CN109922332B - Imaging method of real-time color three-dimensional imaging system based on laser line scanning - Google Patents
Imaging method of real-time color three-dimensional imaging system based on laser line scanning Download PDFInfo
- Publication number
- CN109922332B CN109922332B CN201910259585.1A CN201910259585A CN109922332B CN 109922332 B CN109922332 B CN 109922332B CN 201910259585 A CN201910259585 A CN 201910259585A CN 109922332 B CN109922332 B CN 109922332B
- Authority
- CN
- China
- Prior art keywords
- laser
- color
- imaging
- dimensional
- scanning
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000003384 imaging method Methods 0.000 title claims abstract description 82
- 238000000034 method Methods 0.000 claims abstract description 24
- 230000010365 information processing Effects 0.000 claims abstract description 7
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 claims description 11
- 238000012545 processing Methods 0.000 claims description 8
- 230000001678 irradiating effect Effects 0.000 claims description 6
- 238000005286 illumination Methods 0.000 claims description 3
- 239000004065 semiconductor Substances 0.000 claims description 3
- 238000013519 translation Methods 0.000 claims description 3
- 238000001914 filtration Methods 0.000 claims description 2
- 101100166427 Arabidopsis thaliana CCD4 gene Proteins 0.000 description 11
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Abstract
The invention provides a real-time color three-dimensional imaging system based on laser line scanning, which comprises a laser emission unit, an imaging unit, a scanning unit, a control unit and an information processing unit, wherein two frames of images are acquired in one imaging period, and three-dimensional information and color information of a target are respectively extracted. The real-time color three-dimensional imaging system based on laser line scanning is matched with an imaging method, and can realize real-time acquisition and display of a target intensity image, a distance image, a three-dimensional image and a color image through real-time reconstruction of three-dimensional information and color information of a scanned area in the scanning process; compared with the common color three-dimensional data matching method, the method can effectively improve the real-time performance of three-dimensional color imaging, improve the matching precision of color information, have extremely high practical value, and can effectively shorten the acquisition time of three-dimensional color data and improve the resolution of a system by using a high-speed and high-resolution CCD.
Description
Technical Field
The invention relates to the technical field of three-dimensional imaging, in particular to a real-time color three-dimensional imaging system and method based on laser line scanning.
Background
The laser three-dimensional imaging system is widely applied in the fields of product modeling, production line detection, reverse development, cultural relic protection, underwater target imaging and the like. The triangular laser line scanning imaging system is one of the common laser three-dimensional imaging methods because of the advantages of stable structure, high imaging precision, low cost and the like. With the continuous development of industry and agriculture, in many application fields, the requirements for the three-dimensional shape and color information of the target are higher and higher, so that the three-dimensional color imaging technology is widely paid attention to, and is a research hot spot in recent years.
In a general laser imaging system, because the laser brightness is higher, three-dimensional data and color information of a target are not easy to obtain at the same time. The acquisition of the target three-dimensional color image often needs to be realized by a later image fusion technology, so that the problems of long image acquisition period, poor system instantaneity and the like exist, in addition, a matching error is easily introduced in the matching process, and the imaging precision of the color image is reduced.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a real-time color three-dimensional imaging system and an imaging method based on laser line scanning, so that the three-dimensional color imaging has high real-time performance, a simple structure and small color matching error.
In order to achieve the above object, an aspect of the present invention provides a real-time color three-dimensional imaging system based on laser line scanning, which comprises a laser emitting unit, an imaging unit, a scanning unit, a control unit and an information processing unit, wherein the information processing unit comprises an upper computer; the laser emission unit comprises a laser and a cylindrical lens, and pulse light emitted by the laser is converted into linear light beams by the cylindrical lens to irradiate a target; the imaging unit comprises a receiving lens and a CCD, wherein the receiving lens focuses reflected light after irradiating a target on an imaging surface of the CCD, the CCD is also connected with the upper computer, and the acquired image is sent to the upper computer for processing; the scanning unit comprises a scanning platform, a rotating platform and a stepping motor, wherein the scanning platform is provided with the laser emission unit and the imaging unit, the laser emission unit and the imaging unit are respectively arranged at two ends of the scanning platform, an included angle exists between the laser and the CCD, the scanning platform is provided with the rotating platform, and the rotating platform is driven by the stepping motor to realize angle adjustment automation; the control unit comprises a signal generation card, the signal generation card is connected with the upper computer, the signal generation card is used for receiving a control command sent by the upper computer, the signal generation card converts the control command into a trigger signal to control the working time sequence of a laser power supply, a stepping motor driver and a CCD, so that the laser power supply controls the laser to emit pulse light, and the stepping motor driver controls the stepping motor to act, so that the scanning platform is driven by the rotating platform to rotate at a constant speed.
Preferably, the laser is a pulsed semiconductor laser.
Preferably, the angle of the included angle between the laser and the CCD is corrected according to the difference of the target distance.
Another aspect of the present invention provides an imaging method based on the above-mentioned real-time color three-dimensional imaging system based on laser line scanning, the method comprising the steps of:
step 1, adjusting the angle of an included angle between the laser and the CCD according to the distance between a target and the real-time color three-dimensional imaging system;
step 2, converting a control command transmitted by the upper computer into a trigger signal through the signal generating card, and controlling the working time sequences of the laser, the stepping motor and the CCD;
step 3, in the process of image acquisition, controlling the rotating platform to be always in a state of uniform rotation, and controlling the scanning direction and the scanning range through an upper computer; in each imaging period, two frames of images are acquired, and the specific acquisition process comprises the following steps:
step 31, collecting a first frame image: simultaneously triggering the laser and the CCD to work, so that pulse light emitted by the laser is converted into linear light beams by the cylindrical lens to irradiate the target; focusing reflected light after irradiating a target on an imaging surface of a CCD through a receiving lens, transmitting image data to an upper computer by the CCD, filtering the image data in the upper computer, extracting the maximum value and the maximum value coordinate of each row of pixels in the image, and acquiring three-dimensional information of the target surface of a laser irradiation area by utilizing a laser scanning imaging principle of a triangle method;
step 32, collecting a second frame image: independently triggering CCD to work, closing the laser, collecting the color image of the target by means of natural light illumination, simultaneously reading the maximum coordinate array of the first frame image, calculating the translation value Deltax of the coordinate array according to the scanning stepping speed, and extracting corresponding RGB color information from the second frame color image;
step 4, reconstructing three-dimensional information and color information of a target in one imaging period in real time through an upper computer, and enabling a real-time color three-dimensional imaging system to enter the next imaging period;
and 5, repeating the step 3 and the step 4 until the color three-dimensional imaging of the target is completed.
The real-time color three-dimensional imaging system based on laser line scanning is matched with an imaging method, and can realize real-time acquisition and display of a target intensity image, a distance image, a three-dimensional image and a color image through real-time reconstruction of three-dimensional information and color information of a scanned area in the scanning process; in the scanning process, the system matches the color information into a three-dimensional space in real time, so that the aim of reducing matching errors can be fulfilled; by means of parallel execution of image acquisition and image processing programs, real-time display of the target color three-dimensional image can be achieved. Compared with the common color three-dimensional data matching method, the method can effectively improve the real-time performance of three-dimensional color imaging, improve the matching precision of color information, have extremely high practical value, and can effectively shorten the acquisition time of three-dimensional color data and improve the resolution of a system by using a high-speed and high-resolution CCD.
Drawings
Fig. 1 shows a schematic structural diagram of a real-time color three-dimensional imaging system according to the present invention.
Fig. 2 shows a timing diagram of the operation of the real-time color three-dimensional imaging system according to the present invention.
Reference numerals: the device comprises a 1-laser, a 2-cylindrical lens, a 3-receiving lens, a 4-CCD, a 5-upper computer, a 6-scanning platform, a 7-stepping motor driver, an 8-signal generating card, a 9-laser power supply and an A-target.
Detailed Description
The following describes the embodiments of the present invention further with reference to the drawings.
As shown in fig. 1 and 2, the real-time color three-dimensional imaging system based on laser line scanning according to the present invention includes a laser emitting unit, an imaging unit, a scanning unit, a control unit and an information processing unit, wherein the laser emitting unit includes a laser 1 and a cylindrical lens 2, in this embodiment, the laser 1 adopts a pulse semiconductor laser, and pulse light emitted by the laser 1 is converted into a line beam by the cylindrical lens 2 to irradiate a target a; the imaging unit comprises a receiving lens 3 and a CCD4, wherein the receiving lens 3 focuses reflected light after irradiating a target A on an imaging surface of the CCD4, the CCD4 is also connected with an upper computer 5, and the acquired image is sent to the upper computer 5 for processing through a USB port; the scanning unit comprises a scanning platform 6, a rotating platform and a stepping motor, wherein the scanning platform 6 is provided with the laser emitting unit and the imaging unit, the laser emitting unit and the imaging unit are respectively arranged at two ends of the scanning platform 6, an included angle exists between the laser 1 and the CCD4, and the included angle can be corrected according to different distances of a target A so as to improve imaging resolution. The scanning platform 6 is mounted on a rotating platform, the rotating platform is driven by a stepping motor, the automation of angle adjustment is realized, and the connection relationship and the working principle between the rotating platform and the stepping motor all belong to the prior art, and are not described in more detail herein. The control unit comprises a signal generation card 8, the signal generation card 8 is connected with the upper computer 5, the signal generation card 8 is used for receiving control commands sent by the upper computer 5, the control commands comprise scanning parameters and the like, the signal generation card 8 converts the control commands into trigger signals, the laser power supply 9, the stepping motor driver 7 and the working time sequence of the CCD4 are controlled, the laser power supply 9 is further used for controlling the laser 1 to emit pulse light, the stepping motor driver 7 is used for controlling the stepping motor to act, the scanning platform 6 is driven by the rotating platform to rotate at a constant speed, and three-dimensional imaging with different scanning precision can be achieved by controlling the rotating speed. The information processing unit comprises an upper computer 5, and specifically, a data processing system based on a LabVIEW platform in the upper computer 5 is adopted to process and display three-dimensional images, and the data processing system is common software for realizing the processing and display of the three-dimensional images in the prior art, which is not described in detail herein.
In order to realize the real-time acquisition and display of the three-dimensional color image, the imaging method of the real-time color three-dimensional imaging system based on laser line scanning comprises the following steps:
and step 1, adjusting the angle of the included angle between the laser 1 and the CCD4 according to the distance between the target A and the real-time color three-dimensional imaging system. As the imaging distance increases, the angle of the included angle between the laser 1 and the CCD4 can be appropriately reduced.
And 2, converting a control command transmitted by the upper computer 5 into a trigger signal through the signal generating card 8, and controlling the working time sequence of the laser 1, the stepping motor and the CCD 4.
Step 3, in the process of image acquisition, controlling the rotating platform to be always in a state of uniform rotation, and controlling the scanning direction and the scanning range through the upper computer 5; in each imaging period, two frames of images are acquired, and the specific acquisition process comprises the following steps:
step 31, collecting a first frame image: simultaneously triggering the laser 1 and the CCD4 to work, so that pulse light emitted by the laser 1 is converted into linear light beams by the cylindrical lens 2 to irradiate the target A; the reflected light after irradiating the target A is focused on an imaging surface of a CCD4 through a receiving lens 3, the CCD4 transmits image data to an upper computer 5, the image data is filtered in the upper computer 5, the maximum value and the maximum value coordinates of each row of pixels in the image are extracted, and three-dimensional information of the surface of the target A in a laser irradiation area is obtained by utilizing a trigonometric laser scanning imaging principle.
Step 32, collecting a second frame image: the CCD4 is independently triggered to work, the laser 1 is turned off, the color image of the target A is acquired by means of natural light illumination, meanwhile, the maximum coordinate array of the first frame of image is read, the translation value Deltax of the coordinate array is calculated according to the scanning stepping speed, and corresponding RGB color information is extracted from the second frame of color image.
And 4, reconstructing three-dimensional information and color information of the target A in one imaging period in real time through the upper computer 5, and enabling the real-time color three-dimensional imaging system to enter the next imaging period.
And 5, repeating the step 3 and the step 4 until the color three-dimensional imaging of the target A is completed.
The real-time color three-dimensional imaging system based on laser line scanning is matched with an imaging method, and can realize real-time acquisition and display of a target intensity image, a distance image, a three-dimensional image and a color image through real-time reconstruction of three-dimensional information and color information of a scanned area in the scanning process; in the scanning process, the system matches the color information into a three-dimensional space in real time, so that the aim of reducing matching errors can be fulfilled; by means of parallel execution of image acquisition and image processing programs, real-time display of the target color three-dimensional image can be achieved. Compared with the common color three-dimensional data matching method, the method can effectively improve the real-time performance of three-dimensional color imaging, improve the matching precision of color information, have extremely high practical value, and can effectively shorten the acquisition time of three-dimensional color data and improve the resolution of a system by using a high-speed and high-resolution CCD.
Claims (1)
1. An imaging method of a real-time color three-dimensional imaging system based on laser line scanning, wherein the real-time color three-dimensional imaging system based on laser line scanning comprises a laser emission unit, an imaging unit, a scanning unit, a control unit and an information processing unit, wherein the information processing unit comprises an upper computer; the laser emission unit comprises a laser and a cylindrical lens, and pulse light emitted by the laser is converted into linear light beams by the cylindrical lens to irradiate a target; the imaging unit comprises a receiving lens and a CCD, wherein the receiving lens focuses reflected light after irradiating a target on an imaging surface of the CCD, the CCD is also connected with the upper computer, and the acquired image is sent to the upper computer for processing; the scanning unit comprises a scanning platform, a rotating platform and a stepping motor, wherein the scanning platform is provided with the laser emission unit and the imaging unit, the laser emission unit and the imaging unit are respectively arranged at two ends of the scanning platform, an included angle exists between the laser and the CCD, the scanning platform is provided with the rotating platform, and the rotating platform is driven by the stepping motor to realize angle adjustment automation; the control unit comprises a signal generation card, wherein the signal generation card is connected with the upper computer and is used for receiving a control command sent by the upper computer, the signal generation card converts the control command into a trigger signal and controls the working time sequence of a laser power supply, a stepping motor driver and a CCD (charge coupled device) so that the laser power supply controls the laser to emit pulse light, and the stepping motor driver controls the stepping motor to act to enable the scanning platform to rotate at a constant speed under the driving of the rotating platform; the laser adopts a pulse semiconductor laser; the angle of the included angle between the laser and the CCD can be corrected according to different target distances, and is characterized in that: the method comprises the following steps:
step 1, adjusting the angle of an included angle between the laser and the CCD according to the distance between a target and the real-time color three-dimensional imaging system;
step 2, converting a control command transmitted by the upper computer into a trigger signal through the signal generating card, and controlling the working time sequences of the laser, the stepping motor and the CCD;
step 3, in the process of image acquisition, controlling the rotating platform to be always in a state of uniform rotation, and controlling the scanning direction and the scanning range through an upper computer; in each imaging period, two frames of images are acquired, and the specific acquisition process comprises the following steps:
step 31, collecting a first frame image: simultaneously triggering the laser and the CCD to work, so that pulse light emitted by the laser is converted into linear light beams by the cylindrical lens to irradiate the target; focusing reflected light after irradiating a target on an imaging surface of a CCD through a receiving lens, transmitting image data to an upper computer by the CCD, filtering the image data in the upper computer, extracting the maximum value and the maximum value coordinate of each row of pixels in the image, and acquiring three-dimensional information of the target surface of a laser irradiation area by utilizing a laser scanning imaging principle of a triangle method;
step 32, collecting a second frame image: independently triggering CCD to work, closing the laser, collecting the color image of the target by means of natural light illumination, simultaneously reading the maximum coordinate array of the first frame image, calculating the translation value Deltax of the coordinate array according to the scanning stepping speed, and extracting corresponding RGB color information from the second frame color image;
step 4, reconstructing three-dimensional information and color information of a target in one imaging period in real time through an upper computer, and enabling a real-time color three-dimensional imaging system to enter the next imaging period;
and 5, repeating the step 3 and the step 4 until the color three-dimensional imaging of the target is completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910259585.1A CN109922332B (en) | 2019-04-02 | 2019-04-02 | Imaging method of real-time color three-dimensional imaging system based on laser line scanning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910259585.1A CN109922332B (en) | 2019-04-02 | 2019-04-02 | Imaging method of real-time color three-dimensional imaging system based on laser line scanning |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109922332A CN109922332A (en) | 2019-06-21 |
| CN109922332B true CN109922332B (en) | 2024-03-01 |
Family
ID=66968081
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910259585.1A Active CN109922332B (en) | 2019-04-02 | 2019-04-02 | Imaging method of real-time color three-dimensional imaging system based on laser line scanning |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109922332B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112311456A (en) * | 2019-07-29 | 2021-02-02 | Oppo广东移动通信有限公司 | LiFi communication control method and device, transmitting end and mobile terminal |
| CN116418967B (en) * | 2023-04-13 | 2023-10-13 | 青岛图海纬度科技有限公司 | Color restoration method and device for laser scanning of underwater dynamic environment |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102203550A (en) * | 2008-10-28 | 2011-09-28 | 3形状股份有限公司 | Scanner with feedback control |
| CN104848800A (en) * | 2015-06-17 | 2015-08-19 | 中国地质大学（武汉） | Multi-angle three dimensional imaging apparatus based on line laser scanning |
| CN105157566A (en) * | 2015-05-08 | 2015-12-16 | 深圳市速腾聚创科技有限公司 | Color three-dimensional laser scanner and three-dimensional color point cloud scanning method |
| CN105785394A (en) * | 2016-05-31 | 2016-07-20 | 山东船舶技术研究院 | Line laser non-scanning automobile anti-collision radar |
| CN105928457A (en) * | 2016-06-21 | 2016-09-07 | 大连理工大学 | Omnidirectional three-dimensional laser color scanning system and method thereof |
| CN209435356U (en) * | 2019-04-02 | 2019-09-24 | 苏州云瑞光电科技有限公司 | Real-time color 3-D imaging system based on laser line scanning |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10531073B2 (en) * | 2016-03-17 | 2020-01-07 | Samsung Electronics Co., Ltd. | Method and apparatus for automatic calibration of RGBZ sensors utilizing epipolar geometry and scanning beam projector |
| US10708574B2 (en) * | 2017-06-15 | 2020-07-07 | Align Technology, Inc. | Three dimensional imaging apparatus with color sensor |
-
2019
- 2019-04-02 CN CN201910259585.1A patent/CN109922332B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102203550A (en) * | 2008-10-28 | 2011-09-28 | 3形状股份有限公司 | Scanner with feedback control |
| CN105157566A (en) * | 2015-05-08 | 2015-12-16 | 深圳市速腾聚创科技有限公司 | Color three-dimensional laser scanner and three-dimensional color point cloud scanning method |
| CN104848800A (en) * | 2015-06-17 | 2015-08-19 | 中国地质大学（武汉） | Multi-angle three dimensional imaging apparatus based on line laser scanning |
| CN105785394A (en) * | 2016-05-31 | 2016-07-20 | 山东船舶技术研究院 | Line laser non-scanning automobile anti-collision radar |
| CN105928457A (en) * | 2016-06-21 | 2016-09-07 | 大连理工大学 | Omnidirectional three-dimensional laser color scanning system and method thereof |
| CN209435356U (en) * | 2019-04-02 | 2019-09-24 | 苏州云瑞光电科技有限公司 | Real-time color 3-D imaging system based on laser line scanning |
Non-Patent Citations (1)
| Title |
|---|
| 激光线扫描三维成像系统的图像矫正研究;张梦 等;;应用激光(02);第2-3节，图3-5 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109922332A (en) | 2019-06-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN208019618U (en) | A kind of auto-focusing laser marking machine | |
| CN109922332B (en) | Imaging method of real-time color three-dimensional imaging system based on laser line scanning | |
| CN108534710B (en) | Single-line laser three-dimensional contour scanning device and method | |
| CN114545428B (en) | Single-pixel-single-photon detector-based tracking range laser radar device and method | |
| JP2021507268A (en) | Multi-pulse LIDAR system for multidimensional capture of objects | |
| CN109387354B (en) | Optical scanner testing device and method | |
| CN105039147A (en) | Base fluorescence image capturing system device and method for high-flux genome sequencing | |
| EP3819671A1 (en) | Optoelectronic sensor and method for detecting objects | |
| CN113465543B (en) | Three-dimensional measurement system and method based on multi-view vision and galvanometer laser scanning | |
| CN108614277A (en) | Double excitation single camera three-dimensional imaging scan table and scanning, imaging method | |
| CN107202555B (en) | Connecting rod machining rotating disc clamp visual detection device and detection method | |
| CN108226954A (en) | A kind of underwater scanning laser radar imaging method | |
| CN104614728A (en) | Device and method for ultrasonically imaging | |
| CN113465536A (en) | Laser holder based on camera guide and working method thereof | |
| CN113034567A (en) | Depth truth value acquisition method, device and system and depth camera | |
| CN110703224A (en) | Unmanned-driving-oriented scanning type TOF laser radar | |
| CN109085600B (en) | MEMS scanning laser radar and scanning method | |
| CN106291583B (en) | Transverse scanning synthesis method for large-visual-angle distance gating laser imaging | |
| CN209435356U (en) | Real-time color 3-D imaging system based on laser line scanning | |
| CN203855581U (en) | Disk diffusion method medicine sensitivity inhibition zone measuring instrument | |
| CN110646777B (en) | Multi-line laser radar and control method thereof | |
| CN110554395A (en) | Laser detection system and method thereof | |
| CN214702154U (en) | Laser cloud platform based on camera guide | |
| CN110908108B (en) | Coaxial rotation multi-light-spot hybrid scanning device and method | |
| CN211324855U (en) | Confocal endoscopic imaging dislocation correction system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20240124 Address after: 264200 first floor, annex B1, building 54, Lushan Road, Zhangcun Town, Huancui District, Weihai City, Shandong Province Applicant after: Hasunda (Weihai) Photoelectric Technology Co.,Ltd. Country or region after: China Address before: 215600 Zhangjiagang Economic and Technological Development Zone (Municipal High tech Entrepreneurship Service Center) in Suzhou, Jiangsu Province Applicant before: SUZHOU WINRAY OPTOELECTRONIC TECHNOLOGY Co.,Ltd. Country or region before: China |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |