CN113587815A - Curved surface detection method based on three-dimensional laser camera - Google Patents

Abstract

The application provides a curved surface detection method based on a three-dimensional laser camera, which comprises the following steps: enabling laser rays generated by one laser source to be emitted in parallel along a first direction; enabling the laser rays emitted in parallel to enter a plurality of first-class emitting interfaces so that the laser rays respectively intersect at a plurality of internal ray intersection points through the plurality of first emitting interfaces; and enabling the laser rays passing through the internal ray intersection point to enter a second type of exit interface so as to enable part of the laser rays positioned at the edge to incline towards the direction close to the center and generate a plurality of intersection points of the laser rays on the second type of exit interface. The three-dimensional laser camera-based curved surface detection method has the beneficial effects that the three-dimensional laser camera-based curved surface detection method can be used for imaging to obtain enough reflected light during curved surface detection.

Description

Curved surface detection method based on three-dimensional laser camera

Technical Field

The application relates to the field of three-dimensional laser cameras, in particular to a curved surface detection method based on a three-dimensional laser camera.

Background

The three-dimensional laser camera is widely applied in industrial production, for example, in consumer electronic products such as mobile phones, cambered glass appears on more and more display screens. This puts higher demands on the quality inspection of the cambered glass during the production and manufacturing process. Such inspection requirements mainly include inspection of the surface quality of the edge of the cambered surface, such as scratches, and inspection of the cut quality of the edge of the cambered surface, such as corner chipping and edge dimensional tolerance overrun.

Generally, the reflected light from the surface of an object is divided into ambient light, specular reflected light and diffuse reflected light. Generally, a rough matte surface mainly exhibits diffuse reflection, while an object with a high surface gloss such as glass mainly exhibits specular reflection in addition to transmitted light.

As shown in fig. 1, the mirror reflection is known from Phong's model, and the light intensity observable at the observation point gradually weakens as the angle α increases.

In the existing three-dimensional laser camera, the laser direction is a unidirectional light emitting direction, such as a parallel light emitting direction. Since the local normal of the scanned object is not determined, scanning an object with a high specular reflection coefficient may result in too weak light received at the camera end to be imaged if the angular deviation θ of the observation point (CMOS camera) is large (i.e., the α angle is too large).

For example, when parallel light enters the curved glass, light on both sides of the laser line (corresponding to both sides of the curved surface) is reflected by the glass surface to both sides of the camera, and cannot be well received by the CMOS sensor.

As shown in fig. 2, since laser light is monochromatic, local interference is likely to occur on the surface of an object, which results in severe speckle. As shown in the following figures, the image processing and extraction of the laser lines is severely affected.

Disclosure of Invention

In order to overcome the defects of the prior art, the application provides a curved surface detection method based on a three-dimensional laser camera, which comprises the following steps: enabling laser rays generated by one laser source to be emitted in parallel along a first direction; enabling the laser rays emitted in parallel to enter a plurality of first-class emitting interfaces so that the laser rays respectively intersect at a plurality of internal ray intersection points through the plurality of first emitting interfaces; and enabling the laser rays passing through the internal ray intersection point to enter a second type of exit interface so as to enable part of the laser rays positioned at the edge to incline towards the direction close to the center and generate a plurality of intersection points of the laser rays on the second type of exit interface.

Further, the first type of exit interfaces are arranged repeatedly in a second direction perpendicular to the first direction.

Further, in the second direction, the first type of exit interfaces are all located within the range of the second type of exit interfaces.

Further, the radius of curvature of the first type of exit interface is smaller than or equal to the radius of curvature of the second type of exit interface.

Further, the first-type exit interface at least comprises a cambered surface protruding towards the laser optical exit direction.

Further, the second type of exit interface at least comprises a cambered surface protruding towards the laser optical exit direction.

Further, the first type of exit interface is formed on a cylindrical mirror.

Further, the second type of exit interface is formed on another cylindrical mirror.

Further, the curved surface detection method based on the three-dimensional laser camera further comprises the following steps:

and projecting the laser light passing through the second type of exit interface to the curved surface to be measured.

Further, the curved surface detection method based on the three-dimensional laser camera further comprises the following steps:

and enabling the laser light reflected by the curved surface to be detected to be incident to an image sensor.

The application has the advantages that: the curved surface detection method based on the three-dimensional laser camera is used for imaging to obtain enough reflected light when curved surface detection is carried out.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, serve to provide a further understanding of the application and to enable other features, objects, and advantages of the application to be more apparent. The drawings and their description illustrate the embodiments of the invention and do not limit it. In the drawings:

FIG. 1 is a schematic diagram of the Phong model;

FIG. 2 is a schematic diagram of speckle caused by interference generated when a curved surface is detected;

FIG. 3 is a schematic perspective view of a three-dimensional laser camera and an object to be inspected suitable for curved surface inspection according to an embodiment of the present disclosure;

FIG. 4 is a schematic diagram of the internal structure of the three-dimensional laser camera suitable for curved surface inspection shown in FIG. 3;

FIG. 5 is a schematic diagram of the optical structure and laser beam of the laser module of the three-dimensional laser camera for curved surface inspection shown in FIG. 3;

FIG. 6 is a schematic diagram of the dimensions of a laser module according to one embodiment of the present application;

FIG. 7 is a schematic diagram illustrating a partial structure of a laser module according to a second embodiment of the present application;

FIG. 8 is a schematic view of a portion of a laser module according to a third embodiment of the present application;

FIG. 9 is a schematic view of a part of a laser module according to a fourth embodiment of the present application;

FIG. 10 is a schematic view of a portion of a laser module according to a fifth embodiment of the present application;

fig. 11 is a block diagram of main steps of a three-dimensional laser camera-based curved surface detection method according to the present application.

The meaning of the reference numerals:

the three-dimensional laser camera comprises a three-dimensional laser camera 100 suitable for curved surface detection, a camera shell 101, a laser module 102, a lens module 103, an image sensor 104, a parallel light source device 105, a first optical device 106, a second optical device 107, a laser source 108, a collimating lens 109, a beam expanding lens 110, a parallel light lens 111, a unit lens 112, a converging lens 113, a first-class emergent interface 114, a first-class incident interface 115, a second-class emergent interface 116 and a second-class incident interface 117;

a curved object 200;

a first optical device 301, a second optical device 302, a second type exit interface 303, an exit arc surface 3031, and an exit plane 3032;

a first optical device 401, a second optical device 402, a center lens 4021, an edge lens 4022;

a first optical device 501, a second optical device 502, a second type exit interface 503, an exit inclined plane 5031, and an exit plane 5032;

a first optical device 601, a second optical device 602, a second type of entrance interface 603, a second type of exit interface 604;

d1 first direction, D2 second direction.

Detailed Description

In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

In this application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.

Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.

Furthermore, the terms "mounted," "disposed," "provided," "connected," and "sleeved" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.

As shown in fig. 1, the three-dimensional laser camera suitable for curved surface detection of the present application includes: camera shell, laser module, camera lens module and image sensor. The camera comprises a camera shell, a laser module, a lens module and an image sensor, wherein the laser module, the lens module and the image sensor are fixedly installed in the camera shell. The central axis of the laser module and the central axis of the lens module are intersected in an inclined mode, namely the central axes are arranged into a triangular structure of a common three-dimensional laser camera to achieve the function of laser line scanning imaging detection.

As shown in fig. 3 to 5, the specific improvement of the present application lies in a laser module, specifically, the laser module of the present application includes: a collimated light source device, a first optical device and a second optical device.

The parallel light source device is used for generating and outputting laser rays which are positioned in a laser plane and the emergent directions of which are parallel to a first direction (the left and right directions in the figure 5); the first optical device is used for changing the direction of the laser ray so that the laser ray intersects at a plurality of internal ray intersection points after passing through the first optical device; the second optical device is used for changing the direction of the laser light again so that the laser light has gradually changed and different emergent directions after passing through the second optical device.

As a preferable aspect, the collimated light source device includes: the device comprises a laser source, a collimating lens, a beam expanding lens and a parallel light lens.

Laser generated by the laser source passes through the collimating lens to form a laser beam, the laser beam is diffused into scattered laser lines through the beam expanding lens, and the scattered laser lines form parallel laser lines after passing through the parallel light lens. The laser source collimating lens, the beam expanding lens and the parallel light lens in the parallel light source device are well known in the art, and detailed description thereof is omitted. As a further preferred option, the collimator lens is configured as a cylindrical mirror.

Alternatively, the laser source, the collimator lens, and the beam expanding lens may be constructed as a single body, and the parallel light lens may be constructed as a single body with the first optical device and the second optical device.

Referring to fig. 5, the first optical device is disposed between the parallel light source device and the second optical device to incline a portion of the laser light emitted from the second optical device at the edge toward the center.

Specifically, the first optical device has or is formed with a plurality of first-type exit interfaces, and the first-type exit interfaces are curved surfaces with generatrices perpendicular to the laser plane. The first-type exit interfaces are repeatedly arranged along a second direction (up-down direction in fig. 5), and the first direction is perpendicular to the second direction. The first type of exit interface has the same curved shape. The first optical device has or is formed with a first type of entrance interface, which is a plane perpendicular to the laser plane.

As a specific implementation scheme, the first optical device is composed of a plurality of unit lenses which are repeatedly arranged in the second direction, each unit lens is configured as a part of the cylindrical mirror, specifically, after the cylindrical mirror is cut by a cutting plane (a plane perpendicular to the paper surface of fig. 5) parallel to the central axis of the cylindrical mirror, the part with smaller radian is the unit lens (the radian is also the case of uniform division), the cylindrical surface of the unit lens is used as the first type exit interface, and the section after cutting is used as a part of the first type entrance interface. The end faces of the plurality of unit lenses are aligned as a single plane to constitute the aforementioned first-type incident interface, and thus, one first-type incident interface corresponds to the plurality of exit interfaces. As an alternative, the cylindrical surface of the element lens may have an arc shape other than a cylinder. Namely, the unit lens and the convergent lens are generalized cylindrical lenses, and the cylindrical surface parts of the unit lens and the convergent lens are various cambered surfaces including cylindrical surfaces. The cylindrical mirror referred to in the present application is also a cylindrical mirror in a broad sense, and is not a cylindrical mirror whose cylindrical surface is a cylindrical surface.

Specifically, the curved surface of the first-type exit interface is convex toward the second optical device so that the inner ray intersection point of the laser ray is located between the first-type optical device and the second-type optical device.

In addition, the distance from the first-class emergent interface to the second-class incident interface is set, so that the intersection point (internal ray intersection point) where the laser rays intersect for the first time is positioned between the first-class emergent interface and the second-class incident interface. As shown in fig. 5, the laser light thus incident on the second type of incident interface is divergent.

Preferably, as shown in fig. 6, a distance L3 from the first-type exit interface to the second-type entrance interface in the first direction (i.e., a distance between the unit lens and the converging lens in the second direction) is in a range of 10 mm to 100 mm.

Alternatively, L3 ranges from 10 mm to 20 mm, 20 mm to 30 mm, 30 mm to 40 mm, 40 mm to 50 mm.

Alternatively, L3 ranges from 20 mm to 80 mm, 30 mm to 70 mm, 40 mm to 60 mm.

Preferably, L3 is 10 mm to 15 mm, and L3 is 13.2 mm.

On the other hand, the second optical device has or is formed with a second type of exit interface, which is a curved surface whose generatrix (perpendicular to the paper surface shown in fig. 5) is perpendicular to the laser plane. The second optical device has or is formed with a second type of incident interface, which is a plane perpendicular to the laser plane.

As a specific solution, the second optical device is configured as a converging lens having a shape similar to that of the unit lens, i.e., a part of the cylindrical mirror, except that the size of the converging lens is large. That is, the maximum value of the radius of curvature of the exit interface of the unit lens is smaller than the maximum value of the radius of curvature of the converging lens.

Preferably, in the second direction, the size of the second type of incident interface is equal to or larger than the size of the two or more first type of exit interfaces. Preferably, in the second direction, all the unit lenses fall within the convergent lens range. That is, the size of the entire unit lens in the second direction is equal to or smaller than the size of the converging lens in the second direction.

Preferably, as shown in fig. 5 and 6, a size L1 of the exit interface of the converging lens in the second direction (i.e., a size of the second type of exit interface in the second direction) ranges from 5 mm to 50 mm.

Alternatively, L1 ranges from 10 mm to 20 mm, 20 mm to 30 mm, 30 mm to 40 mm, 40 mm to 50 mm.

Alternatively, L1 ranges from 10 mm to 50 mm, 20 mm to 40 mm, 25 mm to 35 mm.

Preferably, L1 ranges from 25 mm to 30 mm, and L3 specifically ranges from 26 mm.

The size L2 of the exit interface of the converging lens in the first direction ranges from 5 mm to 50 mm.

Alternatively, L2 ranges from 10 mm to 20 mm, 20 mm to 30 mm, 30 mm to 40 mm, 40 mm to 50 mm.

Alternatively, L2 ranges from 10 mm to 50 mm, 20 mm to 40 mm, 25 mm to 35 mm.

Preferably, L2 ranges from 5 mm to 10 mm, and L3 specifically ranges from 5 mm.

Preferably, a dimension L5 of the cross section of the unit lens in the second direction is in a range of 0.5 mm to 5 mm.

Alternatively, L5 can range from 0.5 mm to 1 mm, 1 mm to 2 mm, 2 mm to 3 mm, 3 mm to 4 mm, 4 mm to 5 mm.

Alternatively, L5 can range from 1 mm to 5 mm, 2 mm to 4 mm, 2.5 mm to 3.5 mm.

Preferably, L5 ranges from 3 mm to 3.5 mm, and L3 specifically ranges from 3.2 mm.

As a further preferable mode, a size L4 of the first-type incident interface in the second direction (which is also a size of the whole of the plurality of unit lenses in the second direction) is in a range of 5 mm to 50 mm.

Alternatively, L4 ranges from 5 mm to 20 mm, 20 mm to 30 mm, 30 mm to 40 mm, 40 mm to 50 mm.

Alternatively, L4 ranges from 10 mm to 50 mm, 20 mm to 40 mm, 25 mm to 35 mm.

Preferably, L4 ranges from 20 mm to 25 mm, and L4 specifically ranges from 22.4 mm.

In addition, the size L6 of the exit interface of the unit lens in the first direction ranges from 0.2 mm to 3 mm.

Alternatively, L6 ranges from 0.2 mm to 0.5 mm, 0.55 mm to 1.0 mm, 1.05 mm to 1.5 mm, 1.6 mm to 3 mm.

Alternatively, L6 ranges from 0.25 mm to 2.8 mm, 0.3 mm to 2 mm, 0.35 mm to 1.5 mm.

Preferably, L6 ranges from 0.25 mm to 0.37 mm, and L4 specifically ranges from 0.3 mm.

Alternatively, the radius of curvature of the cylindrical surface of the unit lens ranges from 1 mm to 10 mm; as a further alternative, the radius of curvature of the unit lens ranges from 1 mm to 2 mm, from 2.1 mm to 3.5 mm, from 3.7 mm to 5 mm, from 5.5 mm to 7 mm, from 7.5 mm to 8 mm, from 8.5 mm to 10 mm.

Alternatively, the radius of curvature of the unit lens may range from 1 mm to 9 mm, from 2 mm to 8 mm, from 3 mm to 7 mm, from 4 mm to 6 mm, or from 5 mm to 5.5 mm.

Preferably, the radius of curvature of the exit interface (i.e., the first-type exit interface) of the unit lens ranges from 1.1 mm to 1.8 mm, and more specifically, the radius of curvature of the unit lens ranges from 1.6 mm.

As an alternative, the radius of curvature of the exit interface (i.e., the second-type exit interface) of the condensing lens ranges from 5 mm to 100 mm; as a further alternative, the radius of curvature of the converging lens ranges from 5 mm to 15 mm, 16 mm to 24 mm, 25 mm to 40 mm, 41 mm to 55 mm, 56 mm to 70 mm, 71 mm to 80 mm, 80 mm to 100 mm.

As a limited scheme, the radius of curvature of the cylindrical surface of the converging lens ranges from 7 mm to 20 mm, from 9 mm to 15 mm, from 10 mm to 14 mm, from 11 mm to 13.5 mm, from 12.5 mm to 13.2 mm; the curvature radius of the cylindrical surface of the converging lens is specifically 13 mm.

The converging lens has the function of enabling laser rays to generate certain beam convergence and convergence, and meanwhile, the converging lens enables the emergent angle of the laser rays to be gradually changed. The converging and converging effects are mainly caused by the fact that laser rays at the edges of a converging lens in a laser ray set emitted by the converging lens are inclined towards the direction close to the center at different angles due to the interface of the cylindrical surfaces at the edges of the converging lens.

Thus, laser light rays such as those shown by the arrows in fig. 5 will be projected onto the curved object in a manner more perpendicular to the surface of the curved object. And, the laser beam is evenly irradiated on the surface of the object, for a curved object, the optical paths of a plurality of laser beams are overlapped, and each projection point can be irradiated by the laser beam with different angles, thereby solving the above-mentioned technical problems.

As shown in fig. 7, as a preferred scheme, the first optical device in the scheme still adopts the technical scheme described above, and the difference of the scheme is that the second-type exit interface of the second optical device is composed of an exit plane at the central part and exit arc surfaces at two sides of the exit plane, the exit plane is different from the above scheme, the exit plane is a plane parallel to the first direction, and when the exit plane is an arc relative to the area, the planar scheme can reduce the divergence degree of the laser ray, so that in the preset detection area, the laser ray passing through the exit plane can more intersect with the laser ray passing through the exit arc surfaces at two sides in the arc surface area to be detected.

As shown in fig. 8, as a second preferred solution, the first optical device in this solution still adopts the above-described solution, and the difference is that the second optical device in the solution shown in fig. 8 may be composed of a plurality of optical elements, specifically, a whole lens may be composed of a central lens and two side edge lenses instead of the solution shown in fig. 7. This has the advantage of facilitating the production and machining of the parts.

As shown in fig. 9, as a third preferred solution, the first optical device in the solution still adopts the above-described technical solution, which is different from the second optical device, compared with the solution shown in fig. 7, the second type of exit interface of the second optical device in the solution shown in fig. 9 is composed of an exit plane and exit inclined planes at two sides, the exit inclined planes are planes which intersect with the first direction in the left-right direction, compared with the arc-shaped exit plane of the exit arc-shaped surface in fig. 7, the plane of the exit inclined plane is firstly convenient to process, and secondly, because the first optical device and the first optical device have a certain arc angle, the deflection of the inclined exit plane is more regular compared with the arc-shaped plane, so that an algorithm model can be established conveniently. Of course, the emergent cambered surfaces on the two sides are more beneficial to eliminating speckles and adapting to a more irregular cambered detection surface.

As shown in fig. 10, as a fourth preferred embodiment, the first optical device in this embodiment still adopts the above-described technical solution, and the second type exit interface of the second optical device in this embodiment still adopts the above-described solution, except that the second type incident interface of the second type optical device adopts a curved surface protruding toward the first optical device, and of course, the second type incident interface in the embodiment shown in fig. 10 may also be configured in a manner similar to the second type exit interface shown in fig. 9, and the protruding direction is opposite. The second optical device protruding towards the first optical device can enable the central light ray and the two side light rays to be more overlapped on the preset detection area.

The arrangements shown in fig. 9 and 10 may also employ a split arrangement such as that shown in fig. 8.

As another aspect of the present application, as shown in fig. 11, the present application further provides a three-dimensional laser camera based curved surface detection method, which can be implemented by the hardware device described above.

Specifically, the method comprises the following steps:

enabling laser rays generated by one laser source to be emitted in parallel along a first direction;

enabling the laser rays emitted in parallel to enter a plurality of first-class emitting interfaces so that the laser rays respectively intersect at a plurality of internal ray intersection points through the plurality of first emitting interfaces;

enabling the laser rays passing through the internal ray intersection point to enter a second type of exit interface so that part of the laser rays positioned at the edge incline towards the direction close to the center and a plurality of intersection points of the laser rays are generated on the second type of exit interface;

projecting the laser light passing through the second type of exit interface to the curved surface to be measured;

and enabling the laser light reflected by the curved surface to be detected to be incident to an image sensor.

The image sensor detects the corresponding three-dimensional shape or size through the shape of a laser surface formed by laser rays in an acquired image in a picture, and the principle is a general principle of a three-dimensional laser camera, which is not repeated herein.

As a specific scheme, the first-type exit interface at least comprises a cambered surface protruding towards the laser optical exit direction. The second type of exit interface at least comprises a cambered surface protruding towards the laser optical exit direction. The first type of exit interface is formed in a cylindrical mirror. The second kind of exit interface is formed on another cylindrical mirror.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims (10)

1. A curved surface detection method based on a three-dimensional laser camera is realized by one three-dimensional laser camera, and is characterized in that:

the curved surface detection method based on the three-dimensional laser camera comprises the following steps:

enabling laser rays generated by one laser source to be emitted in parallel along a first direction;

enabling the laser rays emitted in parallel to enter a plurality of first-class emitting interfaces so that the laser rays respectively intersect at a plurality of internal ray intersection points through the plurality of first emitting interfaces;

and enabling the laser rays passing through the internal ray intersection point to enter a second type of exit interface so as to enable part of the laser rays positioned at the edge to incline towards the direction close to the center and generate a plurality of intersection points of the laser rays on the second type of exit interface.

2. The curved surface detection method based on the three-dimensional laser camera according to claim 1, characterized in that:

the first type of exit interfaces are arranged repeatedly in a second direction perpendicular to the first direction.

3. The curved surface detection method based on the three-dimensional laser camera according to claim 2, characterized in that:

in the second direction, the first-class exit interfaces are all located within the range of the second-class exit interfaces.

4. The curved surface detection method based on the three-dimensional laser camera according to claim 3, characterized in that:

the curvature radius of the first type of exit interface is smaller than or equal to that of the second type of exit interface.

5. The curved surface detection method based on the three-dimensional laser camera according to claim 4, characterized in that:

the first type of exit interface at least comprises a cambered surface protruding towards the laser optical exit direction.

6. The curved surface detection method based on the three-dimensional laser camera according to claim 5, characterized in that:

the second type of exit interface at least comprises a cambered surface protruding towards the laser optical exit direction.

7. The curved surface detection method based on the three-dimensional laser camera according to claim 6, characterized in that:

the first type of exit interface is formed on a cylindrical mirror.

8. The curved surface detection method based on the three-dimensional laser camera according to claim 7, characterized in that:

the second type of exit interface is formed on another cylindrical mirror.

9. The method for detecting the curved surface based on the three-dimensional laser camera according to any one of claims 1 to 8, wherein:

the curved surface detection method based on the three-dimensional laser camera further comprises the following steps:

and projecting the laser light passing through the second type of exit interface to the curved surface to be measured.

10. The curved surface detection method based on the three-dimensional laser camera according to claim 9, characterized in that:

the curved surface detection method based on the three-dimensional laser camera further comprises the following steps:

and enabling the laser light reflected by the curved surface to be detected to be incident to an image sensor.

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