Three-dimensional scanning method and device, computer equipment and storage medium

Abstract

The embodiment of the invention provides a three-dimensional scanning method and device, computer equipment and a storage medium, and the method comprises the steps: distributing a binary coding pattern into each color channel according to a proposed combination strategy through employing the characteristic of sequential projection of RGB three channels in a DLP three-color projection system, and correspondingly capturing a projected RGB channel stripe pattern through employing a channel of a color camera; the designed band-pass optical filter is adopted to replace a traditional Bayer filter, and RGB channel crosstalk is eliminated; on the premise that the number of coding patterns is not changed, the scanning speed is increased by nearly three times, and meanwhile color three-dimensional scanning can be achieved; high-speed dynamic three-dimensional scanning is realized, high-precision and high-resolution real-time three-dimensional point clouds are obtained at the same time, and a structured light 3D scanning system is greatly improved based on conventional projection and imaging devices in combination with the projection characteristics of current mainstream DLP (Digital Light Processing).

Description

Technical Field

[0001] The present invention relates to the field of computer technology, and in particular to a three-dimensional scanning method, a three-dimensional scanning device, a computer equipment and a storage medium. Background Art

[0002] With the technological upgrading of traditional industries such as industrial automation, robotics, and intelligent manufacturing, as well as the rapid development of emerging industries such as artificial intelligence, AR / VR, metaverse, and digital twins, the demand for three-dimensional imaging technology is becoming increasingly urgent. The perception and acquisition of three-dimensional information has become one of the bottlenecks hindering the future technological development of many industries, such as the three-dimensional perception of lidar in the unmanned driving industry, the three-dimensional visual perception of humanoid robots, and the digital twin of dynamic scenes. At present, the commonly used three-dimensional visual perception methods are mainly divided into two categories. One is the consumer-grade 3D camera represented by RGB-D camera, which is characterized by low price, low accuracy and resolution, but fast imaging speed, and can be used for 3D imaging of dynamic targets; the second category is industrial 3D imaging sensors, which are mainly based on line laser and coded structured light technology routes. It is characterized by high price, high imaging accuracy and resolution, but slow imaging speed, and cannot be used for real-time three-dimensional imaging of dynamic scenes and targets.

[0003] The future development direction of three-dimensional visual imaging is mainly to have the three high characteristics of high precision, high resolution and high speed at the same time, which is also not possessed by existing technologies. However, in the future, this three-dimensional imaging method with the three high characteristics is bound to become an indispensable three-dimensional imaging sensor for mobile robots, industrial manufacturing, etc., which can help robots and other related execution components to achieve high-precision perception of the external dynamic environment, as well as high-precision interaction and operation of dynamic targets, thereby greatly improving the perception and operation capabilities of unmanned intelligent systems. Therefore, it has important research significance and application prospects.

[0004] From the above technical analysis, it can be seen that RGB-D is mainly laser speckle and TOF technology, which has been mature and commercialized. However, due to the technical principles, its imaging accuracy is difficult to reach the millimeter level, and the resolution of the three-dimensional point cloud is generally from tens of thousands to hundreds of thousands, and it is difficult to reach the million level. Therefore, it can only be used in dynamic three-dimensional perception application fields with low precision and resolution requirements, such as mobile robot motion obstacle avoidance, somatosensory interaction and other fields. To achieve the three high characteristics of three-dimensional visual perception, only coded structured light is technically feasible at present, and the only problem to be solved is the speed, that is, the projection speed of stripe structured light & the real-time processing speed of three-dimensional point cloud.

[0005] There are two main technical routes for coded structured light at present: 1) Sine coding: mainly based on multi-frequency phase shift. Since the projection device DMD projects sinusoidal stripes, it is limited by the device's own process and the projection speed of grayscale sinusoidal stripes is relatively slow, generally 120-240HZ, so high-speed projection cannot be achieved; 2) Binary coding: mainly based on high-frequency binary displacement stripes, making full use of the high-speed advantage of DMD output 0-1 binary stripes. With high-speed cameras, it can achieve very high scanning speeds, but it requires "Gray code + high-frequency phase shift stripes" to achieve it. The minimum number of projected stripes required is 15. Generally, in order to improve robustness, 18-30 stripes need to be projected, which limits its full use of the high-speed advantage to a certain extent. This method is not much different from traditional sinusoidal in terms of high resolution and high precision. Summary of the invention

[0006] In view of the above problems, embodiments of the present invention are proposed to provide a three-dimensional scanning method, a three-dimensional scanning device, a computer device and a storage medium that overcome the above problems or at least partially solve the above problems.

[0007] In order to solve the above problems, an embodiment of the present invention discloses a three-dimensional scanning method, including:

[0008] Obtaining N binary images to be projected, and projecting the N binary images onto the target to be measured; the N binary images include images I0-I17;

[0009] Among them, a white image is projected, that is, the three channels of RGB are all 255 grayscale. The projected pattern is mainly used to obtain the surface color information of the object under white light, and is also used as the I0 image in N coded pictures to obtain the first projected image RGB0;

[0010] A conjugate projection strategy was adopted, with I10-I13 as the first channel and I14-I17 as the second channel; in addition, four low-frequency images I1, I2, I3, and I4 in Gray code were used as the third channel to obtain color stripe images RGB1, RGB2, RGB3, and RGB4, respectively;

[0011] I5-I6 is used as the first channel and the second channel, and I7 is used as the third channel to synthesize to obtain RGB5; an inverted conjugate image I9' is obtained, and the inverted conjugate image I9' is synthesized with I8-I9 to obtain RGB6;

[0012] After obtaining RGB0, RGB1, RGB2, RGB3, RGB4, RGB5, and RGB6 color images, 18 RGB channel images are separated to obtain 19 8-bit grayscale structured light fringe images including the I9' image;

[0013] A real-time three-dimensional point cloud of the target to be measured is established according to the grayscale structured light fringe image.

[0014] Preferably, the step of acquiring N binary images to be projected and projecting the N binary images onto the target to be measured comprises:

[0015] N binary images are distributed to N / 3 projection cycles. Each cycle contains three RGB projection actions. It needs to be projected N / 3 times onto the target to be measured to obtain N / 3 color structured light images.

[0016] Preferably, the method comprises:

[0017] Using a bandpass three-color filter, the central wavelength of the three RGB bandpass filters corresponds to the central wavelength of the RGB three-color light source in DLP.

[0018] Preferably, the method comprises:

[0019] An additional conjugate image of the inverted I9 fringe is added.

[0020] Preferably, the method comprises:

[0021] Based on the DLP3010 optical engine, the DLP projection frame rate is set to 500Hz, and a 1.3 million USB3.0 industrial camera is used, and the 3D scanning speed is increased to 30Hz.

[0022] The embodiment of the present invention further discloses a three-dimensional scanning device, comprising:

[0023] A binary image acquisition module, used to acquire N binary images to be projected, and project the N binary images to the target to be measured; the N binary images include images I0-I17;

[0024] The first projection module is used to project a white image, that is, the three channels of RGB are all 255 grayscale. The projection pattern is mainly used to obtain the surface color information of the object under white light, and is also used as the I0 image in the N coded pictures to obtain the first projection image RGB0;

[0025] The second projection module adopts a conjugate projection strategy, using I10-I13 as the first channel and I14-I17 as the second channel; in addition, four low-frequency images I1, I2, I3, and I4 in Gray code are used as the third channel to obtain color stripe images RGB1, RGB2, RGB3, and RGB4 respectively;

[0026] The third projection module is used to use I5-I6 as the first channel and the second channel, and I7 as the third channel to synthesize RGB5; obtain the inverted conjugate image I9', and synthesize the inverted conjugate image I9' and I8-I9 to obtain RGB6;

[0027] A grayscale structured light fringe image acquisition module is used to obtain RGB0, RGB1, RGB2, RGB3, RGB4, RGB5, and RGB6 color images, separate 18 RGB channel images, and obtain 19 8-bit grayscale structured light fringe images including the I9' image;

[0028] The three-dimensional point cloud building module is used to build a real-time three-dimensional point cloud of the target to be measured according to the grayscale structured light fringe image.

[0029] Preferably, the binary image acquisition module comprises:

[0030] The allocation submodule is used to allocate N binary images to N / 3 projection cycles. Each cycle contains three RGB projection actions. It needs to be projected N / 3 times onto the target to be measured to obtain N / 3 color structured light images.

[0031] Preferably, the device comprises:

[0032] The three-color filter module is used to adopt a bandpass three-color filter. The central wavelength of the three RGB bandpass filters corresponds to the central wavelength of the RGB three-color light source in the DLP.

[0033] The embodiment of the present invention further discloses a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the above-mentioned three-dimensional scanning method when executing the computer program.

[0034] The embodiment of the present invention further discloses a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned three-dimensional scanning method are implemented.

[0035] The embodiments of the present invention include the following advantages:

[0036] In the embodiment of the present invention, the characteristic of sequential projection of RGB channels in the DLP three-color projection system is utilized, and the binary coded pattern is distributed to each color channel according to the proposed combination strategy, and the channel of the color camera is used to capture the projected RGB channel stripe pattern; the designed bandpass filter is used to replace the traditional Bayer filter to eliminate the crosstalk of the RGB channels; the scanning speed is increased by nearly three times while the number of coded patterns remains unchanged, and color three-dimensional scanning can be realized; high-speed dynamic three-dimensional scanning is realized, and high-precision and high-resolution real-time three-dimensional point cloud is obtained at the same time, and the structured light 3D scanning system is greatly improved based on conventional projection and imaging devices in combination with the projection characteristics of the current mainstream DLP. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0038] Figure 1 is a flowchart of a three-dimensional scanning method according to an embodiment of the present invention;

[0039] Figure 2 is a schematic diagram of a high-frequency binary coded stripe image sequence according to an embodiment of the present invention;

[0040] Figure 3 is a schematic diagram of a channel combination strategy according to an embodiment of the present invention;

[0041] Figure 4 is a schematic diagram of a DLP three-channel projection and color photography according to an embodiment of the present invention;

[0042] Figure 5 is a schematic diagram of a structured light system according to an embodiment of the present invention;

[0043] Figure 6 is a schematic diagram of the central wavelengths of three RGB bandpass filters according to an embodiment of the present invention;

[0044] Figure 7 is a structural block diagram of a three-dimensional scanning device embodiment of the present invention;

[0045] Figure 8 The diagram is a diagram of the internal structure of a computer device according to an embodiment. DETAILED DESCRIPTION

[0046] In order to make the technical problems, technical solutions and beneficial effects solved by the embodiments of the present invention more clearly understood, the embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0047] Reference Figure 1 , shows a flowchart of a three-dimensional scanning method according to an embodiment of the present invention, which may specifically include the following steps:

[0048] Step 101, obtaining N binary images to be projected, and projecting the N binary images onto a target to be measured; the N binary images include images I0-I17;

[0049] Reference Figure 2 , shows a schematic diagram of a high-frequency binary coded stripe image sequence of an embodiment of the present invention, where images I0-I9 are Gray code images used for global phase unwrapping, and I10-I17 are high-frequency displacement stripes with a stripe width of 4 pixels. Each time the stripe is moved by one pixel, the stripe is moved 7 times, and 8 displacement stripes are obtained.

[0050] In the embodiment of the present invention, the obtaining of N binary images to be projected and projecting the N binary images onto the target to be measured comprises: allocating the N binary images to N / 3 projection cycles, each cycle including three RGB projection actions, and projecting N / 3 times onto the target to be measured to obtain N / 3 color structured light images;

[0051] In the embodiment of the present invention, N binary stripe images to be projected are pre-stored inside the DLP optical machine; color structured light three-dimensional scanning can be realized, so a color industrial camera is used; unlike the traditional structured light that uses monochromatic blue light, the DLP device used for projection in the present invention uses RGB three-color light source, and according to the working principle of DLP, different projection patterns can be set for the three channels separately; N images are allocated to N / 3 projection cycles, each cycle includes three RGB projection actions, and each cycle, for example, 18 images, can be divided into 6 groups, 3 images in each group, and are respectively allocated to RGB channels to form a color image. When DLP is projected, the three RGB channels are projected sequentially. At the beginning, the system control module triggers the camera to start exposure. After the projection of the three RGB channels is completed, the camera ends the exposure and saves a color 24BIT image. Therefore, to project N binary images, it is necessary to project N / 3 times to obtain N / 3 color structured light images, and then decompose the color structured light images according to the three RGB channels to obtain N monochrome structured light images. Based on the decomposed N single-channel structured light images, the three-dimensional reconstruction of the target is completed, and at the same time, the projection module is controlled to project single white light, and the color camera is used to shoot, and then a color texture image is obtained, which is used for rendering the reconstructed 3D model. Based on the above scheme, a set of three-dimensional scans can be completed using only N / 3+1 images, and the scanning efficiency is nearly 3 times higher than that of the traditional N-image encoding method. The three-dimensional scanning speed can be further greatly improved on the basis of high-frequency binary encoding, and color texture images can be obtained at the same time to achieve dynamic color three-dimensional scanning.

[0052] Step 102, projecting a white image, that is, the three channels of RGB are all 255 grayscale, the projected pattern is mainly used to obtain the surface color information of the object under white light, and is also used as the I0 image in N coded pictures to obtain the first projected image RGB0;

[0053] Further, refer to Figure 3 , showing a schematic diagram of a channel combination strategy of an embodiment of the present invention, firstly, a white image can be projected to obtain the surface color information of the object under white light as the main first projected image RGB0.

[0054] In terms of the principles of the embodiments of the present invention, refer to Figure 4 , showing a schematic diagram of a DLP three-channel projection and color shooting of an embodiment of the present invention, which fully utilizes the characteristics of sequential projection of the three-color light source RGB channels of the DLP + independent acquisition of the RGB channels of the color camera, and acquires data in a manner corresponding to the projection channel and the photosensitive channel. Without reducing the frame rate of the DLP projection and camera shooting, it can achieve a three-fold performance improvement.

[0055] Step 103, a conjugate projection strategy is adopted, I10-I13 is used as the first channel, I14-I17 is used as the second channel; in addition, four low-frequency images I1, I2, I3, and I4 in Gray code are used as the third channel to obtain color stripe images RGB1, RGB2, RGB3, and RGB4 respectively;

[0056] In the embodiment of the present invention, in order to achieve a more robust 3D reconstruction process and improve the stability of structured light stripes on complex and reflective surfaces, a more robust 18-frame encoding strategy is adopted, that is, the high-frequency stripes adopt a conjugate projection strategy, that is, four pixel width stripes, shifted seven times, a total of eight frames, such as Figure 3 As shown in the figure, the complementary principle is adopted in the channel combination, that is, the strategy of I10-I14, I11-I15, I12-I16, I13-I17, to avoid the overlap between the high-frequency stripe edge outlet channels as much as possible, which is conducive to the precise positioning of the subsequent edges; in addition, the four low-frequency images I1, I2, I3, and I4 in the Gray code are used as the third channel to minimize the crosstalk of the Gray code channel on the high-frequency stripe channel, and the color stripe images RGB1, RGB2, RGB3, and RGB4 are obtained respectively.

[0057] Step 104, using I5-I6 as the first channel and the second channel, and using I7 as the third channel, to synthesize to obtain RGB5; obtaining the inverted conjugate image I9', and synthesizing the inverted conjugate image I9' and I8-I9 to obtain RGB6;

[0058] Specifically applied to the embodiment of the present invention, first, an additional conjugate image I9' of the inverted I9 stripes is added, and the inverted conjugate image I9' is synthesized with I8-I9 to obtain RGB6, and I5-I6 is used as the first channel and the second channel, and I7 is used as the third channel to obtain RGB5; wherein the I9 Gray code stripe is the thinnest stripe in the Gray code, with a width of 8 pixels; the Gray code image is used for global phase unfolding, especially the Gray code image of the adjacent frequency of the high-frequency displacement stripes, which has the greatest influence on the local phase unfolding accuracy and stability, so the present invention adds an additional conjugate image of the I9 stripes (inverted, I9'), and by adding this high-frequency Gray code image, through the grayscale change of I9 and I9', the phase unfolding of the adjacent frequencies of the high-frequency displacement stripes can be more stably achieved, and the number of color structured light projection images will not be increased.

[0059] Step 105, after obtaining the RGB0, RGB1, RGB2, RGB3, RGB4, RGB5, and RGB6 color images, 18 RGB channel images are separated to obtain 19 8-bit grayscale structured light fringe images including the I9' image;

[0060] Step 106: Create a real-time three-dimensional point cloud of the target to be measured according to the grayscale structured light fringe image.

[0061] After obtaining 7 color images, 3*7=21 RGB channel images (including three white images) can be separated and processed, and 19 (including I9') 8-bit grayscale structured light fringe images can be obtained. Based on this, 3D reconstruction can be completed later. Figure 5 , showing a schematic diagram of a structured light system of an embodiment of the present invention, after the LED light source system projects the binary image onto the target to be measured, the camera module is controlled to obtain the color image, and a three-dimensional model of the target to be measured is established through the real-time data processing unit and the real-time three-dimensional imaging software. Therefore, in the embodiment of the present invention, only 7 color images need to be taken to complete the traditional reconstruction process of 18 pictures, and the shooting efficiency can be increased by more than 2 times. For example, based on the commonly used DLP3010 optical machine, assuming that the DLP projection frame rate is set to 500Hz, using a 1.3 million USB3.0 industrial camera (camera frame rate is about 210FPS), using the original 18-frame encoding strategy, the theoretical 3D scanning speed is about 11Hz. By adopting the technical solution of the present invention, the 3D scanning speed can be increased to 30Hz, which can better perform color real-time three-dimensional scanning and information collection on dynamic targets.

[0062] For color image separation, the original fringe pattern operation has the problem that the transition area separation of the single-channel fringe image will have crosstalk, which affects the accuracy of structured light imaging. A bandpass three-color filter is proposed to replace the traditional Bayer filter. Figure 6 As shown, the central wavelengths of the three RGB bandpass filters correspond to the central wavelengths of the RGB three-color light sources in the DLP. At the same time, under the premise of blocking crosstalk, the bandpass width is increased as much as possible to improve the photosensitivity efficiency of CMOS, so that the original fringe pattern can be cleanly separated from the three-channel image.

[0063] In the embodiment of the present invention, an RGB three-color projection method is used to achieve the technical effect of the present invention. The RGB three-color projection can also be replaced by near-infrared band projection of different wavelengths, such as 780 / 850 / 940 three near-infrared LEDs as DLP light sources, and the filters in the camera CMOS are replaced with three near-infrared narrow-band filters. High-frequency binary fast three-dimensional scanning in the near-infrared band can also be achieved. Since the present invention can achieve high-resolution and high-precision fast three-dimensional scanning based on only 7 pictures, a three-dimensional scanning speed of nearly 30HZ can be achieved based on an ordinary USB interface or even a gigabit network camera without the need for a traditional and more expensive high-speed camera. Related applications are extremely extensive, such as handheld color three-dimensional scanners, dynamic facial 3D scanning, robot 3D vision sensors, dynamic three-dimensional imaging of moving human bodies, dynamic three-dimensional scanning inside the oral cavity, etc.

[0064] In the embodiment of the present invention, the characteristic of sequential projection of RGB channels in the DLP three-color projection system is utilized, and the binary coded pattern is distributed to each color channel according to the proposed combination strategy, and the channel of the color camera is used to capture the projected RGB channel stripe pattern; the designed bandpass filter is used to replace the traditional Bayer filter to eliminate the crosstalk of the RGB channels; the scanning speed is increased by nearly three times while the number of coded patterns remains unchanged, and color three-dimensional scanning can be realized; high-speed dynamic three-dimensional scanning is realized, and high-precision and high-resolution real-time three-dimensional point cloud is obtained at the same time, and the structured light 3D scanning system is greatly improved based on conventional projection and imaging devices in combination with the projection characteristics of the current mainstream DLP.

[0065] It should be noted that, for the sake of simplicity, the method embodiments are described as a series of action combinations, but those skilled in the art should be aware that the embodiments of the present invention are not limited by the order of the actions described, because according to the embodiments of the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

[0066] Reference Figure 7 , shows a structural block diagram of a three-dimensional scanning device embodiment of the present invention, which may specifically include the following modules:

[0067] The binary image acquisition module 301 is used to acquire N binary images to be projected, and project the N binary images onto the target to be measured; the N binary images include images I0-I17;

[0068] The first projection module 302 is used to project a white image, that is, the three channels of RGB are all 255 grayscale. The projection pattern is mainly used to obtain the surface color information of the object under white light, and is also used as the I0 image in the N coded pictures to obtain the first projection image RGB0;

[0069] The second projection module 303 is used to adopt a conjugate projection strategy, using I10-I13 as the first channel and I14-I17 as the second channel; in addition, four low-frequency images I1, I2, I3, and I4 in Gray code are used as the third channel to obtain color stripe images RGB1, RGB2, RGB3, and RGB4 respectively;

[0070] The third projection module 304 is used to use I5-I6 as the first channel and the second channel, and I7 as the third channel to synthesize RGB5; obtain the inverted conjugate image I9', and synthesize the inverted conjugate image I9' and I8-I9 to obtain RGB6;

[0071] The grayscale structured light fringe image acquisition module 305 is used to obtain RGB0, RGB1, RGB2, RGB3, RGB4, RGB5, and RGB6 color images, separate 18 RGB channel images, and obtain 19 8-bit grayscale structured light fringe images including the I9' image;

[0072] The three-dimensional point cloud building module 306 is used to build a real-time three-dimensional point cloud of the target to be measured according to the grayscale structured light fringe image.

[0073] Preferably, the binary image acquisition module comprises:

[0074] The allocation submodule is used to allocate N binary images to N / 3 projection cycles. Each cycle contains three RGB projection actions. It needs to be projected N / 3 times onto the target to be measured to obtain N / 3 color structured light images.

[0075] Preferably, the device comprises:

[0076] The three-color filter module is used to adopt a bandpass three-color filter. The central wavelength of the three RGB bandpass filters corresponds to the central wavelength of the RGB three-color light source in the DLP.

[0077] Preferably, the device comprises:

[0078] Add module to add an additional conjugate image of the inverted I9 stripes.

[0079] Preferably, the device comprises:

[0080] The setting module is used for DLP3010 optical machine, the DLP projection frame rate is set to 500Hz, and a 1.3 million USB3.0 industrial camera is used, and the 3D scanning speed is increased to 30Hz.

[0081] Each module in the above three-dimensional scanning device can be implemented in whole or in part by software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module.

[0082] The three-dimensional scanning device provided above can be used to execute the three-dimensional scanning method provided by any of the above embodiments, and has corresponding functions and beneficial effects.

[0083] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Figure 8As shown. The computer device includes a processor, a memory, a network interface, a display screen and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a three-dimensional scanning method is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device housing, or an external keyboard, touchpad or mouse, etc.

[0084] Those skilled in the art will understand that Figure 8 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0085] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, Figures 1 to 6 The steps of the embodiment.

[0086] In one embodiment, a computer-readable storage medium is provided on which a computer program is stored. When the computer program is executed by a processor, the following is achieved: Figures 1 to 6 The steps of the embodiment.

[0087] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0088] It will be appreciated by those skilled in the art that the embodiments of the present invention may be provided as methods, devices, or computer program products. Therefore, the embodiments of the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the embodiments of the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0089] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0090] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0091] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0092] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0093] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

[0094] The three-dimensional scanning method, the three-dimensional scanning device, the computer equipment and the storage medium provided by the present invention are introduced in detail above. The principle and implementation mode of the present invention are explained by using specific examples in this article. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for the general technical personnel in this field, according to the idea of ​​the present invention, there will be changes in the specific implementation mode and the scope of application. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A three-dimensional scanning method, characterized in that: include: Obtaining N binary images to be projected, and projecting the N binary images onto the target to be measured; the N binary images include images I0-I17; Among them, a white image is projected, that is, the three channels of RGB are all 255 grayscale. The projected pattern is mainly used to obtain the surface color information of the object under white light, and is also used as the I0 image in N coded pictures to obtain the first projected image RGB0; A conjugate projection strategy was adopted, with I10-I13 as the first channel and I14-I17 as the second channel; in addition, four low-frequency images I1, I2, I3, and I4 in Gray code were used as the third channel to obtain color stripe images RGB1, RGB2, RGB3, and RGB4, respectively; I5-I6 is used as the first channel and the second channel, and I7 is used as the third channel to synthesize to obtain RGB5; an inverted conjugate image I9' is obtained, and the inverted conjugate image I9' is synthesized with I8-I9 to obtain RGB6; After obtaining RGB0, RGB1, RGB2, RGB3, RGB4, RGB5, and RGB6 color images, 18 RGB channel images are separated to obtain 19 8-bit grayscale structured light fringe images including the I9' image; A real-time three-dimensional point cloud of the target to be measured is established according to the grayscale structured light fringe image.

2. The three-dimensional scanning method according to claim 1, characterized in that: The step of acquiring N binary images to be projected and projecting the N binary images onto the target to be measured comprises: N binary images are distributed to N / 3 projection cycles. Each cycle contains three RGB projection actions. It needs to be projected N / 3 times onto the target to be measured to obtain N / 3 color structured light images.

3. The three-dimensional scanning method according to claim 1, characterized in that: The method comprises: Using a bandpass three-color filter, the central wavelength of the three RGB bandpass filters corresponds to the central wavelength of the RGB three-color light source in DLP.

4. The three-dimensional scanning method according to claim 1, characterized in that: The method comprises: An additional conjugate image of the inverted I9 fringe is added.

5. The three-dimensional scanning method according to claim 1, characterized in that: The method comprises: Based on the DLP3010 optical engine, the DLP projection frame rate is set to 500Hz, and a 1.3 million USB3.0 industrial camera is used, and the 3D scanning speed is increased to 30Hz.

6. A three-dimensional scanning device, characterized in that: include: A binary image acquisition module, used to acquire N binary images to be projected, and project the N binary images to the target to be measured; the N binary images include images I0-I17; The first projection module is used to project a white image, that is, the three channels of RGB are all 255 grayscale. The projection pattern is mainly used to obtain the surface color information of the object under white light, and is also used as the I0 image in the N coded pictures to obtain the first projection image RGB0; The second projection module adopts a conjugate projection strategy, with I10-I13 as the first channel and I14-I17 as the second channel; In addition, four low-frequency images I1, I2, I3, and I4 in Gray code are used as the third channel to obtain color stripe images RGB1, RGB2, RGB3, and RGB4, respectively; The third projection module is used to use I5-I6 as the first channel and the second channel, and I7 as the third channel to synthesize RGB5; obtain the inverted conjugate image I9', and synthesize the inverted conjugate image I9' and I8-I9 to obtain RGB6; A grayscale structured light fringe image acquisition module is used to obtain RGB0, RGB1, RGB2, RGB3, RGB4, RGB5, and RGB6 color images, separate 18 RGB channel images, and obtain 19 8-bit grayscale structured light fringe images including the I9' image; The three-dimensional point cloud building module is used to build a real-time three-dimensional point cloud of the target to be measured according to the grayscale structured light fringe image.

7. The three-dimensional scanning device according to claim 1, characterized in that: The binary image acquisition module comprises: The allocation submodule is used to allocate N binary images to N / 3 projection cycles. Each cycle contains three RGB projection actions. It needs to be projected N / 3 times onto the target to be measured to obtain N / 3 color structured light images.

8. The three-dimensional scanning device according to claim 1, characterized in that: The device comprises: The three-color filter module is used to adopt a bandpass three-color filter. The central wavelength of the three RGB bandpass filters corresponds to the central wavelength of the RGB three-color light source in the DLP.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the three-dimensional scanning method according to any one of claims 1 to 5 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the three-dimensional scanning method according to any one of claims 1 to 5 are implemented.

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