CN108303041A - A kind of three-dimensional measuring apparatus and method - Google Patents
A kind of three-dimensional measuring apparatus and method Download PDFInfo
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- CN108303041A CN108303041A CN201810310517.9A CN201810310517A CN108303041A CN 108303041 A CN108303041 A CN 108303041A CN 201810310517 A CN201810310517 A CN 201810310517A CN 108303041 A CN108303041 A CN 108303041A
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- G—PHYSICS
- 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
- G01B11/2545—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 with one projection direction and several detection directions, e.g. stereo
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- G—PHYSICS
- 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
- G01B11/254—Projection of a pattern, viewing through a pattern, e.g. moiré
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- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The present invention proposes a kind of three-dimensional measuring apparatus and method, including 3-D scanning module (1), cross slid platform module (2), object rotary module (3), PC machine (4), object translation module (5), display (6), control module (7) and firm banking (8).The 3-D scanning module (1) connect with the Y-axis of cross slid platform module (2), the cross slid platform module (2) connect with firm banking (8), the object rotary module (3) connect with object translation module (5), the object translation module (5) connect with firm banking (8), the PC machine (4) connect with display (6), the PC machine (4) is connect with control module (7) by network interface or serial ports, and the PC machine (4) and control module (7) are fixed on firm banking (8).The present invention is implemented in combination with the measurement of object dimensional data by area-structure light and multiaxis rotation translation control system.
Description
Technical field
The invention belongs to three-dimensional measurement technical field, more particularly to a kind of three-dimensional measuring apparatus and method.
Background technology
Three-dimensional measurement is multiple in industrial automatic detection, control of product quality, reverse engineer, biomedicine, virtual reality, historical relic
The various fields such as system, anthropological measuring have extensive use.With computer technology, digital image acquisition device and optical device
Development, optical three-dimensional measurement technology comes into the stage of ripeness of business application, continuous with stylish optical three-dimensional measuring method
It emerges in large numbers.
Optical three-dimensional measurement is the side by non-contactly obtaining testee three-dimensional data with optics and electronic instrument
Method and technology.Currently, measuring method mainly has the method based on line-structured light and the method based on area-structure light, cable architecture
Light three-dimensional measurement passes through camera based on optic triangle method principle from laser line generator to testee surface incident line structure light item
The structure light image that deforms through testee surface modulation is shot, then from carrying testee three-dimensional surface shape
Calculate the three-dimensional data of testee in the image of information, the shortcomings that this by-line scan mode is that speed is slow.Area-structure light
Three-dimension measuring system is made of a digital fringe projection instrument device and (or multiple) industrial camera, and number is used when measurement
Optical grating projection device projects one group of encoded raster image to testee, and is shot simultaneously through measured object using industrial camera
Body surface modulation and the raster image deformed, this method can once obtain the three-dimensional data on one surface of object, and sweep speed
Soon, precision and high resolution have become the technical way of three-dimensional measurement.
Currently, existing three-dimensional measuring apparatus and method based on area-structure light have the following problems：
(1) method for measuring complete object three-dimensional data is complicated：Area-structure light can only one face of one-shot measurement three dimensions
According to the measurement complete three-dimensional data of object, needs to measure object under different angle, then to different angles if necessary
Degree three-dimensional data is registrated, and existing technological means is then to use index point certainly in testee surface mount index point
Dynamic splicing completes registration, and the stickup of index point is not only time-consuming, but also the paste position of index point undesirable causes to match
Quasi- failure, and since the place of sticking sign point can cause the missing of three-dimensional data, increase the cost of Data Post.
(2) three-dimensional measurement of object under different distance can not be adapted to：Existing three-dimensional measuring apparatus measure when, light group with
Testee distance is relatively fixed, and is measured obtained object dimensional data spatial resolution in this way and is relatively fixed, can not be according to quilt
The size measurement for surveying object obtains the three-dimensional data of different spatial resolutions.
Invention content
For the present invention in order to solve the deficiency of existing three-dimensional measuring apparatus and method, it is automatic, fast that the present invention provides a kind of energy
Speed measures complete, high-precision and high-resolution three-dimension data device and method, passes through area-structure light and multiaxis rotation translation control
System processed is implemented in combination with the measurement of object dimensional data.
The purpose of the present invention is achieved through the following technical solutions：A kind of three-dimensional measuring apparatus, including 3-D scanning module 1,
Cross slid platform module 2, object rotary module 3, PC machine 4, object translation module 5, display 6, control module 7 and firm banking 8；
The 3-D scanning module 1 is connect with the Y-axis of cross slid platform module 2, and the cross slid platform module 2 is connect with firm banking 8, institute
It states object rotary module 3 to connect with object translation module 5, the object translation module 5 is connect with firm banking 8, the PC machine 4
It is connect with display 6, the PC machine 4 is connect with control module 7 by network interface or serial ports, the PC machine 4 and control module 7
It is fixed on firm banking 8.
Further, the 3-D scanning module 1 includes DLP projector 11,2 industrial cameras 12, the first firm bankings
13, postive stop baffle 14, Worm and worm-wheel gearing 15, Z axis motor 16, limit switch 17, limit switch fixed seat 18 and connection
Plate 19；The DLP projector 11 and 2 industrial cameras 12 are connect with the first firm banking 13, and the DLP projector 11 is located at
Center, 2 industrial cameras 12 are located at the left and right sides, and form angle with DLP projector 11；The postive stop baffle 14 and
One firm banking 13 connects；First firm banking 13 is connect with Worm and worm-wheel gearing 15, the Worm Wheel System
Mechanism 15 is connect with Z axis motor 16, and the Worm and worm-wheel gearing 15 is connect with connecting plate 19；The limit switch 17 passes through
Limit switch fixed seat 18 is fixed on connecting plate 19；The connecting plate 19 is connect with the Y-axis of cross slid platform module 2.
Further, the cross slid platform module 2 is connected including Y-axis slide unit 21, X-axis slide unit 22, fixing bracket 23 with X-axis
Plate 24；The fixing bracket 23 is used for for connecting Y-axis slide unit 21 and X-axis slide unit 22, the X-axis connecting plate 24 by cross slid platform
Module 2 is connect with firm banking 8.
Further, the Y-axis slide unit 21 includes y-axis motor 211, Y-axis slideway 212, Y-axis sliding block 213, Y-axis limiting block
Plate 214 and Y-axis limit switch 215；The output shaft of the y-axis motor 211 and the lead screw axis connection in Y-axis slideway 212；The Y
Axis slideway 212 is connect with Y-axis sliding block 213；The Y-axis postive stop baffle 214 is connect with Y-axis sliding block 213；The Y-axis limit switch
215 connect with Y-axis sliding block 213.
Further, the X-axis slide unit 22 includes X-axis motor 221, X-axis slideway 222, X-axis slide block 223, X-axis limiting block
Plate 224 and X-axis limit switch 225；The output shaft of the X-axis motor 221 and the lead screw axis connection in X-axis slideway 222；The X
Axis slideway 222 is connect with X-axis slide block 223；The X-axis postive stop baffle 224 is connect with X-axis slide block 223；The X-axis limit switch
225 connect with X-axis slide block 223.
Further, the object rotary module 3 includes testee 31, object holders 32, electromagnet 33, protective cover
34, U axis firm banking 35, holder 36, U spindle motors 37, U axis Worm and worm-wheel gearing 38, U axis postive stop baffle 39, the limit of U axis
Switch 40, U axis limit switches fixed seat 41 and U axis connections plate 42；32 one end of the object holders is used to clamp testee 31,
The other end is contacted with electromagnet 33, passes through the suction-combining force fixed object fixture 32 of electromagnet 33；The protective cover 34 covers on electromagnetism
Outside iron 33；The electromagnet 33 is connect with U axis firm banking 35；The U axis firm banking 35 is connect with holder 36；The holder
36 connect with U axis Worm and worm-wheel gearing 38；The U axis Worm and worm-wheel gearing 38 is connect with U spindle motors 37；The U
Axis Worm and worm-wheel gearing 38 is connect with U axis connections plate 42；The U axis postive stop baffle 39 is connect with holder 36；The U axis limit
Bit switch 40 is fixed on by U axis limit switches fixed seat 41 on U axis connections plate 42.
The present invention also proposes a kind of three-dimensional measuring apparatus, including the rotation of 3-D scanning module 1, cross slid platform module 2, object
Module 3, PC machine 4, object translation module 5, display 6, control module 7 and firm banking 8；
Raster image of the 3-D scanning module 1 for measuring 31 single side piece of testee under different pitch angles；
The cross slid platform module 2 is used to adjust the distance at 31 center of 3-D scanning module 1 and testee, and three-dimensional is made to sweep
Retouch the three-dimensional information that module 1 measures object under different distance；
The object rotary module 3 is used to adjust the angle of the rotation of testee 31, and 3-D scanning module 1 is allow to measure
Raster image of the object under different rotary angle；
The PC machine 4 is used to make the operation of 3-D scanning module 1 to optimum position by control module 7, and by being adopted to it
The image of collection carries out operation and obtains 31 complete three-dimensional data of testee；
The object translation module 5 is used to adjust the translation distance of testee 31, and 3-D scanning module 31 is allow to survey
Measure raster image of the object under different translation distances；
The display 6 is for showing acquisition interface；
The control module 7 is for controlling 3-D scanning module 1, cross slid platform module 2, object rotary module 3 and object
Translation module 5 carries out translation or rotary motion；
The firm banking 8 is for fixed cross slide unit module 2 and object translation module 5 so that it can stable operation.
The present invention also proposes a kind of method for three-dimensional measurement, includes the following steps：
Step 1: the calibration of three-dimensional measuring apparatus：
3-D scanning module 1 shoots the scaling board figure under different angle in different location, by 2 industrial cameras 12
Picture realizes the calibration of measuring device by calibration algorithm；
Step 2: the clamping of testee 31：
32 one end of object holders is inserted into testee 31, and testee 31 is clamped, and the other end is placed on object rotary module 3
On electromagnet 33 on, so that testee 31 is connect with object rotary module 3 by the suction-combining force of electromagnet 33；
Step 3: N ° of 1 rotation angle of 3-D scanning module, moves to 31 centre distance R of testee：
Control module 7 drives N ° of 1 rotation angle of 3-D scanning module, while cross slid platform module 2 being driven to make 3-D scanning
Module 1 moves to 31 centre distance R of testee；
Step 4: testee 31 rotation angle β, translation distance L：
Control module 7 drives object rotary module 3 to drive 31 rotation angle β of testee, while driving object translation mould
Block 5 drives 31 translation distance L of testee；
Step 5: the three-dimensional vision information of 31 current location of testee：
PC machine 4 obtains the raster image that industrial camera 12 acquires by USB interface, calculates and obtains testee 31 and is working as
The three-dimensional data of front position；
Step 6: three-dimensional data is registrated：
The calibrating parameters obtained with step 1 carry out rotation translation transformation to the three-dimensional data of current location, realize current
The registration of the three-dimensional data of position；
Step 3 is repeated to step 6 C times, obtains the three-dimensional data of complete testee 31.
Three-dimensional measuring apparatus of the present invention and method, caused advantageous effect have：
(1) data are complete：It is combined by area-structure light and multiaxis rotation translation control system, can measure and obtain complete three
Dimension data.
(2) measuring speed is fast：It can be measured in 1 minute and obtain object Complete three-dimensional data, greatly reduce data survey
The time of amount.
(3) precision and high resolution：Measurement accuracy is not less than 0.05mm, and resolution ratio is not less than 0.3mm.
(4) easy to operate：Without sticking sign point, entire scanning process is not necessarily to manual intervention.
Description of the drawings
Fig. 1 is three-dimensional measuring apparatus structural schematic diagram of the present invention；
Fig. 2 is 3-D scanning modular structure schematic diagram；
Fig. 3 is cross slid platform modular structure schematic diagram；
Fig. 4 is object rotary module structural schematic diagram；
Fig. 5 is circuit system connection diagram；
Fig. 6 is system calibrating side view；
Fig. 7 is that scaling board rotates in the forward direction vertical view；
Fig. 8 is that scaling board reversely rotates vertical view；
Fig. 9 is that system scans side view；
Figure 10 is that testee rotates in the forward direction vertical view；
Figure 11 is that testee reversely rotates vertical view.
Specific implementation mode
Technical solution in the embodiment of the present invention that following will be combined with the drawings in the embodiments of the present invention carries out clear, complete
Ground describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on this
Embodiment in invention, every other reality obtained by those of ordinary skill in the art without making creative efforts
Example is applied, shall fall within the protection scope of the present invention.
In conjunction with Fig. 1-Fig. 5, the present invention proposes a kind of three-dimensional measuring apparatus, including 3-D scanning module 1, cross slid platform module
2, object rotary module 3, PC machine 4, object translation module 5, display 6, control module 7 and firm banking 8；The 3-D scanning
Module 1 is connect with the Y-axis of cross slid platform module 2, and the cross slid platform module 2 is connect with firm banking 8, the object rotating mould
Block 3 is connect with object translation module 5, and the object translation module 5 is connect with firm banking 8, and the PC machine 4 connects with display 6
It connects, the PC machine 4 is connect with control module 7 by network interface or serial ports, and the PC machine 4 and control module 7 are fixed on fixation
On pedestal 8.
The 3-D scanning module 1 includes 11,2 industrial cameras 12 of DLP projector, the first firm banking 13, limiting block
Plate 14, Worm and worm-wheel gearing 15, Z axis motor 16, limit switch 17, limit switch fixed seat 18 and connecting plate 19；It is described
DLP projector 11 and 2 industrial cameras 12 are connect with the first firm banking 13, and the DLP projector 11 is located at center, 2
Industrial camera 12 is located at the left and right sides, and forms angle, 12 synchronous acquisition DLP projections of industrial camera with DLP projector 11
Instrument 11 projects the raster image that testee surface deforms, and is used for the measurement of testee three-dimensional information；The limit
Baffle 14 is connect with the first firm banking 13, the extreme position for the detection scanning light group rotation of limit switch 17 and origin position
It sets；First firm banking 13 is connect with Worm and worm-wheel gearing 15, makes Worm and worm-wheel gearing 15 in Z axis motor 16
Driving under drive scanning light group rotate about the z axis, the Worm and worm-wheel gearing 15 is connect with Z axis motor 16, the worm gear
Worm gearing 15 is connect with connecting plate 19；The limit switch 17 is fixed on connecting plate 19 by limit switch fixed seat 18
On；The connecting plate 19 is connect with the Y-axis of cross slid platform module 2, and cross slid platform module 2 is allow to drive 3-D scanning module 1
In the plane translational motion that X-axis and Y-axis are constituted.
The cross slid platform module 2 includes Y-axis slide unit 21, X-axis slide unit 22, fixing bracket 23 and X-axis connecting plate 24；It is described
Fixing bracket 23 is for connecting Y-axis slide unit 21 and X-axis slide unit 22, and the X-axis connecting plate 24 is for by cross slid platform module 2 and admittedly
Determine the connection of pedestal 8.
The Y-axis slide unit 21 includes y-axis motor 211, Y-axis slideway 212, Y-axis sliding block 213, Y-axis postive stop baffle 214 and Y-axis
Limit switch 215；The output shaft of the y-axis motor 211 and the lead screw axis connection in Y-axis slideway 212, for driving lead screw to revolve
Turn, while driving the linear motion of the progress Y-axis of Y-axis sliding block 213；The Y-axis slideway 212 is connect with Y-axis sliding block 213；The Y-axis
Postive stop baffle 214 is connect with Y-axis sliding block 213, extreme position and origin position for detecting Y-axis sliding block 213；The Y-axis limit
Bit switch 215 is connect with Y-axis sliding block 213.
The X-axis slide unit 22 includes X-axis motor 221, X-axis slideway 222, X-axis slide block 223, X-axis postive stop baffle 224 and X-axis
Limit switch 225；The output shaft of the X-axis motor 221 and the lead screw axis connection in X-axis slideway 222, for driving lead screw to revolve
Turn, while driving the linear motion of the progress X-axis of X-axis slide block 223；The X-axis slideway 222 is connect with X-axis slide block 223；The X-axis
Postive stop baffle 224 is connect with X-axis slide block 223, extreme position and origin position for detecting X-axis slide block 223；The X-axis limit
Bit switch 225 is connect with X-axis slide block 223.
The object rotary module 3 is fixed including testee 31, object holders 32, electromagnet 33, protective cover 34, U axis
Pedestal 35, holder 36, U spindle motors 37, U axis Worm and worm-wheel gearing 38, U axis postive stop baffle 39, U axis limit switch 40, U axis
Limit switch fixed seat 41 and U axis connections plate 42；32 one end of the object holders is for clamping testee 31, the other end and electricity
Magnet 33 contacts, and passes through the suction-combining force fixed object fixture 32 of electromagnet 33；The protective cover 34 covers on outside electromagnet 33；It is described
Electromagnet 33 is connect with U axis firm banking 35；The U axis firm banking 35 is connect with holder 36；The holder 36 and U axis worm gears
Worm gearing 38 connect, make U axis Worm and worm-wheel gearing 38 driven under the driving of U spindle motors 37 testee 31 around
U axis rotates；The U axis Worm and worm-wheel gearing 38 is connect with U spindle motors 37；The U axis Worm and worm-wheel gearing 38 and U
Axis connection plate 42 connects；The U axis postive stop baffle 39 is connect with holder 36；The U axis limit switch 40 passes through U axis limit switches
Fixed seat 41 is fixed on U axis connections plate 42.
The object translation module 5 includes V spindle motors 51, V axis slideway 52, V axis sliding block 53, V axis postive stop baffle 54, V axis
Limit switch 55 and V axis connections plate 56；The output shaft of the V spindle motors 51 and the lead screw axis connection in V axis slideway 52, are used for band
Dynamic lead screw rotation, while driving the linear motion of the progress V axis of V axis sliding block 53；V axis postive stop baffle 54 is connect with V axis sliding block 53, is used
In the extreme position and origin position of detection V axis sliding block 53, the V axis limit switch 55 is connect with V axis sliding block 53, the V axis
Connecting plate 56 is for the object translation module 5 to be connect with firm banking 8.
Fig. 5 is circuit system connection diagram, and the PC machine 4 is connect with DLP projector 11 by USB interface, for controlling
DLP projector 11 processed projects raster image to testee, and DLP projector 11 is connect by firing line with industrial camera 12, uses
In synchronous testee image of the triggering camera shooting with grating, PC machine 4 is connect by USB interface with industrial camera 12, is used
In the grating belt for acquiring industrial camera 12 testee image transmitting to PC machine 4, PC machine 4 is connect with display 6, for showing
Show that acquisition interface, PC machine 4 are connect with control module 7 by network interface or serial ports, each axis is controlled for being sent to control module
The instruction of motor rotation, control module 7 and X-axis motor 221, y-axis motor 211, Z axis motor 16, U spindle motors 37 and V spindle motors
51 connections, for controlling each spindle motor rotation.
The present invention also proposes a kind of three-dimensional measuring apparatus, including the rotation of 3-D scanning module 1, cross slid platform module 2, object
Module 3, PC machine 4, object translation module 5, display 6, control module 7 and firm banking 8；
Raster image of the 3-D scanning module 1 for measuring 31 single side piece of testee under different pitch angles；
The cross slid platform module 2 is used to adjust the distance at 31 center of 3-D scanning module 1 and testee, and three-dimensional is made to sweep
Retouch the three-dimensional information that module 1 measures object under different distance；
The object rotary module 3 is used to adjust the angle of the rotation of testee 31, and 3-D scanning module 1 is allow to measure
Raster image of the object under different rotary angle；
The PC machine 4 is used to make the operation of 3-D scanning module 1 to optimum position by control module 7, and by being adopted to it
The image of collection carries out operation and obtains 31 complete three-dimensional data of testee；
The object translation module 5 is used to adjust the translation distance of testee 31, and 3-D scanning module 31 is allow to survey
Measure raster image of the object under different translation distances；
The display 6 is for showing acquisition interface；
The control module 7 is for controlling 3-D scanning module 1, cross slid platform module 2, object rotary module 3 and object
Translation module 5 carries out translation or rotary motion；
The firm banking 8 is for fixed cross slide unit module 2 and object translation module 5 so that it can stable operation.
In conjunction with Fig. 1, Fig. 6 to Figure 11, the present invention also proposes a kind of method for three-dimensional measurement, includes the following steps：
Step 1: the calibration of three-dimensional measuring apparatus：
3-D scanning module 1 shoots the scaling board figure under different angle in different location, by 2 industrial cameras 12
Picture realizes the calibration of measuring device by calibration algorithm；
Step 2: the clamping of testee 31：
32 one end of object holders is inserted into testee 31, and testee 31 is clamped, and the other end is placed on object rotary module 3
On electromagnet 33 on, so that testee 31 is connect with object rotary module 3 by the suction-combining force of electromagnet 33；
Step 3: N ° of 1 rotation angle of 3-D scanning module, moves to 31 centre distance R of testee：
Control module 7 drives N ° of 1 rotation angle of 3-D scanning module, while cross slid platform module 2 being driven to make 3-D scanning
Module 1 moves to 31 centre distance R of testee；
Step 4: testee 31 rotation angle β, translation distance L：
Control module 7 drives object rotary module 3 to drive 31 rotation angle β of testee, while driving object translation mould
Block 5 drives 31 translation distance L of testee；
Step 5: the three-dimensional vision information of 31 current location of testee：
PC machine 4 obtains the raster image that industrial camera 12 acquires by USB interface, calculates and obtains testee 31 and is working as
The three-dimensional data of front position；
Step 6: three-dimensional data is registrated：
The calibrating parameters obtained with step 1 carry out rotation translation transformation to the three-dimensional data of current location, realize current
The registration of the three-dimensional data of position；
Step 3 is repeated to step 6 C times, obtains the three-dimensional data of complete testee 31.
The calibration of the three-dimensional measuring apparatus in step 1 is further described with reference to Fig. 6, entire calibration process
Need acquisition scaling board 43 in N (N ＞ 1) pictures of different location, as shown in fig. 6, when acquiring 43 picture of scaling board, control
Module 7 drives 3-D scanning module 1 to be rotated along X-axis and Y direction translation, along Z axis so that 3-D scanning module 1 be moved to away from
Any position that radius from 43 center O of scaling board is R, and the center guiding calibration of the scanning light group of 3-D scanning module 1
43 center O of plate, while control module 7 drives object rotary module 3 and object translation module 5 along the rotation of U axis and the translation of V axis, makes
3-D scanning module 1 can acquire uncalibrated image of the scaling board 43 under different angle, carry out the calibration of device.
The calibration of the three-dimensional measuring apparatus in step 1 is further described with reference to Fig. 6 to Fig. 8, as preferred
Embodiment, for mark timing acquiring scaling board 43 in 8 pictures of different location, different location is respectively A1, the A2 that radius is R1,
At A3, A4 and B1, B2, B3 that radius is R2, at B4, wherein 1 position of 3-D scanning module is A1, A2, the A3 that radius is R1,
At A4, each position of 3-D scanning module 1, scaling board 43 rotates in the forward direction α1Degree reversely rotates α2Degree, to 8 collected
Picture carries out calibrated and calculated and obtains the Intrinsic Matrix I, outer ginseng matrix E and spin matrix matR of industrial camera 12i(i=
1 ... 8), translation matrix matTi(i=1 ... 8) and, it is used for calculating and the registration of subsequent three-dimensional point.
The testee three-dimensional vision information of step 3 to step 5 is further described with reference to Fig. 9, entirely
Measurement process needs acquisition testee 31 to organize three-dimensional data in the N (N ＞ 1) of different location, as shown in figure 9, tested in acquisition
When the three-dimensional data of object 31, control module 7 drives 3-D scanning module 1 to be rotated along X-axis and Y direction translation, along Z axis, makes
3-D scanning module 1 is moved to any position that radius away from testee center O is R, and 3-D scanning module 1 is swept
31 center O of testee is directed toward at the center for retouching light group, while control module 7 drives object rotary module 3 and object translation module 5
Along the rotation of U axis and the translation of V axis, 3-D scanning module 1 is allow to acquire three-dimensional data of the mark testee 31 under different angle.
The testee three-dimensional vision information of step 3 to step 5 is carried out furtherly with reference to Fig. 9 to Figure 11
Bright, preferably, for acquisition testee 31 in 8 groups of three-dimensional datas of different location, different location is respectively radius
For the A1 of R1, A2, A3, at A4 and B1, B2, B3 that radius is R2, at B4, wherein 1 position of 3-D scanning module is that radius is
The A1 of R1, A2, at A3, A4, each position of 3-D scanning module 1, testee 31 rotates in the forward direction β1Degree reversely rotates β2Degree,
DLP projector 11 is acquired by industrial camera 12 to each position and projects the amplitude grating image on testee 31, and is passed through
The three-dimensional data data of current location is calculated in the Intrinsic Matrix I and outer parameter matrix E that calibration obtains industrial camera 12i(i
=1 ... 8).
Step 6 three-dimensional data registration is further described below, to obtained three-dimensional data datai(i=1 ...
8) spin matrix matR, is obtained according to calibrationi(i=1 ... 8), translation matrix matTi(i=1 ... 8) it is registrated in turn
Obtain the unit data data of complete testee 31.
Above to a kind of three-dimensional measuring apparatus provided by the present invention and method, it is described in detail, it is used herein
Principle and implementation of the present invention are described for specific case, and the explanation of above example is only intended to help to understand
The method and its core concept of the present invention；Meanwhile for those of ordinary skill in the art, according to the thought of the present invention, having
There will be changes in body embodiment and application range, in conclusion the content of the present specification should not be construed as to the present invention
Limitation.
Claims (8)
1. a kind of three-dimensional measuring apparatus, it is characterised in that：Including 3-D scanning module (1), cross slid platform module (2), object rotation
Revolving die block (3), PC machine (4), object translation module (5), display (6), control module (7) and firm banking (8)；The three-dimensional
Scan module (1) is connect with the Y-axis of cross slid platform module (2), and the cross slid platform module (2) connect with firm banking (8), institute
Object rotary module (3) to be stated to connect with object translation module (5), the object translation module (5) connect with firm banking (8),
The PC machine (4) connect with display (6), and the PC machine (4) is connect with control module (7) by network interface or serial ports, institute
It states PC machine (4) and control module (7) is fixed on firm banking (8).
2. the apparatus according to claim 1, it is characterised in that：The 3-D scanning module (1) includes DLP projector
(11), 2 industrial cameras (12), the first firm banking (13), postive stop baffle (14), Worm and worm-wheel gearing (15), Z axis electricity
Machine (16), limit switch (17), limit switch fixed seat (18) and connecting plate (19)；The DLP projector (11) and 2 industry
Camera (12) is connect with the first firm banking (13), and the DLP projector (11) is located at center, 2 industrial cameras (12) point
Not Wei Yu the left and right sides, and with DLP projector (11) formed angle；The postive stop baffle (14) connects with the first firm banking (13)
It connects；First firm banking (13) connect with Worm and worm-wheel gearing (15), the Worm and worm-wheel gearing (15) and Z
Spindle motor (16) connects, and the Worm and worm-wheel gearing (15) connect with connecting plate (19)；The limit switch (17) passes through
Limit switch fixed seat (18) is fixed on connecting plate (19)；The connecting plate (19) and the Y-axis of cross slid platform module (2) connect
It connects.
3. the apparatus according to claim 1, it is characterised in that：The cross slid platform module (2) includes Y-axis slide unit (21), X
Axis slide unit (22), fixing bracket (23) and X-axis connecting plate (24)；The fixing bracket (23) is for connecting Y-axis slide unit (21) and X
Axis slide unit (22), the X-axis connecting plate (24) is for cross slid platform module (2) to be connect with firm banking (8).
4. device according to claim 3, it is characterised in that：The Y-axis slide unit (21) includes y-axis motor (211), Y-axis
Slideway (212), Y-axis sliding block (213), Y-axis postive stop baffle (214) and Y-axis limit switch (215)；The y-axis motor (211)
Output shaft and the lead screw axis connection in Y-axis slideway (212)；The Y-axis slideway (212) connect with Y-axis sliding block (213)；The Y-axis
Postive stop baffle (214) is connect with Y-axis sliding block (213)；The Y-axis limit switch (215) connect with Y-axis sliding block (213).
5. device according to claim 3, it is characterised in that：The X-axis slide unit (22) includes X-axis motor (221), X-axis
Slideway (222), X-axis slide block (223), X-axis postive stop baffle (224) and X-axis limit switch (225)；The X-axis motor (221)
Output shaft and the lead screw axis connection in X-axis slideway (222)；The X-axis slideway (222) connect with X-axis slide block (223)；The X-axis
Postive stop baffle (224) is connect with X-axis slide block (223)；The X-axis limit switch (225) connect with X-axis slide block (223).
6. the apparatus according to claim 1, it is characterised in that：The object rotary module (3) include testee (31),
Object holders (32), electromagnet (33), protective cover (34), U axis firm banking (35), holder (36), U spindle motors (37), U axis snails
Worm and gear transmission mechanism (38), U axis postive stop baffle (39), U axis limit switch (40), U axis limit switch fixed seats (41) and U axis
Connecting plate (42)；For clamping testee (31), the other end is contacted with electromagnet (33) for described object holders (32) one end, is led to
Cross the suction-combining force fixed object fixture (32) of electromagnet (33)；The protective cover (34) covers on electromagnet (33) outside；The electromagnetism
Iron (33) is connect with U axis firm banking (35)；The U axis firm banking (35) connect with holder (36)；The holder (36) and U
Axis Worm and worm-wheel gearing (38) connects；The U axis Worm and worm-wheel gearing (38) connect with U spindle motors (37)；The U
Axis Worm and worm-wheel gearing (38) is connect with U axis connections plate (42)；The U axis postive stop baffle (39) connect with holder (36)；
The U axis limit switch (40) is fixed on by U axis limit switch fixed seats (41) on U axis connections plate (42).
7. a kind of three-dimensional measuring apparatus, it is characterised in that：Including 3-D scanning module (1), cross slid platform module (2), object rotation
Revolving die block (3), PC machine (4), object translation module (5), display (6), control module (7) and firm banking (8)；
Raster image of the 3-D scanning module (1) for measuring testee (31) single side piece under different pitch angles；
The cross slid platform module (2) is used to adjust the distance of 3-D scanning module (1) and testee (31) center, makes three-dimensional
Scan module (1) measures the three-dimensional information of object under different distance；
The object rotary module (3) is used to adjust the angle of testee (31) rotation, makes 3-D scanning module (1) that can survey
Measure raster image of the object under different rotary angle；
The PC machine (4) is used to make 3-D scanning module (1) operation to optimum position by control module (7), and by it
The image of acquisition carries out operation and obtains testee (31) complete three-dimensional data；
The object translation module (5) is used to adjust the translation distances of testee (31), makes 3-D scanning module (31) can be with
Measure raster image of the object under different translation distances；
The display (6) is for showing acquisition interface；
The control module (7) for control 3-D scanning module (1), cross slid platform module (2), object rotary module (3) and
Object translation module (5) carries out translation or rotary motion；
The firm banking (8) is for fixed cross slide unit module (2) and object translation module (5) so that it can stable operation.
8. a kind of method for three-dimensional measurement of three-dimensional measuring apparatus as described in claim 1-7 is any, it is characterised in that：Including with
Lower step：
Step 1: the calibration of three-dimensional measuring apparatus：
3-D scanning module (1) shoots the scaling board figure under different angle by 2 industrial cameras (12) in different location
Picture realizes the calibration of measuring device by calibration algorithm；
Step 2: the clamping of testee (31)：
Object holders (32) one end is inserted into testee (31), and testee (31) is clamped, and the other end is placed on object rotating mould
On electromagnet (33) on block (3), testee (31) is set to connect with object rotary module (3) by the suction-combining force of electromagnet (33)
It connects；
Step 3: 3-D scanning module (1) rotation angle No, moves to testee (31) centre distance R：
Control module (7) drives 3-D scanning module (1) rotation angle No, while driving cross slid platform module (2) that three-dimensional is made to sweep
It retouches module (1) and moves to testee (31) centre distance R；
Step 4: testee (31) rotation angle β, translation distance L：
Control module (7) drives object rotary module (3) to drive testee (31) rotation angle β, while driving object translation
Module (5) drives testee (31) translation distance L；
Step 5: the three-dimensional vision information of testee (31) current location：
PC machine (4) obtains the raster image that industrial camera (12) acquires by USB interface, calculates and obtains testee (31) and exists
The three-dimensional data of current location；
Step 6: three-dimensional data is registrated：
The calibrating parameters obtained with step 1 carry out rotation translation transformation to the three-dimensional data of current location, realize current location
Three-dimensional data registration；
Step 3 is repeated to step 6 C times, obtains the three-dimensional data of complete testee (31).
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| CN110360951A (en) * | 2019-06-28 | 2019-10-22 | 浙江理工大学 | A kind of structure optical experimental setup that comprehensive detection can be achieved |
| CN111964611A (en) * | 2020-08-18 | 2020-11-20 | 山东理工大学 | Axle type part straightness accuracy error measuring device based on machine vision |
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