponding to the laser line; based on the attitude data of any sensing head, correcting the section data acquired by the sensing head; and matching and splicing the corrected section data corresponding to each sensing head respectively to obtain the three-dimensional point cloud of the surface of the object to be detected.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A three-dimensional measurement method based on line structured light is characterized by comprising the following steps:
receiving section data of an object to be detected, which are acquired by each sensing head respectively, and attitude data corresponding to each sensing head respectively, wherein the section data comprise an elevation, a gray level and a laser line width of a laser line corresponding to the surface of the object to be detected;
based on the attitude data of any sensing head, correcting the section data acquired by any sensing head;
and matching and splicing the corrected section data corresponding to each sensing head respectively to obtain the three-dimensional point cloud of the surface of the object to be detected.
2. The structured-light based three-dimensional measurement method according to claim 1, wherein the modifying the profile data acquired by any one of the sensor heads based on the attitude data of the sensor head comprises:
and correcting the elevations of all measuring points in the measuring section acquired by any sensing head at any moment based on the measuring attitude angle and the working distance of any sensing head relative to the horizontal plane at any moment in the attitude data of any sensing head and the mounting inclination angle and the working distance acquired by any sensing head under the static calibration condition.
3. The structured-light based three-dimensional measurement method according to claim 2, wherein the correcting the elevations of all the measurement points in the measurement section acquired by any one of the sensor heads at any one time comprises:
correcting the elevation of any measuring point in the measuring section acquired by any one sensing head at any time based on the following formula:
z′ti＝zti+dt-D+(xi-xM)*tan(βt)i＝1,2,…,N
in formula (II) z'tiCorrected elevation, z, of the ith measuring point in the measuring section acquired at time ttiThe elevation of the ith measuring point in the measuring section acquired at the moment t, N is the number of all measuring points in the measuring section, and xiIs the position, x, corresponding to the ith measuring point along the distribution direction of the measuring points of the sectionMThe position corresponding to the Mth measuring point along the distribution direction of the measuring points of the section, wherein M is N/2, D is the working distance acquired by any one sensing head under the static calibration condition, and betatAnd dtRespectively measuring an attitude angle and a working distance of any sensing head relative to a horizontal plane at the moment t;
wherein, the measuring attitude angle beta of any sensing head relative to the horizontal plane at the time ttIs determined based on the following method:
if the attitude sensor in any sensing head acquires the included angle between any sensing head and the horizontal plane, the beta ist＝αt(ii) a If the attitude sensor in any sensing head acquires the motion angle of any sensing head relative to the installation attitude, the beta value is obtainedt＝αt+θ，αtThe attitude angle is acquired by an attitude sensor in any sensing head at the time t, and theta is the installation inclination angle of any sensing head relative to the horizontal plane.
4. The structured-light based three-dimensional measurement method according to claim 1, wherein the matching and stitching of the modified cross-sectional data corresponding to each of the sensor heads comprises:
determining a matching relation between section data acquired by any two adjacent sensing heads in the moving measurement direction based on the trigger signals when the sensing heads respectively acquire data and combining the measurement distance of each sensing head in the moving measurement direction acquired by static calibration and the sampling distance of each sensing head in the moving measurement direction, and matching the section data acquired by each sensing head;
determining the overlapping area between any two adjacent sensing heads in the section measuring direction based on the overlapping area of each sensing head in the section measuring direction and the sampling interval of each sensing head in the section measuring direction, which are obtained by static calibration;
and based on the consistency of data in the superposition area among the sensing heads, searching homonymous feature points in a self-adaptive manner, and based on the position relation of the homonymous feature points, splicing the section data respectively collected by the sensing heads.
5. The structured-light based three-dimensional measurement method according to claim 1, further comprising:
calculating the average gray scale or the average laser line width of any measuring unit based on the gray scale or the laser line width of any measuring unit in the section data acquired by any sensing head, wherein any measuring unit comprises a plurality of measuring sections;
updating a gray segmentation threshold value based on the average gray scale and a preset gray scale range or the average laser line width and a preset laser line width range, and configuring data acquisition parameters of any sensing head based on the updated gray segmentation threshold value.
6. The structured-light-based three-dimensional measurement method according to claim 5, wherein the updating the grayscale division threshold based on the average grayscale and a preset grayscale range or the average laser line width and a preset laser line width range comprises:
if the average gray scale is larger than the maximum value of the preset gray scale, or the average laser line width is larger than the maximum value of the preset laser line width, taking the sum of the gray scale division threshold and the adjustment step length of the preset gray scale threshold as the updated gray scale division threshold;
and if the average gray scale is smaller than the minimum value of the preset gray scale, or the average laser line width is smaller than the minimum value of the preset laser line width, taking the difference between the gray scale division threshold and the preset gray scale threshold adjustment step length as the updated gray scale division threshold.
7. The structured-light based three-dimensional measurement method according to claim 1, further comprising:
based on the gray scale or the elevation of any measuring unit in the section data acquired by any sensing head, whether the working state of any sensing head is abnormal is checked, and if abnormal conditions occur, abnormal state information is sent out, wherein any measuring unit comprises a plurality of measuring sections.
8. The structured-light-based three-dimensional measurement method according to claim 7, wherein the checking whether the operation state of any one of the sensor heads is abnormal based on the gray scale of any one of the measurement units in the cross-sectional data acquired by any one of the sensor heads comprises:
if the strip-shaped obvious mutation position exists in any measurement unit, updating the number of gray level mutation of any measurement unit, wherein the number of gray level mutation is the number of measurement points with continuous obvious mutation in any measurement unit;
if the number of the gray abrupt changes is larger than a threshold value of the gray abrupt changes, determining that any one of the sensing heads works abnormally, and if not, setting the number of the gray abrupt changes to zero;
the strip-shaped obvious mutation positions satisfy the gray levels of all the measuring points (M)g-G)/Mg>KTgIn a band-like region of (1), wherein MgIs the average value of the gray scale of any measuring unit, G is the gray scale of any measuring point, KTgIs the mutation threshold.
9. The structured-light based three-dimensional measurement method according to claim 7, wherein the step of verifying whether the operation state of any one of the sensor heads is abnormal based on the elevation of any one of the measurement units in the cross-sectional data acquired by any one of the sensor heads comprises:
determining the number of elevation sudden changes of any measurement unit, wherein the number of elevation sudden changes is that the absolute value of the elevation difference between any measurement unit and the adjacent measurement point is greater than an elevation threshold TeThe number of the measuring points of (1), wherein Te＝ke*Me，MeIs the average value, k, of the absolute values of the height differences of all measuring points and the adjacent measuring points in any measuring uniteIs a coefficient;
and if the ratio of the elevation mutation number to the total number of the measuring points contained in any measuring unit is greater than a preset ratio threshold, determining that any sensing head works abnormally.
10. A three-dimensional measurement sensor based on line structured light is characterized by comprising a controller and a plurality of sensing heads, wherein each sensing head comprises a three-dimensional camera, an attitude sensor and a line laser;
the three-dimensional camera and the line laser are installed at a certain angle, the included angle between the three-dimensional camera and the line laser ranges from 4 degrees to 30 degrees, and the attitude sensor, the three-dimensional camera and the line laser are installed on the same rigid plane;
the controller controls the plurality of sensing heads to acquire section data of the surface of an object to be measured and attitude data corresponding to the plurality of sensing heads respectively, and determines the three-dimensional point cloud of the surface of the object to be measured by using the structured light-based three-dimensional measurement method according to any one of claims 1 to 9.
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| CN113847884A (en) * | 2021-09-18 | 2021-12-28 | 武汉光谷卓越科技股份有限公司 | Fine three-dimensional measurement and modeling method based on line scanning |
| CN113701678B (en) * | 2021-09-18 | 2024-07-12 | 武汉光谷卓越科技股份有限公司 | Road surface flatness detection method based on line scanning three-dimension |
| CN113847884B (en) * | 2021-09-18 | 2024-08-06 | 武汉光谷卓越科技股份有限公司 | Line scanning-based refined three-dimensional measurement and modeling method |
| CN116718132A (en) * | 2023-05-06 | 2023-09-08 | 深圳大学 | Pavement three-dimensional measurement method and system |
| CN116718132B (en) * | 2023-05-06 | 2024-03-26 | 深圳大学 | Pavement three-dimensional measurement method and system |
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