基于面结构光投影的回转式三维测量系统研究与开发

上海交通大学硕士学位论文基于面结构光投影的回转式三维测量系统研究与开发姓名：王建兵申请学位级别：硕士专业：机械制造及其自动化指导教师：习俊通20070201IPLCMSCommPLCPCIIIIIResearchandDevelopmentofaRotary3DMeasurementSystemBasedonStructuredLightProjectionABSTRACTAlongwiththedevelopmentandintegrationofthescienceandtechnologyfields,highprecisiongeometricparametersextractionforobjectsurfacehasawiderangeofapplicationsincludingreverseengineering,biomedicalengineering,computervision,virtualrealityandculturalrelicrestoration.Themeasurementmethodbasedonstructuredlightprojectionisanactiveresearchfieldduetoitsfeaturesofnon-contact,non-invasive,highprecisionandhighspeed.Theoptical3Dmeasurementcanobtainonefieldofpointclouddataforonemeasurementduetoitsopticalmeasuringconditions.Thismakesthearisingofaregistrationproblemforseveralpointclouddatafromdifferentviewpoint.Inthispaper,arotary2Dmeasurementsystembasedonstructuredlightprojectionisdevelopedtomeasuretheobjectshavingrotaryfeaturesorcanberotarymeasured.Thisthesisfirstintroducestheprincipleoftheopticalmeasurementbasedontriangulation.Itanalyzesandcomparesthe3DprofilemeasurementmethodsbasedonGrayCode,PhaseShiftandtheirIVcombination.Anditexplainsthecoordinateregistrationbasedontherotaryaxis.Someexperimentsarecarriedouttoverifythemethod.Second,thehardwareofthemeasuringsystemisdeveloped.Thishardwareincludesthelightprojectionmodule,imagecapturemoduleandaturntablemodule.Inthedesignprocessoftheimagecaptureandlightprojectionmodules,theperformanceparametersofthehardwareareanalyzed.Themeasuringturntablewithhighprecisionandstabilityisdevelopedbytheanalysisoftheturntabledrivingmethodandthemotorselection.ThecontrollingsystemisbasedonPLC,andMSCommcontrolledisutilizedtoimplementtheserialcommunicationbetweenPLCandPC.Finally,theengineeringapplicationsaregiventoverifytheperformanceandstabilityofthedevelopedmeasuringsystem.Thissystemachievessatisfiedresults.KEYWORDS:StructuredLight,ThreeDimensionalMeasurement,GrayCode,PhaseShift,Rotation,Registration2007021220070212200702121(Optics)(Microelectronics)(Informatics)(AppliedMathematics)1.11.1.1REReverseEngineeringCAD21.1.2IdahoArmstrongCyberware1.1.31.1.41-1Minerva31-1MinervaFig1-1it’sthebronzestatueofMinervaontheleftthe3dmodelofthestatusontheright1.2[21,22]1-2103106mmmmInterferometryConfocalmicroscopyImageplanelocatingsystemProjectedfringeTriangulationTimeofflightTunnelmicroscopy10-610-311-2[Fig1-2therangeresolutionbasedondifferenttypesofopticalmeasurementmethods4TOFtimeofflightTOF[24,25]51.31-31-3Fig1-3Methodofmarkballs1.461-41-4Fig1-4ObjectsfittorotatingmeasurementCCD7PLC82.12.1.1[11]2-1Fig2-1Opticalgeometryoftriangulation2-1OCOPCCDISPPSPFWReferencePlanedLYZRCCDXProjectorXCZCHABHOPOCXPZPE(i,j)OObjectF(i,j*)9dOCOPRRXYZX-YOPRLPSPISPCCDZOPOOPAHHOCCCDISPF(i,j*)OPARAAOCISPE(i,j)AHBOPHOCz(x,y)H(x,y)HH’,),(),(yxzLyxzOOABPC−=2-1dOOPC=),(),(),(yxSdyxLSyxzRR+=2-2ABSR=(j*-j)SRjj*2.1.2[13,14]OPAOPBjj*SRH[21,22,30]GrayCode[15]CCD1880Jean-Manrice-EmlleBardotFrankGray1953[7]1012-14C0C1C2C3C4C5C6C7C8C9C10C11C12C13C14C1500000001001100100110011101010100110011011111111010101011100110002-14Table2-1Gray-codesequence(4bits)(a)(b)2-2(a)8(b)8Fig.2-2(a)8bitstemporallybinary-codedpatternprojection;(b)8bitstemporallyGray-codedpatternprojectionInokuchiSato11Matsuda10nnnr0rn-12n2n2-2(a)882-2(b)nr0,...,rn-110nnGCMCCDGCM(j,k)CCDRGCMOGCM2-3n=4Fig.2-3Lightcodingforn=4ofobject2-3OPAAE(i,j)RGCM(i,j)OPAH(x,y)F(i,j*)OGCM(i,j*)Rn=4RGCMOGCM2-3RGCM(i,j)OPA0000OGCMOPA(i,j*)(i,j)0110(j*-j)(T)12W(B)2-42-4TFig.2-4binarizationofthestripepatternimagewithspace-variantthresholdTwhichisthepixelwisemeanofthefullyilluminated(W)andnon-illuminatedimage(B).Thebinarizationresultalongoneimagerowisshownonthebottomofthefigure.112−=⋅=∑nnmmRIrG(2-3)112−=⋅=∑nnmmOIoG(2-4)GRGOIrmIom(m=1n)nphasemeasuringprofilometryPMPphaseshiftingphasestepPS13[4]2-5a2-5bCCD(,)(,){(,)(,)cos[(,)]}nnIxyRxyAxyBxyxyδ=+Φ+2-5nnn01N-1(,)Ixy),(yxR(,)Axy(,)/(,)BxyAxynδN1/N2/Nπ(,)nIxy1010(,)sin(2/)(,)arctan(,)cos(2/)NnNnIxynNxyIxynNππ−−Φ=∑∑2-6N),(yxR),(yxA),(/),(yxAyxB2/π,0δ2-5(a)(b)Fig.2-5(a)thesystembyphase-shiftprofilometryforheightmeasurement(b)projectedgratingontothemeasuredobject140123(,)(,)[(,)(,)cos[(,)]](,)(,)[(,)(,)sin[(,)]](,)(,)[(,)(,)cos[(,)]](,)(,)[(,)(,)sin[(,)]]IxyRxyAxyBxyxyIxyRxyAxyBxyxyIxyRxyAxyBxyxyIxyRxyAxyBxyxy=+Φ=−Φ=−Φ=+Φ2-73102(,)(,)(,)(,)(,)IxyIxyxyarctgIxyIxy−Φ=−2-8(,)Rxyπ−2ππ2π()wjΦ10()()2[(()(1))/20.5]0wwjjwwjjjnnINTjjnnππ−Φ=Φ+=Φ−Φ−++=2-9INTππ152-6PSPpYPX1LP2LPPX1LPAPAPAISP),(kjPxpYcYY1187GRAYCODE8111/42-10]2),(cos[2),(),(),(πikjkjBkjAkjIi−Φ+=2-10),(kjA),(kjB),(kjΦ2-112-6Fig.2-6opticalgeometryofthesystem16),(),(),(),(tan),(20311kjIkjIkjIkjIkj−−=Φ−2-11π20−),(kjPx),(kjφ2-12)],(),([2),(ˆ),(kjkjkjlkjl∆Φ+Φ+=π2-122-12),(kjl),(ˆkjl),(kj∆Φ2.22-7Fig2-7SketchmapofmeasurementsystemCCD172-72-7CCD2.2.1CCDZcXcYcZcXcYcXcYcOcZcXcYc2-82-8Fig2-8RelationshipofrotarycoordinateandsystemcoordinateA(x,y,z)(0)''RAAi=(2-13)i=1,2,3,A(x,y,z,1)TAyyczcxcocA1Azxo18Ai(x,y,z,1)TA-−=1000010000cossin00sincosωωωωR2-132-13'1'iARA−=(2-14)(2-14)−=−1000010000cossin00sincos1ωωωωR