Laser-probe-array-based three-dimensional measurement method and device

Abstract

The invention relates to a laser-probe-array-based three-dimensional measurement method and a laser-probe-array-based three-dimensional measurement device and belongs to the field of three-dimensional measurement. Based on the digital optical phase conjugation principle, tens of thousands of laser probes are projected onto preset positions in space, the reflection of the laser probes on the surface of an object is monitored by a common camera and thus, the measurement of a three-dimensional coordinate is realized. The structure and parameters of the laser probe three-dimensional camera vary with application places, the precision of the measurement is improved by regional measurement, and a precision three-dimensional coordinate in a large region or 360-degree range can be obtained by combining the results of the regional measurements. The method and the device are suitable to be used in field of robot, intelligent driving, obstacle quick detection and high-precision industrial part automatic measurement and the like.

Description

Technical field [0001] The invention belongs to the field of three-dimensional measurement, and more specifically relates to a three-dimensional measurement method based on a laser probe array, and also relates to a three-dimensional measurement device based on a laser probe array. It is suitable for rapid 3D coordinate measurement of robots, intelligent driving and obstacle detection, and 3D measurement of static high-precision industrial parts. Background technique [0002] Ordinary cameras project objects onto the image surface through an optical lens, and use film or CCD / CMOS image sensors to record, so the photos taken are two-dimensional, and the depth information is lost. However, with the rapid development of intelligent robots and safe unmanned driving, the demand for depth information is increasing, and there is an urgent need to quickly collect three-dimensional coordinate information of the scene. At present, there are many methods for measuring depth information or ...

AI Technical Summary

Problems solved by technology

At present, there are many measurement methods for depth information or three-dimensional coordinates, but they cannot fully meet the above requirements in terms of measurement speed, or measurement range, or measurement accuracy, or anti-interference.

For example, measurement technology based on laser triangulation and laser scanning technology based on time-of-flight generally use point-to-point measurement methods, which cannot quickly provide large-area three-dimensional coordinates; although laser interferometry technology has high precision, it is prone to interference by laser noise and vibration. Moreover, the measurement area is small; another example is that although various structured light projection measurement technologies have good measurement accuracy, the measurement depth and width generally do not exceed 5 meters, and shadow occlusion problems often occur at the same time; stereo vision measurement technology based on dual lenses Simple and easy to implement, no active light is required, but stereo matching is complex and takes a long time to process, especially for areas with inconspicuous structural features, stereo matching cannot be performed, resulting in high noise in 3D reconstruction

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