Image acquisition device and method

Abstract

The present application relates to an image acquisition device and a method. The device comprises: a first projector, configured to project a projection pattern of a first wavelength to an object to be acquired, such that said object presents a first wavelength-based projection image; a second projector, configured to project light of a second wavelength to said object, such that said object presents a second wavelength-based mark point image; and a light splitting component, provided between said object and a preset camera module, and configured to separate the light of the first wavelength and the second wavelength, so as to separate the projection image from the mark point image. The preset camera module comprises: a first camera module and a second camera module, the first camera module being configured to acquire the projection image, and the second camera module being configured to acquire the mark point image. The present disclosure solves the technical problem in the prior art that when projection images and mark point images are acquired at the same time, the mark point images are contaminated by the projection images.

Description

Image acquisition device and method

[0001] Cross-reference

[0002] This disclosure claims priority to a Chinese patent application filed with the Patent Office of China on December 26, 2023, with application number 202311815417.9 and application name “Image Acquisition Device and Method,” the entire contents of which are incorporated by reference into this disclosure. Technical Field

[0003] The present disclosure relates to the field of scanning, and in particular to an image acquisition device and method. Background Art

[0004] In handheld scanners, marker point stitching is often used to ensure scanning and stitching accuracy. To ensure synchronization and accuracy, the camera generally captures the projected graphic pattern and the marker point image simultaneously. However, because the projected graphic pattern hits the marker point, the camera directly captures the projected graphic pattern and the marker point. The marker point is often contaminated by the projected graphic pattern, resulting in a larger error in marker point extraction, which in turn affects the overall scanning accuracy.

[0005] In order to avoid the landmark points being contaminated by the projected pattern, the following two methods are currently used:

[0006] 1. Cross-project and capture the projection pattern and the marker points. When the projection pattern is projected, capture the projection pattern, then close the projection pattern and capture the marker point pattern.

[0007] However, if this solution is applied to a handheld device, since the handheld device is always moving, the time difference between the two acquisitions needs to be at the microsecond level, otherwise the error will be very large.

[0008] 2. The projected graphic pattern and landmark points are collected simultaneously. For contaminated landmark points, the accuracy is compensated through subsequent algorithm compensation.

[0009] However, algorithm compensation is greatly affected by the degree of contamination. Once the edges of the marker points are destroyed, it is difficult to ensure that the compensation accuracy is suitable for industrial detection needs.

[0010] With respect to the problem in the above-mentioned prior art that, when a projection image and a marker point image are collected simultaneously, the marker point image may be contaminated by the projection image, no effective solution has been proposed so far. Summary of the Invention

[0011] Some embodiments of the present disclosure provide an image acquisition device and method to at least solve the technical problem in the prior art that, when a projection image and a marker point image are acquired simultaneously, the marker point image may be contaminated by the projection image.

[0012] According to one aspect of some embodiments of the present disclosure, there is provided an image acquisition device, comprising: a first projector, configured to project a projection pattern of a first wavelength onto an object to be acquired, so that the object to be acquired presents a projection image based on the first wavelength; a second projector, configured to project light of a second wavelength onto the object to be acquired, so that the object to be acquired presents a marker point image based on the second wavelength; a spectroscopic component, arranged between the object to be acquired and a preset camera module, configured to separate the light of the first wavelength and the second wavelength, so that the projection image and the marker point image are separated, wherein the preset camera module comprises: a first camera module and a second camera module; the first camera module is configured to acquire the projection image; the second camera module is configured to acquire the marker point image.

[0013] Optionally, the second projector includes: an illumination component, configured to project light of a second wavelength toward the object to be collected, so that the marking points on the surface of the object to be collected reflect light of the second wavelength and present a marking point pattern based on the second wavelength; or a projection component, configured to project a marking point pattern of the second wavelength toward the object to be collected, so that the object to be collected presents a marking point image based on the second wavelength.

[0014] Optionally, the illumination component includes: a plurality of illumination modules, wherein the plurality of illumination modules are arranged around the image acquisition component, wherein the image acquisition component includes at least: a second camera module.

[0015] Optionally, the device further includes: a filter component, arranged between the object to be collected and the spectroscopic component, configured to filter out light of noise wavelengths of the object to be collected, and obtain a projection image based on the first wavelength and a marker point image based on the second wavelength.

[0016] Optionally, the filter component includes: a filter, which is arranged between the preset camera module and the object to be captured, and is configured to filter out light of wavelengths other than the first wavelength and the second wavelength, to obtain a projection image based on the first wavelength and a marker point image based on the second wavelength.

[0017] Optionally, the first camera module includes: a first camera and a second camera, wherein the first camera and the second camera are arranged on both sides of the optical axis of the first projector, and the first camera and the second camera are at the same distance relative to the first projector; the second camera module includes: a third camera and a fourth camera, wherein the third camera and the fourth camera are arranged on both sides of the optical axis of the first projector, and the third camera and the fourth camera are at the same distance relative to the first projector.

[0018] Optionally, the first camera in the first camera module and the third camera in the second camera module are arranged in the first acquisition part of the image acquisition device; the second camera in the first camera module and the fourth camera in the second camera module are arranged in the second acquisition part of the image acquisition device; wherein the first acquisition part and the second acquisition part are arranged on both sides of the optical axis of the first projector, and the first acquisition part and the second acquisition part are at the same distance relative to the first projector.

[0019] Optionally, the spectroscopic component includes: a first spectroscopic component provided between the object to be collected and the first collecting part; and a second spectroscopic component provided between the object to be collected and the second collecting part.

[0020] Optionally, the spectroscopic component includes: a first spectrometer, arranged between the object to be collected and the first camera module, configured to transmit the projection image based on the first wavelength and reflect the mark point image based on the second wavelength; a first reflector, arranged between the object to be collected and the second camera module, configured to reflect the mark point image reflected by the first spectrometer to the second camera module.

[0021] Optionally, the first beam splitter and the first reflector are parallel; the angle between the first beam splitter and the optical axis of the first camera module is a preset angle; the angle between the first reflector and the optical axis of the second camera module is a preset angle; wherein the preset angle is 45°.

[0022] Optionally, the spectroscopic component includes: a second spectrometer, arranged between the object to be collected and the second camera module, configured to reflect the projection image based on the first wavelength and project the marker point image based on the second wavelength; a second reflector, arranged between the object to be collected and the first camera module, configured to reflect the projection image reflected by the second spectrometer to the first camera module.

[0023] Optionally, the second beam splitter and the second reflector are parallel; the angle between the second beam splitter and the optical axis of the first camera module is a preset angle; the angle between the second reflector and the optical axis of the second camera module is a preset angle; wherein the preset angle is 45°.

[0024] Optionally, the first beam splitter component and the second beam splitter component may both include a first beam splitter, or both include a second beam splitter, or one includes the first beam splitter and the other includes the second beam splitter.

[0025] Specifically, the image acquisition device includes a bracket, a first projector mounted on the bracket, a first camera module, and a second camera module. The bracket is formed with a first acquisition section and a second acquisition section on both sides of the optical axis of the first projector. The first and third cameras are mounted on the first acquisition section of the bracket, and the second and third cameras are mounted on the second acquisition section of the bracket. A spectroscopic assembly is provided in front of the first and third cameras, and a filter is provided in front of the spectroscopic assembly. Similarly, a spectroscopic assembly is provided in front of the second and fourth cameras, and a filter is provided in front of the spectroscopic assembly. The second projector is an illumination assembly that projects unpatterned light, and the illumination assembly includes an LED light group consisting of multiple LED lights. The third and fourth cameras are each equipped with an LED light group. Multiple LED light rings are provided on the third camera, and multiple LED light rings are provided on the fourth camera. The pattern acquisition device can perform continuous mobile scanning or separate fixed scanning (i.e., scanning at multiple scanning points, with the pattern acquisition device at each scanning point fixed relative to the object being acquired).

[0026] Optionally, the image acquisition device includes a first image acquisition module and a second image acquisition module that are independently arranged. The first image acquisition module includes a bracket, a first projector mounted on the bracket, a first camera module, and a second camera module. The bracket is formed with a first acquisition section and a second acquisition section on both sides of the optical axis of the first projector. The first camera and the third camera are mounted on the first acquisition section of the bracket, and the second camera and the third camera are mounted on the second acquisition section of the bracket. A spectroscopic component is provided in front of the first camera and the third camera, and a filter is provided in front of the spectroscopic component. Similarly, a spectroscopic component is provided in front of the second camera and the fourth camera, and a filter is provided in front of the spectroscopic component. The second image acquisition module includes one or more second projectors. The object to be acquired is placed within the projection range of the second projector, and the first image acquisition module performs continuous mobile scanning or separate fixed scanning (i.e., scanning is performed at multiple scanning points, and each scanning point pattern acquisition device is fixed relative to the object to be acquired).

[0027] According to another aspect of some embodiments of the present disclosure, an image acquisition method is also provided, including: projecting a projection pattern of a first wavelength to an object to be acquired through a first projector, so that the object to be acquired presents a projection image based on the first wavelength; projecting light of a second wavelength to the object to be acquired through a second projector, so that the object to be acquired presents a marker point image based on the second wavelength; separating the light of the first wavelength and the second wavelength through a spectroscopic component, so that the projection image and the marker point image are separated, wherein the preset camera module is arranged between the object to be acquired and a preset camera module, and the preset camera module includes: a first camera module and a second camera module; acquiring the projection image through the first camera module; acquiring the marker point image through the second camera module.

[0028] In some embodiments of the present disclosure, a projection pattern of a first wavelength is projected onto the object to be collected by a first projector, so that the object to be collected presents a projection image based on the first wavelength; light of a second wavelength is projected onto the object to be collected by a second projector, so that the object to be collected presents a marker point image based on the second wavelength; then a spectroscopic component arranged between the object to be collected and the preset camera module is used to separate the light of the first wavelength and the second wavelength, so that the projection image and the marker point image are separated, and then the projection image is collected by the first camera module, and the marker point image is collected by the second camera module in the preset camera module. Therefore, in the process of image collection of the object to be collected, the projection image based on the first wavelength can be transmitted to the first camera module, and the marker point image based on the second wavelength can be transmitted to the second camera module respectively through the spectroscopic component, thereby achieving the purpose of separating the projection image and the marker point image, and realizing the technical effect of avoiding the marker point from being contaminated by the projection image when the projection image and the marker point image are collected at the same time, thereby solving the technical problem of the prior art that the marker point image will be contaminated by the projection image when the projection image and the marker point image are collected at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The drawings described herein are used to provide a further understanding of the present disclosure and constitute a part of the present disclosure. The exemplary embodiments of the present disclosure and their descriptions are provided to explain the present disclosure and do not constitute an improper limitation of the present disclosure. In the drawings:

[0030] FIG1 is a schematic diagram of an image acquisition device according to some embodiments of the present disclosure;

[0031] FIG2 is a second schematic diagram of an image acquisition device according to some embodiments of the present disclosure;

[0032] FIG3 is a third schematic diagram of an image acquisition device according to some embodiments of the present disclosure;

[0033] FIG4 is a schematic diagram of an image acquisition process according to some embodiments of the present disclosure;

[0034] FIG5 is a flowchart of an image acquisition method according to some embodiments of the present disclosure. DETAILED DESCRIPTION

[0035] In order to enable those skilled in the art to better understand the solutions of the present disclosure, the technical solutions of some embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in some embodiments of the present disclosure. Obviously, the embodiments described are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present disclosure.

[0036] It should be noted that the terms "first", "second", etc. in the specification and claims of the present disclosure and the above-mentioned drawings are set to distinguish similar objects, and are not necessarily set to describe a specific order or sequence. It should be understood that the numbers used in this way are interchangeable where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0037] Figure 1 is a schematic diagram of an image acquisition device according to some embodiments of the present disclosure. As shown in Figure 1, the device may include: a first projector 102, configured to project a projection pattern of a first wavelength to an object to be acquired 112, so that the object to be acquired 112 presents a projection image based on the first wavelength; a second projector 104, configured to project light of a second wavelength to the object to be acquired 112, so that the object to be acquired 112 presents a marker point image based on the second wavelength; a spectroscopic component 108, arranged between the object to be acquired 112 and a preset camera module, configured to separate the light of the first wavelength and the second wavelength, so that the projection image and the marker point image are separated, wherein the preset camera module includes: a first camera module 116 and a second camera module 118; the first camera module 116 is configured to acquire the projection image; the second camera module 118 is configured to acquire the marker point image.

[0038] In some embodiments of the present disclosure, a projection pattern of a first wavelength is projected onto the object to be collected by a first projector, so that the object to be collected presents a projection image based on the first wavelength; light of a second wavelength is projected onto the object to be collected by a second projector, so that the object to be collected presents a marker point image based on the second wavelength; then a spectroscopic component arranged between the object to be collected and the preset camera module is used to separate the light of the first wavelength and the second wavelength, so that the projection image and the marker point image are separated, and then the projection image is collected by the first camera module, and the marker point image is collected by the second camera module in the preset camera module. Therefore, in the process of image collection of the object to be collected, the projection image based on the first wavelength can be transmitted to the first camera module, and the marker point image based on the second wavelength can be transmitted to the second camera module respectively through the spectroscopic component, thereby achieving the purpose of separating the projection image and the marker point image, and realizing the technical effect of avoiding the marker point from being contaminated by the projection image when the projection image and the marker point image are collected at the same time, thereby solving the technical problem of the prior art that the marker point image will be contaminated by the projection image when the projection image and the marker point image are collected at the same time.

[0039] Optionally, the first projector may be a projector configured to use light of a first wavelength as a carrier to project a projection pattern onto the object to be captured.

[0040] Optionally, the projection pattern can be a structured light pattern such as a line stripe pattern or a stripe pattern. After projecting the projection pattern onto the object to be collected, the projection pattern is modulated by the height of the object to be collected. The modulated projection pattern (i.e., the projection image) is collected by the first camera module 116, and then three-dimensional reconstruction is performed based on the imaging of the projection image by the first camera module 116 to obtain a three-dimensional digital model of the object to be collected, thereby realizing three-dimensional scanning of the object to be collected.

[0041] For example, the projection pattern may be a planar stripe pattern, and the projection image may be a representation of the stripe pattern on the surface of the object to be collected.

[0042] It should be noted that the essence of collecting the object to be collected is to collect the reflected light of the object to be collected. The object to be collected can reflect light of different wavelengths to show different colors and / or patterns. Then, the reflected light of the object to be collected is collected by the camera to obtain an image of the surface of the object to be collected.

[0043] Optionally, the object to be collected may be an item that requires image collection, and three-dimensional reconstruction based on the image of the surface of the object to be collected may realize three-dimensional scanning of the object to be collected.

[0044] Optionally, since the surface of the object to be collected has a projection pattern of the first wavelength projected by the first projector, the image of the object to be collected includes a projection image of the object to be collected based on the projection pattern of the first wavelength.

[0045] Optionally, the spectroscopic component can be a spectroscope or a spectroscope group, which is configured to reflect light of some wavelengths and transmit light of some wavelengths in the reflected light of the object to be collected, so as to achieve separation of light of different wavelengths. Specifically, the separation of the projection image based on the first wavelength and the mark point image based on the second wavelength is achieved through reflection and transmission of the spectroscope.

[0046] Optionally, the first camera module may include at least one camera, and the first camera module may be used to obtain a projection image of a projection pattern based on the first wavelength on the surface of the object to be captured.

[0047] Optionally, the first camera module may be a camera group configured to perform three-dimensional reconstruction, and the three-dimensional reconstruction of the object to be captured may be completed based on the projection image captured by the first camera module.

[0048] For example, the projection pattern can be a stripe pattern used in the three-dimensional scanning process. After the stripe pattern is projected onto the surface of the object to be collected, it is deformed by the height modulation of the object to be collected to form a projection image. The projection image is collected by the first camera module, and the projection image can be used to complete the three-dimensional reconstruction of the object to be scanned.

[0049] Optionally, the first camera module may be a monocular camera configured to perform three-dimensional reconstruction, or may be a binocular camera configured to perform three-dimensional reconstruction.

[0050] Optionally, the second camera module may include at least one camera, and the second camera module may be used to obtain marker points on the surface of the object to be captured based on reflected light of the second wavelength to generate a marker point image.

[0051] Optionally, the second camera module can be a camera group configured to perform three-dimensional stitching. Three-dimensional reconstruction can be performed based on the marker point images captured by the second camera module, and the three-dimensional digitized marker points can be determined. Then, based on the three-dimensional digitized marker points, the multi-part three-dimensional point clouds reconstructed in fragments in the object to be captured can be stitched together to obtain a complete three-dimensional point cloud model of the object to be captured.

[0052] It should be noted that when the first camera module is unable to capture a complete image of the object to be captured at one time, only a partial three-dimensional point cloud of the object to be captured can be obtained based on the image captured by the first camera module each time, and then the three-dimensional stitching technology is used to stitch the multiple partial three-dimensional point clouds of the object to be captured obtained multiple times into a complete three-dimensional point cloud of the object to be captured.

[0053] Optionally, three-dimensional stitching refers to unifying the coordinate systems of multiple partial three-dimensional point clouds to form a complete three-dimensional point cloud.

[0054] As an optional embodiment, the second projector includes: an illumination component, configured to project light of a second wavelength toward the object to be collected, so that the marking points on the surface of the object to be collected reflect the light of the second wavelength and present a marking point pattern based on the second wavelength; or a projection component, configured to project a marking point pattern of the second wavelength toward the object to be collected, so that the object to be collected presents a marking point image based on the second wavelength.

[0055] In some embodiments of the present disclosure, the illumination module is configured to project light of a second wavelength toward the object to be captured. Since the marking point is small and the reflection is not obvious, multiple illumination modules are arranged around the image acquisition component to ensure that the reflected light of the marking point based on the second wavelength can be captured by the second camera module in the image acquisition component.

[0056] Optionally, the lighting component can have a device with a light-emitting function, such as an LED light group. The lighting component can generate light of a second wavelength and illuminate the surface of the object to be collected. Then, the mark point of the object to be collected can reflect the light of the second wavelength to form an image of the mark point in the camera.

[0057] In some embodiments of the present disclosure, the second projector can also be a projection component, which is configured to use light of a second wavelength as a carrier to project a marker point pattern onto the object to be collected. The marker point pattern can be generated on the surface of the object to be collected, and then the second camera module can collect the marker point image after the marker point pattern is modulated by the object to be collected during the process of collecting the image of the object to be collected.

[0058] Optionally, the marker point pattern can be a pattern with multiple marker points. When the marker point pattern is projected onto the object to be collected, the marker point pattern is modulated by the height of the object to be collected. The modulated marker point pattern (i.e., the marker point image) is collected by the second camera module, and then three-dimensional reconstruction is performed based on the imaging of the marker point image by the first camera module to determine the three-dimensional digitized marker points, and the three-dimensional digitized marker points can be further used for splicing.

[0059] Optionally, a plurality of marker points may be pre-set on the surface of the object to be captured, each of which may reflect light of the second wavelength. Thus, the image of the object to be captured may include images of the marker points reflected by the second wavelength. In this embodiment, the second projector may project unpatterned light of the second wavelength to avoid interfering with the marker points on the surface of the object to be captured.

[0060] As an optional embodiment, the illumination component includes: a plurality of illumination modules, wherein the plurality of illumination modules are arranged around the image acquisition component, wherein the image acquisition component includes at least: a second camera module.

[0061] In some embodiments of the present disclosure, during the reflection process of an object, most of the reflected light will return based on the original path of the illuminating light. Therefore, multiple lighting modules are arranged around the second camera module, so that the second wavelength of light can better fill in the second camera module, so that the second camera module can receive more reflected light from the mark points on the surface of the object to be collected, thereby obtaining a clearer mark point image.

[0062] As an optional embodiment, the device also includes: a filtering component, which is arranged between the object to be collected and the spectroscopic component, and is configured to filter out light of the noise wavelength of the object to be collected to obtain a projection image based on the first wavelength and a marker point image based on the second wavelength.

[0063] In some embodiments of the present disclosure, noise light reflected by the object to be collected is filtered out by a filter component to obtain a projection image based on a first wavelength and a marker point image based on a second wavelength reflected by the object to be collected, thereby filtering out noise light that does not belong to the first wavelength and the second wavelength.

[0064] Optionally, the filter component can be a filter that is configured to transmit light of a specified wavelength. Therefore, the reflected light of the object to be collected can be filtered through the filter component, retaining the projection image based on the first wavelength that is reflected by the projection pattern based on the first wavelength of the object to be collected, and the marker point image based on the second wavelength that is reflected by the object to be collected based on light of the second wavelength.

[0065] As an optional embodiment, the filtering component includes: a filter, which is arranged between a preset camera module and an object to be captured, and is configured to filter out light of wavelengths other than the first wavelength and the second wavelength, to obtain a projection image based on the first wavelength and a marker point image based on the second wavelength.

[0066] In some embodiments of the present disclosure, the filter component filters the reflected light of the object to be collected through a filter, and only allows the reflected light based on the first wavelength and the second wavelength to pass through; it filters the noise light that does not belong to the first wavelength and the second wavelength, and ensures that the projection image based on the first wavelength and the marker point image based on the second wavelength can be transmitted to the first camera module and the second camera module through the filter.

[0067] Optionally, the filter adopts a dual-channel configuration, which can allow light of the first wavelength and light of the second wavelength to enter at the same time.

[0068] Optionally, the filter is perpendicular to the optical axes of the first camera module and the second camera module. Since the filter does not change the propagation direction of light of the first wavelength and the second wavelength, placing the filter perpendicular to the optical axis of the camera can ensure that the camera can complete the acquisition of images based on the first wavelength and the second wavelength through the filter.

[0069] It should be noted that the optical axis of the first and second camera modules refers to the centerline of the camera lens in the optical system, along the direction of light propagation. It is an imaginary straight line that begins at the optical center of the camera lens, passes through the lens center point, is perpendicular to the image plane, and extends to infinity. The camera optical axis plays a crucial role in photography, determining camera focus, angle of view, and perspective.

[0070] It should be noted that, when the image acquisition device uses a binocular camera, both the first camera module and the second camera module have two cameras.

[0071] As an optional embodiment, the first camera module includes: a first camera and a second camera, wherein the first camera and the second camera are arranged on both sides of the optical axis of the first projector, and the first camera and the second camera are at the same distance relative to the first projector; the second camera module includes: a third camera and a fourth camera, wherein the third camera and the fourth camera are arranged on both sides of the optical axis of the first projector, and the third camera and the fourth camera are at the same distance relative to the first projector.

[0072] In some embodiments of the present disclosure, the first camera and the second camera are arranged on both sides of the optical axis of the projector, and the distances between the first camera and the second camera relative to the projector are ensured to be the same, so that the first camera and the second camera together constitute the binocular stereo vision of the first camera module; the third camera and the fourth camera are arranged on both sides of the optical axis of the projector, and the distances between the third camera and the fourth camera relative to the projector are ensured to be the same, so that the third camera and the fourth camera together constitute the binocular stereo vision of the second camera module.

[0073] It should be noted that the optical axis of the first projector is the propagation direction of the light of the projection pattern projected by the projection lens, such as the line connecting the center of the projection lens and the center of the projection pattern.

[0074] Optionally, the first projector may be disposed on a perpendicular line to the midpoint of the line segment where the first camera and the second camera are located, such as at a midpoint between the first camera and the second camera.

[0075] Optionally, the first projector may be disposed on a perpendicular line to the midpoint of the line segment where the third camera and the fourth camera are located, such as at the midpoint between the third camera and the fourth camera.

[0076] Optionally, a perpendicular line between the midpoints of the line segments where the first camera and the second camera are located coincides with a perpendicular line between the midpoints of the line segments where the third camera and the fourth camera are located.

[0077] As an optional embodiment, the first camera in the first camera module and the third camera in the second camera module are arranged in the first acquisition part of the image acquisition device; the second camera in the first camera module and the fourth camera in the second camera module are arranged in the second acquisition part of the image acquisition device; wherein, the first acquisition part and the second acquisition part are arranged on both sides of the optical axis of the first projector, and the first acquisition part and the second acquisition part are at the same distance relative to the first projector.

[0078] As an optional embodiment, the spectroscopic component includes: a first spectroscopic component arranged between the object to be collected and the first collecting part; and a second spectroscopic component arranged between the object to be collected and the second collecting part.

[0079] In some embodiments of the present disclosure, a corresponding spectroscopic component may be provided for each first acquisition unit, and the two spectroscopic components may then be used to separate the projection image and the marker point image for each camera in the binocular vision system.

[0080] For example, a binocular vision system configured for three-dimensional reconstruction includes a first camera and a second camera in a first camera module, a binocular vision system configured for three-dimensional stitching includes a third camera and a fourth camera in a second camera module, the first acquisition unit includes the first camera and the third camera, and the first camera requires a projection image based on a first wavelength, and the third camera requires a marker point image based on a second wavelength. Image separation can be performed through a first spectroscopic component, and the projection image is transmitted to the first camera, and the marker point image is transmitted to the third camera; similarly, the second acquisition unit includes a second camera and a fourth camera, and image separation is performed through a second spectroscopic component, and the projection image is transmitted to the second camera, and the marker point image is transmitted to the fourth camera.

[0081] As an optional embodiment, the spectroscopic component includes: a first spectrometer, arranged between the object to be collected and the first camera module, configured to transmit the projection image based on the first wavelength and reflect the mark point image based on the second wavelength; a first reflector, arranged between the object to be collected and the second camera module, configured to reflect the mark point image reflected by the first spectrometer to the second camera module.

[0082] In some embodiments of the present disclosure, the first beam splitter allows reflected light of the first wavelength to pass through and reflects reflected light of the second wavelength. Therefore, the projected image based on the first wavelength can directly transmit the first beam splitter and propagate to the first camera module, while the mark point image based on the second wavelength can be propagated to the first reflector under the reflection of the first beam splitter, and then the mark point image of the second wavelength is reflected by the first reflector, changing the carrier light path of the mark point image, and propagating to the second camera module, thereby realizing the separation of the projected image based on the first wavelength and the mark point image based on the second wavelength.

[0083] As an optional embodiment, the first beam splitter and the first reflector are parallel; the angle between the first beam splitter and the optical axis of the first camera module is a preset angle; the angle between the first reflector and the optical axis of the second camera module is a preset angle; wherein the preset angle is 45°.

[0084] In some embodiments of the present disclosure, after the reflected light of the object to be collected is filtered by the filter component, reflected light based on the first wavelength and reflected light based on the second wavelength can be obtained, and the propagation direction of the reflected light is parallel to the optical axis direction of the first camera module and the second camera module, and then the angle between the first beam splitter and the optical axis of the first camera module is set to 45°, then the projection image based on the first wavelength can be transmitted through the first beam splitter, along the optical axis of the first camera module, to the first camera module, and the mark point image based on the second wavelength can be transmitted by the right-angle reflection of the first beam splitter and propagated to the first reflector. Since the angle between the optical axis of the first reflector and the second camera module is also set to 45°, and the first beam splitter and the first reflector are parallel, the first reflector can also produce right-angle reflection on the mark point image based on the second wavelength, and propagate the mark point image based on the second wavelength along the optical axis of the second camera module to the second camera module.

[0085] As an optional embodiment, the spectroscopic component includes: a second spectrometer, arranged between the object to be collected and the second camera module, configured to reflect the projection image based on the first wavelength and project the marker point image based on the second wavelength; a second reflector, arranged between the object to be collected and the first camera module, configured to reflect the projection image reflected by the second spectrometer to the first camera module.

[0086] In some embodiments of the present disclosure, the second beam splitter allows the reflected light of the second wavelength to pass through and reflects the reflected light of the first wavelength. Therefore, the mark point image based on the second wavelength can directly transmit the second beam splitter and propagate to the second camera module, while the projected image based on the first wavelength can be propagated to the second reflector under the reflection of the second beam splitter, and then the second reflector reflects the projected image of the first wavelength, changes the carrier light path of the projected image, and propagates to the first camera module, thereby realizing the separation of the projected image based on the first wavelength and the mark point image based on the second wavelength.

[0087] As an optional embodiment, the second beam splitter and the second reflector are parallel; the angle between the second beam splitter and the optical axis of the first camera module is a preset angle; the angle between the second reflector and the optical axis of the second camera module is a preset angle; wherein the preset angle is 45°.

[0088] In some embodiments of the present disclosure, after the reflected light of the object to be collected is filtered by the filter component, reflected light based on the first wavelength and reflected light based on the second wavelength can be obtained, and the propagation direction of the reflected light is parallel to the optical axis direction of the first camera module and the second camera module, and then the angle between the second beam splitter and the optical axis of the second camera module is set to 45°, then the mark point image based on the second wavelength can be transmitted through the second beam splitter and propagated to the second camera module along the optical axis of the second camera module, and the projection image based on the first wavelength can be reflected at right angles by the second beam splitter and propagated to the second reflector. Since the angle between the second reflector and the optical axis of the first camera module is also set to 45°, and the second beam splitter and the second reflector are parallel, the second reflector can also produce right-angle reflection on the projection image based on the first wavelength, and propagate the mark point image based on the first wavelength along the optical axis of the first camera module to the first camera module.

[0089] Figure 2 is a second schematic diagram of an image acquisition device according to some embodiments of the present disclosure. As shown in Figure 2, the image acquisition device includes: a first acquisition unit 210 and a second acquisition unit 220, wherein the first acquisition unit 210 includes: a first camera 211 in the first camera module 116, and a third camera 212 in the second camera module 118; the second acquisition unit 220 includes: a second camera 221 in the first camera module, and a fourth camera 222 in the second camera module.

[0090] Optionally, as shown in FIG. 2 , the first projector 102 is disposed between the first collecting portion 210 and the second collecting portion 220 .

[0091] As an optional embodiment, as shown in Figure 2, the image acquisition device includes: a filter component, wherein the filter component includes: a first filter 230, arranged between the first acquisition part 210 and the object to be acquired; and a second filter 240, arranged between the second acquisition part 220 and the object to be acquired.

[0092] Optionally, the filter assembly may be a filter disposed between the object to be collected and the first collection part and the second collection part.

[0093] It should be noted that the filter can allow light of the first wavelength and the second wavelength to pass through. Therefore, the projection pattern of the first wavelength projected by the first projector and the light of the second wavelength projected by the illumination component can also pass through the filter and be projected onto the surface of the object to be collected.

[0094] As an optional embodiment, as shown in Figure 2, the spectroscopic component includes: a first spectroscopic component 250, which is arranged between the object to be collected and the first collection unit 210, and is configured to transmit the projection image to the first camera 211 and the marker point image to the third camera 212; a second spectroscopic component 260, which is arranged between the object to be collected and the second collection unit 220, and is configured to transmit the projection image to the second camera 221 and the marker point image to the fourth camera 222.

[0095] As an optional embodiment, as shown in Figure 2, the first spectroscopic component 250 includes: a first spectrometer 251A, which allows the reflected light of the first wavelength to pass through, and is configured to transmit the projection image based on the first wavelength to the first camera 211; and reflects the reflected light of the second wavelength, and is configured to reflect the mark point image of the second wavelength to the first reflector 252A; the first reflector 252A, which reflects the reflected light of the second wavelength, and is configured to reflect the mark point image reflected by the first spectrometer 251A to the third camera 212.

[0096] As an optional embodiment, as shown in Figure 2, the first beam splitter 251A and the first reflector 252A are parallel; the angle between the first beam splitter 251A and the optical axis of the first camera 211 is a preset angle; the angle between the second beam splitter 252A and the optical axis of the third camera 212 is a preset angle; wherein the preset angle is 45°.

[0097] As an optional embodiment, as shown in Figure 2, the second spectroscopic component 260 includes: a second spectrometer 251B, which allows the reflected light of the first wavelength to pass through, is configured to transmit the projection image based on the first wavelength to the second camera 221, and reflects the reflected light of the second wavelength, is configured to reflect the mark point image of the second wavelength to the second reflector 252B; a second reflector 252B, which reflects the reflected light of the second wavelength, is configured to reflect the mark point image reflected by the second spectrometer 251B to the fourth camera 222.

[0098] As an optional embodiment, as shown in Figure 2, the second beam splitter 251B and the second reflector 252B are parallel; the angle between the second beam splitter 251B and the optical axis of the second camera 221 is a preset angle; the angle between the second reflector 252B and the optical axis of the fourth camera 222 is a preset angle; wherein the preset angle is 45°.

[0099] Optionally, as shown in FIG. 2 , in the illumination assembly, a plurality of illumination modules 270 are respectively arranged around the first collection part 210 and the second collection part 220 .

[0100] Figure 3 is a third schematic diagram of an image acquisition device according to some embodiments of the present disclosure. As shown in Figure 3, the first projector 102 is arranged in the middle of the first acquisition section 210 and the second acquisition section 220; the first acquisition section 210 includes a first camera 211 in the first camera module, and a third camera 212 in the second camera module; the second acquisition section 220 includes a second camera 221 in the first camera module, and a fourth camera 222 in the second camera module; the first filter 230 is arranged in front of the first acquisition section 210; the second filter 240 is arranged in front of the second acquisition section 220; and a plurality of lighting modules 270 are LEDs evenly arranged around the cameras in the first acquisition section 210 and the second acquisition section 220, respectively.

[0101] FIG4 is a schematic diagram of an image acquisition process according to some embodiments of the present disclosure. As shown in FIG4 , the process includes the following steps:

[0102] S41, pre-calibrate the image acquisition device; if the system has been calibrated in advance.

[0103] S42, setting marking points on the surface of the object to be collected; for example, pasting marking points on the surface of the object to be measured.

[0104] S43, turning on the image acquisition device to perform scanning, that is, image acquisition; for example, turning on the device to perform scanning.

[0105] S44, the first projector projects a projection pattern of a first wavelength onto the surface of the object to be collected; the illumination component projects light of a second wavelength onto the object to be collected; such as 1. projecting the pattern onto the surface of the object through the projector; 2. turning on the ring light at the same time.

[0106] S45, the projection image and the mark point image are collected by the first camera module and the second camera module respectively through the filter component and the spectrometer component; the patterns of the mark points and the pattern are reflected by the spectrometer and collected by two groups of cameras (camera group A for collecting the pattern wave pattern, and camera group B for collecting the mark point wavelength pattern).

[0107] S46, perform three-dimensional reconstruction based on the projection image collected by the first camera module to obtain a three-dimensional point cloud; perform three-dimensional reconstruction based on the marker point image collected by the second camera module to determine the three-dimensional digitized marker points; for example, 1. Camera group B reconstructs the marker points; 2. Camera group A reconstructs the point cloud data of the pattern.

[0108] S47, using three-dimensional digitized marker points for stitching, and applying the stitching transformation matrix to the three-dimensional point cloud for stitching and fusion; such as using marker points for stitching, and applying the stitching transformation matrix to the point cloud data for stitching and fusion.

[0109] Then, it is detected whether the scanning of the object to be measured is completed. If not, the process returns to step S44. If it is completed, the scanning ends and step S48 is executed.

[0110] S48, responding to the user's scan end instruction, obtaining a signal indicating that the scan of the object to be collected is completed, and controlling the scanner to end the scan.

[0111] Optionally, when collecting data, the projector and the ring light (such as the lighting component) simultaneously project light onto the surface of the object to be collected, and the reflected light passes through a filter for dual-channel light screening, and then passes through a spectrometer, one path transmitting the light based on the first wavelength of the projector to the first camera module, and the other path transmitting the light based on the second wavelength of the ring light (such as the lighting component) to the second camera module, and then performing three-dimensional reconstruction of the point cloud and landmark points based on the images collected by the first camera module and the second camera module.

[0112] The technical solution provided by the present disclosure can solve the problem of marker point contamination while simultaneously acquiring the projection image pattern and the marker point image, thereby ensuring high precision of the stitching scan.

[0113] FIG5 is a flow chart of an image acquisition method according to some embodiments of the present disclosure. As shown in FIG1 , the method includes the following steps:

[0114] S502, projecting a projection pattern of a first wavelength onto the object to be collected by a first projector, so that the object to be collected presents a projection image based on the first wavelength;

[0115] S504, projecting light of a second wavelength toward the object to be collected by a second projector, so that the object to be collected presents a marker image based on the second wavelength;

[0116] S506, separating the light of the first wavelength and the second wavelength by a light splitting component to separate the projection image and the mark point image, wherein the light splitting component is arranged between the object to be captured and a preset camera module, and the preset camera module includes: a first camera module and a second camera module;

[0117] S508, capturing a projection image through a first camera module;

[0118] S510: Capture a landmark point image through a second camera module.

[0119] In some embodiments of the present disclosure, a projection pattern of a first wavelength is projected onto the object to be collected by a first projector, so that the object to be collected presents a projection image based on the first wavelength; light of a second wavelength is projected onto the object to be collected by a second projector, so that the object to be collected presents a marker point image based on the second wavelength; then a spectroscopic component arranged between the object to be collected and the preset camera module is used to separate the light of the first wavelength and the second wavelength, so that the projection image and the marker point image are separated, and then the projection image is collected by the first camera module, and the marker point image is collected by the second camera module in the preset camera module. Therefore, in the process of image collection of the object to be collected, the projection image based on the first wavelength can be transmitted to the first camera module, and the marker point image based on the second wavelength can be transmitted to the second camera module respectively through the spectroscopic component, thereby achieving the purpose of separating the projection image and the marker point image, and realizing the technical effect of avoiding the marker point from being contaminated by the projection image when the projection image and the marker point image are collected at the same time, thereby solving the technical problem of the prior art that the marker point image will be contaminated by the projection image when the projection image and the marker point image are collected at the same time.

[0120] The serial numbers of some embodiments of the present disclosure are for description only and do not represent the advantages or disadvantages of the embodiments.

[0121] In the above embodiments of the present disclosure, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0122] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0123] In addition, the functional units in the various embodiments of the present disclosure may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0124] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a non-volatile storage medium. Based on this understanding, the technical solution of the present invention 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 non-volatile storage medium, including a number of instructions for enabling a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present invention. The aforementioned non-volatile storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program code.

[0125] The above is only a preferred embodiment of the present disclosure. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present disclosure. These improvements and modifications should also be regarded as within the scope of protection of the present disclosure. Industrial Applicability

[0126] The technical solution provided by the present disclosure can be applied to the field of three-dimensional image acquisition technology. The image acquisition device provided by the embodiment of the present disclosure can project a projection pattern of a first wavelength onto the object to be acquired through a first projector, so that the object to be acquired presents a projection image based on the first wavelength; project light of a second wavelength onto the object to be acquired through a second projector, so that the object to be acquired presents a marker point image based on the second wavelength; then use a spectroscopic component set between the object to be acquired and the preset camera module to separate the light of the first wavelength and the second wavelength, so that the projection image and the marker point image are separated, and then the projection image is acquired by the first camera module, and the marker point image is acquired by the second camera module in the preset camera module. In this way, when the projection image and the marker point image are acquired at the same time, the purpose of separating the projection image and the marker point image is achieved, and the technical effect of preventing the marker point from being contaminated by the projection image is achieved, thereby solving the technical problem of the prior art that the marker point image will be contaminated by the projection image when the projection image and the marker point image are acquired at the same time.

Claims

1. An image acquisition device, comprising: A first projector configured to project a projection pattern of a first wavelength onto an object to be acquired, so that the object to be acquired presents a projection image based on the first wavelength; A second projector configured to project light of a second wavelength onto the object to be acquired, so that the object to be acquired presents a fiducial point image based on the second wavelength; A beam splitting component disposed between the object to be acquired and a preset camera module, configured to separate the light of the first wavelength and the second wavelength, so that the projection image and the fiducial point image are separated, wherein the preset camera module includes: a first camera module and a second camera module; The first camera module configured to acquire the projection image; The second camera module configured to acquire the fiducial point image.

2. The device according to claim 1, wherein The first projector is a projector configured to project the projection pattern onto the object to be acquired with the light of the first wavelength as a carrier.

3. The device according to claim 1, wherein The second projector includes: A lighting component configured to project light of a second wavelength onto the object to be acquired, so that the identification points on the surface of the object to be acquired reflect the light of the second wavelength, presenting a fiducial point pattern based on the second wavelength; or A projection component configured to project a fiducial point pattern of a second wavelength onto the object to be acquired, so that the object to be acquired presents a fiducial point image based on the second wavelength.

4. The device according to claim 3, wherein, The lighting component includes: A plurality of lighting modules, wherein the plurality of lighting modules are arranged around the image acquisition component, and wherein the image acquisition component at least includes: the second camera module.

5. The device according to claim 1, wherein, The second projector includes: The beam splitting component is a beam splitter or a set of beam splitters configured to reflect and transmit light of different wavelengths in the reflected light of the object to be acquired respectively.

6. The device according to claim 1, wherein, The device further includes: A filter component disposed between the object to be acquired and the beam splitting component, configured to filter out the light of the noise wavelength of the object to be acquired, obtaining a projection image based on the first wavelength and a fiducial point image based on the second wavelength.

7. The device according to claim 6, wherein The filter component includes: A filter film disposed between the preset camera module and the object to be acquired, configured to filter out the light of wavelengths other than the first wavelength and the second wavelength, obtaining the projection image based on the first wavelength and the fiducial point image based on the second wavelength.

8. The device according to claim 7, wherein The filter film adopts a dual-channel and simultaneously allows the light of the first wavelength and the light of the second wavelength to enter.

9. The device according to claim 7, wherein The filter film is perpendicular to the optical axes of the first camera module and the second camera module.

10. The device according to claim 1, wherein The first camera module is a camera group configured for three-dimensional reconstruction, and based on the projection image acquired by the first camera module, the three-dimensional reconstruction of the object to be acquired is completed.

11. The device according to claim 1, wherein The second camera module is set as a camera group for three-dimensional stitching. Based on the landmark images collected by the second camera module, three-dimensional reconstruction is performed to determine three-dimensional digital landmarks. Based on the three-dimensional digital landmarks, the multi-part three-dimensional point clouds reconstructed in slices in the object to be collected are stitched to obtain the complete three-dimensional point cloud model of the object to be collected.

12. The device according to claim 1, wherein the first camera module includes: a first camera and a second camera, wherein the first camera and the second camera are arranged on both sides of the optical axis of the first projector, and the distances of the first camera and the second camera from the first projector are the same; the second camera module includes: a third camera and a fourth camera, wherein the third camera and the fourth camera are arranged on both sides of the optical axis of the first projector, and the distances of the third camera and the fourth camera from the first projector are the same.

13. The device according to claim 1, wherein the first camera in the first camera module and the third camera in the second camera module are arranged in the first acquisition part of the image acquisition device; the second camera in the first camera module and the fourth camera in the second camera module are arranged in the second acquisition part of the image acquisition device; wherein the first acquisition part and the second acquisition part are arranged on both sides of the optical axis of the first projector, and the distances of the first acquisition part and the second acquisition part from the first projector are the same.

14. The device according to claim 13, wherein the first projector is arranged on the perpendicular line of the midpoint of the line segment where the first camera and the second camera are located, and on the perpendicular line of the midpoint of the line segment where the third camera and the fourth camera are located.

15. The apparatus according to claim 13, wherein The beam splitting component includes: a first beam splitting component arranged between the object to be collected and the first acquisition part; and a second beam splitting component arranged between the object to be collected and the second acquisition part.

16. The device according to claim 1 or 15, wherein The beam splitting component includes: a first beam splitter arranged between the object to be collected and the first camera module, configured to transmit the projection image based on the first wavelength and reflect the landmark image based on the second wavelength; a first reflector arranged between the object to be collected and the second camera module, configured to reflect the landmark image reflected by the first beam splitter to the second camera module.

17. The device according to claim 16, wherein the first beam splitter and the first reflector are parallel; the angle between the first beam splitter and the optical axis of the first camera module is a preset angle; the angle between the first reflector and the optical axis of the second camera module is a preset angle; wherein the preset angle is 45°.

18. The device according to claim 1 or 15, wherein, The beam splitting component includes: a second beam splitter arranged between the object to be collected and the second camera module, configured to reflect the projection image based on the first wavelength and transmit the landmark image based on the second wavelength; A second reflector, disposed between the object to be captured and the first camera module, and configured to reflect the projected image reflected by the second beam splitter to the first camera module.

19. The apparatus according to claim 18, wherein the second beam splitter and the second reflector are parallel; the angle between the second beam splitter and the optical axis of the first camera module is a preset angle; the angle between the second reflector and the optical axis of the second camera module is a preset angle; wherein the preset angle is 45°.

20. An image acquisition method, comprising: projecting a projection pattern of a first wavelength onto an object to be captured by a first projector, so that the object to be captured presents a projected image based on the first wavelength; projecting light of a second wavelength onto the object to be captured by a second projector, so that the object to be captured presents a fiducial point image based on the second wavelength; separating the light of the first wavelength and the second wavelength by a beam splitting component, so that the projected image and the fiducial point image are separated, wherein it is disposed between the object to be captured and a preset camera module, and the preset camera module includes: a first camera module and a second camera module; acquiring the projected image by the first camera module; acquiring the fiducial point image by the second camera module.

Images