3D camera, control method thereof and computer readable storage medium

Abstract

The invention discloses a 3D camera, a control method thereof and a computer readable storage medium. The 3D camera comprises a laser transmitter and a galvanometer assembly, and the method comprises the following steps: triggering the laser transmitter to generate abnormity in response to a laser triggering signal, and starting an angle triggering mode; according to the angle triggering mode, an angle signal of the galvanometer assembly is obtained in real time, and the laser transmitter is triggered according to the angle signal. By means of the mode, closed-loop control over the 3D camera is achieved, the 3D camera can work safely and continuously, and the service life of the 3D camera is prolonged.

Description

Technical Field

[0001] This application relates to the field of 3D camera control technology, and particularly to a 3D camera, its control method, and a computer-readable storage medium. Background Art

[0002] A 3D camera is a three-dimensional imaging device based on the principle of structured light. It emits a series of encoded light stripes onto the surface of the object to be measured, and then collects the light stripes reflected from the surface of the object to be measured through a camera, thereby obtaining the three-dimensional shape information of the object surface. This imaging technology has the characteristics of non-contact, high precision, high speed, etc., and is therefore widely used in industrial manufacturing, robot vision, medical imaging and other fields.

[0003] When a 3D camera based on a galvanometer uses a time loop control method, it may fail and there is no other remedial measure. Once an error occurs, it will cause the system of the 3D camera to fail and it cannot perform self-checking. Summary of the Invention

[0004] This application provides a 3D camera, its control method, and a computer-readable storage medium, which realize closed-loop control of the 3D camera, enable the 3D camera to work continuously and safely, and extend the service life of the 3D camera.

[0005] In a first aspect, this application provides a control method for a 3D camera. The 3D camera includes a laser emitter and a galvanometer assembly. The method includes: in response to an abnormality in triggering the laser emitter by a laser trigger signal, starting an angle trigger mode; according to the angle trigger mode, obtaining the angle signal of the galvanometer assembly in real time, and triggering the laser emitter according to the angle signal.

[0006] Among them, obtaining the angle signal of the galvanometer assembly in real time includes: obtaining the galvanometer deflection voltage of the galvanometer assembly in real time and using the galvanometer deflection voltage as the angle signal; or, using an angle sensor to obtain the galvanometer deflection angle of the galvanometer assembly and using the galvanometer deflection angle as the angle signal.

[0007] Among them, triggering the laser emitter according to the angle signal includes: determining whether the current angle signal is within the trigger area; if so, triggering the laser emitter.

[0008] Among them, the trigger area is obtained by pre-calibration.

[0009] Among them, in response to an abnormality in triggering the laser emitter by a laser trigger signal, starting the angle trigger mode includes: in response to an abnormality in self-checking of the laser emitter, starting the angle trigger mode.

[0010] Among them, in response to an abnormality in triggering the laser emitter by a laser trigger signal, starting the angle trigger mode includes: in response to an abnormality in the central position and relative interval between pulses emitted by the laser emitter, starting the angle trigger mode.

[0011] Among them, in response to an abnormality in triggering the laser emitter by the laser trigger signal, an angle trigger mode is started, including: in response to an abnormality in triggering the laser emitter by the laser trigger signal, reusing the new laser trigger signal to trigger the laser emitter and performing abnormality detection; in response to the number of consecutive abnormalities exceeding the threshold, starting the angle trigger mode.

[0012] Among them, the galvanometer assembly adopts a working mode with linear angle output.

[0013] In a second aspect, the present application provides a 3D camera, which includes a laser emitter, a galvanometer assembly and a controller, and the controller is used to control the laser emitter and the galvanometer assembly to implement the method provided in the first aspect.

[0014] In a third aspect, the present application provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, it implements the method provided in the first aspect.

[0015] The beneficial effects of the present application are as follows: Different from the prior art, the 3D camera, its control method and the computer-readable storage medium provided by the present application start the angle trigger mode when an abnormality occurs in triggering the laser emitter by the laser trigger signal; according to the angle trigger mode, the angle signal of the galvanometer assembly is obtained in real time, and the laser emitter is triggered according to the angle signal, so as to realize the closed-loop control of the 3D camera, that is, by associating the angle signal of the galvanometer assembly with the on / off / light intensity of the laser, it can be ensured that the output coded beam angle of the laser emitter is highly accurate and has good repeatability when the original laser trigger signal is abnormal, and when the original laser trigger signal is abnormal, the laser emitter is triggered by using the angle signal, which can make the 3D camera work continuously and safely and extend the service life of the 3D camera. Description of the Drawings

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for description in the embodiments. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0017] Among them:

[0018] Figure 1 is a schematic flowchart of an embodiment of the control method of the 3D camera provided by the present application;

[0019] Figure 2 is a schematic diagram of an embodiment of the laser trigger signal provided by the present application;

[0020] Figure 3 It is a schematic flowchart of another embodiment of the control method of the 3D camera provided by this application;

[0021] Figure 4 It is a schematic flowchart of another embodiment of the control method of the 3D camera provided by this application;

[0022] Figure 5 It is a schematic flowchart of another embodiment of the control method of the 3D camera provided by this application;

[0023] Figure 6 It is a schematic flowchart of another embodiment of the control method of the 3D camera provided by this application;

[0024] Figure 7 It is a schematic flowchart of another embodiment of the control method of the 3D camera provided by this application;

[0025] Figure 8 It is a schematic flowchart of another embodiment of the control method of the 3D camera provided by this application;

[0026] Figure 9 It is a schematic diagram of the relationship between the angle signal and the laser trigger signal in the angle trigger mode provided by this application;

[0027] Figure 10 It is a schematic structural diagram of an embodiment of the 3D camera provided by this application;

[0028] Figure 11 It is a schematic structural diagram of an embodiment of the computer-readable storage medium provided by this application. Detailed implementation manners

[0029] Next, the technical solutions in the embodiments of this application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of this application. It can be understood that the specific embodiments described herein are only used to explain this application, rather than limiting this application. Additionally, it should be noted that for the sake of description, only parts related to this application rather than all structures are shown in the accompanying drawings. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of this application.

[0030] Referring to "embodiment" herein means that the specific features, structures, or characteristics described in conjunction with the embodiment may be included in at least one embodiment of this application. The phrase appears in various positions in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0031] A 3D camera is a three-dimensional imaging device based on the principle of structured light. It projects a series of encoded light stripes onto the surface of the object to be measured, and then collects the light stripes reflected from the surface of the object through a camera, thereby obtaining the three-dimensional shape information of the object surface. This imaging technology has the characteristics of non-contact, high precision, high speed, etc., and is therefore widely used in industrial manufacturing, robot vision, medical imaging and other fields.

[0032] When the time-loop control method is adopted for the galvanometer-based 3D camera, it may fail and there is no other remedy. Once an error occurs, it will cause the system of the 3D camera to fail and it cannot perform self-checking.

[0033] Based on this, the present application proposes to start the angle trigger mode when the laser trigger signal triggers the laser emitter abnormally; according to the angle trigger mode, the angle signal of the galvanometer assembly is obtained in real time, and the laser emitter is triggered according to the angle signal, so as to realize the closed-loop control of the 3D camera, that is, by correlating the angle signal of the galvanometer assembly with the on / off / light intensity of the laser, it can be ensured that the angle of the encoded light beam output by the laser emitter is highly accurate and has good repeatability when the original laser trigger signal is abnormal, and when the original laser trigger signal is abnormal, the laser emitter is triggered by using the angle signal, so that the 3D camera can work continuously and safely, and the service life of the 3D camera is extended. In this way, at least one of the above technical problems is solved. For specific reference, please refer to any of the following embodiments.

[0034] Refer to Figure 1 , Figure 1 is a schematic flowchart of an embodiment of the control method of the 3D camera provided by the present application. The 3D camera includes a laser emitter and a galvanometer assembly. In some embodiments, the galvanometer assembly includes a galvanometer and a driving motor. The driving motor is used to drive the galvanometer to deflect. Among them, the galvanometer is arranged on the optical path of the laser emitter and is used to transform the laser beam emitted by the laser emitter and project a linear laser stripe onto the detection area. Among them, the laser emitted by the laser emitter is invisible light. In some embodiments, the 3D camera may be a 3D industrial camera.

[0035] Specifically, the control method of the 3D camera includes:

[0036] Step 11: In response to the abnormal triggering of the laser emitter by the laser trigger signal, start the angle trigger mode.

[0037] In some embodiments, the laser trigger signal is used to make the controller trigger the laser emitter according to a preset mode, so that the laser emitter emits a laser beam. It can be understood that the preset mode is a known way of generating the trigger signal. Such as Figure 2As shown, the laser trigger signal is generated in the form of a rectangular wave at a preset time interval for triggering the laser emitter to emit a laser beam. In other embodiments, the laser trigger signal may be generated in the form of a square wave, a sawtooth wave, a sine wave, etc.

[0038] In some embodiments, when the controller receives the laser trigger signal, it first performs a delay operation for a preset duration. During the preset duration of the delay, it controls the galvanometer assembly to work so that the galvanometer assembly can work stably within the preset duration, that is, the galvanometer deflects stably within the preset duration. After the preset duration, it starts to control the laser emitter to emit a corresponding lighting signal (laser beam) according to the stored optical code. Among them, the information of the optical code can be predicted or automatically generated after power-on.

[0039] At the same time, the galvanometer of the galvanometer assembly starts to deflect. In some embodiments, there are many working modes for the galvanometer. For example, the galvanometer can select a working mode with linear angle output.

[0040] During the working process, abnormal detection is carried out. When it is detected that the laser emitter works abnormally, the angle trigger mode is started.

[0041] Among them, the abnormal detection can be to detect information such as the switching time width, duty cycle, and delay of the laser emitter.

[0042] Furthermore, the abnormal detection can also be to detect the central position and relative interval between the pulses of the laser emitter to ensure that the galvanometer works within the drift range.

[0043] In some embodiments, the abnormal detection needs to detect both the switching time width, duty cycle, delay and other information of the laser emitter, and also the central position and relative interval between the pulses of the laser emitter. As long as one of the detections is abnormal, the angle trigger mode is started.

[0044] And when an abnormality occurs, it is prompted that the currently collected data is invalidated. For example, the image data collected using the current laser beam is invalidated.

[0045] Step 12: According to the angle trigger mode, obtain the angle signal of the galvanometer assembly in real time and trigger the laser emitter according to the angle signal.

[0046] In some embodiments, the working logic of the angle trigger mode can be obtained through pre-calibration. For example, when the 3D camera is working normally, the corresponding relationship between the laser trigger signal and the angle signal of the galvanometer assembly is synchronously obtained during its normal working, so as to establish the relationship between the angle signal and the laser signal.

[0047] When the laser emitter is triggered by the angle signal subsequently, within the time corresponding to the angle signal, the laser emitter is triggered to emit a laser beam.

[0048] In some embodiments, the galvanometer assembly adopts a working mode with linear angle output.

[0049] In this embodiment, when an abnormality occurs in the triggering of the laser emitter by the laser trigger signal, the angle trigger mode is started; according to the angle trigger mode, the angle signal of the galvanometer assembly is acquired in real time, and the laser emitter is triggered according to the angle signal, thereby realizing the closed-loop control of the 3D camera, that is, by correlating the angle signal of the galvanometer assembly with the on / off / light intensity of the laser, it is possible to ensure that the beam angle encoded by the laser emitter output is highly accurate and maintains good repeatability when the original laser trigger signal is abnormal, and when the original laser trigger signal is abnormal, the laser emitter can be triggered by using the angle signal, enabling the 3D camera to work continuously and safely and extending the service life of the 3D camera.

[0050] Refer to Figure 3 , Figure 3 is a schematic flowchart of another embodiment of the control method of the 3D camera provided by this application. The 3D camera includes a laser emitter and a galvanometer assembly. The method includes:

[0051] Step 31: In response to an abnormality in the triggering of the laser emitter by the laser trigger signal, start the angle trigger mode.

[0052] Step 31 has the same or similar technical solutions as any embodiment of this application, and will not be elaborated here.

[0053] Step 32: According to the angle trigger mode, acquire the galvanometer deflection voltage of the galvanometer assembly in real time, use the galvanometer deflection voltage as the angle signal, and trigger the laser emitter according to the angle signal.

[0054] In this embodiment, since the deflection of the galvanometer is essentially driven by a driving motor. Therefore, the larger the galvanometer deflection voltage for driving the galvanometer to deflect by the driving motor, the larger the deflection angle of the galvanometer. That is, the galvanometer deflection voltage of the galvanometer can represent the deflection angle of the galvanometer. Therefore, the galvanometer deflection voltage can be directly used as the angle signal, and the laser emitter can be triggered according to the angle signal.

[0055] In this embodiment, when an abnormality occurs in triggering the laser emitter by the laser trigger signal, the angle trigger mode is started; according to the angle trigger mode, the angle signal of the galvanometer component is acquired in real time, and the laser emitter is triggered according to the angle signal, so as to realize the closed-loop control of the 3D camera, that is, by associating the angle signal of the galvanometer component with the on / off / light intensity of the laser, it can be ensured that the beam angle encoded by the laser emitter output is highly accurate and maintains good repeatability through the angle signal when the original laser trigger signal is abnormal, and when the original laser trigger signal is abnormal, the laser emitter is triggered by the angle signal, enabling the 3D camera to work continuously and safely, and prolonging the service life of the 3D camera.

[0056] Refer to Figure 4 , Figure 4 which is a schematic flowchart of an embodiment of the control method of the 3D camera provided by this application. The 3D camera includes a laser emitter and a galvanometer component. The method includes:

[0057] Step 41: In response to an abnormality in triggering the laser emitter by the laser trigger signal, start the angle trigger mode.

[0058] Step 41 has the same or similar technical solutions as any embodiment of this application, and will not be elaborated here.

[0059] Step 42: According to the angle trigger mode, use an angle sensor to acquire the deflection angle of the galvanometer of the galvanometer component, take the deflection angle of the galvanometer as the angle signal, and trigger the laser emitter according to the angle signal.

[0060] In this embodiment, an angle sensor can be set, and the angle sensor is coaxially arranged with the rotation axis of the galvanometer. Furthermore, the deflection angle of the galvanometer is collected during the deflection of the galvanometer. Then, the galvanometer deflection voltage is used as the angle signal, and the laser emitter is triggered according to the angle signal.

[0061] In this embodiment, when an abnormality occurs in triggering the laser emitter by the laser trigger signal, the angle trigger mode is started; according to the angle trigger mode, the angle signal of the galvanometer component is acquired in real time, and the laser emitter is triggered according to the angle signal, so as to realize the closed-loop control of the 3D camera, that is, by associating the angle signal of the galvanometer component with the on / off / light intensity of the laser, it can be ensured that the beam angle encoded by the laser emitter output is highly accurate and maintains good repeatability through the angle signal when the original laser trigger signal is abnormal, and when the original laser trigger signal is abnormal, the laser emitter is triggered by the angle signal, enabling the 3D camera to work continuously and safely, and prolonging the service life of the 3D camera.

[0062] Refer to Figure 5 , Figure 5It is a schematic flowchart of an embodiment of the control method of the 3D camera provided by this application. The 3D camera includes a laser emitter and a galvanometer assembly. The method includes:

[0063] Step 51: In response to an abnormality in triggering the laser emitter by the laser trigger signal, start the angle trigger mode.

[0064] Step 51 has the same or similar technical solutions as any embodiment of this application, and will not be elaborated here.

[0065] Step 52: According to the angle trigger mode, obtain the angle signal of the galvanometer assembly in real time.

[0066] The angle signal can be the deflection angle of the galvanometer in the galvanometer assembly, or the angle signal can be the galvanometer deflection voltage that drives the galvanometer to deflect.

[0067] Step 53: Determine whether the current angle signal is within the trigger area.

[0068] In some embodiments, the trigger area is obtained by pre-calibration.

[0069] In some embodiments, if it is determined that the current angle signal is within the trigger area, execute Step 54. If it is determined that the current angle signal is not within the trigger area, execute Step 55.

[0070] Step 54: Trigger the laser emitter.

[0071] Step 55: Do not trigger the laser emitter.

[0072] In this embodiment, when an abnormality occurs in triggering the laser emitter by the laser trigger signal, the angle trigger mode is started; according to the angle trigger mode, the angle signal of the galvanometer assembly is obtained in real time, and when the angle signal is within the trigger area, the laser emitter is triggered, so as to achieve the closed-loop control of the 3D camera, that is, by correlating the angle signal of the galvanometer assembly with the on / off / light intensity of the laser, it is possible to ensure that the output encoded beam angle of the laser emitter is highly accurate and has good repeatability when the original laser trigger signal is abnormal, and when the original laser trigger signal is abnormal, the angle signal is used to trigger the laser emitter, which can enable the 3D camera to work continuously and safely, and extend the service life of the 3D camera.

[0073] Refer to Figure 6 , Figure 6 It is a schematic flowchart of another embodiment of the control method of the 3D camera provided by this application. The 3D camera includes a laser emitter and a galvanometer assembly. The method includes:

[0074] Step 61: In response to an abnormality in the self-check of the laser emitter, start the angle trigger mode.

[0075] Among them, the self-check of the laser emitter can detect information such as the switching time width, duty cycle, and delay of the laser emitter. When the self-check is normal, continue to control the laser emitter according to the laser trigger signal without starting the angle trigger mode.

[0076] Step 62: According to the angle trigger mode, obtain the angle signal of the galvanometer assembly in real time and trigger the laser emitter according to the angle signal.

[0077] Step 62 has the same or similar technical solutions as any embodiment of the present application, and will not be elaborated here.

[0078] In this embodiment, when an abnormality occurs in triggering the laser emitter by the laser trigger signal, start the angle trigger mode; according to the angle trigger mode, obtain the angle signal of the galvanometer assembly in real time and trigger the laser emitter according to the angle signal, so as to achieve the closed-loop control of the 3D camera, that is, by correlating the angle signal of the galvanometer assembly with the on / off / light intensity of the laser, it can ensure that the beam angle encoded by the laser emitter output is highly accurate and maintains good repeatability when the original laser trigger signal is abnormal, and when the original laser trigger signal is abnormal, using the angle signal to trigger the laser emitter can enable the 3D camera to work continuously and safely, and extend the service life of the 3D camera.

[0079] Refer to Figure 7 , Figure 7 is a schematic flowchart of another embodiment of the control method of the 3D camera provided by the present application. The 3D camera includes a laser emitter and a galvanometer assembly. The method includes:

[0080] Step 71: In response to an abnormality in the center position and relative interval between pulses emitted by the laser emitter, start the angle trigger mode.

[0081] When there is no abnormality in the center position and relative interval between pulses, continue to control the laser emitter according to the laser trigger signal without starting the angle trigger mode.

[0082] Step 72: According to the angle trigger mode, obtain the angle signal of the galvanometer assembly in real time and trigger the laser emitter according to the angle signal.

[0083] Step 72 has the same or similar technical solutions as any embodiment of the present application, and will not be elaborated here.

[0084] In this embodiment, when an abnormality occurs in triggering the laser emitter by the laser trigger signal, the angle trigger mode is started; according to the angle trigger mode, the angle signal of the galvanometer assembly is obtained in real time, and the laser emitter is triggered according to the angle signal, so as to realize the closed-loop control of the 3D camera, that is, by correlating the angle signal of the galvanometer assembly with the on / off / light intensity of the laser, it is possible to ensure that the beam angle encoded by the laser emitter output is highly accurate and has good repeatability when the original laser trigger signal is abnormal, and when the original laser trigger signal is abnormal, the laser emitter can be triggered by the angle signal, enabling the 3D camera to work continuously and safely and extending the service life of the 3D camera.

[0085] Refer to Figure 8 , Figure 8 FIG. is a schematic flowchart of another embodiment of the control method of the 3D camera provided by this application. The 3D camera includes a laser emitter and a galvanometer assembly. The method includes:

[0086] Step 81: In response to an abnormality in triggering the laser emitter by the laser trigger signal, trigger the laser emitter again using a new laser trigger signal and perform abnormality detection.

[0087] When an abnormality occurs in triggering the laser emitter by a single laser trigger signal, there may be accidental errors in software or hardware and communication that cause the abnormality. Therefore, trigger the laser emitter again using a new laser trigger signal and perform abnormality detection to verify whether an abnormality actually occurs and avoid the influence caused by a single false abnormality.

[0088] Step 82: In response to the number of consecutive abnormalities exceeding a threshold, start the angle trigger mode.

[0089] If the number of consecutive abnormalities exceeds the threshold, it indicates that this is a real abnormality at this time, and the current laser trigger signal is not suitable for triggering the laser emitter, so the angle trigger mode is started.

[0090] Step 83: According to the angle trigger mode, obtain the angle signal of the galvanometer assembly in real time and trigger the laser emitter according to the angle signal.

[0091] Step 83 has the same or similar technical solutions as any embodiment of this application, and will not be elaborated here.

[0092] In this embodiment, when an abnormality occurs in triggering the laser emitter by the laser trigger signal, multiple abnormality detections are performed on the laser emitter, and the angle trigger mode is started when an abnormality is determined; according to the angle trigger mode, the angle signal of the galvanometer assembly is obtained in real time, and the laser emitter is triggered according to the angle signal, so as to realize the closed-loop control of the 3D camera, that is, by correlating the angle signal of the galvanometer assembly with the on / off / light intensity of the laser, it is possible to ensure that the beam angle encoded by the laser emitter output is highly accurate and maintains good repeatability when the original laser trigger signal is abnormal, and when the original laser trigger signal is abnormal, the laser emitter is triggered by using the angle signal, so that the 3D camera can work continuously and safely, and the service life of the 3D camera is extended.

[0093] In an application scenario, the following process is used for illustration:

[0094] Step 101: Send a signal for triggering the operation of the 3D camera.

[0095] Step 102: After receiving the laser trigger signal, the controller of the 3D camera starts the galvanometer to work. After the galvanometer works stably, the control part starts to send out corresponding lighting signals according to the stored optical encoding; the information of the optical encoding can be predicted or automatically generated after power-on.

[0096] Step 103: At the same time, the galvanometer rotates; the laser usually works under the condition of stable output of the galvanometer.

[0097] There are many working modes of the galvanometer. In this application, a working mode of linear angle output (similar to a triangular wave) can be selected to facilitate laser control.

[0098] Step 104: The angle sensor outside the galvanometer outputs the deflection angle of the galvanometer in real time.

[0099] Among them, the angle sensor is preferably coaxially installed with the galvanometer and calibrated before use.

[0100] Step 105: The output angle signal is saved by extracting the corresponding angle region through calculation according to the encoding requirements of different graphics.

[0101] Step 106: At the same time, the above saved data is first self-checked according to the encoding method.

[0102] Here, the self-check mainly refers to detecting whether the information such as the switching time width, duty cycle, and delay of the laser is incorrect.

[0103] Step 107: The saved data is also compared with the pre-saved reference data.

[0104] Here, the center position and relative interval between the pulses of the laser emitter are mainly compared to ensure that the galvanometer works within the drift range.

[0105] Step 108: If there is no abnormality, continue to work in a loop and return to Step 101.

[0106] Step 109: If there is an abnormality, first prompt the host computer that the data is abnormal; secondly, restart from Step 101; if there are still problems after several repetitions, trigger the laser emission through the angle.

[0107] Step 110: Report the abnormal situation and execute Step 111.

[0108] Step 111: The sampling device continuously samples the angle output signal.

[0109] That is, collect the deflection angle or deflection voltage of the galvanometer.

[0110] Step 112. The controller determines whether the angle range falls into the trigger area.

[0111] Step 113. If it falls into the trigger area, trigger the laser to work; otherwise, do not trigger; thus generate barcode information.

[0112] Step 14: Start working in a loop from Step 111.

[0113] Combined with Figure 9 , the relationship between the deflection angle of the galvanometer and the laser trigger signal is described as follows:

[0114] Figure 9 The dashed box in represents the laser trigger signal, and the triangular box represents the deflection angle. The triangular box represents the angle of rotation of the galvanometer over time. As can be seen from Figure 9 , under normal circumstances, when the galvanometer deflects to the preset angle, the laser trigger signal will trigger the laser emitter. Based on this, the triggering timing of the laser trigger signal is related to the deflection angle of the galvanometer to form a new laser trigger signal. That is, when the deflection angle of the galvanometer reaches the preset angle range, a laser trigger signal is formed to trigger the laser emitter.

[0115] Referring to Figure 10 , Figure 10 is a schematic structural diagram of an embodiment of a 3D camera provided by the present application. The 3D camera 100 includes a laser emitter 10, a galvanometer assembly 20, and a controller 30. The controller 30 is used to control the laser emitter 10 and the galvanometer assembly 20 to implement the following method:

[0116] In response to an abnormality in triggering the laser emitter by the laser trigger signal, start the angle trigger mode; according to the angle trigger mode, obtain the angle signal of the galvanometer assembly in real time, and trigger the laser emitter according to the angle signal.

[0117] It can be understood that the controller 30 is also used to execute a computer program to implement the method of any of the above embodiments.

[0118] Referring to Figure 11 , Figure 11 FIG. is a schematic structural diagram of an embodiment of a computer-readable storage medium provided by the present application. The computer-readable storage medium 200 stores a computer program 201. When the computer program 201 is executed by the controller, the following method is implemented:

[0119] In response to an abnormality in triggering the laser emitter by the laser trigger signal, start the angle trigger mode; according to the angle trigger mode, obtain the angle signal of the galvanometer component in real time, and trigger the laser emitter according to the angle signal.

[0120] It can be understood that when the computer program 201 is executed by the processor, it can also implement the method of any of the above embodiments.

[0121] In summary, for the 3D camera, its control method, and the computer-readable storage medium provided by the present application, when an abnormality occurs in triggering the laser emitter by the laser trigger signal, the angle trigger mode is started; according to the angle trigger mode, the angle signal of the galvanometer component is obtained in real time, and the laser emitter is triggered according to the angle signal, so as to realize the closed-loop control of the 3D camera. That is, by correlating the angle signal of the galvanometer component with the on / off / light intensity of the laser, it is possible to ensure that the output encoded beam angle of the laser emitter is highly accurate and has good repeatability through the angle signal when the original laser trigger signal is abnormal, and when the original laser trigger signal is abnormal, the laser emitter can be triggered by the angle signal, enabling the 3D camera to work continuously and safely and extending the service life of the 3D camera.

[0122] That is, the inventors of the present application found that in the time-loop control method of a 3D camera based on a galvanometer, a single laser trigger signal is used to trigger the laser emitter. Such an open-loop control may fail and there is no other remedial measure in case of an abnormality. Once an error occurs, it will cause the system of the 3D camera to fail and the 3D camera cannot self-check. Based on this, when an abnormality occurs after the laser emitter is triggered, the inventors of the present application use the deflection angle of the galvanometer, which is also triggered synchronously by the laser trigger signal, as the angle signal, and use the angle signal as a new laser trigger signal to trigger the laser emitter, so that the deflection angle of the galvanometer is highly correlated with the on / off / light intensity of the laser emitter, realizing closed-loop control.

[0123] In several embodiments provided in the present application, it should be understood that the disclosed methods and devices can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed.

[0124] If the integrated units in the above-mentioned other embodiments are implemented in the form of software function units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute all or part of the steps of the methods described in various embodiments of the present application. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs that can store program codes.

[0125] The above are only the embodiments of the present application, and do not limit the patent scope of the present application. Any equivalent structural or equivalent process transformation made by using the content of the specification and drawings of the present application, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present application.

Claims

1. A control method for a 3D camera, characterized in that, The 3D camera includes a laser emitter and a galvanometer assembly. The method includes: In response to an abnormality occurring when triggering the laser emitter in response to a laser trigger signal, starting an angle trigger mode; According to the angle trigger mode, acquiring the angle signal of the galvanometer assembly in real time, and triggering the laser emitter according to the angle signal.

2. The method according to claim 1, characterized in that, The acquiring the angle signal of the galvanometer assembly in real time includes: Acquiring the galvanometer deflection voltage of the galvanometer assembly in real time, and using the galvanometer deflection voltage as the angle signal; Or, acquiring the galvanometer deflection angle of the galvanometer assembly by using an angle sensor, and using the galvanometer deflection angle as the angle signal.

3. The method according to claim 1, wherein The triggering the laser emitter according to the angle signal includes: Judging whether the current angle signal is located in a trigger region; If so, triggering the laser emitter.

4. The method according to claim 3, wherein The trigger region is obtained by pre-calibration.

5. The method according to claim 1, characterized in that The starting the angle trigger mode in response to an abnormality occurring when triggering the laser emitter in response to a laser trigger signal includes: In response to an abnormality detected during self-check of the laser emitter, starting the angle trigger mode.

6. The method according to claim 1, characterized in that, The starting the angle trigger mode in response to an abnormality occurring when triggering the laser emitter in response to a laser trigger signal includes: In response to an abnormality in the central position and relative interval between pulses emitted by the laser emitter, starting the angle trigger mode.

7. The method according to claim 1, characterized in that, The starting the angle trigger mode in response to an abnormality occurring when triggering the laser emitter in response to a laser trigger signal includes: In response to an abnormality occurring when triggering the laser emitter in response to a laser trigger signal, re-triggering the laser emitter with a new laser trigger signal, and performing abnormality detection; In response to the number of consecutive abnormalities exceeding a threshold, starting the angle trigger mode.

8. The method according to claim 1, wherein The galvanometer assembly adopts a working mode with linear angle output.

9. A 3D camera, characterized in that, The 3D camera includes a laser emitter, a galvanometer assembly and a controller, and the controller is configured to control the laser emitter and the galvanometer assembly to implement the method according to any one of claims 1-8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1-8 is implemented.

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