Rotating cylindrical surface mirror high resolution stereo visual system and measurement methodTechnical field
Rotating cylindrical surface mirror high resolution stereo visual system and method belong to optical touchless three-dimensional measurement field.
Background technique
Stereoscopic vision is an important topic of computer vision field, its purpose is to reconstruct the three-dimensional geometry of sceneInformation.The research of stereoscopic vision has important application value, and application includes the autonomous navigation system of mobile robot, aviationAnd remote sensing survey, industrial automation system etc..Currently, the resolving power of stereo visual system is not relatively high, state-of-the-art solidThe resolving power of vision system is generally the visual field size of a ten thousandth, that is, when measuring for big visual field (meter level), isThe resolving power of system be grade, but with the development of science and technology, high-precision, high-resolution survey get more and more attention, lead to meshPreceding existing stereo visual system is unable to satisfy increasing resolving power requirement.
Summary of the invention
The invention discloses Rotating cylindrical surface mirror high resolution stereo visual system and measurement method, which passes throughRotary scanning measurement module is introduced, so that the equivalent focal length of whole system gets a promotion, to improve the resolution of whole systemPower, introducing of pin hole itself can be improved signal-to-noise ratio and be conducive to subsequent image procossing (registration, positioning feature point etc.), field lensVisual field generally large exactly match imaging lens therefore do not need additional scanning mechanism big visual field and column spinner can be realizedThe design complexities that face scarnning mirror mode can reduce optical path are conducive to the miniaturization of optical path.
The object of the present invention is achieved like this:
Rotating cylindrical surface mirror high resolution stereo visual system and measurement method, comprising:
Multiple monocular devices and three-dimensional sample.
The monocular device of Rotating cylindrical surface mirror high resolution stereo vision measuring apparatus, including laser lighting module, viewFeel photographing module, rotary scanning measurement module；
The laser lighting module according to illuminating light propagation direction successively are as follows: laser, PBS, diaphragm, lens, field lensI, Guan Jing, 1/4 slide, Rotating cylindrical surface mirror, field lens II and phtographic lens.
The vision photographing module are as follows: phtographic lens, field lens II, Rotating cylindrical surface mirror, 1/4 slide, Guan Jing, field lens I, thoroughlyMirror, diaphragm, PBS, cylindrical mirror II, slit and CCD.
The rotary scanning measures mould are as follows: laser, PBS, diaphragm, lens, field lens I, Guan Jing, 1/4 slide, column spinnerFace mirror, field lens II, Rotating cylindrical surface mirror, 1/4 slide, Guan Jing, field lens I, lens, diaphragm, PBS, cylindrical mirror II, slit and CCD；
Laser issues laser in the laser lighting module, forms directional light after collimation, passes through again after PBS reflectionIt is focused at field lens I principal plane locations after crossing diaphragm and lens, light beam is revolved after 1/4 slide after Guan Jinghou forms directional lightTurn cylindrical mirror and focus on field lens II principal plane locations, then focuses on three-dimensional sample surface through phtographic lens and form focusing linear lightSpot, the focal line hot spot irradiate the sending reflected light on three-dimensional sample surface；
The reflected light that the three-dimensional sample surface issues successively passes through phtographic lens, field lens II, Rotating cylindrical surface mirror, 1/It is collected after 4 slides, Guan Jing, field lens I, lens, diaphragm, PBS and cylindrical mirror II, slit by CCD.
Above-mentioned Rotating cylindrical surface mirror high resolution stereo visual system, in pick-up lens back spin in the stereo visual systemTurn the equivalent focal length that scanning survey module is used to improve whole system, the multiplying power of raising depends on selected line and scans measurement by magnificationSystem, to improve the resolving power of entire stereo visual system.
Above-mentioned Rotating cylindrical surface mirror high resolution stereo visual system, the imaging mode of the stereo visual system are rotationThe signal-to-noise ratio of collecting signal can be improved in cylindrical mirror scanning imagery, the introducing of slit.
Above-mentioned Rotating cylindrical surface mirror high resolution stereo visual system, the introducing of the stereo visual system field lens can withWhole-view field imaging can be realized without additional moving sweep mechanism with visual field.
Above-mentioned Rotating cylindrical surface mirror high resolution stereo visual system, the stereo visual system are that Rotating cylindrical surface mirror line is sweptImaging is retouched, scanning imagery speed can be improved while reducing optical path complexity, is conducive to optical path and minimizes.
The utility model has the advantages that
The present invention is by introducing rotary scanning measurement module, so that the equivalent focal length of whole system gets a promotion, to mentionThe high resolving power of whole system, and the resolution ratio of system can be improved in itself and signal-to-noise ratio can be improved for the introducing of slitScanning imagery speed can be improved in the introducing for being conducive to subsequent image procossing (registration, positioning feature point etc.) and Rotating cylindrical surface mirrorOptical path complexity is spent while being reduced, is conducive to optical path and minimizes.
Detailed description of the invention
Fig. 1 is the monocular apparatus structure schematic diagram of Rotating cylindrical surface mirror high resolution stereo visual system of the present invention.
In Fig. 1: 1 three-dimensional sample, 2 phtographic lenses, 3 field lens II, 4 Rotating cylindrical surface mirrors, 51/4 slide, 6 pipe mirrors, 7Mirror I, 8 lens, 9 diaphragms, 10PBS, 11 lasers, 12 cylindrical mirror II, 13 slits and 14CCD.
Fig. 2 is the structural schematic diagram of Rotating cylindrical surface mirror high resolution stereo visual system of the present invention.
In Fig. 2: 15 be the monocular device of Rotating cylindrical surface mirror high resolution stereo visual system.
Specific embodiment
A specific embodiment according to the present invention provides a kind of Rotating cylindrical surface mirror high resolution stereo visual system, toThree-dimension object high resolution imaging.
Referring to figure 2., Fig. 2 is the embodiment schematic diagram of Rotating cylindrical surface mirror high resolution stereo visual system of the present invention, Fig. 2It is made of at least two Rotating cylindrical surface mirror high resolution stereo-visiuon measurement monocular device, Fig. 1 is vertical for Rotating cylindrical surface mirror high resolutionBody vision measures monocular device embodiment schematic diagram.
Rotating cylindrical surface mirror high resolution stereo visual system, comprising: at least two monocular devices；Monocular deviceVision measurement is carried out to three-dimensional testee 1；
Monocular device, including laser lighting module, vision photographing module, rotary scanning measurement module；
Laser lighting module according to illuminating light propagation direction successively are as follows: laser 11, PBS10, diaphragm 9, lens 8, field lens6,1/4 slide 5 of I7, Guan Jing, Rotating cylindrical surface mirror 4, field lens II3 and phtographic lens 2；
Vision photographing module are as follows: phtographic lens 2, field lens II3, Rotating cylindrical surface mirror 4,1/4 slide 5, Guan Jing 6, field lens I7, thoroughlyMirror 8, diaphragm 9, PBS10, cylindrical mirror II12, slit 13 and CCD14；
Rotary scanning measurement module are as follows: laser 11, PBS10, diaphragm 9, lens 8,6,1/4 slide 5 of field lens I7, Guan Jing,Rotating cylindrical surface mirror 4, field lens II3, Rotating cylindrical surface mirror 4,1/4 slide 5, Guan Jing 6, field lens I7, lens 8, diaphragm 9, PBS10, cylinderMirror II12, slit 13 and CCD14；
Laser 11 issues laser in laser lighting module, forms directional light after collimation, after PBS10 reflects usingIt is focused on after diaphragm 9 and lens 8 at field lens I7 principal plane locations, light beam is formed after directional light after pipe mirror 6 after 1/4 slide 5Line beam is focused in field lens II3 principal plane locations by Rotating cylindrical surface mirror 4, then focuses on three-dimensional 1 table of sample through phtographic lens 2Face forms focal line hot spot, focal line hot spot irradiate the sending reflected light on three-dimensional sample surface；
The reflected light that three-dimensional 1 surface of sample issues successively passes through phtographic lens 2, field lens II3, Rotating cylindrical surface mirror 4,1/It is collected after 4 slides 5, Guan Jing 6, field lens I7, lens 8, diaphragm 9, PBS10 and cylindrical mirror II12, slit 13 by CCD14.
It in order to further optimize the above technical scheme, further include line scanning measurement by magnification system；Line scans measurement by magnification systemSystem is placed between pick-up lens 2 and field lens II3.
It is used to improve the equivalent of whole system plus rotary scanning measurement module after pick-up lens in stereo visual systemThe multiplying power of focal length, raising depends on selected rotary scanning measurement module, to improve the resolving power of entire stereo visual system.
In order to further optimize the above technical scheme, the imaging mode of stereo visual system be Rotating cylindrical surface scarnning mirror atPicture, slit introduce the signal-to-noise ratio that collecting signal can be improved.
In order to further optimize the above technical scheme, the introducing of stereo visual system field lens can match visual field withoutGroup shot can be realized as objective angular field is imaged in additional moving sweep mechanism.
In order to further optimize the above technical scheme, stereo visual system is Rotating cylindrical surface mirror line scanning imagery, Ke YitiHigh scanning imagery speed reduces optical path complexity simultaneously, is conducive to optical path and minimizes.
The measurement method of Rotating cylindrical surface mirror high resolution stereo-visiuon measurement, included following steps:
Step a, it is selected to use several Rotating cylindrical surface mirror high resolution stereoscopic vision monocular devices according to specific requirementsForm Rotating cylindrical surface mirror high resolution stereo visual system；
Step b, monocular correction is carried out to each mesh measuring device；
Step c, whole stereo visual system is corrected；
Step d, three-dimensional sample is placed at blur-free imaging and three-dimensional sample is imaged and calculates shapeLooks.
The present invention is not limited to above-mentioned preferred forms, and anyone should learn that the knots made under the inspiration of the present inventionStructure variation or method are improved, and the technical schemes that are same or similar to the present invention each fall within protection scope of the present inventionWithin.