CN212133584U - 3D measurement system based on modulable structured light - Google Patents
3D measurement system based on modulable structured light Download PDFInfo
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Abstract
The utility model discloses a 3D measurement system based on structure light can modulate, this system includes: a workbench for placing a workpiece to be measured; the two groups of linear light spot generating devices work independently and are used for projecting two groups of intersected linear light spots, and the two groups of intersected linear light spots form reflected linear light spots after being projected to a workpiece to be measured; the image acquisition equipment is arranged on a reflection light path of the linear light spot and used for receiving the reflected linear light spot so as to acquire an image formed by the reflected linear light spot; and the control computing equipment is respectively electrically connected with the image acquisition equipment and the linear light spot generating device, is used for controlling the linear light spot generating device to work and is used for processing the image formed by reflecting the linear light spot. The utility model discloses a set up the linear facula of two sets of independent work and generate the device and outwards throw the structure light generation scheme of linear facula, the range of application is wide, and easily discern the linear facula that the nodical corresponds of linear facula to the efficiency and the accuracy of three-dimensional estimation have been improved.
Description
Technical Field
The utility model belongs to the technical field of the 3D measurement technique and specifically relates to a 3D measurement system based on structure light can modulate.
Background
A spot of light generated by a laser in a particular structured mode is called structured light and typically has multiple spots, multiple rays, or an image with a particular strong contrast. Structured light can be divided into modulatable structured light and non-modulatable structured light depending on whether the pattern configuration projected outwardly can be altered during use. The form of the modulated structured light can be changed according to different applications, and great advantages can be provided in the aspects of 3D measurement precision, environmental adaptability, application flexibility and the like, so that the modulated structured light 3D measurement system has important technical value.
Conventional methods for generating structured Light include three types, namely, Diffractive Optical Element (DOE), Digital Light Processing (DLP), and galvanometer, wherein the DLP and the galvanometer are capable of supporting and modulating structured Light. However, in the DLP scheme, the energy utilization rate of the light source is insufficient, so that the brightness is limited, high brightness requires higher power consumption, and further requires components such as cooling, the volume of the whole component is larger, and the application range of the component is limited. The galvanometer scheme is difficult to identify the corresponding light spots, so that the three-dimensional estimation is confused.
Accordingly, the prior art is yet to be improved and developed.
SUMMERY OF THE UTILITY MODEL
In view of the above-mentioned prior art not enough, the utility model aims at providing a 3D measurement system based on can modulate structured light to the problem that the range of application is little and be difficult to discern corresponding facula and lead to causing the three-dimensional estimation to obscure in the mode of generation of solving structured light.
The technical scheme of the utility model as follows:
a modulatable structured light-based 3D measurement system, the system comprising:
a workbench for placing a workpiece to be measured;
the two groups of linear light spot generating devices work independently and are used for projecting two groups of intersected linear light spots, and the two groups of intersected linear light spots form a reflected linear light spot after being projected to the workpiece to be measured;
the image acquisition equipment is arranged on a reflection light path of the linear light spot and used for receiving the reflected linear light spot so as to acquire an image formed by the reflected linear light spot;
and the control computing equipment is respectively electrically connected with the image acquisition equipment and the linear light spot generating device, is used for controlling the linear light spot generating device to work, and is used for processing the image formed by the ray-reflected linear light spot.
The utility model discloses a further setting, linear facula generates the device and includes:
a laser for emitting a laser beam;
the beam expanding collimating lens is arranged on a laser light path of the laser and is used for diffusing a laser beam emitted by the laser into a laser plane;
and the galvanometer is arranged on a transmission light path of the beam expanding and collimating lens and is used for enabling the laser plane to form the linear light spot.
The utility model discloses a further setting, the mirror unipolar that shakes rotates, and in the interval time the linear facula that shakes the mirror reflection is the linear facula of a set of parallel.
The utility model discloses a further setting, two sets of crossing threadiness facula vertical distribution or approximate vertical distribution.
In a further arrangement of the present invention, the two sets of intersecting linear light spots generated by the two sets of independently working linear light spot generating devices include a first linear light spot and a second linear light spot, and the first linear light spot intersects with the second linear light spot to form a plurality of intersection points; if the number of the first linear light spots is m and the number of the second linear light spots is n, the number of intersection points formed by the intersection of the first linear light spots and the second linear light spots is mxn, wherein m is an integer greater than 0 and n is an integer greater than 0.
The utility model discloses a further setting, the frequency of laser instrument switch is higher, the mirror that shakes reflects the distribution interval to the linear facula in space less.
According to the further arrangement of the utility model, the smaller the rotation time difference of the galvanometer is, the smaller the integral translation interval of the linear facula reflected to the space by the galvanometer is; and the rotation time of the galvanometer is the time difference between the starting rotation time of the galvanometer and the starting interval switching time of the laser.
The utility model discloses a further setting, image acquisition equipment is the 3D camera.
The utility model provides a 3D measurement system based on structure light can modulate, this system includes: a workbench for placing a workpiece to be measured; the two groups of linear light spot generating devices work independently and are used for projecting two groups of intersected linear light spots, and the two groups of intersected linear light spots form a reflected linear light spot after being projected to the workpiece to be measured; the image acquisition equipment is arranged on a reflection light path of the linear light spot and used for receiving the reflected linear light spot so as to acquire an image formed by the reflected linear light spot; and the control computing equipment is respectively electrically connected with the image acquisition equipment and the linear light spot generating device, is used for controlling the linear light spot generating device to work, and is used for processing the image formed by the ray-reflected linear light spot. The utility model discloses a set up the linear facula of two sets of independent work and generate the device and outwards throw the structure light generation scheme of linear facula, the range of application is wide, and easily discern the linear facula that the nodical corresponds of linear facula to the efficiency and the accuracy of three-dimensional estimation have been improved.
Drawings
In order to clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a schematic diagram of the three-dimensional imaging of the planar object by the 3D measuring system based on the modulatable structured light in the present invention.
Fig. 2 is the utility model discloses in based on the schematic diagram of the three-dimensional formation of image of curved surface object of 3D measurement system of modulated structured light.
Fig. 3 is a schematic structural diagram of the linear light spot generating device of the present invention.
Fig. 4 is a schematic diagram of the linear light spot projected outward by the linear light spot generating device at different times according to the present invention.
Fig. 5 is a schematic diagram of two sets of intersecting linear light spots generated by the two sets of linear light spot generating devices according to the present invention.
Fig. 6 is a schematic diagram of the distribution of structured light in the multiframe images according to the present invention.
Fig. 7 is a schematic flow chart of the 3D measurement method based on the modulatable structured light according to the present invention.
The various symbols in the drawings: 100. a linear light spot generating device; 101. a laser; 102. a beam expanding collimating lens; 103. a galvanometer; 200. an image acquisition device; 300. controlling a computing device; 400. a linear spot.
Detailed Description
Utility model people find that the facula that the laser produced specific structure mode is called structured light, generally has a plurality of light spots, many light, or specific bright and dark contrast strong image. And projecting the structural light to the surface of the object, enabling the light spots to deform on the surface of the object and be reflected back to the 3D camera, and estimating the coordinates of the surface of the object in the three-dimensional space by the camera according to the reflected deformed light spot image. The 3D measuring method has the characteristics of non-contact, high precision, high efficiency and the like, and can overcome environmental interference by using high-brightness light spots. Therefore, the 3D camera based on the structured light has important application value and is widely applied to the fields of human-computer interaction, three-dimensional reconstruction, object measurement, face recognition and the like. Structured light can be divided into modulatable structured light and non-modulatable structured light depending on whether the pattern configuration projected outwardly can be altered during use. The form of the modulated structured light can be changed according to different applications, and great advantages can be provided in the aspects of 3D measurement precision, environmental adaptability, application flexibility and the like, so that the modulated structured light 3D measurement system has important technical value.
Conventional methods for generating structured Light include three types, namely, Diffractive Optical Element (DOE), Digital Light Processing (DLP), and galvanometer, wherein the DLP and the galvanometer are capable of supporting and modulating structured Light.
The DOE method is based on the principle of light diffraction, and is used for etching a substrate to generate a step-type or continuous relief structure (generally a grating structure) to form a class of optical elements which are coaxially reproduced and have extremely high diffraction efficiency. The divergence angle of the light beam and the appearance of the formed light spot are controlled through different designs, and the function of forming a specific pattern by the light beam is realized. The diffractive optical element in the DOE solution, once installed, cannot change the shape of the structured light, but only provides a fixed outward projection pattern, and therefore cannot support the modulatable structured light requirement.
DLP digital light processing method is a development technique used in projectors and rear projection televisions. The image signal is first processed digitally and then the angle change of the micro lens array is used to control the brightness switch so as to produce required specific pattern. The DLP scheme can support the light scheme of the modulatable structure, but the energy utilization rate of the light source is insufficient, so that the brightness is limited, the high brightness needs larger power consumption, and further needs cooling and other components, the volume of the whole component is larger, and the application range of the component is limited.
The principle of the structured light based on the vibrating mirror is that light spots or light beams with time intervals are formed by switching a light source on and off at equal periods, and then the vibrating mirror reflects the light spots or the light beams to a space. Due to the fast rotation of the galvanometer, it essentially supports modulatable structured light. At present, a Lissajous (Lissajous) track is formed in space mainly in a double-vibration mirror mode, and a light source continuously starts to form a bright and dark break point based on the Lissajous track in space, so that structured light in any form can be generated theoretically. However, this approach has very high requirements on the switching frequency of the light source, for example, several hundred thousand switches per second are required to obtain a sufficient number of light spots. Therefore, the number of 3D measurement points in a fixed time is small in this method.
Based on the fact that a single galvanometer projects linear light spots outwards, a group of parallel light spots are formed in space in a time period by means of rotation of the galvanometer, but the distance between the parallel light spots cannot be too close, otherwise, the parallel light spots are difficult to distinguish on an image, and accordingly confusion of three-dimensional estimation is caused. In addition, the light source is required to periodically present different brightness when being turned on, so that the structured light in a Moire fringe form is formed, and the light ray is identified by the corresponding code of the Moire fringe from which angle the vibrating mirror reflects, so that the three-dimensional coordinate estimation can be realized. However, the linear light spot of lower brightness is susceptible to environmental interference.
The utility model provides a 3D measurement system based on structure light can modulate, for making the utility model discloses a purpose, technical scheme and effect are clearer, clear and definite, and it is right that the following reference drawing and example are lifted the utility model discloses further detailed description. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the embodiments and claims, the terms "a" and "an" can mean "one or more" unless the article is specifically limited.
In addition, if there is a description relating to "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
Referring to fig. 1 to 6, the present invention provides a preferred embodiment of a 3D measurement system based on a modulated structured light.
As shown in fig. 1 and fig. 2, the present invention provides a 3D measurement system based on modulable structured light, which includes a workbench (not shown), two sets of linear light spot generation devices 100 working independently, an image capturing device 200, and a control computing device 300. Specifically, a workpiece to be measured is placed on the workbench, the two linear light spot generation devices 100 work independently, and can project one linear light spot 400 to a space respectively, the two linear light spots 400 projected to the space intersect with each other, the two intersecting linear light spots 400 project to the workpiece to be measured to form a reflected linear light spot, the image acquisition device 200 can be a 3D camera, the 3D camera is disposed on a reflected light path of the linear light spot 400 and can receive the reflected linear light spot to acquire an image formed by the reflected linear light spot, the control calculation device 300 is electrically connected with the image acquisition device 200 and the linear light spot generation device 100 respectively, and the control calculation device 300 can control the linear light spot generation device 100 to work and can process the image formed by the reflected linear light spot.
In the process of three-dimensional measurement, two sets of linear light spot generating devices 100 working independently project two sets of intersecting linear light spots 400 to the space, the two sets of intersecting linear light spots 400 form a structural light which is projected to the surface of the workpiece to be measured, the structural light is deformed after being projected to the workpiece to be measured and forms a reflected linear light spot to be reflected to the image acquisition equipment 200, the image acquisition equipment 200 estimates the coordinates of the workpiece to be measured in the three-dimensional space according to the reflected deformed light spot image and forms an image, and the control computing equipment 300 processes the image acquired by the image acquisition equipment 200 to obtain the three-dimensional appearance of the workpiece to be measured. The utility model discloses in the linear facula 400 that the nodical correspondence of crossing of linear facula 400 is easily discerned to the structured light that two sets of crossing linear facula 400 constitute, can carry out three-dimensional estimation fast to the efficiency and the accuracy of three-dimensional estimation have been improved.
It should be noted that the intersection point of the linear light spots 400 is substantially the projection of the intersection line of the two light planes on the imaging plane, and in projective transformation, the projection of the spatial straight line on the plane is also a straight line, so the utility model discloses the serial number of two intersected linear light spots 400 corresponding to the intersection point can be quickly identified by using the projection straight line method, thereby the calibration parameters (the calibration parameters generally include the camera internal parameter, the external parameter, the distortion coefficient and the light plane coordinate) are accurately selected to perform three-dimensional estimation, and the robustness is high.
Referring to fig. 1, fig. 2 and fig. 3, in a further implementation manner of an embodiment, the linear light spot generating device 100 includes a laser 101, a beam expanding collimator 102 and a galvanometer 103, where the laser 101 is configured to emit a laser beam, the beam expanding collimator 102 is disposed on a laser light path of the laser 101 and is configured to diffuse the laser beam emitted by the laser 101 into a laser plane, and the galvanometer 103 is disposed on a transmission light path of the beam expanding collimator 102 and is configured to form the laser plane into the linear light spot 400.
Specifically, a light beam emitted by the laser 101 is diffused into a laser plane through the beam expanding collimator lens 102, and a laser line is generated after the light beam is transmitted to the galvanometer 103, and the galvanometer 103 projects a group of parallel laser lines to the space along with the rotation of the galvanometer 103 and the continuous switching of the laser 101 in the same time. As long as the 3D camera projects a group of parallel laser lines to the space by the galvanometer 103 within the same exposure time and can reflect the laser lines to the 3D camera, an image of the group of parallel laser lines is formed on a photosensitive device of the 3D camera, and acquisition of a structured light image is further realized.
Referring to fig. 3 and 4, in a further embodiment of an embodiment, the galvanometer 103 rotates along a single axis, and the linear light spots 400 reflected by the galvanometer 103 at intervals are a set of parallel linear light spots 400.
Specifically, because the galvanometer 103 is rotated in a single axis, the linear light spots 400 projected outward by the linear light spot generating device 100 at different times are parallel. As shown in fig. 4, t1 to t9 represent different time instants, and if the camera exposure time completely encompasses the time instants of t1 to t9, 9 laser lines can be present on the same frame image, and the 9 laser lines are spatially parallel to each other.
Referring to fig. 3, 4 and 5, in a further embodiment of an embodiment, the two sets of intersecting linear spots 400 are vertically or approximately vertically distributed.
In some embodiments, the two sets of intersecting linear spots 400 generated by the two independently operating sets of linear spot generation apparatus 100 include a first linear spot that intersects with a second linear spot to form a plurality of intersection points P, e.g., the first linear spot may be a horizontal linear spot and the second linear spot may be a vertical linear spot. If the number of the first linear light spots is m and the number of the second linear light spots is n, the number of intersection points formed by the intersection of the first linear light spots and the second linear light spots is mxn, wherein m is an integer greater than 0 and n is an integer greater than 0.
Specifically, the two sets of linear spots 400 generated by the two sets of linear spot generation devices 100 operating independently are perpendicular to each other, and as shown in fig. 2, the longitudinal linear spot 400 (vertical linear spot) projected outward from time t1 to time t9 is generated by one of the linear generation devices, and the transverse linear spot (horizontal linear spot) projected outward from time t1 to time t9 is generated by one of the linear generation devices. The two sets of linear light spots 400 form a plurality of uniformly distributed intersection points, and assuming that the number of horizontal linear light spots is m and the number of vertical linear light spots is n, the number of the generated intersection points is mxn, so that the control calculation apparatus 300 can perform identification of the corresponding light spots based on the plurality of uniformly distributed intersection points formed by the two sets of linear light spots 400, or can perform three-dimensional coordinate estimation directly based on the intersection points.
It can be understood that the two sets of linear light spots 400 generated by the two sets of linear light spot generation devices 100 operating independently intersect with each other, and may be in a vertical distribution or an oblique distribution, that is, it is also feasible that the two sets of linear light spots 400 have a certain inclination angle (approximately vertical distribution), and the two sets of linear light spots 400 intersect perpendicularly, so that the linear light spots 400 corresponding to the intersection points are easier to identify.
In a further implementation manner of an embodiment, the higher the switching frequency of the laser 101 is, the smaller the distribution interval of the linear light spots 400 reflected to the space by the galvanometer 103 is.
Specifically, the control computing device 300 may control the switching frequency of the laser 101 through the control interface, and the higher the frequency, the smaller the spatial distribution interval of the generated linear light spots 400, and conversely, the larger the distribution interval, because the shorter the interval time of the galvanometer 103 at the same rotation speed, the smaller the rotation angle corresponding to two adjacent linear light spots 400, and thus the closer the distance between two adjacent linear light spots 400.
It should be noted that the higher the switching frequency of the laser 101 is, the more and denser the number of linear grid spots projected per unit time by the two sets of linear spot generation devices 100 operating independently becomes, and thus, the adjustment of the three-dimensional measurement density can be realized. Of course, there is a limit to the method of adjusting the density of the linear grid spots by adjusting the frequency at which the laser 101 is switched on, since excessively dense grids tend to interfere with each other and cause erroneous reconstructions.
Referring to fig. 3 to 6, in a further implementation manner of an embodiment, the smaller the rotation time difference of the galvanometer 103, the smaller the overall translation interval of the linear light spot 400 reflected to the space by the galvanometer 103 in different image frames. Wherein, the rotation time of the galvanometer 103 is the time difference between the starting rotation time of the galvanometer 103 and the starting interval switching time of the laser 101.
Specifically, the control computing device 300 may adjust the time difference between the time when the galvanometer 103 starts rotating and the time when the laser 101 starts to switch at intervals, so as to form parallel linear light spots at different initial positions, and thus adjust and make a group of parallel linear light spots translate, so as to provide a uniform structured light mode for multi-frame image acquisition. As shown in fig. 6, a grid of two-frame image acquisition is shown in fig. 6, where a thick solid line is a grid of one-frame image acquisition and a thin solid line is a grid of another-frame image acquisition, and it is obvious that, through adjustment of phase difference, uniform distribution of intersection points in a plurality of frames of images in space can be achieved, so that the number of increasing intersection points with equal density can be achieved in the whole space.
The linear grid light spots projected by the two groups of independently working linear light spot generating devices 100 can be translated in two directions (horizontal direction and vertical direction) through the time difference between the time when the galvanometer 103 starts rotating and the time when the laser 101 starts to switch at intervals. Then the time difference Δ 1 is used to generate the grid W1 at the first frame and the grid W2 at the time difference Δ 2 at the second frame, which continues until the nth frame time difference Δ n generates the grid Wn. Therefore, all the meshes do not overlap as long as all the time differences are different, so that the density of three-dimensional measurement can be linearly increased as the number of image frames increases. Compared with a method of adjusting the switching frequency of the laser 101, the method of adjusting the rotation time difference of the galvanometer 103 greatly improves the measurement density. Therefore, the method of adjusting the rotation time difference of the galvanometer 103 is of great value for some three-dimensional reconstruction tasks with high precision but low time requirements.
It should be noted that, if the mode of generating the structured light by the dual-vibrating mirror 103 is adopted, each light spot of the dual-vibrating mirror 103 needs to be calibrated, for one frame of image, thousands to tens of thousands of points need to be calibrated, and this calibration process is quite complicated. The utility model discloses in adopt linear facula generating device 100 of two sets of independent workings, then can adopt the light plane calibration method, assume that the quantity of first linear facula is m, the quantity of second linear facula is n, only need mark a m + n light plane (corresponding linear facula 400 quantity), its calibration result can directly be used for the three-dimensional measurement of a m n nodical, therefore the utility model discloses the mode that the linear facula generating device 100 of two sets of independent workings adopted the structure light has the convenience of demarcation.
Before performing the 3D measurement, the switching frequency of the laser 101 and the rotation time difference of the galvanometer 103 need to be preset by the control computing device 300.
Referring to fig. 7, based on the same concept of the present invention, the present invention further provides a 3D measuring method based on the modulatable structured light, the method includes:
s100, two groups of linear light spot generating devices working independently project two groups of crossed linear light spots according to preset parameters; the two groups of crossed linear light spots are projected to a workpiece to be measured to form reflected linear light spots;
specifically, the preset parameter comprises a difference between the switching frequency of the laser and the rotation time of the galvanometer, wherein the difference between the switching frequency of the laser and the rotation time of the galvanometer is set by controlling the computing equipment. After the parameters are set, the linear light spot generating device projects the structured light outwards according to the set parameters, and the structured light forms a reflective linear light spot after being projected to a workpiece to be measured.
S200, receiving the reflected linear light spots by image equipment to acquire images formed by the reflected linear light spots;
the image acquisition device can be a 3D camera, and the 3D camera is arranged on a reflection light path of the linear light spot and can receive the reflection linear light spot to acquire an image formed by the reflection linear light spot.
S300, controlling the computing equipment to process the image acquired by the image acquisition equipment to obtain the three-dimensional appearance of the workpiece to be measured and outputting the three-dimensional appearance in a point cloud data format.
The step of processing the acquired image by the control computing equipment to obtain a three-dimensional face of the workpiece to be measured and outputting the three-dimensional face in a point cloud data format specifically comprises the following steps:
s301, acquiring the intersection point of the two groups of intersected linear light spots and the image coordinates of the light spot curve;
s302, identifying linear light spots corresponding to intersection points of the two groups of intersected linear light spots according to calibration parameters;
s303, estimating three-dimensional coordinates of intersection points of the two groups of intersected linear light spots;
s304, estimating three-dimensional coordinates of non-intersection points on the light spot curve based on the intersection point of the two groups of intersected linear light spots;
s305, acquiring three-dimensional coordinates of intersection points of two groups of intersected linear light spots and three-dimensional coordinates of non-intersection points, and outputting in a point cloud data format; wherein, the point cloud data format refers to that the scanning data is recorded in a point form, and each point comprises three-dimensional coordinates;
s306, repeating the steps S301-S305 until the three-dimensional appearance of the workpiece to be measured is measured.
To sum up, the utility model provides a 3D measurement system and method based on structure light can modulate, this system includes: a workbench for placing a workpiece to be measured; the two groups of linear light spot generating devices work independently and are used for projecting two groups of intersected linear light spots, and the two groups of intersected linear light spots form a reflected linear light spot after being projected to the workpiece to be measured; the image acquisition equipment is arranged on a reflection light path of the linear light spot and used for receiving the reflected linear light spot so as to acquire an image formed by the reflected linear light spot; and the control computing equipment is respectively electrically connected with the image acquisition equipment and the linear light spot generating device, is used for controlling the linear light spot generating device to work, and is used for processing the image formed by the ray-reflected linear light spot. The utility model discloses a set up the linear facula of two sets of independent work and generate the device and outwards throw the structure light generation scheme of linear facula, the range of application is wide, and easily discern the linear facula that the nodical corresponds of linear facula to the efficiency and the accuracy of three-dimensional estimation have been improved.
It is to be understood that the invention is not limited to the above-described embodiments, and that modifications and variations may be made by those skilled in the art in light of the above teachings, and all such modifications and variations are intended to be included within the scope of the invention as defined in the appended claims.
Claims (8)
1. A modulatable structured light-based 3D measurement system, comprising:
a workbench for placing a workpiece to be measured;
the two groups of linear light spot generating devices work independently and are used for projecting two groups of intersected linear light spots, and the two groups of intersected linear light spots form a reflected linear light spot after being projected to the workpiece to be measured;
the image acquisition equipment is arranged on a reflection light path of the linear light spot and used for receiving the reflected linear light spot so as to acquire an image formed by the reflected linear light spot;
and the control computing equipment is respectively electrically connected with the image acquisition equipment and the linear light spot generating device, is used for controlling the linear light spot generating device to work, and is used for processing the image formed by the ray-reflected linear light spot.
2. The modulatable structured light-based 3D measurement system according to claim 1, wherein said linear spot generation means comprises:
a laser for emitting a laser beam;
the beam expanding collimating lens is arranged on a laser light path of the laser and is used for diffusing a laser beam emitted by the laser into a laser plane;
and the galvanometer is arranged on a transmission light path of the beam expanding and collimating lens and is used for enabling the laser plane to form the linear light spot.
3. The modulatable structured light-based 3D measurement system of claim 2, wherein the galvanometer rotates in a single axis and the linear spots reflected by the galvanometer at intervals are a set of parallel linear spots.
4. The modulatable structured light-based 3D measurement system of claim 3, wherein the two sets of intersecting linear spots are vertically or approximately vertically distributed.
5. The modulatable structured light-based 3D measurement system of claim 4, wherein the two sets of intersecting linear spots generated by the two sets of independently operating linear spot generation means comprise a first linear spot and a second linear spot, the first linear spot intersecting the second linear spot to form a plurality of intersection points; if the number of the first linear light spots is m and the number of the second linear light spots is n, the number of intersection points formed by the intersection of the first linear light spots and the second linear light spots is mxn, wherein m is an integer greater than 0 and n is an integer greater than 0.
6. The modulatable structured light-based 3D measurement system of claim 3, wherein the higher the frequency of the laser switch, the smaller the distribution interval of the linear spots reflected by the galvanometer onto space.
7. The modulatable structured light-based 3D measurement system according to claim 6, wherein the smaller the difference in rotational time of the galvanometer, the smaller the overall translational separation of the galvanometer to reflect to the linear spot in space; and the rotation time of the galvanometer is the time difference between the starting rotation time of the galvanometer and the starting interval switching time of the laser.
8. The modulatable structured light-based 3D measurement system of claim 7, wherein the image capture device is a 3D camera.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111578863A (en) * | 2020-06-10 | 2020-08-25 | 康佳集团股份有限公司 | 3D measuring system and method based on modulable structured light |
| CN112577445A (en) * | 2020-12-18 | 2021-03-30 | 深圳市泽峰光电科技有限公司 | Log end face profile extraction method of rotary grating |
| CN116007527A (en) * | 2021-10-21 | 2023-04-25 | 华为技术有限公司 | A kind of measuring method and measuring system |
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2020
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111578863A (en) * | 2020-06-10 | 2020-08-25 | 康佳集团股份有限公司 | 3D measuring system and method based on modulable structured light |
| CN111578863B (en) * | 2020-06-10 | 2025-04-11 | 康佳集团股份有限公司 | A 3D measurement system and method based on modulatable structured light |
| CN112577445A (en) * | 2020-12-18 | 2021-03-30 | 深圳市泽峰光电科技有限公司 | Log end face profile extraction method of rotary grating |
| CN112577445B (en) * | 2020-12-18 | 2021-08-03 | 深圳市泽峰光电科技有限公司 | A method for extracting log end face profile by rotating grating |
| CN116007527A (en) * | 2021-10-21 | 2023-04-25 | 华为技术有限公司 | A kind of measuring method and measuring system |
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