A projection and multi-camera imaging device

Abstract

This application discloses a projection and multi-camera imaging device. The imaging device includes a reflector, an imaging component, a projection component, and a lens assembly. The reflector is used for projection onto a surface; the imaging component includes a first monochrome camera, a second monochrome camera, a color camera, and a light source assembly; the projection component includes a sequentially arranged LD and a grating sheet; the lens assembly includes a first lens group, a second lens group, and a third lens group; the projection component and the color camera each form a first light path through the third lens group; the first monochrome camera forms a second light path through the first lens group; the second monochrome camera forms a third light path through the second lens group; the first, second, and third light paths each extend to the reflector, and the illumination range of the light source assembly at least covers the reflector.

Description

Technical Field

[0001] This application relates to the field of three-dimensional measurement technology, and in particular to a projection and multi-camera imaging device. Background Technology

[0002] Currently, for oral cavity scanning 3D modeling, the existing technical solutions adopt the structured light projection technology route. The binocular imaging scheme usually uses two black and white cameras to achieve an effect similar to human eyes, and uses structured light projection to perform modeling.

[0003] In commercially available equipment that utilizes the above-mentioned solutions, in order to achieve focus adjustment of the two monochrome cameras, shims are typically added or removed from the monochrome cameras during the equipment manufacturing and installation process to pre-install the two monochrome cameras, thereby allowing the two monochrome cameras to find a position close to the optimal MTF (modulation transfer function).

[0004] However, the aforementioned production adjustment method of repeatedly adding and removing shims on the camera increases production time costs and the workload of assembly personnel, severely impacting production efficiency. Furthermore, the difficulty in ensuring consistent shim thickness makes it impossible to guarantee the consistency of MTF (Mean Transmission Factor) for each assembled device, affecting the equipment's shooting accuracy and increasing the probability of defective products.

[0005] Therefore, designing a 3D imaging system that is more convenient for production adjustments and more accurate for scanning is a technical problem that urgently needs to be solved. Summary of the Invention

[0006] The purpose of this application is to provide a projection and multi-camera shooting device that achieves more efficient and convenient production adjustment, as well as high-precision scanning and shooting.

[0007] To achieve the above objectives, this application provides the following technical solution: This application discloses a projection and multi-camera imaging device, comprising a reflector, an imaging component, a projection component, and a lens assembly. The reflector is used for projection onto a surface; the imaging component includes a first monochrome camera, a second monochrome camera, a color camera, and a light source assembly; the projection component includes a LD and a grating sheet arranged sequentially; the lens assembly includes a first lens group, a second lens group, and a third lens group; the projection component and the color camera respectively form a first optical path through the third lens group; the first monochrome camera forms a second optical path through the first lens group; the second monochrome camera forms a third optical path through the second lens group; the first, second, and third optical paths extend to the reflector, and the illumination range of the light source assembly at least covers the reflector.

[0008] In some embodiments, the imaging device further includes a first housing and a second housing; the first housing and the reflector are spaced apart along a first direction, and the first housing has a first inner cavity, a second inner cavity and a third inner cavity arranged sequentially and spaced apart, the first inner cavity penetrating the first housing along the first direction, the second inner cavity penetrating the first housing along a second direction, and the third inner cavity penetrating the first housing along a third direction; the second housing has a fourth inner cavity inside, and the fourth inner cavity penetrating the second housing along the first direction; the first housing and the second housing are detachably connected so that the second inner cavity communicates with the fourth inner cavity; a first black-and-white camera and a first lens assembly are disposed in the first inner cavity; a second black-and-white camera and a second lens assembly are disposed in the third inner cavity; the third lens assembly is disposed in the second inner cavity, and a color camera is disposed on the outer wall of the second inner cavity; a projection assembly and a light source assembly are disposed in the fourth inner cavity.

[0009] In some embodiments, a first lens assembly is detachably connected to the end of the first inner cavity near the reflector and can reciprocate along the first inner cavity; a first monochrome camera is disposed at the end of the first inner cavity away from the reflector; a second lens assembly is detachably connected to the end of the third inner cavity near the reflector and can reciprocate along the third inner cavity; a second monochrome camera is disposed at the end of the third inner cavity away from the reflector; a third lens assembly is detachably connected to the end of the second inner cavity near the reflector and can reciprocate along the second inner cavity; a light source assembly is disposed at the end of the fourth inner cavity near the second inner cavity; an LD is disposed at the end of the fourth inner cavity away from the second inner cavity; and a grating sheet is built into the fourth inner cavity and located between the LD and the light source assembly.

[0010] In some implementations, the grating sheet has a preset photolithographic stripe structure, which includes multiple uniformly arranged stripe structures, each stripe structure including multiple line segments of preset length and spaced apart.

[0011] In some implementations, the LD emits blue and / or green pulsed light sources.

[0012] In some implementations, the light source assembly emits white light as an illumination source.

[0013] Analysis reveals that this application discloses a projection and multi-camera shooting device. During the production and assembly process, the first lens group can reciprocate along the first inner cavity, the second lens group can reciprocate along the third inner cavity, and the third lens group can reciprocate along the second inner cavity. The assembly personnel adjust the MTF positions of the first black-and-white camera, the second black-and-white camera, and the color camera, as well as the projection focal length of the projection component, by reciprocating the first, second, and third lens groups. After the assembly personnel adjust the first, second, and third lens groups to the optimal assembly position, they can glue the first, second, and third lens groups to the first housing by applying adhesive, thereby ensuring that the first black-and-white camera, the second black-and-white camera, and the color camera have the optimal MTF position and the projection component has the clearest projection focal length. Compared to the common production adjustment solutions on the market that adjust camera focal length by adding or subtracting shims, the technical solution disclosed in this application effectively reduces the difficulty of adjusting MTF during production and installation, effectively reduces the workload of assembly personnel, and the technical solution provided by this disclosure is not limited by the inconsistency of shim thickness, which greatly improves the accuracy during scanning and shooting. Attached Figure Description

[0014] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. Wherein: Figure 1 A schematic diagram of the imaging device provided in the embodiments of this application; Figure 2 A partial cross-sectional structural schematic diagram of the imaging device provided in the embodiments of this application; Explanation of reference numerals in the attached figures: 1. Reflector; 2. First housing; 201. First inner cavity; 202. Second inner cavity; 203. Third inner cavity; 3. Second housing; 301. Fourth inner cavity; 4. LD; 5. Grating sheet; 6. First monochrome camera; 7. First lens group; 8. Second monochrome camera; 9. Second lens group; 10. Color camera; 11. Third lens group; 12. Light source assembly; A. Object plane; X. First direction; Y. Second direction; Z. Third direction. Detailed Implementation

[0015] The present application will now be described in detail with reference to the accompanying drawings and embodiments. Various examples are provided by way of explanation and not by way of limitation. In fact, those skilled in the art will recognize that modifications and variations can be made to the present application without departing from the scope or spirit thereof. For example, a feature shown or described as part of one embodiment may be used in another embodiment to produce yet another embodiment. Therefore, it is desirable that the present application encompass such modifications and variations that fall within the scope of the appended claims and their equivalents.

[0016] In the description of this application, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," and "bottom," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and do not require that this application be constructed and operated in a specific orientation, and therefore should not be construed as limiting this application. The terms "connected," "linked," and "set up" used in this application should be interpreted broadly. For example, they can refer to fixed connections or detachable connections; direct connections or indirect connections through intermediate components; wired connections, radio connections, or wireless communication signal connections. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.

[0017] The accompanying drawings illustrate one or more examples of this application. The detailed description uses numerical and alphabetic designations to refer to features in the drawings. Similar or analogous designations in the drawings and description have been used to refer to similar or analogous parts of this application. As used herein, the terms “first,” “second,” and “third,” etc., are used interchangeably to distinguish one component from another and are not intended to indicate the location or importance of individual components. Example

[0018] like Figures 1 to 2 As shown, according to an embodiment of this application, a projection and multi-camera shooting device is provided, including: a reflector 1, a first housing 2, a second housing 3, an LD 4, a grating sheet 5, a first black and white camera 6, a second black and white camera 8, a color camera 10, a first lens group 7, a second lens group 9, a third lens group 11, and a light source assembly 12.

[0019] Specifically, such as Figures 1 to 2As shown, the reflector 1 is used to project onto surface A. A first housing 2 is spaced apart from the reflector 1 along a first direction X, and its interior has a first inner cavity 201, a second inner cavity 202, and a third inner cavity 203 arranged sequentially at intervals. The first inner cavity 201 penetrates the first housing 2 along the first direction X, the second inner cavity 202 penetrates the first housing 2 along the second direction Y, and the third inner cavity 203 penetrates the first housing 2 along the third direction Z. The second housing 3 has a fourth inner cavity 301 inside, and the fourth inner cavity 301 penetrates the second housing 3 along the first direction X. The first housing 2 and the second housing 3 are detachably connected by a threaded connector, so that the second inner cavity 202 communicates with the fourth inner cavity 301. A first monochrome camera 6 is mounted to the end of the first inner cavity 201 away from the reflector 1 via a threaded connector. A first lens assembly 7 is detachably screwed to the end of the first inner cavity 201 near the reflector 1 via internal and external thread engagement, allowing the first lens assembly 7 to reciprocate along the first inner cavity 201 via the threaded connection, thereby adjusting the focal length of the first monochrome camera 6. A second monochrome camera 8 is mounted to the end of the third inner cavity 203 away from the reflector 1 via a threaded connector. A second lens assembly 9 is detachably screwed to the end of the third inner cavity 203 near the reflector 1 via internal and external thread engagement, allowing the second lens assembly 9 to reciprocate along the third inner cavity 203 via the threaded connection, thereby adjusting the focal length of the second monochrome camera 8 via the reciprocating movement of the second lens assembly 9. The color camera 10 is mounted on the outside of the first housing 2 via a threaded connector, corresponding to the position of the second inner cavity 202. The third lens group 11 is detachably screwed to the end of the second inner cavity 202 near the reflector 1 via internal and external thread engagement, allowing the third lens group 11 to reciprocate along the second inner cavity 202 via the threaded connection. The light source assembly 12 is located at the end of the fourth inner cavity 301 near the second inner cavity 202, and the LD4 is located at the end of the fourth inner cavity 301 away from the second inner cavity 202. The grating plate 5 is built into the fourth inner cavity 301 and located between the LD4 and the light source assembly 12. The focal length of the color camera 10 and the LD4 can be adjusted by the reciprocating movement of the second lens group 9. After the first lens group 7, the second lens group 9, and the third lens group 11 are adjusted to the target position, they can be glued to the first housing 2 by dispensing adhesive, thereby preventing the first lens group 7, the second lens group 9, and the third lens group 11 from shifting during use.

[0020] As can be seen from the above description, the embodiments of this application achieve the following technical effects: Compared with the prior art, in the production and assembly process of the projection and multi-camera shooting device provided in the embodiments of this application, the first lens group 7 can reciprocate along the first inner cavity 201, the second lens group 9 can reciprocate along the third inner cavity 203, and the third lens group 11 can reciprocate along the second inner cavity 202. The assembly personnel adjust the MTF position of the first black and white camera 6, the second black and white camera 8, and the color camera 10, as well as the projection focal length of the projection component, by reciprocating the first lens group 7, the second lens group 9, and the third lens group 11. After the assembly personnel adjust the first lens group 7, the second lens group 9, and the third lens group 11 to the optimal assembly position, the first lens group 7, the second lens group 9, and the third lens group 11 can be glued to the first housing 2 by dispensing adhesive, thereby ensuring that the first black and white camera 6, the second black and white camera 8, and the color camera 10 have the optimal MTF position and the projection component has the clearest projection focal length. Compared to the common production adjustment solutions on the market that adjust camera focal length by adding or removing shims, the technical solution disclosed in this application effectively reduces the difficulty of adjusting MTF during production and installation, effectively reduces the workload of assembly personnel, and the technical solution disclosed in the embodiments of this application is not limited by the inconsistency of shim thickness, which greatly improves the accuracy during scanning and shooting.

[0021] The imaging device provided in the embodiments of this application needs to be used in conjunction with a computer pre-installed with scanning analysis and modeling software. The imaging process and the software's analysis and modeling principles for the image of the captured object surface A are as follows: S0100, LD4 is on, first black and white camera 6 and second black and white camera 8 are on, color camera 10 is off, light source assembly 12 is off; S0200 and LD4 emit blue and / or green pulsed light sources; S0300, a pulsed light source forms structured light stripes through grating sheet 5; S0400, the structured light stripes are projected onto the reflector 1 after passing through the third lens group 11; S0500 and reflector 1 project structured light stripes onto the object surface A to be photographed. The first black and white camera 6 and the second black and white camera 8 simultaneously photograph the object surface A with structured light stripes through the first lens group 7 and the second lens group 9, respectively, to obtain the phase information of the object surface A. S0600. Determine the positional relationship of various spatial points on surface A based on the phase information of surface A and the triangulation method. S0700. Based on the positional relationship of each spatial point, generate point cloud, line cloud and sheet in sequence to reconstruct the three-dimensional model of object surface A. S0800, Color camera 10 is on, Light source assembly 12 is on, First black and white camera 6 and Second black and white camera 8 are off, LD4 is off; S0900, the white illumination source emitted by the light source assembly 12 illuminates the object surface A to be photographed after passing through the third lens group 11 and the reflector 1. The color camera 10 takes a picture of the illuminated object surface A through the third lens group 11 to obtain the color information of the object surface A. S1000: Attach the color information to the 3D model being reconstructed. S1100, Repeat steps S0100 to S1000 to obtain multiple sets of spatial positional relationships and multiple sets of color information of object surface A; S1200: The pieces obtained from all spatial relationships are stitched together to reconstruct a complete three-dimensional model; S1300: Attach all the color information of surface A to the reconstructed 3D model, and finally complete the overall reconstruction of the 3D model.

[0022] The above descriptions are merely some embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A projection and multi-camera imaging device for capturing images of an object surface, characterized in that, include: A reflecting mirror is used to project the object surface. The shooting components include a first black-and-white camera, a second black-and-white camera, a color camera, and a light source assembly; The projection assembly includes a sequentially arranged LD (laser diode) and a grating sheet; and The lens assembly includes a first lens group, a second lens group, and a third lens group; The projection component and the color camera respectively form a first optical path through the third lens group; The first monochrome camera forms a second optical path through the first lens group; The second monochrome camera forms a third optical path through the second lens group; The first optical path, the second optical path, and the third optical path extend to the reflector, and the illumination range of the light source assembly at least covers the reflector.

2. The apparatus according to claim 1, wherein Also includes: First shell and second shell; The first housing and the reflector are spaced apart along a first direction, and the housing has a first inner cavity, a second inner cavity and a third inner cavity arranged in sequence. The first inner cavity penetrates the first housing along the first direction, the second inner cavity penetrates the first housing along a second direction, and the third inner cavity penetrates the first housing along a third direction. The second housing has a fourth inner cavity inside, and the fourth inner cavity penetrates the second housing along the first direction; The first housing and the second housing are detachably connected so that the second inner cavity communicates with the fourth inner cavity; The first monochrome camera and the first lens group are disposed in the first inner cavity; The second monochrome camera and the second lens group are disposed in the third inner cavity; The third lens group is disposed in the second inner cavity, and the color camera is disposed on the outer wall of the second inner cavity; The projection component and the light source component are disposed in the fourth inner cavity.

3. The projection and multi-camera shooting device according to claim 2, characterized in that, The first lens assembly is detachably connected to the end of the first inner cavity near the reflector and can reciprocate along the first inner cavity. The first monochrome camera is located at the end of the first inner cavity away from the reflector. The second lens assembly is detachably connected to the end of the third inner cavity near the reflector and can reciprocate along the third inner cavity. The second monochrome camera is located at the end of the third inner cavity away from the reflector. The third lens group is detachably connected to the end of the second inner cavity near the reflector, and can reciprocate along the second inner cavity; The light source assembly is disposed at the end of the fourth inner cavity near the second inner cavity, the LD is disposed at the end of the fourth inner cavity away from the second inner cavity, and the grating sheet is built into the fourth inner cavity and located between the LD and the light source assembly.

4. The projection and multi-camera shooting device according to claim 1, characterized in that, The grating sheet has a preset photolithographic stripe structure, which includes multiple uniformly arranged stripe structures, and each stripe structure includes multiple line segments of preset length and spaced apart.

5. The projection and multi-camera shooting device according to claim 1, characterized in that, The LD emits a blue and / or green pulsed light source. 6.The projection and multi-camera photographing device of claim 1, wherein, The light source assembly emits a white light illumination light source.

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