WO2018094928A1

WO2018094928A1 - Three-dimensional imaging device, three-dimensional imaging system and three-dimensional imaging method

Info

Publication number: WO2018094928A1
Application number: PCT/CN2017/078130
Authority: WO
Inventors: 胡善云; 刘鹏
Original assignee: 胡善云
Priority date: 2016-11-22
Filing date: 2017-03-24
Publication date: 2018-05-31
Also published as: CN106406016A

Abstract

A three-dimensional imaging device, system and method, the device comprising a first lens (1) and a second lens (2), an image sensor (7), a first deflecting prism (3) and a second deflecting prism (4), and a first light valve (5) and a second light valve (6). The first lens (1) and the second lens (2) are arranged side-by-side such that the optical axis lines (11, 12) thereof are parallel, the optical axis lines (11, 12) of the first lens (1) and the second lens (2) being arranged symmetrically relative to a normal center line (71) of a target surface of the image sensor (7). The first deflecting prism (3) is disposed between the first lens (1) and the image sensor (7), and the second deflecting prism (4) is disposed between the second lens (2) and the image sensor (7). The first light valve (5) is disposed on an optical path from the first lens (1) to the image sensor (7), and the second light valve (6) is disposed on an optical path from the second lens (2) to the image sensor (7). The first light valve (5) and the second light valve (6) alternate opening and closing.

Description

Three-dimensional imaging device, three-dimensional imaging system and three-dimensional imaging method

The present invention relates to a three-dimensional imaging apparatus, a three-dimensional imaging system constructed using the three-dimensional imaging apparatus, and a three-dimensional imaging method. The present invention is based on a patent application filed on Nov. 22, 2016, the disclosure of which is incorporated herein by reference.

The three-dimensional scene has a three-dimensional effect because the depth information can be visually perceived. The human eye can feel the three-dimensional sense of the three-dimensional scene, which is due to the pupil distance of the human eye, that is, the distance between the two eyes, so that the same scene is at the same time. There is a difference in the viewing angle. This difference is also called parallax. The two images with parallax observed by the two eyes produce a three-dimensional stereoscopic effect through the fusion reflection and visual psychological reaction of the visual nerve center.

Early three-dimensional imaging devices used two image sensors for imaging, resulting in a large volume that was not suitable for use in volume-limited imaging systems such as endoscopes and specialty monitors.

In order to minimize the volume of the three-dimensional imaging device, a reduction is provided in the patent document entitled "Imaging device, three-dimensional imaging system and three-dimensional imaging method" in the publication number CN104935915A, published on September 23, 2015. The technical solution of the volume of the three-dimensional imaging device comprises a first lens, a second lens and an image sensor; the first lens and the second lens are used for simultaneously capturing the same scene to obtain the first image with the parallax and the first image a second image; the target surface of the image sensor is divided into a first photosensitive area and a second photosensitive area, and the first photosensitive area and the second photosensitive area are separated from each other, that is, the first photosensitive area and the second photosensitive area are the target surface of the image sensor Two regions having no overlapping portions with each other, the first image is projected to the first photosensitive region via the first lens, and the second image is projected to the second photosensitive region via the second lens. Since the imaging device uses only one image sensor, it is relatively small in volume and low in cost compared to the prior art. In addition, it also provides a three-dimensional imaging system constructed with the imaging device and a three-dimensional imaging method that can be imaged using the three-dimensional imaging system.

The above scheme adopts a non-full-scale imaging method on a certain image sensor of a target surface, and the pixels of each image are far from the full-frame image. Due to the low pixel size of the image obtained by the image sensor, no matter how the three-dimensional imaging system improves the quality, the sharpness of the image can not be improved to a desired degree.

How to make the three-dimensional imaging device have the advantage of smaller volume under the premise that the scheme disclosed in CN104935915A has the advantage of small volume, that is, the image sharpness, resolution and imaging frame are further improved by using only one image sensor, so that the three-dimensional imaging system can obtain more A good three-dimensional image display, so that one can observe a clearer three-dimensional image real scene in the three-dimensional imaging system provided by the present invention, and obtain a larger imaging area is the primary task to be solved by the present invention.

A main object of the present invention is to provide a three-dimensional imaging apparatus that improves imaging sharpness;

Another object of the present invention is to provide a three-dimensional imaging system constructed by the above three-dimensional imaging apparatus;

It is still another object of the present invention to provide a three-dimensional imaging method that can perform three-dimensional imaging using the three-dimensional imaging system described above.

To achieve the above main object, a three-dimensional imaging apparatus provided by the present invention includes a first lens and a second lens, an image sensor, a first deflection prism and a second deflection prism, a first light valve and a second light valve. The first lens and the second lens are arranged side by side in such a manner that the optical axes are parallel to each other, and the optical axis of the first lens and the optical axis of the second lens are symmetrically arranged with respect to the normal center line of the image sensor target surface. The first deflection prism is disposed between the first lens and the image sensor for guiding the image acquired by the first lens to the entire target surface of the image sensor, and the second deflection prism is disposed between the second lens and the image sensor for The image acquired by the second lens is directed to the entire target surface of the image sensor. The first light valve is disposed on the optical path between the first lens and the image sensor, and the second light valve is disposed on the optical path between the second lens and the image sensor. The first light valve and the second light valve are alternately opened and closed.

A further solution is to further include an imaging focusing or zooming mechanism, the imaging focusing or zooming mechanism comprising an imaging focusing or zooming actuator, and an imaging focusing or zooming actuator for simultaneously driving the first lens and the second lens for synchronization Focus or zoom.

Another three-dimensional imaging device provided by the present invention comprises a projection light source; a first lens and a second lens, wherein the first lens and the second lens are arranged side by side in parallel with each other; the imaging element, the optical axis of the first lens and the first lens The optical axes of the two lenses are symmetrically disposed about a normal center line of the imaging element screen; a first deflecting prism and a second deflecting prism disposed between the first lens and the imaging element for outputting an image of the imaging element The first deflection lens is disposed between the second lens and the imaging element for outputting an image output by the imaging element through the second lens; the first light valve and the second light valve, the first light valve setting On the optical path between the imaging element and the first lens, the second light valve is disposed on the optical path between the imaging element and the second lens; the first light valve and the second light valve are alternately opened and closed.

A further solution is to further include an imaging focusing or zooming mechanism; the imaging focusing or zooming mechanism includes an imaging focusing or zooming actuator, and the imaging focusing or zooming actuator is used to simultaneously drive the first lens and the second lens for synchronization Focus or zoom.

To achieve the above other object, a three-dimensional imaging system provided by the present invention includes a three-dimensional imaging device and a processor. The three-dimensional imaging device includes a first lens and a second lens, an image sensor, a first deflection prism and a second deflection prism, a first light valve and a second light valve. The first lens and the second lens are arranged side by side in such a manner that the optical axes are parallel to each other, and the optical axis of the first lens and the axis of the second lens are symmetrically arranged with respect to the normal center line of the image sensor target surface. The first deflection prism is disposed between the first lens and the image sensor for guiding the image acquired by the first lens to the entire target surface of the image sensor, and the second deflection prism is disposed between the second lens and the image sensor for The image acquired by the second lens is directed to the entire target surface of the image sensor. The first light valve is disposed on the optical path between the first lens and the image sensor, and the second light valve is disposed on the optical path between the second lens and the image sensor. The first light valve and the second light valve are alternately opened and closed. The processor is used to control image scanning, control the first light valve and the second light valve to alternately open and close, and control image separation, image synthesis and malformation correction. It is also used to synthesize a two-dimensional image projected by the first lens on the image sensor in one opening and closing cycle and a two-dimensional image projected on the image sensor by the second lens into a three-dimensional image.

A further solution is wherein the three-dimensional imaging device further comprises an imaging focusing or zooming mechanism, the imaging focusing or zooming mechanism comprises an imaging focusing or zooming actuator, and the imaging focusing or zooming actuator is used to simultaneously drive the first lens and the first The second lens performs simultaneous focus adjustment or zooming.

Another three-dimensional imaging system provided by the present invention includes a three-dimensional imaging device and a processor; the three-dimensional imaging device includes a projection light source; a first lens and a second lens, the first lens and the second lens are arranged side by side in a manner that the optical axes are parallel to each other; An imaging element, the optical axis of the first lens being symmetrically disposed with respect to the optical axis of the second lens with respect to a normal center line of the imaging element screen; the first deflecting prism and the second deflecting prism, the first deflecting prism being disposed at the first lens and the imaging element Between the image for outputting the imaging element being output through the first lens, the second deflection prism being disposed between the second lens and the imaging element for outputting the image output by the imaging element through the second lens; the first light valve And a second light valve, the first light valve is disposed on the optical path between the imaging element and the first lens, and the second light valve is disposed on the optical path between the imaging element and the second lens; the first light valve and the first light valve The two light valves are alternately opened and closed; the processor is used for controlling image scanning, controlling the first light valve and the second light valve to alternately open and close, image separation, image synthesis and malformation correction; Also for the opening and closing cycle of the two adjacent imaging element outputs a display image from the first lens and the second lens.

A further solution is that the three-dimensional imaging device further comprises an imaging focusing or zooming mechanism; the imaging focusing or zooming mechanism comprises an imaging focusing or zooming actuator, and the imaging focusing or zooming actuator is for driving the first lens and the second simultaneously The lens is synchronized or zoomed.

In order to achieve the above further object, the three-dimensional imaging method provided by the present invention comprises an imaging step, a correction step and a synthesis step.

An imaging step: the entire target surface of the image sensor alternately receives the first image from the first lens and the second image from the second lens having a parallax with the first image;

Correcting step: performing malformation correction on the first image and the second image obtained by the imaging step, respectively;

Synthesis step: synthesize two two-dimensional images obtained by the correction step into one three-dimensional image.

The three-dimensional imaging apparatus provided by the present invention has the feature of obtaining a two-dimensional image of high pixels. The three-dimensional imaging system provided by the invention can deform the two-dimensional image of the high pixel acquired by the imaging device by the processor and the corresponding software, and synthesize into a high-quality three-dimensional image.

1 is a schematic structural view of a first embodiment of a three-dimensional imaging apparatus of the present invention;

Figure 2a is a schematic diagram of a first embodiment of a three-dimensional imaging system of the present invention;

Figure 2b is a schematic diagram of a second embodiment of the three-dimensional imaging system of the present invention;

3 is a schematic structural view of a first projection light source, a second projection light source, and an imaging device according to a second embodiment of the three-dimensional imaging system of the present invention;

4 is a schematic view of an optical path of a second embodiment of the three-dimensional imaging system of the present invention;

Figure 5 is a perspective view of a second embodiment of the three-dimensional imaging system of the present invention;

Figure 6 is a partial enlarged view of A in Figure 5;

Figure 7 is a schematic structural view of an image forming portion in a second embodiment of the three-dimensional imaging system of the present invention;

Figure 8 is a perspective view of a fourth embodiment of the three-dimensional imaging system of the present invention;

Figure 9 is a partial enlarged view of B in Figure 8;

10 is a relative positional relationship diagram of three three-dimensional imaging units in a fourth embodiment of the three-dimensional imaging system of the present invention;

Figure 11 is a front elevational view showing a sixth embodiment of the three-dimensional imaging system of the present invention;

Figure 12 is a schematic structural view of a sixth embodiment of the three-dimensional imaging system of the present invention;

Figure 13 is a front elevational view showing a seventh embodiment of the three-dimensional imaging system of the present invention;

Figure 14 is a schematic structural view of a seventh embodiment of the three-dimensional imaging system of the present invention;

15 is a schematic structural view of a three-dimensional imaging unit in a seventh embodiment of the three-dimensional imaging system of the present invention;

Figure 16 is a schematic structural view of an eighth embodiment of the three-dimensional imaging system of the present invention;

Figure 17 is a partial enlarged view of C in Figure 16;

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

Three-dimensional imaging device first embodiment

Referring to FIG. 1, which is a structural schematic diagram illustrating a three-dimensional imaging device of the present invention different from the prior art, a pair of lenses of the three-dimensional imaging device, namely, a first lens 1 and a second lens 2, are arranged side by side, and The optical axis 11 of the first lens 1 and the optical axis 21 of the second lens 2 are parallel to each other. The light path formed by the light incident from the first lens 1 reaching the image sensor 7 is shown in FIG. 1 as the line segment 11, the line segment 12, and the line segment 13, and the light travels in the direction of the arrow on these line segments and reaches the image sensor 7. The light path formed by the light incident from the second lens 2 to the image sensor 7 is shown in FIG. 1 as the line segment 21, the line segment 22, and the line segment 23, and the light travels in the direction of the arrow on these line segments and reaches the image sensor 7. In addition, the line segment 11 in FIG. 1 is also the optical axis of the first lens 1, and the line segment 21 is also the optical axis of the second lens 2. The image sensor 7 is disposed downstream of the two optical paths, and the normal center line 71 of the target surface is two. A symmetrical centerline of the optical axis 11 and the optical axis 21. The first deflecting prism 3 is disposed between the first lens 1 and the image sensor 7. After entering the first deflecting prism 3, the light is reflected twice and guided to the target surface of the image sensor 7, and the second deflecting prism 4 is disposed at the first Between the two lenses 2 and the image sensor 7, after entering the second deflecting prism 4, the light is reflected twice and guided to the target surface of the image sensor 7. The first light valve 5 is disposed between the first deflection prism 3 and the image sensor 7, and the second light valve 6 is disposed between the second deflection prism 4 and the image sensor 7. The first light valve 5 and the second light valve 6 are alternately opened and closed, that is, the first light valve 5 is opened during the time when the image sensor acquires one frame of image, and the second light valve 6 is closed, and the time of acquiring the image of the next frame is first. The light valve 5 is closed and the second light valve 6 is opened, thus obtaining two independent images with parallax.

Half of the image frames acquired by the entire target surface of the image sensor 7 per unit time are acquired by the first lens, and the other half is acquired by the second lens. The two lens acquisition images have parallax and can be combined into one frame. In the three-dimensional image, when a plurality of continuously synthesized three-dimensional images are sequentially played, a three-dimensional image is visually formed.

It can be understood that FIG. 1 as a schematic diagram only shows the principle of the lens as a lens, and those skilled in the art can completely manufacture the lens that meets the requirements according to the prior art mastered by the prior art; The deflection prism and the light valve satisfy the requirements, the light valve adopts an electronic light valve; the image sensor can adopt a CCD or a CMOS.

Three-dimensional imaging device second embodiment

The difference between this example and the above example is that the first light valve 5 is not disposed between the first deflecting prism 3 and the image sensor 7, but is disposed between the first lens 1 and the first deflecting prism 3. The second light valve 6 is disposed not between the second deflecting prism 4 and the image sensor 7, but between the second lens 2 and the second deflecting prism 4.

Third embodiment of three-dimensional imaging device

This example is different from the first embodiment of the three-dimensional imaging device in that the first light valve 5 is not disposed between the first deflection prism 3 and the image sensor 7, but two lenses disposed in the lens group of the first lens 1 between. The second light valve 6 is not disposed between the second deflection prism 4 and the image sensor 7, but is disposed between the two lenses in the second lens 2 lens group.

Fourth embodiment of three-dimensional imaging device

This example is different from the first embodiment of the three-dimensional imaging apparatus in that the first light valve 5 is disposed not between the first deflection prism 3 and the image sensor 7, but before the first lens 1. The second light valve 6 is not disposed between the second deflecting prism 4 and the image sensor 7, but is disposed before the second lens 2.

First embodiment of three-dimensional imaging system

As a specific application of the three-dimensional imaging device of the present invention, the present invention provides a three-dimensional imaging system which can be a television endoscope, a CCD video endoscope, a COMS video endoscope, a mobile phone, a three-dimensional projector, an electronic telescope, a monitor, etc. device.

Referring to Fig. 2a, the three-dimensional imaging system 30 as the present example is an electronic telescope composed of a three-dimensional imaging device 31 and a processor 32. The three-dimensional imaging device 31 has a first lens 311 for left image capturing, a second lens 312 for right image capturing, a first light valve 313, a second light valve 314, a first deflecting prism 315, and a second deflecting prism 316. And an image sensor 317. The processor 32 has an image synthesis module 322 and a control module 323. The image synthesis module 322 is used for image synthesis and malformation correction. The control module 323 controls image scanning, and controls the first light valve 5 and the second light valve 6 to alternately open and close, and controls the image. Separation. The processor 30 is further configured to synthesize a two-dimensional image projected by the first lens on the image sensor in one opening and closing cycle and a two-dimensional image projected on the image sensor by the second lens into a three-dimensional image.

The configuration and operation principle of the three-dimensional imaging device 31 are the same as those in the second embodiment of the aforementioned three-dimensional imaging device. The processor adopts the CPU used in the prior art, and the image synthesizing module 322 synthesizes two two-dimensional images with parallax transmitted from the image sensor into one three-dimensional image under the control of the control module 323.

Second embodiment of three-dimensional imaging system

Referring to Fig. 2b, the three-dimensional imaging system 30 as the present example is a three-dimensional projector composed of a three-dimensional imaging device 31 and a processor 32. It is composed of a processor 32 and a three-dimensional imaging device 31. The processor 32 has an image synthesis module 322 and a control module 323. The image synthesis module 322 is used for image separation. The control module 323 is used to control image scanning, control image separation, and control the same. A projection light valve 335 and the second projection light valve 336 are alternately opened and closed. The projection light source 331 provides a necessary light source to the imaging element 10. The imaging element 10 is driven by the processor 32 using a DLP or a liquid crystal panel, so that when the image viewed by the left eye of the processor 32 is presented on the DLP or the liquid crystal panel, the first image is passed. The projection light valve 335, the first projection deflection prism 333, the first projection lens 337 is projected, and the image viewed by the processor 32 after being viewed by the processor 32 is presented on the DLP or the liquid crystal panel, passes through the second projection light valve 336, and the second The projection deflection prism 334 is projected, and the second projection lens 338 is projected to form a three-dimensional image or a three-dimensional image on the screen.

Referring to FIG. 3 and FIG. 4, after the light beam generated by the projection light source 331 is modulated by the control module 323 via the liquid crystal panel 332, the first projection light valve 335 and the second projection light valve 336 are alternately opened and closed under the control of the control module. It is projected from the first projection lens 337 via the first projection deflection prism 333 and projected from the second projection lens 338 via the second projection deflection prism 334.

In the process of projecting the projector, the control module 323 in the processor 32 controls the DLP or the liquid crystal chip according to the image information recorded by the image synthesis module 322, and then correspondingly from the first projection lens 337 and The second projection lens 338 is projected onto the screen to visualize the three-dimensional image.

The projection light source 331 is a backlight source, and may be an LED light source or a laser light source.

During the three-dimensional projection, the first projection lens 337 and the second projection lens 338 perform synchronous focusing or zooming through a projection focusing or zooming mechanism, and the projection focusing or zooming mechanism has a projection focusing or zoom actuator, and the projection adjustment The mover of the focus or zoom actuator is fixedly connected to the focus lens or the zoom lens group of the first projection lens and the second projection lens through the transmission member, so that the first projection lens and the second projection lens can be simultaneously driven for synchronous focusing. Or zoom.

The projection focusing or zoom actuator may employ an actuator such as a piezoelectric actuator or a voice coil motor.

Third embodiment of three-dimensional imaging system

Referring to FIG. 5, as a third embodiment of the three-dimensional imaging system of the present invention, an endoscope 40 has a connecting portion 411. The front end of the connecting portion 411 is fixedly connected with the rear end of the insertion tube 43, and the rear end and the instrument passage are provided. The tube 412 is fixedly connected. The water channel tube 414 and the water outlet channel tube 413 are disposed on both sides of the instrument channel tube 412. The lower end portion of the connecting portion 411 is fixedly connected with the illumination fiber interface 415 and the image forming portion 42 is detachably fixedly coupled.

Referring to FIG. 6, the front port of the insertion tube 43 is provided with a water delivery outlet 433, a pumping inlet 436, an instrument outlet 431, an illumination port 432, a first image taking lens 434, and a second image taking lens 435.

In order to distinguish the relative positional relationship between the components in the front port of the insertion tube 43, as shown in FIG. 6, the components are distinguished by different hatching, and the first image capturing lens 434 and the second image capturing lens 435 are symmetrically arranged in the water delivery. Near the two sides of the outlet 433, the pumping inlet 436 is composed of two portions symmetrically distributed on both sides of the instrument outlet 431, and the illumination port 432 surrounds the periphery of the first image taking lens 434, the second image taking lens 435, and the water outlet 433. .

Referring to FIG. 7, a first focusing lens group 421, a second focusing lens group 422, a first polarizing prism 423, a second polarizing prism 424, a first light valve 425, and a second light are disposed in the housing of the image forming portion 42. Valve 426 and a single color image sensor 427.

A first image capturing body is disposed between the first image capturing lens 434 and the first focusing or zooming lens group 421 for transmitting light therebetween; the second image capturing lens 435 and the second focusing lens or zooming A second image transmitting body is disposed between the mirror groups 422 for optical transmission therebetween, and the first image transmitting body and the second image forming body are both a bundle of imaging fibers.

The first image capturing lens 434, the first image capturing body and the first focusing or zooming lens group 421 constitute the first lens of the present example; the second image capturing lens 435, the second image capturing body and the second focusing or zooming lens Group 422 constitutes the second shot of this example.

The first focusing or zooming lens group 421 and the second focusing or zooming lens group 422 are fixedly coupled to the moving focus of the imaging focusing or zooming actuator by a transmitting member to drive the first with the same imaging focusing or zooming mechanism The lens and the second lens are synchronized or zoomed.

a first image capturing body, a second image capturing body, a pipe for connecting the port of the instrument channel tube 412 and the instrument outlet 431, for connecting the port of the water outlet pipe 413 and the water pipe of the pumping inlet 436 for communication The port of the water passage tube 414 and the water line of the water delivery outlet 433, and the illumination fiber for communicating the external light source and the illumination port 432 through the illumination fiber interface 415 are integrated into the insertion tube 43.

Fourth embodiment of three-dimensional imaging system

As a fourth embodiment of the three-dimensional imaging system of the present invention, this example is also an endoscope, and only differences from the above-described endoscope will be described below.

A lenticular lens is used instead of the imaging fiber for lossless transmission of images between the first image taking lens and the first focusing or zooming lens group and between the second image capturing lens and the second focusing lens or zoom lens group.

When the first image capturing lens is not in the same line as the first focusing or zooming lens group and the second image capturing lens is not on the same line as the second focusing lens or the zoom lens group, the prism and the lenticular lens may be used to change the light. The direction of transmission.

The combination of the lenticular lens or the lenticular lens and the prism constitutes the first image bearing body and the second image forming body of this example.

Fifth embodiment of three-dimensional imaging system

As a fifth embodiment of the three-dimensional imaging system of the present invention, a three-dimensional monitoring system for monitoring is used. The monitoring system has a three-dimensional imaging device, a processor and a projection device, wherein the three-dimensional imaging device is a three-dimensional imaging device for monitoring, and the projection device is a three-dimensional projection device.

Referring to FIGS. 8 to 10, a three-dimensional imaging device 52, a three-dimensional imaging device 53, and a three-dimensional imaging device 54 are provided on the base 51 of the three-dimensional imaging device 5 for monitoring.

Referring to FIG. 9, the structure of three three-dimensional imaging units in this example will be described by taking the three-dimensional imaging device 52 as an example. The three-dimensional imaging device 52 includes a housing and a first lens 523, a second lens 524, and an image sensor mounted in the housing. 521. An imaging focusing or zooming mechanism 522 and a first deflecting prism, a second deflecting prism, a first light valve, and a second light valve disposed between the imaging focusing or zooming mechanism 522 and the image sensor 521.

The imaging focus or zoom mechanism 522 has an imaging focus or zoom actuator, and the mover of the imaging focus or zoom actuator is simultaneously fixed to the focus or zoom lens of the first lens 523 and the second lens 524 by the transfer member. The connection is such that the first lens 523 and the second lens 524 can be simultaneously driven to perform synchronous focusing or zooming.

Referring to FIG. 10, the three-dimensional imaging device 52, the three-dimensional imaging device 53, and the three-dimensional imaging device 54 are evenly arranged around an axis 55 arranged in a direction perpendicular to the plane of FIG. 10, that is, the extension lines of the optical axes of the three intersect at the axis 55 and The angle between two adjacent optical axes is 120 degrees.

As a description of the structure and working principle of the three-dimensional imaging device, only the differences from the three-dimensional imaging device and the three-dimensional imaging system embodiment described above will be described. Each of the three-dimensional imaging devices has a lateral viewing angle of 120 degrees or more, three The three images acquired by the three-dimensional imaging device at the same time can be spliced into a three-dimensional image of a 360-degree panorama.

In order to explain the processing and projection apparatus in the monitoring system, only differences from the above-described three-dimensional imaging apparatus, the processor and the projection apparatus in the three-dimensional imaging system embodiment will be described below. In the working process, after the processor processes the image obtained by the image sensor of the three-dimensional imaging device to obtain a three-dimensional image, the processor then splices the three three-dimensional images into a three-dimensional image of a 360-degree panoramic view.

Sixth Embodiment of Three-Dimensional Imaging System

As a description of the sixth embodiment of the three-dimensional imaging system of the present invention, only differences from the fifth embodiment of the above three-dimensional imaging system will be described below.

This example uses only a single three-dimensional imaging device for imaging, and there is no specific requirement for the lateral viewing angle size of the three-dimensional imaging device.

The number of three-dimensional imaging devices and the range of lateral viewing angles in the three-dimensional imaging system for monitoring are not limited to the above two embodiments, and various obvious variations are also possible. For a three-dimensional imaging device capable of capturing a 360-degree panoramic image with three or more three-dimensional imaging devices, the angle between the optical axes of two adjacent three-dimensional imaging devices varies with the lateral viewing angle between the two, and only needs to be satisfied. It is possible to capture a 360-degree panoramic image.

Seventh embodiment of three-dimensional imaging system

As a seventh embodiment of the three-dimensional imaging system, this example is a mobile terminal device.

Referring to Fig. 11, a processor is provided in the base 61 of the mobile terminal device 6, and a three-dimensional projection unit 62 is provided on the front end of the base 61.

Referring to FIG. 12, the three-dimensional projection unit 62 is composed of a housing, a projection light source 621 disposed in the housing, a liquid crystal panel 622, a projection focusing or zooming mechanism 623, a first projection lens 624, and a second projection lens 625. A first light valve is disposed in the lens group of the first projection lens 624, and a second light valve is disposed in the lens group of the second projection lens 625. The liquid crystal film 622 is further disposed between the liquid crystal film 622 and the projection focusing or zooming mechanism 623. a first deflecting prism and a second deflecting prism.

The projection focus or zoom mechanism 623 has a projection focus or zoom actuator, and the focus of the projection focus or zoom actuator is simultaneously passed through the transfer member with the focus or zoom lens of the first projection lens 624 and the second projection lens 625 The group is fixedly connected so that the first projection lens 624 and the second projection lens 625 can be simultaneously driven to perform synchronous focusing or zooming.

The projection light source 621 is a backlight, and LED light or laser light can be used.

The projection focusing or zoom actuator may be an actuator such as a piezoelectric actuator or a voice coil motor.

Eighth embodiment of three-dimensional imaging system

This example is also a mobile terminal device. Referring to Fig. 13, a processor is provided in the base 71 of the mobile terminal device 7, and a three-dimensional imaging device 72 is provided on the back surface of the base 71.

Referring to FIGS. 14 and 15, the three-dimensional imaging device 72 is composed of a housing and a color image sensor 721, an imaging focusing or zooming mechanism 722, a first lens 723 and a second lens 724 disposed in the housing. A first deflecting prism and a first light valve, a second deflecting prism, and a second light valve are further disposed between the color image sensor 721 and the imaging focusing or zooming mechanism.

The imaging focus or zoom mechanism 722 has an imaging focus or zoom actuator, and the mover of the imaging focus or zoom actuator is simultaneously fixed to the focus or zoom lens of the first lens 723 and the second lens 724 by the transfer member. The connection is such that the first lens 723 and the second lens 724 can be simultaneously driven to perform synchronous focusing or zooming.

The operation principle of the three-dimensional imaging device 72 is the same as that of the above-described three-dimensional imaging device embodiment, and any of these embodiments may be employed.

The imaging focus or zoom actuator can be an actuator such as a piezoelectric actuator or a voice coil motor.

Ninth Embodiment of Three-Dimensional Imaging System

This example is also a mobile terminal device as an explanation of the eighth embodiment of the three-dimensional imaging system of the present invention, and only differences from the sixth embodiment of the three-dimensional imaging system will be described below.

Referring to FIG. 16 and FIG. 17, a DMD chip 822 is used in place of the liquid crystal panel, and the projection light source is composed of an illuminant 8211, a converging lens 8212, a color wheel 8213, and a beam expanding lens 8214. The illuminant 8211 can be an LED light source or a laser light source.

The light beam generated by the illuminant 8211 is projected onto the DMD chip 822 after passing through the condenser lens 8212, the color wheel 8213, and the beam expander lens 8214. The processor controls the DMD chip 822 to modulate the received light beam according to the image information of the three-dimensional image that needs to be projected. A beam of light is projected, and the first light valve 828 and the second light valve 829 are alternately turned on and off, so that the light beam is respectively transmitted from the first projection lens 824 and the second deflection prism 827 from the second projection through the first deflection prism 826. A lens 825 is projected for visualizing a three-dimensional image.

The structure of the three-dimensional imaging system is not limited to the above embodiments, and there are many obvious variations.

The mobile terminal devices in the seventh to ninth embodiments described above include, but are not limited to, a smartphone and a tablet.

The invention mainly improves the structure of the three-dimensional imaging device in the three-dimensional imaging system, and at the same time, correspondingly improves the processing module in the processor, and the scope of use thereof is not limited to the endoscope, the monitoring device and the movement in the above embodiments. Terminal Equipment.

Three-dimensional imaging method embodiment

In the imaging step, the entire target surface of the image sensor alternately receives the first image obtained by capturing the image from the first lens in a unit time period, and the second image obtained by the second lens capturing the same scene, that is, a certain image At the moment, only the image from one lens is acquired, the image is a full-frame two-dimensional image, and the image from the other lens is acquired at the next moment, the image is also a full-frame two-dimensional image, and the two full-frame two-dimensional images have parallax;

In the synthesizing step, in the image synthesizing module of the processor, the obtained two full-frame two-dimensional images with mutual parallax are processed to form a full-frame three-dimensional image.

The three-dimensional imaging device provided by the present invention still adopts an image sensor. Compared with the prior art CN104935915A, the idea of reducing the image frame rate and increasing the pixel is adopted in the imaging mode of the two-dimensional image, that is, the prior art adopts a relatively high image. Image frame rate, but because it is non-full-frame imaging, it has relatively low pixels, and the present invention uses full-frame imaging, the pixels are relatively high, and with high-pixel two-dimensional images, there is a basis for obtaining high-quality three-dimensional images. With a relatively low image frame rate, the completion can be compensated for by the prior art. The three-dimensional imaging system provided by the invention can deform the two-dimensional image of the high pixel acquired by the imaging device by the processor and the corresponding software, and synthesize into a high-quality three-dimensional image.

Claims

Three-dimensional imaging device, including

a first lens and a second lens, wherein the first lens and the second lens are arranged side by side in such a manner that the optical axes are parallel to each other;

An image sensor, the optical axis of the first lens and the optical axis of the second lens being symmetrically disposed with respect to a normal center line of the image sensor target surface;

It is characterized by:

a first deflecting prism and a second deflecting prism disposed between the first lens and the image sensor for directing an image acquired by the first lens to the entire image sensor a second deflecting prism disposed between the second lens and the image sensor for guiding an image acquired by the second lens to an entire target surface of the image sensor;

a first light valve and a second light valve, the first light valve is disposed on an optical path between the first lens and the image sensor, and the second light valve is disposed at the second lens to the The optical path between image sensors;

The first light valve and the second light valve are alternately opened and closed.
A three-dimensional imaging apparatus according to claim 1, wherein:

Also includes an imaging focusing or zooming mechanism;

The imaging focusing or zooming mechanism includes an imaging focusing or zooming actuator for simultaneously driving the first lens and the second lens for simultaneous focusing or zooming.
Three-dimensional imaging device, including

Projection light source

a first lens and a second lens, wherein the first lens and the second lens are arranged side by side in such a manner that the optical axes are parallel to each other;

An imaging element, the optical axis of the first lens being symmetric with the optical axis of the second lens with respect to a normal centerline of the imaging element screen;

It is characterized by:

a first deflecting prism and a second deflecting prism disposed between the first lens and the imaging element for outputting an image output by the imaging element through the first lens a second deflection prism disposed between the second lens and the imaging element for outputting an image output by the imaging element through the second lens;

a first light valve and a second light valve, the first light valve is disposed on an optical path between the imaging element and the first lens, and the second light valve is disposed at the imaging element to the first The light path between the two lenses;

The first light valve and the second light valve are alternately opened and closed.
A three-dimensional imaging apparatus according to claim 3, wherein:

Also includes an imaging focusing or zooming mechanism;

The imaging focusing or zooming mechanism includes an imaging focusing or zooming actuator for simultaneously driving the first lens and the second lens for simultaneous focusing or zooming.
a three-dimensional imaging system comprising a three-dimensional imaging device and a processor;

The three-dimensional imaging device includes

a first lens and a second lens, wherein the first lens and the second lens optical axis are arranged side by side in parallel with each other;

An image sensor, the optical axis of the first lens and the optical axis of the second lens being symmetrically disposed with respect to a normal center line of the photosensitive surface of the image sensor;

It is characterized by:

a first deflecting prism and a second deflecting prism disposed between the first lens and the image sensor for directing an image acquired by the first lens to the entire image sensor a second deflecting prism disposed between the second lens and the image sensor for guiding an image acquired by the second lens to an entire target surface of the image sensor;

a first light valve and a second light valve, the first light valve is disposed on an optical path between the first lens and the image sensor, and the second light valve is disposed at the second lens to the The optical path between image sensors;

The first light valve and the second light valve are alternately opened and closed;

The processor is configured to control image scanning, control the first light valve and the second light valve to alternately open and close, and control image separation, image synthesis and malformation correction;

The processor is further configured to synthesize a two-dimensional image projected by the first lens on the image sensor and a two-dimensional image projected by the second lens on the image sensor in a single opening and closing cycle into a three-dimensional image. image.
A three-dimensional imaging system according to claim 5, wherein:

The three-dimensional imaging device further includes an imaging focusing or zooming mechanism;

The imaging focusing or zooming mechanism includes an imaging focusing or zooming actuator for simultaneously driving the first lens and the second lens for simultaneous focusing or zooming.
a three-dimensional imaging system comprising a three-dimensional imaging device and a processor;

The three-dimensional imaging device includes

Projection light source

a first lens and a second lens, wherein the first lens and the second lens are arranged side by side in such a manner that the optical axes are parallel to each other;

An imaging element, the optical axis of the first lens being symmetric with the optical axis of the second lens with respect to a normal centerline of the imaging element screen;

It is characterized by:

a first deflecting prism and a second deflecting prism disposed between the first lens and the imaging element for outputting an image output by the imaging element through the first lens a second deflection prism disposed between the second lens and the imaging element for outputting an image output by the imaging element through the second lens;

a first light valve and a second light valve, the first light valve is disposed on an optical path between the imaging element and the first lens, and the second light valve is disposed at the imaging element to the first The light path between the two lenses;

The first light valve and the second light valve are alternately opened and closed;

The processor is configured to control image scanning, control the first light valve and the second light valve to alternately open and close, and control image separation, image synthesis and malformation correction;

The processor is further configured to output the imaging element display images in the two adjacent opening and closing periods from the first lens and the second lens, respectively.
The three-dimensional imaging system of claim 7 wherein:

The three-dimensional imaging device further includes an imaging focusing or zooming mechanism;

The imaging focusing or zooming mechanism includes an imaging focusing or zooming actuator for simultaneously driving the first lens and the second lens for simultaneous focusing or zooming.
The three-dimensional imaging method includes the following steps:

In the imaging step, the entire target surface of the image sensor alternately receives the first image from the first lens and the second image from the second lens that has parallax with the first image;

a correcting step of performing a malformation correction on the first image and the second image obtained by the imaging step, respectively;

The synthesizing step synthesizes two two-dimensional images obtained by the correcting step into one three-dimensional image.