CN1587900A - Three dimension surface measuring method and device - Google Patents
Three dimension surface measuring method and device Download PDFInfo
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- CN1587900A CN1587900A CN 200410062790 CN200410062790A CN1587900A CN 1587900 A CN1587900 A CN 1587900A CN 200410062790 CN200410062790 CN 200410062790 CN 200410062790 A CN200410062790 A CN 200410062790A CN 1587900 A CN1587900 A CN 1587900A
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Abstract
The invention relates to substance measuring technical field especially a three-dimensional surface measuring method and apparatus, its method is described as follow: use projection apparatus to project regular lightspot array to surface of object, use more than two imaging devices in different positions to take photos of the and match light subpoint of the photo, by which compute three dimensional coordinate. It has the properties of intouching, high velocity, simple operation, low cost and can be widely used in industrial design and manufacture, production reversal inverted design and virtual reality.
Description
Technical field
The present invention relates to the object field of measuring technique, particularly a kind of three-dimensional surface measurement method and device.
Background technology
The three-dimensional measurement technology of object is widely used in fields such as industrial design and manufacturing, quality testing and control, topographical surveying and explorations.It uses fields such as also expanding to product image and reverse engineering, rapid prototyping design, anthropological measuring and ergonomics design, video display special efficacy, virtual reality in recent years.
It is contact and contactless that three-dimensional surface measurement mainly contains two class methods.The main method of contact type measurement is a three-coordinates measuring machine, and two kinds of mechanical type and on-mechanical formulas (as optic probe) are arranged.Its advantage is the measuring accuracy height, and shortcoming is that measuring speed is slow, and working environment is required height, therefore uses and is subjected to bigger restriction.Generally, three-coordinates measuring machine is difficult to satisfy current quick, the efficient demand of measuring.
Non-contacting method for three-dimensional measurement has: laser method two-way time, structured light method, stereo vision method, projection gate phase method etc.
Laser method two-way time
The principle of work of this method is the three-dimensional coordinate of putting on the Measuring Object by the two-way time of Laser Measurement pulse, its gordian technique is the light measurement of two-way time, because the light velocity is very fast, measurement that therefore should the time is very high to equipment requirements, so the unusual costliness of cost.
The structured light method
This method utilization be the structured light principle, promptly throw the wire structured light to body surface with projector, again with camera from another one angle shot said structure light, utilize triangle relation between eye point, subpoint and the imaging point to determine the three-dimensional coordinate of body surface point.This method is generally done light source with laser, and the laser scanner of main flow is this type of now.The precision height of laser scanner, but belong to the precise light machine equipment, costing an arm and a leg, non-general user can bear.
Stereo vision method
Stereo vision method has been used for reference the binocular vision of human eye, by the subpoint of coupling object on different images, by the counter three-dimensional coordinate of asking body surface point of principle of triangulation.This method can once be obtained the three-dimensional information in a zone, but its matching problem is difficult to resolve and determines, and algorithm is complicated and unstable, and length consuming time is difficult to obtain a good result when the body surface characteristic information enriches inadequately.
The projection gate phase method
This method is by at body surface projection stripe grating, utilizes the phase distortion information of modulated grid line to obtain the three-dimensional information of object, and its adopts the method demodulation of mathematics also to launch phase place, utilizes the phase value that launches to calculate the height of relative reference face.The gordian technique of projection gate phase method is Phase unwrapping, and this problem does not also solve at present fully, therefore is difficult to practicability.
Summary of the invention
The object of the present invention is to provide a kind ofly measure accurately, easy operating and three-dimensional surface measurement method of being convenient to popularize and device.For reaching the array of light spots of this purpose the present invention proposition, take above-mentioned array of light spots from different perspectives with two above cameras, the spot projection point in the coupling photographic images, and the counter thus three-dimensional coordinate of asking luminous point at the body surface pro-jection rule.Three-dimensional surface measurement device operability based on this method is good, measuring accuracy is high, speed is fast, cost is low.
Embodiments of the invention are by the luminous point projector, two video frequency pick-up heads, and the PC that image pick-up card is housed constitutes.
Technical scheme
The three-dimensional surface measurement method that the present invention proposes, it is characterized in that,, take described array of light spots from different perspectives with two above imaging devices with the array of light spots of grenade instrumentation to the body surface pro-jection rule, spot projection point in the coupling photographic images, and the counter thus three-dimensional coordinate of asking luminous point.
A kind of three-dimensional surface measurement device, comprise a grenade instrumentation to body surface pro-jection rule array of light spots, take the imaging device of described array of light spots more than two from different perspectives, and spot projection point and the counter thus disposal system of asking the luminous point three-dimensional coordinate in the coupling photographic images.
Be maintained fixed between described imaging device and the grenade instrumentation.
The shooting of described imaging device is synchronous.
The light that described grenade instrumentation sends is invisible light.
But described imaging device has filtering or restrains the optical filter of projection light wave band light in addition.
Described grenade instrumentation comprises a light source and a grating that has regular light hole array.
Described light hole is circular.
Described light hole is square or equilateral triangle is arranged.
Described light source is a LASER Light Source.
Described light source is a flashlamp.
Described imaging device is a digital imaging apparatus, and described disposal system is a digital processing system.
Description of drawings
Fig. 1 is the principle schematic of the inventive method.
Fig. 2 is the structural drawing of the luminous point projector of the present invention.
Fig. 3 is the arrangement mode figure of light hole.
Fig. 4 is the installation drawing of three-dimensional surface measurement of the present invention.
Embodiment
In the synoptic diagram of Fig. 1, the 1st, grenade instrumentation, 2 and 3 is imaging devices, the 4th, object, the 5th, be incident upon the array of light spots of body surface.
In the structure of the luminous point projector of Fig. 2,6 is the laser spots light source, and 7 is grating, and the light hole array is arranged on the grating.The arrangement mode of light hole can be square or equilateral triangle.
In the arrangement mode of the light hole of Fig. 3,8 is square arrangement, and 9 are the equilateral triangle arrangement.
In the device of the three-dimensional surface measurement of Fig. 4, the 1st, grenade instrumentation, as the luminous point projector, the 2, the 3rd, two cameras about imaging device, 10 is PC, 11 is object under test.Light hole on the light transmission grating that sends from light source projects the array of light spots of rule at body surface, two cameras are taken this array of light spots synchronously from left and right directions, the image that shooting obtains enters in the PC by image pick-up card, by spot projection point in the software matching image that moves on the PC and the counter three-dimensional coordinate of obtaining luminous point.
Claims (12)
1 one kinds of three-dimensional surface measurement methods, it is characterized in that: with the array of light spots of grenade instrumentation at the body surface pro-jection rule, take described array of light spots from different perspectives with two above imaging devices, spot projection point and the counter thus three-dimensional coordinate of asking luminous point in the coupling photographic images.
2 one kinds of three-dimensional surface measurement devices, it is characterized in that: comprise a grenade instrumentation to body surface pro-jection rule array of light spots, take the imaging device of described array of light spots more than two from different perspectives, and spot projection point and the counter thus disposal system of asking the luminous point three-dimensional coordinate in the coupling photographic images.
3 three-dimensional surface measurement devices according to claim 2 is characterized in that: be maintained fixed between described imaging device and the grenade instrumentation.
4 three-dimensional surface measurement devices according to claim 2, it is characterized in that: the shooting of described imaging device is synchronous.
5 three-dimensional surface measurement devices according to claim 2 is characterized in that: the light that described grenade instrumentation sends is invisible light.
6 three-dimensional surface measurement devices according to claim 2 is characterized in that: but described imaging device has the optical filter of filtering or supression projection light wave band light in addition.
7 three-dimensional surface measurement devices according to claim 2 is characterized in that: described grenade instrumentation comprises a light source and a grating that has regular light hole array.
8 three-dimensional surface measurement devices according to claim 7 is characterized in that: described light hole is for circular.
9 three-dimensional surface measurement devices according to claim 7 is characterized in that: described light hole is square or equilateral triangle is arranged.
10 three-dimensional surface measurement devices according to claim 7 is characterized in that: described light source is a LASER Light Source.
11 three-dimensional surface measurement devices according to claim 7 is characterized in that: described light source is a flashlamp.
12 three-dimensional surface measurement devices according to claim 2 is characterized in that: described imaging device is a digital imaging apparatus, and described disposal system is a digital processing system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN 200410062790 CN1587900A (en) | 2004-07-09 | 2004-07-09 | Three dimension surface measuring method and device |
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| CN 200410062790 CN1587900A (en) | 2004-07-09 | 2004-07-09 | Three dimension surface measuring method and device |
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| CN1587900A true CN1587900A (en) | 2005-03-02 |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101996417A (en) * | 2009-08-18 | 2011-03-30 | 来宝株式会社 | Apparatus and method for processing 3d image |
| CN1931110B (en) * | 2005-08-24 | 2011-08-31 | 德固萨有限责任公司 | Method of determining the shape of a dental technology object and apparatus for per-forming the method |
| CN102510475A (en) * | 2011-10-21 | 2012-06-20 | 上海交通大学 | Automobile panoramic imaging device and method based on infrared calibration |
| CN101655739B (en) * | 2008-08-22 | 2012-07-04 | 原创奈米科技股份有限公司 | Device for three-dimensional virtual input and simulation |
| CN102538708A (en) * | 2011-12-23 | 2012-07-04 | 北京理工大学 | Measurement system for three-dimensional shape of optional surface |
| CN102878945A (en) * | 2012-06-08 | 2013-01-16 | 刘亮 | System and method for acquiring three-dimensional and color data of object |
| CN105137603A (en) * | 2015-10-21 | 2015-12-09 | 南京先进激光技术研究院 | Breast mass surface positioning laser projection lamp ruler and use method |
| US9488472B2 (en) | 2008-02-26 | 2016-11-08 | Koh Young Technology Inc. | Apparatus and method for measuring a three dimensional shape |
| CN108592791A (en) * | 2018-04-27 | 2018-09-28 | 烟台南山学院 | A kind of pit inspection system and method |
-
2004
- 2004-07-09 CN CN 200410062790 patent/CN1587900A/en active Pending
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1931110B (en) * | 2005-08-24 | 2011-08-31 | 德固萨有限责任公司 | Method of determining the shape of a dental technology object and apparatus for per-forming the method |
| US9488472B2 (en) | 2008-02-26 | 2016-11-08 | Koh Young Technology Inc. | Apparatus and method for measuring a three dimensional shape |
| US10996050B2 (en) | 2008-02-26 | 2021-05-04 | Koh Young Technology Inc. | Apparatus and method for measuring a three dimensional shape |
| US10563978B2 (en) | 2008-02-26 | 2020-02-18 | Koh Young Technology Inc. | Apparatus and method for measuring a three dimensional shape |
| US10359276B2 (en) | 2008-02-26 | 2019-07-23 | Koh Young Technology Inc. | Apparatus and method for measuring a three dimensional shape |
| CN101655739B (en) * | 2008-08-22 | 2012-07-04 | 原创奈米科技股份有限公司 | Device for three-dimensional virtual input and simulation |
| CN101996417B (en) * | 2009-08-18 | 2013-05-15 | 来宝株式会社 | Apparatus and method for processing 3d image |
| CN101996417A (en) * | 2009-08-18 | 2011-03-30 | 来宝株式会社 | Apparatus and method for processing 3d image |
| CN102510475A (en) * | 2011-10-21 | 2012-06-20 | 上海交通大学 | Automobile panoramic imaging device and method based on infrared calibration |
| CN102538708A (en) * | 2011-12-23 | 2012-07-04 | 北京理工大学 | Measurement system for three-dimensional shape of optional surface |
| CN102878945B (en) * | 2012-06-08 | 2015-09-02 | 刘亮 | A kind of system and method obtaining object dimensional and color data |
| CN102878945A (en) * | 2012-06-08 | 2013-01-16 | 刘亮 | System and method for acquiring three-dimensional and color data of object |
| CN105137603A (en) * | 2015-10-21 | 2015-12-09 | 南京先进激光技术研究院 | Breast mass surface positioning laser projection lamp ruler and use method |
| CN108592791A (en) * | 2018-04-27 | 2018-09-28 | 烟台南山学院 | A kind of pit inspection system and method |
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