Laser-based amphibious three-dimensional visual detection device and detection method

A three-dimensional vision and detection device technology, applied in measurement devices, optical devices, instruments, etc., can solve problems such as limit constraints are no longer accurate, measurement environment complexity, camera parameters cannot be directly used, etc., to reduce the mismatch rate, The effect of improving the overall measurement accuracy

Pending Publication Date: 2019-07-23
OCEAN UNIV OF CHINA
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Problems solved by technology

[0005] However, due to the complexity of the measurement environment, especially the influence of light conditions, its application also faces more technical problems and inevitable defects.
First of all, higher requirements are put forward for the calibration of the camera, and the camera parameters obtained by the general on-land calibration method cannot be directly used.
Second, for underwater binocular stereo vision, the refraction of light makes the limit constraint no longer accurate
Thirdly, due to the attenuation and scattering of light propagating in water, and the influence of water conditions, the effective detection distance of binocular stereo vision is relatively low

Method used

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  • Laser-based amphibious three-dimensional visual detection device and detection method
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  • Laser-based amphibious three-dimensional visual detection device and detection method

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Embodiment 1

[0083] figure 1 It shows a schematic diagram of binocular stereo vision calibration according to an embodiment of the present invention. The left and right cameras (107, 108) simultaneously shoot the target at the coding point, and acquire the five-pose images (105, 106) of the target at different positions. The target postures are respectively: the system is facing the posture (100), the posture of tilting upward (101), the posture of tilting downward (102), the posture of tilting to the left (103), and the posture of tilting to the right (104).

[0084] figure 2 A schematic diagram of structured light vision calibration according to an embodiment of the present invention is shown, showing a laser (200), a camera coordinate system (201), an image plane (202), an image plane coordinate system (203), a pixel coordinate system (204), a laser Plane coordinates (205), object points (206), and world coordinates (207). First, using Zhang Zhengyou's multi-plane calibration method,...

Embodiment 2

[0091] Figure 3 to Figure 4 A schematic structural diagram showing an embodiment of the present invention, as shown in the figure, the detection device includes an industrial camera (303), a point laser (304), a line laser (301), an optical filter (305), and an LED lighting device (302) and communication means (300).

[0092] Wherein, the point laser provides identification features, the line laser provides active features for binocular stereo vision as an integral part of structured light vision, and the communication device connects the camera and computer and is responsible for transmitting image acquisition commands and transmitting image information.

[0093] Figure 5 It shows that the present invention provides an implementation and operation method of the visual detection device. The specific implementation steps are as follows:

[0094] Step 1: Land-based dual-target positioning (400), the left and right cameras shoot the coded point target at the same time. The ...

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Abstract

The invention relates to a laser-based amphibious three-dimensional visual detection device and a detection method, and belongs to the technical field of three-dimensional visual detection devices. The invention is an amphibious device capable of measuring a three-dimensional object and obtaining the position and attitude of the object by matching dot-line lasers to provide active features and combining land binocular stereo vision measurement with underwater multi-feature structured light measurement. According to the method, 25 pieces of line laser and 1 piece of dot laser are successfully taken as features, the technical problem of binocular stereo vision passive measurement can be solved, and meanwhile, the dot laser is taken as a marker to match the remaining light bars, the misidentification of the light bars caused by the underwater complex environment can be avoided, and the matching accuracy can be improved. Each picture can obtain 25 times more data than traditional structured light measurement, so that the underwater clear object feature data can be obtained, and the three-dimensional position and attitude under various complex conditions such as complexity, high occlusion, point cloud sparseness and the like can be solved with high accuracy.

Description

technical field [0001] The invention relates to a laser-based amphibious three-dimensional visual detection device and a detection method, belonging to the technical field of three-dimensional visual detection devices. Background technique [0002] As early as the 1980s, the American National Bureau of Standards predicted that 80% or even 90% of inspection tasks would be completed by visual measurement systems, and this prediction has basically become a reality. In recent years, with the rapid development of machine vision, the rapidity, accuracy and intelligence of machine vision technology have been widely used in various industries. [0003] At present, the known underwater three-dimensional detection devices have two methods: acoustic detection and optical detection. , but the light attenuates rapidly in water, the detection distance is short, and auxiliary lighting is required in deep sea conditions. At present, special photoelectric imaging detection methods are main...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01B11/25
CPCG01B11/2513
Inventor 解则晓李俊朋李美慧于平邵玮靖
Owner OCEAN UNIV OF CHINA
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