CN115407478B - Three-dimensional imaging system and method for self-adaptive detection distance - Google Patents
Three-dimensional imaging system and method for self-adaptive detection distance Download PDFInfo
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- CN115407478B CN115407478B CN202211029411.4A CN202211029411A CN115407478B CN 115407478 B CN115407478 B CN 115407478B CN 202211029411 A CN202211029411 A CN 202211029411A CN 115407478 B CN115407478 B CN 115407478B
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- 238000001514 detection method Methods 0.000 title claims abstract description 175
- 238000003384 imaging method Methods 0.000 title claims abstract description 97
- 238000000034 method Methods 0.000 title claims abstract description 23
- 230000003044 adaptive effect Effects 0.000 claims 11
- 238000005259 measurement Methods 0.000 abstract description 34
- 230000007423 decrease Effects 0.000 description 2
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- 238000005516 engineering process Methods 0.000 description 1
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
- G02B7/18—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors
- G02B7/182—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors for mirrors
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B26/00—Optical devices or arrangements for the control of light using movable or deformable optical elements
- G02B26/08—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
- G02B26/0816—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light by means of one or more reflecting elements
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
- G02B7/18—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors
- G02B7/182—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors for mirrors
- G02B7/1821—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors for mirrors for rotating or oscillating mirrors
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Abstract
The application relates to the technical field of image detection, and provides a three-dimensional imaging system and a method for self-adaptive detection distance, wherein the three-dimensional imaging system for self-adaptive detection distance comprises: the device comprises a laser emission device, an imaging device, a reflector, an angle adjusting device and a controller; the reflector is arranged at the lens of the imaging device, and the angle adjusting device is connected with the reflector. In the actual application process, the angle adjusting device is used for controlling the reflector to rotate, so that the imaging device traverses all detection areas and determines the detection area of the current detected object; and then judging the position of the detected object in the corresponding detection area, and if the detected object is in the edge position of the corresponding detection area, controlling the reflector to rotate through the angle adjusting device so that the detected image is in the middle position of the next detection area or the last detection area, thereby realizing the three-dimensional measurement of the full depth of field of the detected object in the whole detection range, enlarging the measurement range and simultaneously ensuring the measurement precision requirement.
Description
Technical Field
The application relates to the technical field of image detection, in particular to a three-dimensional imaging system and method for self-adaptive detection distance.
Background
The measuring depth of field and the measuring precision of the three-dimensional imaging device are fixed after the design is finished, and the measuring depth of field and the measuring precision of the three-dimensional imaging device can meet the requirements when the three-dimensional imaging device detects a fixed object or an object moving at a low speed from the object.
However, when an object whose detection distance varies, the depth of field cannot be adjusted in real time, and therefore, under the same conditions, in order to cope with an object whose detection distance varies, the measurement accuracy decreases if the measurement range is increased, and the measurement range decreases if the measurement accuracy is increased.
Disclosure of Invention
The measurement depth of field of the existing three-dimensional imaging device cannot be adjusted in real time, and in the design stage, if the measurement range is enlarged in order to cope with an object with a change in the detection distance, the measurement accuracy is reduced; and the measurement accuracy is improved, and the measurement range is reduced. For some specific imaging scenes, the overall measurement depth of field is larger, but the local measurement depth of field is smaller, for example, railway overhead line system detection is performed, the height range of overhead line systems on one line can reach 1.5m, but at a specific moment, the measurement point is measured, the range of overhead line systems to be imaged can be 0.2m, and the height of overhead line systems is changed to be in a gradual change state, at this time, in order to meet the overhead line system detection with the height of 1.5m, the existing three-dimensional imaging device needs to sacrifice measurement precision.
The application provides a three-dimensional imaging system for self-adaptive detection distance, which comprises: the device comprises a laser emission device, an imaging device, a reflector and an angle adjusting device, and a controller connected with the laser emission device, the imaging device and the angle adjusting device;
the reflector is arranged at the lens of the imaging device, and the angle adjusting device is connected with the reflector to adjust the angle of the reflector towards the reflecting surface at one side of the imaging device;
the controller is configured to:
Starting the laser emission device to emit laser to the detected object;
Starting an imaging device, controlling the reflector to rotate through an angle adjusting device, enabling the imaging device to traverse all detection areas, and determining the detection area of the current detected object;
Judging the position of the detected object in the corresponding detection area, and if the detected object is in the edge position of the corresponding detection area, controlling the reflector to rotate through the angle adjusting device so that the detected image is in the middle position of the next detection area or the last detection area, wherein the detection area comprises the middle position and the edge positions distributed on two sides of the middle position.
In an optional manner, the step of determining the position of the detected object in the corresponding detection area specifically includes:
And acquiring the laser line characteristics of the detected object in the detection area, and determining the position of the detected object in the corresponding detection area according to the laser line characteristics.
In an alternative manner, the laser line features are depth information of the laser line; and determining the distance from the laser line on the detected object to the edge of one side of the detected area according to the depth information of the laser line, and determining the position of the detected object in the corresponding detection area according to the distance from the laser line to the edge of one side of the detected area.
In an alternative form, the laser line is characterized by a length of the laser line; and determining the position of the detected object in the corresponding detection area according to the laser line characteristics.
In an alternative, the controller is further configured to:
And determining the angle of the reflector corresponding to each detection area according to the relative position of the reflector and the laser emission device and the laser emission direction of the laser emission device.
In an alternative, the controller is further configured to:
And determining the length range of the laser line on the detected object when the detected object is positioned in the corresponding detection area according to the distance between the detection area and the laser emission device and the laser emission angle of the laser emission device.
Corresponding to the embodiment of the three-dimensional imaging system for adaptively detecting the distance, the application also provides an embodiment of a three-dimensional imaging method for adaptively detecting the distance. The three-dimensional imaging method for the self-adaptive detection distance comprises the following steps:
and starting the laser emitting device to emit laser to the detected object.
And starting the imaging device, controlling the reflector to rotate through the angle adjusting device, enabling the imaging device to traverse all detection areas, and determining the detection area of the current detected object.
Judging the position of the detected object in the corresponding detection area, and if the detected object is in the edge position of the corresponding detection area, controlling the reflector to rotate through the angle adjusting device so that the detected image is in the middle position of the next detection area or the last detection area, wherein the detection area comprises the middle position and the edge positions distributed on two sides of the middle position.
In an optional manner, the step of determining the position of the detected object in the corresponding detection area specifically includes:
And acquiring the laser line characteristics of the detected object in the detection area, and determining the position of the detected object in the corresponding detection area according to the laser line characteristics.
In an alternative manner, the laser line features are depth information of the laser line; and determining the distance from the laser line on the detected object to the edge of one side of the detected area according to the depth information of the laser line, and determining the position of the detected object in the corresponding detection area according to the distance from the laser line to the edge of one side of the detected area.
In an alternative form, the laser line is characterized by a length of the laser line; and determining the position of the detected object in the corresponding detection area according to the laser line characteristics.
In an alternative manner, before the step of starting the laser emitting device to emit laser to the detected object, the method further includes:
And determining the angle of the reflector corresponding to each detection area according to the relative position of the reflector and the laser emission device and the laser emission direction of the laser emission device.
In an alternative manner, before the step of starting the laser emitting device to emit laser to the detected object, the method further includes:
And determining the length range of the laser line on the detected object when the detected object is positioned in the corresponding detection area according to the distance between the detection area and the laser emission device and the laser emission angle of the laser emission device.
As can be seen from the above technical solutions, the embodiments of the present application provide a three-dimensional imaging system and method for adaptively detecting a distance, where the three-dimensional imaging system for adaptively detecting a distance includes: the device comprises a laser emission device, an imaging device, a reflector and an angle adjusting device, and a controller connected with the laser emission device, the imaging device and the angle adjusting device; the reflector is arranged at the lens of the imaging device, and the angle adjusting device is connected with the reflector to adjust the angle of the reflecting surface of the reflector facing one side of the imaging device.
In the actual application process, the angle adjusting device is used for controlling the reflector to rotate, so that the imaging device traverses all detection areas and determines the detection area of the current detected object; and then judging the position of the detected object in the corresponding detection area, and if the detected object is in the edge position of the corresponding detection area, controlling the reflector to rotate through the angle adjusting device so that the detected image is positioned in the middle position of the next detection area or the last detection area, thereby realizing the three-dimensional measurement of the full depth of field of the detected object in the whole detection range, enlarging the measurement range and simultaneously ensuring the measurement precision requirement.
Drawings
In order to more clearly illustrate the technical solution of the present application, the drawings that are needed in the embodiments will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.
Fig. 1 is a schematic structural diagram of a three-dimensional imaging system for adaptively detecting a distance according to an embodiment of the present application;
FIG. 2 is a flow chart illustrating a method performed by a controller according to an embodiment of the present application;
fig. 3 is a schematic diagram of a detection region overlapping region according to an embodiment of the present application.
In the figure: 1-laser emission device, 2-imaging device, 3-reflector.
Detailed Description
The measurement depth of field of the existing three-dimensional imaging device cannot be adjusted in real time, and in the design stage, if the measurement range is enlarged in order to cope with an object with a change in the detection distance, the measurement accuracy is reduced; and the measurement accuracy is improved, and the measurement range is reduced. For some specific imaging scenes, the overall measurement depth of field is larger, but the local measurement depth of field is smaller, for example, railway overhead line system detection is performed, the height range of overhead line systems on one line can reach 1.5m, but at a specific moment, the measurement point is measured, the range of overhead line systems to be imaged can be 0.2m, and the height of overhead line systems is changed to be in a gradual change state, at this time, in order to meet the overhead line system detection with the height of 1.5m, the existing three-dimensional imaging device needs to sacrifice measurement precision.
As shown in fig. 1, a first embodiment of the present application provides a three-dimensional imaging system for adaptively detecting a distance, which includes a laser emitting device 1, an imaging device 2, a mirror 3, and an angle adjusting device, and a controller connecting the laser emitting device 1, the imaging device 2, and the angle adjusting device.
The reflector 3 is arranged at the lens of the imaging device 2, and the angle adjusting device is connected with the reflector 3 to adjust the angle of the reflecting surface of the reflector 3 facing the side of the imaging device 2.
In the practical application, the mirror 3 has a certain rotation range, and the mirror 3 rotates from a rotation start position to a rotation end position, which corresponds to the entire imaging area of the imaging device 2. The laser light emitting device 1, the imaging device 2, and the mirror 3 are not limited to being disposed on the same plane, as long as the laser light emitting device 1, the imaging device 2, and the mirror 3 are ensured to be able to form a laser triangulation method so that the imaging device 2 can acquire an image of an object to be detected that is being directed to the laser light emitting device 1.
The angle adjustment device may be a rotating motor connected to the mirror 3, or may be a rotating platform on which the mirror 3 is mounted. In the actual application process, as shown in fig. 2, the controller connecting the laser emitting device 1, the imaging device 2 and the angle adjusting device is configured to execute steps 210 to 230.
Step 210: the laser emitting device 1 is started to emit laser light to the detected object.
As shown in fig. 3, the laser beam emitted from the laser emitting device 1 is spread in a fan shape, irradiates on a plane relatively closer to the plane, forms a laser beam relatively shorter, irradiates on a plane relatively farther from the plane, and forms a laser beam relatively longer.
Step 220: the imaging device 2 is started, the reflector 3 is controlled to rotate through the angle adjusting device, the imaging device 2 traverses all detection areas, and the detection area of the current detected object is determined.
The mirror 3 is provided with a certain rotatable angle, wherein the angle of the mirror 3 is at a rotation start position in a state that the current detection area of the imaging device 2 is nearest to the laser emitting device 1; in a state where the current detection area of the imaging device 2 is farthest from the laser emitting device 1, the mirror 3 is at a rotation end position in angle.
In the embodiment of the present application, each step of rotation angle may be adjusted to correspond to one detection area of the imaging device 2, or may be adjusted to correspond to one detection area of the imaging device 2 after adjusting the rotation angle of a plurality of steps.
In the embodiment of the present application, there are intersecting regions between the multiple detection regions, that is, there are overlapping regions between two adjacent detection regions, in the actual application process, if the detected object is located in the overlapping region of the two detection regions, then the detected object is located in both detection regions, so that the rotation angle of the reflective mirror 3 may be randomly stopped at an angle corresponding to one of the detection regions, or the rotation angle of the reflective mirror 3 may be stopped at a position with a smaller angle or a larger angle, where the angle related to the smaller angle or the larger angle refers to the angle between the positions of the current reflective mirror 3 and the position of the reflective mirror 3 located at the rotation start angle.
Step 230: and judging the position of the detected object in the corresponding detection area, and if the detected object is in the edge position of the corresponding detection area, controlling the reflector 3 to rotate through the angle adjusting device so that the detected image is in the middle position of the next detection area or the last detection area, wherein the detection area comprises the middle position and the edge positions distributed on two sides of the middle position.
The detection areas related to the embodiment of the application are continuously distributed, and a single detection area is divided into a middle position and edge positions, wherein the number of the edge positions is even, and the edge positions are symmetrically distributed on two sides of the middle position.
In the practical application process, compared with the situation that the detected object is at the acquired image edge position, the detected object is at the acquired image middle position, the imaging effect is better, and the method corresponds to the embodiment of the application, namely, the laser line is at the middle position of the detection area.
In order to more clearly illustrate the effects of the embodiment of the present application, taking fig. 3 as an example, the image includes a detection area a, a detection area B and a detection area C, where the detection area a includes an edge position a-1, an edge position a-3 and an intermediate position a-2; the detection area B comprises an edge position B-1, an edge position B-3 and an intermediate position B-2; the detection area C comprises an edge position C-1, an edge position C-3 and an intermediate position C-2; as shown in fig. 3, taking the present angle of the mirror 3 as an example, the overlapping position of the three detection areas corresponds to the detection area B, and if the detected object with the laser line is at the edge position B-1 on the image shot by the detection area B, the mirror 3 is controlled to rotate so that the detection area of the imaging device 4 is a, the detected object with the laser line will fall into the middle position where the image is acquired, and the middle position a-2; if the detected object with the laser line is at the middle position B-2, the movement of the reflector 3 is not required to be controlled; if the object to be inspected with the laser line is at the edge position B-3, the mirror 3 is controlled to rotate so that the inspection area of the imaging device 4 is C, and the object to be inspected with the laser line falls into the intermediate position where the image is acquired and the intermediate position C-2.
According to the three-dimensional imaging system with the self-adaptive detection distance, provided by the embodiment of the application, the angle adjusting device is used for controlling the reflector 3 to rotate, so that the imaging device 2 traverses all detection areas and determines the detection area of a current detected object; and then judging the position of the detected object in the corresponding detection area, and if the detected object is in the edge position of the corresponding detection area, controlling the reflector 3 to rotate through the angle adjusting device so that the detected image is positioned in the middle position of the next detection area or the last detection area, thereby realizing the three-dimensional measurement of the full depth of field of the detected object in the whole detection range, enlarging the measurement range and simultaneously ensuring the measurement precision requirement.
In the above embodiment, the determination of the position of the detected object in the corresponding detection area may be implemented in various manners, for example, an image recognition technology may be used to determine the position of the detected object, and in the embodiment of the present application, by acquiring the laser line feature on the detected living body in the detection area, it should be noted that, in the imaging device 2 in the embodiment of the present application, the image acquired by the CCD image sensor may obtain the laser line feature, and determine, according to the laser line feature, the position of the detected object in the corresponding detection area, for example, the shape of the detected object is different, and if the detected object is a pipe, the line of the laser line irradiated on the cross section of the pipe is an arc with a specific curvature.
Specifically, the laser line characteristic may also be depth information of a laser line, and according to the depth information of the laser line, a distance from the laser line on the detected object to an edge of one side of the detected area is determined, and according to a distance from the laser line to an edge of one side of the detected area, a position of the detected object in the corresponding detected area is determined.
Specifically, the laser line is characterized by the length of the laser line; and determining the position of the detected object in the corresponding detection area according to the laser line characteristics.
Of course, in the practical application process, other manners may be used to determine the position of the detected object in the corresponding detection area, for example: and calculating the distance between the detected object and the laser emitting device 1 by using a laser triangulation method, and then determining the position of the detected object in the corresponding detection area according to the distance between the detected object and the laser emitting device 1 and the number of the detection area where the detected object is currently positioned. It should be noted that, in the embodiment of the present application, since a plurality of detection areas are involved, each detection area may be numbered, and the number of each detection area corresponds to the rotation angle of the reflective mirror 3, so as to distinguish the images acquired under different detection areas.
In the embodiment of the present application, for the application relationship between the detection area corresponding to the imaging device 2 and the rotation angle of the reflective mirror 3, by calibrating the relative positions of the reflective mirror 3 and the laser emitting device 1 in advance and determining the angle of the reflective mirror 3 corresponding to each detection area according to the laser emitting direction of the laser emitting device 1, it should be noted that the relative positions of the reflective mirror 3 and the laser emitting device 1 herein include the distance between the two and the azimuth relationship between the two, that is, the angle between the position connecting line of the reflective mirror 3 and the laser emitting device 1 and the laser emitting direction of the laser emitting device 1.
In the embodiment of the present application, each detection area of the imaging device 2 is divided and calibrated in advance, as shown in fig. 3, after determining the distance between the detection area and the laser emitting device 1, and the laser emitting angle α of the laser emitting device 1, after determining which detection area the detected object is located in, the length range of the laser line on the detected object can be calculated. And since the length of the laser line is uniformly changed along with the position change of the detection area, the specific position of the detected object in the detection area is determined according to the length of the laser line on the detected object.
Corresponding to the embodiment of the three-dimensional imaging system for adaptively detecting the distance, the application also provides an embodiment of a three-dimensional imaging method for adaptively detecting the distance. The three-dimensional imaging method for the self-adaptive detection distance comprises the following steps:
the laser emitting device 1 is started to emit laser light to the object to be detected.
The imaging device 2 is started, the reflector 3 is controlled to rotate through the angle adjusting device, the imaging device 2 traverses all detection areas, and the detection area of the current detected object is determined.
And judging the position of the detected object in the corresponding detection area, and if the detected object is in the edge position of the corresponding detection area, controlling the reflector 3 to rotate through the angle adjusting device so that the detected image is in the middle position of the next detection area or the last detection area, wherein the detection area comprises the middle position and the edge positions distributed on two sides of the middle position.
In an optional manner, the step of determining the position of the detected object in the corresponding detection area specifically includes:
And acquiring the laser line characteristics of the detected object in the detection area, and determining the position of the detected object in the corresponding detection area according to the laser line characteristics.
In an alternative manner, the laser line features are depth information of the laser line; and determining the distance from the laser line on the detected object to the edge of one side of the detected area according to the depth information of the laser line, and determining the position of the detected object in the corresponding detection area according to the distance from the laser line to the edge of one side of the detected area.
In an alternative form, the laser line is characterized by a length of the laser line; and determining the position of the detected object in the corresponding detection area according to the laser line characteristics.
In an alternative manner, before the step of starting the laser emitting device 1 to emit laser light to the detected object, the method further includes:
The angle of the mirror 3 corresponding to each detection area is determined according to the relative position of the mirror 3 and the laser emitting device 1 and the laser emitting direction of the laser emitting device 1.
In an alternative manner, before the step of starting the laser emitting device 1 to emit laser light to the detected object, the method further includes:
And determining the length range of the laser line on the detected object when the detected object is in the corresponding detection area according to the distance between the detection area and the laser emitting device 1 and the laser emitting angle of the laser emitting device 1.
As can be seen from the above technical solutions, the embodiments of the present application provide a three-dimensional imaging system and method for adaptively detecting a distance, where the three-dimensional imaging system for adaptively detecting a distance includes: a laser emitting device 1, an imaging device 2, a reflector 3 and an angle adjusting device, and a controller connecting the laser emitting device 1, the imaging device 2 and the angle adjusting device; the reflector 3 is arranged at the lens of the imaging device 2, and the angle adjusting device is connected with the reflector 3 to adjust the angle of the reflecting surface of the reflector 3 facing the side of the imaging device 2.
According to the three-dimensional imaging system with the self-adaptive detection distance, provided by the embodiment of the application, the angle adjusting device is used for controlling the reflector 3 to rotate, so that the imaging device 2 traverses all detection areas and determines the detection area of a current detected object; and then judging the position of the detected object in the corresponding detection area, and if the detected object is in the edge position of the corresponding detection area, controlling the reflector 3 to rotate through the angle adjusting device so that the detected image is positioned in the middle position of the next detection area or the last detection area, thereby realizing the three-dimensional measurement of the full depth of field of the detected object in the whole detection range, enlarging the measurement range and simultaneously ensuring the measurement precision requirement.
The foregoing detailed description of the application has been presented for purposes of illustration and description, and it should be understood that the foregoing is by way of illustration and description only, and is not intended to limit the scope of the application.
In the description provided herein, numerous specific details are set forth. It will be appreciated, however, that embodiments of the application may be practiced without such specific details. Similarly, in the above description of exemplary embodiments of the application, various features of embodiments of the application are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. Wherein the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this application.
Claims (10)
1. A three-dimensional imaging system for adaptively detecting distance, comprising: a laser emitting device (1), an imaging device (2), a reflector (3) and an angle adjusting device, and a controller connecting the laser emitting device (1), the imaging device (2) and the angle adjusting device;
The reflector (3) is arranged at the lens of the imaging device (2), and the angle adjusting device is connected with the reflector (3) to adjust the angle of a reflecting surface of the reflector (3) towards one side of the imaging device (2);
the controller is configured to:
starting the laser emission device (1) to emit laser to the detected object;
starting an imaging device (2), controlling a reflector (3) to rotate through an angle adjusting device, enabling the imaging device (2) to traverse all detection areas, and determining the detection area of the current detected object;
And judging the position of the detected object in the corresponding detection area, and if the detected object is in the edge position of the corresponding detection area, controlling the reflector (3) to rotate through the angle adjusting device so that the detected image is in the middle position of the next detection area or the last detection area, wherein the detection area comprises the middle position and the edge positions distributed on two sides of the middle position.
2. The three-dimensional imaging system of adaptive detection distance according to claim 1, wherein the step of determining the position of the detected object in the corresponding detection area comprises:
And acquiring the laser line characteristics of the detected object in the detection area, and determining the position of the detected object in the corresponding detection area according to the laser line characteristics.
3. The adaptive distance-detecting three-dimensional imaging system of claim 2, wherein the laser line features depth information of the laser line;
and determining the distance from the laser line on the detected object to the edge of one side of the detected area according to the depth information of the laser line, and determining the position of the detected object in the corresponding detection area according to the distance from the laser line to the edge of one side of the detected area.
4. The adaptive distance-detecting three-dimensional imaging system of claim 2, wherein the laser line is characterized by a length of the laser line;
And determining the position of the detected object in the corresponding detection area according to the laser line characteristics.
5. The adaptive distance-detecting three-dimensional imaging system of claim 1, wherein the controller is further configured to:
And determining the angle of the reflector (3) corresponding to each detection area according to the relative positions of the reflector (3) and the laser emitting device (1) and the laser emitting direction of the laser emitting device (1).
6. The adaptive distance-detecting three-dimensional imaging system of claim 1, wherein the controller is further configured to:
and determining the length range of the laser line on the detected object when the detected object is positioned in the corresponding detection area according to the distance between the detection area and the laser emitting device (1) and the laser emitting angle of the laser emitting device (1).
7. A three-dimensional imaging method of an adaptive detection distance, wherein the three-dimensional imaging method of an adaptive detection distance is applied to the three-dimensional imaging system of an adaptive detection distance according to any one of claims 1 to 6, the three-dimensional imaging method of an adaptive detection distance comprising:
starting a laser emitting device (1) to emit laser to the detected object;
starting an imaging device (2), controlling a reflector (3) to rotate through an angle adjusting device, enabling the imaging device (2) to traverse all detection areas, and determining the detection area of the current detected object;
And judging the position of the detected object in the corresponding detection area, and if the detected object is in the edge position of the corresponding detection area, controlling the reflector (3) to rotate through the angle adjusting device so that the detected image is in the middle position of the next detection area or the last detection area, wherein the detection area comprises the middle position and the edge positions distributed on two sides of the middle position.
8. The method for three-dimensional imaging of adaptive detection distance according to claim 7, wherein the step of determining the position of the detected object in the corresponding detection area comprises:
And acquiring the laser line characteristics of the detected object in the detection area, and determining the position of the detected object in the corresponding detection area according to the laser line characteristics.
9. The method for three-dimensional imaging of adaptive detection distance according to claim 8, wherein the laser line features depth information of the laser line;
and determining the distance from the laser line on the detected object to the edge of one side of the detected area according to the depth information of the laser line, and determining the position of the detected object in the corresponding detection area according to the distance from the laser line to the edge of one side of the detected area.
10. The method of three-dimensional imaging for adaptively detecting distance according to claim 8, wherein said laser line is characterized by a length of the laser line;
And determining the position of the detected object in the corresponding detection area according to the laser line characteristics.
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103969838A (en) * | 2014-05-27 | 2014-08-06 | 清华大学 | Three-dimensional stereoscopic imaging method and device |
| CN109416399A (en) * | 2016-04-26 | 2019-03-01 | 深瞳科技公司 | 3-D imaging system |
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| CN110542392A (en) * | 2019-09-06 | 2019-12-06 | 深圳中科飞测科技有限公司 | Detection equipment and detection method |
| CN114252025B (en) * | 2020-09-20 | 2024-07-16 | 浙江四点灵机器人股份有限公司 | Multi-parallel line laser object three-dimensional contour measuring device and measuring method |
| CN214224008U (en) * | 2020-12-10 | 2021-09-17 | 苏州深浅优视智能科技有限公司 | 3D structure light sensor with adjustable measuring range |
| CN113566733B (en) * | 2021-06-29 | 2023-11-14 | 宁波大学 | Line laser vision three-dimensional scanning device and method |
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| CN103969838A (en) * | 2014-05-27 | 2014-08-06 | 清华大学 | Three-dimensional stereoscopic imaging method and device |
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