A kind of three-dimension measuring system of many measurement patternsTechnical field
The present invention relates to 3 D digital imaging and moulding field, and in particular to a kind of many measurement patternsThree-dimension measuring system.
Background technology
The technology of three-dimensional non-contact measurement is carried out to body surface, in industry, medical treatment, skillMany fields such as art, education are widely used.The application of different field is to three-dimensional measurementTechnical requirements it is all different.Such as, the data precision of car industry requirement three-dimensional measurement is high,Data details will be clear that；Human thermoregulation requirement quickly obtain human body three-dimensional data, it is necessary toMeasuring system has handhold functional, and required precision is relatively low；The three-dimensional measurement of large-scale sculpture requires to surveyAmount system has handhold functional, while data precision is higher, data have certain details.
The spatial digitizer being currently known can not will all meet the function collection of above-mentioned requirements wellInto into a three-dimension measuring system.Such as Chinese invention patent patent CN1483999A is disclosedThe method and system of measurement object dimensional surface outline, utilize the three-dimensional survey of encoded light and phase shiftAmount system, it is possible to achieve high accuracy three-dimensional is measured.But this method and system use several figuresPiece carries out three-dimensional reconstruction, it is impossible to realize handhold functional.Other patent of invention CN101189487 BDisclosed 3-D scanning automatic reference system and equipment, and patent of invention CN102112845 BThe disclosed system for surface characteristics adaptivity 3-D scanning, all refer to hand-held three-dimensional and sweepsRetouch instrument.But the said equipment can not realize high details, high accuracy three-dimensional measurement, project simultaneouslyPattern can not realize long-range renewal.
The content of the invention
Present invention solves the technical problem that being to provide a kind of three-dimensional measurement system of many measurement patternsSystem, by handover measurement pattern, can both use the fixation measuring pattern of several structured light patterns,The three-dimensional measurement to high-precision, the high details of body surface is realized, single picture can be used againHand-held measurement pattern, realize hand-held three-dimensional measurement in real time quick to body surface.
To achieve these goals, present invention employs following technical scheme：
A kind of three-dimension measuring system of many measurement patterns, including control unit, variable number patternGenerating unit, graphics processing unit, computing unit and at least one imaging sensor,
Described control unit connects the variable number pattern generating unit, image procossing list respectivelyMember, computing unit and imaging sensor, the co-ordination for controlling whole measuring system；
The variable number pattern generating unit includes memory and projector, the memory storageThere is several optical mode plate digital pattern, the projector is digital projector, for by described inDigital pattern in memory projects testee surface；
Described image sensor is used to obtain the figure that the projector projects testee surfaceCase；
Described image processing unit is the multi-mode digital with least two kinds image processing modesImage processor, for what is obtained according to selected image processing mode to described image sensorThe pattern on testee surface is extracted, and obtains the two dimensional character on testee surface；
The computing unit is the multi-mode three-dimensional with least two kinds three-dimensional point cloud computation schemasPoint cloud computing device, the three-dimensional point cloud computation schema selected for basis is to described image processing unitTwo dimensional character after processing carries out corresponding points lookup and three-dimensionalreconstruction, obtains testee surfaceThree-dimensional data.
It is preferred that, the optical mode plate digital pattern stored in the memory includes but is not limited to followingIt is several：Sine streak, digital speckle pattern, many parallel lines patterns.
Further, in addition to man-machine interaction unit, the man-machine interaction unit connects the controlUnit processed, mould is calculated for choosing optical mode plate digital pattern, image processing mode and three-dimensional point cloudFormula, and display measurement result.
Further, in addition to communication unit, the communication unit connects described control unit,For being communicated with exterior terminal.
Further, the Content of Communication of the communication unit and exterior terminal includes exporting the meterThe three-dimensional data on the testee surface that unit is obtained is calculated, and input updates or increased optical modePlate digital pattern, image processing algorithm and three-dimensional point cloud computational algorithm.
Further, the three-dimension measuring system is handheld scanning device.
It is preferred that, the handheld scanning device includes main body, the throwing located at body front part centerShadow device, the imaging sensor for being symmetrically set in projector both sides, and the control list in main bodyMember, memory, graphics processing unit and computing unit, the back body are provided with handle or handHold portion.
The three-dimension measuring system of many measurement patterns of the present invention, its variable number pattern generating unitOn memory storage have at least two kinds optical mode plate digital patterns, be projeced into by digital projectorTestee surface, obtains corresponding pattern by imaging sensor afterwards, through multi-mode digital figureAfter processor and the processing of multi-mode three-dimensional point cloud computing device, you can obtain at least two kinds measurement mouldsMeasurement data under formula., both can be using several structured light patterns by handover measurement patternFixation measuring pattern, realizes the three-dimensional measurement to high-precision, the high details of body surface, such as workIndustry part etc.；The hand-held measurement pattern of single picture can be used again, realized fast to body surfaceFast hand-held three-dimensional measurement, such as human body, statue in real time.The need for according to user,Realize the three-dimensional measurement to high-precision, the high details on different testee surfaces or hand-held real-time surveyAmount, is with a wide range of applications.
On the other hand, three-dimension measuring system of the invention, can by communication unit input update orIncreased optical mode plate digital pattern, image processing algorithm and three-dimensional point cloud computational algorithm, realization pairThe remote upgrade of user equipment or the measurement pattern for increasing user, further meet user differentThe demand in period, reduces the cost of renewal of the equipment, with good economic benefit.
Brief description of the drawings
Fig. 1 is one specific embodiment of three-dimension measuring system of many measurement patterns of the present inventionStructural representation；
Fig. 2 is the structural representation of unit in Fig. 1 embodiments；
Fig. 3 is the schematic diagram of sine streak sequence pattern；
Fig. 4 is the schematic diagram of digital speckle pattern；
Fig. 5 is the schematic diagram of pattern of parallel lines；
Description of reference numerals：1- circuit boards, 2- digital pattern projectors, 3- imaging sensors,4- digital pattern memories, 5- scanning triggering buttons, 6- handles, 7- data transmission interfaces.
Embodiment
For a further understanding of the present invention, with reference to embodiment to the preferred embodiment of the inventionIt is described, but it is to be understood that these descriptions are simply the feature for further illustrating the present inventionAnd advantage, rather than limiting to the claimed invention.
The three-dimensional measurement for being used to obtain many measurement patterns of body surface three-dimensional data of the present inventionSystem, including variable number pattern generating unit, two or more imaging sensors,Controller, multi-mode digital image processor, multi-mode three-dimensional point cloud computing device.
Wherein, controller is used to control digital projection device, imaging sensor, image processorWith three-dimensional point cloud calculator co-ordination, and receive three dimensional point cloud, and to three-dimensional point cloudData are shown, edited, stored.
Variable number pattern generating unit includes a digital pattern memory and a digitized mapCase projector.Various digital patterns are stored in digital pattern memory in advance, digital pattern is thrownShadow device regard the pattern projection in digital pattern memory to body surface as reconstruction object dimensionalThe feature of data.The optical mode plate pattern that can be projected includes but is not limited to：Sine streak, numeralSpeckle pattern, many parallel lines patterns, and other projection patterns.
Imaging sensor obtains the pattern that digital projection device projects body surface.
Multi-mode digital image processor has at least two kinds image processing modes, according to selectedThe pattern for the body surface that image processing mode is obtained to imaging sensor is extracted, and obtains thingThe two dimensional character in body surface face.
Multi-mode three-dimensional point cloud computing utensil has at least two kinds three-dimensional point cloud computation schemas, according to choosingFixed three-dimensional point cloud computation schema carries out corresponding points to the two dimensional character after image processor processingSearch and three-dimensionalreconstruction, so as to obtain the three-dimensional data of body surface.
For the convenience of actual use, man-machine interaction list also can be set in the measuring system in the present inventionMember and communication unit.
Wherein, man-machine interaction unit is a touch LCD screen, connects controller, is used forChoose optical mode plate digital pattern, image processing mode and three-dimensional point cloud computation schema, and displayMeasurement result.Communication unit includes wireless communication module and communication interface, is used for and exterior terminalCommunication.Content of Communication includes the testee surface that output multi-mode three-dimensional point cloud computing device is obtainedThree-dimensional data, and input update or increased optical mode plate digital pattern, image processing algorithmWith three-dimensional point cloud computational algorithm.
When three-dimension measuring system in the present embodiment works, user selects a kind of measurement pattern, controlDevice processed sends commands to digital pattern holder according to measurement pattern, informs digital pattern memoryThe pattern of projection is needed, and imaging sensor is opened, the life to be triggered such as be in imaging sensorThe state of order.Pattern is sent to digital pattern projector by digital pattern memory.Digital patternProjector is by pattern projection to body surface.After the completion of pattern projection in 1ms, digital patternProjector sends pulse signal to imaging sensor.Imaging sensor collection digital projection device is thrownThe pattern of body surface is mapped to, multi-mode digital image processor is sent to.Multi-mode digital figureAs processor is received after pattern, the measurement pattern signal sent according to controller, using relativeThe feature extraction algorithm answered, obtains the two dimensional character of body surface.Digital Image Processor is by twoDimensional feature is sent to multi-mode number three-dimensional point cloud calculator.Three-dimensional point cloud calculator receives two dimensionAfter feature, the measurement pattern signal sent according to controller, using corresponding algorithm progress pairLookup and three-dimensionalreconstruction should be put, so as to obtain the three-dimensional data of body surface.Three-dimensional point cloud is calculatedThe three-dimensional data of body surface is sent back controller by device, is shown, edited, stored, orPerson is transferred to exterior terminal by communication unit and is further processed.
When system needs to update or increases three-dimensional measurement pattern, user will can need to update or increasePlus pattern digital pattern memory is sent to by communication unit, while by need update or increasePlus image processing algorithm and three-dimensional point cloud computational algorithm be respectively sent to multi-mode digital imageProcessor and multi-mode three-dimensional point cloud computing device.After the completion of renewal, digital pattern memory, figureSignal is completed as processor, three-dimensional point cloud calculator are returned, so as to complete the renewal or increasing of systemPlus three-dimensional measurement pattern.
It is described in further detail below in conjunction with the accompanying drawings with specific embodiment.
As depicted in figs. 1 and 2, in one particular embodiment of the present invention, a kind of many measurementsThe three-dimensional scanning device of pattern, including equipment body and the circuit board 1 of inside, digital pattern are thrownShadow device 2, imaging sensor 3, digital pattern holder 4, and the scanning triggering He of button 5Data transmission interface 7；Wherein, circuit board 1 is provided with controller, at multi-mode digital imageManage device and multi-mode three-dimensional point cloud computing device.In addition, equipment body, which is provided with, is used for hand-held handHandle 6.
When measuring apparatus in the present embodiment works, controller is connected to sweeping for scanning triggering button 5Retouch after instruction, send pulse signal and give variable number pattern generating unit, under present modePattern projected, after 1ms postpones, controller pass through trigger signal control twoThe synchronous pattern to projecting away of imaging sensor 3 carries out image collection, and passes through multi-mode numberWord image processor and the processing of three-dimensional point cloud calculator, generate three-dimensional point cloud.
As in Figure 3-5, the variable number pattern generating unit in the present embodiment can project manyOptical mode plate pattern is planted, is included but is not limited to：Sine streak sequence, digital speckle, parallel line chartCase.
3-D measuring apparatus in the present embodiment, by handover measurement pattern, can both have been used manyThe fixation measuring pattern of width structured light patterns, is realized to high-precision, the high details of body surfaceThree-dimensional measurement, for example：Industrial part, tooth model, small-sized woodcarving；Single width can be used againThe hand-held measurement pattern of picture, realizes quick to body surface hand-held three-dimensional measurement, example in real timeSuch as：Human body, statue.
The explanation of above example is only intended to help the method and its core that understand the present invention to thinkThink.It should be pointed out that for those skilled in the art, not departing from this hairOn the premise of bright principle, some improvement and modification can also be carried out to the present invention, these improve andModification is also fallen into the protection domain of the claims in the present invention.