Three-dimensional profile measuring device, three-dimensional profile construction method, device, and electronic device

Abstract

This application provides a 3D profile measuring machine, a 3D profile construction method, an apparatus, and an electronic device. The 3D profile measuring machine includes a first area camera, a second area camera, a laser, and a processor. The laser is installed between the first and second area cameras. The lens plane of the first lens, the imaging plane of the first area sensor, the lens plane of the second lens, the imaging plane of the second area sensor, and the laser plane of the laser are aligned on the same line. The processor combines the first and second laser grayscale images to determine the 3D profile of the object to be measured. The dual cameras perform multi-angle photography, effectively reducing blind spots in photography, allowing 3D data of the entire object to be captured, reducing the problem of missed detections due to blind spots. The difference in the images formed by the two area cameras allows interference such as stray light to be identified and eliminated, effectively improving the robustness of the device in dealing with interference such as stray light and reflected light.

Description

[Technical Field]

[0001] This application claims priority to a Chinese patent application bearing application number 202310129603.0 and entitled "Three-dimensional profile measuring machine, three-dimensional profile construction method, device and electronic device," filed with the State Intellectual Property Office of the People's Republic of China on February 13, 2023, the entire contents of which are incorporated herein by reference.

[0002] This application relates to the field of visual detection technology, and in particular to three-dimensional profile measuring machines, three-dimensional profile construction methods, devices and electronic equipment. [Background technology]

[0003] In industrial production inspection, an increasing number of inspections require 3D (three-dimensional) data, including measurement needs. These measurement needs include not only X / Y data such as length and width, but also Z-axis height measurement. Currently, the technologies used in industrial measurement and detection mainly use laser triangulation, structured light phase calculation, and binocular stereo calibration to calculate 3D data. However, line laser 3D cameras using triangulation have low scanning speeds and low X / Y accuracy, and the number of measurement points per line is typically around 3K. Structured light projection technology generally requires multiple images to be projected, and the object must be photographed while still in a stationary position, making it inefficient. In addition, the resolution of the projection device used is low, significantly limiting the accuracy of wide-field projection. Binocular stereo vision generally uses area cameras for calibration, and the imaging method is the same as that used with 2D area cameras. It is primarily suitable for photographing rectangular objects, but can also be used to photograph stationary objects.

[0004] The related line laser 3D camera has an optical structure consisting of one laser emitter and one industrial area camera, as shown in Figure 1. After the camera is displaced, there will be a certain blind spot within the field of view. Summary of the Invention [Means for solving the problem]

[0005] The present invention aims to provide a 3D profile measuring instrument, a 3D profile construction method, a device, and an electronic device for reducing blind spots in the field of view. Specific technical means are as follows:

[0006] A three-dimensional profile measuring device provided by a first aspect of the present embodiment includes a first area camera, a second area camera, a laser, and a processor, wherein the first area camera includes a first area sensor and a first lens, the second area camera includes a second area sensor and a second lens, the laser is installed between the first area camera and the second area camera, the lens plane of the first lens, the imaging plane of the first area sensor, the lens plane of the second lens, the imaging plane of the second area sensor, and the laser plane of the laser intersect on the same straight line, the laser is for emitting a laser, the first area camera is for collecting a first laser grayscale image of the object to be measured, and the second area camera is for collecting a second laser grayscale image of the object to be measured, and the processor is for combining the first laser grayscale image and the second laser grayscale image to determine a three-dimensional profile of the object to be measured.

[0007] A three-dimensional profile construction method provided by a second aspect of the present embodiment is applied to any one of the three-dimensional profile measuring machines of the present application, and the three-dimensional profile construction method includes: acquiring a first laser grayscale image of the measurement object collected by a first area camera and a second laser grayscale image of the measurement object collected by a second area camera; and combining the first laser grayscale image and the second laser grayscale image to determine a three-dimensional profile of the measurement object.

[0008] A three-dimensional profile construction device provided by a third aspect of the present embodiment is applied to any one of the three-dimensional profile measuring machines of the present application, and the three-dimensional profile construction device includes: a laser grayscale image acquisition module for acquiring a first laser grayscale image of the object to be measured collected by a first area camera and a second laser grayscale image of the object to be measured collected by a second area camera; and a three-dimensional profile determination module for combining the first laser grayscale image and the second laser grayscale image to determine a three-dimensional profile of the object to be measured.

[0009] An electronic device provided by a fourth aspect of the present embodiment includes a memory for storing a computer program and a processor for implementing any one of the three-dimensional profile construction methods of the present application when executing the program stored in the memory.

[0010] A fifth aspect of the present invention provides a computer-readable storage medium having a computer program stored therein, the computer program being adapted to implement any one of the three-dimensional profile construction methods of the present invention when executed by a processor.

[0011] Embodiments of the present application further provide a computer program product including instructions that, when executed on a computer, cause the computer to perform any one of the three-dimensional profile construction methods of the present application.

[0012] The beneficial effects of the embodiments of the present application are as follows: The present invention provides a 3D profile measuring machine, a 3D profile construction method, an apparatus, and an electronic device, the 3D profile measuring machine including a first area camera, a second area camera, a laser, and a processor, the first area camera including a first area sensor and a first lens, the second area camera including a second area sensor and a second lens, the laser is installed between the first area camera and the second area camera, the lens plane of the first lens, the imaging plane of the first area sensor, the lens plane of the second lens, the imaging plane of the second area sensor, and the laser plane of the laser intersect on the same straight line, the laser is for emitting a laser, the first area camera is for collecting a first laser grayscale image of a measurement object, and the second area camera is for collecting a second laser grayscale image of the measurement object, and the processor is for combining the first laser grayscale image and the second laser grayscale image to determine the 3D profile of the measurement object. By using two area cameras to capture images from two angles, blind spots in the field of view can be reduced. Of course, any one product or method embodying the present application does not necessarily achieve all of the above advantages simultaneously.

[0013] The drawings described herein are intended to provide a further understanding of the present application and are intended to constitute a part of the present application. The exemplary embodiments and the description thereof are intended to be illustrative, not limiting, of the present application. [Brief explanation of the drawings]

[0014] [Figure 1] Figure 1 is a schematic diagram showing blind spots in the field of view created by a conventional line laser 3D camera. [Figure 2] FIG. 2 is a schematic diagram of a three-dimensional profile measuring device provided by an embodiment of the present invention. [Figure 3] FIG. 3 is a flowchart of a first 3D profile construction method provided by an embodiment of the present invention. [Figure 4a] FIG. 4a is a flowchart of a second three-dimensional profile construction method provided by an embodiment of the present invention. [Figure 4b] FIG. 4b is a first flowchart of step S320 in FIG. [Figure 5a] FIG. 5a is a flowchart illustrating a first specific implementation of fusing a first center point region and a second center point region in the same camera coordinate system to obtain a center point fusion region provided by an embodiment of the present application. [Figure 5b] FIG. 5b is a flowchart illustrating a second specific implementation of fusing a first center point region and a second center point region in the same camera coordinate system to obtain a center point fusion region provided by an embodiment of the present application. [Figure 6a] FIG. 6a is a flowchart of a third three-dimensional profile construction method provided by an embodiment of the present invention. [Figure 6b] FIG. 6b is a second flowchart of step S320 in FIG. [Figure 7] FIG. 7 is a flowchart illustrating a specific implementation of performing point cloud fusion using the third 3D point cloud coordinates and the fourth 3D point cloud coordinates provided in the embodiment of the present application to obtain fused 3D point cloud coordinates. [Figure 8] FIG. 8 is a structural schematic diagram of a three-dimensional profile construction device provided by an embodiment of the present application. [Figure 9] FIG. 9 is a structural schematic diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0015] In order to clarify the purpose, technical solution and advantages of the present application, the present application will be described in more detail below by way of examples with reference to the drawings. Of course, the described examples are only a part of the embodiments of the present application, and are not all of the embodiments. All other embodiments that those skilled in the art can obtain based on the embodiments of the present application are also included in the scope of protection of the present application.

[0016] For ease of understanding, technical terms will be explained.

[0017] A depth map is an image in which pixel values ​​represent the distance (depth) from the image acquisition device to each point in the scenario, and directly reflects the geometric shape of the visible surfaces of the scene. Depth maps can be calculated as point cloud data through coordinate transformation. Point cloud data with rules and necessary information can also be inversely calculated as depth map data.

[0018] Homography, also known as projective transformation, is a concept in projective geometry that maps points (homogeneous three-dimensional vectors) in one projective plane onto another projective plane, mapping straight lines as straight lines and maintaining linearity.

[0019] In the field of visual detection, visual detection includes 2D visual detection and 3D visual detection. 2D visual detection mainly involves using an industrial camera to capture an RGB image of an object's surface, followed by a related image processing algorithm to achieve the purpose of visual detection. 3D visual detection mainly relies on 3D cameras, such as RGB-D cameras and line laser profile scanners, to reconstruct a point cloud map or depth map representing the surface morphology of the workpiece through optical information exchange and logical operations without contacting the workpiece, thereby achieving visual detection purposes such as non-contact high-precision dimensional measurement or defect detection.

[0020] As shown in Figure 1, the optical structure of a conventional line laser 3D camera consists of one laser emitter and one industrial area camera. After the camera is misaligned, there will be a certain blind spot within the field of view, and the ability to withstand noise interference will be poor when dealing with stray light or high reflection scenarios.

[0021] In order to solve at least one of the above problems, an embodiment of the present application provides a three-dimensional profile measuring machine. Referring to Fig. 2, the three-dimensional profile measuring machine shown in Fig. 2 includes a first area camera, a second area camera, a laser, and a processor (not shown). The first area camera includes a first area sensor and a first lens, and the second area camera includes a second area sensor and a second lens. The laser machine is installed between the first area camera and the second area camera. The lens plane of the first lens, the imaging plane of the first area sensor, the lens plane of the second lens, the imaging plane of the second area sensor, and the laser plane of the laser machine intersect on the same straight line. A laser machine is used to emit laser light. The first area camera is for collecting a first laser grayscale image of the object to be measured, and the second area camera is for collecting a second laser grayscale image of the object to be measured. The processor is for combining the first laser grayscale image and the second laser grayscale image to determine a three-dimensional profile of the object being measured.

[0022] The lens plane of the first lens, the imaging plane of the first area sensor, the lens plane of the second lens, the imaging plane of the second area sensor, and the laser plane of the laser machine all intersect on the same line. Therefore, by adjusting the focus so that the focal planes of the first area sensor and the second area sensor overlap with the laser plane, each imaging plane, each lens plane, and each focal plane intersect on the same line, forming a Scheimpflug optical structure. Because the focal planes of the first area sensor and the second area sensor overlap with the laser plane, no matter where the laser is reflected, the reflection point will be located on the focal plane. This ensures that the laser line is always clearly focused and does not become defocused.

[0023] In this embodiment, the optical structure of the 3D profile measuring instrument includes one laser, two lenses, and two area sensors. The lens plane of the first lens, the imaging plane of the first area sensor, the lens plane of the second lens, the imaging plane of the second area sensor, and the laser plane of the laser intersect on the same straight line. Focus adjustment allows for a Scheimpflug optical structure, which maximizes the use of the depth of field and enables a wider measurement range. Furthermore, compared to a line scan camera, which requires frequent adjustment of the intersection position between the line scan camera and the laser plane, the 3D profile measuring instrument provided by this embodiment does not require adjustment of the entire structure during subsequent use, making it more flexible to use.

[0024] Furthermore, compared to the technical solution combining a monocular camera and a line laser, the present embodiment adopts a technical solution combining a dual camera, a line laser, and Scheimpflug imaging. By using dual cameras for multi-angle photography, the two cameras' measurement fields complement each other, effectively reducing blind spots, thereby obtaining 3D data of the entire object and reducing the problem of missed detections due to blind spots. At the same time, multi-angle photography of deep scratches can be performed to capture the bottom of the scratch, effectively measuring its depth. The dual camera stitching method reduces the problem of reflected light when shooting from a single angle and uses the difference in the images formed by the two cameras to identify and eliminate interference such as stray light, effectively improving the device's robustness in dealing with interference such as stray light and reflected light. It supports online detection, and its ultra-high detection efficiency makes it directly applicable to production lines. The overall structural design is simple, the workpiece installation is convenient, and it is highly advantageous for promoting online detection technology. It does not rely on the addition of special optical equipment, is low cost, and has better stability.

[0025] In addition, the present embodiment employs an area camera with a larger imaging area to form a Scheimpflug optical structure, which effectively expands the detection range compared to a line scan camera, thereby reducing the need for structural adjustment of the 3D profile measuring machine. Furthermore, interference such as stray light can be detected and eliminated based on the difference in imaging between the two area cameras, effectively improving the robustness of the device in dealing with interference such as stray light and reflected light.

[0026] In one possible embodiment, the laser machine is a line laser machine for emitting a line laser, which is easier to use than the structured light devices of the related art.

[0027] In one example, the first area camera and the second area camera may be installed so as to form a mirror image distribution with the laser plane of the laser machine as the axis of symmetry, but since there may be processing errors, assembly errors, etc. in the actual production process, and the mirror image distribution may not be obtained, it is necessary to calibrate the transformation relationship between the camera coordinate system of the first area camera and the camera coordinate system of the second area camera. The process of calibrating the transformation relationship may refer to the prior art, but is not particularly limited in this application.

[0028] In this case, a method for acquiring a more accurate three-dimensional profile of the measurement object using a processor will be described below. Note that the following embodiment is applicable not only to this case but also to other cases where a more accurate three-dimensional profile needs to be acquired.

[0029] In one possible embodiment, the processor is specifically used for transforming the first laser grayscale image and the second laser grayscale image into the same camera coordinate system, fusing the first laser grayscale image and the second laser grayscale image in the same camera coordinate system to obtain a first fused image, detecting the center point of the laser stripe in the first fused image to obtain a first camera coordinate of the center point of the laser stripe, transforming the first camera coordinate of the center point of the laser stripe into a three-dimensional space coordinate system to obtain a first three-dimensional point cloud coordinate of the center point of the laser stripe, and determining a three-dimensional profile of the measurement object according to the first three-dimensional point cloud coordinate of the center point of the laser stripe.

[0030] Regarding the transformation of the first laser grayscale image and the second laser grayscale image into the same camera coordinate system, the first laser grayscale image may be transformed into the coordinate system of the second laser grayscale image using a homography relationship, or the second laser grayscale image may be transformed into the coordinate system of the first laser grayscale image using a homography relationship. In this case, the homography relationship is a homography relationship between the imaging plane of the first area sensor and the imaging plane of the second area sensor. Specifically, the homography relationship may be obtained by calibrating the imaging plane of the first area sensor and the imaging plane of the second area sensor, or the homography relationships between the imaging plane of the first area sensor and the imaging plane of the second area sensor and the laser plane may be calibrated using the laser plane as a medium. Note that the first laser grayscale image and the second laser grayscale image are transformed into predetermined coordinates using the respective homography relationships, where the homography relationships are a homography relationship between the imaging plane of the first area sensor and the predetermined plane, and a homography relationship between the imaging plane of the second area sensor and the predetermined plane, respectively. The homography relationship can be determined by reference to conventional techniques. For example, the homography relationship can be obtained by calibration to keypoints. Combining the homography relationship between the dual cameras can improve robustness against stray light and reflected light.

[0031] The above fusion method may refer to the prior art, and can be realized by taking the average or by taking the intersection after grayscale division.

[0032] The step of obtaining the first three-dimensional point cloud coordinates of the center point of the laser stripe may comprise obtaining the first three-dimensional point cloud coordinates of the center point of the laser stripe by mapping the first camera coordinates of the center point of the laser stripe to spatial point cloud coordinates in the laser plane.

[0033] In this embodiment, the processor converts the first laser grayscale image and the second laser grayscale image into the same camera coordinate system and fuses them to obtain a fused image. Then, the processor detects the center point of the laser stripe in the fused image, converts the detected coordinates into a three-dimensional spatial coordinate system, and determines the three-dimensional profile of the measurement object. Extracting the center point in the fused image effectively eliminates reflected light interference, since interference such as stray light and reflected light usually occurs only at specific angles. In this embodiment, the binocular measurement results are fused, which effectively improves robustness against reflected light interference, thereby making the final determined three-dimensional profile of the measurement object more accurate. This ensures that an accurate three-dimensional profile can be obtained even with processing and assembly errors.

[0034] In one possible embodiment, the processor is specifically used for detecting the center point of the laser stripe on the first laser grayscale image to obtain a first center point area, detecting the center point of the laser stripe on the second laser grayscale image to obtain a second center point area, transforming the first center point area and the second center point area into the same camera coordinate system, fusing the first center point area and the second center point area in the same camera coordinate system to obtain a center point fusion area, obtaining second camera coordinates of the center point fusion area in the same camera coordinate system, transforming the second camera coordinates into a three-dimensional space coordinate system to obtain second three-dimensional point cloud coordinates, and determining a three-dimensional profile of the object to be measured using the second three-dimensional point cloud coordinates.

[0035] The first center point region includes a position of each center point, which is the coordinate of the center point of each laser stripe in the first laser grayscale image acquired after detecting the center point of the laser stripe in the first laser grayscale image. The second center point region includes a position of each center point, which is the coordinate of the center point of each laser stripe in the second laser grayscale image acquired after detecting the center point of the laser stripe in the second laser grayscale image.

[0036] The step of transforming the first center point area and the second center point area into the same camera coordinate system may be to transform the first center point area into the coordinate system of the second laser grayscale image through a homography relationship, or to transform the second center point area into the coordinate system of the first laser grayscale image through a homography relationship, or to transform the first center point area and the second center point area into coordinate systems previously determined through their respective homography relationships.

[0037] The step of fusing the first center point area and the second center point area in the same camera coordinate system to obtain the center point fusion area may specifically be to set the center point coordinate of the laser stripe in the first center point area in the same camera coordinate system as the center point coordinate in the center point fusion area, or to set the center point coordinate of the laser stripe in the second center point area in the same camera coordinate system as the center point coordinate in the center point fusion area, or to set the average coordinate of the center point coordinate of the laser stripe in the first center point area and the center point coordinate of the laser stripe in the second center point area in the same camera coordinate system as the center point coordinate in the center point fusion area.

[0038] In this embodiment, the detection results of the center points of the laser stripes transformed into the same camera coordinate system are fused, and the fused results are transformed into a three-dimensional spatial coordinate system to determine the three-dimensional profile of the measurement object. This effectively improves the robustness against reflected light interference, thereby making the final determined three-dimensional profile of the measurement object more accurate. It also ensures that an accurate three-dimensional profile can be obtained even if there are processing or assembly errors.

[0039] In one possible embodiment, the processor is specifically used for: establishing a correspondence between a center point pixel row in the first center point region and a center point pixel row in the second center point region according to the positions of each center point pixel row in the first center point region and the second center point region in the same camera coordinate system; calculating the dissimilarity between any two center point pixel rows having a correspondence; if the dissimilarity is smaller than a preset dissimilarity threshold, fusing the two center point pixel rows by an average fusion method to obtain a pixel-fused row of the two center point pixel rows; if the dissimilarity is equal to or greater than the preset dissimilarity threshold, respectively determining the reliability of each center point pixel row of the two center point pixel rows, and selecting the center point pixel row with the highest reliability from the two center point pixel rows as the pixel-fused row of the two center point pixel rows, where each pixel-fused row is included in the center point fusion region.

[0040] For the calculation of the reliability, reference may be made to the prior art. In one example, the noise rate may be used as a reliability judgment index, and the center pixel row with the lowest noise rate may be determined as the center pixel row with the highest reliability.

[0041] In this embodiment, the dissimilarity between the center pixel rows in the first center point region and the center pixel rows in the second center point region, which correspond to each other in the same camera coordinate system, is calculated. The two center pixel rows whose dissimilarity is less than a preset dissimilarity threshold are merged using an average fusion method. The most reliable center pixel row among the two center pixel rows whose dissimilarity is greater than or equal to the preset dissimilarity threshold is selected as the fused pixel row of the two center pixel rows. This ensures that the accuracy of each fused pixel row obtained is higher, that each center pixel in the center point fusion region is more accurate, and that the final determined 3D profile of the measurement object is more accurate. This ensures that an accurate 3D profile can be obtained even with processing or assembly errors.

[0042] In one possible embodiment, the processor is specifically used for detecting the center point of the laser stripe in the first laser grayscale image to obtain a first center point area; detecting the center point of the laser stripe in the second laser grayscale image to obtain a second center point area; obtaining third camera coordinates of the first center point area in the camera coordinate system of the first laser grayscale image, transforming the third camera coordinates into a three-dimensional space coordinate system to obtain third three-dimensional point cloud coordinates; obtaining fourth camera coordinates of the second center point area in the camera coordinate system of the second laser grayscale image, transforming the fourth camera coordinates into a three-dimensional space coordinate system to obtain fourth three-dimensional point cloud coordinates; performing point cloud fusion using the third three-dimensional point cloud coordinates and the fourth three-dimensional point cloud coordinates to obtain fused three-dimensional point cloud coordinates; and determining a three-dimensional profile of the measurement object using the fused three-dimensional point cloud coordinates.

[0043] In one example, when the above three-dimensional spatial coordinate system is constructed on the laser plane, the step of transforming the third camera coordinates into the three-dimensional spatial coordinate system and obtaining the third three-dimensional point cloud coordinates is to transform the third camera coordinates into the laser plane coordinate system according to the homography relationship between the imaging plane of the first area sensor and the laser plane to obtain the third three-dimensional point cloud coordinates, and the step of transforming the fourth camera coordinates into the three-dimensional spatial coordinate system and obtaining the fourth three-dimensional point cloud coordinates is to transform the fourth camera coordinates into the laser plane coordinate system according to the homography relationship between the imaging plane of the second area sensor and the laser plane to obtain the fourth three-dimensional point cloud coordinates.

[0044] In this embodiment, the first and second center point regions obtained by detecting the center points of the laser stripe according to their respective homography relationships are transformed into the same 3D spatial coordinate system, and point cloud fusion is performed. The 3D profile of the measurement object is determined using the fused point cloud coordinates. This effectively improves the robustness against reflected light interference, thereby making the final determined 3D profile of the measurement object more accurate. This ensures that an accurate 3D profile can be obtained even if there are processing errors or assembly errors.

[0045] In one possible embodiment, the processor is specifically configured to: obtain a correspondence between each center point represented by the third 3D point cloud coordinates and each center point represented by the fourth 3D point cloud coordinates; for any two corresponding center points, calculate the distance between the two center points using the third 3D point cloud coordinates and the fourth 3D point cloud coordinates; if the distance is less than a preset distance threshold, fuse the two center points using an average fusion method to obtain a fusion center point of the two center points; if the distance is equal to or greater than the preset distance threshold, determine the reliability of each of the two center points and select the center point with the highest reliability as the fusion center point of the two center points, wherein the fused 3D point cloud coordinates include the 3D point cloud coordinates of each fusion center point.

[0046] The reliability calculation may refer to the prior art, and indices such as noise ratio, laser line brightness, or laser line width may be used as reliability judgment indices.

[0047] The step of obtaining the correspondence between each center point represented by the third three-dimensional point cloud coordinates and each center point represented by the fourth three-dimensional point cloud coordinates may include establishing the correspondence between the center points in the first center point region and the center points in the second center point region based on the positions of each center point in the first center point region and the positions of each center point in the second center point region. In one example, the correspondence between the center points in the different coordinate systems is obtained using a point cloud alignment algorithm.

[0048] In this embodiment, the distance is calculated for each pair of center points corresponding to each center point in the third 3D point cloud coordinates and each center point in the fourth 3D point cloud coordinates. Two center points whose distance is less than a preset distance threshold are fused using an average fusion method. Of the two center points whose distance is equal to or greater than the preset distance threshold, the most reliable center point is selected as the fused center point of the two center points. This ensures that the final fused center pixel is more accurate and that the final determined 3D profile of the measurement object is more accurate, even if there are processing errors or assembly errors.

[0049] An embodiment of the present application further provides a three-dimensional profile construction method applicable to any one of the above three-dimensional profile measuring devices, and referring to FIG. 3, the three-dimensional profile construction method includes the following steps:

[0050] In S310, a first laser grayscale image of the measurement object collected by a first area camera and a second laser grayscale image of the measurement object collected by a second area camera are obtained.

[0051] In S320, the first laser grayscale image and the second laser grayscale image are combined to determine a three-dimensional profile of the measurement object.

[0052] In this embodiment, the three-dimensional profile of the object is determined by the laser grayscale images of the object collected by the two cameras, and the measurement fields of the two cameras complement each other, effectively reducing the blind spots and obtaining the three-dimensional data of the entire object.

[0053] In one possible embodiment, in step S320, combining the first laser grayscale image and the second laser grayscale image to determine the three-dimensional profile of the measurement object specifically includes: transforming the first laser grayscale image and the second laser grayscale image into the same camera coordinate system, fusing the first laser grayscale image and the second laser grayscale image in the same camera coordinate system to obtain a first fused image; detecting the center point of the laser stripe in the first fused image to obtain the first camera coordinate of the center point of the laser stripe; transforming the first camera coordinate of the center point of the laser stripe into a three-dimensional space coordinate system to obtain the first three-dimensional point cloud coordinate of the center point of the laser stripe; and determining the three-dimensional profile of the measurement object according to the first three-dimensional point cloud coordinate of the center point of the laser stripe.

[0054] In this embodiment, the processor converts the first laser grayscale image and the second laser grayscale image into the same camera coordinate system and fuses them to obtain a fused image. The processor then detects the center point of the laser stripe in the fused image, converts the detected coordinates into a three-dimensional spatial coordinate system, and determines the three-dimensional profile of the measurement object. Extracting the center point in the fused image effectively eliminates reflected light interference, since interference such as stray light and reflected light usually only occurs at specific angles. This embodiment fuses the results of binocular measurements, thereby effectively improving robustness against reflected light interference, thereby making the final determined three-dimensional profile of the measurement object more accurate.

[0055] In one possible embodiment, referring to FIG. 4a, in the above step S320, combining the first laser grayscale image and the second laser grayscale image to determine the three-dimensional profile of the measurement object includes the following steps:

[0056] In S401, the center point of the laser stripe is detected for the first laser grayscale image to obtain a first center point area, and the center point of the laser stripe is detected for the second laser grayscale image to obtain a second center point area.

[0057] In S402, the first center point area and the second center point area are transformed into the same camera coordinate system, and the first center point area and the second center point area in the same camera coordinate system are merged to obtain a center point fusion area.

[0058] In S403, the second camera coordinates of the central point fusion region in the same camera coordinate system are obtained, and the second camera coordinates are transformed into a three-dimensional space coordinate system to obtain second three-dimensional point cloud coordinates. In S404, a three-dimensional profile of the measurement object is determined by the second three-dimensional point cloud coordinates.

[0059] In this embodiment, the detection results for the center points of the laser stripes transformed into the same camera coordinate system are fused, and the fused results are transformed into a three-dimensional space coordinate system to determine the three-dimensional profile of the measurement object, which effectively improves the robustness against the interference of reflected light, thereby making the finally determined three-dimensional profile of the measurement object more accurate.

[0060] In one example, referring to FIG. 4b, in the above step S320, combining the first laser grayscale image and the second laser grayscale image to determine the three-dimensional profile of the measurement object includes the following steps:

[0061] In S410, the center point of the laser stripe is detected for the first laser grayscale image to obtain a first center point region in the coordinate system of the first laser grayscale image.

[0062] In S420, the center point of the laser stripe is detected for the second laser grayscale image to obtain a second center point region in the coordinate system of the second laser grayscale image.

[0063] In S430, the second center point area is transformed into the coordinate system of the first laser grayscale image to obtain the second center point area in the coordinate system of the first laser grayscale image.

[0064] In S440, the first center point region and the second center point region in the coordinate system of the first laser grayscale image are merged to obtain a center point fusion region in the coordinate system of the first laser grayscale image.

[0065] In S450, the coordinates in the laser plane coordinate system corresponding to the pixel points of each center point in the center point fusion region are calculated to obtain the three-dimensional point cloud coordinates, and the three-dimensional profile of the measurement object is determined by the three-dimensional point cloud coordinates.

[0066] In one possible embodiment, referring to FIG. 5a, the step of fusing the first center point region and the second center point region in the same camera coordinate system to obtain a center point fusion region includes the following steps:

[0067] In S501, a correspondence relationship between the center point pixel row in the first center point region and the center point pixel row in the second center point region is established according to the positions of each center point pixel row in the first center point region and the second center point region in the same camera coordinate system.

[0068] In S502, for any two corresponding center pixel columns, the dissimilarity between the two center pixel columns is calculated.

[0069] In S503, if the dissimilarity is less than a preset dissimilarity threshold, the two center pixel rows are fused using an average fusion method to obtain a pixel fusion row of the two center pixel rows; if the dissimilarity is greater than or equal to the preset dissimilarity threshold, the reliability of each center pixel row of the two center pixel rows is determined, and the center pixel row with the highest reliability is selected as the pixel fusion row of the two center pixel rows, where each pixel fusion row is included in the center pixel fusion region.

[0070] In this embodiment, the dissimilarity is calculated for the center point pixel row in the first center point region and the center point pixel row in the second center point region, which have corresponding row positions in the same camera coordinate system. The two center point pixel rows whose dissimilarity is smaller than a preset dissimilarity threshold are fused using an average fusion method. Of the two center point pixel rows whose dissimilarity is equal to or greater than the preset dissimilarity threshold, the center point pixel row with the highest reliability is selected as the pixel fusion row of the two center point pixel rows. This ensures that the accuracy of each pixel fusion row obtained in the final stage is higher, and that each center point pixel in the center point fusion region is more accurate. Furthermore, the three-dimensional profile of the object to be measured determined in the final stage is more accurate.

[0071] In one example, the center pixel columns of the first center point region and the second center point region in the same camera coordinate system correspond to each other in order, that is, two columns with the same column number correspond to each other, and the column widths of both columns are the same. Referring to Figure 5b, the step of fusing the first center point region and the second center point region in the same camera coordinate system to obtain a center point fusion region includes the following steps:

[0072] In S510, it is determined whether the column number is greater than the preset image width.

[0073] The column number starts from zero and increases by one each time it is determined. The upper limit of the column number is the preset image width, which is the image width of the laser grayscale image minus one. The laser grayscale image may be the first laser grayscale image or the second laser grayscale image, where the first laser grayscale image and the second laser grayscale image have the same width.

[0074] If the column number is greater than the preset image width, terminate fusion.

[0075] If the column number is not greater than the preset image width, the dissimilarity between the two center point pixel columns is calculated in S520.

[0076] If the column number in step S510 is a first numerical value, the dissimilarity between two center point pixel columns, which are center point pixel columns in each of the first center point region and the second center point region, is calculated to be the first numerical value plus 1. For example, if the column number in step S510 is zero, the dissimilarity between the two center point pixel columns, which are the first center point pixel columns in each of the first center point region and the second center point region, is calculated, and if the column number in step S510 is 1, the dissimilarity between the two center point pixel columns, which are the second center point pixel columns in each of the first center point region and the second center point region, is calculated.

[0077] At S530, it is determined whether the dissimilarity is greater than a preset dissimilarity threshold.

[0078] If the dissimilarity is greater than the preset dissimilarity threshold, in S540, the noise rates of the two center pixel rows are obtained, and the center pixel row with the lowest noise rate is selected as the pixel fusion row of the two center pixel rows.

[0079] After completing step S540, the process returns to step S510 and repeats.

[0080] If the dissimilarity is not greater than the preset dissimilarity threshold, in S550, the two center pixel rows are merged by the average fusion method to obtain a pixel fusion row of the two center pixel rows.

[0081] After completing step S550, return to step S510 and repeat.

[0082] Here, each pixel fusion column is included in the central point fusion region.

[0083] In one possible embodiment, referring to FIG. 6a, in the above step S320, combining the first laser grayscale image and the second laser grayscale image to determine the three-dimensional profile of the measurement object includes the following steps:

[0084] In S601, the center point of the laser stripe is detected for the first laser grayscale image to obtain a first center point area, and the center point of the laser stripe is detected for the second laser grayscale image to obtain a second center point area.

[0085] In S602, the third camera coordinates of the first center point area in the camera coordinate system of the first laser grayscale image are obtained, the third camera coordinates are transformed into a three-dimensional space coordinate system to obtain third three-dimensional point cloud coordinates, the fourth camera coordinates of the second center point area in the camera coordinate system of the second laser grayscale image are obtained, the fourth camera coordinates are transformed into a three-dimensional space coordinate system to obtain fourth three-dimensional point cloud coordinates.

[0086] In S603, point cloud fusion is performed using the third 3D point cloud coordinates and the fourth 3D point cloud coordinates to obtain fused 3D point cloud coordinates.

[0087] In S604, a 3D profile of the measurement object is determined by the fused 3D point cloud coordinates.

[0088] In this embodiment, the first and second center point regions obtained by detecting the center points of the laser stripes according to their respective homography relationships are transformed into the same 3D spatial coordinate system, and point cloud fusion is performed. The 3D profile of the measurement object is determined by the fused point cloud coordinates, which effectively improves the robustness against reflected light interference, thereby making the final determined 3D profile of the measurement object more accurate.

[0089] In one possible embodiment, referring to FIG. 6b, in the above step S320, combining the first laser grayscale image and the second laser grayscale image to determine the three-dimensional profile of the measurement object includes the following steps:

[0090] In S610, the center point of the laser stripe is detected for the first laser grayscale image to obtain a first center point region in the coordinate system of the first laser grayscale image.

[0091] In S620, the center point of the laser stripe is detected for the second laser grayscale image to obtain a second center point region in the coordinate system of the second laser grayscale image.

[0092] In S630, the coordinates of the pixel points of each center point in the first center point region in the laser plane coordinate system are calculated based on the first homography relationship to obtain first 3D point cloud coordinates.

[0093] In S640, the coordinates of the pixel points of each center point in the second center point region in the laser plane coordinate system are calculated based on the second homography relationship to obtain second 3D point cloud coordinates.

[0094] In S650, the first three-dimensional point cloud coordinates and the second three-dimensional point cloud coordinates are fused to obtain fused three-dimensional point cloud coordinates, and the fused three-dimensional point cloud coordinates are used to determine the three-dimensional profile of the measurement object.

[0095] The first homography relationship is a homography relationship between the imaging plane of the first area sensor and the laser plane, and the second homography relationship is a homography relationship between the imaging plane of the second area sensor and the laser plane.

[0096] In one possible embodiment, referring to FIG. 7 , the step of performing point cloud fusion using the third 3D point cloud coordinates and the fourth 3D point cloud coordinates to obtain fused 3D point cloud coordinates includes the following steps:

[0097] In S701, the correspondence between each center point represented by the third three-dimensional point group coordinates and each center point represented by the fourth three-dimensional point group coordinates is acquired.

[0098] In S702, for any two center points that have a corresponding relationship, the distance between the two center points is calculated using the third three-dimensional point group coordinates and the fourth three-dimensional point group coordinates.

[0099] In S703, if the distance is smaller than a preset distance threshold, the two center points are fused by an average fusion method to obtain a fusion center point of the two center points; if the distance is greater than or equal to the preset distance threshold, the reliability of each of the two center points is determined, and the center point with the highest reliability is selected as the fusion center point of the two center points, where the fused 3D point cloud coordinates include the 3D point cloud coordinates of each fusion center point.

[0100] In this embodiment, the distance is calculated for each pair of center points that correspond to each center point indicated by the third three-dimensional point cloud coordinates and each center point indicated by the fourth three-dimensional point cloud coordinates. Two center points whose distance is less than a preset distance threshold are fused using an average fusion method. Of the two center points whose distance is greater than or equal to the preset distance threshold, the center point with the highest reliability is selected as the fused center point of the two center points. This ensures that the center point pixels obtained after fusion are more accurate, and furthermore, the finally determined three-dimensional profile of the object to be measured is more accurate.

[0101] For details of the step of combining the first laser grayscale image and the second laser grayscale image to determine the three-dimensional profile of the measurement object, please refer to the description of the processor functions above.

[0102] The present embodiment further provides a three-dimensional profile construction device applicable to any one of the above three-dimensional profile measuring devices. Referring to FIG. 8, the three-dimensional profile construction device comprises: a laser grayscale image acquisition module 81 for acquiring a first laser grayscale image of the measurement object collected by a first area camera and a second laser grayscale image of the measurement object collected by a second area camera; and a three-dimensional profile determination module 82 for combining the first laser grayscale image and the second laser grayscale image to determine a three-dimensional profile of the object to be measured.

[0103] In one possible embodiment, the three-dimensional profile determination module comprises: an image fusion submodule for transforming the first laser grayscale image and the second laser grayscale image into a same camera coordinate system, and fusing the first laser grayscale image and the second laser grayscale image in the same camera coordinate system to obtain a first fused image; a first camera coordinate acquisition submodule for detecting a center point of the laser stripe in the first fusion image and acquiring a first camera coordinate of the center point of the laser stripe; a first three-dimensional point cloud coordinate acquisition submodule for converting a first camera coordinate of the center point of the laser stripe into a three-dimensional space coordinate system to acquire a first three-dimensional point cloud coordinate of the center point of the laser stripe; a first three-dimensional profile acquisition sub-module for determining a three-dimensional profile of the measurement object according to the first three-dimensional point cloud coordinates of the center points of the laser stripe.

[0104] In one possible embodiment, the three-dimensional profile determination module comprises: a first center point area obtaining submodule for detecting the center point of the laser stripe in the first laser grayscale image to obtain a first center point area, and for detecting the center point of the laser stripe in the second laser grayscale image to obtain a second center point area; a center point fusion region acquisition submodule for transforming the first center point region and the second center point region into the same camera coordinate system, and fusing the first center point region and the second center point region in the same camera coordinate system to obtain a center point fusion region; a second three-dimensional point cloud coordinate acquisition submodule for acquiring second camera coordinates of the center point fusion region in the same camera coordinate system, and transforming the second camera coordinates into a three-dimensional space coordinate system to acquire second three-dimensional point cloud coordinates; and a second three-dimensional profile acquisition sub-module for determining a three-dimensional profile of the measurement object according to the second three-dimensional point cloud coordinates.

[0105] In one possible embodiment, the central point fusion region acquisition sub-module: a pixel row correspondence obtaining unit for establishing a correspondence between the center point pixel row in the first center point region and the center point pixel row in the second center point region according to the positions of each center point pixel row in the first center point region and the second center point region in the same camera coordinate system; a dissimilarity calculation unit for calculating a dissimilarity between any two corresponding center pixel columns; a dissimilarity determination unit for merging the two center pixel rows by an average merging method to obtain a pixel-fused sequence of the two center pixel rows if the dissimilarity is less than a preset dissimilarity threshold; and for determining the reliability of each center pixel row among the two center pixel rows if the dissimilarity is greater than or equal to the preset dissimilarity threshold, and selecting the center pixel row with the highest reliability as the pixel-fused sequence of the two center pixel rows, the dissimilarity determination unit including each pixel-fused sequence in the center point fusion region.

[0106] In one possible embodiment, the three-dimensional profile determination module comprises: a second center point area obtaining submodule for detecting the center point of the laser stripe in the first laser grayscale image to obtain a first center point area, and for detecting the center point of the laser stripe in the second laser grayscale image to obtain a second center point area; a third three-dimensional point cloud coordinate and fourth three-dimensional point cloud coordinate acquisition submodule for acquiring third camera coordinates of the first center point area in the camera coordinate system of the first laser grayscale image, transforming the third camera coordinates into a three-dimensional space coordinate system, and acquiring third three-dimensional point cloud coordinates; and acquiring fourth camera coordinates of the second center point area in the camera coordinate system of the second laser grayscale image, transforming the fourth camera coordinates into a three-dimensional space coordinate system, and acquiring fourth three-dimensional point cloud coordinates; a fused 3D point cloud coordinate acquisition submodule for performing point cloud fusion using the third 3D point cloud coordinates and the fourth 3D point cloud coordinates to acquire fused 3D point cloud coordinates; and a third 3D profile acquisition sub-module for determining a 3D profile of the measurement object by the fused 3D point cloud coordinates.

[0107] In one possible embodiment, the fused 3D point cloud coordinate acquisition sub-module: a center point correspondence acquisition unit for acquiring correspondence between each center point represented by the third three-dimensional point cloud coordinates and each center point represented by the fourth three-dimensional point cloud coordinates; a distance calculation unit for calculating a distance between any two corresponding center points using third and fourth three-dimensional point cloud coordinates; a distance determination unit for fusing the two center points by an average fusion method to obtain a fusion center point of the two center points if the distance is smaller than a preset distance threshold, and respectively determining the reliability of each center of the two center points if the distance is equal to or greater than the preset distance threshold, and selecting the center point with the highest reliability from the two center points as the fusion center point of the two center points, wherein the fused three-dimensional point cloud coordinates include the three-dimensional point cloud coordinates of each fusion center point.

[0108] The specific manner in which each module of the three-dimensional profile construction device in the above embodiment performs its operation has been explained in detail in the embodiment relating to the three-dimensional profile construction method, so a detailed explanation will be omitted here.

[0109] An embodiment of the present application further provides an electronic device, which includes, as shown in Fig. 9, a memory 91 for storing a computer program, and a processor 92 for implementing any one of the above three-dimensional profile construction methods when executing the program stored in the memory 91. The electronic device may further include a communication bus and / or a communication interface, and the processor 92, the communication interface, and the memory 91 may communicate with each other via the communication bus.

[0110] The communication bus mentioned in the above electronic device may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus is divided into an address bus, a data bus, a control bus, etc. For convenience of illustration, it is shown with one thick line in the figure, but this does not mean that there is only one bus or one type of bus.

[0111] The communication interface is for communication between the electronic device and other devices.

[0112] The memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one magnetic disk memory. Optionally, the memory may also be at least one storage device remote from the processor.

[0113] The above-mentioned processor may be a general-purpose processor including a central processing unit (CPU), a network processor (NP), etc., or may be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, or component.

[0114] In another embodiment provided by the present application, there is further provided a computer-readable storage medium having a computer program stored thereon, the computer program, when executed by a processor, implementing the steps of any one of the above three-dimensional profile construction methods.

[0115] In another embodiment provided by the present application, a computer program product is further provided, the computer program product including instructions, when executed on a computer, causing the computer to perform any one of the three-dimensional profile construction methods in the above embodiments.

[0116] The above embodiments can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, they can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer commands. When the computer program commands are loaded into a computer and executed, the processes or functions described in the embodiments of the present application are implemented in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer commands may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer commands may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wire (e.g., coaxial cable, fiber optics, digital subscriber line (DSL)) or wireless (e.g., infrared, radio, microwave, etc.). The computer-readable storage medium may be any available medium accessible by a computer, or may be a data storage device, including a server, data center, etc., in which one or more available media are integrated. The available media may be magnetic media (eg, floppy disks, hard disks, magnetic tapes), optical media (eg, DVDs), and the like.

[0117] It should be noted that, in this context, the use of relational terms such as "first" and "second" is intended merely to distinguish one entity or operation from another and does not require or imply any actual relationship or order between those entities or operations. Furthermore, the terms "comprise," "include," or any other variant thereof is intended to cover the non-exclusive "comprise," such that a process, method, article, or device that includes a set of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent in such process, method, article, or device. Absent further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in a process, method, article, or device that includes the set of elements.

[0118] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments may be cross-referenced. The main focus of each embodiment is on the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, and therefore only a brief description is given. For related points, please refer to the description of the method embodiments.

[0119] The above description is merely a preferred embodiment of the present application, and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A three-dimensional profile measuring machine, The system includes a first area camera, a second area camera, a laser, and a processor, wherein the first area camera includes a first area sensor and a first lens, and the second area camera includes a second area sensor and a second lens; The laser machine is installed between the first area camera and the second area camera, and the lens plane of the first lens, the imaging plane of the first area sensor, the lens plane of the second lens, the imaging plane of the second area sensor, and the laser plane of the laser machine intersect on the same straight line; The laser machine is for emitting a laser, the first area camera is for collecting a first laser grayscale image of the object to be measured, and the second area camera is for collecting a second laser grayscale image of the object to be measured; the processor is for combining the first laser grayscale image and the second laser grayscale image to determine a three-dimensional profile of the measurement object. Three-dimensional profile measuring machine.

2. 2. The three-dimensional profile measuring machine according to claim 1, The laser machine is a line laser machine for emitting a line laser; Three-dimensional profile measuring machine.

3. 3. The three-dimensional profile measuring machine according to claim 1 or 2, Specifically, the processor: Transforming the first laser grayscale image and the second laser grayscale image into a same camera coordinate system, and fusing the first laser grayscale image and the second laser grayscale image in the same camera coordinate system to obtain a first fused image; Detecting a center point of a laser stripe on the first fusion image to obtain first camera coordinates of the center point of the laser stripe; Transforming the first camera coordinates of the center point of the laser stripe into a three-dimensional space coordinate system to obtain first three-dimensional point cloud coordinates of the center point of the laser stripe; determining a three-dimensional profile of the measurement object according to first three-dimensional point cloud coordinates of the center points of the laser stripe; It is a three-dimensional profile measuring machine that is intended to perform

4. 3. The three-dimensional profile measuring machine according to claim 1 or 2, Specifically, the processor: Detecting the center point of the laser stripe in the first laser grayscale image to obtain a first center point area, and detecting the center point of the laser stripe in the second laser grayscale image to obtain a second center point area; Transforming the first center point region and the second center point region into the same camera coordinate system; Merging the first center point region and the second center point region in the same camera coordinate system to obtain a center point fusion region; Obtaining second camera coordinates of the center point fusion region in the same camera coordinate system, and transforming the second camera coordinates into a three-dimensional space coordinate system to obtain second three-dimensional point cloud coordinates; determining a three-dimensional profile of the measurement object using the second three-dimensional point cloud coordinates; It is a three-dimensional profile measuring machine that is intended to perform

5. 5. The three-dimensional profile measuring machine according to claim 4, Specifically, the processor: establishing a correspondence relationship between the center point pixel row in the first center point region and the center point pixel row in the second center point region according to the positions of each center point pixel row in the first center point region and the second center point region in the same camera coordinate system; For any two corresponding center point pixel columns, calculating the dissimilarity between the two center point pixel columns; If the dissimilarity is less than a preset dissimilarity threshold, fuse the two center pixel rows by an average fusion method to obtain a pixel fusion row of the two center pixel rows; If the dissimilarity is equal to or greater than a preset dissimilarity threshold, determine the reliability of each of the two center point pixel rows, and select the center point pixel row with the highest reliability from the two center point pixel rows as a pixel fusion row of the two center point pixel rows; The purpose is to carry out Including each pixel fusion column in the center point fusion region; Three-dimensional profile measuring machine.

6. 3. The three-dimensional profile measuring machine according to claim 1 or 2, Specifically, the processor: Performing laser stripe center point detection on the first laser grayscale image to obtain a first center point region; performing laser stripe center detection on the second laser grayscale image to obtain a second center point region; Obtaining third camera coordinates of the first center point region in a camera coordinate system of the first laser grayscale image, and transforming the third camera coordinates into a three-dimensional space coordinate system to obtain third three-dimensional point cloud coordinates; Obtaining fourth camera coordinates of the second center point region in a camera coordinate system of the second laser grayscale image, and transforming the fourth camera coordinates into the three-dimensional space coordinate system to obtain fourth three-dimensional point cloud coordinates; performing point cloud fusion using the third three-dimensional point cloud coordinates and the fourth three-dimensional point cloud coordinates to obtain fused three-dimensional point cloud coordinates; determining a three-dimensional profile of the measurement object using the fused three-dimensional point cloud coordinates; It is a three-dimensional profile measuring machine that is intended to perform

7. 7. The three-dimensional profile measuring machine according to claim 6, Specifically, the processor: Obtaining a correspondence relationship between each center point represented by the third three-dimensional point cloud coordinates and each center point represented by the fourth three-dimensional point cloud coordinates; For any two center points having a corresponding relationship, calculating the distance between the two center points using the third three-dimensional point cloud coordinates and the fourth three-dimensional point cloud coordinates; If the distance is smaller than a preset distance threshold, fusing the two center points by an average fusing method to obtain a fused center point of the two center points; If the distance is equal to or greater than a preset distance threshold, determine the reliability of each of the two center points, and select the center point with the highest reliability from the two center points as a fusion center point of the two center points; The fused three-dimensional point cloud coordinates include three-dimensional point cloud coordinates of each fusion center point. Three-dimensional profile measuring machine.

8. 1. A method for constructing a three-dimensional profile, comprising: The three-dimensional profile construction method is applied to a three-dimensional profile measuring instrument according to any one of claims 1 to 7, and the three-dimensional profile construction method comprises: Obtaining a first laser grayscale image of the measurement object collected by a first area camera and a second laser grayscale image of the measurement object collected by a second area camera; combining the first laser grayscale image and the second laser grayscale image to determine a three-dimensional profile of the measurement object. Three-dimensional profile construction method.

9. 9. A method for constructing a three-dimensional profile according to claim 8, comprising: Combining the first laser grayscale image and the second laser grayscale image to determine a three-dimensional profile of the measurement object includes: Transforming the first laser grayscale image and the second laser grayscale image into a same camera coordinate system, and fusing the first laser grayscale image and the second laser grayscale image in the same camera coordinate system to obtain a first fused image; Detecting a center point of a laser stripe on the first fusion image to obtain first camera coordinates of the center point of the laser stripe; Transforming the first camera coordinates of the center point of the laser stripe into a three-dimensional space coordinate system to obtain first three-dimensional point cloud coordinates of the center point of the laser stripe; determining a three-dimensional profile of the measurement object according to first three-dimensional point cloud coordinates of the center points of the laser stripe; Three-dimensional profile construction method.

10. 9. A method for constructing a three-dimensional profile according to claim 8, comprising: Combining the first laser grayscale image and the second laser grayscale image to determine a three-dimensional profile of the measurement object includes: Detecting the center point of the laser stripe in the first laser grayscale image to obtain a first center point area, and detecting the center point of the laser stripe in the second laser grayscale image to obtain a second center point area; Transforming the first center point region and the second center point region into the same camera coordinate system, and fusing the first center point region and the second center point region in the same camera coordinate system to obtain a center point fusion region; Obtaining second camera coordinates of the center point fusion region in the same camera coordinate system, and transforming the second camera coordinates into a three-dimensional space coordinate system to obtain second three-dimensional point cloud coordinates; determining a three-dimensional profile of the measurement object using the second three-dimensional point cloud coordinates; Three-dimensional profile construction method.

11. 11. A method for constructing a three-dimensional profile according to claim 10, comprising: Merging the first center point region and the second center point region in the same camera coordinate system to obtain a center point fusion region includes: establishing a correspondence relationship between the center point pixel row in the first center point region and the center point pixel row in the second center point region according to the positions of each center point pixel row in the first center point region and the second center point region in the same camera coordinate system; For any two corresponding center point pixel columns, calculating the dissimilarity between the two center point pixel columns; If the dissimilarity is less than a preset dissimilarity threshold, fuse the two center pixel rows by an average fusion method to obtain a pixel fusion row of the two center pixel rows; If the difference is equal to or greater than a preset difference threshold, determining the reliability of each of the two center point pixel rows, and selecting the center point pixel row with the highest reliability from the two center point pixel rows as a pixel fusion row of the two center point pixel rows; Including each pixel fusion column in the center point fusion region; Three-dimensional profile construction method.

12. 9. A method for constructing a three-dimensional profile according to claim 8, comprising: Combining the first laser grayscale image and the second laser grayscale image to determine a three-dimensional profile of the measurement object includes: Detecting the center point of the laser stripe in the first laser grayscale image to obtain a first center point area, and detecting the center point of the laser stripe in the second laser grayscale image to obtain a second center point area; Obtaining third camera coordinates of the first center point area in a camera coordinate system of the first laser grayscale image, transforming the third camera coordinates into a three-dimensional space coordinate system, and obtaining third three-dimensional point cloud coordinates; obtaining fourth camera coordinates of the second center point area in a camera coordinate system of the second laser grayscale image, transforming the fourth camera coordinates into the three-dimensional space coordinate system, and obtaining fourth three-dimensional point cloud coordinates; performing point cloud fusion using the third three-dimensional point cloud coordinates and the fourth three-dimensional point cloud coordinates to obtain fused three-dimensional point cloud coordinates; determining a three-dimensional profile of the measurement object using the fused three-dimensional point cloud coordinates; Three-dimensional profile construction method.

13. 13. A method for constructing a three-dimensional profile according to claim 12, comprising: performing point cloud fusion using the third three-dimensional point cloud coordinates and the fourth three-dimensional point cloud coordinates to obtain fused three-dimensional point cloud coordinates; Obtaining a correspondence relationship between each center point represented by the third three-dimensional point cloud coordinates and each center point represented by the fourth three-dimensional point cloud coordinates; For any two center points having a corresponding relationship, calculating the distance between the two center points using the third three-dimensional point cloud coordinates and the fourth three-dimensional point cloud coordinates; If the distance is smaller than a preset distance threshold, fusing the two center points by an average fusing method to obtain a fused center point of the two center points; If the distance is equal to or greater than a preset distance threshold, determining the reliability of each of the two center points, and selecting the center point with the highest reliability from the two center points as a fusion center point of the two center points; The fused three-dimensional point cloud coordinates include three-dimensional point cloud coordinates of each fusion center point. Three-dimensional profile construction method.

14. A three-dimensional profile construction device, comprising: The three-dimensional profile construction device is applied to a three-dimensional profile measuring machine according to any one of claims 1 to 7, and the three-dimensional profile construction device is a laser grayscale image acquisition module for acquiring a first laser grayscale image of the measurement object collected by a first area camera and a second laser grayscale image of the measurement object collected by a second area camera; a three-dimensional profile determination module for combining the first laser grayscale image and the second laser grayscale image to determine a three-dimensional profile of the measurement object. Three-dimensional profile construction device.

15. An electronic device, a memory for storing a computer program; a processor for implementing the three-dimensional profile construction method according to any one of claims 8 to 13 when executing a program stored in the memory; electronic equipment.

16. 1. A computer-readable storage medium, comprising: a computer program stored in the computer-readable storage medium; When the computer program is executed by a processor, it realizes the three-dimensional profile construction method according to any one of claims 8 to 13. A computer-readable storage medium.

Images