A 3D structured light measurement method and device

Abstract

The present application discloses a 3D structured light measurement method and device, which includes: obtaining a first speckle pattern and a second speckle pattern; synthesizing a first light spot at a preset position in the first speckle pattern and a second light spot at a preset position in the second speckle pattern according to a clarity parameter and a brightness parameter, to obtain a third light spot at a preset position in a third speckle pattern; and obtaining target object position information using the third light spot in the third speckle pattern. The present application uses clarity parameters and brightness parameters as synthesis processing rules, synthesizes the first light spot and the second light spot to obtain the third light spot, obtains the target object's spatial position information based on the third light spot, avoids the interference of natural light on the spatial position information, and is conducive to obtaining accurate spatial position information.

Description

Technical Field

[0001] The present invention generally relates to the field of 3D structured light technology, and in particular to a 3D structured light measurement method and device. Background Art

[0002] With the development of science and technology, traditional 2D measurement methods are difficult to meet the requirements of spatial position information and high measurement accuracy. In addition, the continuous rise of the artificial intelligence industry in modern society has put forward real-time and remote requirements for measurement technology, and the defects of traditional 2D measurement are becoming more and more prominent. 3D measurement technology, especially 3D structured light technology, is widely used for its advantages of high accuracy, low cost and low power consumption.

[0003] In related technologies, for devices using 3D structured light technology, the light spot emitted by its transmitter can be easily masked in a natural strong light environment, causing the brightness and clarity of the light spot collected by its receiver to be weakened, thereby causing the accuracy of the spatial position information calculated by its computing unit to decrease. Summary of the invention

[0004] In view of the above defects or deficiencies in the prior art, it is desirable to provide a 3D structured light measurement method and device.

[0005] The present application provides a 3D structured light measurement method, which includes:

[0006] Acquire a first speckle pattern and a second speckle pattern;

[0007] According to the clarity parameter and the brightness parameter, a first light spot at a preset position in the first speckle pattern and a second light spot at a preset position in the second speckle pattern are synthesized to obtain a third light spot at a preset position in a third speckle pattern;

[0008] The target object position information is acquired using the third light spot in the third speckle pattern.

[0009] As an optional solution, the synthesizing and processing the first light spot at a preset position in the first speckle pattern and the second light spot at a preset position in the second speckle pattern according to the clarity parameter and the brightness parameter to obtain a third light spot at a preset position in the third speckle pattern includes:

[0010] When the clarity of the first light spot is greater than that of the second light spot, and the difference between the two is greater than a first clarity threshold, and the brightness of the first light spot is greater than that of the second light spot, and the difference between the two is greater than a first brightness threshold, the first light spot is used as the third light spot;

[0011] When the clarity of the first light spot is greater than that of the second light spot, and the difference between the two is less than a second clarity threshold, and the brightness of the first light spot is greater than that of the second light spot, and the difference between the two is less than a second brightness threshold, the first light spot and the second light spot are combined as the third light spot; or,

[0012] When the clarity of the second light spot is greater than that of the first light spot, and the difference between the two is greater than a first clarity threshold, and the brightness of the second light spot is greater than that of the first light spot, and the difference between the two is greater than a first brightness threshold, the second light spot is used as the third light spot;

[0013] When the clarity of the second light spot is greater than that of the first light spot, and the difference between the two is less than a second clarity threshold, and the brightness of the first light spot is greater than that of the second light spot, and the difference between the two is less than a second brightness threshold, the first light spot and the second light spot are combined as the third light spot.

[0014] As an optional solution, the synthesizing and processing the first light spot at a preset position in the first speckle pattern and the second light spot at a preset position in the second speckle pattern according to the clarity parameter and the brightness parameter to obtain a third light spot at a preset position in the third speckle pattern further includes:

[0015] When the first light spot clarity and the second light spot clarity are both greater than a third clarity threshold, and the first light spot brightness and the second light spot brightness are both greater than the third brightness threshold, wherein the third clarity threshold is greater than the second clarity threshold and less than the first clarity threshold, and the third brightness threshold is greater than the second brightness threshold and less than the first brightness threshold,

[0016] The clarity of the first light spot is greater than that of the second light spot, the brightness of the first light spot is greater than that of the second light spot, and the first light spot is used as the third light spot; or,

[0017] The definition of the second light spot is greater than the definition of the first light spot, the brightness of the second light spot is greater than the brightness of the first light spot, and the second light spot is used as the third light spot.

[0018] As an optional solution, the synthesizing and processing the first light spot at a preset position in the first speckle pattern and the second light spot at a preset position in the second speckle pattern according to the clarity parameter and the brightness parameter to obtain a third light spot at a preset position in the third speckle pattern further includes:

[0019] When the clarity of the first light spot and the clarity of the second light spot are both less than a fourth clarity threshold, and the brightness of the first light spot and the brightness of the second light spot are both less than the fourth brightness threshold, the first light spot and the second light spot are combined as the third light spot,

[0020] The fourth clarity threshold is greater than the second clarity threshold and less than the third clarity threshold, and the fourth brightness threshold is greater than the second brightness threshold and less than the third brightness threshold.

[0021] As an optional solution, before acquiring the first speckle pattern and the second speckle pattern, the method further includes:

[0022] The first receiving module forms the first speckle pattern according to the light spots reflected by the target, and the first speckle pattern includes a plurality of the first light spots arranged in an array; the second receiving module forms the second speckle pattern according to the light spots reflected by the target, and the second speckle pattern includes a plurality of second light spots arranged in an array, wherein the array type, shape, number, size and arrangement method of the second light spots are the same as those of the first light spots.

[0023] The present application provides a 3D structured light measurement device, comprising:

[0024] A transmitting module, used for transmitting a light spot toward a target object;

[0025] A first receiving module, used for receiving the light spots reflected by the target object to form a first speckle pattern, wherein the first speckle pattern includes a plurality of first light spots arranged in an array;

[0026] A second receiving module, used for receiving the light spots reflected by the target object to form a second speckle pattern, wherein the second speckle pattern includes a plurality of second light spots arranged in an array;

[0027] A fixing plate, the transmitting module, the first receiving module and the second receiving module are all arranged on the same surface of the fixing plate, and the transmitting module is located between the first receiving module and the second receiving module.

[0028] As an optional solution, a calculation module is further included, which is electrically connected to the first receiving module and the second receiving module. The calculation module is used to synthesize the first light spot at the preset position in the first speckle pattern and the second light spot at the preset position in the second speckle pattern according to the clarity parameter and the brightness parameter to obtain a third light spot at the preset position in the third speckle pattern, and the calculation module uses the third light spot to obtain the target object position information.

[0029] As an optional solution, the array type, shape, number, size and arrangement of the first light spot and the second light spot are the same.

[0030] As an optional solution, the first receiving module and the second receiving module are symmetrically arranged with respect to the transmitting module.

[0031] As an optional solution, the distance between the first receiving module, the second receiving module and the transmitting module is between 4 mm and 164 mm.

[0032] The present application uses clarity parameters and brightness parameters as synthesis processing rules, synthesizes the first light spot and the second light spot to obtain a third light spot, obtains the spatial position information of the target object based on the third light spot, avoids the interference of natural light on the spatial position information, and is conducive to obtaining accurate spatial position information. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0034] Figure 1 A flow chart of a 3D structured light measurement method provided by an embodiment of the present invention;

[0035] Figure 2 A schematic diagram of the structure of a 3D structured light measurement device provided by an embodiment of the present invention;

[0036] Figure 3 is a first speckle pattern provided by an embodiment of the invention;

[0037] Figure 4 A second speckle pattern provided for an embodiment of the invention;

[0038] Figure 5 A schematic diagram of the synthesis of the third speckle pattern provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0039] The present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It is also necessary to explain that, for ease of description, only the parts related to the invention are shown in the accompanying drawings.

[0040] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0041] The terms used in the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The singular forms "a", "said" and "the" used in the present invention and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0042] 3D structured light technology is an active optical ranging solution, which is mainly composed of a transmitting module 10, a receiving module and a computing module. The principle is that the transmitting module 10 emits a light spot to the target object 30, forming a light spot on the target object 30; the receiving module collects the light spot on the target object 30, and finally the computing module calculates the spatial position information of the target object 30 according to the deformation of the light spot.

[0043] In the related art, the above-mentioned 3D structured light measurement method is affected by natural light, and the light spot emitted by the transmitter is easily masked, resulting in the brightness and clarity of the light spot collected by the receiver being weakened, which in turn leads to a decrease in the accuracy of the spatial position information of the target object 30 calculated by the operation module.

[0044] Based on this, this application proposes a 3D structured light measurement method. Figure 1 The figure is a flow chart of a 3D structured light measurement method.

[0045] The above-mentioned 3D structured light measurement method includes the following steps:

[0046] S1, obtaining a first speckle pattern A and a second speckle pattern B;

[0047] It should be noted that the first speckle pattern A includes a plurality of first light spots a arranged in an array, and the second speckle pattern B includes a plurality of second light spots b arranged in an array. The array types of the first light spots a and the first light spots a are the same, and the first light spots a and the first light spots a can adopt a matrix array or a ring array; the second light spots b and the first light spots a have the same shape, and the first and second light spots can be circular, triangular, elliptical, etc.; the number of the second light spots b and the first light spots a is the same; the size of the second light spots b and the first light spots a is the same; the arrangement direction of the second light spots b and the first light spots a is the same. If a matrix array is adopted, the first matrix array and the second matrix array both include M rows and N columns. In the first matrix array (the second matrix array), the spacing between any two adjacent first light spots a (the second light spots b) in any row is S1, and the spacing between any two adjacent first light spots a (the second light spots b) in any column is S2. If a ring array is adopted, any two adjacent first light spots a (the second light spots b) are set at a preset angle α, and the radius of the ring array is R.

[0048] In a specific embodiment, as shown in FIG3, in the first speckle pattern A, the first light spot a is circular with a diameter of d, 16 first light spots a form a first matrix array, the spacing between any two adjacent first light spots a in any column is S1, and the spacing between any two adjacent first light spots a in any row is S2. As shown in FIG4, in the second speckle pattern B, the second light spot b is circular with a diameter of d, 16 second light spots b form a second matrix array, the spacing between any two adjacent second light spots b in any row is S1, and the spacing between any two adjacent second light spots b in any column is S2.

[0049] S2, synthesizing a first light spot a at a preset position in the first speckle pattern A and a second light spot b at a preset position in the second speckle pattern B according to a clarity parameter and a brightness parameter to obtain a third light spot c at a preset position in a third speckle pattern C;

[0050] In a specific embodiment, Figure 5 As shown, the first light spot a at position 1a in the first speckle pattern A and the second light spot b at position 1b in the second speckle pattern B are synthesized to obtain the third light spot c at position 1c in the third speckle pattern C; the first light spot a at position 2a in the first speckle pattern A and the second light spot b at position 2b in the second speckle pattern B are synthesized to obtain the third light spot c at position 2c in the third speckle pattern C; the first light spot a at position 3a in the first speckle pattern A and the second light spot b at position 3b in the second speckle pattern B are synthesized to obtain the third light spot c at position 3c in the third speckle pattern C; and so on, until the first light spot a at position 16a in the first speckle pattern A and the second light spot b at position 16b in the second speckle pattern B are synthesized to obtain the third light spot c at position 16c in the third speckle pattern C, thereby obtaining a complete third speckle pattern C.

[0051] In the third speckle pattern C, the third light spot c is circular with a diameter of d, and 16 third light spots c form a third matrix array. The distance between any two adjacent third light spots c in any column is S1, and the distance between any two adjacent third light spots c in any row is S2.

[0052] It should be noted that the first clarity threshold>the third clarity threshold>the fourth clarity threshold>the second clarity threshold; the first brightness threshold>the third brightness threshold>the fourth brightness threshold>the second brightness threshold.

[0053] In some implementations, when the clarity of the first light spot a is greater than that of the second light spot b, and the difference between the two is greater than a first clarity threshold, and the brightness of the first light spot a is greater than that of the second light spot b, and the difference between the two is greater than a first brightness threshold, the first light spot a is used as the third light spot c;

[0054] In some implementations, when the clarity of the first light spot a is greater than the clarity of the second light spot b, and the difference between the two is less than the second clarity threshold, and the brightness of the first light spot a is greater than the brightness of the second light spot b, and the difference between the two is less than the second brightness threshold, the first light spot a and the second light spot b are combined as the third light spot c;

[0055] In some implementations, when the clarity of the second light spot b is greater than the clarity of the first light spot a, the difference between the two is greater than the first clarity threshold, and the brightness of the second light spot b is greater than the brightness of the first light spot a, and the difference between the two is greater than the first brightness threshold, the second light spot b is used as the third light spot c;

[0056] In some implementations, when the clarity of the second light spot b is greater than that of the first light spot a, and the difference between the two is less than the second clarity threshold, and the brightness of the first light spot a is greater than the brightness of the second light spot b, and the difference between the two is less than the second brightness threshold, the first light spot a and the second light spot b are merged as the third light spot c.

[0057] In some implementations, when the clarity of the first light spot a and the clarity of the second light spot b are both greater than the third clarity threshold, and the brightness of the first light spot a and the brightness of the second light spot b are both greater than the third brightness threshold,

[0058] The clarity of the first light spot a is greater than that of the second light spot b, and the brightness of the first light spot a is greater than that of the second light spot b, and the first light spot a is used as the third light spot c; or,

[0059] The clarity of the second light spot b is greater than that of the first light spot a, and the brightness of the second light spot b is greater than that of the first light spot a. The second light spot b is used as the third light spot c.

[0060] In some implementations, when the clarity of the first light spot a and the clarity of the second light spot b are both less than a fourth clarity threshold, and the brightness of the first light spot a and the brightness of the second light spot b are both less than a fourth brightness threshold, the first light spot a and the second light spot b are combined as a third light spot c.

[0061] S3, using the third light spot c in the third speckle pattern C to obtain the position information of the target object 30.

[0062] It should be noted that the computing module calculates the spatial position information of the target object 30 according to the deformation of the third light spot c in the third speckle pattern C.

[0063] The 3D structured light measurement method provided in the present application uses clarity parameters and brightness parameters as synthesis processing rules, synthesizes the first light spot a and the second light spot b to obtain a third light spot c, and obtains the spatial position information of the target object 30 based on the third light spot c, avoiding the interference of natural light on the spatial position information, which is conducive to obtaining accurate spatial position information.

[0064] As an implementable manner, in one embodiment, in addition to steps S1, S2, S3 and S4, the following step is further included before step S1: the first receiving module 21 forms a first speckle pattern A according to the light spots reflected by the target object 30; the second receiving module 22 forms a second speckle pattern B according to the light spots reflected by the target object 30.

[0065] The present application also provides a 3D structured light measurement device, which uses the above-mentioned 3D structured light measurement method to obtain spatial position information of a target object 30. Figure 2 A schematic structural diagram of a 3D structured light measurement device is shown.

[0066] The 3D structured light measuring device comprises: a transmitting module 10, a first receiving module 21, a second receiving module 22, a fixing plate and a computing module.

[0067] The transmitting module 10 is used to transmit light spots to the target 30; the first receiving module 21 is used to receive the light spots reflected by the target 30 to form a first speckle pattern A, and the first speckle pattern A includes a plurality of first light spots a arranged in an array; the second receiving module 22 is used to receive the light spots reflected by the target 30 to form a second speckle pattern B, and the second speckle pattern B includes a plurality of second light spots b arranged in an array; the transmitting module 10, the first receiving module 21 and the second receiving module 22 are all arranged on the same surface of the fixing plate, and the transmitting module 10 is located between the first receiving module 21 and the second receiving module 22; the computing module is used to synthesize and process the first light spot a at a preset position in the first speckle pattern A and the second light spot b at a preset position in the second speckle pattern B according to the clarity parameter and the brightness parameter to obtain a third light spot c at a preset position in the third speckle pattern C, and the computing module uses the third light spot c to obtain the position information of the target 30.

[0068] The above-mentioned 3D structured light measurement device uses clarity parameters and brightness parameters as synthesis processing rules, synthesizes the first light spot a and the second light spot b to obtain the third light spot c, and obtains the spatial position information of the target object 30 based on the third light spot c, avoiding the interference of natural light on the spatial position information, which is conducive to obtaining accurate spatial position information.

[0069] As an achievable method, the array type of the first light spot a and the first light spot a are the same, and the first light spot a and the first light spot a can adopt a matrix array or a ring array; the second light spot b has the same shape as the first light spot a, and the first and second light spots can be circular, triangular, elliptical, etc.; the number of the second light spots b is the same as that of the first light spot a; the size of the second light spot b is the same as that of the first light spot a; the arrangement direction of the second light spot b is the same as that of the first light spot a. If a matrix array is adopted, the first matrix array and the second matrix array both include M rows and N columns. In the first matrix array (the second matrix array), the spacing between any two adjacent first light spots a (the second light spots b) in any row is S1, and the spacing between any two adjacent first light spots a (the second light spots b) in any column is S2. If a ring array is adopted, any two adjacent first light spots a (the second light spots b) are set at a preset angle α, and the radius of the ring array is R.

[0070] The above setting method is conducive to the synthesis of the first light spot a and the second light spot b, is simple and efficient, and reduces the difficulty of calculation.

[0071] As an implementable manner, the transmitting module 10 is fixedly connected to the fixing plate, the first receiving module 21 is fixedly connected to the fixing plate, and the second receiving module 22 is fixedly connected to the fixing plate.

[0072] It is understandable that the transmitting module 10 can be fixed to the fixing plate by bolting, bonding or welding. Correspondingly, the first receiving module 21 and the second receiving module 22 can be fixed to the fixing plate by bolting, bonding or welding.

[0073] It should be noted that the distance between the geometric center of the first receiving module 21 and the geometric center of the transmitting module 10 is L1, and the distance between the geometric center of the second receiving module 22 and the geometric center of the transmitting module 10 is L2. L1 and L2 are much smaller than the distance between the transmitting module 10 and the target object 30. The change of L1 has little effect on the size of the first light spot a, and the change of L2 has little effect on the size of the second light spot b. Therefore, the sizes of the first light spot a and the second light spot b are assumed to be constant by default.

[0074] As an implementable manner, the first receiving module 21 and the second receiving module 22 are symmetrically arranged with respect to the transmitting module 10 .

[0075] It can be understood that the geometric center of the first receiving module 21, the geometric center of the second receiving module 22 and the geometric center of the transmitting module 10 are all located on the same horizontal line, and the distance L1 from the geometric center of the first receiving module 21 to the geometric center of the transmitting module 10 and the distance L2 from the geometric center of the second receiving module 22 to the geometric center of the transmitting module 10 are equal, and L1 and L2 are both 4mm to 164mm. It should be noted that in some embodiments, the first receiving module 21 and the second receiving module 22 can be arranged asymmetrically with respect to the transmitting module 10.

[0076] The symmetrical setting method has a reasonable structure, which ensures that the first and second receiving modules simultaneously obtain the light spots reflected by the target object 30; the distance range is between 4mm and 164mm, which is wide and meets the natural light application scenarios in various situations.

[0077] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the above features are replaced with (but not limited to) technical features with similar functions disclosed in the present application.

Claims

1. A 3D structured light measurement method, characterized in that: include: Acquire a first speckle pattern and a second speckle pattern; According to the clarity parameter and the brightness parameter, a first light spot at a preset position in the first speckle pattern and a second light spot at a preset position in the second speckle pattern are synthesized to obtain a third light spot at a preset position in the third speckle pattern, wherein when the clarity of the first light spot is greater than that of the second light spot, and the difference between the two is greater than a first clarity threshold, and the brightness of the first light spot is greater than that of the second light spot, and the difference between the two is greater than a first brightness threshold, the first light spot is used as the third light spot; When the clarity of the first light spot is greater than that of the second light spot, and the difference between the two is less than a second clarity threshold, and the brightness of the first light spot is greater than that of the second light spot, and the difference between the two is less than a second brightness threshold, the first light spot and the second light spot are combined as the third light spot; or, when the clarity of the second light spot is greater than that of the first light spot, and the difference between the two is greater than the first clarity threshold, and the brightness of the second light spot is greater than that of the first light spot, and the difference between the two is greater than the first brightness threshold, the second light spot is used as the third light spot; When the clarity of the second light spot is greater than that of the first light spot, and the difference between the two is less than a second clarity threshold, and the brightness of the first light spot is greater than that of the second light spot, and the difference between the two is less than a second brightness threshold, the first light spot and the second light spot are combined as the third light spot; The target object position information is acquired using the third light spot in the third speckle pattern.

2. The 3D structured light measurement method according to claim 1, characterized in that: The method further comprises: synthesizing a first light spot at a preset position in the first speckle pattern and a second light spot at a preset position in the second speckle pattern according to a clarity parameter and a brightness parameter to obtain a third light spot at a preset position in the third speckle pattern. When the clarity of the first light spot and the clarity of the second light spot are both greater than the third clarity threshold, and the brightness of the first light spot and the brightness of the second light spot are both greater than the third brightness threshold, wherein the third clarity threshold is greater than the second clarity threshold and less than the first clarity threshold, the third brightness threshold is greater than the second brightness threshold and less than the first brightness threshold, the clarity of the first light spot is greater than the clarity of the second light spot, the brightness of the first light spot is greater than the brightness of the second light spot, and the first light spot is used as the third light spot; or, the clarity of the second light spot is greater than the clarity of the first light spot, the brightness of the second light spot is greater than the brightness of the first light spot, and the second light spot is used as the third light spot.

3. The 3D structured light measurement method according to claim 2, characterized in that: The method further comprises: synthesizing a first light spot at a preset position in the first speckle pattern and a second light spot at a preset position in the second speckle pattern according to a clarity parameter and a brightness parameter to obtain a third light spot at a preset position in the third speckle pattern. When the clarity of the first light spot and the clarity of the second light spot are both less than a fourth clarity threshold, and the brightness of the first light spot and the brightness of the second light spot are both less than a fourth brightness threshold, the first light spot and the second light spot are merged as the third light spot, wherein the fourth clarity threshold is greater than the second clarity threshold and less than the third clarity threshold, and the fourth brightness threshold is greater than the second brightness threshold and less than the third brightness threshold.

4. The 3D structured light measurement method according to claim 1, characterized in that: Before acquiring the first speckle pattern and the second speckle pattern, the method further includes: The first receiving module forms the first speckle pattern according to the light spots reflected by the target, and the first speckle pattern includes a plurality of the first light spots arranged in an array; the second receiving module forms the second speckle pattern according to the light spots reflected by the target, and the second speckle pattern includes a plurality of second light spots arranged in an array, wherein the array type, shape, number, size and arrangement method of the second light spots are the same as those of the first light spots.

5. A 3D structured light measurement device, characterized in that: include: A transmitting module, used for transmitting a light spot toward a target object; A first receiving module, used for receiving the light spots reflected by the target object to form a first speckle pattern, wherein the first speckle pattern includes a plurality of first light spots arranged in an array; A second receiving module, used for receiving the light spots reflected by the target object to form a second speckle pattern, wherein the second speckle pattern includes a plurality of second light spots arranged in an array; A fixing plate, the transmitting module, the first receiving module and the second receiving module are all arranged on the same surface of the fixing plate, the transmitting module is located between the first receiving module and the second receiving module, According to the clarity parameter and the brightness parameter, the first light spot at the preset position in the first speckle pattern and the second light spot at the preset position in the second speckle pattern are synthesized to obtain a third light spot at the preset position in the third speckle pattern; when the clarity of the first light spot is greater than that of the second light spot, and the difference between the two is greater than a first clarity threshold, and the brightness of the first light spot is greater than that of the second light spot, and the difference between the two is greater than a first brightness threshold, the first light spot is used as the third light spot; When the clarity of the first light spot is greater than that of the second light spot, and the difference between the two is less than a second clarity threshold, and the brightness of the first light spot is greater than that of the second light spot, and the difference between the two is less than a second brightness threshold, the first light spot and the second light spot are combined as the third light spot; or, when the clarity of the second light spot is greater than that of the first light spot, and the difference between the two is greater than the first clarity threshold, and the brightness of the second light spot is greater than that of the first light spot, and the difference between the two is greater than the first brightness threshold, the second light spot is used as the third light spot; When the clarity of the second light spot is greater than that of the first light spot, and the difference between the two is less than a second clarity threshold, and the brightness of the first light spot is greater than that of the second light spot, and the difference between the two is less than a second brightness threshold, the first light spot and the second light spot are combined as the third light spot.

6. The 3D structured light measurement device according to claim 5, characterized in that: Also includes: a computing module, electrically connected to the first receiving module and the second receiving module, and configured to synthesize a first light spot at a preset position in the first speckle pattern and a second light spot at a preset position in the second speckle pattern according to a clarity parameter and a brightness parameter to obtain a third light spot at a preset position in a third speckle pattern, and the computing module obtains target object position information by using the third light spot.

7. The 3D structured light measurement device according to claim 5, characterized in that: The array type, shape, quantity, size and arrangement of the first light spot and the second light spot are the same.

8. The 3D structured light measurement device according to claim 5, characterized in that: The first receiving module and the second receiving module are symmetrically arranged with respect to the transmitting module.

9. The 3D structured light measurement device according to claim 8, characterized in that: The distances between the first receiving module, the second receiving module and the transmitting module are between 4 mm and 164 mm.

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