CN113701661A - Three-dimensional shape measuring method and device - Google Patents
Three-dimensional shape measuring method and device Download PDFInfo
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- CN113701661A CN113701661A CN202010429445.7A CN202010429445A CN113701661A CN 113701661 A CN113701661 A CN 113701661A CN 202010429445 A CN202010429445 A CN 202010429445A CN 113701661 A CN113701661 A CN 113701661A
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- 238000000034 method Methods 0.000 title claims abstract description 11
- 238000005259 measurement Methods 0.000 claims abstract description 13
- 238000004891 communication Methods 0.000 claims abstract description 11
- 238000001514 detection method Methods 0.000 abstract 1
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
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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
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention belongs to the field of geometric quantity detection, and relates to a three-dimensional shape measuring method and a device thereof. When the three-dimensional shape of the object is measured, the measuring method realizes the three-dimensional shape measurement by matching the mechanical arm with the double cameras with fixed distances and the positioning measuring head. The device consists of a double camera with fixed distance, a positioning measuring head, a six-degree-of-freedom mechanical arm, a processor, a power supply module, a communication module, an interface and a movable tripod. When the three-dimensional shape of the object is measured, the mechanical arm provided with the double cameras and the positioning measuring head is moved to a specified position through the stable moving tripod, the positioning measuring head is contacted with the surface of the object and contact points are collected through controlling the mechanical arm, and the double cameras are used for measuring the three-dimensional shape of the object through photographing. The three-dimensional shape measuring method and the device thereof can accurately measure without damaging the surface of the measured object.
Description
Technical Field
The invention relates to a method and a device for measuring the three-dimensional shape of an object, in particular to a method and a device for binocular measurement of the three-dimensional shape.
Background
The three-dimensional appearance of an object is often required to be measured in the design optimization work, the existing three-dimensional appearance measuring device can measure the appearance through the binocular vision principle, a large number of markers need to be pasted on the surface of the object to be measured before measurement, the working efficiency is low, and the surface of the object to be measured can be damaged due to improper cleaning of the markers.
Disclosure of Invention
The invention provides a three-dimensional shape measuring method and a device thereof, which can accurately measure without damaging the surface of a measured object.
The invention discloses a three-dimensional shape measuring method, which comprises the following technical scheme:
the high-precision positioning measuring head is contacted with the surface of an object, contact points are collected, the distance between the two cameras is fixed, the contact points are used as datum points to shoot pictures, and the pictures shot by the two cameras are compared to form a three-dimensional shape.
The invention discloses a three-dimensional shape measuring device, which comprises the following technical scheme:
the device comprises a double camera, a high-precision positioning probe, a six-degree-of-freedom mechanical arm, a processor and a power supply module; the distance between the two cameras is fixed, and the power supply module is used for supplying power to the device; during measurement, the six-degree-of-freedom mechanical arm is controlled to enable the high-precision positioning measuring head to be in contact with the surface of an object, contact points are collected, pictures are taken through the two cameras, and the processor forms a three-dimensional shape by comparing differences of pictures taken through the two cameras.
Further, the device also comprises a communication module and an interface; the communication module is used for communicating with an upper computer and receiving and feeding back communication commands, and the interface is used for transmitting measurement data.
Further, the device is mounted on a moving tripod.
The positioning measuring head is contacted with the surface of the object by controlling the six-degree-of-freedom mechanical arm, a large number of markers do not need to be pasted on the surface of the measured object before measurement, the working efficiency is improved, and the three-dimensional shape of the object can be accurately measured under the condition that the surface of the measured object is not damaged.
Drawings
FIG. 1 is a schematic diagram of a three-dimensional profile measuring device according to the present invention.
Detailed Description
Specific examples of the present invention will be described in detail below. In the following description, for purposes of explanation and not limitation, specific details are set forth in order to provide a thorough understanding of the present invention. However, it will be apparent to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details.
Aiming at the problem that a large number of markers need to be pasted on the surface of a measured object when the three-dimensional appearance measurement is carried out by adopting the binocular vision principle at present, the invention adopts the technical scheme that:
the three-dimensional shape measuring method comprises the steps of controlling the six-degree-of-freedom mechanical arm to enable the high-precision positioning measuring head to be in contact with the surface of an object, and collecting a contact point. The distance between the two cameras is fixed, the contact point of the high-precision positioning measuring head and the surface of the object is used as a reference point to shoot the picture, and the three-dimensional shape is formed by comparing the difference of the pictures shot by the two cameras.
The invention discloses a three-dimensional shape measuring device which comprises a double camera, a high-precision positioning measuring head, a six-degree-of-freedom mechanical arm, a processor and a power supply module. The distance between the two cameras is fixed, and the power supply module provides power for the device. During measurement, the high-precision positioning measuring head is contacted with the surface of an object by controlling the six-degree-of-freedom mechanical arm, a contact point is collected, then double cameras take pictures, the shooting result is processed by the processor, pictures and coordinate information are stored, and a three-dimensional shape is formed by comparing the difference of the pictures taken by the double cameras.
In addition, the device can realize communication with an upper computer by adding a communication module and an interface, and is used for receiving and feeding back a communication command, and the interface is used for transmitting file information such as measurement data.
In order to facilitate the movement of the device and keep the device stable during measurement, the device can also comprise a moving tripod, and the double cameras, the high-precision positioning measuring head, the six-degree-of-freedom mechanical arm, the processor, the power supply module, the communication module and the interface are arranged on the moving tripod. When the three-dimensional shape of the object is measured, the mechanical arm provided with the double cameras and the high-precision positioning measuring head is moved to an appointed position through the stable moving tripod.
The three-dimensional shape measuring device can realize the accurate measurement of the three-dimensional shape of an object, and the whole device is safe and reliable and has strong universality.
The many features and advantages of the embodiments of the invention are apparent from the detailed specification, and thus, it is intended by the appended claims to cover all such features and advantages of the embodiments that fall within the true spirit and scope thereof. Further, since numerous modifications and changes will readily occur to those skilled in the art, it is not desired to limit the embodiments of the invention to the exact construction and operation illustrated and described, and accordingly, all suitable modifications and equivalents may be resorted to, falling within the scope thereof.
The invention has not been described in detail and is in part known to those of skill in the art.
Claims (4)
1. A three-dimensional shape measuring method is characterized in that a positioning measuring head is contacted with the surface of an object, contact points are collected, the distance between two cameras is fixed, the contact points are used as datum points to shoot pictures, and the difference of pictures shot by the two cameras is compared to form a three-dimensional shape.
2. A three-dimensional shape measuring device is characterized by comprising a double camera, a positioning measuring head, a six-degree-of-freedom mechanical arm, a processor and a power supply module; the distance between the two cameras is fixed, and the power supply module is used for supplying power to the device; during measurement, the six-degree-of-freedom mechanical arm is controlled to enable the positioning measuring head to be in contact with the surface of an object, contact points are collected, pictures are taken through the double cameras, and the processor forms a three-dimensional shape by comparing differences of pictures taken through the double cameras.
3. The three-dimensional profile measuring device according to claim 2, wherein the device further comprises a communication module and an interface; the communication module is used for communicating with an upper computer and receiving and feeding back communication commands, and the interface is used for transmitting measurement data.
4. The three-dimensional profile measuring device according to claim 1 or 2, wherein the device is mounted on a moving tripod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010429445.7A CN113701661A (en) | 2020-05-20 | 2020-05-20 | Three-dimensional shape measuring method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010429445.7A CN113701661A (en) | 2020-05-20 | 2020-05-20 | Three-dimensional shape measuring method and device |
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| Publication Number | Publication Date |
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| CN113701661A true CN113701661A (en) | 2021-11-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010429445.7A Pending CN113701661A (en) | 2020-05-20 | 2020-05-20 | Three-dimensional shape measuring method and device |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1512134A (en) * | 2002-12-30 | 2004-07-14 | 北京航空航天大学 | Contact type object position and gesture measurer |
| KR100752989B1 (en) * | 2006-06-02 | 2007-08-30 | 주식회사 유진엠에스 | Device capable of measuring 2-dimensional and 3-dimensional images |
| CN101261118A (en) * | 2008-04-17 | 2008-09-10 | 天津大学 | Rapid automatized three-dimensional appearance on-line measurement method and system based on robot |
| CN102756539A (en) * | 2012-07-20 | 2012-10-31 | 深圳市捷佳伟创新能源装备股份有限公司 | Pattern contraposition method based on double printing stations and device thereof |
| CN108297083A (en) * | 2018-02-09 | 2018-07-20 | 中国科学院电子学研究所 | Mechanical arm system |
| CN110654571A (en) * | 2019-11-01 | 2020-01-07 | 西安航通测控技术有限责任公司 | Nondestructive detection robot system and method for surface defects of aircraft skin |
| CN111121663A (en) * | 2019-06-20 | 2020-05-08 | 杭州光粒科技有限公司 | Object three-dimensional topography measurement method, system and computer-readable storage medium |
-
2020
- 2020-05-20 CN CN202010429445.7A patent/CN113701661A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1512134A (en) * | 2002-12-30 | 2004-07-14 | 北京航空航天大学 | Contact type object position and gesture measurer |
| KR100752989B1 (en) * | 2006-06-02 | 2007-08-30 | 주식회사 유진엠에스 | Device capable of measuring 2-dimensional and 3-dimensional images |
| CN101261118A (en) * | 2008-04-17 | 2008-09-10 | 天津大学 | Rapid automatized three-dimensional appearance on-line measurement method and system based on robot |
| CN102756539A (en) * | 2012-07-20 | 2012-10-31 | 深圳市捷佳伟创新能源装备股份有限公司 | Pattern contraposition method based on double printing stations and device thereof |
| CN108297083A (en) * | 2018-02-09 | 2018-07-20 | 中国科学院电子学研究所 | Mechanical arm system |
| CN111121663A (en) * | 2019-06-20 | 2020-05-08 | 杭州光粒科技有限公司 | Object three-dimensional topography measurement method, system and computer-readable storage medium |
| CN110654571A (en) * | 2019-11-01 | 2020-01-07 | 西安航通测控技术有限责任公司 | Nondestructive detection robot system and method for surface defects of aircraft skin |
Non-Patent Citations (1)
| Title |
|---|
| 童新华;侯培中;李爱玲;: "双目视觉三维测量技术在地形测量中的应用", 机械工程师, no. 09, pages 1 - 5 * |
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