High-precision rapid three-dimensional imaging method and device for mirror surface and transparent surface

Abstract

The embodiment of the invention provides a high-precision rapid three-dimensional imaging method and device for a mirror surface and a transparent surface, and the method comprises the steps: controlling a condensation device to start, and enabling the surface temperature of a workpiece to be reduced to a preset temperature; and controlling the structured light 3D camera to scan and image the cooled workpiece to obtain a complete 3D model of the surface of the workpiece, providing a rapid three-dimensional imaging device for a transparent surface or a high-reflection complex surface, and effectively improving the reflection condition of the surface of an object and remarkably increasing the diffuse reflection component by using a condensation film formed after air vapor is condensed on the surface. Therefore, an existing structured light three-dimensional scanning device can be directly applied, high-quality three-dimensional data can be rapidly obtained, the use of a traditional spraying means is avoided, no potential damage is caused to the surface, the use of expensive equipment and complex operation such as line spectrum and multi-angle scanning splicing is also avoided, and the cost is reduced. And the three-dimensional imaging task of the workpiece with the complex reflecting surface can be quickly completed with low cost and high quality.

Description

Technical Field

[0001] The present invention relates to the field of computer technologies, and particularly to a high-precision and fast three-dimensional imaging method for mirror surfaces and transparent surfaces, a high-precision and fast three-dimensional imaging device for mirror surfaces and transparent surfaces, a computer device, and a storage medium. Background Art

[0002] In the field of industrial inspection, the 3D imaging methods for the surface of workpiece objects are mainly line laser scanning and structured light scanning. Although they have significant differences in hardware structures, their basic principles are similar, both using the imaging principle of triangulation ranging. However, for existing optical three-dimensional scanning technologies, it is impossible to effectively obtain accurate and complete three-dimensional information for complex reflections, especially specular reflections or transparent surfaces. Most of them adopt the method of spraying a developer enhancer, resulting in low efficiency, and spraying operations are not allowed on some sensitive surfaces.

[0003] Currently, the 3D imaging for mirror surfaces or transparent surfaces on the market mainly includes multi-frequency phase-shift technology based on the phase deflection method and line spectral confocal technology. The multi-frequency phase-shift technology based on the phase deflection method can image transparent or mirror objects, but it requires projection devices such as displays. The imaging structure is complex and the volume is large; due to the limited speed of the display switching the screen, the imaging speed is affected, resulting in a slow final 3D imaging speed; and when the object to be measured is a diffuse reflection surface, the fringe light emitted by the display cannot be clearly reflected to the camera, so it is impossible to image the diffuse reflection surface, and the applicable range is narrow. The line spectral confocal technology uses the dispersion of light to project a linear light spot onto the object to be measured, and then reflects it back to the spectral analyzer. Combining the analysis of the microprocessor and the high-precision displacement platform device, the three-dimensional topography of the surface of the object to be measured can be obtained; since the maximum line length of the existing line spectral technology can only reach more than ten millimeters, the imaging field of view of this technology is small, the application range is limited, and it is usually expensive.

[0004] In addition, there is also a method on the market of spraying a developer on the mirror surface or transparent surface to make its surface have diffuse reflection characteristics, and then using structured light technology to scan and restore its surface 3D topography. This method can effectively image the surface of non-diffuse reflection materials; however, in actual industrial production scenarios, spraying a developer on the product surface will cause chemical pollution and is difficult to remove; after measurement, it will affect the product performance and appearance, and manufacturers generally do not accept it during online batch production. Summary of the Invention

[0005] In view of the above problems, embodiments of the present invention are proposed to provide a high-precision and fast three-dimensional imaging method for mirror surfaces and transparent surfaces, a high-precision and fast three-dimensional imaging device for mirror surfaces and transparent surfaces, a computer device, and a storage medium that overcome the above problems or at least partially solve the above problems.

[0006] To solve the above problems, an embodiment of the present invention discloses a high-precision and fast three-dimensional imaging method for a mirror surface and a transparent surface, which is applied to a three-dimensional imaging device. The three-dimensional imaging device includes a condensation device, including:

[0007] Control the condensation device to start, so that the surface temperature of the workpiece is reduced to a preset temperature;

[0008] Control the structured light 3D camera to scan and image the cooled workpiece to obtain a complete 3D model of the workpiece surface.

[0009] Preferably, the condensation device includes a refrigerator cooling area device; the control of starting the condensation device to reduce the surface temperature of the workpiece to a preset temperature includes:

[0010] Control the refrigerator cooling area device to start, place the workpiece in the cooling area of the refrigerator cooling area device, and at the same time detect the surface temperature of the workpiece to determine whether the surface temperature of the workpiece reaches the temperature threshold;

[0011] If the surface temperature of the workpiece reaches the temperature threshold, it is confirmed that the surface temperature of the workpiece has been reduced to the preset temperature, and the scanning and imaging process is started.

[0012] Preferably, the condensation device includes a low-temperature gas injection device; the control of starting the condensation device to reduce the surface temperature of the workpiece to a preset temperature includes:

[0013] Control the low-temperature gas injection device to start and perform a low-temperature gas injection operation on the workpiece at the work station;

[0014] Detect the surface temperature of the workpiece to determine whether the surface temperature of the workpiece reaches the temperature threshold;

[0015] If the surface temperature of the workpiece reaches the temperature threshold, it is confirmed that the surface temperature of the workpiece has been reduced to the preset temperature, and the scanning and imaging process is started.

[0016] Preferably, the method further includes:

[0017] Determine the temperature threshold according to the scanning and imaging environment temperature and the surface temperature of the workpiece.

[0018] Preferably, the 3D camera is composed of a DLP projection module and a camera module; the control of the structured light 3D camera to scan and image the cooled workpiece to obtain a complete 3D model of the workpiece surface includes:

[0019] Use the projection of high-frequency binary structured light coding and the camera module to scan and image the cooled workpiece to obtain a complete 3D model of the workpiece surface.

[0020] An embodiment of the present invention discloses a high-precision and fast three-dimensional imaging device for a mirror surface and a transparent surface, which is applied to a three-dimensional imaging device. The three-dimensional imaging device includes a condensation device, and includes:

[0021] A workpiece surface temperature control module, configured to control the start of the condensation device to reduce the surface temperature of the workpiece to a preset temperature;

[0022] A scanning imaging module, configured to control a structured light 3D camera to scan and image the cooled workpiece to obtain a complete 3D model of the workpiece surface.

[0023] Preferably, the condensation device includes a refrigerator cooling area device; the workpiece surface temperature control module includes:

[0024] A first judgment sub-module, configured to control the start of the refrigerator cooling area device, place the workpiece in the cooling area of the refrigerator cooling area device, and at the same time detect the surface temperature of the workpiece to judge whether the surface temperature of the workpiece reaches a temperature threshold;

[0025] A first confirmation sub-module, configured to confirm that the surface temperature of the workpiece has been reduced to the preset temperature if the surface temperature of the workpiece reaches the temperature threshold, and start the scanning imaging process.

[0026] Preferably, the condensation device includes a low-temperature gas injection device; the workpiece surface temperature control module includes:

[0027] A low-temperature gas injection sub-module, configured to control the start of the low-temperature gas injection device to perform a low-temperature gas injection operation on the workpiece at the work station;

[0028] A second judgment sub-module, configured to detect the surface temperature of the workpiece to judge whether the surface temperature of the workpiece reaches a temperature threshold;

[0029] A second confirmation sub-module, configured to confirm that the surface temperature of the workpiece has been reduced to the preset temperature if the surface temperature of the workpiece reaches the temperature threshold, and start the scanning imaging process.

[0030] An embodiment of the present invention also discloses a computer device, including a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, the steps of the above-mentioned high-precision and fast three-dimensional imaging method for a mirror surface and a transparent surface are implemented.

[0031] An embodiment of the present invention also 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 high-precision and fast three-dimensional imaging method for a mirror surface and a transparent surface are implemented.

[0032] The embodiments of the present invention have the following advantages:

[0033] In the embodiments of the present invention, a fast three-dimensional imaging method for transparent surfaces or highly reflective complex surfaces is proposed. By using the condensation film formed after the condensation of air water vapor on the surface, the reflection conditions of the object surface are effectively improved, and the diffuse reflection component is significantly increased, enabling the direct application of existing structured light three-dimensional scanning devices and quickly obtaining high-quality three-dimensional data. It avoids the use of traditional spraying methods, causes no potential damage to the surface, and also avoids the use of expensive equipment and complex operations such as line spectra and multi-angle scanning stitching. It can complete the three-dimensional imaging task of complex reflective surface workpieces at low cost, quickly, and with high quality. The device can adopt two working modes. The first is to let the workpiece pass through the cooling zone and achieve the effect of natural surface cooling after a certain period of time. The second is to use a cold air injection device such as a cold air gun to cool the surface of the workpiece before imaging measurement to achieve the cooling effect. It can stably and completely image transparent or mirror objects and has the advantage of good robustness in three-dimensional imaging. The water film forms and dissipates quickly, and with fast 3D scanning, it has the advantage of high efficiency and meets the current three-dimensional detection requirements. After the measurement is completed, the water film automatically volatilizes, causing no pollution to the environment and the object to be measured, meeting the requirements of in-situ non-contact three-dimensional detection. Based on the existing three-dimensional scanning system, only additional cooling or water condensation film forming equipment needs to be added, with low cost and simple operation, and it has the significant advantage of high cost performance. In summary, this method is an ideal technical solution for fast, high-precision three-dimensional imaging and measurement of transparent or complex reflective surfaces at present. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0035] Figure 1 It is a flowchart of the steps of an embodiment of a high-precision and fast three-dimensional imaging method for a mirror surface and a transparent surface in the embodiments of the present invention;

[0036] Figure 2 It is a schematic structural diagram of a 3D imaging system for a highly reflective workpiece with a mirror surface and a transparent surface in the embodiments of the present invention;

[0037] Figure 3 It is a flowchart of the operation of a 3D imaging system in the embodiments of the present invention;

[0038] Figure 4 It is a scanning effect diagram before and after the film-like condensation treatment in the embodiments of the present invention;

[0039] Figure 5 It is a structural block diagram of an embodiment of a high-precision and fast three-dimensional imaging device for a mirror surface and a transparent surface in the embodiments of the present invention;

[0040] Figure 6 is an internal structure diagram of a computer device of an embodiment. Specific implementation manner

[0041] In order to make the technical problems, technical solutions and beneficial effects solved by the embodiments of the present invention clearer, the following further describes the embodiments of the present invention in detail with reference to 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.

[0042] Refer to Figure 1 , which shows a step flowchart of an embodiment of a high-precision and fast three-dimensional imaging method for a mirror surface and a transparent surface according to an embodiment of the present invention, applied to a three-dimensional imaging device. The three-dimensional imaging device includes a condensation device, and specifically may include the following steps:

[0043] Step 101, control the condensation device to start, so that the surface temperature of the workpiece is reduced to a preset temperature;

[0044] In the embodiment of the present invention, the condensation device may include various cooling devices such as a refrigerator cooling area device or a low-temperature gas injection device, and the embodiment of the present invention does not limit this too much;

[0045] Specifically, the refrigerator cooling area device may refer to a cooling device that uses the principle of a refrigerator, and the workpiece can be placed in the cooling area of the refrigerator cooling area device; while the low-temperature gas injection device may refer to a device that generates and injects low-temperature gas, and the workpiece can be placed on the work station, and the low-temperature gas injection device is controlled to inject low-temperature gas onto the workpiece

[0046] On the other hand, the three-dimensional imaging device may also be provided with a temperature measuring device, which can be used to measure the surface temperature of the workpiece. The types of the temperature measuring device may include an infrared temperature measuring device, a laser temperature measuring device, etc., and the embodiment of the present invention does not limit this too much.

[0047] In a preferred embodiment of the embodiment of the present invention, the condensation device includes a refrigerator cooling area device; the control of the condensation device to start and reduce the surface temperature of the workpiece to a preset temperature includes:

[0048] Control the refrigerator cooling area device to start, place the workpiece in the cooling area of the refrigerator cooling area device, and at the same time detect the surface temperature of the workpiece, and judge whether the surface temperature of the workpiece reaches a temperature threshold;

[0049] If the surface temperature of the workpiece reaches the temperature threshold, it is confirmed that the surface temperature of the workpiece has been reduced to the preset temperature, and the scanning imaging process is started.

[0050] In a preferred embodiment of the embodiment of the present invention, the condensation device includes a low-temperature gas injection device; controlling the start of the condensation device to reduce the surface temperature of the workpiece to a preset temperature includes:

[0051] Controlling the start of the low-temperature gas injection device to perform a low-temperature gas injection operation on the workpiece at the work station;

[0052] Detecting the surface temperature of the workpiece and determining whether the surface temperature of the workpiece reaches a temperature threshold;

[0053] If the surface temperature of the workpiece reaches the temperature threshold, it is confirmed that the surface temperature of the workpiece has been reduced to the preset temperature, and the scanning and imaging process is started.

[0054] It should be noted that the method further includes: determining the temperature threshold according to the scanning and imaging environment temperature and the surface temperature of the workpiece; specifically, the difference between the scanning and imaging environment temperature and the surface temperature of the workpiece can be used as the temperature threshold. For example, if the difference between the scanning and imaging environment temperature and the surface temperature of the workpiece is 8 degrees, then the temperature threshold is 8 degrees. That is, when the difference between the scanning and imaging environment temperature and the surface temperature of the workpiece reaches 8 degrees, it is confirmed that the surface temperature of the workpiece has been reduced to the preset temperature, and the scanning and imaging process is started.

[0055] As Figure 2 shown, the main components of the present invention are a 3D structured light scanning system and a cooling device. The 3D structured light scanning system can adopt an encoding method based on high-frequency binary stripes or multi-frequency sine phase shift. Because the surface imaging is close to diffuse reflection, all structured light methods can obtain good results. In this example, high-frequency binary is taken as an example, and this method has the significant advantages of fast speed, high precision and good stability. The working mode is mainly divided into two types; the difference lies in the cooling method. The cooling method of working mode one is to place the workpiece in the cooling area. After the surface temperature of the workpiece drops to the preset temperature T0, it is quickly moved to the scanning area within the predetermined time ts for fast three-dimensional scanning; the cooling method of working mode two is to place the workpiece in the measurement area, and then uniformly inject low-temperature gas to cool the workpiece. After a condensation film is formed on the surface of the workpiece within the time td, the three-dimensional scanning process is quickly completed. The main working process is as ([[]] Figure 3 ) shown:

[0056] 1. Place the workpiece to be measured in the cooling area so that there is a certain temperature difference between the surface temperature of the workpiece and the room temperature;

[0057] 2. Place the workpiece that has reached a low temperature in the cooling area in the measurement area. Since the surface temperature of the workpiece is lower than the room temperature, a condensation effect will occur on the surface of the workpiece, forming a very thin water film;

[0058] 3. After the water film condenses and before it volatilizes, the structured light 3D camera scans and images the workpiece. At this time, the water film adheres to the surface of the workpiece and has the characteristics of diffuse reflection, which can better image the surface of the workpiece.

[0059] 4. After imaging is completed, wait for the temperature of the workpiece to return to room temperature and the water film on the surface to naturally volatilize, then the next process can be carried out.

[0060] Specifically, if working mode one is adopted, the transparent or mirror workpiece to be measured is placed in the cooling area; the cooling area can use a working principle similar to that of a refrigerator to lower the temperature in the area in advance. When the workpiece enters the cooling area, the surface temperature of the workpiece will naturally drop until there is a sufficient temperature difference with the room temperature (the temperature difference is at least 8 °C or more).

[0061] Furthermore, if working mode two is adopted, there is no need to increase the cooling area, saving installation space. However, a low-temperature gas injection device such as a "cold air gun" needs to be added; when the transparent or mirror workpiece to be measured is placed in the measurement area, start injecting low-temperature gas onto its surface to cool it down. When the temperature drops low enough, stop injecting. After the surface temperature of the workpiece is low enough, place it in the measurement area at room temperature (this step is not required in working mode two); usually, the air at room temperature has a certain humidity; due to the temperature difference between the surface of the workpiece and the room temperature, the moisture in the air will produce a "film condensation" effect on the surface of the workpiece, generating a very thin water film. The industrial-grade "film condensation method" can control a uniform water film of 100 - 300 nanometers. The key factors affecting the thickness and uniformity of the water film include:

[0062] a) Temperature gradient (when ΔT≥8 °C, the film formation speed increases by 40%);

[0063] b) Surface energy (when the contact angle of the hydrophilic surface <10°, it can be thinned to 50 nanometers);

[0064] c) Gas flow rate (when the flow rate >2 m / s, the film thickness decreases by about 30%).

[0065] Step 102, control the structured light 3D camera to scan and image the cooled workpiece to obtain a complete 3D model of the workpiece surface.

[0066] The present invention uses a structured light system as a 3D imaging sensing device, and 3D imaging sensors based on other principles can also be used to achieve the same function; the present invention adopts the "film condensation method" to generate a water film with diffuse reflection characteristics on the object surface; similarly, without affecting the accuracy, other solutions can be adopted to cover the object surface with a water film to achieve the same effect; in the embodiment of the present invention, the 3D camera is composed of a DLP projection module and a camera module; the controlled structured light 3D camera scans and images the cooled workpiece to obtain a complete 3D model of the workpiece surface, including: projecting high-frequency binary structured light coding and the camera module to scan and image the cooled workpiece to obtain a complete 3D model of the workpiece surface

[0067] The high-frequency binary structured light coding technology is adopted; this technology has the advantages of good imaging stability, high accuracy, high resolution, etc. And it has good robustness for imaging surfaces of different materials and colors. When the workpiece surface is covered with a water film, it is immediately scanned and imaged, and at this time, a complete 3D model of the workpiece surface can be obtained.

[0068] In a specific example, as follows Figure 4 As shown, the "sealing nail" of the power battery cell is selected as the experimental object. The weld bead quality inspection after welding the "sealing nail" is a key link in the power battery process and requires 3D scanning imaging for detection; however, the weld bead usually shows the phenomenon of high transparency and high reflectivity, and conventional scanning methods cannot image it completely. After adopting the imaging method proposed by the present invention, it can scan and image completely and restore its 3D morphology, where Figure 4 of the sub Figure 4 A, 4B respectively represent the grayscale image and depth image of the imaging effect without treatment; and the sub Figure 4 C, 4D respectively represent the grayscale image and depth image of the imaging effect after film condensation treatment. It shows that the method proposed by the present invention can effectively solve the pain point that it is difficult to image the surfaces of transparent, mirror-like and highly reflective materials in the market. And after the scanning is completed, the water film volatilizes naturally without residue, and there is no pollution to the workpiece and the environment, and the application range is wide.

[0069] In an embodiment of the present invention, a rapid three-dimensional imaging method for transparent surfaces or highly reflective complex surfaces is proposed. By using the condensation film formed after the condensation of air water vapor on the surface, the reflection conditions of the object surface are effectively improved, and the diffuse reflection component is significantly increased, enabling the direct application of existing structured light three-dimensional scanning methods and quickly obtaining high-quality three-dimensional data. It avoids the use of traditional spraying means, causes no potential damage to the surface, and also avoids the use of expensive equipment and complex operations such as line spectra and multi-angle scanning stitching. It can complete the three-dimensional imaging task of complex reflective surface workpieces at low cost, quickly, and with high quality. This method can adopt two working modes. The first is to let the workpiece pass through the cooling zone and achieve the effect of natural surface cooling after a certain period of time. The second is to use a cold air injection device such as a cold air gun to cool the surface of the workpiece before imaging measurement to achieve the cooling effect. It can stably and completely image transparent or mirror objects and has the advantage of good robustness in three-dimensional imaging. The water film forms and dissipates quickly, and with fast 3D scanning, it has the advantage of high efficiency, meeting the current three-dimensional detection requirements. After the measurement is completed, the water film automatically volatilizes, causing no pollution to the environment and the object to be measured, meeting the requirements of in-situ non-contact three-dimensional detection. Based on the existing three-dimensional scanning system, only additional cooling or water condensation film formation equipment needs to be added, with low cost and simple operation, and it has the significant advantage of high cost performance. In summary, this method is an ideal technical solution for rapid high-precision three-dimensional imaging and measurement of transparent or complex reflective surfaces at present.

[0070] It should be noted that for the method embodiments, for the sake of simple description, they are all expressed as a series of action combinations. However, those skilled in the art should know that the embodiments of the present invention are not limited by the described action sequences, because according to the embodiments of the present invention, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily essential for the embodiments of the present invention.

[0071] Refer to Figure 5 , which shows the structural block diagram of an embodiment of a high-precision rapid three-dimensional imaging device for a mirror surface and a transparent surface in an embodiment of the present invention. Applied to a three-dimensional imaging device, the three-dimensional imaging device includes a condensation device, which can specifically include the following modules:

[0072] The workpiece surface temperature control module 301 is used to control the start of the condensation device to reduce the surface temperature of the workpiece to a preset temperature.

[0073] The scanning imaging module 302 is used to control the structured light 3D camera to scan and image the cooled workpiece to obtain a complete 3D model of the workpiece surface.

[0074] Preferably, the condensation device includes a refrigerator cooling area device; the workpiece surface temperature control module includes:

[0075] The first judgment sub-module is used to control the start of the refrigerator cooling area device, place the workpiece in the cooling area of the refrigerator cooling area device, and at the same time detect the surface temperature of the workpiece to judge whether the surface temperature of the workpiece reaches the temperature threshold.

[0076] The first confirmation sub-module is used to confirm that the surface temperature of the workpiece has been reduced to the preset temperature and start the scanning imaging process if the surface temperature of the workpiece reaches the temperature threshold.

[0077] Preferably, the condensing device includes a low-temperature gas injection device; the workpiece surface temperature control module includes:

[0078] The low-temperature gas injection sub-module is used to control the start of the low-temperature gas injection device and perform low-temperature gas injection operations on the workpiece at the work station.

[0079] The second judgment sub-module is used to detect the surface temperature of the workpiece to judge whether the surface temperature of the workpiece reaches the temperature threshold.

[0080] The second confirmation sub-module is used to confirm that the surface temperature of the workpiece has been reduced to the preset temperature and start the scanning imaging process if the surface temperature of the workpiece reaches the temperature threshold.

[0081] Preferably, the device further includes:

[0082] The determination module is used to determine the temperature threshold according to the scanning imaging environment temperature and the surface temperature of the workpiece.

[0083] Preferably, the 3D camera is composed of a DLP projection module and a camera module; the scanning imaging module includes:

[0084] The scanning imaging sub-module is used to scan and image the cooled workpiece by using projected high-frequency binary structured light coding and the camera module to obtain a complete 3D model of the workpiece surface.

[0085] Each module in the above high-precision and fast three-dimensional imaging device for mirror surfaces and transparent surfaces can be implemented in whole or in part by software, hardware, and their combination. The above modules can be embedded in the processor of the computer device in hardware form or independent of it, or stored in the memory of the computer device in software form, so that the processor can call and execute the operations corresponding to the above modules.

[0086] The above-provided high-precision and fast three-dimensional imaging device for mirror surfaces and transparent surfaces can be used to execute the high-precision and fast three-dimensional imaging method for mirror surfaces and transparent surfaces provided in any of the above embodiments, and has corresponding functions and beneficial effects.

[0087] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as shown in Figure 6 . 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, it implements a high-precision and fast three-dimensional imaging method for a mirror surface and a transparent surface. The display screen of the computer device may be a liquid crystal display screen or an electronic ink display screen. The input device of the computer device may be a touch layer covering the display screen, or a button, a trackball, or a touchpad provided on the housing of the computer device, or an external keyboard, a touchpad, or a mouse, etc.

[0088] Those skilled in the art can understand that Figure 6 the structure shown in is only a block diagram of some structures related to the solution of this application, and does not constitute a limitation on the computer device to which the solution of this application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0089] In one embodiment, a computer device is provided, including a memory and a processor. A computer program is stored in the memory, and when the processor executes the computer program, it implements Figures 1 to 4 the steps of the embodiment.

[0090] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by the processor, it implements the following Figures 1 to 4 steps of the embodiment.

[0091] Each embodiment in this specification is described in a progressive manner. The key point of each embodiment is to illustrate the differences from other embodiments. The same and similar parts among the embodiments can be referred to each other.

[0092] Those skilled in the art should understand that the embodiments of the present invention can be provided as methods, apparatuses, or computer program products. Therefore, the embodiments of the present invention can take the form of all-hardware embodiments, all-software embodiments, or embodiments combining software and hardware aspects. Moreover, the embodiments of the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memories, CD-ROMs, optical memories, etc.) that contain computer-usable program code.

[0093] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each flow and / or block in the flowchart and / or block diagram, as well as the combination of flows and / or blocks in the flowchart and / or block diagram, can be realized by computer program instructions. These computer program instructions can be provided to the processors of general-purpose computers, special-purpose computers, embedded processors, or other programmable data processing terminal devices to generate a machine, so that the instructions executed by the processors of the computer or other programmable data processing terminal devices generate means for realizing the functions specified in one Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0094] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured article including instruction means, and the instruction means realizes the functions specified in one Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0095] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device, so that a series of operation steps are executed on the computer or other programmable terminal device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable terminal device provide steps for realizing the functions specified in one Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0096] Although the preferred embodiments of the embodiments of the present invention have been described, those skilled in the art can make additional changes and modifications once they know the basic creative concepts. Therefore, the appended claims are intended to be construed as including the preferred embodiments and all changes and modifications falling within the scope of the embodiments of the present invention.

[0097] Finally, it should also be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or terminal device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or terminal device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or terminal device comprising said element.

[0098] The above has introduced in detail a high-precision and fast three-dimensional imaging method for a mirror surface and a transparent surface, a high-precision and fast three-dimensional imaging device for a mirror surface and a transparent surface, a computer device, and a storage medium. In this article, specific examples are used to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A high-precision and fast three-dimensional imaging method for mirror and transparent surfaces, characterized in that: Applied to a three-dimensional imaging device, the three-dimensional imaging device comprises a condensation device, including: Controlling the condensation device to start, so that the surface temperature of the workpiece is reduced to a preset temperature; The structured light 3D camera is controlled to scan and image the workpiece after cooling to obtain a complete 3D model of the workpiece surface.

2. The high-precision and fast three-dimensional imaging method for mirror and transparent surfaces according to claim 1, characterized in that: The condensing device includes a refrigerator cooling area device; the controlling the condensing device to start so that the surface temperature of the workpiece is reduced to a preset temperature includes: Controlling the refrigerator cooling area device to start, placing the workpiece in the cooling area of ​​the refrigerator cooling area device, and detecting the surface temperature of the workpiece to determine whether the surface temperature of the workpiece reaches a temperature threshold; If the surface temperature of the workpiece reaches the temperature threshold, it is confirmed that the surface temperature of the workpiece has dropped to the preset temperature, and the scanning imaging process begins.

3. The high-precision and fast three-dimensional imaging method for mirror and transparent surfaces according to claim 1, characterized in that: The condensation device includes a low-temperature gas injection device; the control of starting the condensation device to reduce the surface temperature of the workpiece to a preset temperature includes: Controlling the low-temperature gas injection device to start, and performing a low-temperature gas injection operation on a workpiece at a workstation; detecting the surface temperature of the workpiece, and determining whether the surface temperature of the workpiece reaches a temperature threshold; If the surface temperature of the workpiece reaches the temperature threshold, it is confirmed that the surface temperature of the workpiece has dropped to the preset temperature, and the scanning imaging process begins.

4. The high-precision and fast three-dimensional imaging method for mirror and transparent surfaces according to claim 2 or 3, characterized in that: The method further comprises: The temperature threshold is determined according to the scanning imaging environment temperature and the surface temperature of the workpiece.

5. The high-precision and fast three-dimensional imaging method for mirror and transparent surfaces according to claim 1, characterized in that: The 3D camera is composed of a DLP projection module and a camera module; the structured light 3D camera is controlled to scan and image the workpiece after cooling to obtain a complete 3D model of the workpiece surface, including: The workpiece after cooling is scanned and imaged by projecting high-frequency binary structured light encoding and a camera module to obtain a complete 3D model of the workpiece surface.

6. A high-precision and fast three-dimensional imaging device for mirror and transparent surfaces, characterized in that: Applied to a three-dimensional imaging device, the three-dimensional imaging device comprises a condensation device, including: A workpiece surface temperature control module, used to control the start-up of the condensing device to reduce the surface temperature of the workpiece to a preset temperature; The scanning imaging module is used to control the structured light 3D camera to scan and image the workpiece after cooling, so as to obtain a complete 3D model of the workpiece surface.

7. The high-precision and fast three-dimensional imaging device for mirror and transparent surfaces according to claim 6, characterized in that: The condensing device includes a refrigerator cooling area device; the workpiece surface temperature control module includes: The first judgment submodule is used to control the refrigerator cooling area device to start, place the workpiece in the cooling area of ​​the refrigerator cooling area device, and detect the surface temperature of the workpiece to determine whether the surface temperature of the workpiece reaches a temperature threshold; The first confirmation submodule is used to confirm that the surface temperature of the workpiece has dropped to a preset temperature if the surface temperature of the workpiece reaches a temperature threshold, and to start a scanning imaging process.

8. The high-precision and fast three-dimensional imaging device for mirror and transparent surfaces according to claim 6, characterized in that: The condensing device includes a low-temperature gas injection device; The workpiece surface temperature control module comprises: A low-temperature gas injection submodule is used to control the low-temperature gas injection device to start and perform a low-temperature gas injection operation on the workpiece on the workstation; A second judgment submodule is used to detect the surface temperature of the workpiece and judge whether the surface temperature of the workpiece reaches a temperature threshold; The second confirmation submodule is used to confirm that the surface temperature of the workpiece has dropped to a preset temperature if the surface temperature of the workpiece reaches a temperature threshold, and to start a scanning imaging process.

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 high-precision and fast three-dimensional imaging method for mirror surfaces and transparent surfaces described in 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 high-precision and fast three-dimensional imaging method for mirror surfaces and transparent surfaces described in any one of claims 1 to 5 are implemented.

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