CN203687882U - Super-resolution 3D laser measurement system - Google Patents
Super-resolution 3D laser measurement system Download PDFInfo
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- CN203687882U CN203687882U CN201320884045.0U CN201320884045U CN203687882U CN 203687882 U CN203687882 U CN 203687882U CN 201320884045 U CN201320884045 U CN 201320884045U CN 203687882 U CN203687882 U CN 203687882U
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- 238000005259 measurement Methods 0.000 title claims abstract description 19
- 230000000737 periodic effect Effects 0.000 claims description 3
- 238000002347 injection Methods 0.000 abstract 1
- 239000007924 injection Substances 0.000 abstract 1
- 238000003384 imaging method Methods 0.000 description 15
- 238000000034 method Methods 0.000 description 8
- 238000005286 illumination Methods 0.000 description 5
- 238000001514 detection method Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 3
- 238000002834 transmittance Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
- 230000000243 photosynthetic effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 230000005622 photoelectricity Effects 0.000 description 1
- 238000013139 quantization Methods 0.000 description 1
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Abstract
The utility model relates to a super-resolution 3D laser measurement system, which comprises a spatial phase modulation camera, a laser device for laser injection and a transit to obtain two-dimensional coordinates of a tested object, wherein the spatial phase modulation camera comprises an area array detector, a spectroscope, a single objective lens, a first receiver and a second receiver, and the laser device sends laser to the tested object, the spatial phase modulation camera receives light rays reflected from the tested object respectively by the first receiver and the second receiver, and the light rays are then refracted from the spectroscope and transmitted by the single objective lens to the area array detector. The utility model provides the super-resolution 3D laser measurement system with high resolution, high measurement speed and low cost.
Description
Technical field
The utility model belongs to optical field, relates to a kind of 3-D imaging system, relates in particular to a kind of 3D laser measurement system that can realize super-resolution.
Background technology
3 Dimension Image Technique is that people break through the bidimensional image that traditional plane picture is representative, obtain a gordian technique of the space three-dimensional image that comprises depth information, became in recent years the study hotspot of countries in the world, and be developed rapidly and break through, in national life, be widely used.On technological approaches, 3 Dimension Image Technique comprises conventionally based on binocular stereo vision, two kinds of modes of Laser Radar Scanning imaging.Laser radar is the flight time judgment object that the utilizes laser distance to analyzing spot, obtains the three-dimensional information of scene by scanning; Binocular stereo vision is to adopt trigon ultimate principle, judges the distance of impact point to reference by structure line equation.
Binocular stereo vision comprises stereoscopic photograph and utilizes two kinds of modes of laser structure optical illumination imaging detection on technological approaches.
Laser structure optical illumination imaging detection is a kind of laser Active Imaging Detection Techniques that developed in recent years, is characterized in that cost is low, and efficiency is high, three-dimensional information that can quick obtaining scene.
Utilizing the laser three-D detection system of Structured Illumination, conventionally the linear beam that adopts Laser emission to go out irradiates target, in order to raise the efficiency, the structured light that some utilize laser speckle, Moire fringe or sinusoidal grating had also been proposed in recent years, without scanning, can carry out imaging and computing to the target in region simultaneously, obtain the three-dimensional information of scene objects, this type of technology is also referred to as spatial phase modulation, and its modulation itself is to produce specific space pattern.
Above 3-d laser measurement principle and the measuring accuracy of method and the Size dependence of detector pixel connection, its plane precision equals the projection at object space for camera lens of detector pixel size,
In formula, Δ X, Δ Y represents plane precision, and d represents pixel size, and f represents lens focus length, and L represents the distance of measuring equipment to object.
Range accuracy
The centre distance that in formula, D is measuring equipment.
As can be seen here, its three-dimensional measuring result cannot surmount Pixel-level, reaches the resolution of sub-pixel.
Utility model content
In order to solve existing technical matters in background technology, the utility model proposes a kind of super-resolution 3D laser measurement system, the precision of the 3-d laser measurement that can effectively improve.
Technical solution of the present utility model is: a kind of super-resolution 3D laser measurement system, and its special character is: comprise space phase modulation camera, for the laser instrument of Emission Lasers and for obtaining the transit of measured target planar coordinate;
Above-mentioned space phase modulation camera comprises planar array detector, spectroscope, single object lens, the first receiver, the second receiver;
Above-mentioned laser instrument, to measured target Emission Lasers, receive respectively the light being reflected by measured target, then refraction is sent to planar array detector by single object lens by light through spectroscope by space phase modulation camera by the first receiver, the second receiver;
On above-mentioned the second receiver image planes position, be provided with sine or the periodic phase-modulation sheet of cosine;
Above-mentioned laser instrument is a word laser line generator.
The beneficial effects of the utility model are:
1. resolution is high, can obtain the three-dimensional measurement precision of sub-pixel level, can obtain the measuring accuracy of submillimeter level in 1m.
2. measuring speed is high, by two-dimensional line sweep in 10s can 360 ° of space 1,000,000 impact points of quick obtaining three-dimensional coordinate.
3. cost is low, and the device that project adopts comprises that a word laser line generator and mega pixel image device are technology maturation, low cost industrial devices, are convenient to the marketization and commercialization.
Brief description of the drawings
Fig. 1 is the utility model structural representation;
Fig. 2 is the utility model space phase modulation camera structure figure;
Fig. 3 a is the transmittance function figure of the left modulation sheet of the utility model;
Fig. 3 b is the transmittance function figure of the right modulation sheet of the utility model;
Wherein, 1-the first receiver, 2-the second receiver, 3-spectroscope, 4-planar array detector, the mono-object lens of 5-.
Embodiment
Referring to Fig. 1-3, a kind of super-resolution 3D laser measurement system, comprises space phase modulation camera, for the laser instrument of Emission Lasers and for obtaining the transit of measured target planar coordinate; Space phase modulation camera comprises planar array detector 4, spectroscope 3, single object lens 5, the first receiver 1, the second receiver 2; Laser instrument, to measured target Emission Lasers, receives respectively by the first receiver 1, the second receiver 2 light being reflected by measured target by space phase modulation camera, then reflects by single object lens 5 light is sent to planar array detector 4 through spectroscope 3; On the second receiver 2 image planes positions, be provided with sine or the periodic phase-modulation sheet of cosine.Laser instrument is a word laser line generator.
Embodiment of the present utility model is:
1. adopt the go forward side by side method of row space scanning of structured light to realize three-dimensional imaging and measurement
Structured light mainly refers to the transmitting light beam that adopts fixed beam structure, after target reflection, forms echo, and locus and the shape of the target reflection echo of different distance are different, and then obtains range information.Through wire stripe pattern and in conjunction with space one-dimensional scanning, can obtain the three-dimensional information in space.
2. adopt the phase-plate of spatial modulation to realize super-resolution
Single detector can only obtain the coordinate information of pixel integral multiple, cannot realize sub-pixel location, in order to realize super-resolution, adopt the phase detector of mapping, the signal of exporting according to the detector of hinting obliquely at and the signal ratio of former detector, obtain the sub-pixel phase value of impact point, thereby realize sub-pixel location.
3. realize the mapping of single detector by point photosynthetic method
Two different detectors have different photoelectric response difference, cannot obtain strength information accurately by phase-plate, thereby, adopting a point photosynthetic method, the target information that binocular is received is imaged on same detector, therefore, two-way imaging system has identical responsiveness, time shutter, gain-adjusted, eliminate subsidiary condition to the impact of measuring, ensure the measuring precision.
Super-resolution 3D laser measurement system (Fig. 1), adopt a word laser line generator as light source, scene three dimensions is thrown light on, linear target after illumination is after space phase modulation camera receives, can obtain the range information (Z) of linear target each point, orientation and the pitching of linear target each point can be obtained simultaneously by transit, the planar coordinate (X, Y) of target can be obtained according to range information.
In order to obtain the three-dimensional measurement precision of super-resolution, this patent has used space phase modulation sheet, and by the technical measures such as prismatic decomposition, single object lens imaging, single planar array detector can realize exceed Pixel-level super-resolution measure, Fig. 2 has provided the structural drawing of space phase modulation camera, wherein modulate the transmittance curve that sheet has Fig. 3 (a), compare with non-modulation index path 3 (b), the space phase of photoelectricity can be obtained, and then higher spatial position precision can be obtained.
Single laser beam emitting device and receiver window can pass through the three-dimensional coordinate of structure line equation solution target, in order to improve resolution and the precision of system, imaging system has increased the receiver window of a backup, increases amplitude type cosine modulation sheet in the front, image planes position of receiver window.
Impact point, after spatial modulation camera imaging, can directly obtain the volume coordinate (N, M) of imaging point Pixel-level, the row-coordinate that wherein N is imaging point, the row coordinate that M is imaging point.Independent N, M, according to the pixel chi of receiver, cannot obtain the volume coordinate of sub-pixel, for this reason, has adopted the method for phase-modulation.
After laser lighting object, the light that same impact point sends is through have two windows to receive simultaneously, and the luminance brightness of setting object point is L (x, y, z), the illuminance E after modulation window
m(X, Y, Z) is
E
M(X,Y,Z)=π×L(X,Y,Z)×sin(ωy)×d
2/4f
2 （1）
Through the illuminance E of non-modulation window
t(X, Y, Z) is
E
T(X,Y,Z)=π×L(X,Y,Z)×d
2/4f
2 （2）
Because both are by same lens combination, there is identical relative aperture d/f, percent of pass is identical, therefore non-modulation and modulation is compared, and can obtain the phase place y of imaging point,
y=arcsin(E
M/E
T)/ω （3）
The take over party of detector, by high sensitivity, large dynamic treatment circuit, the result of (3) formula is quantized, choose the quantization resolution of 10 times, the volume coordinate precision of pixel (N, M) luminous point can be improved to 10 times.
The course of work of super-resolution 3-d laser measurement system is as follows:
1) laser projection of a word line is to front space, and target presents wire illumination;
2) target reflected light receives through space phase modulation camera, obtains the pixel space coordinate (N, M) of impact point, and phase-modulation degree sin (ω y);
3) obtain the spatial resolution of sub-pixel level according to phase-modulation degree, according to the distance (Z) of structure line equation solver object point, planimetric coordinates (Y), and obtain object point planimetric coordinates (X) according to the angle attitude of transit.
4) control transit rotation sweep three dimensions, can equipment three-dimensional three-dimensional coordinate information around.
Claims (3)
1. a super-resolution 3D laser measurement system, is characterized in that: comprise space phase modulation camera, for the laser instrument of Emission Lasers and for obtaining the transit of measured target planar coordinate;
Described space phase modulation camera comprises planar array detector, spectroscope, single object lens, the first receiver, the second receiver;
Described laser instrument, to measured target Emission Lasers, receive respectively the light being reflected by measured target, then refraction is sent to planar array detector by single object lens by light through spectroscope by space phase modulation camera by the first receiver, the second receiver.
2. a kind of super-resolution 3D laser measurement system according to claim 1, is characterized in that: on described the second receiver image planes position, be provided with sine or the periodic phase-modulation sheet of cosine.
3. a kind of super-resolution 3D laser measurement system according to claim 1 and 2, is characterized in that: described laser instrument is a word laser line generator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320884045.0U CN203687882U (en) | 2013-12-30 | 2013-12-30 | Super-resolution 3D laser measurement system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201320884045.0U CN203687882U (en) | 2013-12-30 | 2013-12-30 | Super-resolution 3D laser measurement system |
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| CN203687882U true CN203687882U (en) | 2014-07-02 |
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| CN201320884045.0U Expired - Lifetime CN203687882U (en) | 2013-12-30 | 2013-12-30 | Super-resolution 3D laser measurement system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103697825A (en) * | 2013-12-30 | 2014-04-02 | 中国科学院西安光学精密机械研究所 | System and method of utilizing super-resolution 3D (three-dimensional) laser to measure |
-
2013
- 2013-12-30 CN CN201320884045.0U patent/CN203687882U/en not_active Expired - Lifetime
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103697825A (en) * | 2013-12-30 | 2014-04-02 | 中国科学院西安光学精密机械研究所 | System and method of utilizing super-resolution 3D (three-dimensional) laser to measure |
| CN103697825B (en) * | 2013-12-30 | 2017-01-18 | 中国科学院西安光学精密机械研究所 | System and method of utilizing super-resolution 3D (three-dimensional) laser to measure |
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