Three-dimensional scanning system, pattern projection brightness control method and related equipment

Abstract

The invention provides a three-dimensional scanning system, a pattern projection brightness control method and related equipment, and belongs to the field of three-dimensional scanning, and the system comprises a scanner, a pattern projector and a control unit. The pattern projector is used for carrying out pattern projection on the surface of the scanned object; the scanner is used for collecting an object surface image of the scanned object, determining a brightness evaluation parameter corresponding to the object surface image and judging whether the brightness evaluation parameter meets a preset scanning condition or not; the brightness evaluation parameter represents a brightness difference degree between a projection pattern in the object surface image and a background area; and the control unit is used for adjusting the projection brightness of the pattern projector when the brightness evaluation parameter does not meet the scanning condition. By applying the system provided by the invention, the projection brightness of the pattern projector can be adjusted according to the brightness difference degree between the projected pattern on the surface of the scanned object and the background area, and the accuracy of identifying the projected pattern can be improved.

Description

Technical Field

[0001] The present invention relates to the field of three-dimensional scanning technology, and in particular to a three-dimensional scanning system, a method for controlling pattern projection brightness, and related equipment. Background Art

[0002] In the field of three-dimensional scanning, one of the implementation methods of three-dimensional scanning is to perform three-dimensional scanning based on a pattern projector. That is, during the three-dimensional scanning process, a pattern projector is used to project a specified pattern onto the surface of the scanned object, and the three-dimensional data is spliced ​​based on the projected pattern on the surface of the scanned object.

[0003] Currently, in a three-dimensional scanning scenario, the projection brightness of a pattern projector is usually pre-configured. During the scanning process, the pattern projector projects a corresponding pattern onto the surface of the scanned object at a fixed projection brightness.

[0004] However, in real-world applications, the environment in which the scanned object is located can be quite complex. Existing pattern projectors project patterns at a fixed brightness in varying lighting conditions. However, these external lighting conditions can interfere with the projected light from the pattern projector, affecting the image of the projected pattern on the scanned object. This makes it difficult to accurately identify the projected pattern on the scanned object during 3D data processing, resulting in poor accuracy in 3D data stitching. Summary of the Invention

[0005] In view of this, an embodiment of the present invention provides a three-dimensional scanning system, a method for controlling the brightness of pattern projection, and related equipment to solve the problem of existing pattern projection methods, in which the projected pattern is difficult to stably image on the surface of the scanned object, resulting in difficulty in accurately identifying the projected pattern and poor accuracy of three-dimensional data splicing.

[0006] To achieve the above objectives, the embodiments of the present invention provide the following technical solutions:

[0007] A three-dimensional scanning system, comprising:

[0008] scanner, pattern projector, and control unit;

[0009] The pattern projector is used to project a pattern onto the surface of the scanned object;

[0010] The scanner is configured to capture an image of the object surface of the scanned object, determine a brightness evaluation parameter corresponding to the object surface image, and determine whether the brightness evaluation parameter meets a preset scanning condition; the brightness evaluation parameter represents a degree of difference in brightness between a projected pattern and a background area in the object surface image;

[0011] The control unit is configured to adjust the projection brightness of the pattern projector to change the projection brightness of the pattern projector when the brightness evaluation parameter does not meet the scanning condition.

[0012] In the above system, optionally, determining the brightness evaluation parameter corresponding to the object surface image includes:

[0013] Determining a projection pattern image and a background area image corresponding to the object surface image;

[0014] Determining a first grayscale value corresponding to the projected pattern image;

[0015] Determining a second grayscale value corresponding to the background area image;

[0016] A difference between the first grayscale value and the second grayscale value is calculated, and the difference is used as the brightness evaluation parameter.

[0017] In the above system, optionally, determining the brightness evaluation parameter corresponding to the object surface image includes:

[0018] According to a preset contrast recognition algorithm, the contrast between the projected pattern and the background area in the object surface image is determined, and the contrast is used as the brightness evaluation parameter.

[0019] In the above system, optionally, the determining whether the brightness evaluation parameter meets a preset scanning condition includes:

[0020] Comparing the brightness evaluation parameter with a preset parameter threshold;

[0021] If the brightness evaluation parameter is greater than the preset parameter threshold, determining that the brightness evaluation parameter meets the scanning condition;

[0022] If the brightness evaluation parameter is not greater than the preset parameter threshold, it is determined that the brightness evaluation parameter does not meet the scanning condition.

[0023] In the above system, optionally, the step of adjusting the projection brightness of the pattern projector includes:

[0024] determining a target current or a target intensity based on the brightness evaluation parameter;

[0025] Based on the target current, the control current of the beam output device in the pattern projector is controlled, or based on the target intensity, the instantaneous discharge intensity of the capacitor in the beam output device is controlled to change the projection brightness of the pattern projector.

[0026] In the above system, optionally, the scanner is further configured to: start executing a scanning task when the brightness evaluation parameter meets the scanning condition.

[0027] A method for controlling pattern projection brightness, the method being applied to a scanner in a three-dimensional scanning system, the method comprising:

[0028] When the pattern projector projects a pattern onto the surface of the scanned object, an image of the surface of the scanned object is collected;

[0029] Determining a brightness evaluation parameter corresponding to the object surface image; the brightness evaluation parameter represents a degree of difference in brightness between the projected pattern and the background area in the object surface image;

[0030] Determining whether the brightness evaluation parameter meets the preset scanning conditions;

[0031] If the brightness evaluation parameter does not meet the scanning condition, the control unit adjusts the projection brightness of the pattern projector to change the projection brightness of the pattern projector.

[0032] A device for controlling the brightness of pattern projection, the device being applied to a scanner in a three-dimensional scanning system, the device comprising:

[0033] an image acquisition unit, configured to acquire an image of a surface of the scanned object when the pattern projector projects a pattern onto the surface of the scanned object;

[0034] a brightness evaluation unit, configured to determine a brightness evaluation parameter corresponding to the object surface image; the brightness evaluation parameter characterizing a degree of difference in brightness between the projected pattern and the background area in the object surface image;

[0035] A judging unit, configured to judge whether the brightness evaluation parameter meets a preset scanning condition;

[0036] The brightness adjustment unit is configured to adjust the projection brightness of the pattern projector through a control unit if the brightness evaluation parameter does not meet the scanning condition, so as to change the projection brightness of the pattern projector.

[0037] A storage medium includes stored instructions, wherein when the instructions are executed, the device where the storage medium is located is controlled to execute the above-mentioned method for controlling the pattern projection brightness.

[0038] An electronic device includes a memory and one or more instructions, wherein the one or more instructions are stored in the memory and configured to be executed by one or more processors to perform the above-mentioned method for controlling the brightness of pattern projection.

[0039] A three-dimensional scanning system provided in accordance with the above-mentioned embodiments of the present invention includes: a scanner, a pattern projector, and a control unit; the pattern projector is configured to project a pattern onto the surface of a scanned object; the scanner is configured to capture an image of the surface of the scanned object, determine a brightness evaluation parameter corresponding to the image of the surface of the scanned object, and determine whether the brightness evaluation parameter meets a preset scanning condition; the brightness evaluation parameter represents the degree of brightness difference between the projected pattern and the background area in the image of the surface of the object; and the control unit is configured to adjust the projection brightness of the pattern projector to change the projection brightness of the pattern projector when the brightness evaluation parameter does not meet the scanning condition. The system provided in the embodiments of the present invention can evaluate the degree of brightness difference between the image of the projected pattern on the surface of the scanned object and the background area in real time in an actual scanning scenario, thereby measuring the imaging effect of the projected pattern on the surface of the scanned object. If the imaging effect does not meet the requirements, the projection brightness of the pattern projector can be adaptively adjusted to improve the imaging effect of the projected pattern on the surface of the scanned object, thereby facilitating accurate identification of the projected pattern on the surface of the scanned object based on the image captured by the scanner during data processing, thereby improving the accuracy of three-dimensional data splicing. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0041] Figure 1 A schematic diagram of the system structure of a three-dimensional scanning system provided by an embodiment of the present invention;

[0042] Figure 2 A schematic diagram of the deployment of a three-dimensional scanning system provided by an embodiment of the present invention;

[0043] Figure 3 A flow chart of a method for controlling pattern projection brightness provided by an embodiment of the present invention;

[0044] Figure 4 A schematic structural diagram of a device for controlling pattern projection brightness provided by an embodiment of the present invention;

[0045] Figure 5 A schematic structural diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0046] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0047] In this application, the terms "comprises," "comprising," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not preclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0048] The embodiment of the present invention provides a three-dimensional scanning system, the structural diagram of the three-dimensional scanning system can be shown as follows: Figure 1 As shown, the system includes:

[0049] Scanner 101, control unit 102 and pattern projector 103;

[0050] The pattern projector 103 is used to project a pattern onto the surface of the scanned object;

[0051] The scanner 101 is configured to capture an image of the surface of the scanned object, determine a brightness evaluation parameter corresponding to the image of the surface of the object, and determine whether the brightness evaluation parameter meets a preset scanning condition; the brightness evaluation parameter represents a degree of difference in brightness between a projected pattern and a background area in the image of the surface of the object;

[0052] The control unit 102 is configured to adjust the projection brightness of the pattern projector to change the projection brightness of the pattern projector when the brightness evaluation parameter does not meet the scanning condition.

[0053] In order to better illustrate the three-dimensional scanning system provided by the embodiment of the present invention, Figure 2A schematic diagram of the deployment of a three-dimensional scanning system in a scanning scenario is shown. A scanner, a control unit, and a pattern projector are deployed in the three-dimensional scanning system provided in an embodiment of the present invention. The scanner in the embodiment of the present invention is a three-dimensional scanner with image acquisition capability. In terms of scanning principle, it can be a three-dimensional scanner based on various scanning principles, such as a laser scanner. The pattern projector, also known as a projector, is a device that can project a specified pattern outward. During the three-dimensional scanning process, the pattern projector can be used to project a pattern onto the surface of the scanned object, and the corresponding projection pattern can be projected onto the surface of the scanned object. The pattern projected by the pattern projector onto the surface of the scanned object can be selected according to actual needs. For example, the projection pattern can be a circular spot pattern. The control unit is communicatively connected to the scanner and the pattern projector respectively. The control unit is a device that can control the pattern projector. It can be deployed on the pattern projector or on an independent device.

[0054] Before scanning begins, a pattern projector can be activated to project a pattern onto the surface of the object being scanned. The scanner then captures an image of the scanned object's surface. Specifically, image capture can be performed while the scanner is at an optimal working distance. It will be understood that the corresponding projected pattern is projected onto the surface of the scanned object, and the surface image captured by the scanner will include the corresponding projected pattern. The surface image captured by the scanner can be a color image or a grayscale image. After capturing the surface image of the scanned object, the scanner uses a preset brightness evaluation algorithm to evaluate the brightness difference between the projected pattern and the background area on which it is projected (i.e., the brightness difference between the projected pattern and the background area), thereby obtaining brightness evaluation parameters corresponding to the surface image. The background area on which the projected pattern is projected can be understood as the area of ​​the object surface surrounding the projected pattern. It will be understood that the accuracy of identifying the projected pattern in the surface image of the object is related to the actual imaging effect. That is, the positioning accuracy of the projected pattern may be high or low, but a range representing the projected pattern can be identified. The brightness evaluation algorithm can be configured according to actual needs. For example, brightness differences can be evaluated based on grayscale values ​​of different areas or by calculating contrast.

[0055] In the system provided by an embodiment of the present invention, scanning conditions can be set in advance based on the recognition accuracy requirements for the projected pattern in the data processing of the three-dimensional scan. The scanning conditions can be understood as the conditions under which the degree of difference in brightness between the projected pattern and the background area meets the projection pattern recognition accuracy requirements. The scanner can judge whether the current brightness evaluation parameters meet the conditions based on the conditional content of the preset scanning conditions. If the brightness evaluation parameters meet the scanning conditions, it is considered that the brightness of the projected pattern on the current object surface meets the projection pattern recognition accuracy requirements, and the projection pattern in the object surface image can be accurately identified during the data processing process. If the brightness evaluation parameters do not meet the scanning conditions, it is considered that the brightness of the projected pattern on the current object surface does not meet the projection pattern recognition accuracy requirements, and it is difficult to accurately identify the projection pattern in the object surface image during the data processing process. When the scanner determines that the current brightness evaluation parameters do not meet the scanning conditions, it can send a corresponding instruction to the control unit to trigger the control unit to adjust the projection brightness of the pattern projector. When the brightness evaluation parameters do not meet the scanning conditions, the control unit can adjust the projection brightness of the pattern projector by adjusting the control current, etc., so as to change the projection energy of the pattern projector and change the brightness of the projection pattern of the pattern projector, thereby increasing the degree of difference in brightness between the projection pattern on the surface of the scanned object and its background area.

[0056] A three-dimensional scanning system provided according to an embodiment of the present invention includes: a scanner, a pattern projector, and a control unit; the pattern projector is configured to project a pattern onto the surface of a scanned object; the scanner is configured to capture an image of the scanned object's surface, determine a brightness evaluation parameter corresponding to the image, and determine whether the brightness evaluation parameter meets a preset scanning condition; the brightness evaluation parameter represents the degree of brightness difference between a projected pattern and a background area in the image of the object's surface; and the control unit is configured to adjust the projection brightness of the pattern projector to change the projection brightness of the pattern projector when the brightness evaluation parameter does not meet the scanning condition. The system provided by the embodiment of the present invention can evaluate the degree of brightness difference between the image of the projected pattern on the scanned object's surface and the background area in real time in an actual scanning scenario, thereby measuring the imaging effect of the projected pattern on the scanned object's surface. If the imaging effect does not meet the requirements, the projection brightness of the pattern projector can be adaptively adjusted to improve the imaging effect of the projected pattern on the scanned object's surface. This facilitates accurate identification of the projected pattern on the scanned object's surface based on the image captured by the scanner during data processing, thereby improving the accuracy of three-dimensional data splicing.

[0057] exist Figure 1 Based on the system shown in FIG. 1 , in the system provided by an embodiment of the present invention, determining the brightness evaluation parameter corresponding to the surface image of the object includes:

[0058] Determining a projection pattern image and a background area image corresponding to the object surface image;

[0059] In the system provided by an embodiment of the present invention, the scanner can perform object recognition on the surface image of an object through a preset image recognition algorithm, and extract the image corresponding to the projection pattern projected by the pattern projector (i.e., the projection pattern image) from the surface image of the object, and extract the image corresponding to the background area where the projection pattern is projected (i.e., the background area image).

[0060] Determining a first grayscale value corresponding to the projected pattern image;

[0061] In the system provided by an embodiment of the present invention, a scanner can calculate the grayscale value corresponding to the projected pattern image and use this grayscale value as the first grayscale value. Specifically, if the object surface image is a color image, the projected pattern image can first be grayscaled to obtain a grayscale image of the projected pattern image. Based on the grayscale values ​​in the grayscale image of the projected pattern image, a first grayscale value representing the grayscale of the projected pattern image can be determined. If the object surface image is a grayscale image, the first grayscale value can be determined directly based on the grayscale values ​​in the projected pattern image. The first grayscale value can be determined by averaging the grayscale values ​​in the grayscale image of the projected pattern image (or the projected pattern image itself). Alternatively, the first grayscale value can be determined by other methods.

[0062] Determining a second grayscale value corresponding to the background area image;

[0063] In the system provided by embodiments of the present invention, the scanner can calculate the grayscale value corresponding to the background area image and use this grayscale value as the second grayscale value. The principle for determining the second grayscale value is similar to that for determining the first grayscale value. Please refer to the previous description of determining the first grayscale value and will not be repeated here. The scanner can determine the second grayscale value based on the grayscale image of the background area image (or the grayscale values ​​in the background area image).

[0064] A difference between the first grayscale value and the second grayscale value is calculated, and the difference is used as the brightness evaluation parameter.

[0065] In the system provided by the embodiment of the present invention, the scanner can perform a difference operation on the first grayscale value and the second grayscale value to obtain the difference between the first grayscale value and the second grayscale value, and use the difference between the first grayscale value and the second grayscale value as a brightness evaluation parameter.

[0066] Based on the system provided by the embodiment of the present invention, the scanner can evaluate the degree of brightness difference between the projected pattern and the background area based on the grayscale value. The data processing process is relatively simple, which is conducive to improving the data processing speed and then improving the scanning efficiency.

[0067] exist Figure 1 Based on the system shown in FIG. 1 , in the system provided by an embodiment of the present invention, determining the brightness evaluation parameter corresponding to the surface image of the object includes:

[0068] According to a preset contrast recognition algorithm, the contrast between the projected pattern and the background area in the object surface image is determined, and the contrast is used as the brightness evaluation parameter.

[0069] In the system provided by an embodiment of the present invention, a contrast recognition algorithm can be preconfigured in the scanner. This algorithm refers to an algorithm used to evaluate the contrast of corresponding areas in an image. This algorithm can be configured based on existing principles for evaluating image contrast. For example, contrast can be calculated using a gradient-based method, a Weber contrast method, or other methods. The scanner can use the preset contrast recognition algorithm to calculate the contrast between the projected pattern and the background area in the image of the object's surface. For example, the contrast can be calculated based on the gradient of the projected pattern boundary (the contrast recognition algorithm is a gradient-based method), and the contrast between the projected pattern and the background area can be used as a brightness evaluation parameter.

[0070] Based on the system provided by the embodiment of the present invention, the scanner can evaluate the brightness difference between the projected pattern and the background area in the object surface image by calculating the contrast, and the brightness difference evaluation is highly accurate.

[0071] exist Figure 1 Based on the system shown in FIG. 1 , in the system provided by an embodiment of the present invention, the step of determining whether the brightness evaluation parameter meets a preset scanning condition includes:

[0072] Comparing the brightness evaluation parameter with a preset parameter threshold;

[0073] If the brightness evaluation parameter is greater than the preset parameter threshold, determining that the brightness evaluation parameter meets the scanning condition;

[0074] If the brightness evaluation parameter is not greater than the preset parameter threshold, it is determined that the brightness evaluation parameter does not meet the scanning condition.

[0075] In the system provided by the embodiment of the present invention, a parameter threshold value, i.e., a preset parameter threshold value, can be set in advance according to actual needs. The preset parameter threshold value represents the threshold value at which the degree of difference in brightness and darkness between the projected pattern and the background area meets the pattern recognition accuracy requirements. In the embodiment of the present invention, the larger the brightness evaluation parameter is, the higher the degree of brightness and darkness difference it represents. The scanner can compare the current brightness evaluation parameter with the preset parameter threshold value to evaluate whether the current degree of brightness and darkness difference meets the pattern recognition accuracy requirements. If the brightness evaluation parameter exceeds the preset parameter threshold value, that is, the degree of brightness and darkness difference between the projected pattern and the background area meets the pattern recognition accuracy requirements, then it is considered that the brightness evaluation parameter meets the scanning conditions. If the brightness evaluation parameter does not exceed the preset parameter threshold value, that is, the degree of brightness and darkness difference between the projected pattern and the background area does not meet the pattern recognition accuracy requirements, then it is considered that the brightness evaluation parameter does not meet the scanning conditions.

[0076] exist Figure 1 Based on the system shown in FIG. 1 , in the system provided by an embodiment of the present invention, the step of adjusting the projection brightness of the pattern projector includes:

[0077] determining a target current or a target intensity based on the brightness evaluation parameter;

[0078] In the method provided in an embodiment of the present invention, the control unit can adjust the projection brightness of the pattern projector by adjusting the control current or capacitor discharge intensity of the pattern projector. During the projection brightness adjustment process, if the adjustment is performed using current, a target current value for adjusting the current can be determined based on a brightness evaluation parameter that characterizes the degree of brightness difference between the projected pattern and the background area, and this target current value can be used as the target current. If the adjustment is performed using capacitor discharge intensity, a target intensity value for adjusting the capacitor discharge intensity can be determined based on the brightness evaluation parameter, and this target intensity value can be used as the target intensity.

[0079] Based on the target current, the control current of the beam output device in the pattern projector is controlled, or based on the target intensity, the instantaneous discharge intensity of the capacitor in the beam output device is controlled to change the projection brightness of the pattern projector.

[0080] In the system provided by an embodiment of the present invention, the control unit can control the current of the beam output device in the pattern projector based on the target current to change the control current of the beam output device in the pattern projector, thereby changing the projection brightness of the pattern projector, thereby increasing the degree of difference between the brightness of the projected pattern on the object surface and the background area. Alternatively, the control unit can control the instantaneous discharge intensity of the capacitor in the beam output device based on the target intensity to change the projection brightness of the pattern projector, thereby increasing the degree of difference between the brightness of the projected pattern and the background area.

[0081] exist Figure 1On the basis of the system shown, in the system provided by an embodiment of the present invention, the scanner is further configured to: start executing a scanning task when the brightness evaluation parameter meets the scanning condition.

[0082] In the system provided by an embodiment of the present invention, if the scanner determines that the current brightness evaluation parameters meet the scanning conditions, that is, the degree of brightness difference between the current projected pattern and the background area has met the recognition accuracy requirements of the projected pattern, the scanning task is started to perform a three-dimensional scan of the scanned object.

[0083] The embodiment of the present invention further provides a method for controlling the brightness of pattern projection, which is applied to a scanner in a three-dimensional scanning system. The execution subject of the method may be a processor in the scanner. The method flow chart of the method may be as follows: Figure 3 As shown, the method includes:

[0084] S201: When a pattern projector projects a pattern onto a surface of a scanned object, an image of the surface of the scanned object is acquired;

[0085] In the method provided by an embodiment of the present invention, when performing a three-dimensional scan of an object, a pattern projector can project a corresponding image onto the surface of the object being scanned. Before starting the scanning task, the scanner can capture an image of the surface of the object being scanned while the pattern projector has already started pattern projection.

[0086] S202: Determine a brightness evaluation parameter corresponding to the object surface image; the brightness evaluation parameter represents a degree of difference in brightness between the projected pattern and the background area in the object surface image;

[0087] In the method provided by the embodiment of the present invention, the scanner can evaluate the brightness difference between the projected pattern on the surface of the scanned object and the background area thereof based on the surface image of the object, and obtain a brightness evaluation parameter.

[0088] S203: Determine whether the brightness evaluation parameter meets the preset scanning conditions;

[0089] In the method provided in an embodiment of the present invention, the scanner can perform conditional judgment on the current evaluation parameters based on preset scanning conditions to determine whether the degree of brightness difference between the projected pattern on the surface of the currently scanned object and the background area in which it is located meets the recognition accuracy requirements of the projected pattern.

[0090] S204: If the brightness evaluation parameter does not meet the scanning condition, adjusting the projection brightness of the pattern projector by a control unit to change the projection brightness of the pattern projector.

[0091] In the method provided in an embodiment of the present invention, if the scanner determines that the brightness evaluation parameters do not meet the scanning conditions, it can trigger the control unit to adjust the projection brightness of the pattern projector to change the projection brightness of the pattern projector, so as to ensure that the degree of difference in brightness between the projected pattern on the surface of the scanned object and its background area meets the recognition accuracy requirements of the projected pattern.

[0092] By applying the method provided in the embodiment of the present invention, the degree of difference in brightness between the imaging of the projected pattern on the surface of the scanned object and the background area can be evaluated in real time in an actual scanning scenario, so as to measure the imaging effect of the projected pattern on the surface of the scanned object. When the imaging effect does not meet the requirements, the projection brightness of the pattern projector can be adaptively adjusted to improve the imaging effect of the projected pattern on the surface of the scanned object. This is beneficial for accurately identifying the projected pattern on the surface of the scanned object based on the image captured by the scanner during data processing, thereby improving the accuracy of three-dimensional data stitching.

[0093] It should be noted that the method provided by the embodiment of the present invention is Figure 1 The process executed by the scanner in the shown system corresponds to that described above. For the specific implementation of each step in the method provided in the embodiment of the present invention, please refer to the corresponding description in the previous embodiment, which will not be repeated here.

[0094] and Figure 3 Corresponding to the method for controlling the brightness of a pattern projection, an embodiment of the present invention further provides a device for controlling the brightness of a pattern projection. Figure 3 The specific implementation of the method shown in the figure is that the device is applied to the scanner in the three-dimensional scanning system. The structural diagram of the device is shown in FIG. Figure 4 Shown, including:

[0095] The image acquisition unit 301 is configured to acquire an image of a surface of the scanned object when the pattern projector projects a pattern onto the surface of the scanned object;

[0096] A brightness evaluation unit 302 is configured to determine a brightness evaluation parameter corresponding to the object surface image; the brightness evaluation parameter represents a degree of difference in brightness between the projected pattern and the background area in the object surface image;

[0097] The judging unit 303 is configured to judge whether the brightness evaluation parameter meets a preset scanning condition;

[0098] The brightness adjustment unit 304 is configured to adjust the projection brightness of the pattern projector through a control unit if the brightness evaluation parameter does not meet the scanning condition, so as to change the projection brightness of the pattern projector.

[0099] By applying the device provided in the embodiment of the present invention, the degree of difference in brightness between the imaging of the projected pattern on the surface of the scanned object and the background area can be evaluated in real time in an actual scanning scenario, so as to measure the imaging effect of the projected pattern on the surface of the scanned object. When the imaging effect does not meet the requirements, the projection brightness of the pattern projector can be adaptively adjusted to improve the imaging effect of the projected pattern on the surface of the scanned object. This is beneficial for accurately identifying the projected pattern on the surface of the scanned object based on the image captured by the scanner during data processing, thereby improving the accuracy of three-dimensional data stitching.

[0100] An embodiment of the present invention further provides a storage medium, which includes stored instructions, wherein when the instructions are executed, the device where the storage medium is located is controlled to execute the above-mentioned method for controlling the pattern projection brightness.

[0101] The embodiment of the present invention further provides an electronic device, the structural diagram of which is shown in FIG. Figure 5 As shown, the system specifically includes a memory 401 and one or more instructions 402, wherein the one or more instructions 402 are stored in the memory 401 and are configured to be executed by one or more processors 403 to perform the following operations:

[0102] When the pattern projector projects a pattern onto the surface of the scanned object, an image of the surface of the scanned object is collected;

[0103] Determining a brightness evaluation parameter corresponding to the object surface image; the brightness evaluation parameter represents a degree of difference in brightness between the projected pattern and the background area in the object surface image;

[0104] Determining whether the brightness evaluation parameter meets the preset scanning conditions;

[0105] If the brightness evaluation parameter does not meet the scanning condition, the control unit adjusts the projection brightness of the pattern projector to change the projection brightness of the pattern projector.

[0106] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. The systems and system embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. A person of ordinary skill in the art can understand and implement it without expending creative effort.

[0107] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the above description has generally described the components and steps of each example according to their functions. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present invention.

[0108] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A three-dimensional scanning system, characterized in that: include: scanner, pattern projector, and control unit; The pattern projector is used to project a pattern onto the surface of the scanned object; The scanner is used to acquire an object surface image of the scanned object, determine a brightness evaluation parameter corresponding to the object surface image, and determine whether the brightness evaluation parameter meets a preset scanning condition; The brightness evaluation parameter represents the degree of difference between the projection pattern and the background area in the object surface image; The control unit is configured to adjust the projection brightness of the pattern projector to change the projection brightness of the pattern projector when the brightness evaluation parameter does not meet the scanning condition.

2. The three-dimensional scanning system according to claim 1, characterized in that: Determining a brightness evaluation parameter corresponding to the object surface image includes: Determining a projection pattern image and a background area image corresponding to the object surface image; Determining a first grayscale value corresponding to the projected pattern image; Determining a second grayscale value corresponding to the background area image; A difference between the first grayscale value and the second grayscale value is calculated, and the difference is used as the brightness evaluation parameter.

3. The three-dimensional scanning system according to claim 1, characterized in that: Determining a brightness evaluation parameter corresponding to the object surface image includes: According to a preset contrast recognition algorithm, the contrast between the projected pattern and the background area in the object surface image is determined, and the contrast is used as the brightness evaluation parameter.

4. The three-dimensional scanning system according to claim 1, wherein: The determining whether the brightness evaluation parameter meets a preset scanning condition includes: Comparing the brightness evaluation parameter with a preset parameter threshold; If the brightness evaluation parameter is greater than the preset parameter threshold, determining that the brightness evaluation parameter meets the scanning condition; If the brightness evaluation parameter is not greater than the preset parameter threshold, it is determined that the brightness evaluation parameter does not meet the scanning condition.

5. The three-dimensional scanning system according to claim 1, characterized in that: The step of adjusting the projection brightness of the pattern projector includes: determining a target current or a target intensity based on the brightness evaluation parameter; Based on the target current, the control current of the beam output device in the pattern projector is controlled, or based on the target intensity, the instantaneous discharge intensity of the capacitor in the beam output device is controlled to change the projection brightness of the pattern projector.

6. The three-dimensional scanning system according to claim 1, characterized in that: The scanner is further configured to start executing a scanning task when the brightness evaluation parameter meets the scanning condition.

7. A method for controlling the brightness of pattern projection, characterized in that: The method is applied to a scanner in a three-dimensional scanning system, and the method comprises: When the pattern projector projects a pattern onto the surface of the scanned object, an image of the surface of the scanned object is collected; Determining a brightness evaluation parameter corresponding to the object surface image; the brightness evaluation parameter represents a degree of difference in brightness between the projected pattern and the background area in the object surface image; Determining whether the brightness evaluation parameter meets the preset scanning conditions; If the brightness evaluation parameter does not meet the scanning condition, the control unit adjusts the projection brightness of the pattern projector to change the projection brightness of the pattern projector.

8. A device for controlling the brightness of pattern projection, characterized in that: The device is applied to a scanner in a three-dimensional scanning system, and comprises: an image acquisition unit, configured to acquire an image of a surface of the scanned object when the pattern projector projects a pattern onto the surface of the scanned object; a brightness evaluation unit, configured to determine a brightness evaluation parameter corresponding to the object surface image; the brightness evaluation parameter characterizing a degree of difference in brightness between the projected pattern and the background area in the object surface image; A judging unit, configured to judge whether the brightness evaluation parameter meets a preset scanning condition; The brightness adjustment unit is configured to adjust the projection brightness of the pattern projector through a control unit if the brightness evaluation parameter does not meet the scanning condition, so as to change the projection brightness of the pattern projector.

9. A storage medium, characterized in that: The storage medium includes stored instructions, wherein when the instructions are executed, the device where the storage medium is located is controlled to execute the method for controlling the pattern projection brightness according to claim 7.

10. An electronic device, characterized in that: The system comprises a memory and one or more instructions, wherein the one or more instructions are stored in the memory and configured to be executed by one or more processors to execute the method for controlling the pattern projection brightness as claimed in claim 7.

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