CN105203046A - Multi-line array laser three-dimensional scanning system and method - Google Patents
Multi-line array laser three-dimensional scanning system and method Download PDFInfo
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- CN105203046A CN105203046A CN201510574382.3A CN201510574382A CN105203046A CN 105203046 A CN105203046 A CN 105203046A CN 201510574382 A CN201510574382 A CN 201510574382A CN 105203046 A CN105203046 A CN 105203046A
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Abstract
The invention provides a multi-line array laser three-dimensional scanning system and method. Accurate synchronism and logic control of the multi-line array laser three-dimensional scanning system can be achieved through an FPGA, a line laser unit array serves as a projection pattern light source, trigger signals are sent to a stereoscopic vision image sensor and the line laser unit array through the FPGA, an upper computer receives image pairs shot by the stereoscopic vision image sensor, laser line array patterns in the image pairs are subjected to encoding, decoding and three-dimensional reconstruction, three-dimensional reconstruction and matching alignment of three-dimensional feature points between different moments are conducted on surface feature points of an object to be measured, and matching calculation is subjected to prediction and error correction through an optical tracking technology. The system and method are used for registration and connection of time domain laser three-dimensional scanning data, meanwhile, measuring error grades are evaluated in real time and fed back to an error feedback controller for adjusting indication, and therefore laser three-dimensional scanning with low cost and high efficiency, reliability and accuracy is completed accordingly.
Description
Technical field
The present invention relates to the 3-D scanning technical field of body surface geometric configuration, particularly relate to a kind of multi-thread array laser 3 D scanning system and multi-thread array laser 3-D scanning method.
Background technology
In recent years, 3-D scanning is applied in every field more and more as a kind of quick three-dimensional digitizing technique, comprise reverse-engineering, industrial detection, computer vision, CG making etc., particularly print and intelligence manufacture field at the 3D that current development is swift and violent, 3-D scanning, as front end three-dimensional digital and 3D vision sensing technology, has become the important ring in industrial chain; Meanwhile, types of applications is had higher requirement in the cost of three-dimensional scanning device, practicality, all many-sides such as accuracy and reliability.
Optical three-dimensional scanning is the modal a kind of the Literature Lessons in three-dimensional digital field, and having both compared with high measurement efficiency and higher precision is the outstanding feature of technology.White light three-dimensional scanning is a kind of traditional optical scanning technique, carry out coded markings by optical grating projection at body surface, then taken pictures by camera and carry out triangulation, be widely used in three-dimensional measurement field, be characterized in that precision is high, spatial resolution is high, the quality of data is comparatively meticulous.Along with the continuous expansion of application, various complicated environment for use proposes new requirement to 3-D scanning technology, such as people wish that equipment has higher scanning convenience and better optics interference free performance, scanning process can more fast freely, save unnecessary link as much as possible, and measurement can be completed under most light environment.The optical grating projection device structure of white light scanning equipment due to self and the measuring principle restriction of dependence sequential coding, volume and weight is comparatively large, and needs the stable support structure subsidiaries such as tripod, measures convenience and limits to some extent; In addition, white light source limited brightness, measures and affects comparatively greatly by optical properties such as surround lighting and object intrinsic colour materials, in brighter environment or towards comparatively dark colour object, is all difficult to effectively measure.
In order to make up the deficiency of white light three-dimensional scanning technique, a kind of scanning technique using line laser as light source is arisen at the historic moment, this technology remains the principle of triangulation based on multi-vision visual, unlike employing line laser as pattern projector, simply and do not change in time, laser instrument compact structure is simple, and scanning device becomes light thereupon for pattern, and without the need to extra support stabilising arrangement subsidiary, can hand-held measurement be its characteristic feature; Meanwhile, laser rays center brightness is high, can adapt to the scanning of most of light environment or dark object object.But existing the Airborne Laser Scan is before popularizing towards whole 3-D scanning field, still there is several large major issue urgently to be resolved hurrily:
Scan efficiency and cost advantage can not get both.Single line laser scanning technique realizes comparatively simple, and cost is lower, but scan performance is very limited, and sweep velocity is slow, makes limited by practical; And multi-thread laser scanner technique sweep velocity has a distinct increment, but owing to relying on special customized laser generator, complex process and cost is very high, the popularization and application being similarly technology brings obstruction.
Serviceable life is low.Continue the scanning work of full power make optical device particularly all kinds of LED element light decay aggravation such as (laser/led and LED illumination lamp) directly cause scan performance (comprising the quality of data and sweep velocity) to decline; In addition, the LED of continuous firing generates heat in a large number and also brings equipment cooling problem, good heat dispersion requires to contradict with the one-piece construction of small volume and less weight, and heat dispersion is bad except causing optical element premature failure, also may affect whole Scan Architecture generation microdeformation, cause the loss of scanning accuracy.
Scanning by mistake splicing rate is higher, and reliability lacks guarantee.There is the problem that splicing rate is high by mistake in traditional gauge point splicing, its performance is that the data of Multiple-Scan occur ambiguity when unification is registrated to same coordinate system, causes certain sheet scan-data to depart from overall data, generation error model.This problem in white light three-dimensional scanning process can after each single-sweep manually the method such as deletion solve, but similar approach cannot be adopted to solve in the laser three-dimensional scanning process under continuous sweep pattern, therefore usually need after there is splicing by mistake to rescan, greatly affect work efficiency.
Scanning accuracy is low.Laser scanning data quality is relevant with many factors, and wherein operating distance controls is a large key factor, and when the depth of field is certain, operating distance changes and exceedes depth of field size and can cause and image blurringly cause data noise greatly, and precision significantly reduces.In traditional laser scanner technique, operating distance mainly relies on operating personnel's subjective judgement, and in the process of lasting scanning, operating distance is difficult to accurate control, causes scanning accuracy lower.
Summary of the invention
For defect of the prior art, the invention provides the one solved the problems of the technologies described above multi-thread array laser 3 D scanning system and multi-thread array laser 3-D scanning method.
First aspect, the invention provides a kind of multi-thread array laser 3 D scanning system, comprise: multi-thread array laser three-dimensional scanning device and host computer, described multi-thread array laser three-dimensional scanning device comprises programmable gate array FPGA, at least one stereogram image-position sensor, laser line generator array and error feedback controller, described programmable gate array FPGA is connected with error feedback controller respectively with described stereogram image-position sensor, laser line generator array, and described host computer is connected with stereogram image-position sensor with described programmable gate array FPGA respectively;
Described programmable gate array FPGA, for sending the first trigger pip to described laser line generator array, irradiates the surface of testee to make described line laser array according to described first trigger pip stroboscopic;
Described programmable gate array FPGA, also for sending the second trigger pip to described stereogram image-position sensor, to make described stereogram image-position sensor carry out exposure shooting according to described second trigger pip to testee, and by the image of shooting to being sent to host computer;
Described host computer, also for carrying out error evaluation in real time to measurement data and assessment result being fed back to programmable gate array FPGA;
Described programmable gate array FPGA, also for after the assessment result receiving described host computer feedback, transmit control signal to described error feedback controller according to described assessment result, and adjust the distance of described laser three-dimensional scanning equipment and testee according to described assessment result;
Described host computer, the laser rays also for the image pair to described stereogram image-position sensor shooting carries out Code And Decode;
Described host computer, also for carrying out three-dimensional reconstruction to the laser rays of the unique point of testee image pair and the surface reflection of described testee;
Described host computer, also for described unique point for benchmark, generate shape millet cake cloud by the three-dimensional laser line Registration of Measuring Data to the same coordinate system on different frame.
Optionally, described programmable gate array FPGA, also for receiving the predetermined pulse trigger pip of described host computer transmission and default time shutter, according to described predetermined pulse trigger pip, send the first trigger pip to described laser line generator array, send the second trigger pip according to the described default time shutter to described stereogram image-position sensor.
Optionally, described error feedback controller, for receiving the control signal that described programmable gate array FPGA sends, exports the pilot light corresponding with described control signal.
Optionally, described error feedback controller is color-changed LED light, comprises the light of red, green, blue three kinds of primary colours combinations.
Optionally, described stereogram image-position sensor is multi-vision visual imageing sensor, is made up of two or more optical camera.
Optionally, lighting device is provided with in described stereo vision sensor.
Optionally, the irradiation time of described lighting device is synchronous with the time shutter of described stereo vision sensor.
Optionally, described laser line generator array comprises and being made up of the arrangement mode of multiple laser line generator according to matrix form.
Optionally, described host computer, for following the tracks of described unique point, and by following the tracks of the unique point of the same name of adjacent time interframe, is registrated to the laser rays on different frame in the same coordinate system.
Optionally, described host computer, also for the distance of laser three-dimensional scanning equipment and testee described in real-time assessment, and when described distance exceeds predeterminable range, to described programmable gate array FPGA feedback with evaluation result.
Optionally, described host computer is also provided with communication interface, described communication interface is used for carrying out communication to the opertaing device be connected with described host computer, to make the distance between the described opertaing device described multi-thread array laser three-dimensional scanning device of adjustment and testee.
Second aspect, present invention also offers a kind of multi-thread array laser 3-D scanning method based on above-mentioned multi-thread array laser 3 D scanning system, comprising:
Described programmable gate array FPGA sends the first trigger pip to described laser line generator array, irradiates the surface of testee to make described line laser array according to described first trigger pip stroboscopic;
Described programmable gate array FPGA sends the second trigger pip to described stereogram image-position sensor, to make described stereogram image-position sensor carry out exposure shooting according to described second trigger pip to testee, and by the image of shooting to being sent to host computer;
The laser rays of described host computer to the surface reflection of the image pair testee that described stereogram image-position sensor is taken carries out coding and decoding;
The laser rays of the surface reflection of the image pair testee unique point that described host computer is taken described stereogram image-position sensor and described testee carries out three-dimensional reconstruction;
Described host computer for benchmark, generates shape millet cake cloud by the three-dimensional laser line Registration of Measuring Data to the same coordinate system on different frame with described unique point;
Described host computer carries out error evaluation in real time to measurement data and assessment result is fed back to programmable gate array FPGA;
Described programmable gate array FPGA is after the assessment result receiving described host computer feedback, transmit control signal to described error feedback controller according to described assessment result, and adjust the distance of described laser three-dimensional scanning equipment and testee according to described assessment result.
Optionally, before described programmable gate array FPGA sends the first trigger pip to described line laser array, described method also comprises:
Described programmable gate array FPGA receives described host computer and sends default time shutter and predetermined pulse trigger pip, send the first trigger pip according to described predetermined pulse trigger pip to described line laser array, send the second trigger pip according to the described default time shutter to described stereogram image-position sensor.
As shown from the above technical solution, the invention provides a kind of multi-thread array laser 3 D scanning system and multi-thread array laser 3-D scanning method, this system realizes precise synchronization and the logic control of multi-thread array laser 3 D scanning system by programmable gate array FPGA, adopt laser line generator array as projection pattern light source, trigger pip is sent to stereogram image-position sensor and laser line generator array by programmable gate array FPGA, host computer is made to receive the image pair of stereogram image-position sensor shooting, and coding and decoding and three-dimensional reconstruction are carried out to the laser linear array pattern of this image pair, to testee surface characteristics point carry out three-dimensional reconstruction and not in the same time between three-dimensional feature Point matching alignment, optical tracking technology is adopted to predict and error correction matching primitives, for the Registration and connection of temporal laser 3 d scan data, carry out measuring error level evaluation in real time and feed back to error feedback controller adjusting instruction simultaneously, thus complete low cost, high-level efficiency, high reliability and high-precision laser three-dimensional scanning.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these figure.
Fig. 1 is the structural representation of the multi-thread array laser 3 D scanning system that one embodiment of the invention provides;
The structural representation of the multi-thread array laser three-dimensional scanning device that Fig. 2 provides for one embodiment of the invention;
Fig. 3 is the schematic flow sheet of the programmable gate array FPGA method of work that one embodiment of the invention provides;
The host computer that Fig. 4 provides for one embodiment of the invention carries out the schematic flow sheet of coding method to laser rays array;
What Fig. 5 provided for one embodiment of the invention carries out 3-D scanning method flow schematic diagram based on multi-thread array laser 3 D scanning system;
What Fig. 6 provided for another embodiment of the present invention carries out 3-D scanning method flow schematic diagram based on multi-thread array laser 3 D scanning system.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
First the multi-thread array laser 3 D scanning system in the application is described, as shown in Figure 1, wherein said multi-thread array laser 3 D scanning system comprises programmable gate array FPGA, at least one image visual transducer, laser line generator array, error feedback controller and host computer, this host computer can be understood as controlling equipment, such as: computing machine.It has the function that laser rays coding and decoding, three-dimensional reconstruction, optical tracking location and error evaluation calculate.
The present invention is based on precise synchronization and logic control that programmable gate array FPGA realizes multi-thread array laser 3 D scanning system, adopt group's laser line generator array as projection pattern light source, many laser rays coding and decoding unit carries out label identification to laser rays, optical tracking technology is predicted and error correction behavioral characteristics point location registration, carry out measuring error level evaluation in real time and feed back to hardware system adjusting instruction, thus complete low cost, high-level efficiency, high reliability and high-precision laser three-dimensional scanning.
Comprise at one multi-thread array laser 3 D scanning system: multi-thread array laser three-dimensional scanning device and host computer, as shown in Figure 2, described multi-thread array laser three-dimensional scanning device comprises programmable gate array FPGA 101, at least one image visual transducer 102, laser line generator array 103 and error feedback controller 104, described programmable gate array FPGA 101 and described stereogram image-position sensor 102, laser line generator array 103 is connected respectively with error feedback controller 104, described host computer 105 is connected with stereogram image-position sensor 102 with described programmable gate array FPGA 101 respectively,
Described programmable gate array FPGA 101, for sending the first trigger pip to described laser line generator array 103, irradiates the surface of testee to make described laser line generator array 103 according to described first trigger pip stroboscopic;
Described programmable gate array FPGA 101, also for sending the second trigger pip to described stereogram image-position sensor 102, to make described stereogram image-position sensor 102 carry out exposure shooting according to described second trigger pip to testee, and by the image of shooting to being sent to host computer;
Described host computer, also for carrying out error evaluation in real time to measurement data and assessment result being fed back to programmable gate array FPGA;
Described programmable gate array FPGA, also for after the assessment result receiving described host computer feedback, transmit control signal to described error feedback controller according to described assessment result, and adjust the distance of described laser three-dimensional scanning equipment and testee according to described assessment result;
Described host computer 105, the laser rays also for the surface reflection of the image pair testee to described stereogram image-position sensor 102 shooting carries out coding and decoding, makes each bar laser line segment by unique encodings identification.
Described host computer 105, also for carrying out three-dimensional reconstruction to the laser rays of the described image pair testee unique point of stereogram image-position sensor 102 shooting and the surface reflection of described testee.
Described host computer 105, image pair optical characteristic point also for taking described stereogram image-position sensor 102 carries out track and localization, and with the unique point traced into for reference sets up coupling corresponding relation on different time frame between feature point set and computer memory positioning relation, again according to spatial relationships by the three-dimensional laser line Registration of Measuring Data on different time frame in the same coordinate system, and laser rays is spliced, form the some cloud describing object shape face.Meanwhile, next frame two and three dimensions characteristic movement trajectories is predicted.
Said system realizes precise synchronization and the logic control of multi-thread array laser 3 D scanning system by programmable gate array FPGA, adopt laser line generator array as projection pattern light source, trigger pip is sent to stereogram image-position sensor and laser line generator array by programmable gate array FPGA, host computer is made to receive the image pair of stereogram image-position sensor shooting, and coding and decoding and three-dimensional reconstruction are carried out to the laser linear array pattern of this image pair, to testee surface characteristics point carry out three-dimensional reconstruction and not in the same time between three-dimensional feature Point matching alignment, optical tracking technology is adopted to predict and error correction matching primitives, for the Registration and connection of temporal laser 3 d scan data, carry out measuring error level evaluation in real time and feed back to error feedback controller adjusting instruction simultaneously, thus complete low cost, high-level efficiency, high reliability and high-precision laser three-dimensional scanning.
Concrete, programmable gate array FPGA 101 described above, also for receiving the predetermined pulse trigger pip of described host computer transmission and default time shutter, according to described predetermined pulse trigger pip, send the first trigger pip to described laser line generator array, send the second trigger pip according to the described default time shutter to described stereogram image-position sensor.
Respectively the function of each several part in said system is described in detail below.
Programmable gate array FPGA 101 is connected respectively with stereogram image-position sensor 102, laser line generator array 103 and error feedback controller 104.Described programmable gate array FPGA, also for receiving the predetermined pulse trigger pip of described host computer transmission and default time shutter, and according to described predetermined pulse trigger pip, send the first trigger pip to described line laser array, send the second trigger pip according to the described default time shutter to described stereogram image-position sensor.FPGA101 sends pulse triggering signal to stereogram image-position sensor 102 and laser line generator array 103, the stroboscopic irradiation of accurate control line laser array 103 and the sync pulse jamming of stereogram image-position sensor 102; FPGA101 and host computer 105 communication, the measuring error evaluation grade fed back by host computer 105 is converted into logical signal departure feedback controller 104 and makes adjustment instruction.The idiographic flow that FPGA101 precise synchronization controls, with reference to Fig. 3, in S301, sets sweep frequency by host computer 105 man-machine interaction; In S302, host computer 105 and stereogram image-position sensor 102 communication, detect the image acquisition time shutter preset; In S303, the above-mentioned time shutter is sent to FPGA101 by host computer 105; In S304, FPGA101 exports width according to the time shutter received and sweep frequency setting pulse signal and triggers output frequency; In S305, FPGA101 sends pulse triggering signal respectively to laser line generator array 103 and stereogram image-position sensor 102; In S306, optical element (comprising the floor light light source etc. that laser line generator array 103 and stereogram image-position sensor 102 may add) lights in the energising of pulse signal rising edge; In S307, stereogram image-position sensor 102 starts exposure at pulse signal rising edge; In S308,3 D visual image exposure sensor terminates, and completes an image to collection; In S309, optical element extinguishes in pulse falling edge power-off; In S310, hardware device is waited for that FPGA101 triggers next time and is namely circulated to S305.
Stereogram image-position sensor 102 is a kind of many orders imageing sensors, be made up of two or more multiple optical camera, structure between multiple optical camera is relatively fixing, and relative position relation between camera and camera internal parameter are known, multiple camera receives the start pulse signal that FPGA101 sends, exposure gathers image at one time, the multiple image of each collection forms one group of Stereo matching image pair, host computer 105 is sent to, for three-dimensional reconstruction by camera transmission cable.Be provided with lighting device in described vision sensor, the irradiation time of described lighting device is synchronous with the time shutter of described vision sensor.Alternatively, stereogram image-position sensor 102 comprises a kind of servicing lighting, for increasing the intensity of reflected light on the testee surface that image acquiring sensor collects, such as, a kind of annular LED lamp concentric with image acquiring sensor optical lens excircle configuration, and be connected with camera by the signal input output interface of camera self, the blinker signal function that this interface exports can control LED and carry out the stroboscopic operation synchronous with collected by camera.For ease of illustrating, the present embodiment is for the stereogram image-position sensor of double camera, and as shown in Fig. 2 structural representation, double camera is with upper and lower structural arrangement, therefore top camera is referred to as upper camera, and below camera is referred to as lower camera.
Laser line generator array 103 is made up of the arrangement mode of multiple laser line generator according to matrix form, and between laser line generator, position relationship is relatively fixing, and laser array 103 and stereogram image-position sensor 102 position relationships are relative fixing.Laser line generator array 103 receives the pulse triggering signal that FPGA101 sends, and lights, extinguish in the power-off of signal negative edge in the energising of signal rising edge.The projection pattern that laser line generator array 103 is irradiated to testee surface is determined by the arrangement mode of laser instrument.The arrangement mode of multiple laser line generator can be various, by different structural arrangement, different projection pattern can be projected, such as, a parallel arrangement mode, namely laser instrument unanimously arranges along laser rays direction, makes the outgoing of multi-stripe laser line parallel, when laser array vertical projection in one plane time, projection pattern is one group of parallel lines; An arrangement mode for matrix form, when laser array vertical projection in one plane time, projection pattern is a networking ruling; A random arrangement mode, when laser array vertical projection in one plane time, projection pattern is one group of unordered straight line cluster.Wherein, the advantage of matrix array to obtain the laser rays array maximizing quantity in the limited device space, with improving sweep efficiency, and is convenient to follow-up laser rays coding realization, therefore the present embodiment is for the laser instrument arrangement mode of matrix form, as shown in the parts 103 in Fig. 2.
Error feedback controller 104 comprises a color-changed LED light, a communication input interface and a communication output interface.Error feedback controller 104 receives the logical signal of FPGA101 transmission by communication input interface, LED can send the light of more than at least 5 kinds colors based on red, green, blue three kinds of primary colours combinations, the light of different colours represents different operating distance instructions, described programmable gate array FPGA, for sending the indication information of described 3-D scanning distance to described error feedback controller, export the pilot light corresponding with described indication information to make described error feedback controller according to described indication information.Such as, when pilot lamp is shown in green, represent operating distance in the reasonable scope; When pilot lamp is shown as other color, represent operating distance not in the reasonable scope, or too closely or too far away, and this instruction can help to adjust operating distance in real time during manual operation.Described host computer is also provided with communication interface, and described communication interface is used for carrying out communication to the opertaing device be connected with described host computer, to make the distance between the described opertaing device described multi-thread array laser three-dimensional scanning device of adjustment and testee.By communication output interface, operating distance control information is fed back to other automation control appliance be connected with system, such as robot, instruction robot adjusts operating distance between described portable scanning sensing equipment and testee to realize intelligent scanning.
Host computer has the function of laser rays coding and decoding, for carrying out Code And Decode process to group's laser rays pattern, because the position relationship between laser line generator array 103 with stereogram image-position sensor 102 is relative fixing, the laser plane of each laser emitting is same with the position relationship between stereogram image-position sensor 102 relatively fixing, and therefore laser plane equation is unique and immobilize in the coordinate system self bound with described scanning sensing equipment.At system dimensioning phase in early stage, processor is encoded to every bar laser rays place laser plane; In the 3-D scanning stage, recycling laser plane attribute is decoded to every bar laser rays, and every bar laser rays is encoded unique, the same-code laser rays in order to Stereo matching image pair carries out three-dimensional reconstruction.
The specific implementation flow process of laser rays array code is as shown in Figure 4: in S401, and FPGA101 control line laser array is opened; In S402, laser pattern projector is also irradiated in reference planes by the operating distance preset by equipment moving to the next one, because laser plane and reference planes intersect at straight line in three dimensions, each bar laser rays therefore projected on the reference plane is straight line; In S403, FPGA101 sends trigger pip control stereogram image-position sensor 102 and exposes once collection image pair, according to optical lens image-forming principle, the imaging plane that collimation laser line pattern in reference planes projects to camera is still straight line, and the laser rays array pattern namely on image is still a straight line cluster array; In S404, stereogram image-position sensor 102 by the image of collection to being sent to host computer 105; In S405, each image carries out image procossing respectively, extract all laser rays centers high luminance pixels, go out all laser rays according to straight line character separation and Extraction, and according to laser rays order from top to bottom, from left to right on image, the two-dimensional laser line on image is arranged; In S406, carry out three-dimensional reconstruction by the three-dimensional reconstruction computing function in host computer according to the corresponding sequence number laser rays of matching image centering; In S407, the discrete three-dimensional point data accumulation on laser rays is counted the observation point set { P|pi (xi, yi, zi) } on the laser plane of corresponding sequence number; In S408, judge whether the collection of all setting operating distances; In S409, if judge the collection not completing all setting operating distances, jump to S402 and enter circulation; If judge the collection having completed all setting operating distances, all laser plane equations of matching.General Spatial plane equation meets Ax+By+Cz+D=0, three-dimensional observation point set { P|pi (xi on space plane, yi, zi) this plane equation } is met, utilize least square method can calculate A, B, C, D tetra-equation coefficients, each laser plane has and only has a plane equation, and the serial number of this plane equation is the coding of laser plane.
Laser rays array decoding carries out in 3-D scanning process, and each image carries out primary image process respectively, carries out laser rays segmentation according to continuity principle.In double camera image capturing system, a picture point in discrete pixels point difference corresponding three-dimensional space on each laser line segment in upper camera image in upper camera imaging plane, the ray that this picture point is connected with upper camera optics center and space laser Plane intersects solve a three dimensions point, this picture point on lower camera image is calculated according to camera imaging principle, if the most of discrete pixels point in upper camera image on certain laser line segment is positioned on same laser line segment by the respective pixel point set that said method finds on lower camera image just, then mark is numbered to these two laser line segments of upper camera and lower camera, numbering is numbered consistent with adopted laser plane.Under normal circumstances, each bar laser line segment carries out above-mentioned calculating by all laser planes of traversal, can find out unique corresponding laser plane and coding thereof.
Host computer has three-dimensional reconstruction computing function, body surface unique point for the image pair gathered stereo vision sensor 102 carries out three-dimensional reconstruction, and the laser rays of body surface reflection carries out three-dimensional reconstruction, namely utilize the two dimensional character point set of Stereo matching image pair to be converted into three-dimensional feature point set based on trigonometric calculations method, the two-dimensional phase of Stereo matching image pair is converted into three-dimensional space laser lines with coded laser light line based on trigonometric calculations method.In the present embodiment, body surface feature is a kind of sphere shaped markup being pasted onto the engineer of body surface, and the elliptical center that image procossing extracts is the two dimensional character point on image.According to Epipolar geometry principle, for each unique point in upper camera image, the polar curve of lower camera image is found nearest two dimensional character point, and two dimensional character point corresponding to upper and lower camera is to the three dimensional space coordinate that can calculate this unique point according to triangulation.Each by laser spots that laser plane is decoded in upper camera image, lower camera image is found the point of crossing of polar curve and same-code two-dimensional laser line segment, two-dimensional laser point corresponding to upper and lower camera is to the three dimensional space coordinate that can calculate this laser spots according to triangulation, and laser rays is in fact the set of these laser spots.
Optical tracking positioning function in host computer, for the unique point in tracking image sequence, and with the unique point traced into for reference sets up coupling corresponding relation on different time frame between feature point set and computer memory positioning relation, again according to spatial relationships by the three-dimensional laser line Registration of Measuring Data on different time frame in the same coordinate system, form the some cloud describing object shape face, meanwhile, tracking prediction next frame two and three dimensions characteristic movement trajectories.
Optical signature is followed the tracks of and is carried out first on 2d, because camera carries out image acquisition under high frame per second constant duration, unique point movement velocity is on 2d approximately equal between adjacent two frames, therefore according to t-2 and t-1 moment unique point location of pixels on 2d, the characteristic kinematic speed in t-1 moment can be calculated, according to the movement velocity in t-1 moment and the location of pixels in this moment, the location of pixels of this unique point of t can be predicted, on the observed image of t predicted pixel location neighborhood in the two dimensional character point that detects retain the unique point numbering in t-1 moment, numbering is kept equally with the unique point after this carries out three-dimensional reconstruction, namely all unique points traced into all are numbered mark, mean and can the point finding identical numbering be concentrated as the impact point of coordinate transform by the three-dimensional feature point before t.If the three-dimensional feature point quantity that t traces into is no less than 3, and not on the same line, then these put the point set { P|pi (xi formed, yi, zi) } with corresponding coordinate transform target point set { Q|qi (xi, yi, zi) one group of mapping relations } is formed, i.e. coordinate transform, there is transformation relation [R|T] and meet RXP+T=XQ, wherein XP is the volume coordinate vector in point set P, XQ is the volume coordinate vector in point set Q, R is the rotation matrix of 3 × 3, T is the translation vector of 3 × 1, utilize least square and Quaternion Method can calculate transformation relation [R|T].If the point that t traces into is less than 3, the three-dimensional feature point of the same name so needing to trace into is reference, at the three-dimensional feature point set { K|ki (xi that t is rebuild, yi, zi) carry out triangulation around the unique point of the known numbering traced into } and set up triangle sets, search for congruent triangles in the triangle sets of the unique point composition rebuild before t, three summits of congruent triangles in the same time do not form coordinate conversion relation, calculate [R|T].If the some quantity that t traces into is 0, so need the three-dimensional feature point set { K|ki (xi rebuild in t, yi, zi) }, all unique points are carried out triangulation and set up triangle sets, congruent triangles is searched in the triangle sets of the unique point composition rebuild before t, three summits of congruent triangles in the same time do not form coordinate conversion relation, calculate [R|T].It should be noted that, under the working condition that high frame per second continuous acquisition is measured, in image in sequential between two continuous frames, the change of displacement of targets amount is little, therefore can be found feature point set P and the Q of coupling by signature tracking within the overwhelming majority time, visible optical track and localization unit 1053 pairs of features carry out motion tracking, tracking prediction is utilized to search for not the unique point of the same name of interframe in the same time, the registration speed of 3D feature point set between different frame can be accelerated, the more important thing is that eliminating multiple subtriangular unique point distributes the misregistration scheme brought.After obtaining coordinate conversion relation [R|T], by all laser point set { M|mi (xi of t three-dimensional reconstruction, yi, zi), in coordinate system unified before } all laser spots three dimensional space coordinates can being converted into t by the computing of RXM+T, the cloud data under same coordinate system is formed together with the point set before t.
Error evaluation computing function in host computer, for assessment of current measuring error grade, and feeds back to FPGA by grade of errors result by host computer 105 and the communication interface of FPGA101.Measuring error is considered as of assessing measuring error grade according to the mean distance (being defined as equipment operating distance herein) of the volume coordinate of all unique points of t three-dimensional reconstruction to two camera optical centre coordinate line mid points of scanning sensing equipment, when operating distance is in device measuring field depth, grade of errors is evaluated as 0, represents rationally; When operating distance compared with field depth large or less time, grade of errors is evaluated as+1 or-1, represent warning operating distance should make adjustment; When operating distance compared with field depth excessive or too small time, grade of errors is evaluated as+2 or-2, and represent that operating distance must be made adjustment, otherwise data no longer upgrade accumulation, and preventing affects overall data quality.Alternatively, the volume coordinate of all laser spots that the error evaluation function in this host computer also can adopt body surface three-dimensional to rebuild and the mean distance of equipment optical centre, as operating distance, are assessed measuring error grade.
Fig. 5 shows the schematic flow sheet of a kind of multi-thread array laser 3-D scanning method based on above-mentioned multi-thread array laser 3 D scanning system that the embodiment of the present invention provides, and as shown in Figure 5, comprising:
S501, described programmable gate array FPGA send the first trigger pip to described laser line generator array, irradiate the surface of testee to make described line laser array according to described first trigger pip stroboscopic;
S502, described programmable gate array FPGA send the second trigger pip to described stereogram image-position sensor, to make described stereogram image-position sensor carry out exposure shooting according to described second trigger pip to testee, and by the image of shooting to being sent to host computer;
S503, the described host computer laser rays to the surface reflection of the image pair testee that described stereogram image-position sensor is taken carries out coding and decoding;
The laser rays of the surface reflection of the image pair testee unique point that S504, described host computer are taken described stereogram image-position sensor and described testee carries out three-dimensional reconstruction;
S505, described host computer for benchmark, generate shape millet cake cloud by the three-dimensional laser line Registration of Measuring Data to the same coordinate system on different frame with described unique point;
S506, described host computer carry out error evaluation in real time to measurement data and assessment result are fed back to programmable gate array FPGA;
S507, described programmable gate array FPGA are after the assessment result receiving described host computer feedback, transmit control signal to described error feedback controller according to described assessment result, and adjust the distance of described laser three-dimensional scanning equipment and testee according to described assessment result.
In step S501 before described programmable gate array FPGA sends the first trigger pip to described line laser array, described method also comprises not shown step:
S500, described programmable gate array FPGA receive described host computer and send default time shutter and predetermined pulse trigger pip, send the first trigger pip according to described predetermined pulse trigger pip to described line laser array, send the second trigger pip according to the described default time shutter to described stereogram image-position sensor.
Figure 6 shows that the overall realization flow of a kind of multi-thread array laser 3-D scanning method of the present embodiment: in S601, system carries out initialization, host computer 105 control FPGA101, stereogram image-position sensor 102 are opened, and enter duty; In S602, FPGA101 sends trigger pip control both optical element stroboscopic and controls stereogram image-position sensor 102 and starts exposure collection image pair; In S603, stereogram image-position sensor 102 by the image of collection to being sent to host computer 105; In S604, host computer carries out decoding mark by laser rays array coding and decoding function to laser rays, is the every bar laser straight line segments recognition laser plane numbering on image; In S605, host computer carries out laser rays and characteristic point three-dimensional reconstruction by three-dimensional reconstruction computing function; In S606, host computer carries out feature point tracking location, Registration of Measuring Data and tracking prediction by optical tracking positioning function; In S607, host computer carries out the calculating of measuring error level evaluation by grade of errors evaluates calculation function; In S608, grade of errors is sent to FPGA101 by host computer 105; In S609, FPGA101 sends instruction according to grade of errors departure feedback controller 104; In S610, according to error feedback controller prompting adjustment operating distance; In S611, wait for FPGA trigger pip next time, jump to S602 and enter circulation.
Figure 2 shows that the device structure schematic diagram under a kind of duty of the present embodiment, portable multi-thread array laser three-dimensional scanning device forms primarily of programmable gate array FPGA 101, stereogram image-position sensor 102, laser line generator array 103 and error feedback controller 104, laser line generator array 103 outgoing one group of laser plane, be projected in one group of laser rays array 502 on testee surface 501, a kind of handmarking that circular markers 503 generally uses for optical three-dimensional scanning, is used for carrying out the Registration and connection between Multiple-Scan data.
Said system scan efficiency significantly promotes.Adopt laser rays array pattern compared with single laser line scanning of the prior art, data reconstruction efficiency is multiplied.If laser rays quantity is n in array, then the data volume of rebuilding within the unit interval is n times of one-line scanning, and namely in the scanning situation completing same quantity of data, the time of laser linear array column scan only has the 1/n of one-line scanning.Such as, the array scanning efficiency adopting 6 laser line generators to form is about 6 times of one-line scanning, and sweep time shortens 5/6.
Equipment cost declines to a great extent.Special customized multi-thread laser generator complex process, and technology is monopolized by Very few companies, cost is very high, and the laser instrument cost of usual this kind of Laser Scanning Equipment is at tens thousand of yuans; And adopting single line laser device array, the laser array cost of equal laser rays quantity only has hundreds of yuan, i.e. laser component cost savings more than 95/100, and the cost of whole scanning device decreases about 2/3.
Serviceable life significantly increases.Processing speed by image acquiring sensor limits, the image accounting of effective exposure time to scanning T.T. is about 1/10, therefore under the lasting scan pattern of prior art, major optical LED element (as laser LED etc.) has the non-productive work time up to 9/10, and after adopting the flash scanning of pulse frequency, the non-productive work time accounting of major optical LED element reduces to 0 by 9/10, estimate according to LED nominal parameters, promote more than 10 times serviceable life, energy consumption significantly reduces, heat radiation almost can be ignored, and eliminates the Design and manufacture cost of radiator structure simultaneously.
Scanning by mistake splicing rate declines, and reliability promotes.Adopt optical tracking location technology compared with existing single location technology, improve the reliability of Feature Points Matching, and then improve the accuracy of scan-data splicing registration.Scan for the object containing 200 location reference marks points, two kinds of technology scan 50 times respectively and carry out experiment statistics, and single location technology occurs that the probability of splicing is by mistake about 50%, and optical tracking location technology occurs that the number of times of splicing is by mistake 0.
Scanning accuracy significantly promotes.German VDI-2634 optical three-dimensional measurement equipment precision examination criteria according to internal authority is tested, and after adopting error evaluation and feedback control technology, laser scanning precision is promoted to 0.03mm from more than 0.1mm, is about original 3 times.
Above embodiment only in order to technical scheme of the present invention to be described, is not intended to limit; Although with reference to previous embodiment to invention has been detailed description, those of ordinary skill in the art is to be understood that; It still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein portion of techniques feature; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the spirit and scope of various embodiments of the present invention technical scheme.
Claims (13)
1. a multi-thread array laser 3 D scanning system, it is characterized in that, comprise: multi-thread array laser three-dimensional scanning device and host computer, described multi-thread array laser three-dimensional scanning device comprises programmable gate array FPGA, at least one stereogram image-position sensor, laser line generator array and error feedback controller, described programmable gate array FPGA is connected with error feedback controller respectively with described stereogram image-position sensor, laser line generator array, and described host computer is connected with stereogram image-position sensor with described programmable gate array FPGA respectively;
Described programmable gate array FPGA, for sending the first trigger pip to described laser line generator array, irradiates the surface of testee to make described line laser array according to described first trigger pip stroboscopic;
Described programmable gate array FPGA, also for sending the second trigger pip to described stereogram image-position sensor, to make described stereogram image-position sensor carry out exposure shooting according to described second trigger pip to testee, and by the image of shooting to being sent to host computer;
Described host computer, also for carrying out error evaluation in real time to measurement data and assessment result being fed back to programmable gate array FPGA;
Described programmable gate array FPGA, also for after the assessment result receiving described host computer feedback, transmit control signal to described error feedback controller according to described assessment result, and adjust the distance of described laser three-dimensional scanning equipment and testee according to described assessment result;
Described host computer, the laser rays also for the image pair to described stereogram image-position sensor shooting carries out Code And Decode;
Described host computer, also for carrying out three-dimensional reconstruction to the laser rays of the unique point of testee image pair and the surface reflection of described testee;
Described host computer, also for described unique point for benchmark, generate shape millet cake cloud by the three-dimensional laser line Registration of Measuring Data to the same coordinate system on different frame.
2. system according to claim 1, it is characterized in that, described programmable gate array FPGA, also for receiving the predetermined pulse trigger pip of described host computer transmission and default time shutter, according to described predetermined pulse trigger pip, send the first trigger pip to described laser line generator array, send the second trigger pip according to the described default time shutter to described stereogram image-position sensor.
3. system according to claim 1, is characterized in that, described error feedback controller, for receiving the control signal that described programmable gate array FPGA sends, exports the pilot light corresponding with described control signal.
4. system according to claim 3, is characterized in that, described error feedback controller is color-changed LED light, comprises the light of red, green, blue three kinds of primary colours combinations.
5. system according to claim 1, is characterized in that, described stereogram image-position sensor is multi-vision visual imageing sensor, is made up of two or more optical camera.
6. system according to claim 1, is characterized in that, is provided with lighting device in described stereo vision sensor.
7. system according to claim 6, is characterized in that, the irradiation time of described lighting device is synchronous with the time shutter of described stereo vision sensor.
8. system according to claim 1, is characterized in that, described laser line generator array comprises and being made up of the arrangement mode of multiple laser line generator according to matrix form.
9. system according to claim 1, is characterized in that, described host computer, for following the tracks of described unique point, and by following the tracks of the unique point of the same name of adjacent time interframe, is registrated in the same coordinate system by the laser rays on different frame.
10. system according to claim 1, it is characterized in that, described host computer, also for the distance of laser three-dimensional scanning equipment and testee described in real-time assessment, and when described distance exceeds predeterminable range, to described programmable gate array FPGA feedback with evaluation result.
11. systems according to any one of claim 1-10, it is characterized in that, described host computer is also provided with communication interface, described communication interface is used for carrying out communication to the opertaing device be connected with described host computer, to make the distance between the described opertaing device described multi-thread array laser three-dimensional scanning device of adjustment and testee.
12. 1 kinds, based on the multi-thread array laser 3-D scanning method of the multi-thread array laser 3 D scanning system according to any one of claim 1-11, is characterized in that, comprising:
Described programmable gate array FPGA sends the first trigger pip to described laser line generator array, irradiates the surface of testee to make described line laser array according to described first trigger pip stroboscopic;
Described programmable gate array FPGA sends the second trigger pip to described stereogram image-position sensor, to make described stereogram image-position sensor carry out exposure shooting according to described second trigger pip to testee, and by the image of shooting to being sent to host computer;
The laser rays of described host computer to the surface reflection of the image pair testee that described stereogram image-position sensor is taken carries out coding and decoding;
The laser rays of the surface reflection of the image pair testee unique point that described host computer is taken described stereogram image-position sensor and described testee carries out three-dimensional reconstruction;
Described host computer for benchmark, generates shape millet cake cloud by the three-dimensional laser line Registration of Measuring Data to the same coordinate system on different frame with described unique point;
Described host computer carries out error evaluation in real time to measurement data and assessment result is fed back to programmable gate array FPGA;
Described programmable gate array FPGA is after the assessment result receiving described host computer feedback, transmit control signal to described error feedback controller according to described assessment result, and adjust the distance of described laser three-dimensional scanning equipment and testee according to described assessment result.
13. methods according to claim 12, is characterized in that, before described programmable gate array FPGA sends the first trigger pip to described line laser array, described method also comprises:
Described programmable gate array FPGA receives described host computer and sends default time shutter and predetermined pulse trigger pip, send the first trigger pip according to described predetermined pulse trigger pip to described line laser array, send the second trigger pip according to the described default time shutter to described stereogram image-position sensor.
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| PCT/CN2016/072450 WO2017041418A1 (en) | 2015-09-10 | 2016-01-28 | Multi-line array laser three-dimensional scanning system, and multi-line array laser three-dimensional scanning method |
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