Three-dimensional camera and method for controlling the same, control device

Abstract

The application provides a three-dimensional camera and a control method and control device thereof, and belongs to the technical field of medical cameras. The three-dimensional camera comprises a first light ray collecting device, a second light ray collecting device, a controller, a light source generator and a spot projector. The controller is connected with the spot projector to control the spot projector to project light rays of a preset structure. The controller is also connected with the light source generator to control the light source generator to project light rays of a preset wave band. The first light ray collecting device and the second light ray collecting device are respectively connected with the controller to receive the light rays of the preset structure and the light rays of the preset wave band, and send the light rays of the preset structure and the light rays of the preset wave band to the controller. The controller is also used for image processing on the light rays of the preset structure or the light rays of the preset wave band to obtain a target imaging result. The application can improve the adaptability of the three-dimensional camera, so that the three-dimensional camera can be applied to a relatively narrow space or a space with limited reflection angle.

Description

Technical Field

[0001] This application relates to the field of medical camera technology, and more specifically, to a three-dimensional camera and its control method and control device. Background Technology

[0002] 3D cameras are typically used to emit speckled or striped structured light through a speckle projector, and then receive the structured light reflected from the target object through multiple lenses, thereby obtaining image information corresponding to the target object from the reflected structured light.

[0003] However, in fields such as medicine, 3D cameras often need to be installed in relatively narrow spaces or spaces with limited reflection angles, such as the roller frame of radiotherapy equipment. The 3D cameras installed in these spaces often cannot receive reflected light due to the shooting angle.

[0004] Therefore, this causes the 3D camera to be unable to accurately determine the image information corresponding to the target object from the reflected light, and consequently, the 3D camera cannot work properly. Summary of the Invention

[0005] The purpose of this application is to provide a 3D camera and its control method and control device, which can improve the adaptability of the 3D camera so that the 3D camera can be applied to relatively narrow spaces or spaces with limited reflection angles.

[0006] The embodiments of this application are implemented as follows:

[0007] One aspect of this application provides a three-dimensional camera, including: a first light acquisition device, a second light acquisition device, a controller, a light source generator, and a spot projector;

[0008] The controller is connected to the spot projector and is used to control the spot projector to project light onto a preset structure;

[0009] The controller is also connected to the light source generator to control the light source generator to project light of a preset wavelength.

[0010] The first and second light-gathering devices are respectively connected to the controller to receive light of a preset structure and light of a preset wavelength, and to send the light of the preset structure and light of the preset wavelength to the controller.

[0011] The controller is also used to perform image processing on light rays with preset structures or light rays with preset wavelengths to obtain target imaging results.

[0012] Optionally, both the first light acquisition device and the second light acquisition device are two-dimensional cameras.

[0013] Optionally, the light source of the preset structure is speckled light or striped light.

[0014] Optionally, the preset wavelength of light is near-infrared light.

[0015] One aspect of this application provides a 3D camera imaging system, which includes the aforementioned 3D camera, control device, and markers, wherein...

[0016] The marker is placed on the target to be photographed;

[0017] The control device is connected to the controller in the 3D camera to send projection commands to the 3D camera;

[0018] The 3D camera controls the light source generator or speckle projector to project light of a preset structure or light of a preset wavelength onto the target to be photographed according to the projection command, and performs image processing on the light of the preset structure or light of the preset wavelength to obtain the target imaging result;

[0019] The control equipment is also used to receive target imaging results sent by the 3D camera.

[0020] In one aspect of this application, a radiotherapy system is provided, comprising: a 3D camera imaging system as described above and a radiotherapy device, wherein the radiotherapy device is communicatively connected to a control device of the 3D camera imaging system;

[0021] The control equipment of the 3D camera imaging system is used to control the operation of the radiotherapy equipment based on the target imaging results.

[0022] In one aspect of this application, a three-dimensional camera control method is provided. This method is applied to a control device within the aforementioned three-dimensional camera's imaging system. The method includes:

[0023] Send a projection command to the 3D camera so that the 3D camera controls the light source generator or speckle projector to project light of a preset structure or light of a preset wavelength onto the target to be photographed, and performs image processing on the light of the preset structure or light of the preset wavelength to obtain the target imaging result.

[0024] Receive the target imaging results sent by the 3D camera.

[0025] Optionally, before sending projection commands to the 3D camera, the method further includes:

[0026] Receive the first target imaging result sent by the 3D camera. The first target imaging result is the result obtained by the 3D camera through image processing of the light of the preset structure.

[0027] Accordingly, sending projection commands to the 3D camera includes:

[0028] When the point cloud data in the first target imaging result is determined to be less than a preset data threshold, a first projection command is sent to the 3D camera so that the 3D camera controls the light source generator to project light of a preset wavelength onto the target to be photographed according to the first projection command, and performs image processing on the light of the preset wavelength to obtain the second target imaging result.

[0029] When the point cloud data in the first target imaging result is determined to be greater than or equal to a preset data threshold, the system continues to receive the first target imaging result sent by the 3D camera.

[0030] Optionally, before receiving the first target imaging result sent by the 3D camera, the method further includes:

[0031] A second projection command is sent to the 3D camera, so that the 3D camera projects light of a preset structure onto the target to be photographed according to the second projection command. The light of the preset structure is then processed to obtain the first target imaging result.

[0032] In another aspect of the embodiments of this application, a three-dimensional camera control device is provided. This device is applied to the control equipment in the shooting system of the above-mentioned three-dimensional camera. The device includes: a transmitting module and a receiving module.

[0033] The transmitting module is used to send projection commands to the 3D camera, so that the 3D camera controls the light source generator or speckle projector to project light of a preset structure or light of a preset wavelength onto the target to be photographed according to the projection commands, and performs image processing on the light of the preset structure or light of the preset wavelength to obtain the target imaging result.

[0034] The receiving module is used to receive the target imaging results sent by the 3D camera.

[0035] Optionally, the receiving module is further configured to receive a first target imaging result sent by the 3D camera, the first target imaging result being the result obtained by the 3D camera through image processing of the light of a preset structure; the sending module is specifically configured to, when determining that the point cloud data in the first target imaging result is less than a preset data threshold, send a first projection command to the 3D camera, so that the 3D camera controls the light source generator to project light of a preset wavelength band onto the target to be photographed according to the first projection command, and performs image processing on the light of the preset wavelength band to obtain a second target imaging result; when determining that the point cloud data in the first target imaging result is greater than or equal to the preset data threshold, continue to receive the first target imaging result sent by the 3D camera.

[0036] Optionally, the sending module is also used to send a second projection command to the 3D camera, so that the 3D camera projects light of a preset structure onto the target to be photographed according to the second projection command, and performs image processing on the light of the preset structure to obtain the first target imaging result.

[0037] In another aspect of this application, a control device is provided, including: a memory and a processor. The memory stores a computer program that can run on the processor. When the processor executes the computer program, it implements the steps of the above-described three-dimensional camera control method.

[0038] In another aspect of this application, a computer-readable storage medium is provided, on which a computer program is stored, which, when executed by a processor, implements the steps of the above-described three-dimensional camera control method.

[0039] The beneficial effects of the embodiments of this application include:

[0040] This application provides a 3D camera and its control method and device. The 3D camera includes: a first light acquisition device, a second light acquisition device, a controller, a light source generator, and a speckle projector. The controller is connected to the speckle projector to control the projector to project light of a preset structure. The controller is also connected to the light source generator to control the light source generator to project light of a preset wavelength. The first and second light acquisition devices are respectively connected to the controller to receive light of the preset structure and light of the preset wavelength, and send the light of the preset structure and light of the preset wavelength to the controller. The controller is also used to perform image processing on the light of the preset structure or the light of the preset wavelength to obtain a target imaging result. The light source generator can project light of the preset wavelength, and the speckle projector can project light of the preset structure. The light source generator or the speckle projector can be selected for light projection according to the actual application scenario, and then the first and second light acquisition devices are used for light acquisition. This improves the adaptability of the 3D camera, allowing it to be applied in relatively narrow spaces or spaces with limited reflection angles. Attached Figure Description

[0041] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 This is a schematic diagram of the structure of a 3D camera provided in an embodiment of this application;

[0043] Figure 2 A schematic diagram of the structure of the 3D camera imaging system provided in the embodiments of this application;

[0044] Figure 3 This is a schematic diagram of the structure of the radiotherapy device provided in the embodiments of this application;

[0045] Figure 4 A flowchart illustrating the three-dimensional camera control method provided in the embodiments of this application. Figure 1 ;

[0046] Figure 5 A flowchart illustrating the three-dimensional camera control method provided in the embodiments of this application. Figure 2 ;

[0047] Figure 6 This is a schematic diagram of the structure of the three-dimensional camera control device provided in the embodiments of this application;

[0048] Figure 7 A schematic diagram of the structure of the control device provided in the embodiment of this application.

[0049] Icons: 110-First light acquisition device; 120-Second light acquisition device; 130-Controller; 140-Light source generator; 150-Spot projector; 10-3D camera; 20-Control device; 30-Marker; 40-Radiotherapy equipment; 610-Transmitting module; 620-Receiving module; 710-Memory; 720-Processor. Detailed Implementation

[0050] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0051] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0052] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0053] In the description of this application, it should be noted that the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0054] The specific structural connection relationship of the 3D camera provided in the embodiments of this application will be explained in detail below.

[0055] Figure 1Please refer to the structural schematic diagram of the 3D camera provided in the embodiments of this application. Figure 1 The 3D camera includes: a first light acquisition device 110, a second light acquisition device 120, a controller 130, a light source generator 140, and a speckle projector 150; the controller 130 is connected to the speckle projector 150 to control the speckle projector 150 to project light of a preset structure; the controller 130 is also connected to the light source generator 140 to control the light source generator 140 to project light of a preset wavelength; the first light acquisition device 110 and the second light acquisition device 120 are respectively connected to the controller 130 to receive light of the preset structure and light of the preset wavelength, and send the light of the preset structure and light of the preset wavelength to the controller 130; the controller 130 is also used to perform image processing on the light of the preset structure or the light of the preset wavelength to obtain target imaging results.

[0056] Optionally, the first light-collecting device 110 and the second light-collecting device 120 can be devices for collecting light, such as camera lenses, which can acquire light of a preset wavelength or light of a preset structure through collection.

[0057] The controller 130 can be a microcontroller (MCU), a central processing unit (CPU), or any other type of control chip or device. No specific restrictions are imposed here, and the corresponding controller type can be selected according to the actual control requirements.

[0058] The light source generator 140 can specifically be an instrument for emitting light in a preset wavelength band, such as near-infrared (wavelength band of 800-1000nm).

[0059] The speckle projector 150 can be an instrument used to emit light with a preset structure. The emitted light can be, for example, speckled structure light, striped structure light, etc., without specific limitations.

[0060] Optionally, the working process of the 3D camera is as follows:

[0061] (1) Collect light in the preset wavelength band

[0062] When collecting light of a preset wavelength, the light source generator, controller, first light acquisition device, and second light acquisition device work. The controller controls the light source generator to emit light of the preset wavelength. The light of the preset wavelength can be reflected by a marker set on the surface of the target object. Finally, the first light acquisition device and the second light acquisition device capture the position of the marker and collect the light of the preset wavelength.

[0063] The first and second light acquisition devices can be configured to acquire light in the near-infrared band. Since the light in the near-infrared band has a certain quantum efficiency, it can be imaged to obtain light in a preset band. The relevant data of the light in the preset band can be sent to the controller. The controller can perform relevant processing on the light in the preset band, determine the three-dimensional surface image of the target object based on the relevant data of the reflected light in the preset band, and use the three-dimensional surface image as the target imaging result.

[0064] (2) Acquire light from the preset structure

[0065] When collecting light from a preset structure, the projector, controller, first light acquisition device, and second light acquisition device operate. The controller controls the projector to emit light from the preset structure, which can be reflected by the target object itself. The first and second light acquisition devices acquire the light based on the point cloud data of the target object itself (that is, the data generated by the light from the preset structure shining on the target object).

[0066] The first and second light acquisition devices can respectively acquire point cloud data of the target object and send the point cloud data to the controller. The controller can establish the contour information of the target object based on the acquired point cloud data and use the contour information as the target imaging result.

[0067] Optionally, the 3D camera can select one of the methods to acquire image results based on the actual application scenario, or it can alternate between the two methods to acquire image results based on a preset switching rule, without any specific restrictions.

[0068] This application provides a 3D camera comprising: a first light-collecting device, a second light-collecting device, a controller, a light source generator, and a speckle projector. The controller is connected to the speckle projector to control the projector to project light onto a preset structure. The controller is also connected to the light source generator to control the light source generator to project light of a preset wavelength. The first and second light-collecting devices are respectively connected to the controller to receive light from the preset structure and light of the preset wavelength, and to send the light from the preset structure and light of the preset wavelength to the controller. The controller is also used to perform image processing on the light from the preset structure or light of the preset wavelength to obtain a target imaging result. The light source generator can project light of the preset wavelength, and the speckle projector can project light from the preset structure. The choice between using a light source generator or a speckle projector for light projection, and then using the first and second light-collecting devices for light acquisition, improves the adaptability of the 3D camera, allowing it to be applied in relatively narrow spaces or spaces with limited reflection angles.

[0069] Optionally, both the first light acquisition device and the second light acquisition device are two-dimensional cameras.

[0070] Optionally, the two-dimensional camera may include: a camera body and a camera lens, which work together to acquire light of a preset wavelength or light of a preset structure.

[0071] Optionally, the 3D camera may also include a red-green-blue (RGB) camera, that is, a color camera. The outline information of the target object obtained by the speckle projector with light of a preset structure does not have color. The RGB camera can work in conjunction with the speckle projector to apply texture to the image corresponding to the generated outline information, that is, to apply the color information onto the point cloud data to form a color image.

[0072] It should be noted that the components of the aforementioned 3D camera can be arranged in any way to form the entire 3D camera, without any specific structural layout restrictions. The following example explains the possible layout methods.

[0073] For example, all of the above components can be housed in the 3D camera housing. The lens portions of the first and second light-gathering devices can be respectively located at opposite ends of a face of the 3D camera housing. The projection portions of the spot projector and the light source generator can be located on the same face between the lens portions of the first and second light-gathering devices. The controller is located inside the housing. The red, green, and blue cameras can be integrated with the first and second light-gathering devices or set up separately, without any restrictions.

[0074] It should be noted that the above structural arrangement is only an example. In actual arrangement, it can be adapted and adjusted according to the actual application scenario and actual product needs, and is not limited to this.

[0075] The following section explains the specific structural relationships of the 3D camera imaging system composed of the aforementioned 3D cameras.

[0076] Figure 2 Please refer to the structural schematic diagram of the 3D camera imaging system provided in the embodiments of this application. Figure 2 The 3D camera imaging system includes the aforementioned 3D camera 10, control device 20, and marker 30. The marker 30 is placed on the target to be photographed. The control device 20 is connected to the controller 130 in the 3D camera 10 and is used to send projection commands to the 3D camera 10. The 3D camera 10 controls the light source generator 140 or the speckle projector 150 to project light of a preset structure or light of a preset wavelength onto the target to be photographed according to the projection commands, and performs image processing on the light of the preset structure or light of the preset wavelength to obtain the target imaging result. The control device 20 is also used to receive the target imaging result sent by the 3D camera 10.

[0077] Optionally, the control device 20 can be a computer device such as a server, computer, mobile phone, tablet computer or dedicated electronic device. There are no specific restrictions here, as long as it can control the 3D camera.

[0078] The marker 30 can be a spherical marker block or a circular marker piece; there are no specific restrictions, as long as it can reflect light of the preset wavelength band.

[0079] The target to be photographed is the aforementioned target reflection object. The specific target to be photographed varies depending on the actual application scenario. For example, when it is applied to the medical field to photograph patients, the target to be photographed can be a certain part of the patient's body, and the aforementioned marker 30 can be placed at that part.

[0080] Optionally, the control device 20 can be connected to the controller 130 in the 3D camera 10. The work performed by the controller 130 can also be performed by the control device 20. For example, the control device can control the spot projector or the light source generator to emit light. The light obtained by the first light acquisition device and the second light acquisition device can also be processed by the controller to obtain the above-mentioned target imaging result. The controller or the control device can be selected to perform the above-mentioned work according to actual needs.

[0081] Optionally, the tasks performed by the controller 130—controlling the spot projector or light source generator to emit light and processing the acquired light to obtain the target imaging result—can also be performed by the control device 20. Alternatively, the controller 130 can control the spot projector or light source generator to emit light, and the control device 20 can process the acquired light to obtain the target imaging result. Any task that can accomplish the above two tasks is acceptable and is not limited here.

[0082] Optionally, the control device 20 can also be connected to other external devices such as a display to display the acquired target imaging results.

[0083] This application provides a 3D camera imaging system, which includes the aforementioned 3D camera, control device, and marker. The marker is placed on the target to be photographed. The control device is connected to the controller in the 3D camera and sends projection commands to the 3D camera. The 3D camera controls a light source generator or a speckle projector to project light of a preset structure or a preset wavelength onto the target according to the projection commands, and performs image processing on the light of the preset structure or the preset wavelength to obtain the target imaging result. The control device is also used to receive the target imaging result sent by the 3D camera. The light source generator can project light of a preset wavelength, and the speckle projector can project light of a preset structure. The light source generator or the speckle projector can be selected for light projection according to the actual application scenario. Light is then collected by a first light acquisition device and a second light acquisition device, thereby improving the adaptability of the 3D camera and enabling it to be used in relatively narrow spaces or spaces with limited reflection angles.

[0084] The following section will explain the specific structural relationships of the radiotherapy equipment composed of the aforementioned 3D camera imaging system.

[0085] Figure 3 Please refer to the structural schematic diagram of the radiotherapy device provided in the embodiments of this application. Figure 3 The radiotherapy system includes: the imaging system of the aforementioned three-dimensional camera and the radiotherapy device 40. The radiotherapy device 40 is communicatively connected to the control device 20 of the imaging system of the three-dimensional camera. The control device 20 of the imaging system of the three-dimensional camera is used to control the operation of the radiotherapy device 40 according to the target imaging results.

[0086] Optionally, the radiotherapy device 40 can be a device for performing radiotherapy. Before or during radiotherapy, it is usually necessary to obtain information such as the patient's current location, and then locate the patient to be treated based on this information, so as to perform radiotherapy on the lesion to be treated.

[0087] The target imaging results of the patient can be obtained through the imaging system of the aforementioned 3D camera. The control device can then determine the patient's current position and other information based on the target imaging results, thereby controlling the radiotherapy equipment to perform radiotherapy on the lesion to be treated.

[0088] Optionally, the marker 30 can be placed on the body surface corresponding to the lesion to be treated, such as the head or body.

[0089] This application provides a radiotherapy system comprising: a 3D camera imaging system and a radiotherapy device, wherein the radiotherapy device is communicatively connected to a control device of the 3D camera imaging system; the control device of the 3D camera imaging system is used to control the operation of the radiotherapy device based on the target imaging results. The 3D camera imaging system is applicable to relatively narrow spaces or spaces with limited reflection angles within the radiotherapy device, thereby more accurately determining the treatment location and thus more accurately performing radiotherapy.

[0090] The following section will explain in detail the specific implementation process of the three-dimensional camera control method provided in the embodiments of this application.

[0091] Figure 4 A flowchart illustrating the three-dimensional camera control method provided in the embodiments of this application. Figure 1 Please refer to Figure 4 This method is applied to the control device of the aforementioned 3D camera imaging system, and the method includes:

[0092] S410: Sends a projection command to the 3D camera. This command enables the 3D camera to control the light source generator or speckle projector to project light of a preset structure or a preset wavelength onto the target to be photographed. The camera then performs image processing on the light of the preset structure or the preset wavelength to obtain the target imaging result.

[0093] Optionally, the projection command can be a command to control the light source generator or the spot projector to project the corresponding light. Specifically, it can be a projection command generated in response to the user's operation, or it can be based on preset projection rules, such as timed projection rules.

[0094] Optionally, after the projection command is sent to the 3D camera, the 3D camera projects the corresponding light rays and obtains the reflected light rays through the first light ray acquisition device and the second light ray acquisition device, and performs image processing, and can send the obtained target imaging result to the control device.

[0095] S420: Receives target imaging results sent by a 3D camera.

[0096] Optionally, the control device can receive the target imaging results and display them on a monitor, or perform radiotherapy treatment using a radiotherapy device based on the target imaging results. The specific settings can be configured according to actual needs and are not limited here.

[0097] The following is a detailed explanation of another specific implementation process of the three-dimensional camera control method provided in the embodiments of this application.

[0098] Figure 5 A flowchart illustrating the three-dimensional camera control method provided in the embodiments of this application. Figure 2 Please refer to Figure 5 Before sending projection commands to the 3D camera, the method also includes:

[0099] S510: Receives the first target imaging result sent by the 3D camera.

[0100] The first target imaging result is the result obtained by the 3D camera through image processing of the light rays of the preset structure.

[0101] Optionally, the first target imaging result is the result obtained by the 3D camera through image processing of the light rays of the preset structure. Specifically, it can be obtained by sending a second projection command to the 3D camera through the control device, then the light rays of the preset structure are emitted by the spot projector and then collected by the first light acquisition device and the second light acquisition device. The light data can be directly sent to the control device for processing to obtain the first target imaging result, or the first target imaging result can be obtained by processing the 3D camera controller and then sending the first target imaging result to the control device. No limitation is made here.

[0102] Accordingly, sending projection commands to the 3D camera includes:

[0103] When the point cloud data in the first target imaging result is determined to be less than a preset data threshold, S520: A first projection command is sent to the 3D camera. This causes the 3D camera to control the light source generator to project light of a preset wavelength onto the target to be photographed according to the first projection command, and to perform image processing on the light of the preset wavelength to obtain the second target imaging result.

[0104] Optionally, the first projection command may be a command to control the light source generator of the 3D camera to project light of a preset wavelength. After the light source generator emits light of the preset wavelength, it is then collected by the first light acquisition device and the second light acquisition device. Similar to the first target imaging result, the collected light data can be directly sent to the control device for processing to obtain the second target imaging result. Alternatively, the second target imaging result can be obtained by processing the data through the controller of the 3D camera and then sent to the control device. No limitation is imposed here.

[0105] Optionally, when the point cloud data in the first target imaging result is less than the preset data threshold, it can be determined that the light emitted by the speckle projector with the preset structure cannot be effectively reflected and acquired. For example, if the current environment is a narrow space or a space with a limited reflection angle, the light acquisition method can be changed from speckle projector projection to light source generator operation.

[0106] When it is determined that the point cloud data in the first target imaging result is greater than or equal to the preset data threshold, S530: continue to receive the first target imaging result sent by the three-dimensional camera.

[0107] Accordingly, when the point cloud data in the first target imaging result is greater than or equal to the preset data threshold, it can be determined that the light emitted by the speckle projector with the preset structure can be effectively reflected and acquired, and the first target imaging result can continue to be acquired.

[0108] Optionally, that is, when the speckle projector can normally acquire the target imaging results, the speckle projector can work; when the speckle projector cannot normally acquire the target imaging results, the light source generator can be switched to work.

[0109] Optionally, the preset data threshold can be a specific threshold set by the user according to actual work needs, and its specific value is not limited.

[0110] Optionally, before receiving the first target imaging result sent by the 3D camera, the method further includes:

[0111] A second projection command is sent to the 3D camera, so that the 3D camera projects light of a preset structure onto the target to be photographed according to the second projection command. The light of the preset structure is then processed to obtain the first target imaging result.

[0112] Optionally, depending on the actual application scenario, it can be determined whether to use a speckle projector to project light with a preset structure or to use a light source generator to project light with a preset wavelength. For example, when it is determined that a speckle projector is needed to project light with a preset structure, the control device can send a second projection command to the 3D camera to execute the above process of obtaining the imaging result of the first target.

[0113] For example, in the aforementioned radiotherapy equipment scenario, when it is necessary to monitor respiratory signals (to acquire lung images, which are usually acquired in a relatively open environment), a speckle projector can be used to project light with a preset structure; when it is necessary to monitor the patient's head movement (during radiotherapy treatment, the patient's head will be in a relatively narrow space with limited reflection angles), a light source generator can be used to project light with a preset wavelength.

[0114] Alternatively, the two types of light can be projected alternately based on a preset switching frequency. The specific settings can be configured according to actual needs, and no specific restrictions are imposed here.

[0115] The following describes the apparatus, equipment, and storage medium used to implement the control method of the 3D camera provided in this application. The specific implementation process and technical effects are described above and will not be repeated below.

[0116] Figure 6 Please refer to the structural schematic diagram of the three-dimensional camera control device provided in the embodiments of this application. Figure 6 The device is a control device used in the above-mentioned 3D camera shooting system. The device includes: a transmitting module 610 and a receiving module 620.

[0117] The transmitting module 610 is used to send a projection command to the 3D camera, so that the 3D camera controls the light source generator or speckle projector to project light of a preset structure or light of a preset wavelength onto the target to be photographed according to the projection command, and performs image processing on the light of the preset structure or light of the preset wavelength to obtain the target imaging result.

[0118] The receiving module 620 is used to receive the target imaging results sent by the 3D camera.

[0119] Optionally, the receiving module 620 is further configured to receive a first target imaging result sent by the 3D camera, the first target imaging result being the result obtained by the 3D camera through image processing of the light of a preset structure; the sending module 610 is specifically configured to, when determining that the point cloud data in the first target imaging result is less than a preset data threshold, send a first projection command to the 3D camera, so that the 3D camera controls the light source generator to project light of a preset wavelength band onto the target to be photographed according to the first projection command, and performs image processing on the light of the preset wavelength band to obtain a second target imaging result; when determining that the point cloud data in the first target imaging result is greater than or equal to the preset data threshold, continue to receive the first target imaging result sent by the 3D camera.

[0120] Optionally, the sending module 610 is also used to send a second projection command to the 3D camera, so that the 3D camera projects light of a preset structure onto the target to be photographed according to the second projection command, and performs image processing on the light of the preset structure to obtain the first target imaging result.

[0121] The above-described device is used to execute the method provided in the foregoing embodiments, and its implementation principle and technical effect are similar, so they will not be described again here.

[0122] These modules can be one or more integrated circuits configured to implement the above methods, such as one or more Application Specific Integrated Circuits (ASICs), one or more microprocessors, or one or more Field Programmable Gate Arrays (FPGAs). Alternatively, when a module is implemented using processing element scheduler code, the processing element can be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. Furthermore, these modules can be integrated together as a system-on-a-chip (SOC).

[0123] Figure 7 Please refer to the structural schematic diagram of the control device provided in the embodiments of this application. Figure 7 The control device includes: a memory 710 and a processor 720. The memory 710 stores a computer program that can run on the processor 720. When the processor 720 executes the computer program, it implements the steps of the above-mentioned three-dimensional camera control method.

[0124] In another aspect of the embodiments of this application, a computer-readable storage medium is provided, on which a computer program is stored, which, when executed by a processor, implements the steps of the above-described three-dimensional camera control method.

[0125] In the several embodiments provided by this invention, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0126] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0127] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in the form of hardware plus software functional units.

[0128] The integrated units implemented as software functional units described above can be stored in a computer-readable storage medium. These software functional units, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute partial steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0129] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0130] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A photographing system of a three-dimensional camera, characterized by, The system comprises a three-dimensional camera, a control device and a marker, wherein, The marker is arranged on a target to be photographed, and the control device is connected with a controller in the three-dimensional camera; The three-dimensional camera sends a first target imaging result; The control device receives the first target imaging result sent by the three-dimensional camera, and the first target imaging result is a result obtained by image processing of light of a preset structure by the three-dimensional camera; When the control device determines that the point cloud data in the first target imaging result is less than a preset data threshold, the control device sends a first projection instruction to the three-dimensional camera, and correspondingly, the three-dimensional camera controls a light source generator to project light of a preset wave band to the target to be photographed according to the first projection instruction, and image processes the light of the preset wave band reflected by the marker arranged on the surface of the target to be photographed to obtain a second target imaging result; or When the control device determines that the point cloud data in the first target imaging result is greater than or equal to the preset data threshold, the control device continues to receive the first target imaging result sent by the three-dimensional camera.

2. The photographing system of a three-dimensional camera according to claim 1, wherein, The three-dimensional camera comprises a first light collecting device, a second light collecting device, a controller, a light source generator and a spot projector. The controller is connected with the spot projector to control the spot projector to project light of a preset structure, and the light of the preset structure is reflected by a target irradiation object itself and received by the first light collecting device and the second light collecting device. The controller is also connected with the light source generator to control the light source generator to project light of a preset wave band, and the light of the preset wave band is reflected by a marker arranged on the surface of the target irradiation object and received by the first light collecting device and the second light collecting device. The first light collecting device and the second light collecting device are respectively connected with the controller to receive the light of the preset structure and the light of the preset wave band, and send the light of the preset structure and the light of the preset wave band to the controller. The controller is also used for image processing of the light of the preset structure or the light of the preset wave band to obtain a target imaging result.

3. The photographing system of a three-dimensional camera according to claim 2, wherein, The first light collecting device and the second light collecting device are both two-dimensional cameras.

4. The photographing system of a three-dimensional camera according to claim 2, wherein, The light of the preset structure is speckle light or fringe light.

5. The photographing system of a three-dimensional camera according to claim 2, wherein, The light of the preset wave band is near-infrared wave band light.

6. A radiotherapy system, characterized by, The radiotherapy system comprises a photographing system of the three-dimensional camera and a radiotherapy device, and the radiotherapy device is in communication connection with the control device of the photographing system of the three-dimensional camera. The control device of the photographing system of the three-dimensional camera is used for controlling the radiotherapy device to work according to the target imaging result.

7. A three-dimensional camera control method characterized by, The method is applied to a control device in a photographing system of a three-dimensional camera, and the method comprises: sending a projection instruction to the three-dimensional camera, so that the three-dimensional camera controls a light source generator or a spot projector to project light of a preset structure or light of a preset wave band to a target to be photographed according to the projection instruction, and performs image processing on the light of the preset structure or the light of the preset wave band, to obtain a target imaging result; receiving the target imaging result sent by the three-dimensional camera; Before the step of sending the projection instruction to the three-dimensional camera, the method further comprises: receiving a first target imaging result sent by the three-dimensional camera, the first target imaging result being a result obtained by performing image processing on the light of the preset structure by the three-dimensional camera; Correspondingly, the step of sending the projection instruction to the three-dimensional camera comprises: when it is determined that point cloud data in the first target imaging result is less than a preset data threshold, sending a first projection instruction to the three-dimensional camera, so that the three-dimensional camera controls the light source generator to project the light of the preset wave band to the target to be photographed according to the first projection instruction, and performs image processing on the light of the preset wave band reflected by a marker arranged on a surface of the target to be photographed, to obtain a second target imaging result; when it is determined that the point cloud data in the first target imaging result is greater than or equal to the preset data threshold, continuing to receive the first target imaging result sent by the three-dimensional camera.

8. The method of claim 7, wherein, Before the step of receiving the first target imaging result sent by the three-dimensional camera, the method further comprises: sending a second projection instruction to the three-dimensional camera, so that the three-dimensional camera controls the spot projector to project the light of the preset structure to the target to be photographed according to the second projection instruction, and performs image processing on the light of the preset structure, to obtain the first target imaging result.

9. A control device, characterized by comprise: a memory and a processor, the memory storing a computer program capable of running on the processor, and the processor implements the steps of the method according to claim 7 or 8 when executing the computer program.

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