3D structured light implementation and recognition method based on adjustable light disperser, recognition device, medium and computer equipment

Abstract

The application discloses a 3D structured light realization and recognition method based on an adjustable light disperser, a recognition device, a medium and a computer device. The device comprises a shell, and a structured light device is arranged in the shell. The structured light device comprises an optical assembly. Light emitted by a light source passes through a light disperser to form structured light which is projected onto a target object, and the shape of the light changes. Target object data is acquired, including light source data, structured light data, shape change data, target object color data and recognition accuracy data. A 3D algorithm model is established and colored. When the recognition accuracy is less than a recognition accuracy threshold value, a corresponding light disperser is adaptively selected. The target object data is input into the 3D algorithm model to recognize and detect the target object. According to the technical scheme, three-dimensional modeling and recognition and detection of the target object can be realized, other target objects cannot successfully realize face recognition by using a plane picture in the process of identity recognition, and the safety of identity information and payment of a user can be protected.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of depth camera, in particular to a structured light device based on an adjustable light disperser, a structured light implementation and identification method, a medium and a computer device. BACKGROUND

[0002] 3D structured light technology is through an infrared light projector, the infrared light emitting part is one of the important components of the entire 3D vision, which is used to emit special modulated invisible infrared light to the photographed object, and the quality of the emitted image is crucial to the entire recognition effect. The structured light technology is to use a specially designed pattern (such as discrete light spots, striped light, coded structured light, etc.) with a special structure, and then project the pattern onto the surface of a three-dimensional object. The distortion of the image on the three-dimensional physical surface is observed using another camera. With the structured light scheme, a customized diffraction grating DOE and wafer-level optical lens are required, including beam expander, collimating element, projection lens, etc., which is referred to as WLO. The cost of the traditional infrared light projector is very high.

[0003] If the structured light pattern is projected on the surface of the object, which is a plane, the observed image of the structured light pattern is similar to the projected pattern, without distortion, only with a certain scale change according to the distance. However, if the object surface is not a plane, the observed structured light pattern will be distorted due to the different geometric shapes of the object surface, and the distortion will be different according to the distance. According to the known structured light pattern and the observed distortion, the three-dimensional shape and depth information of the measured object can be calculated according to the algorithm. The special structure pattern projected in the prior art is single, which cannot adapt to multiple scenes and cannot accurately measure the three-dimensional shape and depth information of the measured object. SUMMARY

[0004] The present disclosure aims at the shortcomings of the prior art, and provides a 3D structured light implementation and identification method based on an adjustable light disperser, an identification device, a medium and a computer device to solve the above technical problems. The technical scheme of the present disclosure replaces the infrared light projector with an IR lamp and a light disperser to realize 3D structured light projection of different shapes by changing the texture or curved surface structure of the light disperser to adapt to three-dimensional identification in multiple scenes and improve the accuracy of identification.

[0005] In a first aspect, a 3D structured light identification method is provided, comprising:

[0006] The light emitted by the light source passes through the light disperser to form a structured light projection on the target object, and the shape of the light changes;

[0007] Obtaining target object data, including: light source data, structured light data, shape change data, target object color data, and identification accuracy data;

[0008] establishing a 3D algorithm model and coloring, when the recognition accuracy is less than the recognition accuracy threshold, adaptively selecting a corresponding diffuser, and inputting the target object data into the 3D algorithm model to recognize and detect the target object.

[0009] In a second aspect, a 3D structured light recognition device includes a housing, the housing is internally provided with a structured light device, the structured light device includes

[0010] An optical assembly includes:

[0011] A light source for emitting light;

[0012] A diffuser provided with a first surface portion and a second surface portion;

[0013] Light passes through the first surface portion and the second surface portion in sequence to form structured light, and the diffuser is used to scatter light within a preset scattering range to form structured light with a preset shape and a preset uniformity and then project it onto an object to be recognized.

[0014] In an embodiment, the light source is an IR lamp, the IR lamp is provided with a diffuser in the light emitting direction, and the IR lamp is provided with an IR lamp plate in the backlight direction.

[0015] In an embodiment, the first surface portion faces the light source, and the second surface portion faces away from the light source.

[0016] In an embodiment, the first surface portion and the second surface portion can be provided with a texture structure and / or a curved surface structure and / or a convex structure.

[0017] In an embodiment, the texture structure is a strip-shaped texture, a circular texture, a square texture, a diamond texture, an equilateral texture, or an irregular texture.

[0018] In an embodiment, the first surface portion and the second surface portion adopt at least one texture structure to form structured light with alternating light and shade.

[0019] In an embodiment, the interval distance of the structured light can be adjusted by adjusting the texture interval.

[0020] In an embodiment, the curvature, depth, and range of the curved surface structure can be adjusted to form a wide range of structured light.

[0021] In an embodiment, the convex structure is a spherical, arc-shaped, triangular, equilateral, or irregular convex structure.

[0022] In an embodiment, the first surface portion and the second surface portion adopt a convex structure to uniformly scatter the structured light.

[0023] In an embodiment, the light source is infrared light, and the infrared light has a wavelength of 850-940 nm.

[0024] In an embodiment, the sensor assembly further comprises:

[0025] a light source sensor for collecting structured light data to identify and establish a three-dimensional model of the target object;

[0026] an RGB sensor for collecting color data of the target object to color the three-dimensional model;

[0027] The light source sensor and the RGB sensor model the three-dimensional target object, process images, and detect and identify the target object.

[0028] In an embodiment, the support assembly further comprises a PCB support to support the housing and isolate the structured light assembly and the sensor assembly.

[0029] In a third aspect, a 3D structured light implementation method using the structured light device described above, the method comprising:

[0030] presetting a structured light shape;

[0031] selecting a diffuser according to the preset structured light shape;

[0032] the light source emits light through the diffuser to form structured light projected onto the target object, and the light source sensor and the RGB sensor obtain the shape change of the structured light on the target object to model in three dimensions.

[0033] In an embodiment, the structured light adjusts the non-uniform light into uniform light through the diffuser.

[0034] In an embodiment, the structured light adjusts the scattering range of infrared light through the diffuser.

[0035] In an embodiment, the structured light adjusts the interval and depth of light and dark through the diffuser.

[0036] In an embodiment, the structured light adjusts the structured light shape through the diffuser.

[0037] In a fourth aspect, a computer readable storage medium having computer instructions stored thereon, the instructions being executed by a processor to implement the steps of any of the above methods.

[0038] In a fifth aspect, a computer device comprising:

[0039] a communicator for communicating with the outside;

[0040] a memory for storing a computer program;

[0041] a processor configured to execute the computer program, or the one or more programs are executed by the one or more processors, so that the one or more processors implement the structured light implementation method and the structured light recognition method according to any one of the above, and implement the structured light device according to any one of the above;

[0042] a communicator configured to communicate with an external device.

[0043] The present disclosure has the beneficial effects that, by the technical solutions of the present disclosure, three-dimensional modeling and recognition detection can be performed on a target object, and other target objects cannot successfully perform face recognition by using a planar picture in an identity recognition process, so that the identity information security and payment security of a user can be protected. The application scenarios of the technical solutions of the present disclosure also include gesture recognition scenarios. The present disclosure provides a structured light device based on an adjustable light disperser, a structured light implementation and recognition method, and three-dimensional structured light is projected by the combination of an IR lamp and a light disperser, so that three-dimensional face recognition is implemented, and the present solution has low cost. By changing the texture structure of the light disperser, three-dimensional structured light of different shapes is achieved, and the implementation manner is more flexible. The present disclosure provides three-dimensional structured light of various shapes for three-dimensional stereoscopic recognition. BRIEF DESCRIPTION OF DRAWINGS

[0044] The above and / or additional aspects and advantages of the present disclosure will become apparent and more readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:

[0045] Figure 1 Front view of a structured light device of one embodiment of the present disclosure;

[0046] Figure 2 Rear view of a structured light device of one embodiment of the present disclosure;

[0047] Figure 3 Sectional view of a structured light device of one embodiment of the present disclosure;

[0048] Figure 4 Light disperser of one embodiment of the present disclosure;

[0049] Figure 5 First surface of a light disperser of one embodiment of the present disclosure;

[0050] Figure 6 Second surface of a light disperser of one embodiment of the present disclosure;

[0051] Figure 7 Three-dimensional view of a light disperser of one embodiment of the present disclosure;

[0052] Figure 8 Front view of a light disperser of one embodiment of the present disclosure;

[0053] Figure 9 A first surface of a diffuser for one embodiment of the present disclosure;

[0054] Figure 10 A second surface of a diffuser for one embodiment of the present disclosure;

[0055] Figure 11 A structural schematic diagram of a computer device for one embodiment of the present disclosure.

[0056] Reference signs:

[0057] 400 - computer device, 401 - communicator, 402 - memory, 403 - processor; DETAILED DESCRIPTION

[0058] The present disclosure is further explained by the following drawings and embodiments. The features and advantages of the present disclosure will become more apparent from the detailed description, when taken in conjunction with the drawings.

[0059] The term "exemplary" is used herein to mean "serving as an example, instance, or illustration." Any implementation described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other implementations. Unless specifically stated otherwise, the drawings are not drawn to scale and are merely intended to conceptually illustrate aspects of the embodiments.

[0060] Furthermore, the technical features involved in the different embodiments of the present disclosure described below can be combined with each other as long as there is no conflict.

[0061] The following description provides specific applications and requirements of the present specification, and the purpose is to enable those skilled in the art to manufacture and use the contents of the present specification. Various local modifications of the disclosed embodiments are apparent to those skilled in the art, and the general principles defined herein can be applied to other embodiments and applications without departing from the spirit and scope of the present specification. Therefore, the present specification is not limited to the embodiments shown, but is consistent with the widest scope of the claims.

[0062] Precise projection technology is one of the key technologies of structured light industrial three-dimensional measurement and additive manufacturing. According to the different shapes of structured light, structured light scanning can be divided into point structured light, line structured light, and surface structured light. Among them, surface structured light measurement has the advantages of fast measurement speed, high precision, etc., and is the commonly used three-dimensional measurement method in the current industrial field. The structured light measurement system is composed of several projectors and cameras, and the imaging quality of the projector plays a crucial role in the final measurement result. The structured light three-dimensional scanning equipment on the market is large in structure and expensive in price. The portable three-dimensional scanner has low brightness, short working distance, and low precision, and cannot simultaneously consider the combination of high-precision identification detection and low-cost physical hardware.

[0063] There are three schemes for the three-dimensional recognition technology of structured light. The first scheme is a double-camera scheme. Two cameras are used to capture images. The distance between the target object and the camera can be calculated by an algorithm, thereby completing 3D modeling. However, this scheme requires that the distance between the two cameras be very accurate, and the optical axes of the two cameras be strictly parallel. The processing precision of the material is high, and the problem of burnt-out is prone to occur. The second scheme is a time-of-flight depth camera scheme, which is referred to as TOF. The TOF scheme transmits pulse light to the target, and then determines the distance between the object and itself according to the flight time of the light beam between transmission and return. Unlike a laser sensor, a TOF camera can capture the pixel depth of the entire image at the same time as the pulse light is transmitted. However, the cost of the camera in this scheme is relatively high. The third scheme is a 3D structured light scheme. An infrared light projector is used to project an infrared grating onto a target object. Because the target object is a three-dimensional shape, the grating is deformed. An infrared light sensor can infer the distance of the target object according to the shape of the infrared grating.

[0064] The present disclosure provides a high-precision, low-cost, adjustable structured light device based on an adjustable light disperser, a structured light implementation and recognition method, a medium, and a computer device, to solve the technical problem of high cost and specific shape of projected structured light in the prior art. The core hardware of the present disclosure is to project an infrared grating through an infrared light and a light disperser, and to sense the shape of the infrared grating of the target object through an infrared sensor, thereby achieving three-dimensional face modeling and recognition detection.

[0065] A 3D structured light recognition method, comprising the following steps:

[0066] A light source emits light through a light disperser to form structured light projected onto a target object, and the shape of the light changes. Target object data is acquired, including light source data, structured light data, shape change data, target object color data, and recognition accuracy data. A 3D algorithm model is established and colored. When the recognition accuracy is less than the recognition accuracy threshold, a corresponding light disperser is adaptively selected. The target object data is input into the 3D algorithm model to recognize and detect the target object.

[0067] The combination of an IR light source and a scatterer is a low-cost physical hardware. IR is an abbreviation for infrared, which is an invisible light with a frequency between microwaves and visible light. The scatterer is an optical component with certain optical transmittance. IRSensor is an abbreviation for infrared sensor, which can sense infrared light. Structured light has certain structural characteristics of the grating, such as alternating bright and dark stripe light and round dot light. The use of a sensor to replace a projector for sensing and recognition can greatly reduce the production cost. The present disclosure realizes three-dimensional face recognition through the combination of IR and a light disperser, cancels the projector, significantly reduces the product cost, and realizes the scattering of structured light of different shapes by changing the texture shape, upper and lower structure of the scatterer, and has a higher cost performance than the projector.

[0068] A 3D structured light recognition device, comprising a housing, a structured light device arranged inside the housing, the structured light device comprising an optical assembly, comprising: a light source for emitting light; a light diffuser, the light diffuser being provided with a first surface portion and a second surface portion; the light sequentially penetrating the first surface portion and the second surface portion to form structured light, the light diffuser being used to scatter the light in a preset scattering range to form structured light of a preset shape and a preset uniformity and then project the structured light onto a target object.

[0069] In the embodiment, the light source is an IR lamp, the IR lamp is provided with a light diffuser in the light emitting direction, and the IR lamp is provided with an IR lamp plate in the backlight direction. The infrared light emitted by the IR lamp is not uniform, and is usually bright in the middle and dark farther away from the center. The light diffuser is an optical component with certain optical transmittance. After the infrared light passes through the light diffuser, the infrared light can be scattered to have a certain range and uniformity, and the scattered light is projected on a three-dimensional target object to form a three-dimensional structured light. The three-dimensional structured light can be sensed by an IR sensor, and the shape change of the three-dimensional structured light after being projected on the three-dimensional target object can realize the modeling and recognition of the three-dimensional target object.

[0070] The first surface portion and the second surface portion can be provided with a texture structure and / or a curved surface structure and / or a convex structure. The texture structure is a strip-shaped texture, a circular texture, a square texture, a diamond texture, an equilateral texture, or an irregular texture. The first surface portion and the second surface portion can adopt one or more of the above texture structures to form structured light with alternating bright and dark intervals. The interval distance of the structured light can be adjusted by adjusting the texture interval. The curvature, depth, and range of the curved surface structure can be adjusted to form a wide range of structured light. The convex structure is a spherical, arc-shaped, triangular, equilateral, or irregular convex structure. The first surface portion and the second surface portion adopt one convex structure to uniformly scatter the structured light. The light source is infrared light, and the infrared light wavelength band is 850-940 nm.

[0071] In an embodiment, the sensor assembly further comprises a light source sensor for collecting structured light data to identify and establish a three-dimensional model of the target object; and an RGB sensor for collecting color data of the target object to color the three-dimensional model. The light source sensor and the RGB sensor perform three-dimensional modeling, image processing, and detection and recognition of the three-dimensional target object.

[0072] In an embodiment, the sensor assembly further comprises a support assembly comprising a PCB support to support the housing and isolate the structured light assembly from the sensor assembly.

[0073] It should be noted that in an embodiment, the shell of the 3D structured light recognition device is provided with glass and a PCB board. In this embodiment, the upper surface of the structured light device is provided with glass, which is arranged on the light disperser, which is a light dispersing sheet in this embodiment. The color sensor RGB Sensor and the infrared sensor IR Sensor are arranged above to protect the components. The PCB board is arranged below the IR lamp board, the color sensor RGB Sensor and the infrared sensor IR Sensor to support the electronic components.

[0074] In an embodiment, as shown in Figure 1 the front view of the 3D structured light recognition device is shown. From left to right, there are an infrared light source IR lamp, a color sensor RGB Sensor and an infrared sensor IR Sensor.

[0075] In an embodiment, as shown in Figure 2 the rear view of the 3D structured light recognition device is shown. A PCB board is arranged, and screws are arranged around the PCB board for fixation.

[0076] In an embodiment, as shown in Figure 3 the cross-sectional view of the 3D structured light recognition device is shown. The 3D structured light recognition device includes an IR lamp, a light disperser, hereinafter referred to as a light dispersing sheet, an infrared sensor IR Sensor, a color sensor RGB Sensor, a PCB board, an infrared lamp board IR lamp board, a PCB support, glass and a flexible circuit board FPC. The RGB Sensor is arranged at the middle position of the structured light device. The infrared sensor IR Sensor is arranged to the right of the color sensor RGB Sensor. The infrared lamp IR lamp is arranged to the left of the color sensor RGB Sensor. The light dispersing sheet is arranged above the infrared lamp IR lamp, wherein the light dispersing surface of the light dispersing sheet faces the IR lamp, and the textured surface faces the outside. The infrared lamp patch is arranged on the infrared lamp board. The color sensor RGB Sensor, the infrared sensor IR Sensor and the infrared lamp board IR lamp board are all arranged on the PCB board. The PCB board is fixed on the PCB support by screws. The light dispersing sheet, the color sensor RGB Sensor and the infrared sensor IR Sensor are protected by the glass on the top. The structured light device is connected with two flexible circuit boards FPC to realize the recognition and detection function of the external device.

[0077] In an embodiment, as shown in Figure 4 the light disperser is a sheet with equal thickness. The surface of the first surface part of the light disperser is shown in Figure 5 the light entrance surface, which is provided with a micro-protruding structure to uniformly disperse the light. The micro-protruding structure can be spherical, arc-shaped, triangular, or other regular or irregular polygonal protruding structures that can realize uniform light shape; the surface of the second surface part is shown in Figure 6The light-emitting surface is shown as a textured surface, the textured part is transparent to light, and the area of the non-textured part is not transparent to light. The texture can be a strip-shaped texture, a circular texture, a square texture, a diamond texture, an equilateral polygon, or an irregular convex structure. After the light passes through the diffuser, it is projected onto a three-dimensional target object as a certain structure shape, uniform, with a certain range, and a grating with alternating bright and dark areas, which is a three-dimensional structured light.

[0078] In one embodiment, as shown in Figure 7 With 8 The diffuser shown is a special-shaped block perspective view and front view. The surface of the first surface part is shown in Figure 9 That is, the light entrance surface, which is thin and uneven, and has a relatively long length. The surface of the second surface part is shown in Figure 10 That is, the light-emitting surface. Light can form a grating with alternating bright and dark areas with a certain shape through scattering and diffraction optical phenomena, which is a three-dimensional structured light.

[0079] It should be noted that in one embodiment, the diffuser is not limited to a sheet structure with equal thickness, but also has a special structure with steps.

[0080] It should be noted that in one embodiment, the diffuser is not limited to a sheet structure with equal thickness, but also has a special structure with steps.

[0081] In one embodiment, the function implementation content is that the IR lamp can emit infrared light after being powered on. After passing through the diffuser, the infrared light can be scattered into a certain area range, uniform infrared structured light and irradiated onto a three-dimensional target object. The infrared sensor can sense the grating of the target object. The distance from the IR lamp to different positions of the target object is different, resulting in distortion of the infrared grating. By processing the distorted grating, the distance difference at different positions can be calculated, thereby completing the three-dimensional modeling and recognition function of the target object. The function of the color sensor is to shoot color pictures, thereby coloring the 3D model modeled by the infrared sensor, and completing the image processing of the color target object for recognition and detection.

[0082] In one embodiment, the application scenario is as follows: the present disclosure can model and recognize a three-dimensional target object to prevent the case of using a flat picture of a non-person through face recognition to obtain information of others, thereby protecting the information security and payment security of the user. In another embodiment, the application scenario can also realize gesture recognition.

[0083] A method for implementing 3D structured light, using the aforementioned 3D structured light recognition device, includes the following steps: presetting a structured light shape; adaptively selecting a diffuser according to the preset structured light shape; after the light emitted by the light source passes through the diffuser to form structured light and is projected onto the target object, the shape of the structured light changes; and the light source sensor and RGB sensor acquire the shape change of the structured light on the target object to create a 3D model.

[0084] Structured light uses a scatterer to adjust non-uniform light into uniform light, adjusts the scattering range of infrared light, adjusts the spacing and depth of light and dark areas, and adjusts the shape of the structured light.

[0085] like Figure 11 The illustration shows a computer device 400 in one embodiment, comprising: a communicator 401 for communicating with an external device. Exemplarily, the communicator 401 includes wired or wireless communication circuitry; the wired communication circuitry includes a wired network interface card (NIC), etc.; the wireless communication circuitry includes, for example, WiFi, 2G / 3G / 4G / 5G communication modules, etc. A memory 402 is used to store at least one computer program. Exemplarily, the memory 402 may include high-speed random access memory and / or non-volatile memory, such as one or more disk storage devices, flash memory devices, or other non-volatile solid-state storage devices.

[0086] In one embodiment, the memory may further include memory located in a different device but connected to one or more processors, such as network-attached memory accessed via RF circuitry or external ports and a communication network, wherein the communication network may be the Internet, one or more intranets, local area networks, wide area networks, storage area networks, etc., or suitable combinations thereof. The memory controller controls access to the memory by other components of the device, such as the CPU and peripheral interfaces. Processor 403 is used to run at least one computer program in the memory 402.

[0087] In implementing these steps, the processor 403 can control the communicator 401 to perform communication actions with the outside world as needed. The various functions implemented in the foregoing embodiments relate to computer software products; these computer software products are stored in a storage medium and, when run, cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application, for example... Figure 1 The program code corresponding to the steps performed in the embodiments can be stored in computer storage media.

[0088] In the embodiments provided in the present application, the computer storage medium can include read-only memory, random access memory, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, flash memory, U disk, mobile hard disk, or any other medium capable of storing desired program code in the form of instructions or data structures and capable of being accessed by a computer. In addition, any connection can be appropriately referred to as a computer readable medium. For example, if instructions are sent from a website, server or other remote source using a coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL) or wireless technologies such as infrared, radio and microwave, the coaxial cable, fiber optic cable, twisted pair, DSL or wireless technologies such as infrared, radio and microwave are included in the definition of the medium. However, it should be understood that the computer storage medium and the data storage medium do not include connections, carriers, signals or other transitory media, but are intended to be directed to non-transitory, tangible storage media. As used in the application, magnetic disks and optical disks include compact discs (CD), laser discs, optical discs, digital versatile discs (DVD), floppy disks and Blu-ray discs, in which magnetic disks usually magnetically copy data, and optical disks use laser to optically copy data.

[0089] In one or more example aspects, the functions described in the present application method flow can be implemented in hardware, software, firmware, or any combination thereof. When implemented in software, the functions can be stored or transmitted over as one or more instructions or code on a computer-readable medium. The steps of a method or algorithm disclosed in the present application can be embodied in a processor-executable software module, which can be located on a tangible, non-transitory computer storage medium. The tangible, non-transitory computer storage medium can be any available medium that can be accessed by a computer.

[0090] The flow diagrams and block diagrams in the above-described accompanying drawings of this application illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of this application. In this regard, each block in the flow diagrams and block diagrams can represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently or the blocks may be executed in the reverse order, depending on the functionality involved. It will also be noted that each block of the block diagrams and / or flowchart illustrations, and combinations thereof, can be implemented by a dedicated hardware-based system that carries out specified functions or operations (e.g., a combination of analog and digital circuitry), or can be implemented by a combination of dedicated hardware and computer instructions.

[0091] In the description of the present disclosure, it needs to be explained that the terms "upper", "lower", "inner", "outer", "front", "back", "left", "right" and the like indicate the orientation or positional relationship based on the working state of the present disclosure, and are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present disclosure.

[0092] In the description of the present disclosure, it needs to be explained that the terms "mounting", "connecting", "connecting" should be understood broadly unless otherwise explicitly specified and limited. For those skilled in the art, the specific meanings of the above terms in the present disclosure can be understood according to the specific circumstances.

[0093] The above describes the present disclosure in combination with the preferred embodiments, but these embodiments are only exemplary and serve only to illustrate. On this basis, various substitutions and improvements can be made to the present disclosure, which all fall within the protection scope of the present disclosure.

Claims

1. A 3D structured light recognition method, characterized in that the steps include... include: The light emitted by the light source is projected onto the target object as structured light through a diffuser, and the shape of the light changes; the light source is an IR lamp, and the diffuser is provided with a first surface part and a second surface part, the first surface part is provided as a raised structure, and the second surface part is provided as one of a textured structure, a curved surface structure, and a raised structure. Acquire target object data, including: light source data, structured light data, shape change data, target object color data, and recognition accuracy data; A 3D algorithm model is established and colored. When the recognition accuracy is less than the recognition accuracy threshold, the corresponding astigmatism is adaptively selected. The target object data is input into the 3D algorithm model to identify and detect the target object.

2. A 3D structured light recognition device, comprising a housing, wherein a structured light device is disposed inside the housing, characterized in that, The structured light device includes Optical components, including: A light source for emitting light; the light source is an IR lamp; A diffuser is provided with a first surface portion and a second surface portion; the first surface portion is configured as a raised structure, and the second surface portion is configured as one of a textured structure, a curved surface structure, and a raised structure. The light sequentially penetrates the first surface portion and the second surface portion to form structured light. The diffuser is used to scatter the light within a preset scattering range to form structured light of a preset shape and preset uniformity before projecting it onto the object to be identified.

3. The 3D structured light recognition device according to claim 2, characterized in that, The IR lamp has a diffuser in the direction of light emission and an IR lamp board in the direction of backlight emission.

4. The 3D structured light recognition device according to claim 2, characterized in that, The first surface portion faces the light source, and the second surface portion faces away from the light source.

5. The 3D structured light recognition device according to claim 2, characterized in that, The texture structure can be a striped texture, a circular texture, a square texture, a diamond texture, an equilateral texture, or an irregular texture.

6. The 3D structured light recognition device according to claim 5, characterized in that, The first surface portion and the second surface portion employ at least one texture structure to form alternating light and dark structured light.

7. The 3D structured light recognition device according to claim 6, characterized in that, The spacing between the structured lights can be adjusted by adjusting the texture spacing.

8. The 3D structured light recognition device according to claim 2, characterized in that, The curvature, depth, and range of the curved surface structure can be adjusted to form a wide range of structured light.

9. The 3D structured light recognition device according to claim 2, characterized in that, The protruding structure is a spherical, arc-shaped, triangular, equilateral, or irregular protruding structure.

10. The 3D structured light recognition device according to any one of claims 2 to 9, characterized in that, The first surface portion and the second surface portion employ a raised structure to uniformly disperse the structured light.

11. The 3D structured light recognition device according to claim 2, characterized in that, The light source is infrared light, and the infrared light wavelength is 850-940 nanometers.

12. The 3D structured light recognition device according to claim 2, characterized in that, It also includes sensor components, including: A light source sensor is used to collect structured light data to identify and build a three-dimensional model of the target object; An RGB sensor is used to collect color data of the target object to color the 3D model; The light source sensor and the RGB sensor perform three-dimensional modeling, image processing, and detection and recognition of the target object.

13. The 3D structured light recognition device according to claim 12, characterized in that, It also includes a support assembly, including a PCB bracket to support the housing and isolate the structured light device from the sensor assembly.

14. A method for realizing 3D structured light, using the structured light device according to any one of claims 2 to 13, characterized in that the steps include... include: Preset structured light shape; Astigmatism is selected according to the preset structured light shape adaptability; After the light emitted by the light source passes through the diffuser to form structured light and is projected onto the target object, the shape of the structured light changes. The light source sensor and the RGB sensor acquire the shape change of the structured light on the target object to create a three-dimensional model.

15. The 3D structured light implementation method according to claim 14, characterized in that, The structured light uses a scatterer to adjust non-uniform light into uniform light.

16. The 3D structured light implementation method according to claim 14, characterized in that, The structured light adjusts the scattering range of infrared light through a scatterer.

17. The 3D structured light implementation method according to claim 14, characterized in that, The structured light adjusts the spacing and depth of light and dark through a scatterer.

18. The 3D structured light implementation method according to claim 14, characterized in that, The structured light beam's shape is adjusted by a scatterer.

19. A computer-readable storage medium storing computer instructions thereon, characterized in that, When executed by a processor, this instruction implements the steps of the method as described in claim 1, or any one of claims 14 to 18.

20. A computer device, characterized in that, include: A communicator used for communicating with the outside world; Memory, used to store computer programs; A processor for running the computer program to implement the method of any one of claims 14 to 18.

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