CN103983207A - Three-dimensional scanning endoscope and three-dimensional scanning method - Google Patents

Abstract

The invention discloses a three-dimensional scanning endoscope and a three-dimensional scanning method, wherein, a three-dimensional scanning endoscope includes: a first camera, a second camera, a laser line emitting unit, and the first camera, the The second camera is connected to the processing unit of the laser line emitting unit, and the three-dimensional scanning endoscope acquires the measured object scanned by the laser stripes synchronously by the first camera and the second camera, and combines the epipolar line constraints obtained by the camera calibration method Reconstruct the three-dimensional profile of the surface to be measured of the object to be measured, thereby realizing the automatic measurement of the three-dimensional profile of the surface to be measured of the object to be measured. In addition, the technical solution provided by the invention uses laser stripes to measure the surface of the object to be measured. The measurement surface is scanned without manual designation of feature points, which can effectively improve the measurement accuracy of the three-dimensional contour information of the measured object.

Description

A kind of three-dimensional scanning endoscope and three-dimensional scanning method

technical field

The invention relates to the technical field of endoscopes, in particular to a three-dimensional scanning endoscope and a three-dimensional scanning method.

Background technique

As a kind of non-destructive testing, industrial endoscopes can be used to accurately observe the working status and surface structure of components without damaging the surface of components. With the development of industrial endoscopes, industrial endoscopes have been widely used in In complex industrial environments, especially high temperature, toxic, nuclear radiation and other environments that humans cannot observe with the naked eye. The traditional two-dimensional image-based endoscope is gradually being partially replaced by endoscopes with three-dimensional measurement functions because it cannot quantitatively calculate the size, distance and cross-section of the workpiece to be measured. Industrial endoscopes have developed from simple two-dimensional image endoscopes to endoscopes with three-dimensional measurement functions.

At present, there is a dual charge-coupled device (CCD, Charge-coupled Device) industrial endoscope that can realize the three-dimensional measurement function. The dual-CCD industrial endoscope adopts the principle of stereo vision. When realizing the three-dimensional measurement function, it is necessary to manually specify the feature points. The three-dimensional profile information of the workpiece to be measured is measured, so that the accurate three-dimensional shape of the surface of the object to be measured cannot be reconstructed.

Contents of the invention

The invention provides a three-dimensional scanning endoscope and a three-dimensional scanning method, which are used for improving the measurement accuracy of three-dimensional profile information of a measured object.

The first aspect of the present invention provides a three-dimensional scanning endoscope, including:

A first camera for acquiring video images of the object under test;

A second camera for synchronously acquiring video images of the object under test with the first camera;

A laser line emitting unit for emitting laser stripes to the above-mentioned measured object and making the above-mentioned laser stripes move uniformly along the same straight line direction on the surface to be measured of the above-mentioned measured object, wherein the surface to be measured of the above-mentioned measured object refers to The surface of the above-mentioned measured object opposite to the above-mentioned three-dimensional scanning endoscope;

a processing unit respectively connected to the first camera, the second camera and the laser line emitting unit;

Wherein, the above-mentioned processing unit is used to: calibrate the above-mentioned first camera and the above-mentioned second camera according to the camera calibration method, and obtain the epipolar line constraint condition; according to the above-mentioned epipolar line constraint condition, synchronize the above-mentioned first camera and the above-mentioned second camera Performing three-dimensional contour reconstruction on each frame of video image obtained to obtain the three-dimensional contour information of the surface to be measured of the object to be measured;

Wherein, the above-mentioned three-dimensional contour reconstruction is performed on each frame of video images synchronously acquired by the above-mentioned first camera and the above-mentioned second camera according to the above-mentioned epipolar line constraint conditions, including: respectively detecting the first frame of video images acquired by the above-mentioned first camera according to the edge detection algorithm In the image and the second frame of video image captured by the above-mentioned second camera, the laser centerline of the laser stripe located on the above-mentioned object under test, wherein the above-mentioned first frame of video image and the above-mentioned second frame of video image are respectively obtained by the above-mentioned first camera Acquiring at the same time as the above-mentioned second camera; calculating the three-dimensional coordinate value of each point on the above-mentioned laser centerline according to the above-mentioned epipolar line constraint conditions, and obtaining the three-dimensional profile information of the above-mentioned laser centerline on the above-mentioned measured object;

Wherein, the above-mentioned three-dimensional coordinate value of each point on the above-mentioned laser center line is calculated according to the above-mentioned epipolar line constraints, including:

For any point i on the laser centerline of the first frame of video image, the position of the above-mentioned point i on the above-mentioned laser centerline of the second frame of video image is detected according to the above-mentioned epipolar constraints;

According to the position of the point i in the first frame of video image and the position of the point i in the second frame of video image, the three-dimensional coordinate value of the point i is calculated.

Another aspect of the present invention provides a three-dimensional scanning method, which is applied to a three-dimensional scanning endoscope. The above-mentioned three-dimensional endoscope includes: a first camera, a second camera, a laser line emitting unit, and a A processing unit connected to the second camera and the above-mentioned laser line emitting unit;

The above three-dimensional scanning methods include:

The above-mentioned first camera and the above-mentioned second camera synchronously acquire the video image of the above-mentioned measured object;

The above-mentioned laser line emitting unit emits laser stripes to the above-mentioned measured object, and makes the above-mentioned laser stripes move uniformly along the same straight line direction on the surface to be measured of the above-mentioned measured object, wherein the surface to be measured of the above-mentioned measured object refers to the above-mentioned Measure the surface of the object opposite to the above-mentioned three-dimensional scanning endoscope;

The above-mentioned processing unit calibrates the above-mentioned first camera and the above-mentioned second camera according to the camera calibration method, and obtains the epipolar constraint conditions; according to the above-mentioned epipolar constraint conditions, each frame of video synchronously acquired by the above-mentioned first camera and the above-mentioned second camera Performing three-dimensional contour reconstruction on the image to obtain the three-dimensional contour information of the surface to be measured of the object to be measured;

Specifically, the above-mentioned processing unit performs three-dimensional contour reconstruction on each frame of video images synchronously acquired by the above-mentioned first camera and the above-mentioned second camera according to the above-mentioned epipolar line constraints, including: In the first frame of video image and the second frame of video image acquired by the above-mentioned second camera, the laser center line of the laser stripe located on the above-mentioned measured object, wherein, the above-mentioned first frame of video image and the above-mentioned second frame of video image are respectively determined by The above-mentioned first camera and the above-mentioned second camera are acquired at the same time; the three-dimensional coordinate value of each point on the above-mentioned laser centerline is calculated according to the above-mentioned epipolar line constraint conditions, and the three-dimensional contour information of the above-mentioned laser centerline on the above-mentioned measured object is obtained;

Specifically, the above-mentioned processing unit calculates the three-dimensional coordinate value of each point on the above-mentioned laser center line according to the above-mentioned epipolar line constraints, including: for any point i on the above-mentioned laser center line of the first frame of video image, according to the above-mentioned epipolar line The line constraint condition detects the position of the above-mentioned point i on the above-mentioned laser center line of the above-mentioned second frame of video image; according to the position of the above-mentioned point i in the above-mentioned first frame of video image and the position of the above-mentioned point i on the above-mentioned second frame of video image , to calculate the three-dimensional coordinate value of the above point i.

It can be seen from the above that in the present invention, the laser stripes are emitted by the laser emitting unit to scan the surface of the object to be measured, and the first camera and the second camera synchronously acquire the measured object scanned by the laser stripes, combined with the camera calibration method. The epipolar constraints reconstruct the three-dimensional profile of the surface to be measured of the object to be measured, thereby realizing the automatic measurement of the three-dimensional profile of the surface to be measured of the object to be measured. In addition, the present invention uses laser stripes to Scanning the surface to be measured does not require manual designation of feature points, which can effectively improve the measurement accuracy of the three-dimensional contour information of the measured object.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. For those skilled in the art, other drawings can also be obtained according to these drawings without any creative effort.

Figure 1-a is a schematic structural diagram of an embodiment of a three-dimensional scanning endoscope provided by the present invention;

Figure 1-b is a schematic structural diagram of an embodiment of the laser emitting unit provided by the present invention;

Figure 1-c is a schematic diagram of an application scenario in which the laser emitting unit emits laser light provided by the present invention;

Fig. 1-d is a schematic diagram of the frame video image of the measured object acquired by the first camera provided by the present invention at a certain moment;

Fig. 1-e is a schematic diagram of the frame video image of the measured object acquired by the second camera provided by the present invention at the above-mentioned certain moment;

Figure 1-f is a schematic structural diagram of another embodiment of the three-dimensional scanning endoscope provided by the present invention;

Fig. 2 is a schematic flowchart of an embodiment of a three-dimensional scanning method provided by the present invention.

Detailed ways

In order to make the purpose, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described The embodiments are only some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

A three-dimensional scanning endoscope provided by the embodiment of the present invention is described below, please refer to the front view of the three-dimensional endoscope shown in Figure 1-a, as can be seen from Figure 1-a, the three-dimensional scanning endoscope in the embodiment of the present invention Mirror 10 includes:

A first camera 11 for acquiring video images of the measured object;

A second camera 12 for synchronously acquiring video images of the object under test with the first camera 11;

A laser line emitting unit 13 for emitting laser stripes to the above-mentioned measured object and making the above-mentioned laser stripes move uniformly along the same straight line direction on the surface to be measured of the above-mentioned measured object, wherein the surface to be measured of the above-mentioned measured object is Refers to the surface of the above-mentioned object to be measured that is opposite to the above-mentioned 3D scanning endoscope;

A processing unit (not shown) connected to the first camera 11, the second camera 12 and the laser line emitting unit 13 respectively;

Wherein, the above-mentioned processing unit is used to: calibrate the first camera 11 and the second camera 12 according to the camera calibration method, and obtain the epipolar line constraint conditions; synchronize the first camera 11 and the second camera 12 according to the above-mentioned epipolar line constraint conditions Performing three-dimensional contour reconstruction on each frame of video image obtained to obtain the three-dimensional contour information of the surface to be measured of the object to be measured;

Wherein, the above-mentioned three-dimensional contour reconstruction is performed on each frame of images synchronously acquired by the first camera 11 and the second camera 12 according to the above-mentioned epipolar constraint conditions, including: respectively detecting the first frame of video images acquired by the first camera 11 according to the edge detection algorithm And in the second frame of video image acquired by the second camera 12, the laser centerline of the laser stripe on the above-mentioned object under test is located, wherein, the above-mentioned first frame of video image and the above-mentioned second frame of video image are obtained by the first camera 11 and the second frame of video image respectively. The second camera 12 acquires at the same time; calculate the three-dimensional coordinate value of each point on the above-mentioned laser center line according to the above-mentioned epipolar line constraints, and obtain the three-dimensional profile information of the above-mentioned laser center line on the above-mentioned measured object;

Wherein, the above-mentioned three-dimensional coordinate value of each point on the above-mentioned laser center line is calculated according to the above-mentioned epipolar line constraints, including:

For any point i on the laser centerline of the first frame of video image, the position of the above-mentioned point i on the above-mentioned laser centerline of the second frame of video image is detected according to the above-mentioned epipolar constraints;

According to the position of the point i in the first frame of video image and the position of the point i in the second frame of video image, the three-dimensional coordinate value of the point i is calculated.

Specifically, the first camera 11 and the second camera 12 in the embodiment of the present invention can select cameras of different specifications according to the overall outer diameter size and image resolution of the three-dimensional scanning endoscope. Optionally, the three-dimensional endoscope in the embodiment of the present invention also supports two-dimensional scanning, and when the three-dimensional endoscope in the embodiment of the present invention is in a non-three-dimensional scanning working mode, the first camera 11 and the second camera can be turned off In one of the 12, only one camera captures the video image of the object under test.

Optionally, as shown in 1-b, the laser line emitting unit 13 includes: a laser generator 131, a cylindrical lens 132 arranged before the output end of the laser generator 131, and a galvanometer module 133 arranged before the cylindrical lens 132 , wherein the cylindrical lens 132 is located between the laser generator 131 and the galvanometer module 133;

Further, as shown in Fig. 1-c, the measured object 20 is placed on the measurement platform, and the laser generator 131 emits laser light; the cylindrical lens 132 converts the laser light emitted by the laser generator 131 into a straight laser stripe 101; the galvanometer module 133 is used to make the in-line laser stripe 101 uniformly move along the same straight line direction on the surface to be measured of the object 20 to be measured. As shown in Fig. 1-d and Fig. 1-e, Fig. 1-d and Fig. 1-e respectively show the measured object synchronously acquired by the first camera 11 and the second camera 12 at a certain moment in an application scenario Schematic illustration of 20 frames of video images.

Optionally, the vibrating mirror module 133 includes: a reflector and a micro-electromechanical system (MEMS, Micro Electron Micro-Electro-Mechanical System), and the above-mentioned MEMS is used to control the above-mentioned reflector to rotate in the same linear direction with a preset rotational angular velocity, Thus, the in-line laser stripes 101 move evenly along the same straight line on the surface to be measured of the object 20 to be measured. Certainly, the vibrating mirror module 133 in the embodiment of the present invention may also adopt other vibrating mirror module structures capable of realizing miniaturization and controllability, which is not limited here.

Optionally, on the basis of the three-dimensional scanning endoscope shown in Figure 1-a, as shown in Figure 1-f, the three-dimensional scanning endoscope 30 in the embodiment of the present invention also includes: an illumination module for lighting 14. The illumination module 14 can be used to provide a light source illumination function for the measured object in the three-dimensional scanning working mode or the non-three-dimensional scanning working mode. Optionally, the lighting module 14 uses a light emitting diode (LED, Light Emitting Diode) lamp as a light source.

Optionally, the camera calibration method in the embodiment of the present invention adopts the Zhang Zhengyou calibration method or the TSAI calibration method. Of course, the camera calibration method in the embodiment of the present invention may also be other calibration methods, which are not limited here.

Optionally, the above-mentioned processing unit is specifically configured to: calculate the three-dimensional coordinates of the above-mentioned point i through a triangulation method according to the position of the above-mentioned point i on the above-mentioned first frame of video image and the above-mentioned position of the above-mentioned point i on the above-mentioned second frame of video image value.

It should be noted that the epipolar line constraint condition in the embodiment of the present invention is a calculation method commonly used in stereo vision, mainly to reduce the search range of stereo matching points to a linear range.

It should be noted that when the 3D scanning endoscope in the embodiment of the present invention measures the 3D profile information of the surface to be measured of the object to be measured, the laser line emitting unit 13 must perform a complete scanning process on the object to be measured at least once. Wherein, a complete scanning process of the laser line emitting unit 13 to the measured object is to move from one end of the surface opposite to the laser line emitting unit 13 on the measured object to the other end. For example, if the laser line emitting unit 13 moves along the horizontal direction Scanning the measured object, the above-mentioned scanning process is completed by moving from the leftmost end of the surface opposite to the laser line emitting unit 13 on the measured object to the rightmost end, or from the opposite side of the measured object to the laser line emitting unit 13 The rightmost end of the surface moves to the leftmost end; if the laser line emitting unit 13 scans the measured object along the vertical direction, the above-mentioned completion of the scanning process is to move from the uppermost end of the surface opposite to the laser line emitting unit 13 on the measured object to The lowermost end, or, moves from the lowermost end of the surface of the measured object opposite to the laser line emitting unit 13 to the uppermost end. If the acquisition density of a complete scanning process is not enough, repeat one or more complete scanning processes to acquire more three-dimensional profile information on the measured object until the three-dimensional profile information of the measured surface of the measured object is obtained.

It should be noted that since the 3D scanning endoscope in the embodiment of the present invention can only measure the surface of the measured object facing the 3D scanning endoscope, if it is necessary to measure the other side of the measured object, it can be readjusted. The object to be measured is placed in such a way that the other side of the object to be measured faces the 3D scanning endoscope.

It should be noted that, in the laser line emitting unit of the embodiment of the present invention, a cylindrical lens is used as an example to illustrate the formation of the inline laser stripes. In other embodiments, the laser line emitting unit can also adopt other mirror structures. It is sufficient to be able to form a transition from a point laser to a line laser.

It can be seen from the above that in the present invention, the laser stripes are emitted by the laser emitting unit to scan the surface of the object to be measured, and the first camera and the second camera synchronously acquire the measured object scanned by the laser stripes, combined with the camera calibration method. The epipolar constraints reconstruct the three-dimensional profile of the surface to be measured of the object to be measured, thereby realizing the automatic measurement of the three-dimensional profile of the surface to be measured of the object to be measured. In addition, the present invention uses laser stripes to Scanning the surface to be measured does not require manual designation of feature points, which can effectively improve the measurement accuracy of the three-dimensional contour information of the measured object.

The embodiment of the present invention also provides a three-dimensional scanning method applied to a three-dimensional scanning endoscope, wherein, the structure of the three-dimensional scanning endoscope in the embodiment of the present invention can be shown in Fig. 1-a to Fig. 1-f, mainly Including: a first camera, a second camera, a laser line emitting unit, and a processing unit connected to the above-mentioned first camera, the above-mentioned second camera and the above-mentioned laser line emitting unit; as shown in FIG. 2 , in the embodiment of the present invention 3D scanning methods include:

201. The first camera and the second camera acquire video images of the measured object synchronously;

Wherein, the above-mentioned "synchronous acquisition" means that the above-mentioned first camera and the above-mentioned second camera trigger shooting at the same time, so as to ensure that the above-mentioned first camera and the above-mentioned second camera acquire the same time point of each frame of video image.

202. The laser line emitting unit emits laser stripes to the above-mentioned object to be measured, and makes the above-mentioned laser stripes move uniformly along the same straight line direction on the surface to be measured of the above-mentioned object to be measured;

Wherein, the surface to be measured of the object to be measured refers to the surface of the object to be measured that is opposite to the three-dimensional scanning endoscope.

Optionally, the above-mentioned laser line emitting unit emits laser stripes to the measured object, and makes the above-mentioned laser stripes uniformly move along the horizontal direction or the linear direction on the surface to be measured of the above-mentioned measured object.

Optionally, the laser line emitting unit in the embodiment of the present invention may be the laser line emitting unit 13 as shown in FIG. 1-b.

203. The processing unit calibrates the above-mentioned first camera and the above-mentioned second camera according to the camera calibration method, and obtains the constraint condition of the epipolar line;

Optionally, the processing unit calibrates the above-mentioned first camera and the above-mentioned second camera according to the Zhang Zhengyou calibration method or the TSAI calibration method, and obtains the constraints of the epipolar line. Of course, in the embodiment of the present invention, the processing unit may also use other calibration methods Calibrate the above-mentioned first camera and the above-mentioned second camera to obtain the constraint condition of the epipolar line, which is not limited here.

It should be noted that the epipolar line constraint condition in the embodiment of the present invention is a calculation method commonly used in stereo vision, mainly to reduce the search range of stereo matching points to a linear range.

204. Perform three-dimensional contour reconstruction on each frame of video images synchronously acquired by the above-mentioned first camera and the above-mentioned second camera according to the above-mentioned epipolar constraint conditions, to obtain the three-dimensional contour information of the surface to be measured of the above-mentioned measured object;

Specifically, the processing unit respectively detects the laser centerline of the laser stripe located on the object under test in the first frame of video image acquired by the first camera and the second frame of video image acquired by the second camera according to the edge detection algorithm; Calculate the three-dimensional coordinate value of each point on the above-mentioned laser center line according to the above-mentioned epipolar line constraints, and obtain the three-dimensional profile information of the above-mentioned laser center line on the above-mentioned object under test; wherein, the above-mentioned first frame of video image and the above-mentioned second frame of video The images are respectively acquired by the above-mentioned first camera and the above-mentioned second camera at the same moment.

Since the excited fringe moves on the measured object, the processing unit performs three-dimensional contour reconstruction on multiple frames of video images synchronously acquired by the above-mentioned first camera and the above-mentioned second camera according to the above-mentioned epipolar line constraints, and the above-mentioned The three-dimensional profile information of the surface to be measured of the object to be measured.

Optionally, the above-mentioned processing unit calculates the three-dimensional coordinate value of each point on the above-mentioned laser center line according to the above-mentioned outer epipolar line constraints, including: for any point i on the above-mentioned laser center line of the first frame of video image, according to the above-mentioned outer epipolar line The epipolar line constraint condition detects the position of the above-mentioned point i on the above-mentioned laser center line of the above-mentioned second frame video image; Position, calculate the three-dimensional coordinate value of the above point i.

Optionally, when obtaining the position of the above-mentioned point i on the above-mentioned first frame of video image and the above-mentioned position of the above-mentioned point i on the above-mentioned second frame of video image, the above-mentioned processing unit and the position of the above-mentioned point i on the above-mentioned second frame video image, the three-dimensional coordinate value of the above-mentioned point i is calculated by a triangulation method.

It should be noted that, in the three-dimensional scanning method in the embodiment of the present invention, the laser line emitting unit of the three-dimensional scanning endoscope must perform a complete scanning process on the measured object at least once. Wherein, a complete scanning process of the above-mentioned laser line emitting unit to the measured object is to move from one end of the surface of the measured object opposite to the laser line emitting unit to the other end. For example, if the laser line emitting unit moves along the horizontal direction to the If the measured object is scanned, the above scanning process is completed by moving from the leftmost end of the surface of the measured object opposite to the laser line emitting unit to the rightmost end, or from the rightmost end of the surface of the measured object opposite to the laser line emitting unit Move to the leftmost end; if the laser line emitting unit scans the measured object along the vertical direction, the above-mentioned scanning process is completed by moving from the uppermost end to the lowermost end of the surface opposite to the laser line emitting unit on the measured object, or from The lowermost end of the surface of the measured object opposite to the laser line emitting unit moves to the uppermost end. If the acquisition density of a complete scanning process is not enough, repeat one or more complete scanning processes to acquire more three-dimensional profile information on the measured object until the three-dimensional profile information of the measured surface of the measured object is obtained.

It should be noted that since the 3D scanning endoscope in the embodiment of the present invention can only measure the surface of the measured object facing the 3D scanning endoscope, if it is necessary to measure the other side of the measured object, it can be readjusted. The measured object is placed in such a direction that the other side of the measured object faces the 3D scanning endoscope, and then the 3D scanning method in the embodiment of the present invention is executed to measure the 3D profile information of the other side of the measured object.

It should be noted that, for the specific structure of the 3D scanning endoscope in the embodiment of the present invention, reference may be made to the 3D scanning endoscope in the above-mentioned device embodiments, which will not be repeated here.

It can be seen from the above that in the present invention, the laser stripes are emitted by the laser emitting unit to scan the surface of the object to be measured, and the first camera and the second camera synchronously acquire the measured object scanned by the laser stripes, combined with the camera calibration method. The epipolar constraints reconstruct the three-dimensional profile of the surface to be measured of the object to be measured, thereby realizing the automatic measurement of the three-dimensional profile of the surface to be measured of the object to be measured. In addition, the present invention uses laser stripes to Scanning the surface to be measured does not require manual designation of feature points, which can effectively improve the measurement accuracy of the three-dimensional contour information of the measured object.

In the several embodiments provided in this application, it should be understood that the disclosed devices and methods may be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of the above units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or can be Integrate into another system, or some features may be ignored, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.

It should be noted that, for the sake of simplicity of description, the aforementioned method embodiments are expressed as a series of action combinations, but those skilled in the art should know that the present invention is not limited by the described action sequence. Because of the present invention, certain steps may be performed in other orders or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification belong to preferred embodiments, and the actions and modules involved are not necessarily required by the present invention.

In the foregoing embodiments, the descriptions of each embodiment have their own emphases, and for parts not described in detail in a certain embodiment, reference may be made to relevant descriptions of other embodiments.

The above is a description of a three-dimensional scanning endoscope and three-dimensional scanning method provided by the present invention. For those of ordinary skill in the art, according to the idea of the embodiment of the present invention, there will be changes in the specific implementation and application scope. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims (10)

1. a 3-D scanning endoscope, is characterized in that, comprising:

For obtaining the first camera of the video image of testee;

For synchronize the second camera of the video image that obtains described testee with described the first camera;

Be used for to described testee Emission Lasers striped, and the laser rays transmitter unit that described laser stripe is evenly moved along same rectilinear direction on the being tested surface of described testee, wherein, the being tested surface of described testee refers to face relative with described 3-D scanning endoscope on described testee;

The processing unit being connected with described the first camera, described second camera and described laser rays transmitter unit respectively;

Wherein, described processing unit is used for: according to camera calibration method, described the first camera and described second camera are demarcated, obtained outer polar curve constraint condition; The every frame video image described the first camera and described second camera synchronously being obtained according to described outer polar curve constraint condition carries out three-D profile reconstruction, obtains the three-D profile information of the being tested surface of described testee;

Wherein, the described every frame video image described the first camera and described second camera synchronously being obtained according to described outer polar curve constraint condition carries out three-D profile reconstruction, comprise: according to edge detection algorithm, detect respectively in the second frame video image that the first frame video image that described the first camera obtains and described second camera obtain, be positioned at the laser center line of the laser stripe on described testee, wherein, described the first frame video image and described the second frame video image are obtained at synchronization by described the first camera and described second camera respectively; According to described outer polar curve constraint condition, calculate the D coordinates value of every bit on described laser center line, obtain the three-D profile information of described laser center line on described testee;

Wherein, the described D coordinates value of calculating every bit on described laser center line according to described outer polar curve constraint condition, comprising:

For any point i on the described laser center line of described the first frame video image, according to described outer polar curve constraint condition, detect the position of described some i on the described laser center line of described the second frame video image;

According to described some i in the position of described the first frame video image and described some i the position on described the second frame video image, calculate the D coordinates value of described some i.

2. 3-D scanning endoscope according to claim 1, it is characterized in that, described laser rays transmitter unit, comprise: laser generator, be arranged at cylindrical lens before the output terminal of described laser generator, be arranged at the galvanometer module before described cylindrical lens, described cylindrical lens is between described laser generator and described galvanometer module;

Wherein, described laser generator is for Emission Lasers;

Described cylindrical lens is for transferring the laser of described laser generator transmitting to yi word pattern laser stripe;

Described galvanometer module for evenly moving described yi word pattern laser stripe on the being tested surface of described testee along same rectilinear direction.

3. 3-D scanning endoscope according to claim 2, is characterized in that,

Described galvanometer module comprises: catoptron and and micro-electromechanical system (MEMS);

Described MEMS is used for controlling described catoptron to preset rotational angular velocity, in same rectilinear direction, rotates.

4. according to the 3-D scanning endoscope described in claims 1 to 3 any one, it is characterized in that, described 3-D scanning endoscope also comprises: for the lighting module throwing light on.

5. according to the 3-D scanning endoscope described in claims 1 to 3 any one, it is characterized in that,

Described lighting module adopts LED lamp as light source.

6. a 3-D scanning method, be applied to 3-D scanning endoscope, it is characterized in that, described three-dimensional endoscope comprises: the first camera, second camera, laser rays transmitter unit, and the processing unit being connected with described the first camera, described second camera and described laser rays transmitter unit respectively;

Described 3-D scanning method comprises:

Described the first camera and described second camera synchronously obtain the video image of described testee;

Described laser rays transmitter unit is to described testee Emission Lasers striped, and described laser stripe is evenly moved on the being tested surface of described testee along same rectilinear direction, wherein, the being tested surface of described testee refers to face relative with described 3-D scanning endoscope on described testee;

Described processing unit is demarcated described the first camera and described second camera according to camera calibration method, obtains outer polar curve constraint condition; The every frame video image described the first camera and described second camera synchronously being obtained according to described outer polar curve constraint condition carries out three-D profile reconstruction, obtains the three-D profile information of the being tested surface of described testee;

Concrete, the every frame video image according to described outer polar curve constraint condition, described the first camera and described second camera synchronously being obtained described in described processing unit carries out three-D profile reconstruction, comprise: according to edge detection algorithm, detect respectively in the second frame video image that the first frame video image that described the first camera obtains and described second camera obtain, be positioned at the laser center line of the laser stripe on described testee, wherein, described the first frame video image and described the second frame video image are obtained at synchronization by described the first camera and described second camera respectively, according to described outer polar curve constraint condition, calculate the D coordinates value of every bit on described laser center line, obtain the three-D profile information of described laser center line on described testee,

Concrete, described processing unit calculates the D coordinates value of every bit on described laser center line according to described outer polar curve constraint condition, comprise: for any point i on the described laser center line of described the first frame video image, according to described outer polar curve constraint condition, detect the position of described some i on the described laser center line of described the second frame video image; According to described some i in the position of described the first frame video image and described some i the position on described the second frame video image, calculate the D coordinates value of described some i.

7. 3-D scanning method according to claim 6, it is characterized in that, described laser rays transmitter unit is to described testee Emission Lasers striped, and described laser stripe is evenly moved along same rectilinear direction on the being tested surface of described testee, is specially:

Described laser rays transmitter unit is to described testee Emission Lasers striped, and described laser stripe along continuous straight runs on the being tested surface of described testee is evenly moved.

8. 3-D scanning method according to claim 6, it is characterized in that, described laser rays transmitter unit is to described testee Emission Lasers striped, and described laser stripe is evenly moved along same rectilinear direction on the being tested surface of described testee, is specially:

Described laser rays transmitter unit is to described testee Emission Lasers striped, and described laser stripe is vertically evenly moved on the being tested surface of described testee.

9. according to the 3-D scanning method described in claim 6 to 8 any one, it is characterized in that,

Described processing unit is demarcated described the first camera and described second camera according to camera calibration method, obtains outer polar curve constraint condition, is specially:

Described processing unit is demarcated described the first camera and described second camera according to TSAI scaling method, obtains outer polar curve constraint condition.

10. according to the 3-D scanning method described in claim 6 to 8 any one, it is characterized in that, described according to described some i in the position of described the first frame video image and described some i the position on described the second frame video image, calculate the D coordinates value of described some i, be specially: according to described some i in the position of described the first frame video image and described some i the position on described the second frame video image, by triangulation method, calculate the D coordinates value of described some i.