CN102788573A - Acquisition device for line-structure photo-fixation projection image - Google Patents
Acquisition device for line-structure photo-fixation projection image Download PDFInfo
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- CN102788573A CN102788573A CN2012102784156A CN201210278415A CN102788573A CN 102788573 A CN102788573 A CN 102788573A CN 2012102784156 A CN2012102784156 A CN 2012102784156A CN 201210278415 A CN201210278415 A CN 201210278415A CN 102788573 A CN102788573 A CN 102788573A
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Abstract
The invention provides an acquisition device for a line-structure photo-fixation projection image, comprising a line-structure light transmitter, a visual sensor, an electromechanical automatic controller and a computer, wherein the line-structure light transmitter is used for forming a laser plane in the space by a cylindrical mirror, projecting on an object to be measured, and forming the line-structure light; the visual sensor is used for obtaining an image with the line-structure light of the measured object; the electromechanical automatic controller is used for driving and controlling the laser projection direction of the line-structure light transmitter and the image acquisition direction of the visual sensor; and the computer is used for controlling the electromechanical automatic controller, so that the visual sensor and the line-structure light transmitter can simultaneously reach to the exact position where the image of the measured object is shot. According to the acquisition device for the line-structure photo-fixation projection image provided by the invention, the problem that the applicable scope of a line-structure light visual sensor is restricted caused by the incomplete external support structure matched with the current line-structure light visual sensor can be solved, and the line-structure light visual sensor can be used on a large scale.
Description
Technical field
The present invention relates to close-range photogrammetry and computer vision field, relate in particular to a kind of line-structured light location projection video capturing device.
Background technology
Power industry often needs to check and definite object contour structure size in power transmission and transforming equipment capital construction, operation, maintenance.With respect to traditional contact measurement method, have characteristics such as sweep velocity is fast, scanning accuracy height based on the non-contact measurement of machine vision technique, therefore obtained very big development in recent years.In many vision measuring methods, three vision measuring methods of structured light with its wide range, big visual field, degree of precision, optical strip image information is easy to characteristics such as extraction, is primary study direction in recent years.
The three-dimensional measurement principle of line structured light vision sensor is as shown in Figure 1, and the light beam of laser instrument projection forms a narrow laser plane through a cylindrical mirror in the space, when just producing a bright striation in object surfaces with the surface of testee when crossing.This striation is modulated owing to the variation of object surface depth and possible gap, shows in the image it then is that distortion or discontinuous has taken place striation, and the degree of distortion is directly proportional with the degree of depth, the discontinuous physical clearance that then demonstrates body surface.Obtain the three-dimensional information of body surface in the optical strip image information that the task of line-structured light vision distorts in being exactly.
The perspective projection model of line structured light vision sensor is as shown in Figure 2; The line structured light vision sensor measuring system is made up of laser instrument and video camera; Camera chain is regarded as a pinhole imaging system model, sets up camera coordinate system oxyz, image coordinates is O ' XY, in optical plane with o
wFor initial point is set up rectangular coordinate system o
wx
wy
wIntersect on optical plane that laser instrument is launched and space testee surface, produces the cross section curve of a reflection contour of object, and the point on the curve is exactly the measured point, and they will image on the picture plane of video camera.Laser plane and video camera can set up the perspective corresponding relation as the plane, utilize this relation just can calculate the volume coordinate of its corresponding measured point by picture point.
But line structured light vision sensor owing to its supporting external support structure very imperfection at present; Objectively restricted the line structured light vision sensor scope of application in actual use; For example in power industry in power transmission and transforming equipment capital construction, operation, maintenance process; Often need to check and definite object contour structure size, but, make line structured light vision sensor be difficult to large-scale application owing to lack line structured light vision sensor control, support system.
Summary of the invention
The present invention provides a kind of line-structured light location projection video capturing device, comprises line structured light vision sensor and complete external support structure and control system.Solve the problem of present line structured light vision sensor, make that line structured light vision sensor can large-scale application owing to its supporting external support structure very imperfection, the restriction line structured light vision sensor scope of application in actual use.
Projection video capturing device in line-structured light provided by the invention location is specially adapted in power industry in power transmission and transforming equipment capital construction, operation, maintenance process, to the check of object contour structure size with confirm.
For solving the problems of the technologies described above, the present invention provides a kind of line-structured light location projection video capturing device, comprising:
The line-structured light transmitter is used for forming a laser plane in the space through a cylindrical mirror, and is incident upon on the testee, forms line-structured light;
Vision sensor is used to obtain the image that said testee has line-structured light;
Dynamo-electric self-actuated controller is used to drive and control the laser projections direction of said line-structured light transmitter and the direction that said vision sensor obtains image;
Computing machine is used to control said dynamo-electric self-actuated controller, makes vision sensor and line-structured light transmitter arrive the accurate position of taking the testee image simultaneously.
Wherein, said vision sensor be arranged on said line-structured light transmitter directly over, the center of said vision sensor and said line-structured light transmitter is on same vertical straight line.
Wherein, said vision sensor and said line-structured light transmitter are separately fixed at the upper and lower surface of cross-brace axle one end, and the relative position between said vision sensor and the said line-structured light transmitter keeps being rigidly connected.
Wherein, said dynamo-electric self-actuated controller comprises: cross-brace axle and directional drive;
Cross-brace axle, one of which end are used for connecting fixing said vision sensor and said line-structured light transmitter, and the other end is fixed on the directional drive;
Directional drive is used for adjusting along the attitude of pitching, rotation and the combination thereof of insulator axis direction through said vision sensor of motor-driven and said line-structured light transmitter.
Wherein, in the process of directional drive driven visual sensor movement, vision sensor forms different angles with line-structured light transmitter and testee, the testee image that said vision sensor is obtained have line-structured light.
Wherein, said dynamo-electric self-actuated controller also comprises: support member, said support member are used for said cross-brace axle and directional drive are supported and fix; One end of said support member is connected with fixture, and the other end connects said directional drive.
Wherein, said support member also is used to control the height of said vision sensor and said line-structured light transmitter, perhaps controls the distance of the said fixture of said vision sensor and said line-structured light transmitter distance.
Wherein, said computing machine judges through the data of discerning said vision sensor whether said line-structured light transmitter has aimed at testee, and through controlling dynamo-electric self-actuated controller the line-structured light transmitter is located automatically.
The present invention provides a kind of line-structured light location projection video capturing device; Its contour structure size based on structured light and vision measurement principle is measured video capturing device; Can obtain research object band structure light striation image under the object situation at a distance not contacting, lay the first stone for realizing the object shape dimension measurement.
The present invention provides projection video capturing device in a kind of line-structured light location to be specially adapted in power industry in power transmission and transforming equipment capital construction, operation, maintenance process, to the check of object contour structure size with confirm.
Description of drawings
In order to be illustrated more clearly in the embodiment of the invention or technical scheme of the prior art; To do to introduce simply to the accompanying drawing of required use in embodiment or the description of the Prior Art below; Obviously, the accompanying drawing in describing below only is some embodiments of the present invention, for those of ordinary skills; Under the prerequisite of not paying creative work property, can also obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the three-dimensional measurement principle schematic of line structured light vision sensor;
Fig. 2 is the perspective projection model synoptic diagram of line structured light vision sensor;
Fig. 3 is the line-structured light provided by the invention location projection video capturing device first example structure synoptic diagram;
Fig. 4 is the line-structured light provided by the invention location projection video capturing device second example structure synoptic diagram.
Embodiment
The present invention provides a kind of the present invention that a kind of line-structured light location projection video capturing device is provided; Its contour structure size based on structured light and vision measurement principle is measured video capturing device; Can obtain research object band structure light striation image under the object situation at a distance not contacting, lay the first stone for realizing the object shape dimension measurement.The present invention provides projection video capturing device in a kind of line-structured light location to be specially adapted in power industry in power transmission and transforming equipment capital construction, operation, maintenance process, to the check of object contour structure size with confirm.
Referring to Fig. 3 is the line-structured light provided by the invention location projection video capturing device first example structure synoptic diagram, and as shown in Figure 3, this device comprises: line-structured light transmitter 1, vision sensor 2, dynamo-electric self-actuated controller 3 and computing machine 4.
Line-structured light transmitter 1 is used for forming a laser plane in the space through a cylindrical mirror, and is incident upon on the testee 5, forms line-structured light.
Dynamo-electric self-actuated controller 3 is used to drive and the laser projections direction of control line structured light transmitter 1 and the direction that vision sensor 2 obtains image.
The present invention provides a kind of line-structured light location projection video capturing device; Its contour structure size based on structured light and vision measurement principle is measured video capturing device; Can obtain research object band structure light striation image under the object situation at a distance not contacting, lay the first stone for realizing the object shape dimension measurement.The present invention provides projection video capturing device in a kind of line-structured light location to be specially adapted in power industry in power transmission and transforming equipment capital construction, operation, maintenance process, to the check of object contour structure size with confirm.
Referring to Fig. 4 is the line-structured light provided by the invention location projection video capturing device second example structure synoptic diagram.In the present embodiment, with the structure of describing this line-structured light location projection video capturing device in more detail.This device is as shown in Figure 4, comprising: line-structured light transmitter 1, vision sensor 2, dynamo-electric self-actuated controller 3 and computing machine 4.
Line-structured light transmitter 1 is used for forming a laser plane in the space through a cylindrical mirror, and is incident upon on the testee, forms line-structured light.Vision sensor 2 is used to obtain the image that testee has line-structured light.More concrete, vision sensor 2 and line-structured light transmitter 1 are separately fixed at the upper and lower surface of cross-brace axle one end, and the relative position between vision sensor 2 and the line-structured light transmitter 1 keeps being rigidly connected.
The light beam of line-structured light transmitter 1 forms a narrow laser plane through a cylindrical mirror in the space, when just producing a bright striation in object surfaces with the surface of testee when crossing.This striation is modulated owing to the variation of testee case depth and possible gap, shows in the image it then is that distortion or discontinuous has taken place striation, and the degree of distortion is directly proportional with the degree of depth, the discontinuous physical clearance that then demonstrates body surface.After vision sensor 2 obtains the image that testee has line-structured light, just can calculate the volume coordinate of its corresponding measured point by picture point, lay the first stone for realizing the testee shape dimension measurement through follow-up analysis.
Dynamo-electric self-actuated controller 3 is used to drive and the laser projections direction of control line structured light transmitter 1 and the direction that vision sensor 2 obtains image.Dynamo-electric self-actuated controller comprises: cross-brace axle 31 and directional drive 32; Cross-brace axle 31 1 ends are used to connect fixedly vision sensor 2 and line-structured light transmitter 1, and the other end is fixed on the directional drive 32.Directional drive 32 is used for through motor-driven vision sensor 2 and the attitude adjustment of line-structured light transmitter 1 along pitching, rotation and the combination thereof of insulator axis direction.In the process of directional drive 32 driven visual sensors 2 motion, vision sensor 2 forms different angles with line-structured light transmitter 1 and testee, the testee image that vision sensor 2 is obtained have line-structured light.
Further, dynamo-electric self-actuated controller 3 also comprises: support member 33, support member 33 are used for cross-brace axle 21 and directional drive 32 are supported and fix; One end of support member and fixture (like firm ground, metope etc.) connect, and the other end connects directional drive 32.Simultaneously, support member 33 also is used to control the height of vision sensor 2 and line-structured light transmitter 1, perhaps controls the distance of vision sensor 2 and line-structured light transmitter 1 fixed distance part.
More concrete, dynamo-electric self-actuated controller 3 motion angle can make vision sensor 2 and line-structured light transmitter 1 can arrive the accurate position of taking testee simultaneously through artificial adjustment or computing machine 4 controls.That is to say that computing machine 4 can be with carrying out intellectuality control to dynamo-electric self-actuated controller 3, and to the control and the data collection and analysis of vision sensor 2 and line-structured light transmitter 1.Dynamo-electric self-actuated controller 3 motion angle can make from keeping certain degree of overlapping between the image of adjacent angle shot through computing machine 4 controls.
The present invention provides a kind of line-structured light location projection video capturing device, comprises line structured light vision sensor and complete external support structure and control system.Solve present line structured light vision sensor because its supporting external support structure imperfection very, and the problem of the restriction line structured light vision sensor scope of application in actual use makes line structured light vision sensor to use on a large scale.Projection video capturing device in line-structured light provided by the invention location is specially adapted in power industry in power transmission and transforming equipment capital construction, operation, maintenance process, to the check of object contour structure size with confirm.
It should be noted that; What the present invention described is a kind of product form of line-structured light location projection video capturing device; Other satisfies constructed products of the present invention; Not influence the factor of product performance inequality even material, device name, outward appearance, device are put sequential scheduling, still belongs to the scope of the present invention's protection.
Above content is to combine concrete preferred implementation to the further explain that the present invention did, and can not assert that practical implementation of the present invention is confined to these explanations.For the those of ordinary skill of technical field under the present invention, under the prerequisite that does not break away from the present invention's design, can also make some simple deduction or replace, all should be regarded as belonging to protection scope of the present invention.
Claims (8)
1. a line-structured light location projection video capturing device is characterized in that, comprising:
The line-structured light transmitter is used for forming a laser plane in the space through a cylindrical mirror, and is incident upon on the testee, forms line-structured light;
Vision sensor is used to obtain the image that said testee has line-structured light;
Dynamo-electric self-actuated controller is used to drive and control the laser projections direction of said line-structured light transmitter and the direction that said vision sensor obtains image;
Computing machine is used to control said dynamo-electric self-actuated controller, makes vision sensor and line-structured light transmitter arrive the accurate position of taking the testee image simultaneously.
2. device as claimed in claim 1 is characterized in that, said vision sensor be arranged on said line-structured light transmitter directly over, the center of said vision sensor and said line-structured light transmitter is on same vertical straight line.
3. device as claimed in claim 2; It is characterized in that; Said vision sensor and said line-structured light transmitter are separately fixed at the upper and lower surface of cross-brace axle one end, and the relative position between said vision sensor and the said line-structured light transmitter keeps being rigidly connected.
4. device as claimed in claim 1 is characterized in that, said dynamo-electric self-actuated controller comprises: cross-brace axle and directional drive;
Cross-brace axle, one of which end are used for connecting fixing said vision sensor and said line-structured light transmitter, and the other end is fixed on the directional drive;
Directional drive is used for adjusting along the attitude of pitching, rotation and the combination thereof of insulator axis direction through said vision sensor of motor-driven and said line-structured light transmitter.
5. device as claimed in claim 4; It is characterized in that; In the process of directional drive driven visual sensor movement, vision sensor forms different angles with line-structured light transmitter and testee, the testee image that said vision sensor is obtained have line-structured light.
6. device as claimed in claim 4 is characterized in that, said dynamo-electric self-actuated controller also comprises: support member, said support member are used for said cross-brace axle and directional drive are supported and fix; One end of said support member is connected with fixture, and the other end connects said directional drive.
7. device as claimed in claim 5; It is characterized in that; Said support member also is used to control the height of said vision sensor and said line-structured light transmitter, perhaps controls the distance of the said fixture of said vision sensor and said line-structured light transmitter distance.
8. like each described device in the claim 1 to 7; It is characterized in that; Said computing machine judges through the data of discerning said vision sensor whether said line-structured light transmitter has aimed at testee, and through controlling dynamo-electric self-actuated controller the line-structured light transmitter is located automatically.
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| CN104061863A (en) * | 2014-06-18 | 2014-09-24 | 国家电网公司 | Transformer substation insulator creepage distance online measuring device |
| CN104598014A (en) * | 2013-10-31 | 2015-05-06 | 深圳先进技术研究院 | Intelligent glasses system and plane identification method thereof |
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| CN109751987A (en) * | 2019-01-24 | 2019-05-14 | 江苏理工学院 | A kind of vision laser locating apparatus and localization method for mechanical actuating mechanism |
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Cited By (8)
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| TWI596359B (en) * | 2015-12-31 | 2017-08-21 | 致茂電子股份有限公司 | Three-dimensional profile scanning system for suppressing laser speckle noise and improving stability |
| CN105716541A (en) * | 2016-03-03 | 2016-06-29 | 国网河南省电力公司济源供电公司 | Insulator antifouling parameter measuring method |
| CN109751987A (en) * | 2019-01-24 | 2019-05-14 | 江苏理工学院 | A kind of vision laser locating apparatus and localization method for mechanical actuating mechanism |
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