3D camera, control method therefor, and computer readable storage medium

Abstract

A control method for a 3D camera, the 3D camera comprising a laser emitter and a galvanometer assembly, and the method comprising: in response to an anomaly being generated when a laser trigger signal triggers a laser emitter, activating an angle triggering mode; and, on the basis of the angle triggering mode, obtaining an angle signal of a galvanometer assembly in real time, and, on the basis of the angle signal, triggering the laser emitter. By means of the described approach, closed-loop control over the 3D camera is achieved, thus enabling the 3D camera to work continuously and safely, and prolonging the service life of the 3D camera.

Description

3D camera, control method thereof, and computer-readable storage medium

[0001] This application claims priority to Chinese patent application number 202311871429.3, the contents of which are incorporated by reference into this application.

Technical field

[0002] The present application relates to the field of 3D camera control technology, and in particular to a 3D camera and a control method thereof, and a computer-readable storage medium. [Background Technology]

[0003] A 3D camera is a three-dimensional imaging device based on the principle of structured light. It transmits a series of coded light stripes onto the surface of an object being measured. The camera then captures the reflected light stripes, thereby obtaining three-dimensional shape information of the object's surface. This imaging technology is non-contact, highly precise, and high-speed, making it widely used in industrial manufacturing, robotic vision, medical imaging, and other fields.

[0004] The time loop control method used in galvanometer-based 3D cameras may fail without any other remedial measures. Once an error occurs, the 3D camera system will fail and will be unable to self-check.

[0005] [Summary of the invention]

[0006] The present application provides a 3D camera and a control method thereof, and a computer-readable storage medium, which implement closed-loop control of the 3D camera, enable the 3D camera to operate safely and continuously, and extend the service life of the 3D camera.

[0007] In a first aspect, the present application provides a control method for a 3D camera, which includes a laser emitter and a galvanometer assembly. The method includes: in response to an abnormality in the triggering of the laser emitter by a laser trigger signal, starting an angle trigger mode; according to the angle trigger mode, obtaining an angle signal of the galvanometer assembly in real time, and triggering the laser emitter according to the angle signal.

[0008] Among them, real-time acquisition of the angle signal of the galvanometer assembly includes: real-time acquisition of the galvanometer deflection voltage of the galvanometer assembly, and using the galvanometer deflection voltage as the angle signal; or, using an angle sensor to acquire the galvanometer deflection angle of the galvanometer assembly, and using the galvanometer deflection angle as the angle signal.

[0009] Triggering the laser emitter according to the angle signal includes: determining whether the current angle signal is located in a triggering area; if so, triggering the laser emitter.

[0010] The trigger area is obtained by pre-calibration.

[0011] The method of starting the angle trigger mode in response to an abnormality in triggering the laser emitter by the laser trigger signal includes starting the angle trigger mode in response to an abnormality in the self-test of the laser emitter.

[0012] In which, in response to an abnormality in triggering the laser emitter by the laser trigger signal, the angle trigger mode is started, including: in response to an abnormality in the center position and relative interval between pulses emitted by the laser emitter, the angle trigger mode is started.

[0013] Among them, in response to the laser trigger signal triggering the laser emitter to produce an abnormality, the angle trigger mode is started, including: in response to the laser trigger signal triggering the laser emitter to produce an abnormality, re-using the new laser trigger signal to trigger the laser emitter and performing abnormality detection; in response to the number of consecutive abnormalities exceeding a threshold, the angle trigger mode is started.

[0014] Among them, the galvanometer component adopts an angle linear output working mode.

[0015] In a second aspect, the present application provides a 3D camera, which includes a laser emitter, a galvanometer assembly, and a controller, wherein the controller is used to control the laser emitter and the galvanometer assembly to implement the method provided in the first aspect.

[0016] In a third aspect, the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the method provided in the first aspect.

[0017] The beneficial effects of the present application are as follows: different from the prior art, the 3D camera and its control method, and computer-readable storage medium provided by the present application start the angle trigger mode when the laser trigger signal triggers the laser emitter abnormally; according to the angle trigger mode, the angle signal of the galvanometer assembly is obtained in real time, and the laser emitter is triggered according to the angle signal, thereby realizing closed-loop control of the 3D camera, that is, by associating the angle signal of the galvanometer assembly with the laser on / off / light intensity, when the original laser trigger signal is abnormal, the angle signal can be used to ensure that the angle of the encoded light beam output by the laser emitter is highly accurate and maintains good repeatability, and when the original laser trigger signal is abnormal, the angle signal is used to trigger the laser emitter, so that the 3D camera can continue to work safely and extend the service life of the 3D camera.

Brief Description of the Drawings

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without inventive efforts. Among them:

[0019] FIG1 is a flow chart of an embodiment of a method for controlling a 3D camera provided by the present application;

[0020] FIG2 is a schematic diagram of an embodiment of a laser trigger signal provided by the present application;

[0021] FIG3 is a flow chart of another embodiment of a method for controlling a 3D camera provided by the present application;

[0022] FIG4 is a schematic flow chart of another embodiment of a method for controlling a 3D camera provided by the present application;

[0023] FIG5 is a flow chart of another embodiment of a method for controlling a 3D camera provided by the present application;

[0024] FIG6 is a flow chart of another embodiment of a method for controlling a 3D camera provided by the present application;

[0025] FIG7 is a flow chart of another embodiment of a method for controlling a 3D camera provided by the present application;

[0026] FIG8 is a flow chart of another embodiment of a method for controlling a 3D camera provided by the present application;

[0027] FIG9 is a schematic diagram showing the relationship between the angle signal and the laser trigger signal in the angle trigger mode provided by the present application;

[0028] FIG10 is a schematic structural diagram of an embodiment of a 3D camera provided by the present application;

[0029] FIG11 is a schematic structural diagram of an embodiment of a computer-readable storage medium provided in the present application. [Specific implementation method]

[0030] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0031] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It will be understood that the specific embodiments described herein are only used to explain the present application, rather than to limit the present application. It should also be noted that, for ease of description, only some, rather than all, structures related to the present application are shown in the drawings. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0032] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0033] A 3D camera is a three-dimensional imaging device based on the principle of structured light. It transmits a series of coded light stripes onto the surface of an object being measured. The camera then captures the reflected light stripes, thereby obtaining three-dimensional shape information of the object's surface. This imaging technology is non-contact, highly precise, and high-speed, making it widely used in industrial manufacturing, robotic vision, medical imaging, and other fields.

[0034] The time loop control method used in galvanometer-based 3D cameras may fail without any other remedial measures. Once an error occurs, the 3D camera system will fail and will be unable to self-check.

[0035] Based on this, the present application proposes activating an angle trigger mode when a laser trigger signal triggers an abnormality in the laser emitter. According to the angle trigger mode, the angle signal of the galvanometer assembly is acquired in real time, and the laser emitter is triggered based on the angle signal, thereby achieving closed-loop control of the 3D camera. Specifically, by associating the angle signal of the galvanometer assembly with the laser on / off / light intensity, the angle signal can be used to ensure that the angle of the encoded beam output by the laser emitter is highly accurate and maintains good repeatability when the original laser trigger signal is abnormal. Furthermore, when the original laser trigger signal is abnormal, the angle signal is used to trigger the laser emitter, enabling the 3D camera to continue operating safely and extending its service life. This solves at least one of the above-mentioned technical problems. For details, please refer to any of the following embodiments.

[0036] Referring to FIG. 1 , FIG. 1 is a flow chart illustrating an embodiment of a control method for a 3D camera provided herein. The 3D camera includes a laser emitter and a galvanometer assembly. In some embodiments, the galvanometer assembly includes a galvanometer and a drive motor. The drive motor is used to drive the galvanometer deflection. The galvanometer is disposed in the optical path of the laser emitter and is used to transform the laser beam emitted by the laser emitter and project linear laser stripes onto the detection area. The laser emitter emits invisible light. In some embodiments, the 3D camera may be a 3D industrial camera.

[0037] Specifically, the control method of the 3D camera includes:

[0038] Step 11: In response to an abnormality in triggering the laser transmitter by the laser trigger signal, an angle trigger mode is started.

[0039] In some embodiments, the laser trigger signal is used to cause the controller to trigger the laser emitter according to a preset pattern, causing the laser emitter to emit a laser beam. It will be understood that the preset pattern is a known method for generating a trigger signal. As shown in FIG2 , the laser trigger signal is generated in the form of a rectangular wave at preset time intervals, which is used to trigger the laser emitter to emit a laser beam. In other embodiments, the laser trigger signal can be generated in the form of a square wave, a sawtooth wave, or a sine wave.

[0040] In some embodiments, upon receiving a laser trigger signal, the controller first performs a delay operation of a preset duration. During the preset delay, the controller controls the galvanometer assembly to operate stably within the preset duration, i.e., the galvanometer deflects stably within the preset duration. After the preset duration, the controller begins controlling the laser emitter to emit a corresponding lighting signal (laser beam) based on the stored optical code. The optical code information can be predicted or automatically generated after power-up.

[0041] At the same time, the galvanometer of the galvanometer assembly begins to deflect. In some embodiments, the galvanometer has many working modes, such as the galvanometer can select a working mode of angle linear output.

[0042] Anomaly detection is performed during the working process, and when the laser transmitter is detected to be working abnormally, the angle trigger mode is started.

[0043] Among them, abnormality detection can be to detect the switching time width, duty cycle, delay and other information of the laser transmitter.

[0044] Furthermore, the abnormality detection may also be to detect the center position and relative interval between the pulses of the laser transmitter, so as to ensure that the galvanometer operates within the drift range.

[0045] In some embodiments, anomaly detection requires checking not only the laser transmitter's on / off time width, duty cycle, and delay, but also the center position and relative interval between pulses. If any of these tests are abnormal, the angle trigger mode is activated.

[0046] If an abnormality occurs, the currently collected data will be invalidated, such as the image data collected by the current laser beam.

[0047] Step 12: According to the angle trigger mode, obtain the angle signal of the galvanometer assembly in real time, and trigger the laser transmitter according to the angle signal.

[0048] In some embodiments, the operating logic of the angle trigger mode can be obtained by pre-calibration. For example, when the 3D camera is operating normally, the corresponding relationship between the laser trigger signal and the angle signal of the galvanometer assembly is synchronously obtained, thereby establishing the relationship between the angle signal and the laser signal.

[0049] When the angle signal is subsequently used to trigger the laser emitter, the laser emitter is triggered within a time corresponding to the angle signal, so that the laser emitter emits a laser beam.

[0050] In some embodiments, the galvanometer assembly adopts an angular linear output working mode.

[0051] In this embodiment, when the laser trigger signal triggers the laser emitter abnormally, the angle trigger mode is started; according to the angle trigger mode, the angle signal of the galvanometer assembly is obtained in real time, and the laser emitter is triggered according to the angle signal, thereby realizing closed-loop control of the 3D camera, that is, by associating the angle signal of the galvanometer assembly with the on / off / light intensity of the laser, it is possible to ensure that the angle of the encoded light beam output by the laser emitter is highly accurate and maintains good repeatability through the angle signal when the original laser trigger signal is abnormal, and to use the angle signal to trigger the laser emitter when the original laser trigger signal is abnormal, so that the 3D camera can continue to work safely and extend the service life of the 3D camera.

[0052] Refer to FIG3 , which is a flow chart of another embodiment of a control method for a 3D camera provided by the present application. The 3D camera includes a laser emitter and a galvanometer assembly. The method includes:

[0053] Step 31: In response to an abnormality in triggering the laser transmitter by the laser trigger signal, an angle trigger mode is started.

[0054] Step 31 has the same or similar technical solution as any embodiment of the present application and will not be described in detail here.

[0055] Step 32: According to the angle trigger mode, the galvanometer deflection voltage of the galvanometer assembly is obtained in real time, the galvanometer deflection voltage is used as an angle signal, and the laser transmitter is triggered according to the angle signal.

[0056] In this embodiment, the galvanometer deflection is essentially driven by a drive motor. Therefore, the greater the galvanometer deflection voltage used by the drive motor to drive the galvanometer deflection, the greater the galvanometer deflection angle. In other words, the galvanometer deflection voltage can represent the galvanometer deflection angle. Therefore, the galvanometer deflection voltage can be directly used as an angle signal to trigger the laser transmitter based on the angle signal.

[0057] In this embodiment, when the laser trigger signal triggers the laser emitter abnormally, the angle trigger mode is started; according to the angle trigger mode, the angle signal of the galvanometer assembly is obtained in real time, and the laser emitter is triggered according to the angle signal, thereby realizing closed-loop control of the 3D camera, that is, by associating the angle signal of the galvanometer assembly with the on / off / light intensity of the laser, it is possible to ensure that the angle of the encoded light beam output by the laser emitter is highly accurate and maintains good repeatability through the angle signal when the original laser trigger signal is abnormal, and to use the angle signal to trigger the laser emitter when the original laser trigger signal is abnormal, so that the 3D camera can continue to work safely and extend the service life of the 3D camera.

[0058] Refer to FIG4 , which is a flow chart of an embodiment of a method for controlling a 3D camera provided by the present application. The 3D camera includes a laser emitter and a galvanometer assembly. The method includes:

[0059] Step 41: In response to an abnormality in triggering the laser transmitter by the laser trigger signal, an angle trigger mode is started.

[0060] Step 41 has the same or similar technical solution as any embodiment of the present application and will not be described in detail here.

[0061] Step 42: According to the angle trigger mode, the angle sensor is used to obtain the galvanometer deflection angle of the galvanometer assembly, the galvanometer deflection angle is used as an angle signal, and the laser transmitter is triggered according to the angle signal.

[0062] In this embodiment, an angle sensor can be provided, coaxially arranged with the galvanometer's rotation axis. The galvanometer's deflection angle is then captured during its deflection. The galvanometer's deflection voltage is then used as an angle signal, and the laser emitter is triggered based on the angle signal.

[0063] In this embodiment, when the laser trigger signal triggers the laser emitter abnormally, the angle trigger mode is started; according to the angle trigger mode, the angle signal of the galvanometer assembly is obtained in real time, and the laser emitter is triggered according to the angle signal, thereby realizing closed-loop control of the 3D camera, that is, by associating the angle signal of the galvanometer assembly with the on / off / light intensity of the laser, it is possible to ensure that the angle of the encoded light beam output by the laser emitter is highly accurate and maintains good repeatability through the angle signal when the original laser trigger signal is abnormal, and to use the angle signal to trigger the laser emitter when the original laser trigger signal is abnormal, so that the 3D camera can continue to work safely and extend the service life of the 3D camera.

[0064] Refer to FIG5 , which is a flow chart of an embodiment of a method for controlling a 3D camera provided by the present application. The 3D camera includes a laser emitter and a galvanometer assembly. The method includes:

[0065] Step 51: In response to an abnormality in triggering the laser transmitter by the laser trigger signal, an angle trigger mode is started.

[0066] Step 51 has the same or similar technical solution as any embodiment of the present application and will not be described in detail here.

[0067] Step 52: According to the angle trigger mode, the angle signal of the galvanometer assembly is obtained in real time.

[0068] The angle signal may be a deflection angle of a galvanometer in a galvanometer assembly, or the angle signal may be a galvanometer deflection voltage for driving the galvanometer to deflect.

[0069] Step 53: Determine whether the current angle signal is located in the trigger area.

[0070] In some implementations, the trigger area is obtained by pre-calibration.

[0071] In some embodiments, if it is determined that the current angle signal is in the triggering area, step 54 is executed. If it is determined that the current angle signal is not in the triggering area, step 55 is executed.

[0072] Step 54: Trigger the laser transmitter.

[0073] Step 55: Do not trigger the laser transmitter.

[0074] In this embodiment, when the laser trigger signal triggers the laser emitter abnormally, the angle trigger mode is started; according to the angle trigger mode, the angle signal of the galvanometer assembly is acquired in real time, and the laser emitter is triggered when the angle signal is in the trigger area, thereby realizing closed-loop control of the 3D camera, that is, by associating the angle signal of the galvanometer assembly with the on / off / light intensity of the laser, it is possible to ensure that the angle of the encoded light beam output by the laser emitter is highly accurate and maintains good repeatability through the angle signal when the original laser trigger signal is abnormal, and to use the angle signal to trigger the laser emitter when the original laser trigger signal is abnormal, so that the 3D camera can continue to work safely and extend the service life of the 3D camera.

[0075] Refer to FIG6 , which is a flow chart of another embodiment of a control method for a 3D camera provided by the present application. The 3D camera includes a laser emitter and a galvanometer assembly. The method includes:

[0076] Step 61: In response to the laser transmitter self-test abnormality, start the angle trigger mode.

[0077] The laser transmitter self-test can detect the laser transmitter's on / off time width, duty cycle, delay, and other information. If there is no abnormality in the self-test, the laser transmitter continues to be controlled according to the laser trigger signal without starting the angle trigger mode.

[0078] Step 62: According to the angle trigger mode, the angle signal of the galvanometer assembly is acquired in real time, and the laser transmitter is triggered according to the angle signal.

[0079] Step 62 has the same or similar technical solution as any embodiment of the present application and will not be described in detail here.

[0080] In this embodiment, when the laser trigger signal triggers the laser emitter abnormally, the angle trigger mode is started; according to the angle trigger mode, the angle signal of the galvanometer assembly is obtained in real time, and the laser emitter is triggered according to the angle signal, thereby realizing closed-loop control of the 3D camera, that is, by associating the angle signal of the galvanometer assembly with the on / off / light intensity of the laser, it is possible to ensure that the angle of the encoded light beam output by the laser emitter is highly accurate and maintains good repeatability through the angle signal when the original laser trigger signal is abnormal, and to use the angle signal to trigger the laser emitter when the original laser trigger signal is abnormal, so that the 3D camera can continue to work safely and extend the service life of the 3D camera.

[0081] Refer to FIG7 , which is a flow chart of another embodiment of a control method for a 3D camera provided by the present application. The 3D camera includes a laser emitter and a galvanometer assembly. The method includes:

[0082] Step 71: In response to the abnormality in the center position and relative interval between the pulses emitted by the laser transmitter, start the angle trigger mode.

[0083] When there is no abnormality in the center position and relative interval between pulses, the laser transmitter continues to be controlled according to the laser trigger signal without starting the angle trigger mode.

[0084] Step 72: According to the angle trigger mode, the angle signal of the galvanometer assembly is acquired in real time, and the laser transmitter is triggered according to the angle signal.

[0085] Step 72 has the same or similar technical solution as any embodiment of the present application and will not be described in detail here.

[0086] In this embodiment, when the laser trigger signal triggers the laser emitter abnormally, the angle trigger mode is started; according to the angle trigger mode, the angle signal of the galvanometer assembly is obtained in real time, and the laser emitter is triggered according to the angle signal, thereby realizing closed-loop control of the 3D camera, that is, by associating the angle signal of the galvanometer assembly with the on / off / light intensity of the laser, it is possible to ensure that the angle of the encoded light beam output by the laser emitter is highly accurate and maintains good repeatability through the angle signal when the original laser trigger signal is abnormal, and to use the angle signal to trigger the laser emitter when the original laser trigger signal is abnormal, so that the 3D camera can continue to work safely and extend the service life of the 3D camera.

[0087] Refer to FIG8 , which is a flow chart of another embodiment of a control method for a 3D camera provided by the present application. The 3D camera includes a laser emitter and a galvanometer assembly. The method includes:

[0088] Step 81: In response to an abnormality in triggering the laser emitter by the laser trigger signal, a new laser trigger signal is used to trigger the laser emitter again, and abnormality detection is performed.

[0089] When a single laser trigger signal triggers an abnormality in the laser transmitter, there may be an accidental error in the software, hardware, or communication that causes the abnormality. Therefore, a new laser trigger signal is used to trigger the laser transmitter again, and an abnormality detection is performed to verify whether the abnormality is real and avoid the impact of a single false abnormality.

[0090] Step 82: In response to the number of consecutive anomalies exceeding a threshold, start the angle trigger mode.

[0091] If the number of consecutive abnormalities exceeds the threshold, it means that this is a real abnormality and the laser trigger signal at this time is not suitable for triggering the laser transmitter, then the angle trigger mode is started.

[0092] Step 83: According to the angle trigger mode, the angle signal of the galvanometer assembly is acquired in real time, and the laser transmitter is triggered according to the angle signal.

[0093] Step 83 has the same or similar technical solution as any embodiment of the present application and will not be described in detail here.

[0094] In this embodiment, when the laser trigger signal triggers the laser emitter abnormally, the laser emitter is subjected to multiple abnormality detections, and the angle trigger mode is started when the abnormality is determined; according to the angle trigger mode, the angle signal of the galvanometer assembly is acquired in real time, and the laser emitter is triggered according to the angle signal, thereby realizing closed-loop control of the 3D camera, that is, by associating the angle signal of the galvanometer assembly with the on / off / light intensity of the laser, it is possible to ensure that the angle of the encoded light beam output by the laser emitter is highly accurate and maintains good repeatability through the angle signal when the original laser trigger signal is abnormal, and to use the angle signal to trigger the laser emitter when the original laser trigger signal is abnormal, so that the 3D camera can continue to work safely and extend the service life of the 3D camera.

[0095] In an application scenario, the following process is used to illustrate:

[0096] Step 101: A triggering signal for a 3D camera is issued.

[0097] Step 102: After receiving the laser trigger signal, the 3D camera controller activates the galvanometer. Once the galvanometer stabilizes, the control unit begins to emit a corresponding lighting signal based on the stored optical code. The optical code information can be predicted or automatically generated after power-up.

[0098] Step 103: At the same time, the galvanometer rotates; the laser usually works when the galvanometer outputs stably.

[0099] The galvanometer has many working modes. In this application, you can choose the angle linear output working mode (similar to a triangle wave) to facilitate laser control.

[0100] Step 104: An angle sensor on the periphery of the galvanometer outputs the galvanometer deflection angle in real time.

[0101] The angle sensor is preferably installed coaxially with the galvanometer and is calibrated before use.

[0102] Step 105: The output angle signal is calculated and the corresponding angle area is extracted and saved according to the coding requirements of different graphics.

[0103] Step 106: At the same time, the above-mentioned saved data will first be self-checked according to the encoding method.

[0104] The self-test here mainly refers to detecting whether the laser switching time width, duty cycle, delay and other information are correct.

[0105] Step 107: The saved data is also compared with the pre-saved reference data.

[0106] Here we mainly compare the center position and relative interval between the laser transmitter pulses to ensure that the galvanometer works within the drift range.

[0107] Step 108: If there is no abnormality, the process continues in a loop and returns to step 101.

[0108] Step 109: If there is an abnormality, first prompt the host computer that the data is abnormal; then repeat from step 101; if the problem still exists after several repetitions, trigger the laser emission through the angle.

[0109] Step 110: Report the abnormal situation and execute step 111.

[0110] Step 111: The sampling device continuously samples the angle output signal.

[0111] That is, the deflection angle or deflection voltage of the galvanometer is collected.

[0112] Step 112: The controller determines whether the angle range falls within the trigger area.

[0113] Step 113. If it falls into the trigger area, the laser is triggered to work; otherwise, it is not triggered; thereby generating barcode information.

[0114] Step 14: Start the loop from step 111.

[0115] Combined with Figure 9, the relationship between the deflection angle of the galvanometer and the laser trigger signal is explained:

[0116] The dashed box in Figure 9 represents the laser trigger signal, and the triangular box represents the deflection angle. The triangular box shows the galvanometer's rotation angle over time. As shown in Figure 9, under normal circumstances, when the galvanometer deflects to a preset angle, the laser trigger signal triggers the laser emitter. Based on this, a relationship is established between the triggering timing of the laser trigger signal and the galvanometer's deflection angle to form a new laser trigger signal. Specifically, when the galvanometer's deflection angle reaches within the preset angle range, a laser trigger signal is generated, thereby triggering the laser emitter.

[0117] Referring to FIG10 , FIG10 is a schematic diagram of the structure of an embodiment of a 3D camera provided by the present application. The 3D camera 100 includes a laser emitter 10 , a galvanometer assembly 20 , and a controller 30 . The controller 30 is used to control the laser emitter 10 and the galvanometer assembly 20 to implement the following method:

[0118] In response to an abnormality in the triggering of the laser emitter by the laser trigger signal, an angle trigger mode is started; according to the angle trigger mode, an angle signal of the galvanometer assembly is acquired in real time, and the laser emitter is triggered according to the angle signal.

[0119] It can be understood that the controller 30 is also used to execute a computer program to implement the method of any of the above embodiments.

[0120] Refer to Figure 11, which is a schematic diagram of the structure of an embodiment of a computer-readable storage medium provided by the present application. The computer-readable storage medium 200 stores a computer program 201. When the computer program 201 is executed by a controller, it implements the following method:

[0121] In response to an abnormality in the triggering of the laser emitter by the laser trigger signal, an angle trigger mode is started; according to the angle trigger mode, an angle signal of the galvanometer assembly is acquired in real time, and the laser emitter is triggered according to the angle signal.

[0122] It can be understood that when the computer program 201 is executed by a processor, it can also implement the method of any of the above embodiments.

[0123] In summary, the 3D camera, its control method, and computer-readable storage medium provided by the present application start the angle trigger mode when the laser trigger signal triggers the laser emitter abnormally; according to the angle trigger mode, the angle signal of the galvanometer assembly is obtained in real time, and the laser emitter is triggered according to the angle signal, thereby realizing closed-loop control of the 3D camera, that is, by associating the angle signal of the galvanometer assembly with the laser on / off / light intensity, when the original laser trigger signal is abnormal, the angle signal can be used to ensure that the angle of the encoded light beam output by the laser emitter is highly accurate and maintains good repeatability, and when the original laser trigger signal is abnormal, the angle signal is used to trigger the laser emitter, so that the 3D camera can continue to work safely and extend the service life of the 3D camera.

[0124] That is, the inventors of the present application discovered that in a 3D camera based on a galvanometer and adopting a time loop control method, a single laser trigger signal is used to trigger the laser emitter. Such open-loop control may fail when an abnormality occurs and there is no other remedial measure. Once an error occurs, the 3D camera system will fail and will be unable to self-check. Based on this, the inventors of the present application used the deflection angle of the galvanometer, which is also synchronously triggered by the laser trigger signal, as an angle signal in an abnormal situation after the laser emitter is triggered, and used the angle signal as a new laser trigger signal to trigger the laser emitter, so that the deflection angle of the galvanometer is correlated with the on / off / light intensity of the laser emitter, thereby realizing closed-loop control.

[0125] In the several embodiments provided in this application, it should be understood that the disclosed methods and devices can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the modules or units is merely a logical functional division. In actual implementation, other division methods may be used, such as combining or integrating multiple units or components into another system, or ignoring or not implementing certain features.

[0126] If the integrated units in the above other embodiments are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) or a processor to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0127] The above description is only an implementation method of the present application and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the description and drawings of this application, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A control method for a 3D camera, characterized in that, The 3D camera includes a laser emitter and a galvanometer assembly. The method includes: In response to an abnormality in triggering the laser emitter due to a laser trigger signal, starting an angle trigger mode; According to the angle trigger mode, obtaining the angle signal of the galvanometer assembly in real time, and triggering the laser emitter according to the angle signal.

2. The method according to claim 1, wherein The obtaining the angle signal of the galvanometer assembly in real time includes: Obtaining the galvanometer deflection voltage of the galvanometer assembly in real time, and using the galvanometer deflection voltage as the angle signal; Or, obtaining the galvanometer deflection angle of the galvanometer assembly by using an angle sensor, and using the galvanometer deflection angle as the angle signal.

3. The method according to claim 1, characterized in that, The triggering the laser emitter according to the angle signal includes: Judging whether the current angle signal is within a trigger area; If so, triggering the laser emitter.

4. The method according to claim 3, wherein The trigger area is obtained by pre-calibration.

5. The method according to claim 1, characterized in that The starting the angle trigger mode in response to an abnormality in triggering the laser emitter due to a laser trigger signal includes: In response to an abnormality in self-check of the laser emitter, starting the angle trigger mode.

6. The method according to claim 1, wherein The starting the angle trigger mode in response to an abnormality in triggering the laser emitter due to a laser trigger signal includes: In response to an abnormality in the center position and relative interval between pulses emitted by the laser emitter, starting the angle trigger mode.

7. The method according to claim 1, wherein The starting the angle trigger mode in response to an abnormality in triggering the laser emitter due to a laser trigger signal includes: In response to an abnormality in triggering the laser emitter due to a laser trigger signal, re-triggering the laser emitter with a new laser trigger signal, and performing abnormality detection; In response to the number of consecutive abnormalities exceeding a threshold, starting the angle trigger mode.

8. The method according to claim 1, characterized in that, The galvanometer assembly adopts a working mode with linear angle output.

9. A 3D camera, characterized in that, The 3D camera includes a laser emitter, a galvanometer assembly and a controller, and the controller is used to control the laser emitter and the galvanometer assembly to implement the method according to any one of claims 1-8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1-8 is implemented.

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