Laser projector, scanner and three-dimensional reconstruction system

Abstract

The utility model discloses a laser projector, a scanner and a three-dimensional reconstruction system. According to the method, a laser light source and an optical element are included, and the laser light source is connected with the optical element; the laser light source is used for emitting laser; the optical element is arranged on the light emitting side of the laser light source, so that laser emitted by the laser light source forms a line segment stripe pattern after penetrating through the optical element, the optical element comprises a photomask, and a plurality of line segment stripe shielding objects with random lengths are arranged on the photomask and used for shielding the laser. The problem of low code element matching accuracy in the structured light pattern projected by the laser projector in the related technology is at least solved.

Description

Technical Field

[0001] The present application relates to the field of three-dimensional reconstruction technology, and more specifically, to a laser projector, a scanner and a three-dimensional reconstruction system. Background Art

[0002] With the increasing maturity of camera technology and the continuous rapid development of the camera industry, the functions of camera modules are no longer limited to ordinary photography. For example, the combination of camera modules and projectors has been widely used in the fields of 3D mapping, modeling and 3D reconstruction. For example, the projector can project compiled light to an object or scene, and then the camera module can obtain depth information associated with the object or scene by obtaining the light reflected by the object or scene, thereby realizing 3D mapping, modeling or 3D reconstruction of the object or scene. Typically, the projector can be implemented as a speckle projector, which can project light with a speckle pattern to an object or scene, so that the camera module can subsequently receive the light with a speckle pattern reflected by the object or scene, thereby obtaining depth information about the object or scene. The speckle projector includes a semiconductor laser, a collimator, and a diffraction optical component. After the semiconductor laser emits a beam of laser light, it is split and collimated by the collimator to form parallel light, which is then irradiated onto the diffraction optical component. After passing through the diffraction optical component 30P, it can In the fields of 3D mapping, modeling and 3D reconstruction, structured light patterns are often projected onto the surface of the object to be measured to obtain depth information of the object to be measured for 3D reconstruction. In the related art, scanners that project structured light patterns usually generate stripe patterns in the following ways, for example: directly using lasers to generate stripe patterns; directly using laser stripe projectors of different wavelengths + speckle optical elements to project stripes + speckle patterns, and then using multi-camera modules for subsequent acquisition and scanning to obtain depth information about objects or scenes. However, the structured light projected by the above laser projector has a low accuracy in code element matching due to the small capacity of the code elements in the pattern.

[0003] To address the above-mentioned problems, no effective solution has been proposed yet. Utility Model Content

[0004] The embodiments of the present application provide a laser projector, a scanner and a three-dimensional reconstruction system to at least solve the problem of low accuracy of code element matching in the structured light pattern projected by the laser projector in the related art.

[0005] According to one aspect of an embodiment of the present application, a laser projector is provided, comprising: a laser light source and an optical element light source; the laser light source is used to emit laser light; the optical element is arranged on the light output side of the laser light source, so that the laser emitted by the laser light source forms a line segment stripe pattern after passing through the optical element, wherein the optical element comprises: a light mask, on which a plurality of line segment stripe shielding objects of random lengths are arranged, for shielding the laser, and the light mask is used to shield the laser light path, so that the laser light path crosses the coverage range of the light mask.

[0006] Optionally, the laser projector further comprises a structural member for fixing the optical element at a preset position in the optical path of the laser, and the distance between the preset position and the laser light source is proportional to the area of ​​the optical element.

[0007] Optionally, multiple line segment stripe obstructions of random lengths set on the light mask are arranged according to preset rules, wherein the preset rules include at least one of the following: the horizontal spacing between adjacent transverse line segment stripes is equal, the horizontal spacing between adjacent transverse line segment stripes increases in sequence and at equal intervals, and the horizontal spacing between adjacent transverse line segment stripes is randomly selected in a preset distance interval.

[0008] Optionally, the area of ​​the mask is not less than the cross-sectional area of ​​the laser beam passing through the mask.

[0009] Optionally, the photomask is a single-piece photomask.

[0010] Optionally, it comprises: a shell, the shell is provided with at least two installation spaces, respectively used to install the laser light source and the optical element, and a hole is provided between the at least two installation spaces, and the hole is used for the laser to pass through.

[0011] According to another aspect of an embodiment of the present application, a scanner is also provided, including: a laser projector, the laser projector including: a laser light source and an optical element; the laser light source is used to emit laser; the optical element is arranged on the light output side of the laser light source, so that the laser emitted by the laser light source forms a line segment stripe pattern after passing through the optical element, wherein the optical element includes: a light mask, on which a plurality of line segment stripe shielding objects of random lengths are arranged for shielding the laser, the light mask being used to shield the laser light path so that the laser light path crosses the coverage range of the light mask.

[0012] According to another aspect of the embodiment of the present application, a three-dimensional reconstruction system is also provided, comprising: a scanner, at least one image acquisition device and a host computer, wherein the at least one image acquisition device is connected to the host computer; the scanner comprises: a laser projector, the laser projector, a laser light source and an optical element light source; the laser light source is used to emit laser light; the optical element is arranged on the light-emitting side of the laser light source, so that the laser emitted by the laser light source forms a line segment stripe pattern after passing through the optical element, wherein the optical element comprises: a light mask, on which a plurality of line segment stripe shielding objects of random lengths are arranged, for shielding the laser, the light mask is used to shield the laser light path, so that the laser light path crosses the coverage range of the light mask; the at least one image acquisition device is used to capture the line segment stripe pattern projected onto the surface of the object to be measured, and transmit the line segment stripe pattern projected onto the surface of the object to be measured to the host computer; the host computer is used to complete the three-dimensional reconstruction of the object to be measured according to the line segment stripe pattern projected onto the surface of the object to be measured.

[0013] Optionally, multiple line segment stripe obstructions of random lengths set on the light mask are arranged according to preset rules, wherein the preset rules include at least one of the following: the horizontal spacing between adjacent transverse line segment stripes is equal, the horizontal spacing between adjacent transverse line segment stripes increases in sequence and at equal intervals, and the horizontal spacing between adjacent transverse line segment stripes is randomly selected in a preset distance interval.

[0014] In an embodiment of the present application, a laser light source and an optical element light source are used; the laser light source is used to emit laser light; the optical element is arranged on the light output side of the laser light source, so that the laser emitted by the laser light source forms a line segment stripe pattern after passing through the optical element, wherein the optical element includes: a light mask, on which a plurality of line segment stripe shielding objects of random lengths are arranged for shielding the laser, and the light mask is used to shield the laser light path so that the laser light path crosses the coverage range of the light mask. By providing a light mask with a plurality of line segment stripe shielding objects of random lengths, the purpose of allowing the laser projector to emit a line segment stripe pattern is achieved, thereby achieving the technical effect of increasing the code element capacity and thereby improving the code element matching accuracy, thereby solving the problem of low code element matching accuracy in the structured light pattern projected by the laser projector. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0016] Figure 1 is a schematic structural diagram of a laser projector according to an embodiment of the present application;

[0017] Figure 2 is a schematic diagram of a line segment stripe pattern according to an embodiment of the present application;

[0018] Figure 3 is a schematic diagram of another line segment stripe pattern according to an embodiment of the present application;

[0019] Figure 4 is a schematic diagram of a mask structure according to an embodiment of the present application;

[0020] Figure 5 is a schematic structural diagram of a scanner according to an embodiment of the present application;

[0021] Figure 6 It is a structural schematic diagram of a three-dimensional reconstruction system according to an embodiment of the present application. DETAILED DESCRIPTION

[0022] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0023] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0024] An embodiment of the present application provides a scanner embodiment. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0025] Figure 1 is a schematic diagram of the structure of a laser projector according to an embodiment of the present application, such as Figure 1As shown, the laser projector includes: a laser light source 10 and an optical element 20; the laser light source 10 is used to emit laser; the optical element 20 is arranged on the light output side of the laser light source, so that the laser emitted by the laser light source forms a line segment stripe pattern after passing through the optical element, wherein the optical element includes: a light mask, on which a plurality of line segment stripe shielding objects of random lengths are arranged for shielding the laser, and the light mask is used to shield the laser light path so that the laser light path crosses the coverage range of the light mask.

[0026] The above-mentioned laser projector adopts a laser light source and an optical element; the laser light source is used to emit laser light; the optical element is arranged on the light-emitting side of the laser light source, so that the laser light emitted by the laser light source forms a line segment stripe pattern after passing through the optical element, wherein the optical element includes: a light mask, on which a plurality of line segment stripe shielding objects of random lengths are arranged, which are used to shield the laser light, and by providing a light mask with a plurality of line segment stripe shielding objects of random lengths, the purpose of allowing the scanner to emit a line segment stripe pattern is achieved, thereby achieving the technical effect of increasing the code element coding capacity, and further solving the problem of low code element matching accuracy in the structured light pattern projected by the laser projector. The following is a detailed description.

[0027] It should be noted that in the related technology, the use of light sources such as white light has poor adaptability to materials, especially black reflective objects. The objects need to be powder-sprayed to assist projection. In order to ensure matching accuracy, more cameras are required, for example, more than three cameras, which is not only costly but also computationally complex.

[0028] The present application achieves the purpose of allowing the laser projector to emit line segment stripe patterns by providing a light mask with multiple line segment stripe obstructions of random lengths, thereby achieving the technical effect of increasing the code element coding capacity, thereby reducing the number of cameras and reducing costs.

[0029] It should be noted that the angle between the optical element and the laser light path can be set according to the actual scene to ensure that the laser forms a line stripe pattern after passing through the optical element 20, for example: the optical element 20 is perpendicular to the laser light path.

[0030] Among them, the laser projector also includes a structural member (not shown in the figure) for fixing the optical element at a preset position in the optical path of the laser. The distance between the preset position and the laser light source is proportional to the area of ​​the optical element. Specifically, the farther the distance between the optical element 20 and the laser light source 10, the larger the area of ​​the optical element 20. In an optional manner, the distance between the optical element 20 and the laser light source 10 can be set to 1-5 mm.

[0031] It should also be explained that the laser projector can project multiple lines (for the sake of scanning efficiency, it is generally recommended to project no less than 60 lines). The light source has no limit on the wavelengths of blue light, red light, etc. According to the working distance and scanning format required by the scanner, different laser line widths are designed and adjusted to the appropriate focus position.

[0032] Multiple line segment stripe obstructions of random lengths set on the light mask are arranged according to preset rules, wherein the preset rules include at least one of the following: the horizontal spacing between adjacent horizontal line segment stripes is equal, the horizontal spacing between adjacent horizontal line segment stripes increases in equal intervals in sequence, and the horizontal spacing between adjacent horizontal line segment stripes is randomly selected in a preset distance interval.

[0033] The preset rules also include: the longitudinal spacing between adjacent transverse line segment stripes is equal, the longitudinal spacing between adjacent transverse line segment stripes increases in sequence and at equal intervals, and the longitudinal spacing between adjacent transverse line segment stripes is randomly selected in a preset distance interval.

[0034] It is understandable that in actual application scenarios, the lateral and / or longitudinal spacing between adjacent lateral line segment stripe shields can be set according to actual needs, and can be equal or unequal.

[0035] In actual application scenarios, the optical element 20 is provided with a line segment pattern perpendicular to the longitudinal laser beam. The coating ensures that the small line segment area is light-proof, while the laser light in other areas can pass through. The optical element 20 is arranged in front of the laser projector 10, so as to ensure that the pattern on the optical element 20 forms a laser small line segment pattern by blocking and crossing the laser line. Blocking and crossing means that a part of the laser beam is blocked by the horizontal line segment stripe blocking object, and the unblocked part of the laser beam is emitted along the original light path. Figure 2 A line-segment stripe pattern is shown, such as Figure 2 As shown, after the laser beam emitted by the laser light source is blocked by a plurality of opaque transverse line segment stripe shielding objects, the originally continuous longitudinal laser beam is cut into a plurality of line segment stripes, and the lengths of the line segment stripes are random.

[0036] Specifically, Figure 3 As shown, Figure 3 The blank area between the middle line segment 1 and the line segment 3 is the portion of the longitudinal laser beam blocked by the transverse line segment stripe shielding object.

[0037] Figure 4 A schematic diagram of a mask structure is shown. Figure 4 As shown, there are multiple horizontal line segment stripe obstructions randomly distributed on the mask.

[0038] It should be noted that the laser beam may be horizontal and the line segment stripe obstruction may be vertical. It is only necessary to cut off the laser beam to form a line segment stripe pattern.

[0039] like Figure 5 As shown, a scanner 40 is also provided, including: a laser projector 30, the laser projector 30 including: a laser light source 10 and an optical element 20; the laser light source 10 is used to emit laser; the optical element 20 is arranged on the light output side of the laser light source 10, so that the laser emitted by the laser light source 10 forms a line segment stripe pattern after passing through the optical element 20, wherein the optical element 20 includes: a light mask, a plurality of line segment stripe shielding objects of random lengths are arranged on the light mask, for shielding the laser, and the light mask is used to shield the laser light path, so that the laser light path crosses from the coverage range of the light mask.

[0040] In an optional manner, the optical element 20 may be a light mask.

[0041] It is understood that the area of ​​the mask is not smaller than the cross-sectional area of ​​the laser beam passing through the mask.

[0042] It should be noted that the photomask is a single-piece photomask.

[0043] In an actual application scenario, the laser projector 30 further includes: a shell (not shown in the figure), the shell is provided with at least two installation spaces, respectively used to install the laser light source 10 and the optical element 20, and a hole is provided between the at least two installation spaces, and the hole is used for the laser to pass through.

[0044] like Figure 6 As shown, the embodiment of the present application further provides a three-dimensional reconstruction system 50, comprising: a scanner 40, at least one image acquisition device 70 and a host computer 60, wherein the at least one image acquisition device 70 is connected to the host computer 60; the scanner 40 is used to project a line segment stripe pattern onto the surface of the object to be measured to form a projection pattern, wherein the scanner 40 comprises: a laser light source 10 and an optical element 20, wherein the laser light source 10 is connected to the optical element 20, the laser light source 10 is used to emit laser light, and the optical element 20 is arranged on the light emitting side of the laser light source 10 , so that the laser emitted by the laser light source 10 forms a line segment fringe pattern after passing through the optical element 20, wherein the optical element 20 includes: a light mask, on which a plurality of line segment fringe shielding objects of random lengths are arranged for shielding the laser; the at least one image acquisition device 70 is used to acquire the line segment fringe pattern projected onto the surface of the object to be measured, and transmit the line segment fringe pattern projected onto the surface of the object to be measured to the host computer 60; the host computer 60 is used to complete the three-dimensional reconstruction of the object to be measured according to the line segment fringe pattern projected onto the surface of the object to be measured.

[0045] In an optional manner, there may be one or two image acquisition devices 70 .

[0046] It can be understood that the multiple line segment stripe obstructions of random lengths set on the light mask are arranged according to preset rules, wherein the preset rules include at least one of the following: the horizontal spacing between adjacent horizontal line segment stripes is equal, the horizontal spacing between adjacent horizontal line segment stripes increases in equal intervals in sequence, and the horizontal spacing between adjacent horizontal line segment stripes is randomly selected in a preset distance range.

[0047] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0048] In the above embodiments of the present application, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0049] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0050] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed over multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0051] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0052] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or all or part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of each embodiment method of the present application. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or optical disk, etc. Various media that can store program codes.

[0053] The above are only preferred implementations of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A laser projector, characterized in that: include: Laser light sources and optical components; The laser light source is used to emit laser light; The optical element is arranged on the light-emitting side of the laser light source, so that the laser emitted by the laser light source forms a line segment stripe pattern after passing through the optical element, wherein the optical element includes: a light mask, on which a plurality of line segment stripe shielding objects of random lengths are arranged for shielding the laser, and the light mask is used to shield the laser light path so that the laser light path crosses the coverage range of the light mask.

2. The laser projector according to claim 1, characterized in that: The laser projector also includes a structural member for fixing the optical element at a preset position in the optical path of the laser, and the distance between the preset position and the laser light source is proportional to the area of ​​the optical element.

3. The laser projector according to claim 1, characterized in that: The multiple line segment stripe obstructions of random lengths set on the light mask are arranged according to preset rules, wherein the preset rules include at least one of the following: the horizontal spacing between adjacent transverse line segment stripes is equal, the horizontal spacing between adjacent transverse line segment stripes increases in sequence and at equal intervals, and the horizontal spacing between adjacent transverse line segment stripes is randomly selected in a preset distance interval.

4. The laser projector according to claim 1, characterized in that: The area of ​​the photomask is not less than the cross-sectional area of ​​the laser beam passing through the photomask.

5. The laser projector according to claim 1, characterized in that: The photomask is a single-piece photomask.

6. The laser projector according to claim 1, characterized in that: The invention comprises: a shell, wherein the shell is provided with at least two installation spaces, respectively used for installing the laser light source and the optical element, and a hole is provided between the at least two installation spaces, and the hole is used for the laser to pass through.

7. A scanner, characterized in that: include: Laser projector, The laser projector comprises a laser light source and an optical element; The laser light source is used to emit laser light; The optical element is arranged on the light-emitting side of the laser light source, so that the laser emitted by the laser light source forms a line segment stripe pattern after passing through the optical element, wherein the optical element includes: a light mask, on which a plurality of line segment stripe shielding objects of random lengths are arranged for shielding the laser, and the light mask is used to shield the laser light path so that the laser light path crosses the coverage range of the light mask.

8. A three-dimensional reconstruction system, characterized in that: include: A scanner, at least one image acquisition device and a host computer, wherein the at least one image acquisition device is connected to the host computer; The scanner comprises: Laser projector, The laser projector, laser light source and optical element light source; The laser light source is used to emit laser light; The optical element is arranged on the light-emitting side of the laser light source, so that the laser emitted by the laser light source forms a line segment stripe pattern after passing through the optical element, wherein the optical element comprises: a light mask, on which a plurality of line segment stripe shielding objects of random lengths are arranged for shielding the laser, and the light mask is used to shield the laser light path, so that the laser light path crosses from the coverage range of the light mask; The at least one image acquisition device is used to acquire the line segment fringe pattern projected onto the surface of the object to be measured, and transmit the line segment fringe pattern projected onto the surface of the object to be measured to the host computer; The host computer is used to complete the three-dimensional reconstruction of the object to be measured according to the line segment stripe pattern projected onto the surface of the object to be measured.

9. The three-dimensional reconstruction system according to claim 8, characterized in that: The multiple line segment stripe obstructions of random lengths set on the light mask are arranged according to preset rules, wherein the preset rules include at least one of the following: the horizontal spacing between adjacent transverse line segment stripes is equal, the horizontal spacing between adjacent transverse line segment stripes increases in sequence and at equal intervals, and the horizontal spacing between adjacent transverse line segment stripes is randomly selected in a preset distance interval.

Images