High-speed rotating mirror-based multi-megafame three-dimensional imaging device and method

Abstract

The application provides a million-frame three-dimensional imaging device and method based on a high-speed rotating mirror, proposes a million-frame sinusoidal fringe generation module based on high-speed rotating mirror scanning, which can generate sinusoidal fringes at high speed, proposes a million-frame compressed imaging module based on high-speed rotating mirror scanning, and multiplexes a high-speed rotating mirror scanning reflection type random binary mask plate, so that the speed advantage of the high-speed rotating mirror is applied to the generation of sinusoidal fringes and the binary coding compression of high-speed images, and finally, the compressed images collected are subjected to three-dimensional image reconstruction by using a fast three-dimensional reconstruction algorithm, so that the million-frame three-dimensional imaging of structured light illumination is realized.

Description

A million-frame 3D imaging device and method based on high-speed rotating mirror Technical Field

[0001] This invention relates to the field of imaging, and in particular to a mega-frame 3D imaging device and method based on a high-speed rotating mirror. Background Technology

[0002] Three-dimensional imaging includes lidar imaging technology, binocular vision imaging technology, holographic imaging technology, structured light illumination three-dimensional imaging technology, etc. Among the many three-dimensional imaging technologies, structured light illumination three-dimensional imaging technology is a technology that uses a structured light source to project a specially coded light spot onto the target surface, captures the deformed light spot image through a camera, and then calculates the three-dimensional shape of the target. Because structured light illumination three-dimensional imaging technology has advantages such as high precision, simple structure, and non-contact operation, it has become one of the core technologies in the field of three-dimensional imaging.

[0003] Currently, structured light illumination 3D imaging primarily uses N (N≥3) sinusoidal fringe patterns to reconstruct a single 3D image. This method achieves 3D scene imaging at a speed that is 1 / N of the sinusoidal fringe generation speed (equal to the camera acquisition speed), severely limiting ultra-high-speed 3D imaging. In other words, due to the limitations imposed by camera acquisition speed and projected fringe playback speed, structured light illumination 3D imaging technology is unsuitable for ultra-high-speed (millions of frames per second) scenarios such as aircraft engine blades, high-speed car collisions, and ballistic tracking. Summary of the Invention

[0004] This solution provides a mega-frame 3D imaging device and method based on a high-speed rotating mirror. It utilizes a high-speed rotating mirror to scan a reflective sinusoidal fringe mask and a reflective random binary mask, thereby rapidly switching sinusoidal fringes and performing binary mask compression on high-speed images, thus enabling 3D reconstruction of mega-frame 3D images illuminated by structured light.

[0005] To achieve the above objectives, this solution provides a megaframe 3D imaging device based on a high-speed rotating mirror. The device comprises: a megaframe sinusoidal fringe generation module and a megaframe compression imaging module sharing the same high-speed rotating mirror. The high-speed motion scene is located between the megaframe sinusoidal fringe generation module and the megaframe compression imaging module. The megaframe sinusoidal fringe generation module includes a laser emitting unit, a sinusoidal fringe encoding unit, and a fringe image imaging unit arranged along the optical path. The laser emitted by the laser emitting unit is focused onto the reflective surface of the high-speed rotating mirror to generate light at different angles. The light at these different angles is then scanned by the sinusoidal fringe encoding unit. Sinusoidal fringe light is generated and focused on the reflective surface of a high-speed rotating mirror. The fringe image is then imaged by the fringe image imaging unit to obtain a sinusoidal fringe projection image. The megaframe compression imaging module includes a motion image imaging unit, a random binary mask encoding unit, and a photosensitive unit. The high-speed motion scene encoded by sinusoidal fringe light is focused on the reflective surface of the high-speed rotating mirror by the motion image imaging unit to generate light at different angles. The light at different angles is scanned by the random binary mask encoding unit to generate light spots. The light spots are focused on the reflective surface of the high-speed rotating mirror and imaged by the photosensitive unit to obtain an image of the high-speed motion scene.

[0006] Secondly, this solution provides a mega-frame 3D imaging method based on a high-speed rotating mirror, implemented using any of the aforementioned mega-frame 3D imaging devices based on a high-speed rotating mirror, including:

[0007] The high-speed motion scene is placed between the million-frame sinusoidal fringe generation module and the million-frame compressed imaging module of the million-frame 3D imaging device based on a high-speed rotating mirror.

[0008] The high-speed rotating mirror, laser, and photodetector are activated. The laser emitted by the laser towards the high-speed rotating mirror is focused on the reflective surface of the high-speed rotating mirror to generate light at different angles. The light at different angles is scanned by the sinusoidal fringe coding unit to generate sinusoidal fringe light. The sinusoidal fringe light is focused on the reflective surface of the high-speed rotating mirror and imaged onto the high-speed moving scene by the fringe image imaging unit. The high-speed moving scene encoded by sinusoidal fringe is focused on the reflective surface of the high-speed rotating mirror by the motion image imaging unit to generate light at different angles. The light at different angles is scanned by the random binary mask coding unit to generate a spot. The spot is focused on the reflective surface of the high-speed rotating mirror and imaged by the photosensitive unit to obtain an image of the high-speed moving scene. The photodetector triggers the photosensitive unit to acquire the image of the high-speed moving scene.

[0009] Three-dimensional reconstruction is performed on each high-speed motion to obtain fringe patterns of different phases. Multiple fringe patterns are then reconstructed to obtain a three-dimensional image.

[0010] Compared with existing technologies, this technical solution has the following characteristics and beneficial effects:

[0011] This technical solution provides a mega-frame 3D imaging device and method based on a high-speed rotating mirror. It proposes a mega-frame sinusoidal fringe generation module based on high-speed rotating mirror scanning, which can switch to generate sinusoidal fringes at high speed. It also proposes a mega-frame compressed imaging module based on high-speed rotating mirror scanning, which reuses a reflective random binary mask for high-speed rotating mirror scanning to achieve high-speed image binary encoding compression. At the same time, the speed advantage of high-speed rotating mirror is applied to sinusoidal fringe generation and high-speed image binary encoding compression. Finally, the acquired compressed image is used to perform 3D image reconstruction using a fast 3D reconstruction algorithm, realizing mega-frame 3D imaging under structured light illumination. Attached Figure Description

[0012] Figure 1 is a schematic diagram of the structure of the mega-frame 3D imaging device based on a high-speed rotating mirror in this scheme;

[0013] Figure 2 is a schematic diagram of the scanning patterns of sinusoidal stripe scanning motion and random binary coded motion;

[0014] Figure 3 is a schematic diagram of a fast 3D reconstruction algorithm reconstructing a high-speed 3D image.

[0015] In the diagram: 1-Laser, 2-Beam expander and collimator, 3-First achromatic lens, 4-First telecentric field mirror, 5-First reflecting mirror, 6-Reflective sinusoidal fringe mask, 7-First beam splitter, 8-Second telecentric field mirror, 9-High-speed rotating mirror, 10-Second achromatic lens, 11-Second reflecting mirror, 12-Third achromatic lens, 13-Second beam splitter, 14-First high-speed camera, 15-Fourth achromatic lens, 16-Third reflecting mirror, 17-Fourth reflecting mirror, 18-Fifth achromatic lens, 19-Third telecentric lens, 20-Third beam splitter, 21-Photodetector, 22-Reflective random binary mask, 23-Fifth reflecting mirror, 24-Fourth telecentric lens, 25-Sixth achromatic lens, 26-Seventh achromatic lens, 27-Second high-speed camera. Detailed Implementation

[0016] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention are within the scope of protection of the present invention.

[0017] Those skilled in the art should understand that, in the disclosure of this invention, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the above terms should not be construed as limiting this invention.

[0018] It is understood that the term "a" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element can be one, while in another embodiment, the number of the element can be multiple, and the term "a" should not be understood as a limitation on the number.

[0019] This solution provides a mega-frame 3D imaging device based on a high-speed rotating mirror. This device cleverly utilizes a high-speed rotating mirror to achieve natural consistency between the mega-frame sinusoidal fringe generation module and the mega-frame compression imaging module. The mega-frame sinusoidal fringe generation module uses the high-speed rotating mirror to scan a reflective sinusoidal fringe mask to achieve high-speed switching of sinusoidal fringes. The mega-frame compression imaging module reuses the high-speed rotating mirror to scan a reflective random binary mask to achieve high-speed binary encoding compression of images. The speed advantage of the high-speed rotating mirror is applied to sinusoidal fringe generation and high-speed image binary encoding compression. Then, the compressed image is acquired by a high-speed camera and a fast 3D reconstruction algorithm is used to reconstruct the 3D image, realizing rapid imaging of structured light illumination.

[0020] Specifically, as shown in Figure 1, this solution provides a megaframe 3D imaging device based on a high-speed rotating mirror, including: a megaframe sinusoidal fringe generation module and a megaframe compression imaging module sharing the same high-speed rotating mirror. The high-speed motion scene is located between the megaframe sinusoidal fringe generation module and the megaframe compression imaging module. The megaframe sinusoidal fringe generation module includes a laser emitting unit, a sinusoidal fringe encoding unit, and a fringe image imaging unit arranged along the optical path. The laser emitted by the laser emitting unit is focused on the reflective surface of the high-speed rotating mirror to generate light at different angles. The light at different angles is generated by the sinusoidal fringe encoding unit through spot scanning motion. Sinusoidal fringe light is focused onto the reflective surface of a high-speed rotating mirror and imaged by a fringe image imaging unit to obtain a sinusoidal fringe projection image. The megaframe compressed imaging module includes a motion image imaging unit, a random binary mask encoding unit, and a photosensitive unit. The high-speed motion scene encoded by sinusoidal fringe light is focused onto the reflective surface of the high-speed rotating mirror by the motion image imaging unit to generate light at different angles. The light at different angles is scanned by the random binary mask encoding unit to generate light spots. The light spots are focused onto the reflective surface of the high-speed rotating mirror and imaged by the photosensitive unit to obtain an image of the high-speed motion scene.

[0021] The megaframe sinusoidal fringe generation module of this solution uses a high-speed rotating mirror to achieve high-speed switching of sinusoidal fringes. After the sinusoidal fringes encode the high-speed motion scene, the megaframe compression imaging module containing the high-speed rotating mirror is used to achieve binary encoding compression of the high-speed motion scene image. The single spot scan motion of the sinusoidal fringe encoding unit generates multiple sinusoidal fringe images with different phases, and the single spot scan motion of the megaframe compression imaging module also generates encoded images with different random binary codes. The photosensitive unit acquires one high-speed motion scene image at a time, and this high-speed motion scene image is used for subsequent 3D imaging.

[0022] Specifically, the laser emitting unit includes a laser (1), a beam expander and collimator (2), and an achromatic lens (3) arranged according to the optical path. The laser emitted by the laser (1) is expanded and collimated by the beam expander and collimator (2) to generate parallel light. The parallel light is incident on the achromatic lens (3) and focused on the reflecting surface of the high-speed rotating mirror (9) at high speed. The high-speed rotating mirror (9) rotates at high speed to generate light at different angles.

[0023] In some embodiments, the laser (1) is selected as a 532nm laser to emit 532nm laser light, and the achromatic lens (3) is selected as a 35mm focal length achromatic cemented doublet lens. At this time, the distance between the achromatic lens (3) and the high-speed rotating mirror (9) is 35mm.

[0024] The sinusoidal fringe encoding unit includes a first far-field lens (4), a first reflector (5), a first beam splitter (7), and a second telecentric lens (8) arranged according to the optical path. A reflective sinusoidal fringe mask (6) is provided at the other optical path exit of the first beam splitter (7). Light at different angles generated by the high-speed rotating mirror (9) is converted into a scanning beam parallel to the optical axis after passing through the first far-field lens (4). The scanning beam passes through the first reflector (5) and the first beam splitter (7) and arrives at the reflective sinusoidal fringe mask (6) to perform spot scanning motion and generate a spot. The scanning spot is encoded by the reflective sinusoidal fringe mask (6) to generate changing sinusoidal fringe light. The sinusoidal fringe light passes through the first beam splitter (7) and the second telecentric lens (8) again and is focused on the reflective surface of the high-speed rotating mirror (9).

[0025] In some embodiments, the focal length of the first telecentric field lens (4) and the second telecentric field lens (8) is 100mm. At this time, the distance from the first telecentric field lens (4) and the second telecentric field lens (8) to the high-speed rotating mirror (9) is 100mm.

[0026] The stripe image imaging unit includes a second achromatic lens (10), a second reflector (11), a third achromatic lens (13), a second beam splitter (13), and a first high-speed camera (14) arranged according to the optical path. The high-speed motion scene is placed at another optical path exit of the second beam splitter (13). The sinusoidal stripe light reflected by the high-speed rotating mirror (9) passes through the second achromatic lens (10), the second reflector (11), the third achromatic lens (13), and the second beam splitter (13) in sequence and is then imaged on the first high-speed camera (14) to obtain a sinusoidal stripe projection image. The high-speed motion scene is also imaged on the high-speed motion scene to obtain a high-speed motion scene encoded with sinusoidal stripes.

[0027] In some embodiments, the focal length of the second achromatic lens (10) is 100mm, and the distance between the second achromatic lens (10) and the high-speed rotating mirror (9) is 100mm.

[0028] As shown in Figure 2, the sinusoidal fringe coding unit generates nine sinusoidal fringe patterns with different phases by performing a single sinusoidal fringe scanning motion.

[0029] The motion image imaging unit of the megaframe compression imaging module includes a fourth achromatic lens (15), a third mirror (16), a fourth mirror (17), and a fifth achromatic lens (18) arranged according to the optical path. The high-speed motion scene encoded by sinusoidal stripes passes through the fourth achromatic lens (15), the third mirror (16), the fourth mirror (17), and the fifth achromatic lens (18) in sequence and is focused on the reflective surface of the high-speed rotating mirror (9) to generate light at different angles.

[0030] In some embodiments, the focal lengths of the fourth achromatic lens (15) and the fifth achromatic lens (18) are both 100mm. At this time, the distance from the fifth achromatic lens (18) to the high-speed rotating mirror (9) is 100mm.

[0031] The random binary mask unit includes a third telecentric field mirror (19), a third beam splitter (20), a fifth reflector (23), and a fourth telecentric field mirror (24) arranged along the optical path. The photodetector (21) and the reflective random binary mask (22) are respectively placed at the two optical path exits of the third beam splitter (20). The light emitted from the high-speed rotating mirror (9) at different angles is transformed into a scanning beam parallel to the optical axis by the third telecentric field mirror (19). After passing through the third beam splitter (20), the scanning beam reaches the photodetector (21) and the reflective random binary mask (22) respectively to perform spot scanning motion. The spot of the spot scanning motion is randomly binary masked by the reflective random binary mask (22) and then reflected back to the third beam splitter (20). After passing through the fifth reflector (23) and the fourth telecentric field mirror (24), it is focused on the emitting surface of the high-speed rotating mirror (9) at high speed.

[0032] In some embodiments, the focal lengths of the third telecentric lens (19) and the fourth telecentric lens (24) are both 100 mm. At this time, the distance from the third telecentric lens (19) and the fourth telecentric lens (24) to the high-speed rotating mirror (9) is 100 mm.

[0033] The photosensitive unit includes a sixth achromatic lens (25), a seventh achromatic lens (26) arranged according to the optical path, and a second high-speed camera (27). The light spot that passes through the high-speed rotating mirror (9) is imaged on the second high-speed camera (27) after passing through the sixth achromatic lens (25) and the seventh achromatic lens (26).

[0034] In some embodiments, the focal lengths of the sixth achromatic lens (25) and the seventh achromatic lens (26) are both 100mm. At this time, the distance from the sixth achromatic lens (25) to the high-speed rotating mirror (9) is 100mm, and the distance from the seventh achromatic lens (26) to the second high-speed camera (27) is 100mm.

[0035] As shown in Figure 2, the random binary mask unit performs a single random binary encoding scan to generate 9 encoded images. It should be noted that each time the photodetector (21) receives a signal, it triggers the second high-speed camera (22) to expose and acquire an image of the high-speed moving scene.

[0036] In some embodiments, the high-speed rotating mirror (9) is a 12-sided mirror. In this case, the high-speed rotating mirror (9) completes one side mirror every 30° of rotation, that is, completes one sinusoidal stripe scanning motion and one random binary code scanning motion. At the same time, the photodetector (21) receives one photoelectric signal to trigger the second high-speed camera (27) to acquire one high-speed motion scene image.

[0037] As shown in Figure 3, the high-speed motion scene image acquired by the second high-speed camera (27) is reconstructed to obtain stripe patterns with different phases, and multiple adjacent stripe patterns are reconstructed to form a three-dimensional image. In some embodiments, the same high-speed motion scene is reconstructed to obtain 9 stripe patterns with different phases (three-cycle phases of 0°, 120°, and 240°), and a three-dimensional image is reconstructed for every three adjacent stripe patterns.

[0038] In addition, this solution also provides a mega-frame 3D imaging method based on a high-speed rotating mirror, which is implemented using the aforementioned mega-frame 3D imaging device based on a high-speed rotating mirror, and includes the following steps:

[0039] The high-speed motion scene is placed between the million-frame sinusoidal fringe generation module and the million-frame compressed imaging module of the million-frame 3D imaging device based on a high-speed rotating mirror.

[0040] Start the high-speed rotating mirror (9), laser (1) and photodetector (21). The laser emitted by the laser (1) towards the high-speed rotating mirror (9) is focused on the reflective surface of the high-speed rotating mirror (9) to generate light at different angles. The light at different angles is scanned by the sinusoidal stripe coding unit to generate sinusoidal stripe light. The sinusoidal stripe light is focused on the reflective surface of the high-speed rotating mirror (9) and imaged on the high-speed motion scene by the stripe image imaging unit. The high-speed motion scene encoded by sinusoidal stripes is focused on the reflective surface of the high-speed rotating mirror (9) by the motion image imaging unit to generate light at different angles. The light at different angles is scanned by the random binary mask coding unit to generate a light spot. The light spot is focused on the reflective surface of the high-speed rotating mirror (9) and imaged by the photosensitive unit to obtain the high-speed motion scene image. The photodetector (21) triggers the photosensitive unit to acquire the high-speed motion scene image.

[0041] Three-dimensional reconstruction is performed on each high-speed motion to obtain fringe patterns of different phases. Multiple fringe patterns are then reconstructed to obtain a three-dimensional image.

[0042] The technical content involved in this high-speed rotating mirror-based megaframe 3D imaging method is the same as that of the high-speed rotating mirror-based megaframe 3D imaging device, and will not be repeated here.

[0043] This invention is not limited to the preferred embodiments described above. Anyone can derive other products in various forms under the guidance of this invention. However, regardless of any changes in shape or structure, any technical solution that is the same as or similar to this application falls within the protection scope of this invention.

Claims

1. A million-frame 3D imaging device based on a high-speed rotating mirror, characterized in that, include: The system uses a shared high-speed rotating mirror and a mega-frame sinusoidal fringe generation module and a mega-frame compressed imaging module. The high-speed motion scene is located between these two modules. The mega-frame sinusoidal fringe generation module includes a laser emitting unit, a sinusoidal fringe encoding unit, and a fringe image imaging unit arranged along the optical path. The laser emitted by the laser emitting unit is focused on the reflective surface of the high-speed rotating mirror to generate light at different angles. The light at different angles is scanned by the sinusoidal fringe encoding unit to generate sinusoidal fringe light. The sinusoidal fringe light is focused on the reflective surface of the high-speed rotating mirror and imaged by the fringe image imaging unit to obtain a sinusoidal fringe projection image. The mega-frame compressed imaging module includes a motion image imaging unit, a random binary mask encoding unit, and a photosensitive unit. The high-speed motion scene encoded by the sinusoidal fringe is focused on the reflective surface of the high-speed rotating mirror by the motion image imaging unit to generate light at different angles. The light at different angles is scanned by the random binary mask encoding unit to generate a light spot. The light spot is focused on the reflective surface of the high-speed rotating mirror and imaged by the photosensitive unit to obtain an image of the high-speed motion scene.

2. The mega-frame 3D imaging device based on a high-speed rotating mirror according to claim 1, characterized in that, The laser emitting unit includes a laser (1), a beam expander and collimator (2), and an achromatic lens (3) arranged according to the optical path. The laser emitted by the laser (1) is expanded and collimated by the beam expander and collimator (2) to generate parallel light. The parallel light is incident on the achromatic lens (3) and focused on the reflecting surface of the high-speed rotating mirror (9) at high speed. The high-speed rotating mirror (9) rotates at high speed to generate light at different angles.

3. The megaframe 3D imaging device based on a high-speed rotating mirror according to claim 1, characterized in that, The sinusoidal fringe encoding unit includes a first far-field lens (4), a first reflector (5), a first beam splitter (7), and a second telecentric lens (8) arranged according to the optical path. A reflective sinusoidal fringe mask (6) is provided at the other optical path exit of the first beam splitter (7). Light at different angles generated by the high-speed rotating mirror (9) is converted into a scanning beam parallel to the optical axis after passing through the first far-field lens (4). The scanning beam passes through the first reflector (5) and the first beam splitter (7) and arrives at the reflective sinusoidal fringe mask (6) to perform spot scanning motion and generate a spot. The scanning spot is encoded by the reflective sinusoidal fringe mask (6) to generate changing sinusoidal fringe light. The sinusoidal fringe light passes through the first beam splitter (7) and the second telecentric lens (8) again and is focused on the reflective surface of the high-speed rotating mirror (9).

4. The megaframe 3D imaging device based on a high-speed rotating mirror according to claim 1, characterized in that, The stripe image imaging unit includes a second achromatic lens (10), a second reflector (11), a third achromatic lens (13), a second beam splitter (13), and a first high-speed camera (14) arranged according to the optical path. The high-speed motion scene is placed at another optical path exit of the second beam splitter (13). The sinusoidal stripe light reflected by the high-speed rotating mirror (9) passes through the second achromatic lens (10), the second reflector (11), the third achromatic lens (13), and the second beam splitter (13) in sequence and is then imaged on the first high-speed camera (14) to obtain a sinusoidal stripe projection image. The high-speed motion scene is also imaged on the high-speed motion scene to obtain a high-speed motion scene encoded with sinusoidal stripes.

5. The megaframe 3D imaging device based on a high-speed rotating mirror according to claim 1, characterized in that, The motion image imaging unit includes a fourth achromatic lens (15), a third mirror (16), a fourth mirror (17), and a fifth achromatic lens (18) arranged according to the optical path. The high-speed motion scene encoded by sinusoidal stripes passes through the fourth achromatic lens (15), the third mirror (16), the fourth mirror (17), and the fifth achromatic lens (18) in sequence and is focused on the reflecting surface of the high-speed rotating mirror (9) to generate light at different angles.

6. The megaframe 3D imaging device based on a high-speed rotating mirror according to claim 1, characterized in that, The random binary mask unit includes a third telecentric field mirror (19), a third beam splitter (20), a fifth reflector (23), and a fourth telecentric field mirror (24) arranged along the optical path. The photodetector (21) and the reflective random binary mask (22) are respectively placed at the two optical path exits of the third beam splitter (20). The light emitted from the high-speed rotating mirror (9) at different angles is transformed into a scanning beam parallel to the optical axis by the third telecentric field mirror (19). After passing through the third beam splitter (20), the scanning beam reaches the photodetector (21) and the reflective random binary mask (22) respectively to perform spot scanning motion. The spot of the spot scanning motion is randomly binary masked by the reflective random binary mask (22) and then reflected back to the third beam splitter (20). After passing through the fifth reflector (23) and the fourth telecentric field mirror (24), it is focused on the emitting surface of the high-speed rotating mirror (9) at high speed.

7. The megaframe 3D imaging device based on a high-speed rotating mirror according to claim 1, characterized in that, The photosensitive unit includes a sixth achromatic lens (25), a seventh achromatic lens (26) arranged according to the optical path, and a second high-speed camera (27). The light spot that passes through the high-speed rotating mirror (9) is imaged on the second high-speed camera (27) after passing through the sixth achromatic lens (25) and the seventh achromatic lens (26).

8. The megaframe 3D imaging device based on a high-speed rotating mirror according to claim 1, characterized in that, The high-speed motion scene images acquired by the second high-speed camera (27) are reconstructed to obtain stripe patterns of different phases, and multiple adjacent stripe patterns are reconstructed into a three-dimensional image.

9. A mega-frame 3D imaging method based on a high-speed rotating mirror, implemented using the mega-frame 3D imaging device based on a high-speed rotating mirror as described in any one of claims 1 to 8, characterized in that... include: The high-speed motion scene is placed between the million-frame sinusoidal fringe generation module and the million-frame compression imaging module of the million-frame 3D imaging device based on a high-speed rotating mirror; the high-speed rotating mirror (9), laser (1), and photodetector (21) are activated. The laser emitted by the laser (1) towards the high-speed rotating mirror (9) is focused on the reflective surface of the high-speed rotating mirror (9) to generate light at different angles. The light at different angles is scanned by the sinusoidal fringe encoding unit to generate sinusoidal fringe light. The sinusoidal fringe light is focused on the reflective surface of the high-speed rotating mirror (9) and imaged on the high-speed fringe image imaging unit. In the motion scene, the high-speed motion scene after sinusoidal stripe encoding is focused on the reflective surface of the high-speed rotating mirror (9) by the motion image imaging unit to generate light at different angles. The light at different angles is scanned by the random binary mask encoding unit to generate light spots. The light spots are focused on the reflective surface of the high-speed rotating mirror (9) and imaged by the photosensitive unit to obtain the high-speed motion scene image. The photodetector (21) triggers the photosensitive unit to acquire the high-speed motion scene image. Three-dimensional reconstruction is performed on each high-speed motion to obtain stripe patterns of different phases. Multiple stripe patterns are taken and reconstructed to obtain a three-dimensional image.

10. The million-frame three-dimensional imaging method based on high-speed rotating mirror according to claim 9, characterized in that, It is applied to structured light million-frame 3D imaging.

Images