CN110764254A - Compilable structured light projection system - Google Patents
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- CN110764254A CN110764254A CN201910940597.0A CN201910940597A CN110764254A CN 110764254 A CN110764254 A CN 110764254A CN 201910940597 A CN201910940597 A CN 201910940597A CN 110764254 A CN110764254 A CN 110764254A
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B26/00—Optical devices or arrangements for the control of light using movable or deformable optical elements
- G02B26/08—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
- G02B26/10—Scanning systems
- G02B26/105—Scanning systems with one or more pivoting mirrors or galvano-mirrors
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/2518—Projection by scanning of the object
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B26/00—Optical devices or arrangements for the control of light using movable or deformable optical elements
- G02B26/08—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
- G02B26/0816—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light by means of one or more reflecting elements
- G02B26/0833—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light by means of one or more reflecting elements the reflecting element being a micromechanical device, e.g. a MEMS mirror, DMD
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Abstract
The invention discloses a compilable structured light projection system which comprises an image compiling unit, a control center, a light source, an MEMS micro-mirror, a feedback unit and the like. The image compiling unit is used for compiling the pattern information of the structured light to be projected according to the input compiling language; the control center is used for controlling the light source to emit light to the MEMS micro-mirror, projecting a scanning light beam to the surface of the object to be detected by the MEMS micro-mirror, and controlling the MEMS micro-mirror to rotate according to the generated pattern information to form a preset structured light pattern; the feedback unit is used for acquiring the rotation information of the MEMS micro-mirror, calculating and acquiring the position information of the scanning beam projected on the object to be measured, and feeding back the position information to the control center. Therefore, the system can freely program each pixel, can project a plurality of different kinds of structured light patterns with high resolution, and has the advantages of simple structure, low power consumption, high light utilization rate and strong universality.
Description
Technical Field
The invention relates to the technical field of structured light, in particular to a structured light projection system for three-dimensional information of an object.
Background
The structured light is a pattern composed of points or lines, has specific characteristic information, such as gray scale information, color information, spatial position information and the like, and can obtain three-dimensional information of an object by demodulating the information, namely structured light technology. Structured light technology is widely used in various fields, such as face recognition, industrial 3D detection, etc.
In the prior art, the following two schemes are generally adopted to acquire three-dimensional information of an object by using a structured light technology:
1. DOE (optical diffraction element) structured light: the principle of the scheme is that a large number of lattice distribution patterns are projected by using a vertical cavity surface laser (VCESL) and a vertical cavity surface laser (DOE), light beams emitted by a laser light source enter a diffusion sheet to form scattered light, the scattered light passes through a collimation element and then enters an optical diffraction element, and laser can diffract tens of thousands of speckle patterns after passing through the optical diffraction element. When speckle patterns are incident to the face, the patterns reflected by the face and returned to the detector carry the three-dimensional information of the face, and the information of the face can be obtained through a certain algorithm. Wherein, the speckle pattern is determined by a specially designed optical diffraction element and is a large amount of lattice distribution patterns. For example, Face ID in apple mobile phone, projects a pattern of 30000 dots.
2. Mask-based coded structured light: the working principle is as follows: the Vcsel laser (vertical cavity surface emitting laser) uniformly irradiates a mask, ten thousand patterns with alternate light and shade are formed by the mask and are projected out through a projection lens, distortion influence needs to be considered in the projection process, and the power consumption is large.
However, in any of the above solutions, the optical diffraction element and the irradiation mask can only correspond to the structured light of a specific pattern, and if structured light of other patterns is required, the optical diffraction element/the irradiation mask of the required pattern must be redesigned and replaced, which is inconvenient and inefficient.
Disclosure of Invention
In view of the above, in order to solve the above problems, the present invention adopts the following technical solutions:
a compiled structured light projection system comprises an image compiling unit, a control center, a light source, MEMS micro-mirrors and a feedback unit,
the image compiling unit is used for compiling the pattern information of the structured light to be projected according to an input compiling language; the control center is used for controlling the light source to emit light to the MEMS micro-mirror, projecting a scanning light beam to the surface of the object to be detected by the MEMS micro-mirror, and controlling the MEMS micro-mirror to rotate according to the generated pattern information to form a preset structured light pattern; the feedback unit is used for acquiring the rotation information of the MEMS micro-mirror, calculating to obtain the position information of the scanning beam projected on the object to be detected and feeding back the position information to the control center.
Preferably, the structured light pattern comprises a two-dimensional matrix structured light pattern, the two-dimensional matrix structured light pattern comprises a plurality of pattern sub-units, and the pattern information comprises image gray scale, color information and size of the whole image corresponding to each pattern sub-unit.
Preferably, the compilable structured light projection system comprises a storage unit for storing pattern information of the structured light compiled by the image compiling unit for being called by the control center.
Preferably, an angle sensor or an optical sensor is arranged on the MEMS micro-mirror, and the feedback unit acquires rotation information of the MEMS micro-mirror through the angle sensor or the optical sensor.
Preferably, the structured light projection system further comprises a shaping lens for optical shaping, and the light emitted by the light source is emitted to the MEMS micro-mirror after passing through the shaping lens.
Preferably, the light source is a laser.
Preferably, the light source is an infrared laser or an RGB three-color light laser.
Preferably, the structured light projection system further comprises a reflector, and the light emitted by the light source is reflected by the reflector after passing through the shaping lens and then is emitted to the MEMS micro-mirror.
The structure light projection system capable of being compiled provided by the invention is based on the MEMS micro-mirror, the structure light pattern is programmed through the image compiling unit, the control center controls the light source and the MEMS micro-mirror to realize the projection of the appointed structure light pattern according to the pattern information, the degree of freedom is extremely high, compared with the prior art, the structure light projection system capable of projecting different types of high-resolution structure light patterns can be realized without replacing a specific device, the working efficiency is improved, and the structure light projection system has the advantages of reducing the structure complexity, realizing high utilization rate of light and reducing the power consumption.
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FIG. 1 is a schematic diagram of a compilable structured light projection system provided by the present invention;
FIG. 2 is a diagram of an example flow of use of the compilable structured light projection system.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention are described in detail below with reference to the accompanying drawings. Examples of these preferred embodiments are illustrated in the accompanying drawings. The embodiments of the invention shown in the drawings and described in accordance with the drawings are exemplary only, and the invention is not limited to these embodiments.
It should be noted that, in order to avoid obscuring the present invention with unnecessary details, only the structures and/or processing steps that are closely related to the solution according to the present invention are shown in the drawings, and other details that are not relevant are omitted.
Referring to fig. 1, an embodiment of the present invention provides a interpretable structured light projection system, which includes an image interpretation unit 1, a control center 2, a light source 3, a MEMS (Micro-Electro-mechanical system) micromirror 4, and a feedback unit 5.
As shown in fig. 2, the image compiling unit 1 is configured to compile pattern information of structured light to be projected according to an input compiling language; the control center 2 is used for controlling the light source 3 to emit light to the MEMS micro-mirror 4, projecting a scanning light beam to the surface of the object to be measured by the MEMS micro-mirror 4, and controlling the MEMS micro-mirror 4 to rotate according to the generated pattern information to form a preset structured light pattern; the feedback unit 5 is configured to acquire rotation information of the MEMS micro-mirror 4, calculate position information of the scanning beam projected on the object to be measured, and feed back the position information to the control center 2.
The structure light projection system capable of compiling provided by the invention utilizes the image compiling unit 1 to realize compiling of the structure light pattern, therefore, the control center 2 can control the light source to project scanning light beams to the surface of the object to be measured based on the MEMS micro-mirror 4 according to the pattern information so as to form the required structure light pattern, a user can freely select the structure light pattern according to the requirement, the resolution of the projected structure light pattern is high, the structure light projection system capable of compiling can project various structure light patterns, such as point structure light and line structure light, is suitable for various application scenes, and has strong universality. Particularly, compared with the optical diffraction element structured light scheme and the mask-based coding structured light scheme in the prior art, the method does not need to replace or redesign a specific device, is more convenient and faster, and is beneficial to improving the working efficiency. Moreover, the device performance in the optical diffraction element structured light scheme can be influenced by temperature, the optical diffraction element can generate 0-level bright spots, a light source element is additionally added in the system to eliminate the 0-level bright spots, the complexity of the system is increased, and the light efficiency is low; the mask-based coded structured light scheme is mainly used for improving the three-dimensional recovery speed, and cannot be applied to high-precision three-dimensional recovery.
The above-mentioned compliable structured light projection system has the feature of free programming, and can perform gray correction and amplitude change for each pixel point on a pair of structured light patterns, for example, for a two-dimensional matrix structured light pattern such as speckle structured light, coded structured light, etc. included in the structured light pattern, the two-dimensional matrix structured light pattern includes a plurality of pattern sub-units, the pattern information includes image gray, color information and size of the whole image corresponding to each of the pattern sub-units, the image compiling unit 1 provides a software compiling window on a supporting operating system, a user can compile each pattern sub-unit by using a simple programming language, and set image gray (e.g. 0-255) and color information corresponding to each pattern sub-unit, thereby making the compliable structured light projection system have a very high degree of freedom, the problems of uneven light intensity of three-dimensional information obtained in the later period and three-dimensional restored images caused by external factors such as reflection of the surface of the object to be detected or a three-dimensional camera for collecting structured light images and the like can be reduced or even avoided.
Specifically, as shown in fig. 2, the image formed on the surface of the object to be measured is collected by the three-dimensional camera and is subjected to data processing to generate the three-dimensional information of the object to be measured, so if the problem of uneven distribution of light intensity and the like is found in the image collected by the three-dimensional camera, by matching with the characteristic that the image compiling unit 1 can compile each pattern subunit, when the structure light projection system capable of compiling is used, the light intensity change area can be corrected, for example, a correction factor is added to the pattern information corresponding to each pixel on the image according to the degree to be corrected, and the driving current of the light source, such as a laser, is correspondingly adjusted to make the light intensity distribution uniform. Of course, the control center 2 can also be programmed to automatically adjust according to the information fed back by the feedback unit 5. In addition, since the MEMS micro-mirror 4 moves slowly when scanning the left and right sides of the image, the scanning beam stays on both sides for a long time, and the light intensity of the two side areas can be corrected by adding or reducing the laser driving time of the area. When the driving time is increased, the image brightness can be improved due to the integration effect of the three-dimensional camera.
Further, as shown in fig. 2, the compilable structured light projection system includes a storage unit 6, and the storage unit 6 is configured to store the pattern information of the structured light compiled by the image compiling unit 1, so as to be invoked by the control center 2. The compilable structured light projection system can store each compiled structured light pattern by using the storage unit 6, a user names the compiled structured light patterns through operating system software and then stores the structured light patterns into the system, and the stored structured light patterns can be called at will subsequently, for example, part of structured light technology needs a plurality of structured light patterns to be combined and projected to obtain three-dimensional information of an object, at the moment, the compiled plurality of structured light patterns can be called from the storage unit 6, and the time intervals and the sequence corresponding to projection among different structured light patterns are set, so that the three-dimensional information acquisition task can be completed.
The MEMS micro-mirror 4 can rotate along two directions perpendicular to each other, which are: under the control of the control center 2, the MEMS micro-mirror 4 respectively rotates on the fast axis and the slow axis, so that scanning light forms a structured light pattern such as a raster shape or a lissajous shape in a far field scanning mode after being reflected by the MEMS micro-mirror 4. Therefore, in this embodiment, the MEMS micro-mirror 4 is provided with an angle sensor or an optical sensor, generally, the angle sensor is integrated in the MEMS micro-mirror, or the optical sensor may be embedded outside the system to replace the integrated angle sensor, the feedback unit 5 may obtain the rotation information of the MEMS micro-mirror 4 in real time through the angle sensor or the optical sensor, specifically including the rotation angle of the MEMS micro-mirror 4, and since the MEMS micro-mirror 4 rotates along the fast axis to be resonance, the feedback signal is a sinusoidal signal, and the feedback unit 5 processes the feedback signal to obtain the lateral position where the light spot is scanned. The longitudinal position of the spot scanning can also be obtained according to the feedback signal of the slow axis; when the slow axis is forced to be driven, the position information of the light spot is determined by the driving signal, so that the position information of the scanning beam projected on the object to be measured can be obtained and fed back to the control center 2.
Further, the structured light projection system further comprises a shaping lens 7 for optical shaping, and the light emitted by the light source is emitted to the MEMS micro-mirror 4 after passing through the shaping lens 7. The shaping lens 7 can shape the light beam into a required light spot size and a corresponding divergence angle. The light source 3 is a laser, and further, the light source 3 may be an infrared laser or an RGB tricolor light laser. The type of the light source 3 can be selected according to actual requirements. The laser emitted by the laser can be collimated into a beam with a small aperture and a small divergence angle by the shaping lens 7, for example, after the laser emitted by the single-mode laser is collimated into a diameter of 1mm, the divergence angle is less than 1mrad, and the size of the light spot is kept unchanged within 1 meter. The use of a laser as the light source 3 also facilitates the measurement of objects with large variations in surface depth and objects in different distance ranges.
For example, the laser driver chip in the compiled structured light projection system may be selected from devices that can modulate the laser at high frequency, such as an ISL58315 high speed laser diode driver, which may have a gray scale level of from 0 to 1023. For structured light patterns similar to speckles, images of the structured light patterns only need to be distinguished in brightness and darkness, high-frequency switching devices such as triodes and MOS (metal oxide semiconductor) tubes can be used for driving a laser, and the system cost and the power consumption can be reduced as far as possible on the premise of meeting the requirements.
In addition, in order to test the three-dimensional information of the object at different positions and ensure that the structured light pattern can be irradiated to the object perfectly, based on the compiled structured light projection system, the user can convert the maximum scanning angle automatically according to the actual application condition by normalizing the maximum scanning angle, readjust the pattern scanning angle and match the proper size of the structured light pattern.
Further, the structured light projection system further comprises a reflector 8, and the light emitted by the light source 3 is reflected by the reflector 8 after passing through the collimating lens 7 and then emitted to the MEMS micro-mirror 4. The mirror 8 can be used to adjust the light path, facilitating the setting of the spatial distribution of the components inside the system.
In summary, the compilable structured light projection system provided by the embodiment of the present invention is constructed based on the MEMS micro-mirror 4, and can freely program each pixel in the structured light pattern, so as to conveniently perform three-dimensional information acquisition and reconstruction operations involving multiple structured light patterns of different types and high resolutions.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The foregoing is directed to embodiments of the present application and it is noted that numerous modifications and adaptations may be made by those skilled in the art without departing from the principles of the present application and are intended to be within the scope of the present application.
Claims (8)
1. A structured light projection system capable of being compiled is characterized by comprising an image compiling unit, a control center, a light source, an MEMS micro-mirror and a feedback unit,
the image compiling unit is used for compiling the pattern information of the structured light to be projected according to an input compiling language;
the control center is used for controlling the light source to emit light to the MEMS micro-mirror, projecting a scanning light beam to the surface of the object to be detected by the MEMS micro-mirror, and controlling the MEMS micro-mirror to rotate according to the generated pattern information to form a preset structured light pattern;
the feedback unit is used for acquiring the rotation information of the MEMS micro-mirror, calculating to obtain the position information of the scanning beam projected on the object to be detected and feeding back the position information to the control center.
2. The compilable structured light projection system of claim 1, wherein said structured light pattern comprises a two-dimensional matrix structured light pattern, said two-dimensional matrix structured light pattern comprising a plurality of pattern sub-elements, said pattern information comprising image gray scale, color information and size of the entire image for each of said pattern sub-elements.
3. A compilable structured light projection system according to claim 1, comprising a storage unit for storing pattern information of structured light compiled by the image compilation unit for recall by the control center.
4. The compilable structured light projection system of claim 1, wherein said MEMS micro-mirror is provided with an angle sensor or an optical sensor, and said feedback unit obtains rotation information of said MEMS micro-mirror through said angle sensor or said optical sensor.
5. The compilable structured light projection system of claim 1, further comprising a shaping lens for optical shaping, wherein light emitted from said light source is directed to said MEMS micro-mirrors after passing through said shaping lens.
6. A compilable structured light projection system according to claim 1 wherein said light source is a laser.
7. The compilable structured light projection system of claim 6, wherein said light source is an infrared laser or an RGB tri-color light laser.
8. The interpretable structured light projection system of claim 5 further comprising a mirror, wherein the light emitted from the light source is reflected by the mirror after passing through the shaping lens and is directed toward the MEMS micromirror.
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| CN111486791A (en) * | 2020-05-27 | 2020-08-04 | 中科融合感知智能研究院(苏州工业园区)有限公司 | Device for adaptively adjusting light quality of sine stripe structure and operation method |
| CN112729164A (en) * | 2020-12-21 | 2021-04-30 | 革点科技(深圳)有限公司 | Self-adaptive lattice structure light projection method based on MEMS |
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