227 results about "3d measurement" patented technology

The invention relates to the technical field of three-dimensional measurement, and discloses a double-zoom system and a three-dimensional information acquisition method thereof, and the three-dimensional information acquisition method comprises the steps: adjusting a projection unit and a first micromirror array, and enabling a projection end to work in a coaxial light mode; controlling the second micromirror array to zoom by adopting a preset second zoom parameter, and processing the two-dimensional image data of the imaging unit in real time to generate a two-dimensional ultra-depth-of-field image; adjusting the parameters of the second micromirror array until the image acquired by the imaging unit is clear; a preset first zooming parameter is adopted to control zooming of the first micromirror array, and scanning information and image data are obtained in real time and processed to obtain surface height information; generating three-dimensional information containing texture information in combination with the two-dimensional super field depth image and the surface height information; according to the method disclosed by the invention, the problem of high calculation error in the absence of 2D texture information in the traditional 3D imaging technology is solved, and the height information can be accurately acquired even in an area with scarce texture information.

The invention discloses a space-time speckle projection three-dimensional imaging method based on multi-frame optical flow alignment. Firstly, a projector based on DLP is used for projecting a space-time speckle pattern to a measured scene, and a binocular camera synchronously collects a three-dimensional space-time speckle image. The calibration parameters of the binocular camera are used to carry out stereo correction on an acquired original speckle image, and a parallax image is generated frame by frame in combination with a coarse-to-fine single-frame speckle matching strategy. And estimating a two-dimensional inter-frame displacement field between continuous disparity maps by using an optical flow method by taking an intermediate frame disparity map as a reference, compensating motion artifacts in a space-time speckle image, and ensuring strict space-time registration of a dynamic target. And based on the speckle image after motion correction, a speckle matching strategy is expanded to a time-space domain, and high-precision multi-frame three-dimensional measurement of a complex dynamic scene is realized. The method is suitable for performing rapid and high-precision three-dimensional modeling on a moving target in an unstructured environment, and can perform accurate three-dimensional measurement on a high-speed dynamic target undergoing any translation or rotation motion.

This product is used by connecting it to a three-dimensional measuring machine, and the three-dimensional measuring machine is driven by operating a touch panel display, joystick, and various knobs provided on the flat surface.

The embodiment of the invention provides an optical system and 3D measuring equipment, and relates to the technical field of machine vision, the optical system comprises a polarization regulation and control module and a polarization module, the polarization module is used for reflecting a light beam in a first polarization direction and transmitting a light beam in a second polarization direction, and the polarization regulation and control module is used for regulating the polarization direction. The polarization direction adjusting module is used for adjusting the polarization direction of the laser beam from a first polarization direction to a second polarization direction; a light beam in a first polarization direction of the incident system is reflected by the module to enter the polarization regulation and control module along a first direction, is reflected by the polarization regulation and control module to enter the polarization module along a second direction, and is transmitted from the polarization module. Through the embodiment of the invention, light path folding is realized, the size of the optical system is reduced, the working size of the 3D measurement equipment is further reduced, the 3D measurement equipment can be more suitable for a narrow and compact space, ambient light interference is reduced, and the application scene is expanded.

The invention discloses an anti-shielding three-dimensional scanning measurement field construction method for large-size measurement, and belongs to the technical field of optical three-dimensional measurement. The method comprises the following steps: firstly, performing adaptive sampling based on geometric features of a workpiece to generate a candidate mark point set; secondly, constructing a virtual measurement scene, simulating a dynamic scanning process by using a ray tracing technology, and calculating the visibility and observation quality of each point under multiple viewpoints; then measuring precision is quantified by using a Fisher information matrix, and a layout optimization model which takes maximization of information gain as a target and meets coverage rate and engineering constraint at the same time is established; and finally, solving the model to obtain an optimal mark point subset, and verifying and outputting the optimal mark point subset. According to the method, the problems of measurement interruption, low point distribution efficiency and difficulty in guaranteeing precision caused by shielding of a large-size complex component in scanning are solved, and automatic construction of a high-robustness and high-precision measurement field is realized.

The invention relates to a structured light projection device and a 3D measurement system. The projection device includes a display section and a projection section. The display portion includes a plurality of light emitting units arrayed in a first direction. The display part forms a to-be-projected image with periodic light intensity change in the first direction by regulating and controlling the light intensity of each light-emitting unit. The projection section is located on the front side of the display section in the second direction. The projection portion is configured to project an image to be projected into a sine fringe image. The second direction is perpendicular to the first direction. Compared with the prior art, the projection device only needs one display part, a mask (or a grating) does not need to be arranged, the structure of the projection device is greatly simplified, and the size of the projection device is reduced.

The invention discloses a robot three-dimensional reconstruction equipment viewpoint planning method and system and computer equipment. The method comprises the steps that a standard three-dimensional CAD model of a to-be-tested aero-engine special-shaped blade is obtained; designing and expanding a voxel state space, and updating the voxel state of the state space by scanning a to-be-detected blade; defining the depth range of the scanner, calculating the radius of the scanner in combination with the size of the to-be-measured blade, representing the position of the scanner by adopting a spherical coordinate system, adjusting the position of the scanner according to the deviation angle, and forming an action space according to adjustable parameters; the position and orientation of the scanner are converted into the angles of a mechanical arm and a rotating table, and a seven-degree-of-freedom measurement motion control system is constructed; and designing a reward function, training the seven-degree-of-freedom measurement motion control system in combination with a reinforcement learning algorithm, obtaining the trained seven-degree-of-freedom measurement motion control system when a training termination condition is reached, applying the system to an actual 3D measurement task, and generating an optimal viewpoint plan to guide robot scanning. And efficient and accurate viewpoint planning is realized.

Apparatuses and methods for dental image analysis including determining pixel sizes of an image. A pixel size enables conversion of a two-dimension image-based measurement into a 3D measurement. The pixel sizes vary over the image due to differences in distance between the camera taking the image and the object of interest. A three-dimensional model may be registering to the two-dimension image, and the pixel sizes may be identified on a per-object (e.g., per-tooth) basis, per-region basis or at each point in the image. The pixel size scaling may be used to identify features in the image for diagnostic or other dental application purposes.

The invention relates to the technical field of three-dimensional measurement and digital twinborn assembly analysis, in particular to a part deformation analysis system based on three-dimensional measurement data driving, which comprises an anisotropic feature decoupling unit for acquiring sparse point cloud data of a flexible target object and generating a purified discrete feature set; the geometric illusion monitoring unit is used for generating an illusion entropy distribution diagram by using an implicit neural representation technology; the adaptive topology fidelity arbitration unit is used for generating a final deformation analysis report based on the illusion entropy distribution diagram; the deformation logic iteration unit is used for dynamically adjusting weight parameters of a resistance deformation decoupling model and a calculation strategy of the geometric illusion entropy according to a final deformation analysis report and downstream assembly feedback; according to the invention, the purity of input data and zero missing detection of deformation are ensured.

The invention provides a large-scale rotary equipment blade measurement system calibration method based on LM algorithm optimization, and belongs to the technical field of blade three-dimensional measurement. Points in a world coordinate system are converted to a rotary table coordinate system, are rotated in the rotary table coordinate system, and then are converted to the world coordinate system; and projecting the rotated world coordinate to a pixel coordinate system to obtain a theoretical pixel coordinate, comparing the theoretical pixel coordinate with an actual pixel coordinate, and calculating a re-projection error. Constructing a target function by using the re-projection error, and iteratively optimizing the axis parameters of the rotary table through an L-M algorithm until convergence; and outputting the optimized rotary table axis for blade point cloud splicing. According to the method, the problem of linear axis calculation errors on the basis of mark point position tracking is solved, nonlinear optimization of the rotary table rotating shaft is achieved, and technical support is provided for follow-up rotary splicing and all-topography measurement of blade point clouds.

The invention discloses a compact stripe monocular three-dimensional measurement system and method based on a mechanical grating, and belongs to the technical field of measurement sensing. The invention aims to solve the problems that the existing three-dimensional measurement technology depends on expensive active devices, the structure is complex, and single-frame high-density fringe projection and dynamic measurement are difficult to realize. The system comprises a dense fringe projection device, a monocular acquisition module and a processing unit. The compact stripe projection device is composed of an active light source, a mechanical grating and an optical lens, and is used for projecting a single-frame compact stripe formed by the mechanical grating to the surface of an object to be measured. And the monocular acquisition module is used for acquiring a deformed stripe image which is subjected to height modulation by the surface of an object. And the processing unit is used for synchronously controlling projection and acquisition and resolving the acquired single-frame deformed stripe image based on a pre-established system calibration model so as to reconstruct a three-dimensional point cloud coordinate of the object. The passive mechanical grating is adopted to replace traditional digital projection elements such as DLP, MEMS and DOE, and monocular vision and a single-frame reconstruction algorithm are combined, so that the system has the advantages of low cost, small size, single camera and the like, and has wide application prospects in the fields of miniaturized 3D imaging modules, extremely small endoscopes, portable 3D imaging equipment, dynamic 3D imaging and the like.

To enable a user to appropriately change a display condition of a careful imaging location as necessary when checking the careful imaging location in actual imaging.SOLUTION: In an imaging device for imaging a measurement target location in order to perform 3D measurement processing for generating 3D spatial information of the measurement target location on the basis of imaging data of the measurement target location, work support information related to imaging work for imaging a measurement target location where a user performs imaging while moving is displayed on a display. In particular, a careful imaging place in the actual imaging is detected on the basis of the imaging data obtained by preliminary imaging, a screen including an operation unit for user operation for specifying a display condition for a careful imaging place is displayed on the display, a confirmation map in which the careful imaging place is drawn on a map image representing the measurement target location is generated according to the specified display condition, and the screen including the confirmation map is displayed on the display.SELECTED DRAWING: Figure 21

The invention relates to a five-spindle-head RTCP parameter calibration and precision detection method based on a tool setting gauge, and relates to the technical field of machine tool five-spindle-head precision calibration and detection. Comprising the steps of clamping a ball head detection rod, activating a tool setting gauge, executing a measurement detection program at a set angle, calculating and updating RTCP related parameters, automatically calculating geometric accuracy and outputting a result. According to the method, a written calibration algorithm is executed, and calibration detection is carried out by using a ball head detection rod clamped on a five-shaft-head main shaft and a tool setting gauge mounted in a machine tool working area; and calculating five-shaft-head RTCP parameters needing to be updated through an algorithm, testing related rotation geometric accuracy of the five shaft heads after data updating, and outputting a test report. Projects originally needing manual testing are optimized into automatic testing, interference such as manual misoperation is eliminated, efficiency is improved, the utilization value of the tool setting gauge is improved, and the cost of purchasing corresponding 3D measuring probes by users with automatic calibration requirements is also saved.

A 3D measurement system, a laser scanner and a measurement device are provided. The system includes a 3D measurement device and a 360 degree image acquisition system coupled in a fixed relationship to the 3D measurement device. The 360 degree image acquisition system includes a first photosensitive array operably coupled to a first lens, the first lens having a first optical axis in a first direction, the first lens being configured to provide a first field of view greater than 180 degrees. The image acquisition system further includes a second photosensitive array operably coupled to a second lens, the second lens having a second optical axis in a second direction, the second direction is opposite the first direction, the second lens being configured to provide a second field of view greater than 180 degrees. Wherein the first field of view at least partially overlaps with the second field of view.

The invention provides a coal gangue recognition method and device based on density, and the method comprises the steps: measuring a 3D model of a to-be-measured target object through a 3D measurement sensor, estimating the volume of the to-be-measured target object and the mass of the to-be-measured target object measured by a pressure sensor based on the measured 3D model, and then calculating the density of the to-be-measured target object. And if the density of the to-be-detected target object is within the density range of the coal gangue, identifying that the to-be-detected target object is the coal gangue. The device is arranged on a gangue conveying belt and comprises a 3D measurement sensor, a distributed pressure sensor, a truss type two-shaft gangue sorting mechanism and a mechanical gripper. The coal gangue and the coal gangue mixture can be accurately recognized, the gangue sorting accuracy is improved, and resource waste and environmental pollution can be effectively reduced; personnel participation is reduced, and digitization, intelligentization and unmanned operation of the coal gangue recognition technology are promoted; the hardware structure is simple, cost is low, operation is easy, and application and popularization are facilitated.

To improve welding accuracy in a welding apparatus, a welding method, and a welding program.SOLUTION: This welding apparatus for an object to be welded, which is formed by connecting a first member, a second member, and a third member so as to be orthogonal, comprises: a welding robot; and a control device that controls the welding robot. The control device calculates first three-dimensional measurement data containing the position of a first direction in the first member and the inclination of a second direction orthogonal to the first direction, calculates second three-dimensional measurement data containing the position of the second direction in the first member, calculates third three-dimensional measurement data containing the position of a third direction orthogonal to the first and second directions in the second member and the inclination of the second direction, defines three-dimensional coordinates of the object to be welded with respect to a reference point in the welding robot on the basis of three-dimensional design data of the object and the first, second and third three-dimensional measurement data, and controls the welding robot on the basis of the three-dimensional coordinates of the object to be welded to perform weld.SELECTED DRAWING: Figure 3

A system for 3D surveying of an environment by an unmanned ground vehicle (UGV) and an unmanned aerial vehicle (UAV) has two lidar devices. A reference unit has a first and a second marker in a spatially fixed arrangement. An automatic detection of the first marker is carried out for a coordinative measurement by the first lidar device to determine relative position data for providing relative position information of the first marker with respect to the first lidar device. The relative position data and spatial 3D information is used for an automatic detection and a coordinative measurement of the second marker by the second lidar device. The coordinative measurements are used for a referencing of lidar data of the UGV lidar device and lidar data of the UAV lidar device with respect to a common coordinate system.

The invention relates to a structured light three-dimensional measurement technology, and provides a system joint calibration optimization method fusing three-dimensional offset modeling and phase identity constraint for an industrial field low-precision target scene. The method comprises the following core steps: introducing a three-dimensional offset for a target feature point, and compensating spatial deformation and eliminating scale ambiguity through zero-mean constraint; sub-pixel matching is realized based on a phase identity principle, and projection constraint is enhanced to reduce dependence on a target; and constructing a joint reprojection error function, and adjusting and synchronously optimizing system parameters and offset by means of a bundle method. The prior art depends on a high-precision plane target, and when the target has manufacturing errors, installation warping or pasting deformation, calibration errors can be transmitted through an imaging link, so that the measurement precision is reduced, and target deformation and geometric errors of a projector are difficult to compensate at the same time. The method breaks through the limitation of a traditional inverse camera model, does not need to depend on a high-precision glass target, reduces the hardware cost, and constructs a cooperative compensation mechanism of a target manufacturing error and an imaging parameter. Experiments show that after explicit compensation is carried out on the local deformation of the target by adopting the three-dimensional offset factor, the flatness error gt is detected; on a paper target of 10 microns, the re-projection error of the camera is reduced by 79.6%, and the re-projection error of the projector is reduced by 74.8%; sub-pixel matching is achieved through phase identity constraint, multi-parameter collaborative optimization of bundle adjustment is combined, the high-precision measurement requirement of an industrial site is met, and an efficient solution is provided for high-precision three-dimensional measurement.

The invention discloses a spectral confocal efficient three-dimensional measurement device and method based on a spatial light modulator. The device comprises an illumination module and a detection module. The illumination module comprises a white light LED light source, a collimator, an LED condenser, a digital micromirror device DMD and a dispersion objective lens; the detection module comprises an imaging objective lens, a CCD detector and computer processing equipment. According to the invention, traditional point-by-point spectrum confocal measurement is expanded to area array type measurement, so that the measurement speed can be effectively improved; meanwhile, different from a scanning type or fixed pinhole type parallel measurement scheme, the invention uses a pinhole array with controllable diameter and spacing, thereby improving the flexibility and lateral resolution of measurement.

The invention provides a binocular stereoscopic vision system and structured light 3D scanner composite calibration method, and the method employs a digital coding point and checkerboard composite calibration technology. Only four digital coding points and a common checkerboard are needed to realize conversion matrix solution from a coding point coordinate system constructed by the digital coding points to a structured light 3D scanner measurement coordinate system, and high-precision dynamic calibration of a binocular vision system and a structured light scanner is realized. The problem of adaptability of a traditional calibration method in a complex industrial environment is solved, the calibration precision and stability of a composite measurement system are remarkably improved, meanwhile, the calibration method has the advantages of being simple in calibration process, low in system cost and the like, the calibration precision and stability are improved, a brand new technical solution is provided for three-dimensional measurement of an industrial site, and the method is worthy of popularization and application. The method is suitable for a dynamic measurement scene in a complex industrial environment.

The invention relates to the technical field of three-dimensional scanning, and provides a three-dimensional scanning device, a three-dimensional scanning method, a three-dimensional measuring device, a system and a method.The three-dimensional scanning device comprises a plurality of device units, and each device unit comprises a shooting device and a projection device which meet small baseline distribution. The projection equipment of each equipment unit is used for projecting light rays in respective preset directions to a target object, and the shooting equipment of each equipment unit is used for shooting a pattern formed by crossing the light rays projected on the target object by all the projection equipment at the same time to obtain each image shot by each shooting equipment; and performing three-dimensional measurement on the target object based on a plurality of intersection points included in all the images. According to the invention, the layout of the three-dimensional scanning equipment is simpler and more compact, and the application scene of the three-dimensional scanning equipment is expanded.

The invention discloses a fringe projection measurement method for a high dynamic range scene. The fringe projection measurement method can realize high-precision three-dimensional reconstruction of a complex reflection scene without human intervention. The method comprises the following steps: firstly, projecting pure gray-scale maps with different gray scales to calculate the maximum unsaturated exposure time of a camera for a scene, constructing a phase error model for a fringe pattern captured under exposure, and respectively calculating the optimal exposure time of each pixel point under phase error and light intensity constraint conditions; and then, obtaining required exposure times, masks and exposure time by using an iterative optimization algorithm of the masks. And finally, obtaining an optimal fringe pattern for three-dimensional reconstruction by automatically capturing and fusing fringe patterns at different exposure times. Compared with a traditional high-dynamic measurement method, the method has the advantages that high-quality multi-exposure fusion can be completed without human intervention, and high-precision and high-robustness three-dimensional measurement of a high-dynamic-range scene is realized.

The present invention relates to a method for processing three-dimensional measurement data from a scanning probe microscopy system to provide three-dimensional topographic image data, as well as a method for performing scanning probe microscopy, a scanning probe microscopy system, a computer-implemented method, and a computer program product. The method comprises receiving 3D measurement data acquired by the SPM system into a processing device, the 3D measurement data typically mapping the topography of a structure provided by the substrate. The method further comprises digitally constructing model image data using shape contour data of the shape, and a regression operation to fit the model image data to the 3D measurement data. This results in a composite model image of the 3D measurement data that can be used as a topographic image.

To make 3D measurement efficient.SOLUTION: A site information management system comprising a computer including an arithmetic device configured to execute a predetermined process and a storage device connected to the arithmetic device, wherein the arithmetic device includes a site data storage unit configured to store site data including a movement record in which a position and a time at which a worker or work equipment moves in a site are associated with each other, a change location extraction unit configured to determine whether or not there is a time-series change in a site structure from the site data stored in the site data storage unit, and a recommendation unit configured to output information on the estimated change, the recommendation unit sets the determined changed portion as a 3D to be acquired, and outputs information on the region.SELECTED DRAWING: Figure 1

The invention discloses a real-time measurement method for a 3D dynamic contact angle in a gap flow field based on interference measurement. Comprising the steps that a 3D dynamic contact angle real-time measurement optical platform is built, a reference interference image is collected, and reference interference image phase distribution is obtained according to the reference interference image; an interference image of the gap flow field to be measured is collected in real time, interference image phase distribution is obtained according to the interference image at the current moment, and liquid level height distribution at the current moment is obtained according to the interference image phase distribution at the current moment and the reference interference image phase distribution; obtaining a gas-liquid-solid contour line according to the liquid level height distribution at the current moment; and obtaining the contact angle at the current moment according to the liquid level height distribution and the gas-liquid-solid contour line at the current moment. According to the invention, 3D measurement and real-time measurement of the contact angle can be realized at the same time, the problem that 3D measurement and real-time measurement cannot be realized at the same time in the conventional test method is solved, and the method is also suitable for contact angle measurement of irregular liquid drops or flow field gas-liquid interfaces.

The present application relates to a photoelectric sensor and a method for detecting an object. A photoelectric sensor (10) for detecting an object in a monitoring area (16, 120, 212) is provided, wherein the sensor (10) has: a laser scanner (110) having a deflection unit (112) rotatable about a rotation axis (118), the deflection unit being used to scan the monitoring area (120) with at least one scanning beam (126, 128); and a first distance measuring unit (140) being used to determine a 3D measurement point of a corresponding object scanned by the scanning beam (126, 128) using a light time-of-flight method; a panoramic camera (210) having a panoramic optical device (216) and an image sensor (218), the image sensor having a plurality of light receiving elements for detecting image points; and a control and evaluation unit (14, 140, 222) configured to fuse 3D measurement points and image points. In this case, the optical axis (220) of the panoramic camera and the rotation axis (118) coincide.

The present invention relates to a method for excitation and measurement of fluorescence lifetimes by means of optical 3D measurement and the use of a system for optical 3D measurement for measuring fluorescence lifetimes of fluorescent dyes.

To enable a user to proceed with imaging operation while grasping a progress situation of the imaging.SOLUTION: In an imaging device for imaging a measurement target location in order to perform 3D measurement processing for generating 3D spatial information of the measurement target location on the basis of imaging data of the measurement target location, work support information related to imaging work for imaging a measurement target location where a user performs imaging while moving is displayed on a display. In particular, a target imaging range for the actual imaging is set on the basis of imaging data acquired in preliminary imaging, an imaging-completed range is acquired on the basis of imaging data obtained by the actual imaging, information on a progress situation of the actual imaging is acquired on the basis of the imaging-completed range and the target imaging range, and a screen including the information on the progress situation of the actual imaging is displayed on the display.SELECTED DRAWING: Figure 31

Systems and methods to generate synthetic images for use in a machine learning training set. The process begins with accessing a database of real-world 3-D images of equipment in a power grid, the 3-D images of equipment include 3-D measurements to create a dimensionally accurate and photorealistic model of the equipment. Optionally, the 3-D images could be aged or weathered using imaging editing software. Next, a database of real-world photographs of scenes in which the equipment is installed is accessed. Optionally, the identical scenes can be captured at different times of day, different times of the year, and at different perspectives. Next, using image editing software, the 3-D images of equipment is inserted into at least one of the scenes to form a synthetic image based on a combination of the equipment and the scene in which each of the equipment and the scene were previously captured independently of each other.