Optical vision measuring system with wide-field structure and measuring method thereof

Abstract

The invention belongs to the technical field of measurement, and provides an optical vision measuring system with a wide-field structure and a measuring method thereof. The measuring system consists of an optical vision sensor 7 with a wide-field structure, a computer, a calibration target 8 and a calibration target 9, wherein the optical vision sensor 7 with the wide-field structure comprises a camera 1, a regular rectangular pyramid reflecting mirror 2 and four structured light projectors 3, 4, 5 and 6. The method comprises the following steps of: projecting structured light onto a wide-field scene object in a way of splicing a plurality of linear structure light projectors; forming a deformed structural light bar on the surface of a measured object; receiving the structural light bar by using the camera 1 after being reflected by the regular rectangular pyramid reflecting mirror 2; acquiring a formed image with the computer; processing the acquired image by using the computer; extracting the image coordinate of a central line of the structural light bar; and calculating the three-dimensional coordinate of a light bar point on the surface of the measured object to obtained wide-field scene information according to a measurement model. In the system, the regular rectangular pyramid reflecting mirror is used for reflecting and imaging, so that the view field range of the camera is expanded; and the system and the method are combined with a structured light vision measurement technology, so that three-dimensional sensing measurement of wide-field scene information is realized.

Description

technical field [0001] The invention belongs to the technical field of measurement, and relates to a wide-field structured light vision measurement system and a measurement method. Background technique [0002] In visual 3D measurement, the visual 3D perception measurement of wide field of view scene information is representative, and it is the most effective means to improve the 3D perception ability of a wider range of unknown environmental information when the robot is autonomously guided. For example, by configuring the airborne visual 3D measurement The system enhances the ability of robots to obtain three-dimensional information of uncertain environments, thereby improving the autonomy and flexibility of robots in scientific research and industrial applications, enabling robots to work in harsh environments or environments that are not suitable for people to work for a long time, such as Detect the surface state of the dam of the hydropower station, the shape state of ...

AI Technical Summary

Problems solved by technology

[0004] However, the traditional camera model is based on the first pinhole camera designed and manufactured more than a hundred years ago. Simple, the field of view is too small, therefore, the measurement range of the structured light vision measurement system based on the traditional camera is limited, and it cannot meet the requirements of the wide field of view structured light 3D vision measurement task

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