CN111089548A - Medium-and-long-distance three-dimensional imaging system with high-resolution texture - Google Patents
Medium-and-long-distance three-dimensional imaging system with high-resolution texture Download PDFInfo
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- CN111089548A CN111089548A CN201911289996.1A CN201911289996A CN111089548A CN 111089548 A CN111089548 A CN 111089548A CN 201911289996 A CN201911289996 A CN 201911289996A CN 111089548 A CN111089548 A CN 111089548A
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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
- G01B11/245—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures using a plurality of fixed, simultaneously operating transducers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8806—Specially adapted optical and illumination features
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/956—Inspecting patterns on the surface of objects
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Abstract
The invention discloses a medium-distance and long-distance three-dimensional imaging system with high-resolution textures, which comprises two tele cameras, a large-caliber telescopic objective lens, a high-resolution CCD (charge coupled device), two tele cameras and the large-caliber telescopic objective lens, wherein the two tele cameras and the large-caliber telescopic objective lens are all arranged on a rotating platform; the two telephoto cameras form a wide-baseline binocular stereo vision system so as to obtain three-dimensional point cloud data of a target object by using a binocular stereo vision principle; the high-resolution CCD is coupled to the rear end of the large-aperture telescope to form a high-resolution texture image acquisition device for shooting high-resolution texture images of a target object at a medium and long distance, and the high-resolution texture image acquisition device is positioned between the two tele cameras. The invention overcomes the defect that the existing method for obtaining the three-dimensional model of the object by adopting the laser radar and the pure binocular method only has depth data and lacks high-resolution texture characteristics.
Description
Technical Field
The invention relates to the technical field of three-dimensional imaging, in particular to a medium-distance and long-distance three-dimensional imaging system with high-resolution textures.
Background
With rapid development of economic and high-end manufacturing industries, the need for three-dimensional measurement of large targets is increasing. In the field of aerospace, three-dimensional shape measurement of large-scale aerospace vehicles is very important for manufacturing quality monitoring, and full-machine-size three-dimensional modeling and measurement of airplanes provide prototype data reference for digital prototype design, and can also be used as an important means for quality monitoring in the process of airplane manufacturing and flight service. In the field of ship industry, the ship body outline dimension detection and deformation detection have extremely high coordinate measurement precision requirements.
In particular, the safety of medium and large hydraulic dam engineering is paid much attention, the concrete dam is an important component of the hydraulic engineering, and the dam body can cause cracks due to various reasons such as load effect, concrete shrinkage, temperature and humidity change, uneven settlement of foundation, improper construction and maintenance method and the like. Cracks generated in the dam have a great influence on the strength, durability and functionality of the building. Over time, the initial micro cracks may have a great influence on the dam structure, even cause serious leakage to cause the project to be out of normal use, and cause serious potential safety hazards. Therefore, the method has very important significance for medium and long distance global three-dimensional imaging and local high-precision and high-resolution texture detection of large scene targets.
However, in the case of medium and long distances, the conventional three-dimensional imaging system can only obtain three-dimensional point cloud information and low-resolution texture information, and cannot form a three-dimensional model with high-resolution texture information.
Disclosure of Invention
The invention aims to provide a medium-and-long-distance three-dimensional imaging system with high-resolution textures, aiming at the technical defects in the prior art, a free three-eye vision scheme is adopted, a left camera and a right camera obtain three-dimensional point cloud data of a target object by utilizing a binocular stereo vision principle, and a large-caliber telescopic objective lens and a high-resolution CCD (charge coupled device) which are arranged in the middle are used for shooting to obtain a long-distance high-resolution texture image, so that a three-dimensional model with high-resolution textures can be obtained through texture mapping.
The technical scheme adopted for realizing the purpose of the invention is as follows:
a medium-distance three-dimensional imaging system with high resolution texture, comprising:
the two tele cameras, the large-caliber telescopic objective lens, the high-resolution CCD, the two tele cameras and the large-caliber telescopic objective lens are all arranged on the rotary platform; the two telephoto cameras form a wide-baseline binocular stereo vision system so as to obtain three-dimensional point cloud data of a target object by using a binocular stereo vision principle; the high-resolution CCD is coupled to the rear end of the large-aperture telescope to form a high-resolution texture image acquisition device for shooting high-resolution texture images of a target object at a medium and long distance, and the high-resolution texture image acquisition device is positioned between the two tele cameras.
The two telephoto cameras and the high-resolution CCD are respectively connected to an industrial control host, collected images are stored on the industrial control host, the industrial control host processes the images shot by the two telephoto cameras to obtain three-dimensional point cloud of a target object, and then high-resolution texture images shot by the large-caliber telescope objective are mapped to the three-dimensional point cloud to obtain a three-dimensional model of a measured object with high-resolution surface texture.
The two rotary platforms respectively connected with the long-focus camera and the large-caliber telescopic objective lens are respectively connected with an electric control system, the electric control system is connected with an industrial control host, and the image acquisition of a target object is carried out by moving up and down, left and right under the control of the industrial control host.
Wherein, two long focus cameras adopt a camera with a fixed focus 800mm lens.
The aperture of the large-aperture telescope objective is 406.4mm, and the focal length is 4064 mm.
Wherein, the rotary platform is positioned above the bracket.
The invention utilizes two long-focus cameras to rapidly obtain three-dimensional point cloud based on a binocular principle, and simultaneously utilizes a large-caliber telescope objective to obtain high-resolution texture of a measured object, thereby obtaining a three-dimensional model with high-resolution texture, overcoming the defect that the existing method for obtaining the three-dimensional model of the object by adopting a laser radar and a pure binocular method only has depth data but lacks high-resolution texture characteristics, and being used for monitoring and diagnosing the defects of cracks, surface weathering and the like of large buildings such as water conservancy dams and the like.
Drawings
Fig. 1 is a schematic structural diagram of a medium-distance and long-distance three-dimensional imaging system with high-resolution texture according to the invention.
In fig. 1: 1 is a first telephoto camera, 2 is a second telephoto camera, 3 is a large-aperture telephoto objective lens, 4 is a high-resolution CCD, 5 is a holder of the first telephoto camera, 6 is a holder of the second telephoto camera, 7 is a holder of the large-aperture telephoto objective lens, 8 is a rotary platform of the first telephoto camera, 9 is a rotary platform of the second telephoto camera, 10 is a rotary platform of the large-aperture telephoto objective lens, 11 is an electric control system, and 12 is an industrial control host.
Detailed Description
The invention is described in further detail below with reference to the figures and specific examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The invention provides a middle-distance and long-distance three-dimensional imaging system with high-resolution textures.
As shown in fig. 1, the medium-distance and long-distance three-dimensional imaging system with high-resolution texture of the present invention comprises:
the system comprises a first tele camera 1, a second tele camera 2, a large-caliber telescopic objective lens 3, a high-resolution CCD 4, a bracket 5 of the tele camera 1, a bracket 6 of the tele camera 2, a bracket 7 of the large-caliber telescopic objective lens 3, a rotary platform 8 of the tele camera 1, a rotary platform 9 of the tele camera 2, a rotary platform 10 of the large-caliber telescopic objective lens 3, an electric control system 11 and an industrial control host 12. The two long-focus cameras form a wide-baseline binocular stereoscopic vision system; the large-caliber telescopic objective lens and the high-resolution CCD are positioned between the two long-focus cameras; the rotating platform is positioned above the bracket, the two tele cameras and the telescope objective are respectively connected with the respective rotating platform, and the rotating platform is connected with the electric control system and moves up and down, left and right under the control of the industrial control host.
The first tele camera 1, the second tele camera 2 and the large-caliber telescopic objective 3 can perform free rotation pitching motion, and a three-dimensional model with high-resolution texture can be obtained through texture mapping.
The industrial control host 12 controls the electric control system 11 to drive the rotary platform 8 of the first tele camera, the rotary platform 9 of the second tele camera and the rotary platform 10 of the large-caliber telescopic objective lens, so as to complete the shooting of the first tele camera 1, the second tele camera 2 and the large-caliber telescopic objective lens 3 on the object to be measured.
In shooting, the first tele camera 1 and the second tele camera 2 horizontally rotate with respect to an imaging area on the same horizontal line as the first tele camera 1 and the second tele camera 2, and the intersection of the optical axes is maintained at the center of the measurement area. For the regions not on the same horizontal line, the first tele camera 1 and the second tele camera 2 rotate both horizontally and vertically, keeping the optical axis intersecting at the center of the measurement region. The large-aperture telescope objective 3 scans and shoots high-fraction texture images of the measured object from left to right from top to bottom in sequence. After the shooting work is finished, images collected by the first long-focus camera 1, the second long-focus camera 2 and the high-resolution CCD 4 are stored on the industrial control host 12.
The industrial control host 12 obtains a three-dimensional point cloud of the measured object by processing the images shot by the first tele camera 1 and the second tele camera 2, and then maps the high-resolution texture image shot by the large-caliber telescope objective 3 onto the three-dimensional point cloud, so as to obtain a three-dimensional model of the measured object with high-resolution surface texture.
The invention uses the large-caliber telescope objective and the high-resolution CCD for high-resolution texture image acquisition, so that the three-dimensional imaging system can obtain high-resolution texture information of the measured object under the condition of medium and long distance, the three-dimensional measurement precision under the condition of medium and long distance and the detection effect of the surface defect of a large building can be effectively improved, and the technical defects that the existing medium and long distance three-dimensional imaging system does not have the function of high-resolution texture information acquisition and only can obtain a three-dimensional model with low-resolution texture are overcome.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (6)
1. A middle-distance and long-distance three-dimensional imaging system with high-resolution textures is characterized by comprising two tele cameras, a large-caliber telescopic objective lens, a high-resolution CCD, two tele cameras and a large-caliber telescopic objective lens which are all arranged on a rotary platform; the two telephoto cameras form a wide-baseline binocular stereo vision system so as to obtain three-dimensional point cloud data of a target object by using a binocular stereo vision principle; the high-resolution CCD is coupled to the rear end of the large-aperture telescope to form a high-resolution texture image acquisition device for shooting high-resolution texture images of a target object at a medium and long distance, and the high-resolution texture image acquisition device is positioned between the two tele cameras.
2. The system of claim 1, wherein the two tele cameras and the high-resolution CCD are connected to an industrial control host, respectively, and the collected images are stored in the industrial control host, and the industrial control host processes the images taken by the two tele cameras to obtain a three-dimensional point cloud of the target object, and then maps the high-resolution texture image taken by the large-aperture telescopic objective onto the three-dimensional point cloud to obtain the three-dimensional model of the object to be measured having the high-resolution surface texture.
3. The system according to claim 2, wherein the two rotating platforms to which the telephoto camera and the large-aperture telephoto objective lens are respectively connected to an electronic control system, and the electronic control system is connected to an industrial control host machine, and performs vertical and horizontal movement under the control of the industrial control host machine to acquire the image of the target object.
4. The system of claim 1, wherein the two tele cameras are fixed-focus 800mm lenses.
5. The three-dimensional imaging system with high resolution texture at the middle and far distances according to claim 1, wherein the aperture of the large-aperture telescope objective lens is 406.4mm and the focal length is 4064 mm.
6. The system of claim 1, wherein the rotating platform is located above the support.
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| CN201911289996.1A CN111089548A (en) | 2019-12-16 | 2019-12-16 | Medium-and-long-distance three-dimensional imaging system with high-resolution texture |
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2019
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Application publication date: 20200501 |