Dual-zoom system and three-dimensional information acquisition method thereof

Abstract

The invention relates to the technical field of three-dimensional measurement, and discloses a double-zoom system and a three-dimensional information acquisition method thereof, and the three-dimensional information acquisition method comprises the steps: adjusting a projection unit and a first micromirror array, and enabling a projection end to work in a coaxial light mode; controlling the second micromirror array to zoom by adopting a preset second zoom parameter, and processing the two-dimensional image data of the imaging unit in real time to generate a two-dimensional ultra-depth-of-field image; adjusting the parameters of the second micromirror array until the image acquired by the imaging unit is clear; a preset first zooming parameter is adopted to control zooming of the first micromirror array, and scanning information and image data are obtained in real time and processed to obtain surface height information; generating three-dimensional information containing texture information in combination with the two-dimensional super field depth image and the surface height information; according to the method disclosed by the invention, the problem of high calculation error in the absence of 2D texture information in the traditional 3D imaging technology is solved, and the height information can be accurately acquired even in an area with scarce texture information.

Description

Technical Field

[0001] The present invention relates to the technical field of three-dimensional measurement, and particularly to a dual-zoom system and a method for obtaining three-dimensional information thereof. Background Art

[0002] With the rapid growth of the demand for digital content, projection display technology has penetrated into high-end fields such as consumer electronics, in-vehicle entertainment, intelligent education, three-dimensional measurement, and industrial visualization. However, the existing projection-end zoom systems can only project structured light, lacking 2D texture information and unable to meet the demand for comprehensive information collection of objects.

[0003] The mainstream projection technologies are mainly divided into three categories: Fixed focal length projection technology relies on a physical lens group to achieve a fixed projection ratio, and requires users to manually adjust the screen distance and focal length for matching, so it cannot meet the requirements of dynamic scenarios. Mechanical zoom projection technology adjusts the focal length by driving the lens group to move with a motor, but has problems such as long response time, large volume, high risk of mechanical wear, and significant power consumption. Liquid lens zoom projection technology is based on the electro-wetting effect or the dielectric wetting effect, and adjusts the focal length by changing the surface tension of the liquid. Although it avoids mechanical moving parts, it depends on liquid diffusion kinetics, is greatly affected by environmental stability, has a complex sealing structure, and poor production consistency, making it difficult to meet the time response requirements of fast-moving scenarios such as AR / VR.

[0004] Adding a micromirror array zoom component at the front end of the projection system, and continuously scanning the measured object with the projected structured light within the depth range by changing the focal length. The micromirror array can achieve a change of 320 / 960 steps during the zoom process. Since the depth value corresponding to each step is already included in the original calibration file at the factory, the micromirror array can obtain height information by changing 320 / 960 steps, thereby completing the three-dimensional measurement of the object. However, a single imaging system is limited by the texture and reflection characteristics of the surface of the measured object. If the texture information is too single, during algorithm processing, the focus evaluation operator may exhibit double peaks or multi-peaks, resulting in incorrect calculation of height information.

[0005] It can be seen that the existing technologies still need to be improved. Summary of the Invention

[0006] In view of the deficiencies of the above-mentioned existing technologies, the purpose of the present invention is to provide a method for obtaining three-dimensional information of a dual-zoom system, which overcomes the high calculation error problem faced by traditional 3D imaging technologies in the absence of 2D texture information, and ensures that accurate height information can be obtained even in areas with scarce texture information.

[0007] To achieve the above object, the present invention adopts the following technical solutions: A three-dimensional information acquisition method for a dual-zoom system, the dual-zoom system includes a control device, and a projection unit, a first micromirror array, a second micromirror array, and an imaging unit that are electrically connected to the control device respectively; the three-dimensional information acquisition method includes: adjusting the working states of the projection unit and the first micromirror array to make the projection end formed by the projection unit and the first micromirror array work in a coaxial light mode; controlling the second micromirror array to start zooming based on a preset second zoom parameter, and during the zooming process, acquiring the two-dimensional image data collected by the imaging unit in real time and processing it to generate a two-dimensional super-depth-of-field image; adjusting the working state of the second micromirror array, and when the image collected by the imaging unit is clear, fixing the step parameter of the second micromirror array; controlling the first micromirror array to start zooming based on a preset first zoom parameter, and during the zooming process, acquiring the scanning information fed back by the first micromirror array and the scanning image data collected by the imaging unit in real time, and obtaining the surface height information based on the scanning information and the scanning image data; fusing the two-dimensional super-depth-of-field image and the surface height information to generate three-dimensional information including object texture information.

[0008] In the three-dimensional information acquisition method of the dual-zoom system, the adjusting the working states of the projection unit and the first micromirror array to make the projection end formed by the projection unit and the first micromirror array work in a coaxial light mode includes: adjusting the light source mode of the projection unit to a single light constant-on mode, and adjusting the step parameter of the first micromirror array to a preset intermediate position to make the projection end formed by the projection unit and the first micromirror array work in a coaxial light mode; or turning off the projection unit, turning on a preselected annular light source, and adjusting the step parameter of the first micromirror array to a preset intermediate position to make the first micromirror array work in an external annular light mode.

[0009] In the three-dimensional information acquisition method of the dual-zoom system, the controlling the second micromirror array to start zooming based on a preset second zoom parameter, and during the zooming process, acquiring the two-dimensional image data collected by the imaging unit in real time and processing it to generate a two-dimensional super-depth-of-field image includes: obtaining the preset second zoom parameter, controlling the second micromirror array to perform a fast zooming operation based on the preset second zoom parameter, and the preset second zoom parameter includes a zoom start position, a zoom stop position, and a zoom step; during the zooming process, acquiring the two-dimensional images at different focal lengths collected by the imaging unit in real time, integrating multiple two-dimensional images to obtain two-dimensional image data; processing the two-dimensional image data using the EDOF algorithm to obtain a two-dimensional super-depth-of-field image.

[0010] In the three-dimensional information acquisition method of the dual-zoom system, the processing of two-dimensional image data by using the EDOF algorithm to obtain a two-dimensional super-depth-of-field image includes: preprocessing and feature extraction processing are performed on each of the multiple two-dimensional images included in the two-dimensional image data to obtain multiple two-dimensional feature images including feature descriptors; feature matching is performed between different two-dimensional feature images, and according to the matching results, the feature points in different two-dimensional feature images are fused by using the weighted average method to generate a depth map; a two-dimensional super-depth-of-field image is reconstructed according to the two-dimensional image data and the generated depth map.

[0011] In the three-dimensional information acquisition method of the dual-zoom system, adjusting the working state of the second micromirror array and fixing the step parameter of the second micromirror array when the image collected by the imaging unit is clear includes: obtaining the feature information of the object to be measured, where the feature information includes the object size and the object shape; based on the feature information of the object to be measured, matching a parameter model in a preset model library, and adjusting the working state of the second micromirror array based on the matched parameter model; when the image collected by the imaging unit is clear, recording the parameter settings of the second micromirror array and fixing the step parameter.

[0012] In the three-dimensional information acquisition method of the dual-zoom system, based on a preset first zoom parameter, controlling the first micromirror array to start zooming, and during the zooming process, obtaining in real time the scanning information fed back by the first micromirror array and the scanning image data collected by the imaging unit, and obtaining the surface height information based on the scanning information and the scanning image data includes: obtaining the preset first zoom parameter, and controlling the first micromirror array to start zooming based on the preset first zoom parameter, where the preset first zoom parameter includes a zoom range and a zoom speed; during the zooming process, obtaining in real time the scanning information fed back by the first micromirror array and the scanning image data collected by the imaging unit; the scanning information is step_number information, and the scanning image data includes multiple scanning images, and each scanning image contains the structured light distribution information corresponding to a specific step_number; using a vertical measurement algorithm to obtain the surface height information of the object to be measured based on the scanning information and the scanning image data.

[0013] In the method for obtaining three-dimensional information of the dual zoom system, the vertical measurement algorithm is adopted to obtain the surface height information of the object to be measured based on the scanning information and the scanning image data, including: calculating the modulation degree of the structured light at each pixel point in each scanning image to generate a modulation degree distribution image corresponding to the scanning image; searching for the maximum value of the modulation degree at the position of each pixel point in each modulation degree distribution image and recording the step_number corresponding to the maximum value of the modulation degree; according to the preset mapping relationship between step_number and height, converting the recorded step_number into the height value of the corresponding position on the surface of the object to be measured to obtain the surface height information of the object to be measured, and the surface height information of the object to be measured includes the height information of each position on the surface of the object to be measured.

[0014] In the method for obtaining three-dimensional information of the dual zoom system, the two-dimensional super-depth-of-field image and the surface height information are fused to generate three-dimensional information including the texture information of the object, including: performing format verification on the two-dimensional super-depth-of-field image and the surface height information to ensure that the two-dimensional super-depth-of-field image and the surface height information are consistent in the number of pixel points and the arrangement order; based on the principle of one-to-one correspondence of pixel point positions, performing data fusion on the two-dimensional super-depth-of-field image and the surface height information that have passed the format verification to generate the two-dimensional super-depth-of-field image and the surface height information.

[0015] The present invention also correspondingly provides a dual zoom system, including a control device, and a projection unit, a first micromirror array, a second micromirror array, and an imaging unit that are respectively electrically connected to the control device. The control device uses the three-dimensional information acquisition method described above to implement work control; the projection unit is used to emit structured light to the first micromirror array, the first micromirror array is used to perform zoom processing on the structured light and then project the structured light onto the surface of the object to be measured, the second micromirror array is used to acquire the reflected light from the surface of the object to be measured, and the imaging unit is used to receive the light processed by the second micromirror array.

[0016] In the dual zoom system, the projection unit includes a projector and a first beam splitter, and the imaging unit includes a camera and a second beam splitter; the projector is used to emit structured light, and the first beam splitter is disposed in the optical path between the projector and the first micromirror array; the second beam splitter is disposed on the output optical path of the first beam splitter and in the input optical path of the second micromirror array, and the second beam splitter is used to project the structured light onto the surface of the object to be measured; the camera is used to receive the light processed by the second micromirror array.

[0017] Beneficial effects: The present invention provides a method for obtaining three-dimensional information of a dual-zoom system. By integrating two micromirror arrays, it realizes the precise capture of two-dimensional super-depth-of-field all-focus images and effectively solves the problem of height calculation errors faced by traditional 3D imaging technologies in the absence of two-dimensional texture information. The synergistic effect of the two micromirror arrays not only ensures the high precision of three-dimensional data but also retains the texture details of the scene, enabling accurate height information to be obtained even in areas with scarce texture information, thereby generating high-precision three-dimensional data with rich texture details. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is the first logical flowchart of the three-dimensional information acquisition method provided by the present invention; Figure 2 It is the second logical flowchart of the three-dimensional information acquisition method provided by the present invention; Figure 3 It is the third logical flowchart of the three-dimensional information acquisition method provided by the present invention; Figure 4 It is the fourth logical flowchart of the three-dimensional information acquisition method provided by the present invention; Figure 5 It is the fifth logical flowchart of the three-dimensional information acquisition method provided by the present invention; Figure 6 It is the sixth logical flowchart of the three-dimensional information acquisition method provided by the present invention; Figure 7 It is the seventh logical flowchart of the three-dimensional information acquisition method provided by the present invention; Figure 8 It is the optical path structure diagram of the dual-zoom system provided by the present invention.

[0019] Main element symbol description: 11 - projector, 12 - first beam splitter, 2 - first micromirror array, 3 - second micromirror array, 41 - second beam splitter, 42 - camera, 5 - object to be measured. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0020] The present invention provides a dual-zoom system and a method for obtaining three-dimensional information thereof. To make the purpose, technical solution and effects of the present invention clearer and more definite, the following further describes the present invention in detail with reference to the accompanying drawings and by way of examples.

[0021] In the description of the present invention, it should be understood that terms such as "installation" and "connection" should be understood in a broad sense. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0022] Please refer to Figure 1, the present invention provides a method for obtaining three-dimensional information of a dual-zoom system. The dual-zoom system includes a control device, a projection unit, a first micromirror array 2, a second micromirror array 3, and an imaging unit that are electrically connected to the control device respectively; the method for obtaining three-dimensional information includes: 101. Adjust the working states of the projection unit and the first micromirror array 2 so that the projection end formed by the projection unit and the first micromirror array 2 operates in the coaxial light mode; In this embodiment, before obtaining the two-dimensional super-depth-of-field image, the projection end is equivalent to a coaxial light source; the coaxial light source, with its characteristics of high brightness and uniform light, helps to reduce shadows and reflections in the image, thereby improving the clarity and contrast of the image; in addition, the design of the coaxial light source can eliminate the shadows caused by the unevenness of the object surface, ensure that the light is uniformly irradiated onto the sample from the same direction and captured by the imaging unit, thereby reducing scattering and reflection and reducing image noise; by making the projection end operate in the coaxial light mode, it not only helps to present the details of the measured object 5 on different focal planes, but also simplifies the design and calibration process of the imaging system, because the coaxial light source is parallel to the optical axis of the microscope lens and no complex adjustment is required to ensure alignment.

[0023] 102. Control the second micromirror array 3 to start zooming based on a preset second zoom parameter. During the zooming process, the two-dimensional image data collected by the imaging unit is obtained in real time and processed to generate a two-dimensional super-depth-of-field image; 103. Adjust the working state of the second micromirror array 3. When the image collected by the imaging unit is clear, fix the step parameter of the second micromirror array 3; In this embodiment, before obtaining the surface height information of the measured object 5, it is necessary to fix the parameters of the second micromirror array 3 to lock the focal length of the imaging lens of the imaging end formed by the second micromirror array 3 and the imaging unit; the micromirror array, as a spatial light modulator, realizes an optical switch by precisely controlling the rotation of the mirror of each micromirror unit, and then determines the modulation coefficient by controlling the optical switch time; fixing the parameters of the second micromirror array 3 helps to ensure the stability and accuracy of imaging, avoid imaging blur or distortion caused by the change of the focal length during the measurement process, which affects the accuracy of the height information; at the same time, this step also helps to simplify the measurement process, improve the measurement efficiency, and provide convenience for subsequent data processing and analysis.

[0024] 104. Control the first micromirror array 2 to start zooming based on a preset first zoom parameter. During the zooming process, the scanning information fed back by the first micromirror array 2 and the scanning image data collected by the imaging unit are obtained in real time, and the surface height information is obtained based on the scanning information and the scanning image data; 105. Fuse the two-dimensional super-depth-of-field image and the surface height information to generate three-dimensional information including object texture information.

[0025] The three-dimensional information acquisition method disclosed in this application integrates two micromirror arrays to achieve accurate capture of two-dimensional super-depth-of-field all-focus images, and effectively solves the problem of height calculation error faced by traditional 3D imaging technologies in the absence of two-dimensional texture information. The synergistic effect of the two micromirror arrays not only ensures the high precision of three-dimensional data, but also retains the texture details of the scene, enabling accurate height information to be obtained even in areas with scarce texture information, and then generating high-precision three-dimensional data with rich texture details.

[0026] Further, adjusting the working states of the projection unit and the first micromirror array 2 so that the projection end formed by the projection unit and the first micromirror array 2 operates in the coaxial light mode includes: 201. Adjust the light source mode of the projection unit to a single light always-on mode, and adjust the step parameter of the first micromirror array 2 to a preset intermediate position, so that the projection end formed by the projection unit and the first micromirror array 2 operates in the coaxial light mode; In this embodiment, when the projector 11 of the projection unit uses a single light always-on mode as the light source, the projector 11 can be regarded as a conventional light source. Further, by adjusting the step parameter of the first micromirror array 2 to a preset intermediate position, the fixed focal length of the projection end lens can be achieved. Thus, the projection end formed by the projection unit and the first micromirror array 2 will operate in the coaxial light mode, equivalent to a coaxial light source.

[0027] 202. Or turn off the projection unit, turn on the preselected ring light power supply, and adjust the step parameter of the first micromirror array 2 to a preset intermediate position, so that the first micromirror array 2 operates in the peripheral ring light mode; In this embodiment, in the peripheral ring light mode, the projector 11 is in the off state, and the projection end does not need to project structured light onto the object surface, so the structured light projection and zoom scanning tasks are no longer performed. At this time, fixing the step parameter of the first micromirror array 2 at the intermediate default position can maintain the stability of the projection end optical structure and avoid the resulting light interference with the illumination effect of the ring light. Therefore, under the stable illumination of the peripheral ring light, the camera 42 of the imaging unit can smoothly obtain two-dimensional super-depth-of-field images with the help of the zoom function of the second micromirror array 3.

[0028] In this embodiment, by using the coaxial light source mode for the projection end operation, two-dimensional image data applicable to the measured object 5 with uniform surface reflection characteristics and simple texture can be obtained; while using the peripheral ambient light mode to obtain two-dimensional image data is applicable to the measured object 5 with specific requirements for the light incident angle or sensitive to the light emitted by the projector 11.

[0029] Further, please refer to Figure 2, based on the preset second zoom parameter, control the second micromirror array 3 to start zooming. During the zooming process, continuously obtain the two-dimensional image data collected by the imaging unit and process it to generate a two-dimensional super-depth-of-field image, including: 301. Obtain the preset second zoom parameter, and based on the preset second zoom parameter, control the second micromirror array 3 to perform a fast zoom operation. The preset second zoom parameter includes a zoom start position, a zoom stop position, and a zoom step size; In this embodiment, during the acquisition process of the two-dimensional super-depth-of-field image, when setting the second micromirror array 3, the start position and the end position define the zoom range of the second micromirror array 3, and the step size parameter determines the amplitude of each zoom. It directly affects the number and resolution of the collected images. For example, if the start position is set to 10, the end position is set to 50, and the step size is 5, then the second micromirror array 3 will zoom at intervals of 5 within the range of 10 to 50 to collect two-dimensional images at different focal lengths. By obtaining the preset second zoom parameter and controlling the second micromirror array 3 to perform a fast zoom operation based on these parameters, precise control of the zoom process is achieved.

[0030] 302. During the zooming process, continuously obtain the two-dimensional images at different focal lengths collected by the imaging unit, and integrate multiple two-dimensional images to obtain two-dimensional image data; 303. Process the two-dimensional image data using the EDOF algorithm to obtain a two-dimensional super-depth-of-field image; In this embodiment, processing the two-dimensional image data using the EDOF algorithm further improves the clarity and depth-of-field effect of the image. The EDOF algorithm can utilize the redundant information in the image and obtain a two-dimensional super-depth-of-field image through an optimized algorithm, enabling the image to have better clarity and detail performance within the depth of field. This processing process not only improves the visual effect of the image but also provides reliable data support for the subsequent three-dimensional information fusion process.

[0031] Further, please refer to Figure 3 , the processing of the two-dimensional image data using the EDOF algorithm to obtain a two-dimensional super-depth-of-field image includes: 401. Perform preprocessing and feature extraction processing on each of the multiple two-dimensional images included in the two-dimensional image data to obtain multiple two-dimensional feature images including feature descriptors; In this embodiment, first, frame-by-frame preprocessing is performed on an image dataset containing multiple two-dimensional images. The specific operations include: performing noise reduction processing on the two-dimensional images using a median filter to reduce image noise interference; implementing grayscale processing to facilitate subsequent image analysis; registering the two-dimensional images using feature point registration technology to ensure that the images share a unified coordinate system; subsequently, applying the Scale-Invariant Feature Transform (SIFT) algorithm to extract features including texture from the two-dimensional images, and selecting appropriate feature descriptors for the two-dimensional images after feature extraction to facilitate subsequent feature matching and fusion.

[0032] 402. Perform feature matching between different two-dimensional feature images. According to the matching results, use the weighted average method to fuse the feature points in different two-dimensional feature images to generate a depth map. In this embodiment, after generating the depth map, a bilinear interpolation algorithm can be used to smooth the depth map to reduce depth mutations.

[0033] 403. Reconstruct a two-dimensional super-depth-of-field image based on the two-dimensional image data and the generated depth map. In this embodiment, based on the two-dimensional image data and the generated depth map, a multi-scale fusion technology is used to integrate the image information of different focal planes onto a single plane to achieve the reconstruction of the two-dimensional super-depth-of-field image; then, post-processing steps are performed on the reconstructed two-dimensional super-depth-of-field image, including image sharpening, contrast enhancement, etc., aiming to improve the visual quality of the image; finally, the quality of the reconstructed two-dimensional super-depth-of-field image is evaluated using a signal-to-noise ratio evaluation technology to ensure that it meets the established quality standards.

[0034] Further, please refer to Figure 4 , adjust the working state of the second micromirror array 3. When the image collected by the imaging unit is clear, fix the step parameters of the second micromirror array 3, including: 501. Obtain the feature information of the object to be measured 5, where the feature information includes the object size and the object shape. 502. Based on the feature information of the object to be measured 5, match a parameter model in a preset model library, and adjust the working state of the second micromirror array 3 based on the matched parameter model. In this embodiment, based on the feature information of the object to be measured 5, a preset parameter model is selected; the parameter models in the preset model library are trained based on historical data of similar objects to be measured 5, and can automatically adjust the parameters of the second micromirror array 3 to adapt to different objects to be measured 5, realizing adaptive imaging of the object to be measured 5 and improving the imaging efficiency and imaging quality; after loading the parameter model, the system automatically adjusts the parameters of the second micromirror array 3 to achieve the best imaging effect. At this time, observe the viewfinder screen of the observation camera 42 to confirm whether the imaging is clear.

[0035] 503. When the image collected by the imaging unit is clear, record the parameter settings of the second micromirror array 3 and fix the step parameter. In this embodiment, when the step parameter of the second micromirror array 3 is fixed, the focal length of the imaging end lens is locked, which not only simplifies the imaging process, but also improves the stability and consistency of imaging, providing strong support for subsequent three-dimensional information generation.

[0036] Further, please refer to Figure 5 , control the first micromirror array 2 to start zooming based on the preset first zoom parameter. During the zooming process, the scanning information fed back by the first micromirror array 2 and the scanning image data collected by the imaging unit are obtained in real time. The surface height information is obtained based on the scanning information and the scanning image data, including: 601. Obtain the preset first zoom parameter, and control the first micromirror array 2 to start zooming based on the preset first zoom parameter. The preset first zoom parameter includes the zoom range and the zoom speed. In this embodiment, during the process of obtaining the surface height information, it is crucial to adjust the parameters of the first micromirror array 2. The zoom range determines the scanning coverage distance of the structured light projected by the projector 11 on the object surface in the depth direction, and the zoom speed controls the scanning rate of the structured light. For example, when measuring a large object, a larger zoom range needs to be set to ensure that the structured light can cover all parts of the object. When a higher measurement efficiency is required, the zoom speed can be appropriately increased. By obtaining the preset first zoom parameter and precisely controlling the first micromirror array 2 to start zooming based on these parameters, the controllability and accuracy of the zooming process are achieved.

[0037] 602. During the zooming process, the scanning information fed back by the first micromirror array 2 and the scanning image data collected by the imaging unit are obtained in real time. The scanning information is the step_number information, and the scanning image data includes multiple scanning images, and each scanning image contains the structured light distribution information corresponding to a specific step_number. In this embodiment, the scanning information includes the step_number information, which helps to track each change during the zooming process. The scanning image data contains multiple scanning images, and each image corresponds to the structured light distribution information under a specific step_number, which provides key information for reconstructing the three-dimensional shape of the object to be measured 5.

[0038] 603. Adopt a vertical measurement algorithm to obtain the surface height information of the object to be measured 5 based on the scanning information and the scanning image data. In this embodiment, a vertical measurement algorithm is adopted. Based on the scanning information and the scanned image data, the surface height information of the object 5 to be measured can be accurately obtained. The vertical measurement algorithm can make full use of the structured light distribution information in the scanning information and the scanned image data. Through calculation and analysis, the height distribution of the surface of the object 5 to be measured is obtained, thereby realizing high-precision three-dimensional measurement. It not only improves the measurement accuracy but also provides reliable data support for the subsequent generation of three-dimensional information.

[0039] Further, please refer to Figure 6 , the adoption of the vertical measurement algorithm to obtain the surface height information of the object 5 to be measured based on the scanning information and the scanned image data includes: 701. Calculate the modulation degree of the structured light at each pixel point in each scanned image to generate a modulation degree distribution image corresponding to the scanned image; In this embodiment, the vertical measurement algorithm first processes each input scanned image, calculates the modulation degree of the structured light at each pixel point in the image. The modulation degree is a parameter characterizing the intensity change of the structured light at a specific pixel point. By applying the mathematical model of the modulation degree, the calculation of the modulation degree is performed on all pixel points of the scanned image, and finally a modulation degree distribution image is generated.

[0040] 702. Search for the maximum value of the modulation degree at the position of each pixel point in each modulation degree distribution image, and record the step_number corresponding to the maximum value of the modulation degree; In this embodiment, when analyzing each scanned image, the vertical measurement algorithm processes the modulation degree distribution image to determine the modulation degree peak at the position of each pixel point, and records the corresponding step number. This process is based on the structured light scanning principle, that is, when the structured light beam is accurately focused on a specific point on the object surface, the modulation degree value at this point will reach the peak.

[0041] 703. According to the preset mapping relationship between step_number and height, convert the recorded step_number into the height value at the corresponding position on the surface of the object 5 to be measured, and obtain the surface height information of the object 5 to be measured. The surface height information of the object 5 to be measured includes the height information at each position on the surface of the object 5 to be measured; In this embodiment, the preset mapping relationship between step_number and height can be obtained through system calibration; for example, a standard object with a known height is scanned to construct a correspondence table between step_number and the actual height. Through this method, the height data at each position on the object surface can be calculated, providing basic information for the generation of three-dimensional information.

[0042] Further, please refer to Figure 7, fusing the two-dimensional super-depth-of-field image and the surface height information to generate three-dimensional information including object texture information, comprising: 801. Perform format verification on the two-dimensional super-depth-of-field image and the surface height information to ensure that the two-dimensional super-depth-of-field image and the surface height information are consistent in terms of the number of pixel points and the arrangement order; In this embodiment, first check the consistency between the surface height information in pointxyz format and the two-dimensional super-depth-of-field image data to ensure that the number of pixel points and the arrangement order match; specifically, traverse each point in the pointxyz dataset through an algorithm and match it with the pixel points in the two-dimensional super-depth-of-field image to verify the spatial position correspondence relationship; further, use a high-precision tool to precisely verify the x, y, and z coordinate information of the pointxyz data points to ensure that the data point coordinates reach a predetermined accuracy standard; furthermore, check the resolution and color channels of the two-dimensional super-depth-of-field image to ensure compliance with experimental requirements; specifically, evaluate the image pixel density and clarity to ensure that the magnification and detail display meet the analysis needs, and check the accuracy of the RGB color mode, color saturation, and contrast to ensure the authenticity and accuracy of the image.

[0043] 802. Based on the principle of one-to-one correspondence of pixel point positions, perform data fusion on the two-dimensional super-depth-of-field image and the surface height information that have passed format verification to generate the two-dimensional super-depth-of-field image and the surface height information; In this embodiment, according to the principle of precise correspondence of pixel point positions, use the two-dimensional super-depth-of-field image and the surface height information that have passed format verification as input data, and perform data fusion processing through the application of a three-dimensional data fusion algorithm, such as the Poisson fusion algorithm; during the data fusion process, the texture information of the two-dimensional super-depth-of-field image is precisely mapped to each corresponding point of the surface height information, realizing seamless integration of the data; this process finally generates high-precision three-dimensional data containing texture information and the surface height information corresponding to each pixel point, and is represented in pointxyzrgb format; the fused data is then stored in a database or an external storage device for subsequent analysis and application needs; further, since the acquisition of the surface height information and the acquisition of the two-dimensional super-depth-of-field image share the same imaging system, that is, a dual-zoom system, and the measurement is coaxial with the camera 42, there is no shadow occlusion problem, so direct fusion of two-dimensional and three-dimensional data can be achieved; based on the precise correspondence of pixel point positions, a high-precision three-dimensional dataset containing clear texture information can be constructed without a complex calibration process, with the advantage of a convenient and fast data fusion process.

[0044] Please refer to Figure 8The present invention also provides a dual zoom system accordingly, including a control device and a projection unit, a first micromirror array 2, a second micromirror array 3 and an imaging unit electrically connected to the control device respectively, wherein the control device adopts any of the three-dimensional information acquisition methods described above to realize work control; the projection unit is used to emit structured light to the first micromirror array 2, the first micromirror array 2 is used to perform zoom processing on the structured light and then project the structured light onto the surface of the object to be measured 5, the second micromirror array 3 is used to obtain reflected light from the surface of the object to be measured 5, and the imaging unit is used to receive light processed by the second micromirror array 3.

[0045] For further information, see Figure 8 The projection unit includes a projector 11 and a first beam splitter 12, and the imaging unit includes a camera 42 and a second beam splitter 41; the projector 11 is used to emit structured light, and the first beam splitter 12 is arranged in the optical path between the projector 11 and the first micromirror array 2; the second beam splitter 41 is arranged on the output optical path of the first beam splitter 12 and is located on the input optical path of the second micromirror array 3, and the second beam splitter 41 is used to project the structured light onto the surface of the object 5 to be measured; the camera 42 is used to receive the light processed by the second micromirror array 3.

[0046] The dual zoom system disclosed in the present application is designed based on a micromirror array and is divided into a projection end and an imaging end. The projection end zoom system can realize three-dimensional measurement of the vertical method, and use the calibration data of the micromirror array to complete the height information calculation. Without complex calibration, it can quickly realize three-dimensional measurement based on modulation. The dual zoom system combines the projection end and the imaging end, which not only has a high utilization rate of optical elements and a simple structure, but also can obtain a two-dimensional super-depth of field full-focus image, effectively avoiding height calculation errors caused by lack of two-dimensional texture information. Through the cooperation of two micromirror arrays, the dual zoom system can generate high-precision three-dimensional information containing texture, providing strong support for three-dimensional measurement and reconstruction.

[0047] It is understandable that those skilled in the art can make equivalent substitutions or changes based on the technical solution and inventive concept of the present invention, and all these changes or substitutions should fall within the protection scope of the present invention.

Claims

1. A method for acquiring three-dimensional information of a dual zoom system, characterized in that: The dual zoom system includes a control device and a projection unit, a first micromirror array, a second micromirror array and an imaging unit electrically connected to the control device respectively; the three-dimensional information acquisition method includes: Adjusting the working state of the projection unit and the first micromirror array so that the projection end composed of the projection unit and the first micromirror array works in a coaxial light mode; The second micromirror array is controlled to start zooming based on a preset second zoom parameter. During the zooming process, the two-dimensional image data collected by the imaging unit is acquired in real time and processed to generate a two-dimensional super-depth-of-field image. Adjusting the working state of the second micromirror array, when the image collected by the imaging unit is clear, fixing the step parameter of the second micromirror array; Controlling the first micromirror array to start zooming based on a preset first zoom parameter, acquiring scanning information fed back by the first micromirror array and scanning image data collected by the imaging unit in real time during the zooming process, and acquiring surface height information based on the scanning information and the scanning image data; The 2D super-depth image and surface height information are fused to generate 3D information including object texture information.

2. The method for acquiring three-dimensional information of a dual zoom system according to claim 1, characterized in that: The step of adjusting the working state of the projection unit and the first micromirror array so that the projection end composed of the projection unit and the first micromirror array works in a coaxial light mode includes: The light source mode of the projection unit is adjusted to a single light constant light mode, and the step parameter of the first micromirror array is adjusted to a preset middle position, so that the projection end composed of the projection unit and the first micromirror array works in a coaxial light mode; Or turn off the projection unit, turn on the preselected ring light power supply, and adjust the step parameter of the first micromirror array to a preset middle position, so that the first micromirror array works in the peripheral ring light mode.

3. The method for acquiring three-dimensional information of a dual zoom system according to claim 1, characterized in that: The second micromirror array is controlled to start zooming based on the preset second zoom parameter, and during the zooming process, the two-dimensional image data collected by the imaging unit is acquired in real time and processed to generate a two-dimensional super-depth-of-field image, including: Acquire a preset second zoom parameter, and control the second micromirror array to perform a fast zoom operation based on the preset second zoom parameter, wherein the preset second zoom parameter includes a zoom start position, a zoom stop position, and a zoom step length; During the zooming process, two-dimensional images at different focal lengths collected by the imaging unit are acquired in real time, and multiple two-dimensional images are integrated to obtain two-dimensional image data; The EDOF algorithm is used to process the two-dimensional image data to obtain a two-dimensional super-depth-of-field image.

4. The method for acquiring three-dimensional information of a dual zoom system according to claim 3, characterized in that: The two-dimensional image data is processed by the EDOF algorithm to obtain a two-dimensional super-depth-of-field image, including: Preprocessing and feature extraction are performed one by one on a plurality of two-dimensional images included in the two-dimensional image data to obtain a plurality of two-dimensional feature images including feature descriptors; Perform feature matching between different two-dimensional feature images, and according to the matching results, use the weighted average method to fuse the feature points in different two-dimensional feature images to generate a depth map; A two-dimensional super-depth-of-field image is reconstructed according to the two-dimensional image data and the generated depth map.

5. The method for acquiring three-dimensional information of a dual zoom system according to claim 1, characterized in that: The step of adjusting the working state of the second micromirror array to fix the step parameter of the second micromirror array when the image collected by the imaging unit is clear includes: Acquiring characteristic information of the measured object, wherein the characteristic information includes the size and shape of the object; Based on the characteristic information of the object to be measured, matching the parameter model in the preset model library, and adjusting the working state of the second micromirror array based on the matched parameter model; When the image captured by the imaging unit is clear, the parameter setting of the second micromirror array is recorded, and the step parameter is fixed.

6. The method for acquiring three-dimensional information of a dual zoom system according to claim 1, characterized in that: The method controls the first micromirror array to start zooming based on a preset first zoom parameter, obtains scanning information fed back by the first micromirror array and scanning image data collected by the imaging unit in real time during the zooming process, and obtains surface height information based on the scanning information and the scanning image data, including: Acquire a preset first zoom parameter, and control the first micromirror array to start zooming based on the preset first zoom parameter, wherein the preset first zoom parameter includes a zoom range and a zoom speed; During the zooming process, the scanning information fed back by the first micromirror array and the scanning image data collected by the imaging unit are obtained in real time; the scanning information is step_number information, and the scanning image data includes multiple scanning images, each scanning image contains structured light distribution information corresponding to a specific step_number; A vertical measurement algorithm is used to obtain the surface height information of the object being measured based on the scanning information and the scanning image data.

7. The method for acquiring three-dimensional information of a dual zoom system according to claim 6, characterized in that: The vertical measurement algorithm is used to obtain the surface height information of the measured object based on the scanning information and the scanning image data, including: Calculating the structured light modulation degree at each pixel in each scanned image to generate a modulation degree distribution image corresponding to the scanned image; Search for the maximum modulation value at each pixel position in each modulation distribution image, and record the step_number corresponding to the maximum modulation value; According to the preset mapping relationship between step_number and height, the recorded step_number is converted into the height value of the corresponding position on the surface of the measured object to obtain the surface height information of the measured object, wherein the surface height information of the measured object includes the height information of each position on the surface of the measured object.

8. The method for acquiring three-dimensional information of a dual zoom system according to claim 1, characterized in that: The fusing of the two-dimensional super-depth image and the surface height information to generate three-dimensional information including object texture information includes: Perform format check on the two-dimensional super-depth-of-field image and surface height information to ensure that the two-dimensional super-depth-of-field image and surface height information are consistent in the number of pixels and arrangement order; Based on the principle of one-to-one correspondence between pixel positions, data fusion is performed on the two-dimensional super-depth-of-field image and surface height information that have passed the format verification to generate a two-dimensional super-depth-of-field image and surface height information.

9. A dual zoom system, characterized in that: It includes a control device and a projection unit, a first micromirror array, a second micromirror array and an imaging unit electrically connected to the control device respectively, the control device adopts the three-dimensional information acquisition method as described in any one of claims 1 to 8 to realize work control; the projection unit is used to emit structured light to the first micromirror array, the first micromirror array is used to zoom the structured light and then project the structured light onto the surface of the object to be measured, the second micromirror array is used to obtain reflected light from the surface of the object to be measured, and the imaging unit is used to receive light processed by the second micromirror array.

10. A dual zoom system according to claim 9, characterized in that: The projection unit includes a projector and a first beam splitter, and the imaging unit includes a camera and a second beam splitter; the projector is used to emit structured light, and the first beam splitter is arranged in the optical path between the projector and the first micromirror array; the second beam splitter is arranged on the output optical path of the first beam splitter and is located on the input optical path of the second micromirror array, and the second beam splitter is used to project the structured light onto the surface of the object to be measured; the camera is used to receive the light processed by the second micromirror array.

Images