Projection mechanism and three-dimensional scanning device

Abstract

The utility model relates to a projection mechanism and a three-dimensional scanning device, and the projection mechanism comprises a projection assembly. The projection assembly is used for projecting a speckle pattern to a scanned object and forming a first projection area, and projecting a fringe image to the scanned object and forming a second projection area; wherein an overlapping area exists between the first projection area and the second projection area. According to the invention, the problem of low accuracy of three-dimensional scanning is solved.

Description

Technical Field

[0001] The present application relates to the field of three-dimensional scanning technology, in particular to a projection mechanism and a three-dimensional scanning device. Background Art

[0002] In recent years, with the continuous increase in computer hardware performance and the continuous improvement in communication speed, 3D scanning technology has also been continuously iterated and updated. Currently, 3D scanners on the market are mainly divided into two categories: structured light 3D scanners for the consumer field and laser 3D scanners for the industrial field. In related technologies, 3D scanners used in the consumer field usually use speckle projectors to project speckle patterns, which have low precision and make the accuracy of 3D scanning low.

[0003] Currently, no effective solution has been proposed for the problem of low accuracy of three-dimensional scanning in related technologies. Utility Model Content

[0004] The embodiments of the present application provide a projection mechanism and a three-dimensional scanning device to at least solve the problem of low three-dimensional scanning accuracy in the related art.

[0005] In a first aspect, an embodiment of the present application provides a projection mechanism, including a projection assembly;

[0006] The projection assembly is used to project a speckle image onto the scanned object and form a first projection area, and to project a fringe image onto the scanned object and form a second projection area;

[0007] Wherein, there is an overlapping area between the first projection area and the second projection area.

[0008] In some of these embodiments, the projection assembly includes a projector;

[0009] The projector is used to project a projection image onto the scanned object, wherein the projection image includes the speckle pattern and the fringe pattern.

[0010] In some of these embodiments, the projection assembly includes a speckle projector and a fringe projector;

[0011] The speckle projector and the stripe projector are used to simultaneously enter a working state in response to a received scanning trigger instruction; wherein the speckle projector projects the speckle pattern in the working state, and the stripe projector projects the stripe pattern in the working state.

[0012] In some of the embodiments, the installation posture of the speckle projector in the projection mechanism satisfies a preset relative posture relationship with the installation posture of the stripe projector in the projection mechanism; wherein the preset relative posture relationship enables the existence of the overlapping area between the first projection area and the second projection area.

[0013] In some embodiments, the first projection area is greater than or equal to the second projection area;

[0014] The area of ​​the overlapped region is greater than or equal to 50% of the area of ​​the second projection region, and less than or equal to the area of ​​the second projection region.

[0015] In some of the embodiments, when the area of ​​the overlapped region is equal to the area of ​​the second projection region, the center point of the second projection region coincides with the center point of the first projection region.

[0016] In some embodiments, there are at least two speckle patterns; wherein a first projection area corresponding to each of the speckle patterns overlaps with the second projection area; and / or,

[0017] There are at least two stripe patterns; wherein the second projection area corresponding to each stripe pattern overlaps with the first projection area.

[0018] In a second aspect, an embodiment of the present application provides a three-dimensional scanning device, the device comprising: a processing mechanism, an imaging mechanism, and a projection mechanism as described in the first aspect above; wherein the processing mechanism is respectively connected to the imaging mechanism and the projection mechanism;

[0019] The imaging mechanism is used to capture a three-dimensional scanning image including the speckle pattern and the fringe pattern;

[0020] The processing mechanism is used to reconstruct and generate a three-dimensional scanning result based on the three-dimensional scanning image.

[0021] In some embodiments, the imaging mechanism includes at least two black-and-white cameras; the black-and-white cameras are used to collect scanning data including the speckle pattern and the fringe pattern;

[0022] The processing device is also used to generate the three-dimensional scanning result according to the scanning data.

[0023] In some embodiments, the imaging mechanism further comprises at least one color camera; the color camera is used to collect texture information on the scanned object;

[0024] The processing device is further used to generate the three-dimensional scanning result according to the texture information and the scanning data collected by the black and white camera.

[0025] Compared with the related art, the embodiments of the present application provide a projection mechanism and a three-dimensional scanning device, wherein the projection mechanism includes a projection component; the projection component is used to project a speckle pattern onto a scanned object and form a first projection area, and to project a stripe image onto the scanned object and form a second projection area; wherein an overlapping area exists between the first projection area and the second projection area, thereby realizing a projection mechanism with a speckle projection function and a stripe projection function, and the projection mechanism can be applied to a three-dimensional scanning device, so that the three-dimensional scanning device can simultaneously project speckle and stripe light, thereby improving the scanning accuracy, and through the overlapping area between the first projection area and the second projection area, the stripe data can be effectively constrained when splicing using the speckle data, thereby solving the problem of low three-dimensional scanning accuracy.

[0026] Details of one or more embodiments of the present application are set forth in the following drawings and description to make other features, objects, and advantages of the present application more readily apparent. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] 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:

[0028] Figure 1 is a structural block diagram of a projection mechanism according to an embodiment of the present application;

[0029] Figure 2A is a schematic diagram of a first projection area according to an embodiment of the present application;

[0030] Figure 2B is a schematic diagram of a second projection area according to an embodiment of the present application;

[0031] Figure 3 is a schematic diagram of a projection image according to an embodiment of the present application;

[0032] Figure 4 is a schematic structural diagram of a three-dimensional scanning device according to an embodiment of the present application;

[0033] Figure 5 A schematic diagram of another projection image according to an embodiment of the present application;

[0034] Fig. 6A is a schematic diagram of another projection image according to an embodiment of the present application Figure 1 ;

[0035] Figure 6B is a second schematic diagram of another projection image according to an embodiment of the present application;

[0036] Figure 7 It is a structural block diagram of a three-dimensional scanning device according to an embodiment of the present application. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0038] It should be noted that the terms "first", "second", and "third" involved in the embodiments of the present invention are merely used to distinguish similar objects and do not represent a specific ordering of the objects. "First", "second", and "third" can be interchanged with a specific order or sequence where permitted. It is understandable that the objects distinguished by "first", "second", and "third" can be interchanged where appropriate so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. The terms "first", "second", and "third" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance.

[0039] In the description of the present application, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0040] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0041] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art in the technical field of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items. The term "plurality" used herein refers to two or more.

[0042] The three-dimensional scanning device projects light onto the scanning object through its built-in projection mechanism to achieve three-dimensional scanning of the scanning object. In an optional embodiment, for a consumer three-dimensional scanning device, in addition to a projector for projecting speckle patterns, a laser projector for projecting laser lines is also added to the three-dimensional scanning device to further improve scanning accuracy. However, for a three-dimensional scanning device with both a speckle projector and a laser projector, there is no specific restriction on the relative position of the projection, so that the three-dimensional scanning device cannot well constrain the laser data when splicing with speckle data.

[0043] Based on this, this embodiment provides a projection mechanism, see Figure 1 The projection mechanism 10 includes a projection component 12. The projection component 12 is used to project a speckle pattern onto a scanned object to form a first projection area, and to project a stripe pattern onto the scanned object to form a second projection area.

[0044] The speckle pattern can be a pattern pre-set on the projection component, which is formed by projecting speckle features onto the surface of the scanned object. Figure 2A , the area occupied by the speckle pattern 21 is the first projection area 22. The stripe pattern can be a structured light stripe image projected onto the surface of the scanned object, or other stripe or line patterns. Figure 2B , the area occupied by the stripe pattern 23 is the second projection area 24. It is understandable that the projection assembly 12 may include at least two projectors; for example, the projection assembly 12 includes at least one speckle projector and at least one stripe projector, and uses the speckle projector to project a speckle pattern to the scanned object, and uses the stripe projector to project a stripe pattern to the scanned object. Alternatively, the projection assembly 12 may also include a projector, which may simultaneously project a speckle pattern and a stripe pattern to the scanned object.

[0045] There is an overlap area between the first projection area and the second projection area. In an optional embodiment, there should be a certain overlap area between the first projection area formed by the speckle pattern and the second projection area formed by the stripe pattern, and it should be ensured that the area of ​​the first projection area is larger than the area of ​​the second projection area. For example, Figure 3is a schematic diagram of a projection image according to an embodiment of the present application, such as Figure 3 As shown, the projection image includes a speckle pattern and a stripe pattern; wherein the second projection area formed by the stripe pattern is located inside the first projection area formed by the speckle pattern, so that the first projection area completely covers the second projection area, thereby effectively utilizing the speckle pattern data, which is conducive to improving the constraint of the speckle stitching result on the laser data. In another embodiment, the second projection area may not completely overlap with the first projection area, as long as there is a certain overlap between the two areas.

[0046] It should be noted that the projection mechanism 10 including the projection component 12 capable of projecting a speckle pattern and a stripe pattern can generally be applied to a three-dimensional scanning scenario. Specifically, when the three-dimensional scanning device performs a three-dimensional scanning on a scanned object, the projection component 12 simultaneously projects a speckle pattern and a stripe pattern to the scanned object, so that the pattern projected on the surface of the scanned object includes both the speckle pattern and the stripe pattern. At the same time, there is an overlapped area between the first projection area and the second projection area, that is, there is an overlapped portion between the speckle pattern and the stripe pattern, and the two types of patterns are not completely separated.

[0047] In the above embodiment, at least one projection component 12 in the projection mechanism 10 projects a speckle pattern and a stripe pattern onto the scanned object, and there is an overlapped area between a first projection area formed by the speckle pattern and a second projection area formed by the stripe pattern, thereby realizing a projection mechanism with a speckle projection function and a stripe projection function. The projection mechanism 10 can be applied to a three-dimensional scanning device, so that the three-dimensional scanning device can project speckle and stripe light at the same time, thereby improving the scanning accuracy. Moreover, the overlapped area between the first projection area and the second projection area enables the stripe data to be effectively constrained when the speckle data is used for splicing, thereby solving the problem of low three-dimensional scanning accuracy.

[0048] In some embodiments, the projection assembly includes a projector; the projector is used to project a projection image onto the scanned object, wherein the projection image includes the speckle pattern and the stripe pattern. At this time, the relative positional relationship between the speckle pattern and the stripe pattern has been pre-set by the staff to ensure that the first projection area formed by the speckle pattern overlaps with the second projection area formed by the stripe pattern. Specifically, the projector capable of simultaneously projecting the speckle pattern and the stripe pattern may include, but is not limited to, various projection lamps or projectors; illustratively, the projector may use a vertical cavity surface emitting laser. In addition, the number of the projectors may be one or more.

[0049] In some embodiments, the projection assembly includes a speckle projector and a stripe projector; the speckle projector and the stripe projector are used to enter a working state at the same time in response to a received scanning trigger instruction; wherein the speckle projector projects the speckle pattern in the working state, and the stripe projector projects the stripe pattern in the working state. The scanning trigger instruction refers to an instruction for instructing the projection assembly to start projecting a projection pattern to the scanned object for three-dimensional scanning. The scanning trigger instruction can be generated by a device such as a staff member pressing a key connected to the projection assembly. Specifically, when the three-dimensional scanning device using the above-mentioned projection mechanism performs scanning, the speckle projector and the stripe projector need to be triggered to work at the same time, so that the pattern projected on the surface of the scanned object includes both the speckle pattern and the stripe pattern; and the process of the speckle projector and the stripe projector being triggered to work at the same time based on the scanning trigger instruction is a simple logic control process. By triggering the speckle projector and the stripe projector to work at the same time, it is possible to avoid the need to repeatedly scan the same position of the scanned object, which is conducive to improving the efficiency and accuracy of three-dimensional scanning.

[0050] Through the above embodiments, the projection component for projecting a speckle pattern and a fringe pattern may include a single projector, or a combination of a speckle projector and a fringe projector, so that the structural design of the projection component is more flexible, which is conducive to meeting different usage scenarios or requirements.

[0051] In some embodiments, the installation posture of the speckle projector in the projection mechanism satisfies a preset relative posture relationship with the installation posture of the stripe projector in the projection mechanism; wherein the preset relative posture relationship enables the existence of the overlap area between the first projection area and the second projection area. The above installation posture includes an installation position and an installation angle. In this embodiment, since the projection assembly includes a speckle projector for projecting a speckle pattern and a stripe projector for projecting a stripe pattern, in order to ensure that there is a certain overlap area between the speckle pattern and the stripe pattern, it is necessary to pre-set the corresponding speckle projector and the stripe projector, and the installation position and installation angle of each in the above projection mechanism, so that the phase posture relationship between the speckle projector and the stripe projector can meet the above conditions, thereby effectively improving the accuracy of three-dimensional scanning.

[0052] For example, see Figure 4At this time, the projection mechanism 10 including the speckle projector 121 and the stripe projector 122 is installed in the three-dimensional scanning device. In addition, an imaging mechanism 42 installed in the three-dimensional scanning device is also provided above the installation position of the projection mechanism. Specifically, the projection mechanism includes two speckle projectors 121 and one stripe projector 122, and the speckle projectors 121 and the stripe projectors 122 are centrally symmetrically distributed in the three-dimensional scanning device, and the installation angle of the speckle projector 121 and the installation angle of the stripe projector 122 have the same orientation within a certain angle range, so that there is a certain overlap area between the first projection area formed by the speckle projector 121 projecting the speckle pattern and the second projection area formed by the stripe projector 122 projecting the stripe pattern.

[0053] In an optional embodiment, for the projection component that simultaneously projects the speckle pattern and the fringe pattern onto the scanned object, there is no specific limitation on the projection surface area. Figure 5 At this time, the projection area of ​​the first projection area formed by the speckle pattern is too small, while the projection area of ​​the second projection area formed by the stripe pattern is too large, which easily leads to the problem that the laser data cannot be well constrained when the speckle data is used for splicing.

[0054] In order to effectively improve the above problem, in this embodiment, the first projection area is greater than or equal to the second projection area; the area of ​​the overlap area is greater than or equal to 50% of the area of ​​the second projection area, and less than or equal to the area of ​​the second projection area. In order to ensure that the speckle data can have a good constraint on the fringe data, the area of ​​the overlap area between the first projection area and the second projection area is limited. For example, Figure 3 A schematic diagram of a projection image is shown when the second projection area is located within the first projection area and the area of ​​the second projection area is smaller than the area of ​​the first projection area. At this time, the area of ​​the overlapping area between the two types of projection areas is equal to the area of ​​the second projection area. Fig. 6A , Figure 6B Schematic diagrams of projection images when the second projection area is located on the right and above the first projection area are shown respectively, at which time the area of ​​the overlapped area is equal to 50% of the area of ​​the second projection area. That is, the area of ​​the overlapped area should be within the range of 50% to 100% of the area of ​​the second projection area, so that the area of ​​the effective overlapped area formed between the speckle pattern and the fringe pattern is within a suitable range.

[0055] In some embodiments, when the area of ​​the overlapped region is equal to the area of ​​the second projection region, the center point of the second projection region coincides with the center point of the first projection region. Figure 3At this time, the second projection area is located at the center of the first projection area, which can help improve the constraint of speckle stitching on laser data and improve scanning accuracy.

[0056] In some embodiments, there are at least two speckle patterns; wherein each first projection area corresponding to the speckle pattern has an overlapped area with the second projection area. That is, when there is more than one speckle pattern projected onto the scanned object, each speckle pattern needs to have an area that overlaps with the stripe pattern, thereby avoiding the problem that some speckle patterns cannot constrain laser data, making the data in the speckle pattern invalid. Similarly, there are at least two stripe patterns; wherein each second projection area corresponding to the stripe pattern has an overlapped area with the first projection area.

[0057] This embodiment also provides a three-dimensional scanning device, Figure 7 is a structural block diagram of a three-dimensional scanning device according to an embodiment of the present application, such as Figure 7 As shown, the three-dimensional scanning device 70 includes: a processing mechanism 72, an imaging mechanism 42 and a projection mechanism 10 as described in any of the above embodiments. The processing mechanism 72 is connected to the imaging mechanism 42 and the projection mechanism 10 respectively. The imaging mechanism 42 is used to capture a three-dimensional scanning image containing the speckle pattern and the stripe pattern. The processing mechanism 72 is used to reconstruct and generate a three-dimensional scanning result based on the three-dimensional scanning image. The processing mechanism 72 may include but is not limited to various hardware devices such as single-chip microcomputers, chips or computers; the processing mechanism 72 may be integrated in the three-dimensional scanning device 70, or the processing mechanism 72 may also be connected to the three-dimensional scanning device 70 for communication.

[0058] It can be understood that the process of reconstructing and generating the three-dimensional scanning result by the above-mentioned processing mechanism 72 is a process that can be known to technical personnel in this field; for example, the processing mechanism 72 can perform three-dimensional reconstruction on the image captured by the imaging mechanism and obtain point cloud data, calculate the RT relationship between each frame and the world coordinate system through splicing the point cloud data, and fuse the point cloud data through the obtained RT matrix to obtain the final complete point cloud model of the scanned object, that is, to obtain the above-mentioned three-dimensional scanning result.

[0059] Through the above embodiments, the projection mechanism 10 with the speckle projection function and the stripe projection function, which can ensure that there is an overlapped area between the first projection area formed by the speckle pattern and the second projection area formed by the stripe pattern, is applied to the above three-dimensional scanning device 70, and the three-dimensional scanning result is generated by the imaging mechanism 42 and the processing mechanism 72 of the three-dimensional scanning device 70, so that the three-dimensional scanning device 70 can project the speckle and stripe light at the same time, thereby improving the scanning accuracy, and can effectively constrain the stripe data when splicing with the speckle data, thereby solving the problem of low three-dimensional scanning accuracy and realizing a three-dimensional scanning device with accurate scanning results.

[0060] In some embodiments, the imaging mechanism 42 includes at least two black-and-white cameras; the black-and-white cameras are used to collect scanning data including the speckle pattern and the fringe pattern; and the processing device is further used to generate the three-dimensional scanning result according to the scanning data. In this case, the black-and-white cameras are used to obtain three-dimensional data of the surface of the scanned object, and the texture information of the surface of the scanned object can be obtained by a third-party device.

[0061] In another embodiment, the imaging mechanism 42 further includes at least one color camera; the color camera is used to collect texture information on the scanned object; the processing device is also used to generate the three-dimensional scanning result according to the texture information and the scanning data collected by the black and white camera. The black and white camera is used to obtain three-dimensional data of the surface of the scanned object, and the color camera is used to obtain texture information on the surface of the scanned object.

[0062] Through the above embodiments, an imaging mechanism 42 implemented by multiple black-and-white cameras, or an imaging mechanism 42 composed of a black-and-white camera and a color camera is provided, so that the imaging mechanism 42 in the three-dimensional scanning device 70 can be suitable for different application scenarios, thereby improving the flexibility of the structural design of the imaging mechanism 42.

[0063] Those skilled in the art should understand that the various technical features of the above embodiment can be combined arbitrarily. In order to make the description concise, not all possible combinations of the various technical features in the above embodiment are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0064] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the utility model patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A projection mechanism, characterized in that: Includes projection components; The projection assembly is used to project a speckle pattern onto the scanned object and form a first projection area, and to project a fringe pattern onto the scanned object and form a second projection area; Wherein, there is an overlapping area between the first projection area and the second projection area.

2. The projection mechanism according to claim 1, characterized in that: The projection assembly includes a projector; The projector is used to project a projection image onto the scanned object, wherein the projection image includes the speckle pattern and the fringe pattern.

3. The projection mechanism according to claim 1, characterized in that: The projection assembly includes a speckle projector and a fringe projector; The speckle projector and the stripe projector are used to simultaneously enter a working state in response to a received scanning trigger instruction; wherein the speckle projector projects the speckle pattern in the working state, and the stripe projector projects the stripe pattern in the working state.

4. The projection mechanism according to claim 3, characterized in that: The installation posture of the speckle projector in the projection mechanism satisfies a preset relative posture relationship with the installation posture of the stripe projector in the projection mechanism; wherein the preset relative posture relationship enables the existence of the overlapping area between the first projection area and the second projection area.

5. The projection mechanism according to claim 1, characterized in that: The first projection area is larger than or equal to the second projection area; The area of ​​the overlapped region is greater than or equal to 50% of the area of ​​the second projection region, and less than or equal to the area of ​​the second projection region.

6. The projection mechanism according to claim 5, characterized in that: When the area of ​​the overlapped region is equal to the area of ​​the second projection region, the region center point of the second projection region coincides with the region center point of the first projection region.

7. The projection mechanism according to any one of claims 1 to 6, characterized in that: There are at least two speckle patterns; wherein the first projection area corresponding to each of the speckle patterns overlaps with the second projection area; and / or, There are at least two stripe patterns; wherein the second projection area corresponding to each stripe pattern overlaps with the first projection area.

8. A three-dimensional scanning device, characterized in that: The device comprises: a processing mechanism, an imaging mechanism and a projection mechanism as claimed in any one of claims 1 to 7; wherein the processing mechanism is connected to the imaging mechanism and the projection mechanism respectively; The imaging mechanism is used to capture a three-dimensional scanning image including the speckle pattern and the fringe pattern; The processing mechanism is used to reconstruct and generate a three-dimensional scanning result based on the three-dimensional scanning image.

9. The three-dimensional scanning device according to claim 8, characterized in that: The imaging mechanism comprises at least two black-and-white cameras; the black-and-white cameras are used to collect scanning data including the speckle pattern and the fringe pattern; The processing mechanism is also used to generate the three-dimensional scanning result according to the scanning data.

10. The three-dimensional scanning device according to claim 9, characterized in that: The imaging mechanism further comprises at least one color camera; the color camera is used to collect texture information on the scanned object; The processing mechanism is also used to generate the three-dimensional scanning result according to the texture information and the scanning data collected by the black and white camera.

Images