Multi-line structured light array binocular 3D measurement sensor and sensor measurement system

Abstract

The present invention provides a multi-line structured light array binocular three-dimensional measurement sensor and a sensing measurement system. The sensor includes a left camera and a right camera; includes a plurality of rows of laser light sources, each row includes a plurality of laser modules, and the laser modules with the same number in adjacent rows of laser light sources are arranged in a staggered manner; a control unit communicates with the left camera and the right camera to control the image acquisition work of the left camera and the right camera, and communicates with each laser module to control the work of each laser module; the left camera and the right camera are symmetrically arranged on both sides of a light projection device, and the lens of the left camera and the lens of the right camera are both oriented in the direction in which the symmetry axes of the two extend. The sensing measurement system analyzes the sensor image through a host computer to obtain three-dimensional information of the target to be measured. The light source structure of the laser module has been improved. Compared with the traditional multi-line structured light array, the projection method of the structured light is more flexible, and the projection method can be selected according to different application scenarios.

Description

Technical Field

[0001] The present invention relates to the field of optical measurement technology, and in particular to a multi-line structured light array binocular three-dimensional measurement sensor and a sensing measurement system. Background Art

[0002] With the development of modern science and technology and industry, using machine vision sensors to obtain three-dimensional information of various targets is an indispensable condition for many production operations. Currently, common vision sensors for obtaining three-dimensional information mainly include monocular vision sensors, binocular vision sensors, and multi-vision sensors according to the number of cameras; and mainly include passive sensors, TOF sensors, and structured light sensors according to the working mode.

[0003] Monocular sensors have the advantage of simple structure, but in order to obtain the three-dimensional information of the target, it is necessary to combine the target's prior information; this greatly limits its scope of application. Passive binocular sensors can use the principle of parallax to obtain the target's three-dimensional information, but their algorithms are relatively complex, and processes such as stereo matching require a lot of computing power, which is not conducive to their deployment in complex scenes and edge devices; TOF sensors have a long measurement distance and strong anti-interference ability, but their accuracy is poor for targets at closer distances.

[0004] Structured light sensors can effectively solve the problem of monocular inability to obtain three-dimensional information and binocular stereo matching by projecting structured light in combination with monocular or binocular cameras. Therefore, they have been widely used. Line structured light sensors are the most widely used because of their simple projected patterns and easy processing. However, monocular line structured light sensors generally require calibration of the light plane and the camera, which limits their application in scenes with refraction, such as underwater. Binocular line structured light sensors provide target surface features through line structured light, which does not require calibration of the camera and light plane and can well solve the problem of difficult stereo matching of binocular cameras. Therefore, binocular line structured light sensors have better application prospects in comparison.

[0005] At present, there are two main methods of projecting binocular line structured light, scanning line structured light and line array structured light. Scanning line structured light can obtain more three-dimensional information of the target surface, but scanning takes time, which affects its real-time performance and requires determining the spatial relationship between the sensor and the target during scanning, which limits its application scenarios; line array structured light has better real-time performance, but it can only obtain three-dimensional information of the part with light projection, and the three-dimensional information of the part without light projection is difficult to obtain. If you want to obtain more three-dimensional information, you can only project more dense line structured light, but the line structured light is too dense and is not conducive to the subsequent light strip extraction and processing. Therefore, a three-dimensional sensor that can have better real-time performance and obtain more comprehensive three-dimensional information can meet more application needs. Summary of the invention

[0006] The purpose of the present invention is to solve the above technical problems and provide a multi-line structured light array binocular three-dimensional measurement sensor and a sensor measurement system with diverse projection modes, suitable for complex scenes, and capable of obtaining comprehensive three-dimensional information.

[0007] To achieve the above object, the technical solution adopted by the present invention is:

[0008] Some embodiments of the present invention provide a multi-line structured light array binocular three-dimensional measurement sensor, including:

[0009] Binocular camera: including left camera and right camera;

[0010] The light projection device includes a plurality of rows of laser light sources, each row of laser light sources includes a plurality of laser modules. If the laser modules in each row of laser light sources are numbered in sequence, the laser modules with the same number in adjacent rows of laser light sources are arranged in a staggered manner.

[0011] Control unit: communicates with the left camera and the right camera to control the image acquisition work of the left camera and the right camera, and communicates with each laser module to control the operation of each laser module;

[0012] Taking the position of the light projection device as a reference, the left camera and the right camera are symmetrically arranged on both sides of the light projection device, and the lens of the left camera and the lens of the right camera are both oriented in the direction in which the symmetry axes of the two extend.

[0013] In some embodiments of the present invention, the installation position of each laser light source is configured such that within a certain working distance range, the multiple laser lines emitted by each laser module do not overlap with each other.

[0014] In some embodiments of the present invention, the laser lines emitted by each laser module are parallel.

[0015] In some embodiments of the present invention, the control unit is configured as follows:

[0016] Divide all laser modules into x groups of light source groups, and control one group of light source groups to emit laser each time;

[0017] The binocular camera is controlled to simultaneously collect images of the i-th light source group, where 1≤i≤x.

[0018] In some embodiments of the present invention, the control unit is further configured to control the operation of the light source group according to the resolution requirement of the scene to be used:

[0019] When the application scenario does not require the acquisition of dense three-dimensional information on the target object surface, the light source group is controlled to project a single-frame sparse line structured light array n times;

[0020] When the application scenario needs to obtain dense three-dimensional information on the surface of the target object, the light source group is controlled to project m single-frame sparse line structured light arrays to form a multi-frame sparse line structured light array;

[0021] The 1≤n<m.

[0022] In some embodiments of the present invention, the control unit is further configured to control the operation of the light source group according to the regional importance of the three-dimensional target to be measured:

[0023] For non-key areas, the light source group is controlled to project n single-frame sparse line structured light arrays;

[0024] For the key area, the light source group is controlled to project m single-frame sparse line structured light arrays to form a multi-frame sparse line structured light array;

[0025] The 1≤n<m.

[0026] In some embodiments of the present invention, a housing is further included, and the laser module, the control unit, the left camera and the right camera are all mounted on the housing.

[0027] Some embodiments of the present invention further provide a sensing measurement system, comprising a host computer, and a multi-line structured light array binocular three-dimensional measurement sensor according to any one of claims 1 to 7;

[0028] The host computer is configured as follows:

[0029] Extract the light stripes in the left camera image and the light stripes in the right camera image, perform stereo matching and three-dimensional calculation on the light strip points in the left camera image and the light strip points in the right camera image, and output the three-dimensional information of each matching point;

[0030] Based on the three-dimensional information of all matching points, the three-dimensional information of the three-dimensional target to be measured is generated.

[0031] In some embodiments of the present invention, the host computer is further configured to: before stereo matching, perform refinement processing on the light bars in the left camera image and the light bars in the right camera image.

[0032] In some embodiments of the present invention, the host computer is further configured to: determine the light stripes of the left camera image, and take points on the center line of the light stripes in the left camera image, calculate its epipolar line relative to the right camera image, calculate the intersection of the epipolar line and the corresponding center line of the light strip in the right camera image in the right camera image, and use the intersection as the matching point of the light strip points in the left camera image.

[0033] The multi-line structured light array binocular three-dimensional measurement sensor provided by the present invention has the following beneficial effects:

[0034] 1. The light source structure of the laser module has been improved. Compared with the traditional multi-line structured light array, the projection method of structured light is more flexible, and the projection method can be selected according to different application scenarios.

[0035] 2. Using a binocular camera to collect laser module images, compared with a monocular camera, it can perform three-dimensional measurement of the target without knowing the prior information of the target; compared with a passive binocular sensor, structured light provides target surface features, which is conducive to binocular stereo matching; compared with a binocular sensor based on scan line structured light, it does not require a lot of scanning time, has better real-time performance, and has a wider range of application scenarios.

[0036] 3. More three-dimensional information of the target surface can be obtained by projecting a dense array of line structured light, and the difficulty of image processing can be avoided by grouping multiple projections. The matching algorithm is simplified, which is conducive to deployment on edge computing devices.

[0037] 4. The sensor provided by the present invention has good real-time performance when performing three-dimensional measurement of a target and can obtain more three-dimensional information of the target and meet the application of various complex scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0039] Figure 1 The invention is a schematic diagram of the structure of a binocular three-dimensional measurement sensor;

[0040] Figure 2 is a schematic diagram of the structure of a light projection device;

[0041] Figure 3 It is a schematic diagram of the structure of the light projection device in which all laser light sources work simultaneously to illuminate the pattern;

[0042] Figure 4a It is a schematic diagram of the structure of a single-frame uniform light image;

[0043] Figure 4b It is a schematic diagram of the structure of a single-frame non-uniform light image;

[0044] Figure 5 It is a schematic diagram of a multi-frame interlaced projection structure;

[0045] Figure 6 is a schematic diagram of the switch circuit structure;

[0046] Figure 7Some embodiments are schematic diagrams of the structure of grouping laser light sources;

[0047] Figure 8 This is a schematic diagram of the image acquisition process of the binocular 3D measurement sensor;

[0048] Fig. 9 This is the working flow chart of binocular 3D measurement sensing system;

[0049] Fig.10 This is a schematic diagram of the light strip refinement;

[0050] Fig.11 Schematic diagram of binocular stereo matching based on epipolar line constraints;

[0051] Fig.12 This is a schematic diagram of the calculation principle of the three-dimensional coordinates of the matching points;

[0052] In the above figures:

[0053] 1- Binocular camera;

[0054] 2- Light projection device;

[0055] 3-Control system;

[0056] 4- housing;

[0057] 5-Laser module. DETAILED DESCRIPTION

[0058] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0059] The first embodiment of the present invention provides a multi-line structured light array binocular three-dimensional measurement sensor, which can be used to obtain three-dimensional information of a three-dimensional target. Figure 1 , mainly includes a binocular camera 1, a light projection device 2, a control unit 3 and a shell 4.

[0060] Binocular camera 1: includes a left camera and a right camera.

[0061] In this embodiment, the binocular camera 1 is a group. For easy installation, the sealed housing 4 structure can be further designed, and the binocular camera 1 is symmetrically installed on both sides of the sealed housing 4. Specifically, the front of the sealed housing 4 is made of transparent material, which can effectively protect the internal sensor components and minimize the impact on the internal optical components. The other parts are made of metal material, with fixed holes inside for fixing the binocular camera 1. The sealed housing 4 has good waterproofness and airtightness, and can effectively protect the sensor in various complex application scenarios.

[0062] The light projection device 2 includes several rows of laser light sources, each row of laser light sources includes several laser modules 5. If the laser modules in each row of laser light sources are numbered in sequence, the laser modules 5 with the same number in adjacent rows of laser light sources are arranged in a staggered manner. In a preferred embodiment, the laser lines emitted by each laser module 5 are parallel, and a single laser module 5 can emit several rows of parallel laser lines.

[0063] Specific reference Figure 2 , the laser module 5 can emit linear light. The laser modules 5 are arranged in rows, and the number of laser modules 5 in each row can be equal, or can be configured as needed; adjacent laser modules 5 in each row are arranged at equal intervals, or can be configured as needed. An important feature of the structure of the light projection device 2 is that the laser modules 5 in the laser light sources of adjacent rows are arranged in an interlaced manner as a whole, and, in a preferred embodiment, the installation position of each laser module 5 is configured so that within a certain working distance range, the multi-line lasers emitted by each laser module 5 do not overlap with each other. That is, it is ensured that each laser module 5 included in the light projection device 2 can emit laser lines at different positions.

[0064] Take the linear structured light projection device including N suitable multi-line laser modules as an example. All laser modules are arranged in a staggered three-dimensional manner. Each laser module 5 can project X lines of laser. The number and wavelength of line lasers that each multi-line laser module 5 can project can be selected according to the actual application scenario. During assembly, it should be ensured that the line lasers projected by all line laser modules 5 are parallel to each other. If all laser modules 5 work at the same time, there are N*X parallel line lasers in the field of view of the binocular camera. At this time, the projected light strips are very dense, and the overall projection pattern is similar to a continuous pattern, such as Figure 3 As shown, it is not conducive to subsequent image processing. Then the control unit 3 is further designed to selectively control the operation of the laser module 5.

[0065] Control unit 3: communicates with the left camera and the right camera to control the image acquisition of the left camera and the right camera, and communicates with each laser module 5 to control the operation of each laser module 5. The control unit 3 supplies power to each laser module 5 through a number of independent switch circuits. The structure of the switch circuit is referenced Figure 6 For example, a switch circuit may be provided for each laser module 5 .

[0066] Based on the position of the light projection device, the left camera and the right camera are symmetrically arranged on both sides of the light projection device, and the lens of the left camera and the lens of the right camera are both oriented in the direction where the symmetry axis of the two cameras extends. This structure makes the common field of view of the two cameras larger.

[0067] In some embodiments of the present invention, the control unit is configured as follows:

[0068] Divide all laser modules 5 into x light source groups, and control one light source group to emit laser each time;

[0069] Control the binocular camera to simultaneously collect images of the i-th light source group, 1≤i≤x.

[0070] refer to Figure 7 The classification method of the light source group is not fixed, and the laser modules can be combined at will. In some working conditions, a whole row of laser modules 5 can be selected as a light source group; in some working conditions, several adjacent laser modules 5 in each row can be selected as a light source group, for example: two adjacent ones, three adjacent ones, etc.; in some working conditions, laser modules 5 at any interval can be selected to emit light at the same time.

[0071] Specifically, when working, the control unit 3 controls the line structured light projection device 2 to project lasers and the binocular camera 1 to collect images, and projects the set line structured light array onto the surface of the target object once or multiple times according to the application scenario. The binocular camera 1 collects multiple groups of target surface structured light array image pairs, and obtains the three-dimensional information of the target surface through the subsequent image processing algorithm. When the sensor is working, the light source group in the structured light projection device can be flexibly selected according to the application scenario to determine the projected structured light pattern, and the selected laser modules are grouped and projected to obtain a single-frame structured light image that is easy to process.

[0072] In order to further accurately perform three-dimensional information recognition, in some embodiments of the present invention, the control unit is further configured to control the operation of the light source group according to the resolution requirements of the application scenario:

[0073] When the application scenario does not require the acquisition of dense three-dimensional information on the target object surface, the light source group is controlled to project a single-frame sparse line structured light array n times;

[0074] When the application scenario needs to obtain dense three-dimensional information on the surface of the target object, the light source group is controlled to project m single-frame sparse line structured light arrays to form a multi-frame sparse line structured light array;

[0075] The 1≤n<m;

[0076] Each single-frame sparse structured light array image is processed to integrate the three-dimensional information and obtain the three-dimensional information of the target surface. This step is completed by the host computer disclosed in the second embodiment.

[0077] That is, when dense three-dimensional information of the target object surface needs to be obtained, more projected light rays are needed to obtain more light arrays.

[0078] In addition to controlling the operation of the light source group according to the application scenario, in some embodiments of the present invention, the control unit is further configured to control the operation of the light source group according to the regional importance of the three-dimensional target to be measured:

[0079] For non-key areas, the light source group is controlled to project n single-frame sparse line structured light arrays;

[0080] For the key area, the light source group is controlled to project m single-frame sparse line structured light arrays to form a multi-frame sparse line structured light array;

[0081] The 1≤n<m;

[0082] Each single-frame sparse structured light array image is processed to integrate the three-dimensional information and obtain the three-dimensional information of the target surface. This step is completed by the host computer disclosed in the second embodiment.

[0083] That is, for the key area, more projection lights are needed to obtain more light arrays.

[0084] For example: Figure 4a and Figure 4b As shown, for areas and key areas where dense three-dimensional information needs to be obtained, you can choose to project a single-frame sparse line structured light array multiple times. For areas that do not require dense three-dimensional information and non-key areas, you only need to project a few times or even a single time to project a single-frame sparse line structured light array. Among them, the uniform light array and the non-uniform light array can be controlled by controlling the grouping of the laser module 5. If uniform light is projected, you can choose to control the light source group set at equal intervals to work, for example, the odd-numbered laser modules 5 in each row work; if non-uniform light is projected, you can select several adjacent laser modules 5 as a light source group when grouping. For key areas, such as the central area of ​​a three-dimensional object, choose to project a single-frame sparse line structured light array multiple times. For non-key areas, such as the edge area of ​​a three-dimensional object, choose to project a few times or even a single time of a single-frame sparse line structured light array.

[0085] like Figure 5 As shown, when the application scenario requires dense three-dimensional information of the target surface, in order to avoid the problem that the light strips of the dense line structured light array are difficult to extract, multiple frames of staggered sparse line structured light arrays can be projected, and the multiple frames of images can be integrated to obtain a dense line structured light array, and three-dimensional information recognition processing can be performed based on the integrated line structured light array.

[0086] The second embodiment of the present invention further provides a measurement sensing system, which includes the multi-line structured light array binocular three-dimensional measurement sensor described in the first embodiment, and a host computer.

[0087] The host computer is configured as:

[0088] Extract the light stripes in the left camera image and the light stripes in the right camera image, perform stereo matching and three-dimensional calculation on the light strip points in the left camera image and the light strip points in the right camera image, and output the three-dimensional information of each matching point;

[0089] Based on the three-dimensional information of all matching points, the three-dimensional information of the three-dimensional target to be measured is generated.

[0090] In some embodiments of the present invention, the host computer is further configured to: before stereo matching, perform refinement processing on the light bars in the left camera image and the light bars in the right camera image.

[0091] Specifically, in the process of three-dimensional target recognition, for a single image, it is necessary to first extract the center of the light strip in the image, and then perform binocular stereo matching on the points on the extracted light strip. After obtaining the matching point pairs of the left and right cameras, the binocular parallax principle can be used to obtain the three-dimensional information of the light strip on the target surface.

[0092] Line structured light projected on the surface of the target object can provide the surface features of the target object, which is used to simplify the binocular stereo matching process. However, the structured light strips in the image collected by the structured light sensor have a certain width. Binocular stereo matching searches for the relationship between points, so it is necessary to refine the light strips and obtain the coordinates of the center of the light strips for subsequent 3D calculations, such as Fig.10 shown.

[0093] In the present invention, the center of the structured light stripe can be extracted using a laser light stripe center extraction algorithm.

[0094] In some embodiments of the present invention, the control unit is further configured to: determine the light stripes in the left camera image, and take points on the center line of the light stripes in the left camera image, calculate their epipolar lines relative to the right camera image, calculate the intersection of the epipolar lines in the right camera image and the center line of the corresponding light stripes in the right camera image, and use the intersection points as matching points of the light stripes in the left camera image.

[0095] In some embodiments of the present invention, the control unit is further configured to: control the laser light source and the binocular camera to start and shut down synchronously.

[0096] Binocular stereo matching is to find the corresponding point in the right camera image for a point in the left camera image. In this method, we use the method of finding the intersection of the center line and the epipolar line of the corresponding light strip to perform binocular stereo matching, which simplifies the binocular stereo matching process and facilitates the deployment of the algorithm on edge computing devices.

[0097] like Fig.11As shown, first, the common light strips in the left and right images are numbered to make them correspond one to one; then, for a point on the center line of a light strip in the left camera image, its epipolar line in the right camera image is calculated; the intersection point of the epipolar line and the center line of the corresponding light strip is calculated in the right camera image, and this point is regarded as the matching point of the point on the left camera.

[0098] like Fig.12 As shown in FIG. 1 , after obtaining the matching point pairs of the left and right cameras, the spatial three-dimensional coordinates of the matching point pairs can be calculated using the binocular stereo vision principle.

[0099] For a point P in space, its image point on the left camera phase plane is P l , the imaging point on the right camera plane is P r , theoretically P l and P r The coordinates of point P in the world coordinate system can be calculated by using the matching point pairs obtained by binocular stereo matching and the internal and external parameters of the binocular camera obtained by camera calibration.

[0100] By performing point-by-point processing on each light strip on each pair of images, the three-dimensional information of the light strip on the surface of the target object can be obtained, thereby completing the three-dimensional measurement.

[0101] Combined with reference Figure 8 and Fig. 9 The specific steps of performing three-dimensional measurement by the sensor provided by the present invention are as follows, and the detailed execution process of each step corresponds to the aforementioned implementation method.

[0102] 1. Camera calibration: After assembling the left and right cameras into a sealed housing, use the target to calibrate the binocular camera to obtain the internal and external parameters of the camera and compensate for refraction.

[0103] 2. Group the laser modules 5 in the laser module in advance, and determine the light control strategy of each light source group according to the resolution requirements and importance information of the three-dimensional scene to be identified. The control unit controls the first group of laser modules in the laser projection device to work, project the laser to the surface of the target object, expose the binocular camera, and collect the first group of laser images.

[0104] 3. The binocular camera stops exposing, the first group of laser modules in the laser projection device stops working, the next group of laser modules works, projects laser to the surface of the target object, the binocular camera is exposed, and the next group of laser images is collected, and this is repeated.

[0105] 4. After each set of images is acquired, the images acquired by the left and right cameras are transmitted to the host computer. The host computer extracts the center of the light strip through image processing technology, and then performs stereo matching on the points on the light strip in each pair of left and right camera images in combination with the outer polar line constraint of binocular stereo vision. Finally, the three-dimensional information of the matching points is calculated using the principle of binocular stereo vision.

[0106] 5. After processing all images, output the 3D information of all matching points.

[0107] The multi-line structured light array binocular three-dimensional measurement sensor provided by the present invention has good real-time performance when performing three-dimensional measurement of a target, and can obtain as much three-dimensional information of the target as possible and meet the application of various complex scenes.

[0108] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A multi-line structured light array binocular three-dimensional measurement sensor, characterized in that: include: Binocular camera: including left camera and right camera; The light projection device includes a plurality of rows of laser light sources, each row of laser light sources includes a plurality of laser modules. If the laser modules in each row of laser light sources are numbered in sequence, the laser modules with the same number in adjacent rows of laser light sources are arranged in a staggered manner. Control unit: communicates with the left camera and the right camera to control the image acquisition work of the left camera and the right camera, and communicates with each laser module to control the operation of each laser module; Taking the position of the light projection device as a reference, the left camera and the right camera are symmetrically arranged on both sides of the light projection device, and the lens of the left camera and the lens of the right camera are both oriented in the direction in which the symmetry axes of the two extend; The control unit is configured to: Divide all laser modules into x groups of light source groups, and control one group of light source groups to emit laser each time; Control the binocular camera to simultaneously collect images of the i-th light source group, where 1≤i≤x, i is an integer, and x is an integer; The control unit controls the operation of the light source group according to the resolution requirements of the scene to be used: When the application scenario does not require the acquisition of dense three-dimensional information on the target object surface, the light source group is controlled to project a single-frame sparse line structured light array n times; When the application scenario needs to obtain dense three-dimensional information on the surface of the target object, the light source group is controlled to project m single-frame sparse line structured light arrays to form a multi-frame sparse line structured light array; The control unit also controls the operation of the light source group according to the regional importance of the three-dimensional target to be measured: For non-key areas, the light source group is controlled to project n single-frame sparse line structured light arrays; For the key area, the light source group is controlled to project m single-frame sparse line structured light arrays to form a multi-frame sparse line structured light array; Wherein, 1≤n<m, n is an integer, and m is an integer; The structured light array includes a uniform light array and a non-uniform light array. If uniform light is projected, the controller controls the light source groups arranged at equal intervals to work; if non-uniform light is projected, the controller controls several adjacent laser modules to work; The control unit further integrates multiple frames of interlaced projection images to obtain a dense line structured light array, and performs three-dimensional information recognition based on the integrated line structured light array.

2. The multi-line structured light array binocular three-dimensional measurement sensor according to claim 1, characterized in that: The installation position of each laser light source is configured so that within a certain working distance range, the multiple laser lines emitted by each laser module do not overlap with each other.

3. The multi-line structured light array binocular three-dimensional measurement sensor according to claim 1, characterized in that: The laser lines emitted by each laser module are parallel.

4. The multi-line structured light array binocular three-dimensional measurement sensor according to claim 1, characterized in that: It further includes a shell, and the laser module, the control unit, the left camera and the right camera are all mounted on the shell.

5. A sensor measurement system, characterized in that: It comprises a host computer and a multi-line structured light array binocular three-dimensional measurement sensor according to any one of claims 1 to 4; The host computer is configured as follows: Extract the light stripes in the left camera image and the light stripes in the right camera image, perform stereo matching and three-dimensional calculation on the light strip points in the left camera image and the light strip points in the right camera image, and output the three-dimensional information of each matching point; The host computer is further configured to: determine the light strip of the left camera image, and take a point on the center line of the light strip in the left camera image, calculate its epipolar line relative to the right camera image, calculate the intersection of the epipolar line and the center line of the corresponding light strip in the right camera image in the right camera image, and use the intersection as the matching point of the light strip point in the left camera image Based on the three-dimensional information of all matching points, the three-dimensional information of the three-dimensional target to be measured is generated.

6. The sensor measurement system according to claim 5, characterized in that: The host computer is further configured to: before stereo matching, perform refinement processing on the light bars in the left camera image and the light bars in the right camera image.

Images