CN112781525A - Three-dimensional imaging system based on laser high-speed galvanometer structured light and calibration method - Google Patents
Three-dimensional imaging system based on laser high-speed galvanometer structured light and calibration method Download PDFInfo
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- CN112781525A CN112781525A CN202011583020.8A CN202011583020A CN112781525A CN 112781525 A CN112781525 A CN 112781525A CN 202011583020 A CN202011583020 A CN 202011583020A CN 112781525 A CN112781525 A CN 112781525A
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- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
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Abstract
The embodiment of the disclosure provides a three-dimensional imaging system and a calibration method based on laser high-speed galvanometer structured light, which belong to the technical field of measurement and specifically comprise: the structured light projection device comprises a laser emitter, a high-speed vibrating mirror and a motor, wherein the high-speed vibrating mirror is arranged at the position of an emitting end of the laser emitter and is connected with a transmission shaft of the motor; the two-dimensional camera is used for exposing laser sectors formed by laser emitted by the laser emitter to sequentially irradiate different positions of a target object in a preset time period to generate a structured light image; the controller, the two-dimensional camera and the control end of the motor are electrically connected with the controller. According to the scheme, the motor is used for driving the laser transmitter to sequentially irradiate different positions of the target object, the two-dimensional camera is used for exposing in the preset time period, the structured light image is generated and then sent to the controller, the three-dimensional image is generated through calculation, and the imaging efficiency and the adaptability are stably improved.
Description
Technical Field
The disclosure relates to the technical field of measurement, in particular to a three-dimensional imaging system based on laser high-speed galvanometer structured light and a calibration method.
Background
At present, the structured light three-dimensional imaging technology is a three-dimensional imaging technology commonly used in industry. Conventional structured light imaging techniques use a digital micromirror array to spatially modulate a light source to generate a sequence of specific area array structured light patterns required for measurement. However, due to the limitation of the power of the light source and the different materials of the objects, the three-dimensional imaging cannot be realized due to the high reflection/absorption of light on some objects. The application range of structured light three-dimensional imaging is severely limited.
Therefore, a three-dimensional imaging system based on laser high-speed galvanometer structured light, which is efficient, stable and strong in adaptability, is needed.
Disclosure of Invention
In view of this, the embodiments of the present disclosure provide a three-dimensional imaging system and a calibration method based on structured light of a laser high-speed galvanometer, which at least partially solve the problems of poor imaging efficiency, stability and adaptability in the prior art.
In a first aspect, an embodiment of the present disclosure provides a three-dimensional imaging system based on structured light of a laser high-speed galvanometer, including:
the structured light projection device comprises a laser emitter, a high-speed vibrating mirror and a motor, wherein the high-speed vibrating mirror is arranged at the position of an emitting end of the laser emitter and is connected with a transmission shaft of the motor;
the two-dimensional camera is used for exposing laser sectors formed by the laser emitted by the laser emitter to sequentially irradiate different positions of a target object in a preset time period to generate a structured light image;
and the control ends of the two-dimensional camera and the motor are electrically connected with the controller, and the controller is used for generating a three-dimensional image corresponding to the target object according to the structured light image output by the two-dimensional camera.
According to a specific implementation manner of the embodiment of the present disclosure, the laser emitted by the laser emitter is a fixed visible light band.
According to a specific implementation manner of the embodiment of the disclosure, the two-dimensional camera is provided with an optical filter corresponding to the wavelength band of the laser emitter.
According to a specific implementation manner of the embodiment of the disclosure, the structured light projection device further comprises a shell, and the laser emitter, the high-speed galvanometer and the motor are all arranged in the shell.
According to a specific implementation manner of the embodiment of the present disclosure, an opening is disposed in a position of the housing corresponding to the light path of the laser emitter.
According to a specific implementation manner of the embodiment of the disclosure, a communication module is arranged in the shell and electrically connected with the data output end of the controller.
In a second aspect, an embodiment of the present disclosure provides a calibration method for performing calibration using the three-dimensional imaging system based on laser high-speed galvanometer structured light according to any one of the above disclosed embodiments, where the method includes:
providing a three-dimensional imaging system based on laser high-speed galvanometer structured light and a target object, wherein the system comprises a structured light projection device, a two-dimensional camera and a controller;
establishing a three-dimensional coordinate system and a plane equation corresponding to the laser sector according to the position of the laser sector generated by the structured light projection device and the position of the two-dimensional camera;
calibrating an initial plane and a rotating shaft;
the target object is scanned and a three-dimensional image is generated.
According to a specific implementation manner of the embodiment of the present disclosure, the step of scanning the target object and generating the three-dimensional image includes:
scanning the target object to generate a structured light image;
calculating three-dimensional coordinates of all pixel points in the structured light image;
and forming the three-dimensional image by using the three-dimensional coordinates of all the pixel points.
According to a specific implementation manner of the embodiment of the present disclosure, the step of calculating three-dimensional coordinates of all pixel points in the structured light image includes:
respectively calculating phase values corresponding to all the pixel points;
respectively calculating laser sectors corresponding to all the pixel points according to the phase values;
and calculating the three-dimensional coordinates corresponding to all the pixel points according to the laser sectors corresponding to all the pixel points and the initial plane.
The three-dimensional imaging system scheme based on the laser high-speed galvanometer structured light in the embodiment of the disclosure comprises the following steps: the structured light projection device comprises a laser emitter, a high-speed vibrating mirror and a motor, wherein the high-speed vibrating mirror is arranged at the position of an emitting end of the laser emitter and is connected with a transmission shaft of the motor; the two-dimensional camera is used for exposing laser sectors formed by the laser emitted by the laser emitter to sequentially irradiate different positions of a target object in a preset time period to generate a structured light image; and the control ends of the two-dimensional camera and the motor are electrically connected with the controller, and the controller is used for generating a three-dimensional image corresponding to the target object according to the structured light image output by the two-dimensional camera. According to the scheme, the motor is used for driving the laser transmitter to sequentially irradiate different positions of the target object, the two-dimensional camera is used for exposing in the preset time period, the structured light image is generated and then sent to the controller, the three-dimensional image is generated through calculation, and the imaging efficiency and the adaptability are stably improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings needed to be used in the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present disclosure, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a three-dimensional imaging system based on structured light of a laser high-speed galvanometer according to an embodiment of the present disclosure;
fig. 2 is a schematic diagram of structured light image imaging related to a three-dimensional imaging system based on laser high-speed galvanometer structured light provided by an embodiment of the present disclosure;
fig. 3 is a schematic flow chart of a calibration method according to an embodiment of the present disclosure.
Summary of reference numerals:
a three-dimensional imaging system 100 based on laser high-speed galvanometer structured light;
a structured light projection device 110, a laser emitter 111, a high-speed galvanometer 112 and a motor 113;
a two-dimensional camera 120;
a controller 130.
Detailed Description
The embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.
The embodiments of the present disclosure are described below with specific examples, and other advantages and effects of the present disclosure will be readily apparent to those skilled in the art from the disclosure in the specification. It is to be understood that the described embodiments are merely illustrative of some, and not restrictive, of the embodiments of the disclosure. The disclosure may be embodied or carried out in various other specific embodiments, and various modifications and changes may be made in the details within the description without departing from the spirit of the disclosure. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
It is noted that various aspects of the embodiments are described below within the scope of the appended claims. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and/or function described herein is merely illustrative. Based on the disclosure, one skilled in the art should appreciate that one aspect described herein may be implemented independently of any other aspects and that two or more of these aspects may be combined in various ways. For example, an apparatus may be implemented and/or a method practiced using any number of the aspects set forth herein. Additionally, such an apparatus may be implemented and/or such a method may be practiced using other structure and/or functionality in addition to one or more of the aspects set forth herein.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present disclosure, and the drawings only show the components related to the present disclosure rather than the number, shape and size of the components in actual implementation, and the type, amount and ratio of the components in actual implementation may be changed arbitrarily, and the layout of the components may be more complicated.
In addition, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects may be practiced without these specific details.
At present, the structured light three-dimensional imaging technology is a three-dimensional imaging technology commonly used in industry. Conventional structured light imaging techniques use a digital micromirror array to spatially modulate a light source to generate a sequence of specific area array structured light patterns required for measurement. However, due to the limitation of the power of the light source and the different materials of the objects, the three-dimensional imaging cannot be realized due to the high reflection/absorption of light on some objects. The application range of structured light three-dimensional imaging is severely limited. The embodiment of the disclosure provides a three-dimensional imaging system based on laser high-speed galvanometer structured light, and the system can be applied to an object scanning three-dimensional imaging process in an industrial measurement process.
Referring to fig. 1, a schematic structural diagram of a three-dimensional imaging system 100 based on structured light of a laser high-speed galvanometer 112 is provided for an embodiment of the present disclosure. As shown in fig. 1, the three-dimensional imaging system 100 based on the structured light of the laser galvanometer 112 mainly includes:
the structured light projection device 110 comprises a laser emitter 111, a high-speed galvanometer 112 and a motor 113, wherein the high-speed galvanometer 112 is arranged at the emitting end position of the laser emitter 111, and the high-speed galvanometer 112 is connected with a transmission shaft of the motor 113;
the two-dimensional camera 120 is used for exposing laser sectors formed by the laser emitted by the laser emitter 111 to different positions of a target object in sequence in a preset time period to generate a structured light image;
the controller 130, the two-dimensional camera 120 and the control end of the motor 113 are electrically connected to the controller 130, and the controller 130 is configured to generate a three-dimensional image corresponding to the target object according to the structured light image output by the two-dimensional camera 120.
During specific assembly, the high-speed galvanometer 112 may be disposed at an emitting end position of the laser emitter 111, so that the high-speed galvanometer 112 is located on a laser light path generated by the laser emitter 111, and then the high-speed galvanometer 112 is connected with a transmission shaft of the motor 113.
When the three-dimensional structured light imaging device is used, the laser emitter 111 serves as a light source to emit scanning laser, linear laser is generated through polarization of the high-speed galvanometer 112 to irradiate the target object, the motor 113 is used to determine the angle of the high-speed galvanometer 112, so that the linear laser can irradiate different positions of the target object, the two-dimensional camera 120 is controlled to expose to generate the structured light image, and the controller 130 generates a three-dimensional image corresponding to the target object according to the structured light image after receiving the structured light image, as shown in fig. 2.
In the embodiment of the disclosure, the motor is utilized to drive the laser emitter to sequentially irradiate different positions of the target object, the two-dimensional camera is used for exposure in a preset time period, the structured light image is generated and then sent to the controller, and the three-dimensional image is generated through calculation, so that the imaging efficiency and the adaptability are stably improved.
Optionally, the laser emitted by the laser emitter 111 is in a fixed visible light band.
For example, the laser emitted by the laser emitter 111 may fluctuate at 404 nm or 550 nm, and a high-power line laser is adopted to improve the anti-reflection and anti-interference capability.
Further, the two-dimensional camera 120 is provided with a filter corresponding to the wavelength band of the laser emitter 111.
In specific implementation, considering that the light source wave band of the line laser is single and the power is high, the optical filter corresponding to the wave band of the laser emitter 111 may be additionally installed on the two-dimensional camera 120, so as to isolate the influence of the ambient light on the measurement process.
Optionally, the structured light projection device 110 further includes a housing, and the laser emitter 111, the high-speed galvanometer 112, and the motor 113 are disposed in the housing.
Optionally, the housing is provided with an opening corresponding to the light path position of the laser emitter 111.
When using, consider that meticulous components and parts directly expose and can accelerate the loss in external environment, and external environment's interference factor can influence the measurement, can with laser emitter 111 high-speed galvanometer 112 with motor 113 all sets up in the casing, and the casing corresponds laser emitter 111's light path position is provided with the opening, in order to improve structured light projection unit 110's interference killing feature.
On the basis of the above embodiment, a communication module is arranged in the housing, and the communication module is electrically connected with the data output end of the controller 130.
In specific implementation, after the controller 130 generates the three-dimensional image according to the structured light image, the three-dimensional image may be sent to a terminal through the communication module, such as WiFi, bluetooth, local area network, and the like, so as to improve data transmission efficiency and convenience.
The three-dimensional imaging system based on the laser high-speed galvanometer structured light provided by the embodiment of the disclosure is applied to the object scanning three-dimensional imaging process in the industrial measurement process. The motor is utilized to drive the laser emitter to irradiate different positions of a target object in sequence, exposure is carried out in a preset time period through the two-dimensional camera, a structured light image is generated and then sent to the controller, a three-dimensional image is generated through calculation, and imaging efficiency and adaptability are stably improved.
In addition, as shown in fig. 3, the embodiment of the present disclosure further provides a calibration method, where the method includes:
s301, providing a three-dimensional imaging system based on laser high-speed galvanometer structured light and a target object, wherein the system comprises a structured light projection device, a two-dimensional camera and a controller;
s302, establishing a three-dimensional coordinate system and a plane equation corresponding to the laser sector according to the position of the laser sector generated by the structured light projection device and the position of the two-dimensional camera;
in specific implementation, the structured light projection device can generate a laser sector for scanning the target object, and the laser sector corresponds to a plane equation under a three-dimensional coordinate system established by the two-dimensional camera under the condition that a laser transmitter of the structured light projection device is driven by the motor to select a plurality of angles. Here, the two-dimensional camera may be calibrated by internal reference. And then, a calibration plate such as a black and white chess grid or a black and white origin point is placed at a position intersecting with the sector of the laser line, and then the two-dimensional camera is used for external reference calibration.
On this basis, an image is obtained using the two-dimensional camera. At the moment, the laser line on the image is extracted and positioned, and the laser line is irradiated on the calibration plate, so that the three-dimensional coordinate of the intersection line of the laser line plane and the calibration plate under the three-dimensional coordinate system established by the two-dimensional camera can be obtained based on the position of the laser line on the image.
The calibration plate is moved and adjusted again and the process is repeated. And obtaining the three-dimensional coordinates of different line segments on the laser sector. Based on the line segments, a plane equation of the laser sector plane under a three-dimensional coordinate system corresponding to the two-dimensional camera can be obtained. And controlling the motor to rotate by an angle, repeating the process, and obtaining another plane equation of the laser line sector. Thus, a plurality of groups of plane equations of the laser line sectors under corresponding angles are obtained.
S303, calibrating an initial plane and a rotating shaft;
in specific implementation, in consideration of the emission of laser from the laser emitter, the plane where the laser originally exists may be calibrated as the initial plane, and then a constraint equation may be established, and an equation set is established through common knowledge assuming that the initial plane equation and the parameters of the rotation axis are unknown quantities. And obtaining an initial plane equation and a rotation axis parameter by using a least square method in a linear equation group solution method, so that a pattern code of a pixel coordinate on any one structured light image is given, and a three-dimensional coordinate of the point in a three-dimensional coordinate system corresponding to the two-dimensional camera can be calculated.
S304, scanning the target object and generating a three-dimensional image.
And controlling the structured light projection device to project structured light to scan the target object to generate the structured light image, and then generating the three-dimensional image according to the structured light image by the controller.
On the basis of the above embodiment, the scanning the target object and generating the three-dimensional image in step S304 includes:
scanning the target object to generate a structured light image;
calculating three-dimensional coordinates of all pixel points in the structured light image;
and forming the three-dimensional image by using the three-dimensional coordinates of all the pixel points.
When the structured light projection device is implemented specifically, when a motor of the structured light projection device drives a high-speed galvanometer of the structured light projection device to rotate, laser sectors formed by laser emitted by the laser emitter sequentially irradiate different positions of the target object to generate the structured light image, then three-dimensional coordinates of all pixel points in the structured light image are calculated, and the three-dimensional coordinates of all the pixel points are formed into the three-dimensional image.
Further, the step of calculating the three-dimensional coordinates of all the pixel points in the structured light image includes:
respectively calculating phase values corresponding to all the pixel points;
respectively calculating laser sectors corresponding to all the pixel points according to the phase values;
and calculating the three-dimensional coordinates corresponding to all the pixel points according to the laser sectors corresponding to all the pixel points and the initial plane.
In particular implementations, positive gray codes, negative gray codes, and phase shifted projection patterns may be used. Wherein, the primary coding of image pixel is confirmed to positive and negative gray code, and the quantity of positive and negative gray code projection pattern sequence is decided according to the projection region, sets up to 8 at least to can have 2 in the horizontal of image16The resolution of (2). For a physical point in reality, if it is at the top left corner of the projected pattern, its code value is 0000000011111111, and its three-dimensional coordinates can be determined.
However, considering that there are possibly a plurality of physical points, the encoded values are all the same. To further distinguish the physical points, we project 3 sinusoidal patterns with a phase difference of 120 °. The frequency is designed to be 17. The criteria-based solution equation is:
I1＝I′+I″cos(θ)
wherein I1，I2，I3Indicating the gray value of the phase map, I' indicating the background value of the fringe intensity, I "indicating the modulation intensity of the fringe intensity, and θ indicating the phase principal value. Based on the gray value of each pixel point under different phase shift projection patterns, the phase of each pixel point can be calculated. Based on the phase, the laser plane corresponding to the phase can be obtained, and based on the calibration result, the three-dimensional coordinate of the laser plane can be calculated.
In summary, the three-dimensional imaging system and the calibration method based on the laser high-speed galvanometer structured light provided by the embodiments of the present disclosure can generate a structured light image by scanning a target image with a laser sector through the structured light projection device, the two-dimensional camera, and the controller, and then calculate three-dimensional coordinates corresponding to all pixels in the structured light image according to a calibrated initial plane and a calibrated rotation axis, and form a three-dimensional image according to all the three-dimensional coordinates, thereby improving the imaging efficiency, stability, and adaptability of the three-dimensional imaging system based on the laser high-speed galvanometer structured light.
The above description is only for the specific embodiments of the present disclosure, but the scope of the present disclosure is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present disclosure should be covered within the scope of the present disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.
Claims (9)
1. A three-dimensional imaging system based on structured light of a laser high-speed galvanometer is characterized by comprising:
the structured light projection device comprises a laser emitter, a high-speed vibrating mirror and a motor, wherein the high-speed vibrating mirror is arranged at the position of an emitting end of the laser emitter and is connected with a transmission shaft of the motor;
the two-dimensional camera is used for exposing laser sectors formed by the laser emitted by the laser emitter to sequentially irradiate different positions of a target object in a preset time period to generate a structured light image;
and the control ends of the two-dimensional camera and the motor are electrically connected with the controller, and the controller is used for generating a three-dimensional image corresponding to the target object according to the structured light image output by the two-dimensional camera.
2. The system of claim 1, wherein the laser emitter emits laser light in a fixed visible wavelength band.
3. The system of claim 2, wherein the two-dimensional camera has a filter disposed thereon corresponding to a wavelength band of the laser emitter.
4. The system of claim 1, wherein the structured light projecting device further comprises a housing, the laser emitter, the high-speed galvanometer, and the motor all disposed within the housing.
5. The system of claim 4, wherein the housing is provided with an opening corresponding to the optical path position of the laser emitter.
6. The system of claim 5, wherein a communication module is disposed within the housing, the communication module being electrically connected to a data output of the controller.
7. A calibration method is applied to the three-dimensional imaging system based on the laser high-speed galvanometer structured light of any one of claims 1 to 6 for calibration, and the method comprises the following steps:
providing a three-dimensional imaging system based on laser high-speed galvanometer structured light and a target object, wherein the system comprises a structured light projection device, a two-dimensional camera and a controller;
establishing a three-dimensional coordinate system and a plane equation corresponding to the laser sector according to the position of the laser sector generated by the structured light projection device and the position of the two-dimensional camera;
calibrating an initial plane and a rotating shaft;
the target object is scanned and a three-dimensional image is generated.
8. The method of claim 7, wherein the step of scanning the target object and generating a three-dimensional image comprises:
scanning the target object to generate a structured light image;
calculating three-dimensional coordinates of all pixel points in the structured light image;
and forming the three-dimensional image by using the three-dimensional coordinates of all the pixel points.
9. The method of claim 8, wherein the step of calculating the three-dimensional coordinates of all pixel points in the structured light image comprises:
respectively calculating phase values corresponding to all the pixel points;
respectively calculating laser sectors corresponding to all the pixel points according to the phase values;
and calculating the three-dimensional coordinates corresponding to all the pixel points according to the laser sectors corresponding to all the pixel points and the initial plane.
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