CN101603812A - An ultra-high-speed real-time three-dimensional vision measurement device and method - Google Patents

Abstract

The invention discloses an ultra-high-speed real-time three-dimensional visual measurement device and method. The measurement device includes: an area array camera, one or more laser displacement sensors; the measurement method includes: using the laser displacement sensor, the area array camera and a plane target to obtain Three-dimensional measurement reference point and space line equation, based on the obtained measurement reference point and space line equation, according to the measured displacement of the measured object, calculate the coordinates of the measured light point at different positions of the measured object in the global coordinate system, In this way, the ultra-high-speed real-time three-dimensional visual measurement of the measured object is completed.

Description

An ultra-high-speed real-time three-dimensional vision measurement device and method

technical field

The invention relates to visual measurement technology, in particular to an ultra-high-speed real-time three-dimensional visual measurement device and method.

Background technique

Structured light vision is one of the high-tech technologies with development potential in the field of precision testing technology, and has become one of the most effective ways to measure three-dimensional information of objects. Structured light vision projects a laser beam with high brightness and a certain structural mode to the measured object, thereby forming a deformed light strip feature modulated by the surface three-dimensional information on the surface of the measured object, and then using an area array camera to shoot the modulated Deform the light strip features to form a visual image containing three-dimensional information on the surface of the measured object. By processing, analyzing and calculating various feature information in the visual image, the measurement of the three-dimensional geometric size, shape and position of the measured object can be realized. Structured light vision measurement has a wide range of applications due to its non-contact, high degree of automation, fast speed, high precision, and good flexibility, especially in the field of dynamic online measurement of geometric quantities.

Since the existing structured light vision technology uses an area array camera to obtain the light strip image, it will be limited by the large amount of image data and the processing speed of the light strip image, and the update rate of the existing structured light vision data cannot meet the requirements of high dynamic three-dimensional measurement. Requirements, such as: when it is necessary to realize ultra-high-speed real-time measurement of engine vibration, rotor beating, etc., the existing structured light vision technology is often not competent.

In the prior art, the laser displacement sensor can realize ultra-high-speed real-time displacement measurement. Specifically, the laser displacement sensor is generally composed of a line array camera and a point projection laser, and uses laser triangulation to obtain the displacement of a certain point of the measured object on the laser beam. Since the laser displacement sensor adopts a line array camera, the frame rate can reach a high level, and the amount of image data is small, so ultra-high-speed real-time displacement measurement can be realized. However, the laser displacement sensor can only obtain the displacement of the measured object along the direction of the laser beam, which belongs to one-dimensional measurement. That is to say, the laser displacement sensor can only realize one-dimensional measurement at present, but not three-dimensional measurement.

Contents of the invention

In view of this, the main purpose of the present invention is to provide an ultra-high-speed real-time three-dimensional visual measurement device and method, which can realize ultra-high-speed real-time three-dimensional visual measurement.

In order to achieve the above object, technical solution of the present invention is achieved in that way:

The invention provides an ultra-high-speed real-time three-dimensional visual measurement device, including: an area array camera, one or more laser displacement sensors; wherein,

An area array camera is used to take target images and obtain the transformation relationship between the target coordinate system and the camera coordinate system;

The laser displacement sensor is used to project the laser light to the target to form a light spot, and obtain the measurement reference point. Based on the target at different positions, obtain the space linear equation of the laser light in the camera coordinate system as the global coordinate system; project the laser light to the target The measured object forms light spots, and the coordinates of each measured light point in the camera coordinate system as the global coordinate system are calculated according to the measured displacement of the measured object.

In the above solution, the laser displacement sensor further includes a laser, a lens, an imaging device, and a signal processor; wherein, the laser is used to emit laser light; the lens is used to form a beam of laser light emitted by the laser and project it onto the measured object , to form a light spot, and finally image it on the imaging device; the imaging device is used to image the laser spot projected by the laser on the object to be measured through the lens; the signal processor is used to generate the driving signal to make the imaging device work normally, and according to The image point position and triangular geometric relationship of the light point on the imaging device, calculate and output the displacement of the measured object.

In the above solution, the area array camera and the laser in the laser displacement sensor constitute a three-dimensional vision sensor; the imaging device and signal processor constitute a line array camera; and the lens is a lens.

In the above solution, the one area array camera and one laser displacement sensor constitute a single-point ultra-high-speed real-time three-dimensional visual measurement device; the one area array camera and more than one laser displacement sensor constitute a multi-point ultra-high-speed real-time three-dimensional visual measurement device.

The present invention also provides an ultra-high-speed real-time three-dimensional visual measurement method, including:

Set the global coordinate system;

Calibrate the three-dimensional measurement reference point and the space straight line equation of the laser light in the global coordinate system;

Based on the obtained three-dimensional measurement reference point and the space straight line equation, according to the measured displacement of the measured object, the coordinates of the measured light points in different positions of the measured object in the global coordinate system are calculated.

Wherein, the setting of the global coordinate system is: taking the camera coordinate system as the global coordinate system.

In the above scheme, the three-dimensional measurement reference point and the spatial straight line equation of the calibration laser light in the global coordinate system are specifically:

a. Place the planar target at the first position, and one or more laser displacement sensors respectively emit laser light and project it onto the planar target to form light spots, which are used as measurement reference points;

b. The area array camera shoots the plane target image, and obtains the transformation relationship from the target coordinate system to the camera coordinate system; extracts the target feature point image coordinates, and obtains the coordinates of the light point on the plane target under the target coordinate system; The coordinates are converted to coordinates in the camera coordinate system;

c. Move the planar target to the second position, and one or more laser displacement sensors respectively emit laser light and project it onto the planar target to form light spots respectively; the area array camera takes the image of the planar target again, and calculates the position of the light spot on the planar target Coordinates in the camera coordinate system;

d. Calculate the space straight line equation of the laser light in the camera coordinate system.

In the above scheme, the calculation of the coordinates of the measured light point in the global coordinate system is as follows: first, calculate the length of the line segment between the measured light point formed by the laser displacement sensor projected onto the measured object and the measurement reference point. The value of the parameter t corresponding to the measured light point; and then substituting t into the space linear equation to obtain the coordinates of the measured light point in the global coordinate system.

The ultra-high-speed real-time three-dimensional visual measurement device and method provided by the present invention use laser displacement sensors, area array cameras and planar targets to obtain three-dimensional measurement reference points and spatial linear equations, and measure and calculate based on the obtained measurement reference points and spatial linear equations. The coordinates of the measured light points in different positions of the measured object in the global coordinate system, so as to complete the ultra-high-speed real-time three-dimensional visual measurement of the measured object. The invention converts the one-dimensional measurement of the laser displacement sensor into three-dimensional measurement, and at the same time realizes the three-dimensional measurement, the frame rate can be very high and the amount of image data is small, thereby having a very high three-dimensional measurement data update rate, which is very suitable for ultra-high speed Dynamic real-time non-contact 3D measurement occasions and requirements.

Description of drawings

Fig. 1 is the measuring principle schematic diagram of laser displacement sensor among the present invention;

Fig. 2 is a schematic diagram of the implementation process of the ultra-high-speed real-time three-dimensional visual measurement method of the present invention;

Fig. 3 is a schematic diagram of an implementation principle of ultra-high-speed real-time 3D visual measurement according to an embodiment of the present invention.

Detailed ways

The basic idea of the present invention is: use the laser displacement sensor, the area array camera and the planar target to obtain the three-dimensional measurement reference point and the space linear equation, based on the obtained measurement reference point and the space linear equation, according to the measured displacement of the measured object, calculate The coordinates of the measured light points in different positions of the measured object in the global coordinate system, so as to complete the ultra-high-speed real-time three-dimensional visual measurement of the measured object.

The ultra-high-speed real-time three-dimensional visual measurement device of the present invention includes: an area array camera, one or more laser displacement sensors; wherein,

An area array camera is used to take target images and obtain the transformation relationship between the target coordinate system and the camera coordinate system;

The laser displacement sensor is used to project the laser light to the target to form a light spot, and obtain the measurement reference point. Based on the target at different positions, obtain the space linear equation of the laser light in the camera coordinate system as the global coordinate system; project the laser light to the target The measured object forms light spots, and the coordinates of each measured light point in the camera coordinate system as the global coordinate system are calculated according to the measured displacement of the measured object.

In the present invention, one area array camera and one or more laser displacement sensors can respectively constitute a single-point or multi-point ultra-high-speed real-time three-dimensional visual measurement device.

As shown in Figure 1, the laser displacement sensor further includes a laser 11, lenses 12 and 13, an imaging device 14, and a signal processor 15; wherein, the laser 11 is used to emit laser light; The laser beam forms a light beam, which is projected onto the measured object to form a light spot, and finally imaged on the imaging device 14; the imaging device 14 is used for imaging the laser light spot projected on the measured object by the imaging laser 11 through the lenses 12 and 13; the signal The processor 15 is used to generate a driving signal to make the imaging device work normally, and calculate and output the displacement of the measured object according to the image point position and the triangular geometric relationship of the light spot on the imaging device 14 .

Here, the imaging device 14 and the signal processor 15 constitute a line camera. In practical applications, the lens may be a lens.

When measuring the object to be measured, as shown in Figure 1, the specific measurement process is: the laser light projected by the laser 11 exits through the lens 12 and becomes a thin beam, which is projected on the object to be measured 16 to form a light spot; The light beam is reflected by the measured object 16, and is imaged on the imaging device 14 through the lens 13 to obtain an imaging point; the signal processor 15 calculates the relative position of the measured object 16 according to the image point position and the triangular geometric relationship of the light point on the imaging device. The displacement of the reference point and output.

In Figure 1, between and including position S1 and position S2 is the measurement range, that is, the imaging area of the laser displacement sensor, and the corresponding imaging point is between point a and point b, or at point a or point b point. In practical applications, the object to be measured can be placed at position S1, or position S2, or any position between position S1 and position S2, and then the laser 11 projects laser light to it through the lens 12. Generally, the target is placed The imaging point generated by the first position is used as a measurement reference point, and where the first position where the target is placed is within the measurement range can be known according to the displacement relationship between the first position and the position S1. In addition, the specific method for calculating the displacement of the measured object is an existing technology, which can be referred to the article titled "Summary of Laser Triangulation" in the Supplement of Volume 25, Issue 4 of "Journal of Instrumentation and Instrumentation", and will not be repeated here.

In the present invention, the area array camera and the laser in the laser displacement sensor together constitute a three-dimensional vision sensor. For details on how to obtain a three-dimensional vision model based on the area array camera and the laser, please refer to the 1996 dissertation " Multi-sensor machine vision calibration system and application", which will not be repeated here.

Based on the ultra-high-speed real-time three-dimensional measurement device described above, the realization process of the ultra-high-speed real-time three-dimensional visual measurement method of the present invention is shown in Figure 2, including the following steps:

Step 200: setting the global coordinate system;

Here, the area camera coordinate system may be used as a global coordinate system, and the global coordinate system is a global three-dimensional coordinate system.

Step 201: Using the laser displacement sensor, the area array camera and the planar target, calibrate the three-dimensional measurement reference point and the spatial straight line equation of the laser light in the global coordinate system;

Here, an area charge-coupled device (CCD) camera and a planar target with marking points are used to calibrate the three laser rays. Among them, the planar target is placed at least in two different positions, so that the three laser rays are all projected on the planar target to form a light spot; the area array CCD camera captures the images of the planar target at two different positions from a direction that forms a certain angle with the laser light . The specific calibration process is shown in Figure 3, including the following steps:

Step 201a: Place the planar target at position 1, and the laser rays emitted by laser displacement sensors 1, 2 and 3 are respectively projected onto the planar target to form light points P ₀₁ , P ₀₂ and P ₀₃ respectively, which are used as measurement reference points . At this time, the sensor readings of laser displacement sensors 1, 2 and 3 are Z ₀₁ , Z ₀₂ and Z ₀₃ respectively.

Here, the positional relationship between position 1 where the planar target is placed and the laser displacement sensor is: position 1 is at position S1 or position S2 shown in FIG. 1 , or any position between position S1 and position S2.

Step 201b: The area array CCD camera 300 shoots the plane target image, and obtains the transformation relationship from the target coordinate system to the camera coordinate system according to the camera model; then extracts the image coordinates of the target feature points, and obtains through the perspective mapping relationship between the image plane and the target plane The coordinates of the light points P ₀₁ , P ₀₂ and P ₀₃ on the plane target in the target coordinate system; finally, the coordinates in the target coordinate system are converted into the coordinates in the camera coordinate system, respectively (x ₀₁ , y ₀₁ , z ₀₁ ), (x ₀₂ , y ₀₂ , z ₀₂ ) and (x ₀₃ , y ₀₃ , z ₀₃ );

Here, the target coordinate system refers to the coordinate system based on the position of the plane target, and the camera coordinate system refers to the coordinate system based on the position of the area array CCD camera. Specifically, how to obtain the light point on the plane target in the target coordinate system The coordinates below and how to convert the coordinates under the target coordinate system to the coordinates under the camera coordinate system can be found in the invention patent "a method for calibrating structural parameters of a structured light vision sensor" with the patent number ZL200710121397.X.

Step 201c: Move the planar target to position 2. At this time, the laser rays emitted by laser displacement sensors 1, 2 and 3 are respectively projected onto the planar target to form light spots P ₁₁ , P ₁₂ and P ₁₃ respectively. The sensor readings are respectively Z ₁₁ , Z ₁₂ and Z ₁₃ ;

Here, the positional relationship between position 2 where the planar target is placed and the laser displacement sensor is: position 2 is at position S1 shown in Figure 1, or position S2, or any position between position S1 and position S2; and, position 2 Does not coincide with position 1.

Step 201d: The area array CCD camera 300 shoots the plane target image again, and according to the method described in step 201b, obtain the coordinates of the light points P ₁₁ , P ₁₂ and P ₁₃ in the camera coordinate system, respectively (x ₁₁ , y ₁₁ , z ₁₁ ), (x ₁₂ , y ₁₂ , z ₁₂ ) and (x ₁₃ , y ₁₃ , z ₁₃ );

Step 201e, calculating the spatial straight line equations of the three laser rays in the camera coordinate system are:

$\left\{\begin{array}{c}\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 01</span>}}<span\; class="notranslate">\; +</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 11</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 01</span>}}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; t</span>}\\ \mathrm{<span\; class="notranslate">\; the\; y</span>}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; 01</span>}}<span\; class="notranslate">\; +</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; 11</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; 01</span>}}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; t</span>}\\ \mathrm{<span\; class="notranslate">\; z</span>}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; 01</span>}}<span\; class="notranslate">\; +</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; 11</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; 01</span>}}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; t</span>}\end{array}\right.$

$\left\{\begin{array}{c}\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 02</span>}}<span\; class="notranslate">\; +</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 12</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 02</span>}}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; t</span>}\\ \mathrm{<span\; class="notranslate">\; the\; y</span>}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; 02</span>}}<span\; class="notranslate">\; +</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; 12</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; 02</span>}}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; t</span>}\\ \mathrm{<span\; class="notranslate">\; z</span>}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; 02</span>}}<span\; class="notranslate">\; +</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; 12</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; 02</span>}}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; t</span>}\end{array}\right.$

$\left\{\begin{array}{c}\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 03</span>}}<span\; class="notranslate">\; +</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 13</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 03</span>}}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; t</span>}\\ \mathrm{<span\; class="notranslate">\; the\; y</span>}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; 03</span>}}<span\; class="notranslate">\; +</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; 13</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; 03</span>}}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; t</span>}\\ \mathrm{<span\; class="notranslate">\; z</span>}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; 03</span>}}<span\; class="notranslate">\; +</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; 13</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; 03</span>}}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; t</span>}\end{array}\right.$

Among them, t is the coefficient of the equation, which can take any value. The coordinates of different light points can be obtained according to different t values, and each t corresponds to a light point.

Step 202: Based on the obtained three-dimensional measurement reference point and the space linear equation, according to the displacement of the measured object measured by the laser displacement sensor, calculate the coordinates of the measured light point in the global coordinate system at different positions of the measured object, and complete the ultra-high speed Real-time 3D vision measurement.

Here, the measured light spot is the light spot projected by the laser displacement sensor onto the measured object. The calculation of the coordinates of the measured light point in the global coordinate system is: for different measured light points, the length of the line segment between the measured light point formed by the laser displacement sensor projected onto the measured object and the measurement reference point , calculate the value of the parameter t corresponding to the measured light point; and then substitute t into the space line equation to obtain the coordinates of the measured light point in the global coordinate system.

The present invention will be described in further detail below in conjunction with specific embodiments and accompanying drawing 3 .

In this embodiment, the ultra-high-speed real-time three-dimensional visual measurement device is composed of an area array CCD camera 300 and three laser displacement sensors, which are used to measure the rotation angle of the rudder surface in ultra-high-speed dynamic reciprocating rotation. The ultra-high-speed real-time three-dimensional visual measurement method of this embodiment includes the following steps:

Step 30: take the area array CCD camera 300 coordinate system as the global coordinate system;

Here, the global coordinate system is a global three-dimensional coordinate system.

Step 31: Using the laser displacement sensor, the 3D vision sensor and the planar target, calibrate the spatial straight line equation and the 3D measurement reference point of the laser light in the global coordinate system;

Here, the specific process of obtaining the three-dimensional measurement reference point and the spatial straight line equation in the global coordinate system is as described in step 201 and its sub-steps in FIG. 2 .

Step 32: Make the rudder surface to be measured at a certain position, and set this position as zero.

Step 33: Use an ultra-high-speed real-time 3D visual measurement device to measure the zero position of the rudder surface; calculate the coordinates of the measured light point in the global coordinate system based on the displacement measured by the laser displacement sensor based on the 3D measurement reference point and the space linear equation .

Take laser displacement sensor 1 as an example to illustrate the calculation method of three-dimensional coordinates:

During the measurement, the steering surface is at zero position, and the laser light emitted by the laser displacement sensor 1 is projected onto the steering surface to form a light spot P _i1 . According to the linear equation of the laser light space, as long as the parameter t corresponding to the point P _i1 is known, the coordinates of the light point P _i1 in the global coordinate system can be obtained.

The sensor reading of the laser displacement sensor corresponding to the light point P _i1 is Z _i1 , and the length of the line segment P _i1 P ₀₁ is |Z _i1 −Z ₀₁ |.

The coordinates of the light point P _i1 in the global coordinate system are expressed as (x _i1 , y _i1 , z _i1 ), correspondingly, the length of the line segment P _i1 P ₀₁ calculated in the global coordinate system is:

$\sqrt{{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 01</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; 01</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; 01</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}$

$<span\; class="notranslate">\; =</span>\sqrt{{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 11</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 01</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}{\mathrm{<span\; class="notranslate">\; t</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; 11</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; 01</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}{\mathrm{<span\; class="notranslate">\; t</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; 11</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; 01</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}{\mathrm{<span\; class="notranslate">\; t</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}$

$<span\; class="notranslate">\; =</span><span\; class="notranslate">\; |</span>\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; |</span>\sqrt{{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 11</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 01</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; 11</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; 01</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; 11</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; 01</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}$

Therefore:

$<span\; class="notranslate">\; |</span>\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; |</span>\sqrt{{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 11</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 01</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; 11</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; 01</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; 11</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; 01</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; |</span>{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; 01</span>}}<span\; class="notranslate">\; |</span>$

but:

$<span\; class="notranslate">\; |</span>\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; |</span><span\; class="notranslate">\; =</span>\frac{<span\; class="notranslate">\; |</span>{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; i</span>}\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; Z</span>}}_{\mathrm{<span\; class="notranslate">\; 01</span>}}<span\; class="notranslate">\; |</span>}{\sqrt{{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 11</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 01</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; 11</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; 01</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; 11</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; 01</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}}$

The sign of t is consistent with that of Z _i1 -Z ₀₁ , and after obtaining t, substitute it into the space linear equation to obtain the coordinates (x _i1 , y _i1 , z _i1 ) of the light point P _i1 in the global coordinate system.

In the same way, the coordinates (x _i2 , y _i2 , z i2 ) and (x i2 ) and (x _i2 ) of the light spots P _i2 and P _i3 formed by projecting the laser displacement sensor 2 and the laser displacement sensor 3 onto the steering surface respectively in the global coordinate system are obtained. _i3 , y _i3 , z _i3 ).

Step 34: According to the coordinates of the light points P _i1 , P _i2 and P _i3 in the global coordinate system, find the normal vector of the steering surface at zero position.

Step 35: Control the rudder surface to perform high-speed dynamic reciprocating rotation. The laser displacement sensor measures the three-dimensional coordinates of three non-collinear points on the rudder surface every 0.5ms, and calculates the normal vector of the rudder surface at different times;

Here, the time interval for the laser displacement sensor to measure the three-dimensional coordinates of the steering surface can be set arbitrarily according to requirements and under the condition of satisfying the frame rate of the linear array imaging device in the laser displacement sensor. How to specifically calculate the normal vector of the rudder surface at zero position or at different times is an existing technology, and will not be described in detail here.

Step 36: Calculate the included angle between the normal vector of the rudder surface and the normal vector of the rudder surface at zero position at different times, and then the rotation angle of the rudder surface relative to the zero position at different times can be obtained.

So far, the measurement of the rotation angle of the super-high-speed dynamic reciprocating rudder surface can be realized, thereby completing the ultra-high-speed real-time three-dimensional vision measurement.

The above description is only a preferred embodiment of the present invention, and is not used to limit the protection scope of the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention shall be included in the within the protection scope of the present invention.

Claims (8)

1. An ultra-high-speed real-time three-dimensional visual measurement device, characterized in that the measurement device includes: an area array camera, one or more laser displacement sensors; wherein, An area array camera is used to take target images and obtain the transformation relationship between the target coordinate system and the camera coordinate system; The laser displacement sensor is used to project the laser light to the target to form a light spot, and obtain the measurement reference point. Based on the target at different positions, obtain the space linear equation of the laser light in the camera coordinate system as the global coordinate system; project the laser light to the target The measured object forms light spots, and the coordinates of each measured light point in the camera coordinate system as the global coordinate system are calculated according to the measured displacement of the measured object. 2. The ultra-high-speed real-time three-dimensional visual measurement device according to claim 1, wherein the laser displacement sensor further includes a laser, a lens, an imaging device, and a signal processor; wherein, a laser for emitting laser light; The lens is used to form the laser beam emitted by the laser into a beam, project it onto the object to be measured, form a light spot, and finally image it on the imaging device; The imaging device is used for imaging the laser spot projected by the laser on the object under test through the lens; The signal processor is used to generate a driving signal to make the imaging device work normally, and calculate and output the displacement of the measured object according to the image point position and the triangular geometric relationship of the light spot on the imaging device. 3. The ultra-high-speed real-time three-dimensional visual measurement device according to claim 2, wherein the area array camera and the laser in the laser displacement sensor constitute a three-dimensional visual sensor; The imaging device and signal processor constitute a line camera; the lens is a lens. 4. The ultra-high-speed real-time three-dimensional visual measuring device according to claim 3, characterized in that, said one area array camera and a laser displacement sensor constitute a single-point ultra-high-speed real-time three-dimensional visual measuring device; More than one laser displacement sensor constitutes a multi-point ultra-high-speed real-time three-dimensional vision measuring device. 5. An ultra-high-speed real-time three-dimensional visual measurement method, characterized in that the method comprises: Set the global coordinate system; Calibrate the three-dimensional measurement reference point and the space straight line equation of the laser light in the global coordinate system; Based on the obtained three-dimensional measurement reference point and the space straight line equation, according to the measured displacement of the measured object, the coordinates of the measured light points in different positions of the measured object in the global coordinate system are calculated. 6. The ultra-high-speed real-time three-dimensional visual measurement method according to claim 5, wherein said setting the global coordinate system is: taking the camera coordinate system as the global coordinate system. 7. The ultra-high-speed real-time three-dimensional visual measurement method according to claim 6, characterized in that, the three-dimensional measurement reference point and the spatial straight line equation of the calibration laser light in the global coordinate system are specifically: a. Place the planar target at the first position, and one or more laser displacement sensors respectively emit laser light and project it onto the planar target to form light spots, which are used as measurement reference points; b. The area array camera shoots the plane target image, and obtains the transformation relationship from the target coordinate system to the camera coordinate system; extracts the target feature point image coordinates, and obtains the coordinates of the light point on the plane target under the target coordinate system; The coordinates are converted to coordinates in the camera coordinate system; c. Move the planar target to the second position, and one or more laser displacement sensors respectively emit laser light and project it onto the planar target to form light spots respectively; the area array camera takes the image of the planar target again, and calculates the position of the light spot on the planar target Coordinates in the camera coordinate system; d. Calculate the space straight line equation of the laser light in the camera coordinate system. 8. The ultra-high-speed real-time three-dimensional visual measurement method according to claim 5, 6 or 7, characterized in that the coordinates of the calculated light point under the global coordinate system are: First, calculate the value of the parameter t corresponding to the measured light point according to the length of the line segment between the measured light point formed by the laser displacement sensor projected onto the measured object and the measurement reference point; then substitute t into the space linear equation, The coordinates of the measured light point in the global coordinate system are obtained.

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