Line laser based information extraction method and system
Patent Information
- Application Number
- CN202210514102.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2022-05-12
- Publication Date
- 2026-10-27
- Estimated Expiration
- 2042-05-12
AI Technical Summary
[0004]然而，在目前的线激光信息提取技术中，易受环境光、阳光、反光等干扰导致图像传感器采集到的图像信号，除了真实线激光投射到物体表面产生反射回来的光信号特征，还包括环境光、阳光、反光等干扰光或伪激光投射到物体表面而产生的光信号特征，进而导致无法区分区真实线激光的信息和伪激光的信息，因此易造成信息的误提取，提取精度较低，进而容易导致无法复原真正的三维空间
[0036]本发明提供的基于线激光的信息提取方法和系统，能对激光投射器投射出的出射激光信号进行编码，得到编码线激光信号；编码线激光信号投射至待测物体，待测物体会反馈对应的激光信号，同时环境光、阳光、反光等干扰光投射到待测物体表面也会反馈对应产生的激光信号，因此待测物体会反馈两类激光信号(统称为反馈激光信号)，而采集的图像信号为反馈激光信号对应的图像信号，因此图像信号中同时包含真实线激光的特征信息和干扰光的特征信息，由于环境光、阳光、反光等干扰光或伪激光未进行编码，因此通过对图像信号进行解码，基于解码结果能从中识别出真实线激光(即编码线激光信号)对应的图像信号，并从中进行信息提取；本发明基于线激光的编码和解码，实现了真实线激光的识别，避免了环境光、阳光、反光等干扰导致的信息误提取，有效提高信息提取精度，有助于复原真正的三维空间。
Smart Images
Figure CN117095112B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the fields of laser speckle, machine vision, and information extraction, and particularly to an information extraction method and system based on line laser. Background Technology
[0002] Structured light has gradually developed into an important tool in the field of optics, showing great promise in many areas such as imaging, microscopic inspection, laser material processing, object recognition, behavior recognition, scene modeling, and optical communication. Among them, line lasers are the most commonly used type of structured light.
[0003] In online laser applications, one of the most important aspects is information extraction. The basic principle is that a laser projector projects a controllable light strip onto the surface of the object to be measured in three-dimensional space. The light is reflected and scattered on the surface of the object, and an image sensor (such as a camera) obtains the image signal corresponding to the light signal reflected back from the object's surface. Based on the image signal, information is extracted, which can calculate the object's position and depth, and thus reconstruct the entire three-dimensional space.
[0004] However, current line laser information extraction technology is susceptible to interference from ambient light, sunlight, and reflections. This results in the image signal acquired by the image sensor containing not only the reflected light signal characteristics of the real line laser projected onto the object's surface, but also the light signal characteristics generated by interference light such as ambient light, sunlight, and reflections, or by pseudo-lasers projected onto the object's surface. Consequently, it becomes impossible to distinguish between the information of the real line laser and that of the pseudo-laser, leading to erroneous information extraction, low extraction accuracy, and ultimately, the inability to reconstruct the true three-dimensional space. Summary of the Invention
[0005] Therefore, the technical problem to be solved by the present invention is how to avoid information mis-extraction caused by interference from ambient light, sunlight, reflection and other factors, and improve the accuracy of information extraction.
[0006] To address the aforementioned technical problems, this invention provides an information extraction method based on line laser, comprising:
[0007] Acquire the emitted laser signal;
[0008] The emitted laser signal is encoded to obtain an encoded line laser signal, and the encoded line laser signal is projected onto the object to be tested;
[0009] Acquire the image signal corresponding to the feedback laser signal of the object under test;
[0010] The image signal is decoded, and information is extracted based on the decoding result.
[0011] Optionally, encoding the emitted laser signal to obtain an encoded line laser signal includes:
[0012] Using diffractive optical devices, the emitted laser signal is encoded according to a preset encoding method to obtain the encoded line laser signal;
[0013] The coded line laser signal includes a line laser and at least one set of coded spots. All the coded spots are distributed near the line laser and carry coded information obtained according to the preset coding method.
[0014] Optionally, decoding the image signal and extracting information based on the decoding result includes:
[0015] The image signal is decoded to obtain the decoding result corresponding to the image signal;
[0016] Based on the decoding result, the target extraction signal of the object under test is determined from the image signal;
[0017] Information is extracted from the object under test based on the target extraction signal.
[0018] Optionally, determining the target extraction signal of the object to be tested from the image signal based on the decoding result includes:
[0019] When the decoding result contains at least one set of decoded light spots, and each set of decoded light spots carries decoding information corresponding to the encoded information, candidate region images are selected from the image signal according to the positions of all the decoded light spots in the decoding result; wherein, the number of sets of decoded light spots is the same as the number of sets of encoded light spots;
[0020] In the decoding results, the target extraction signal is determined from the candidate region image based on the relative positional relationship between each group of decoded light spots and each decoded signal in the decoding results.
[0021] Optionally, the preset encoding method includes a binary encoding method, a two-dimensional grid pattern encoding method, a random pattern encoding method, a color encoding method, a grayscale encoding method, and a neighborhood encoding method;
[0022] The encoded information carried by the encoded light spot includes binary encoding, two-dimensional grid matrix code, pseudo-random sequence code, RGB color encoding, grayscale value sequence code, and neighborhood gene matrix code.
[0023] Optionally, the preset encoding method further includes a hybrid encoding method;
[0024] The encoded information carried by the encoded light spot includes a combination of binary encoding, Gray code, floating-point encoding, and symbolic encoding.
[0025] Optionally, each group of coded light spots may be in the form of a regular or irregular pattern.
[0026] Optionally, the shape of the light spot in each group of coded light spots can be a regular pattern or an irregular pattern.
[0027] Optionally, the coded line laser signal includes one line laser and two sets of coded spots;
[0028] The two sets of coded light spots are evenly distributed on both sides of the line laser.
[0029] Optionally, both sets of coded light spots are either black and white alternating rectangular or circular light spots, and the coded information corresponding to each rectangular or circular light spot is binary code.
[0030] Furthermore, this invention also proposes an information extraction system based on line laser, comprising:
[0031] A laser projector, used to acquire the emitted laser signal;
[0032] An encoding device is disposed in the output optical path of the laser projector to encode the emitted laser signal to obtain an encoded line laser signal, and to project the encoded line laser signal onto the object to be tested;
[0033] An image sensor is disposed in the output optical path of the object under test, and is used to acquire the image signal corresponding to the feedback laser signal of the object under test;
[0034] The processor is communicatively connected to the image sensor and is used to decode the image signal and extract information based on the decoding result.
[0035] The technical solution provided by this invention has the following advantages:
[0036] The information extraction method and system based on line laser provided by this invention can encode the emitted laser signal projected by a laser projector to obtain an encoded line laser signal. When the encoded line laser signal is projected onto the object under test, the object will respond with a corresponding laser signal. At the same time, ambient light, sunlight, reflections, and other interfering light projected onto the surface of the object under test will also respond with corresponding laser signals. Therefore, the object under test will respond with two types of laser signals (collectively referred to as feedback laser signals). The acquired image signal is the image signal corresponding to the feedback laser signal. Therefore, the image signal contains both the feature information of the real line laser and the feature information of the interfering light. Since the interfering light or pseudo lasers such as ambient light, sunlight, and reflections are not encoded, the image signal can be decoded. Based on the decoding result, the image signal corresponding to the real line laser (i.e., the encoded line laser signal) can be identified and information extracted from it. This invention, based on the encoding and decoding of line lasers, realizes the identification of real line lasers, avoids the mis-extraction of information caused by interference from ambient light, sunlight, reflections, etc., effectively improves the accuracy of information extraction, and helps to reconstruct the true three-dimensional space. Attached Figure Description
[0037] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0038] Figure 1 This is a flowchart of an information extraction method based on line laser in Embodiment 1 of the present invention;
[0039] Figure 2 This is a model diagram of information extraction in Embodiment 1 of the present invention;
[0040] Figure 3 This is a flowchart of decoding an image signal and extracting information based on the decoding result in Embodiment 1 of the present invention.
[0041] Explanation of possession markings:
[0042] 10. Laser projector; 20. Diffractive optical device; 30. Object under test; 40. Image sensor. Detailed Implementation
[0043] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. The present invention will be described in detail below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of the present invention can be combined with each other.
[0044] It should be noted that the terms "first," "second," etc., in the specification, claims, and drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.
[0045] In this invention, unless otherwise stated, directional terms such as "upper," "lower," "top," and "bottom" are generally used in relation to the direction shown in the accompanying drawings, or in relation to the vertical, perpendicular, or gravitational direction of the component itself; similarly, for ease of understanding and description, "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not intended to limit this invention.
[0046] Traditional techniques cannot distinguish between information from real line lasers and pseudo-laser information, leading to erroneous information extraction, low extraction accuracy, and ultimately, an inability to reconstruct the true three-dimensional space. To address these technical problems, this invention proposes a method and system for information extraction based on line lasers.
[0047] The line laser-based information extraction method and system proposed in this invention can be applied to any device that needs to extract information from objects in three-dimensional space. These devices are capable of localization, obstacle avoidance, recognition, and 3D reconstruction based on the extracted information, such as self-moving robots like robotic vacuum cleaners. In the following embodiments, this invention is illustrated using an application to self-moving robots such as robotic vacuum cleaners.
[0048] Example 1
[0049] like Figure 1 As shown, this embodiment provides an information extraction method based on line laser, which includes:
[0050] S10: Acquire the emitted laser signal.
[0051] Specifically, in this embodiment S10, a laser projector is used to project an emitted laser signal onto the object to be tested in three-dimensional space.
[0052] like Figure 1 As shown, S20: Encodes the emitted laser signal to obtain the encoded line laser signal, and projects the encoded line laser signal onto the object to be tested.
[0053] Preferably, in S20, the emitted laser signal is encoded to obtain an encoded line laser signal, including:
[0054] Using diffractive optical devices, the emitted laser signal is encoded according to a preset encoding method to obtain an encoded line laser signal;
[0055] The coded line laser signal includes a line laser and at least one set of coded spots. All coded spots are distributed near the line laser and carry coded information obtained according to a preset coding method.
[0056] By encoding the emitted laser signal to obtain a line laser and at least one set of coded spots, it is convenient to subsequently use the line laser imaging principle to obtain image information of the light signal fed back by the object under test, and then extract information such as the position and depth of the object under test from it. On the other hand, the coded spots are distributed near the line laser and carry coded information, which can serve to identify the real line laser. This makes it easier to identify the real line laser and extract the real information of the object under test based on the decoding of the coded spots in the presence of interference light or fake laser.
[0057] Diffractive optical elements (DOEs), also known as binary optical elements, can be used to flexibly homogenize, collimate, focus, and form specific patterns on the emitted laser signal projected by a laser projector. This serves both as an encoding function and improves the quality of the laser signal. In this embodiment, the number of coded spots obtained after encoding by the diffractive optical element is variable, depending on the specific situation; the shape of all coded spots and the shape of each coded spot are also variable, depending on the preset encoding method used; the encoded information carried by each coded spot also depends on the preset encoding method used.
[0058] Specifically, the preset encoding methods include binary encoding method, two-dimensional grid pattern encoding method, random pattern encoding method, color encoding method, grayscale encoding method and neighborhood encoding method;
[0059] The encoded information carried by the encoded light spots includes binary encoding, two-dimensional grid matrix code, pseudo-random sequence code, RGB color encoding, grayscale value sequence code, and neighborhood gene matrix code.
[0060] Diffractive optical devices are based on binary encoding methods, which can encode the emitted laser signal into at least one set of encoded light spots carrying binary codes. After subsequent decoding, a binary code containing several 1s and 0s can be obtained, such as 10101010... Based on this binary code containing several 1s and 0s, the real laser line can be selected.
[0061] Similarly, diffractive optical devices, based on the two-dimensional grid pattern coding method, can encode the emitted laser signal into at least one set of coded light spots carrying a two-dimensional grid matrix code. The two-dimensional grid matrix code, also known as GM code (Grid Matrix Code), can contain numeric characters, uppercase letters, lowercase letters, Chinese characters, and 8-bit byte data.
[0062] Based on the random pattern coding method, it is possible to encode the emitted laser signal into at least one set of coded light spots carrying pseudo-random sequence codes. Pseudo-random sequence codes, also known as PN sequence codes, include several types such as m-sequences, M-sequences, quadratic residue sequences, and biprime sequences, and have good balance, shift-addition properties, autocorrelation properties, and pseudo-noise properties.
[0063] Based on the color coding method, the emitted laser signal can be encoded into at least one set of coded light spots carrying RGB color codes. That is, the coded information is represented by RGB color values, which are represented by decimal or hexadecimal numbers. When represented by decimal numbers, the range is 0 to 255; when represented by hexadecimal numbers, the range is 0 to FF.
[0064] Based on the grayscale encoding method, the emitted laser signal can be encoded into at least one set of coded light spots carrying grayscale value sequence codes; similar to RGB color encoding, the encoded information is represented by grayscale values.
[0065] Based on the neighborhood coding method, it is possible to encode the emitted laser signal into at least one set of coded spots carrying a neighborhood gene matrix code; the neighborhood gene matrix code contains gene coding GI and neighborhood coding GL, for example... The gene encoding GI is [1 1 0 1], and the neighborhood encoding is GL[0 0 01].
[0066] The above-mentioned preset encoding methods are all single encoding methods. Encoding the emitted laser signal according to the above-mentioned preset encoding methods is easy to encode and decode and easy to identify.
[0067] Specifically, the preset encoding method also includes a hybrid encoding method;
[0068] The encoded information carried by the encoded light spot includes a combination of binary encoding, Gray code, floating-point encoding, and symbolic encoding.
[0069] Besides single encoding methods, hybrid encoding methods can also be used to overcome the defects and limitations of each single encoding method, making them more flexible and applicable to a wider range of situations. Hybrid encoding methods are also known as multi-parameter encoding, and the code system for multi-parameter encoding can be binary, Gray code, floating-point encoding, or symbolic encoding, such as binary and floating-point mixed encoding, floating-point and Gray code mixed encoding, or binary and decimal mixed encoding, etc.
[0070] Specifically, each group of coded light spots presents either a regular or irregular shape.
[0071] The shape presented by each group of coded light spots is the shape of the coded light spot array, where regular shapes include rectangles, circles, ellipses, triangles, or polygons.
[0072] Specifically, the shape of the light spot in each group of coded light spots can be a regular or irregular shape.
[0073] The shape of each group of coded light spots is the shape of each light spot in the coded light spot array. The regular shapes include rectangles, circles, ellipses, triangles or polygons. The shape, size, color and arrangement of each light spot depend on the specific design of the diffractive optical device and the selected preset coding method.
[0074] In one specific implementation of this embodiment, such as Figure 2 As shown, the coded line laser signal includes one line laser and two sets of coded spots;
[0075] Two sets of coded light spots are evenly distributed on both sides of the online laser.
[0076] Furthermore, the preset encoding method is specifically a binary encoding method, and both sets of encoded light spots are rectangular or circular light spots with alternating black and white colors, and the encoding information corresponding to each rectangular or circular light spot is binary encoding.
[0077] The above-described encoding method and encoded light spots enable the identification of real line lasers in a simple and clear manner, facilitating subsequent decoding and screening of real line lasers. This approach is low-difficulty, stable, and reliable. The use of two sets of encoded light spots avoids the reliability issues associated with a single set and reduces the complexity of using multiple sets.
[0078] In this embodiment, the entire information extraction system includes a laser projector 10, a diffractive optical device 20, an object to be measured 30, and an image sensor 40. Utilizing... Figure 2 When the information extraction system extracts information from the object under test, after decoding the image signal, only laser lines that simultaneously contain two sets of coded spots carrying binary codes, and whose coded spots are alternating black and white rectangular or circular spots, can be identified as the real laser lines of the object under test, and their corresponding image signals are the target extraction signals. Laser lines that only have one set of coded spots carrying binary codes or not carrying binary codes are all pseudo laser lines or interference lights, and their corresponding image signals are image signals that need to be filtered out.
[0079] exist Figure 2 In the illustrated embodiment, the black rectangular spot in the two sets of coded spots carries binary code "0", and the white rectangular spot carries binary code "1". Figure 2In any given set of coded light spots, the resulting array is a 2-pixel × 4-pixel rectangular structure. Therefore, the first row of coded light spots corresponds to the code "01", the second row to "10", the third row to "01", and the fourth row to "10". The same logic applies to the two sets of alternating black and white circular light spots, which will not be elaborated here.
[0080] Of course, the two rectangular black and white coded light spot arrays in this embodiment are not limited to... Figure 2 The 2-pixel × 4-pixel rectangular structure shown can be a rectangular structure of other sizes, such as a 3-pixel × 3-pixel rectangular structure. The same applies to rectangular structures of other sizes, which will not be elaborated here.
[0081] like Figure 1 As shown, S30: Acquire the image signal corresponding to the feedback laser signal of the object under test.
[0082] Specifically, in this embodiment S30, an image sensor is used to acquire the image signal corresponding to the feedback laser signal of the object under test.
[0083] like Figure 1 As shown, S40: Decode the image signal and extract information based on the decoding result.
[0084] Specifically, such as Figure 3 As shown, S40 includes:
[0085] S41: Decode the image signal to obtain the decoding result corresponding to the image signal;
[0086] S42: Based on the decoding results, determine the target extraction signal of the object to be tested from the image signal;
[0087] S43: Extract information from the object under test based on the target extraction signal.
[0088] When there is ambient light, sunlight, reflected light, or pseudo-laser interference, the feedback laser signal received by the image sensor includes not only the laser signal projected onto the object under test by the real line laser (i.e., the coded line laser signal), but also the laser signal projected onto the object by multiple interference light signals in the three-dimensional space where the object is located. Therefore, the image signal acquired by the image sensor contains feature information of both types of feedback laser signals. After the image sensor receives the image signal containing the feature information of the two types of feedback laser signals, a decoding result is obtained through unified decoding. Since the coded line laser signal includes a coded spot carrying coded information, its corresponding feedback laser signal must carry the coded spot. Therefore, the feature information contained in the image signal will also include the features of the coded spot. In this embodiment, through unified decoding, the decoding result obtained after decoding is matched with the coded spot to filter out the target extraction signal corresponding to the real line laser from the image signal. Through the above decoding process, the real information of the object under test can be accurately extracted, effectively improving the information extraction accuracy.
[0089] Specifically, S42 includes:
[0090] When the decoding result contains at least one set of decoded light spots, and each set of decoded light spots carries decoding information corresponding to the encoded information, candidate region images are selected from the image signal based on the positions of all decoded light spots in the decoding result; wherein, the number of sets of decoded light spots is the same as the number of sets of encoded light spots;
[0091] In the decoding results, the target extraction signal is determined from the candidate region image based on the relative positional relationship between each group of decoded light spots and each decoded signal in the decoding results.
[0092] Since the image signal includes feature information from two types of feedback laser signals, after unified decoding, the decoding result will contain decoded signals corresponding to the two types of feedback laser signals. The position and features of each decoded signal are the same as the corresponding feedback laser signal. At the same time, one of the decoded signals is the decoded signal obtained by image acquisition and decoding of the feedback laser signal corresponding to the coded line laser signal, which carries the decoded spot. Therefore, when the decoding result contains the same number of decoded spots as the coded spot groups, and they all carry the same decoded information, it can be preliminarily assumed that there must be a decoded signal of the real line laser after feedback, image acquisition and decoding at the location of these decoded spots, and the image at the corresponding location is the target extraction signal. Based on the position of all decoded spots in the decoding result, candidate regions for the target extraction signal, i.e., candidate region images, can be screened from the image signal.
[0093] Since the position and characteristics of each decoded signal in the decoding result are derived from the corresponding feedback laser signal, the layout between the decoded spot and each decoded signal in the decoding result can be obtained based on the relative positional relationship between each group of decoded spots and each decoded signal. This allows us to identify the decoded signal of the real line laser near the decoded spot after feedback, image acquisition, and decoding. Furthermore, the image signal corresponding to this decoded signal can be determined from the candidate region image, i.e., the final target extraction signal. Through the matching of the decoded and encoded information, and the position and layout of the decoded spot in the entire decoding result, the target extraction signal can be accurately selected, thus facilitating accurate information extraction from the object under test.
[0094] The line laser-based information extraction method in this embodiment encodes the emitted laser signal projected by the laser projector to obtain an encoded line laser signal. When this encoded line laser signal is projected onto the object under test, the object will respond with a corresponding laser signal. Simultaneously, ambient light, sunlight, and reflected light, which are projected onto the surface of the object, will also respond with corresponding laser signals. Therefore, the object will respond with two types of laser signals (collectively referred to as feedback laser signals). The acquired image signal is the image signal corresponding to the feedback laser signal. Thus, the image signal contains both the characteristic information of the real line laser and the characteristic information of the interference light. Since ambient light, sunlight, reflected light, and pseudo-lasers are not encoded, the image signal is decoded. Based on the decoding result, the image signal corresponding to the real line laser (i.e., the encoded line laser signal) can be identified, and information can be extracted from it. This embodiment, based on the encoding and decoding of line lasers, achieves the identification of real line lasers, avoids mis-extraction of information caused by interference from ambient light, sunlight, and reflected light, effectively improves the accuracy of information extraction, and helps to reconstruct the true three-dimensional space.
[0095] Example 2
[0096] This embodiment provides an information extraction system based on line laser, the system comprising:
[0097] A laser projector, used to acquire the emitted laser signal;
[0098] The encoding device is set in the output optical path of the laser projector to encode the emitted laser signal, obtain the encoded line laser signal, and project the encoded line laser signal onto the object to be measured.
[0099] An image sensor is placed in the output optical path of the object under test to acquire the image signal corresponding to the feedback laser signal of the object under test.
[0100] The processor communicates with the image sensor to decode the image signal and extract information based on the decoding result.
[0101] The information extraction system in this embodiment, based on the encoding and decoding of line lasers, realizes the identification of real line lasers, avoids the mis-extraction of information caused by interference from ambient light, sunlight, reflections, etc., effectively improves the accuracy of information extraction, and helps to restore the true three-dimensional space.
[0102] Specifically, see Figure 2 In this embodiment, the encoding device is a diffractive optical device, and the image sensor is specifically a camera.
[0103] The line laser-based information extraction system described in this embodiment corresponds to the line laser-based information extraction method described above. For details not covered in this embodiment, please refer to Embodiment 1 and... Figures 1 to 3 The specific details will not be repeated here.
[0104] Obviously, the embodiments described above are merely some, not all, embodiments of the present invention. Based on the embodiments of the present invention, those skilled in the art can make other variations or modifications without creative effort, and all such variations or modifications should fall within the scope of protection of the present invention.
Claims
1. An information extraction method based on line laser, characterized in that, include: Acquire the emitted laser signal; The emitted laser signal is encoded to obtain an encoded line laser signal, and the encoded line laser signal is projected onto the object to be tested; Acquire the image signal corresponding to the feedback laser signal of the object under test; The image signal is decoded, and information is extracted based on the decoding result. The coded line laser signal includes a line laser and at least one set of coded spots. All the coded spots are distributed near the line laser and carry coded information obtained according to a preset coding method. Decoding the image signal and extracting information based on the decoding result includes: The image signal is decoded to obtain the decoding result corresponding to the image signal; Based on the decoding result, the target extraction signal of the object under test is determined from the image signal; Information is extracted from the object under test based on the target extraction signal. The step of determining the target extraction signal of the object to be tested from the image signal based on the decoding result includes: When the decoding result contains at least one set of decoded light spots, and each set of decoded light spots carries decoding information corresponding to the encoded information, candidate region images are selected from the image signal according to the positions of all the decoded light spots in the decoding result; wherein, the number of sets of decoded light spots is the same as the number of sets of encoded light spots; In the decoding results, the target extraction signal is determined from the candidate region image based on the relative positional relationship between each group of decoded light spots and each decoded signal in the decoding results.
2. The information extraction method based on line laser as described in claim 1, characterized in that, The process of encoding the emitted laser signal to obtain an encoded line laser signal includes: Using diffractive optical devices, the emitted laser signal is encoded according to the preset encoding method to obtain the encoded line laser signal.
3. The information extraction method based on line laser as described in claim 1, characterized in that, The preset encoding methods include binary encoding method, two-dimensional grid pattern encoding method, random pattern encoding method, color encoding method, grayscale encoding method and neighborhood encoding method; The encoded information carried by the encoded light spot includes binary encoding, two-dimensional grid matrix code, pseudo-random sequence code, RGB color encoding, grayscale value sequence code, and neighborhood gene matrix code.
4. The information extraction method based on line laser according to claim 3, characterized in that, The preset encoding method also includes a hybrid encoding method; The encoded information carried by the encoded light spot includes a combination of binary encoding, Gray code, floating-point encoding, and symbolic encoding.
5. The information extraction method based on line laser according to claim 1, characterized in that, Each group of coded light spots can be either a regular or irregular shape.
6. The information extraction method based on line laser according to claim 1, characterized in that, The shape of the light spot in each group of coded light spots can be a regular or irregular shape.
7. The information extraction method based on line laser according to claim 1, characterized in that, The coded line laser signal includes one line laser and two sets of coded light spots; The two sets of coded light spots are evenly distributed on both sides of the line laser.
8. The information extraction method based on line laser according to claim 7, characterized in that, Both sets of coded light spots are either rectangular or circular light spots with alternating black and white markings, and the coded information corresponding to each rectangular or circular light spot is binary code.
9. An information extraction system based on line laser, characterized in that, include: A laser projector, used to acquire the emitted laser signal; An encoding device is disposed in the output optical path of the laser projector to encode the emitted laser signal to obtain an encoded line laser signal, and to project the encoded line laser signal onto the object to be tested; An image sensor is disposed in the output optical path of the object under test, and is used to acquire the image signal corresponding to the feedback laser signal of the object under test; The processor, communicatively connected to the image sensor, is used to decode the image signal and extract information based on the decoding result. The coded line laser signal includes a line laser and at least one set of coded spots. All the coded spots are distributed near the line laser and carry coded information obtained according to a preset coding method. Decoding the image signal and extracting information based on the decoding result includes: The image signal is decoded to obtain the decoding result corresponding to the image signal; Based on the decoding result, the target extraction signal of the object under test is determined from the image signal; Information is extracted from the object under test based on the target extraction signal. The step of determining the target extraction signal of the object to be tested from the image signal based on the decoding result includes: When the decoding result contains at least one set of decoded light spots, and each set of decoded light spots carries decoding information corresponding to the encoded information, candidate region images are selected from the image signal according to the positions of all the decoded light spots in the decoding result; wherein, the number of sets of decoded light spots is the same as the number of sets of encoded light spots; In the decoding results, the target extraction signal is determined from the candidate region image based on the relative positional relationship between each group of decoded light spots and each decoded signal in the decoding results.