3D Coordinate Measurement Using Beam Confluence Collinear Function
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Solution Overview
Problem
Existing methods for measuring three-dimensional coordinates of objects using image-capturing devices are either costly, inflexible, or result in imprecise calculations due to reliance on structured light and simple trigonometric geometric principles, making them unsuitable for high-precision operations.
Innovation Solution
A method employing two non-parallel image-capturing devices that capture images of calibration points and objects, using a beam confluence collinear function to calculate lens and bearing parameters, and subsequently determine three-dimensional coordinates of the object with enhanced precision.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If simple trigonometric geometric principles are used to calculate three-dimensional coordinates, then the calculation process is simple, but the measurement precision deteriorates due to errors from observation and lack of error consideration
Solution Approach 1:
The patent transforms the calculation from simple trigonometric geometry to a comprehensive parameter-based model that includes lens distortion parameters (k1, k2, p1, p2), bearing parameters (ω, φ, κ), and camera position parameters. This parameter expansion allows the system to account for various error sources while maintaining a systematic calculation approach.
Solution Approach 2:
The patent replaces simple geometric calculation with a photogrammetric measurement model that incorporates optical physics principles. By substituting pure geometry with a model that includes lens distortion correction and bearing parameter calibration, the system achieves higher precision without proportionally increasing complexity.
2Area of stationary object
If multiple fixed cameras are mounted above the working area to capture three-dimensional images, then the measurement coverage is improved, but the device complexity and cost increase significantly
Solution Approach 1:
The patent makes a single camera system perform multiple functions by enabling it to capture both two-dimensional images and three-dimensional spatial information through the beam confluence collinear function. The same camera setup used for 2D imaging also provides 3D measurement capabilities when combined with the calibration parameters and geometric function, eliminating the need for separate 3D camera arrays.
Solution Approach 2:
The patent introduces a computational intermediary (the beam confluence collinear function and calibration parameters) that bridges 2D image capture and 3D measurement. Instead of using multiple physical cameras, the system uses mathematical modeling to extract three-dimensional information from two-dimensional images, with the calibration parameters serving as the intermediary that enables this transformation.
3Device complexity
If a single video camera on a movable robotic arm performs multi-angle imaging operations, then the device cost is reduced, but the productivity deteriorates due to time-consuming operations
Solution Approach 1:
The patent performs preliminary calibration of lens distortion parameters and bearing parameters before actual measurement operations. By pre-establishing the beam confluence collinear function with calibrated parameters, the system eliminates the need for repeated multi-angle imaging operations during measurement, as all necessary geometric relationships are predetermined through calibration.
Solution Approach 2:
The patent replaces mechanical multi-angle imaging operations with a computational approach. Instead of physically moving the camera to multiple angles and capturing multiple images, the system uses the calibrated beam confluence collinear function to calculate three-dimensional coordinates directly from single or few images, substituting mechanical positioning with mathematical computation.
4Measurement precision
If structured light is projected on the object to enhance measurement capability, then the measurement precision is improved, but the cost and system complexity increase
Solution Approach 1:
The patent uses mathematical modeling (the beam confluence collinear function) as an intermediary to extract three-dimensional information from two-dimensional images without requiring structured light. The calibration parameters serve as the intermediary that enables the transformation from 2D image coordinates to 3D object coordinates, replacing the need for structured light projection.
Solution Approach 2:
The patent substitutes optical enhancement methods (structured light projection) with computational enhancement methods. By using the calibrated photogrammetric model to process ordinary light images, the system achieves measurement precision comparable to or exceeding structured light methods, while eliminating the need for additional optical hardware.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach allows for precise and efficient calculation of three-dimensional coordinates, reducing errors and making the system applicable to sophisticated operations, while being cost-effective and flexible.
Implementation Method 1
capturing a first image and a second image of at least a lens calibration point of known three-dimensional coordinates by the first image-capturing device and the second image-capturing device, respectively
Implementation Method 2
substituting the three-dimensional coordinates of the bearing calibration points, the first lens distortion parameter, and the second lens distortion parameter into a geometric function based on a beam confluence collinear imaging principle
Data Source
AI summary
A method and system for measuring three-dimensional coordinates of an object are provided. The method includes: capturing images from a calibration point of known three-dimensional coordinates by two image-capturing devices disposed in a non-parallel manner, so as for a processing module connected to the image-capturing devices to calculate a beam confluence collinear function of the image-capturing devices; calibrating the image-capturing devices to calculate intrinsic parameters and extrinsic parameters of the image-capturing devices and calculate the beam confluence collinear function corresponding to the image-capturing devices; and capturing images from a target object by the image-capturing devices so as for the processing module to calculate three-dimensional coordinates of the object according to the beam confluence collinear function. In so doing, the method and system enable the three-dimensional coordinates and bearings of a target object to be calculated quickly, precisely, and conveniently. Hence, the method and system are applicable to various operating environments.