CN114967284A - Dot matrix projection imaging system and method for increasing dot matrix density - Google Patents
Dot matrix projection imaging system and method for increasing dot matrix density Download PDFInfo
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Abstract
The invention provides a dot matrix projection imaging system and a method for increasing dot matrix density, wherein the dot matrix projection imaging system for increasing the dot matrix density comprises the following components: the projection module is used for projecting dot matrix laser; the angle adjusting module is used for adjusting the light angle of the lattice laser; the control module is used for controlling the angle adjusting module to rotate by a preset offset angle; the imaging module is used for acquiring images before and after the angle adjusting module rotates by a preset offset angle; the value range of the preset offset angle is determined by the divergence angle of the laser spots in the lattice laser and the visual angle of the adjacent laser spots; all laser spots in the image presented by the imaging module are closely arranged. The invention can improve the lattice projection density under the long-distance condition, thereby improving the precision of structured light three-dimensional measurement.
Description
Technical Field
The invention relates to the technical field of computer three-dimensional vision, in particular to a dot matrix projection imaging system and a dot matrix projection imaging method.
Background
The structured light method is an important three-dimensional vision measurement technology and can be realized by a system structure consisting of a projector and an imaging device, specifically, the projector is used for projecting specific light information to the surface of an object and the specific light information is collected by the imaging device, and the collected images are subjected to epipolar line correction and then subjected to dense matching, so that information such as the position and the depth of the object can be reconstructed, and the whole three-dimensional space is recovered.
The precision of the structured light three-dimensional measurement is directly related to the density of the projected lattice, and the higher the density is, the higher the precision is. However, the farther an object is from the camera, the larger the projection pattern on the object, the poorer the corresponding measurement accuracy, causing a problem that the depth measurement accuracy based on structured light is greatly reduced as the distance increases.
In view of the above problems, how to provide a technical solution for improving the precision of structured light three-dimensional measurement is an urgent technical problem to be solved.
Disclosure of Invention
The present invention provides a dot matrix projection imaging system and method for increasing the density of dot matrix, so as to solve the above problems.
The invention provides a dot matrix projection imaging system for increasing dot matrix density, which comprises: the device comprises a projection module, an angle adjusting module, a control module and an imaging module;
the projection module is used for projecting dot matrix laser;
the angle adjusting module is used for adjusting the light angle of the lattice laser;
the control module is used for controlling the angle adjusting module to rotate by a preset offset angle;
the imaging module is used for acquiring images before and after the angle adjusting module rotates by a preset offset angle;
the value range of the preset offset angle is determined by the divergence angle of the laser spots in the lattice laser and the visual angle of the adjacent laser spots;
all laser spots in the image before and after the angle adjustment module presented by the imaging module rotates by a preset offset angle are closely arranged.
According to the dot matrix projection imaging system for increasing the dot matrix density, the angle adjusting module is one of a vibrating mirror or a reflecting mirror.
The invention also provides a lattice projection imaging method for increasing the lattice density, which is realized based on the lattice projection imaging system for increasing the lattice density and comprises the following steps:
acquiring first dot matrix laser projected by a projection module and reflected by an angle adjusting module; the light angle of the first dot matrix laser is not adjusted by the angle adjusting module;
the angle adjusting module is controlled by the control module to rotate at a preset offset angle, and second lattice laser adjusted by the angle adjusting module is obtained;
acquiring images corresponding to the first dot matrix laser and the second dot matrix laser through an imaging module;
the value range of the preset offset angle is determined by the divergence angle of the laser spots in the first array laser and the visual angle of the adjacent laser spots;
and all laser spots in the images corresponding to the first dot matrix laser and the second dot matrix laser are closely arranged.
According to the dot matrix projection imaging method for increasing the dot matrix density provided by the invention, the obtaining of the images corresponding to the first dot matrix laser and the second dot matrix laser by the imaging module comprises the following steps:
s101, after the first dot matrix laser projected by the projection module and reflected by the angle adjusting module is obtained, the imaging module obtains a first dot matrix laser image corresponding to the first dot matrix laser;
s102, after the angle adjusting module is controlled by the control module to rotate at a preset offset angle to obtain second lattice laser, the imaging module obtains a second lattice laser image corresponding to the second lattice laser;
s103, repeating the S102, and obtaining a second lattice laser image corresponding to a second lattice laser corresponding to a preset number of times by the imaging module after the angle adjusting module is controlled by the control module to rotate for the preset number of times at a preset offset angle;
s104, the imaging module superposes the first dot matrix laser image and the second dot matrix laser image corresponding to the preset times to obtain a superposed image which is used as an image corresponding to the first dot matrix laser and the second dot matrix laser.
According to the dot matrix projection imaging method for increasing the dot matrix density provided by the invention, before the images corresponding to the first dot matrix laser and the second dot matrix laser are obtained through the imaging module, the method further comprises the following steps:
controlling the angle adjusting module to rotate for a preset number of times at a preset offset angle through a control module within a preset exposure time to obtain second lattice laser corresponding to the preset number of times;
correspondingly, the obtaining of the images corresponding to the first lattice laser and the second lattice laser by the imaging module includes:
the imaging module acquires an image corresponding to the dot matrix laser after the first dot matrix laser and the second dot matrix laser corresponding to the preset times are superposed, and the image is used as an image corresponding to the first dot matrix laser and the second dot matrix laser;
wherein the predetermined exposure time is the exposure time for the imaging module to acquire an image.
According to the dot matrix projection imaging method for increasing the dot matrix density, the preset offset angle comprises a preset horizontal offset angle alpha and a preset vertical offset angle beta;
the preset times comprise a preset horizontal time n and a preset vertical time m;
correspondingly, the controlling the angle adjusting module to rotate for a preset number of times at a preset offset angle by the control module includes:
s201, the control module controls the angle adjusting module to rotate for n times of preset horizontal times along the horizontal direction, and the offset angle of the angle adjusting module in the horizontal direction reaches a preset horizontal offset angle alpha every time to form n second lattice lasers;
s202, controlling the angle adjusting module to rotate once along the vertical direction, so that the offset angle of the angle adjusting module in the vertical direction reaches a preset vertical offset angle beta, and forming second lattice laser;
s203, repeating the steps from S201 to S202 until the rotation times in the vertical direction reach a preset vertical time m, and thus obtaining a plurality of second lattice lasers;
wherein the content of the first and second substances,
theta is the divergence angle of the laser spot in the first matrix laser light,
is the average value of the visual angles between all the adjacent laser spots in the first laser dot matrix.
According to the dot matrix projection imaging method for increasing the dot matrix density, provided by the invention, the preset offset angle comprises a preset horizontal offset angle alpha and a preset vertical offset angle beta;
the preset times comprise a preset horizontal time n and a preset vertical time m;
correspondingly, the controlling the angle adjusting module to rotate for a preset number of times at a preset offset angle by the control module includes:
s301, the control module controls the angle adjusting module to rotate for m times in a preset vertical direction along the vertical direction, and the offset angle of the angle adjusting module in the vertical direction reaches a preset vertical offset angle beta every time, so that m second lattice lasers are formed;
s302, controlling the angle adjusting module to rotate once along the horizontal direction, so that the offset angle of the angle adjusting module in the horizontal direction reaches a preset horizontal offset angle alpha, and forming second lattice laser;
s303, repeating the steps from S301 to S302 until the rotation frequency in the horizontal direction reaches a preset horizontal frequency n, thereby obtaining a plurality of second lattice lasers;
wherein the content of the first and second substances,
theta is the divergence angle of the laser spot in the first matrix laser light,
is the average value of the visual angles between all the adjacent laser spots in the first laser dot matrix.
The invention also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize any one of the dot matrix projection imaging methods for increasing the density of the dot matrix.
The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements any of the above-described methods for increasing the density of a lattice.
The invention also provides a computer program product comprising a computer program which, when executed by a processor, implements any of the above-described methods for increasing the density of a lattice.
The invention provides a dot matrix projection imaging system and a dot matrix projection imaging method for increasing dot matrix density, wherein the dot matrix projection imaging system for increasing the dot matrix density controls an angle adjusting module to rotate at a preset offset angle through a control module for multiple times, and all laser spots in an image displayed by an imaging module are closely arranged, so that the density of dot matrix projection is improved.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of a dot matrix projection imaging system for increasing the density of a dot matrix according to an embodiment of the present invention;
FIG. 2 is a flow chart of a method for increasing dot matrix density for dot matrix projection imaging according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a superimposed image provided by an embodiment of the invention;
FIG. 4 is a schematic diagram of a dot matrix projection implementation for increasing dot matrix density according to an embodiment of the present invention;
FIG. 5 is a first schematic diagram of a second laser projection position according to an embodiment of the present invention;
FIG. 6 is a second schematic diagram of a second laser projection position of the lattice according to an embodiment of the present invention;
fig. 7 is a schematic physical structure diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. 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 invention.
Before describing the dot matrix projection imaging system for increasing the dot matrix density and the dot matrix projection imaging method for increasing the dot matrix density of the present invention, it should be noted that the horizontal direction in the present invention refers to the horizontal plane direction along the angle adjusting module, the horizontal direction is represented by x-axis, the vertical direction refers to the direction perpendicular to the horizontal plane of the angle adjusting module, the vertical direction is represented by y-axis.
Fig. 1 is a schematic structural diagram of a dot matrix projection imaging system for increasing dot matrix density according to an embodiment of the present invention, and as shown in fig. 1, the dot matrix projection imaging system includes a projection module 101, an angle adjustment module 102, a control module 103, and an imaging module 104.
The projection module 101 is used for projecting dot matrix laser.
In this embodiment, the projection module 101 may be any device that uses laser as a light source, the projection module 101 projects a dot matrix laser composed of a plurality of laser spots, such as a dot matrix laser projector, a dot matrix laser, and the like, and the laser wavelength projected by the projection module 101 may be in a visible wavelength range (390nm-780nm) or in an invisible wavelength range (infrared light, ultraviolet light), which is not specifically limited herein and may be selected according to the needs of those skilled in the art.
It should be further noted that the dot matrix laser projected by the projection module 101 may finally form a dot matrix laser image on the imaging module 104.
The angle adjusting module 102 is configured to receive the dot matrix laser light projected by the projection module 101 and adjust an angle of the dot matrix laser light.
The angle adjusting module 102 is a device having a reflective structure and capable of changing a light propagation direction, and may be a vibrating mirror, a lens, a reflector, and the like, which are not specifically limited herein, and the angle adjusting module may have a reflective structure on one side or both sides, and the number of the reflective structures is not specifically limited herein.
It should be further noted that, after receiving the dot matrix laser projected by the projection module, the angle adjustment module 102 adjusts the angle projected by the dot matrix laser light on the side having the reflection structure, so that the dot matrix laser can be just reflected to the object to be measured, and then the imaging module 104 obtains the image presented by the dot matrix laser on the object to be measured, which is used as the dot matrix laser image. After the angle adjustment module 102 receives the dot matrix laser projected by the projection module, a part of the laser is absorbed by the angle adjustment module 102, or generates scattering and diffraction phenomena, which are difficult to avoid, so the angle adjustment module 102 selected in the present application is a device that minimizes absorption, diffraction and scattering errors and maximizes a reflection function.
The control module 103 is configured to control the angle adjustment module 102 to rotate by a preset offset angle.
The value range of the preset offset angle is determined by the divergence angle of the laser spots in the lattice laser and the visual angle of the adjacent laser spots.
In this embodiment, the number of times that the angle adjustment module 102 is controlled to rotate by the control module 103 is preset, the offset angle preset by the angle adjustment module 102 is determined based on the number of times that the angle adjustment module 102 is rotated, which is preset by the control module 103, and the property of the dot matrix laser projected by the projection module 101, the property of the dot matrix laser projected by the projection module 101 includes information such as a divergence angle of laser spots in the dot matrix laser and a viewing angle of adjacent laser spots, and the value range of the preset offset angle is determined based on the property of the dot matrix laser.
It is understood that the connection between the control module 103 and the angle adjustment module 102 is an electrical connection, which may be a wired connection or a wireless connection, and the control module 103 itself has a related algorithm for controlling the angle adjustment module 102 to rotate by a preset offset angle.
It should be further noted that the control module 103 may be configured to control the angle adjustment module to rotate by a preset offset angle in a horizontal direction and/or a vertical direction for a plurality of times, where the horizontal direction and/or the vertical direction are set with respect to the dual rotation axes where the angle adjustment module is located.
The imaging module 104 is configured to obtain images before and after the angle adjustment module 102 rotates by a preset offset angle.
Wherein, all laser spots in the image before and after the angle adjustment module presented by the imaging module 104 rotates by a preset offset angle are closely arranged.
It should be further noted that the images presented by the imaging module 104 include images before and after the control module 103 controls the angle adjustment module 102 to rotate in the horizontal direction and/or the vertical direction by a preset offset angle.
The invention provides a dot matrix projection imaging system for increasing dot matrix density, which is characterized in that an angle adjusting module is controlled by a control module to rotate at a preset offset angle, so that laser spots in images before and after the rotation of the angle adjusting module presented by an imaging module at the preset offset angle are closely arranged, the density of dot matrix projection is improved, and the technical problem of low precision of the conventional structured light three-dimensional measurement is solved and the further improvement of the precision of the structured light three-dimensional measurement is realized because the precision of the structured light three-dimensional measurement is positively correlated with the density of the dot matrix projection.
Further, the angle adjusting module 102 is specifically one of a galvanometer or a reflector.
In the present embodiment, the angle adjustment module 102 is a galvanometer, preferably a biaxial galvanometer, which is specifically a MEMS (Micro-Electro-Mechanical Systems) galvanometer, and the mirror surface diameter is usually only a few millimeters. MEMS is a brand new research and development field which must consider the mixing effect of various physical fields simultaneously, compared with the traditional machines, the diameter of the MEMS is smaller, the maximum diameter is not more than one centimeter, even only a few micrometers, the thickness of the MEMS is smaller, materials mainly comprising silicon are mainly adopted, the electrical performance is excellent, the strength, the hardness and the Young modulus of the silicon materials are equivalent to those of iron, the density is similar to that of aluminum, and the thermal conductivity is close to that of molybdenum and tungsten. The generation technology similar to the integrated circuit is adopted, mature technologies and processes in the integrated circuit IC production can be utilized in a large amount, the integrated circuit IC production has the advantages of light weight, small size, easiness in mass production and low production cost, and due to the adoption of the double-shaft vibrating mirror, the control module can control the mirror surface to move or rotate in the horizontal direction and/or the vertical direction.
It should be noted that, in other embodiments of the present invention, the angle adjusting module 102 may also be a lens, a mirror, or other devices for changing the light propagation direction, which is not limited in the present invention. In addition, in other embodiments of the present invention, the angle adjustment module 102 may also be a single-axis lens, and the double-axis lens may be controlled by two axes simultaneously, so that the angle adjustment module 102 rotates in two directions simultaneously, while the single-axis galvanometer may rotate only in one direction at a time, and cannot adjust light in two directions simultaneously.
In addition, the double-shaft galvanometer can continuously rotate or vibrate under the regulation and control of the control module, and the frequency and the amplitude of the rotation and the vibration of the double-shaft galvanometer are also regulated by the control module.
The invention provides a dot matrix projection imaging system for increasing dot matrix density, wherein an angle adjusting module 102 in the dot matrix projection imaging system is specifically a double-shaft vibrating mirror, on one hand, the adopted double-shaft vibrating mirror is low in production cost, and on the other hand, a control module can regulate and control the vibrating mirror to move or rotate in the horizontal direction and/or the vertical direction, so that laser spots in an image finally presented by an imaging module can be closely arranged, the dot matrix projection density is further increased, and the precision of structured light three-dimensional measurement is improved.
Fig. 2 is a flowchart of a dot matrix projection imaging method for increasing dot matrix density according to an embodiment of the present invention, and as shown in fig. 2, the method is implemented based on the dot matrix projection imaging system for increasing dot matrix density, and includes:
acquiring first dot-matrix laser projected by a projection module and reflected by an angle adjusting module; and the light angle of the first dot matrix laser is not adjusted by the angle adjusting module.
In this step, the projection module is started to emit the dot matrix laser to the angle adjusting module, at this time, the angle adjusting module is kept still, the dot matrix laser is directly reflected to the measured object, the dot matrix laser is used as the first dot matrix laser, and at this time, the measured object is different in surface form, so that the image presented by the first dot matrix laser carries depth information. And after the point array laser is reflected to the measured object, closing the projection module.
And step two, controlling the angle adjusting module to rotate at a preset offset angle through a control module to obtain the second lattice laser adjusted by the angle adjusting module.
The value range of the preset offset angle is determined by the divergence angle of the laser spots in the first dot matrix laser and the visual angle of the adjacent laser spots.
In this step, the angle adjusting module is controlled to rotate through the control module, after a preset offset angle is obtained through rotation, the state of the angle adjusting module is kept, then the projection module is turned on again, the lattice laser is emitted, emitted through the angle adjusting module in the current state and reflected to the measured object, and at the moment, the lattice laser on the measured object serves as second lattice laser. And after the point array laser is reflected to the measured object, closing the projection module.
It should be noted that, because the distance between the projection module and the object to be measured is bigger, the interval between each laser spot in the dot matrix laser on the object to be measured is also bigger, and the corresponding three-dimensional measurement accuracy is also worse. The preset offset angle needs to be integrated with the divergence angle of the laser spot and the view angle factor of the adjacent laser spots.
And thirdly, acquiring images corresponding to the first dot matrix laser and the second dot matrix laser through an imaging module.
And all laser spots in the images corresponding to the first dot matrix laser and the second dot matrix laser are closely arranged.
In this step, the imaging module may obtain an image presented by the first dot matrix laser immediately after the first dot matrix laser is reflected on the object to be measured, obtain an image presented by the second dot matrix laser immediately after the second dot matrix laser is reflected on the object to be measured, and then superimpose all the images according to the rotated offset angle, thereby obtaining a final overall image. The imaging module can also acquire an integral image after the first dot matrix laser and the second dot matrix laser are both reflected on the measured object, and at the moment, the control of the angle adjusting module has time limitation.
The invention provides a dot matrix projection imaging method for increasing dot matrix density, which comprises the steps of controlling an angle adjusting module to rotate at a preset offset angle through a control module to obtain second dot matrix laser adjusted by the angle adjusting module; and acquire through imaging module first dot matrix laser and the image that second dot matrix laser corresponds to make the angle adjustment module that imaging module presented rotate the laser spot in the image of back and forth with preset skew angle and closely arrange, thereby promoted the density of dot matrix projection, and because structured light three-dimensional measurement's precision is positive correlation with dot matrix projection's density, thereby solved the technical problem that current structured light three-dimensional measurement's precision is low, realized the further promotion of structured light three-dimensional measurement precision.
Further, the obtaining, by an imaging module, images corresponding to the first lattice laser and the second lattice laser includes:
s101, after the first dot matrix laser projected by the projection module and reflected by the angle adjusting module is obtained, the imaging module obtains a first dot matrix laser image corresponding to the first dot matrix laser;
s102, after the angle adjusting module is controlled by the control module to rotate at a preset offset angle to obtain second lattice laser, the imaging module obtains a second lattice laser image corresponding to the second lattice laser;
s103, repeating the S102, and obtaining a second lattice laser image corresponding to a second lattice laser corresponding to a preset number of times by the imaging module after the angle adjusting module is controlled by the control module to rotate for the preset number of times at a preset offset angle;
s104, the imaging module superposes the first dot matrix laser image and the second dot matrix laser image corresponding to the preset times to obtain a superposed image which is used as an image corresponding to the first dot matrix laser and the second dot matrix laser.
Specifically, the control module 103 needs to control the angle adjustment module 102 to rotate by a preset offset angle in the horizontal direction 3 times, an image before the first control angle adjustment module 102 rotates by the preset offset angle in the horizontal direction is denoted as a1, an image after the first control angle adjustment module rotates by the preset offset angle in the horizontal direction is denoted as a2, an image before the second control angle adjustment module rotates by the preset offset angle in the horizontal direction is denoted as a2 after the first rotation, an image after the second control angle adjustment module rotates by the preset offset angle in the horizontal direction is denoted as a3, an image before the third control angle adjustment module rotates by the second rotation is denoted as a3 after the third rotation, and an image after the third control angle adjustment module rotates by the preset offset angle in the horizontal direction is denoted as a 4.
The imaging module superposes the four images according to the offset angles corresponding to the images a1, a2, a3 and a4, so that a superposed image shown in fig. 3 is obtained as an image corresponding to the first dot matrix laser and the second dot matrix laser.
The invention provides a dot matrix projection imaging method for increasing dot matrix density, which can improve the dot matrix laser density and further improve the three-dimensional measurement precision.
Further, before the obtaining of the images corresponding to the first lattice laser and the second lattice laser by the imaging module, the method further includes: and controlling the angle adjusting module to rotate for a preset number of times at a preset offset angle through the control module within a preset exposure time to obtain second lattice laser corresponding to the preset number of times.
Correspondingly, the obtaining of the images corresponding to the first lattice laser and the second lattice laser by the imaging module includes: the imaging module acquires an image corresponding to the dot matrix laser after the first dot matrix laser and the second dot matrix laser corresponding to the preset times are superposed, and the image is used as an image corresponding to the first dot matrix laser and the second dot matrix laser; wherein the predetermined exposure time is the exposure time for the imaging module to acquire an image.
Specifically, according to the exposure time of the imaging module, the angle adjusting module is controlled to rapidly complete rotation for a preset number of times, so that the first dot matrix laser and the second dot matrix lasers are superposed, and on the basis, the imaging module obtains an image corresponding to the superposed dot matrix lasers to serve as an image corresponding to the first dot matrix laser and an image corresponding to the second dot matrix laser.
Fig. 4 is a schematic diagram of a dot matrix projection manner for increasing dot matrix density according to an embodiment of the present invention, as shown in fig. 4, a laser a (i.e., a projection module) projects dot matrix laser to a MEMS biaxial galvanometer (i.e., an angle adjustment module), the MEMS biaxial galvanometer receives the dot matrix laser projected by the laser a and adjusts an angle of a dot matrix laser light, a computer control unit electrically connected to the MEMS biaxial galvanometer controls the MEMS biaxial galvanometer to rotate on an x axis in a horizontal direction and a y axis in a vertical direction, a new dot matrix laser is formed after each rotation, the new dot matrix laser and an old dot matrix laser are superimposed on each other, and finally, an imaging module obtains a dot matrix laser image presented by the superimposed dot matrix laser. In addition, the value range of each offset angle is determined according to the divergence angle theta in the first laser spot and the average value of the visual angles of all the adjacent laser spots
Determining, wherein, the viewing angle average
Based on the viewing angle γ of any adjacent laser spots.
The invention provides a dot matrix projection imaging method for increasing the density of a dot matrix, which can further improve the efficiency of image acquisition.
Further, the preset offset angle includes a preset horizontal offset angle α and a preset vertical offset angle β; the preset times comprise preset horizontal times n and preset vertical times m.
Correspondingly, the controlling the angle adjusting module to rotate for a preset number of times at a preset offset angle by the control module includes:
s201, the control module controls the angle adjusting module to rotate for n times of preset horizontal times along the horizontal direction, and the offset angle of the angle adjusting module in the horizontal direction reaches a preset horizontal offset angle alpha every time, so that n second lattice lasers are formed.
S202, controlling the angle adjusting module to rotate once along the vertical direction, so that the offset angle of the angle adjusting module in the vertical direction reaches a preset vertical offset angle beta, and forming second lattice laser.
And S203, repeating the steps from S201 to S202 until the rotation times in the vertical direction reach a preset vertical time m, thereby obtaining a plurality of second lattice lasers.
Wherein the content of the first and second substances,
theta is the divergence angle of the laser spot in the first matrix laser light,
and n and m are both rounded, wherein the average value of the visual angles gamma between all the adjacent laser spots in the first dot matrix laser is obtained.
In the embodiment, the two rotating shafts in the double-shaft galvanometer are arranged so as to realize the effect of line-based projection.
Fig. 5 is a first schematic view illustrating a projection position of the second lattice laser according to the embodiment of the present invention.
Specifically, before the angle adjusting module rotates, the rotating shaft in the horizontal direction of the galvanometer is set as a fast shaft, and the rotating shaft in the vertical direction of the galvanometer is set as a slow shaft. Then, the control module controls the fast axis to enable the angle adjusting module to rotate fast in the horizontal direction, so that a second dot matrix laser shown in fig. 5 is obtained, after the preset horizontal times are reached, the slow axis is controlled to rotate to enable the angle adjusting module to rotate once in the vertical direction, then the fast axis is controlled to rotate to enable the angle adjusting module to rotate fast in the horizontal direction to reach the horizontal times, and so on, until the rotation times of the slow axis reaches the preset vertical times m, the rotation process of the whole angle adjusting module is finished. In the rotating process, firstly, n second lattice lasers are successively projected onto a measured object along the horizontal direction; after the slow shaft rotates once, n second lattice lasers are successively projected onto the measured object along the horizontal direction, and the like until the rotation times of the slow shaft reach m times, so that the image with the laser speckles closely arranged is obtained.
The invention provides a dot matrix projection imaging method for increasing dot matrix density, which can improve the dot matrix laser density and further improve the three-dimensional measurement precision.
Further, the preset offset angle includes a preset horizontal offset angle α and a preset vertical offset angle β; the preset times comprise preset horizontal times n and preset vertical times m.
Correspondingly, the controlling the angle adjusting module to rotate for a preset number of times at a preset offset angle by the control module includes:
s301, the control module controls the angle adjusting module to rotate for m times in a preset vertical mode along the vertical direction, and the offset angle of the angle adjusting module in the vertical direction reaches a preset vertical offset angle beta every time, so that m second lattice lasers are formed.
S302, controlling the angle adjusting module to rotate once along the horizontal direction, so that the offset angle of the angle adjusting module in the horizontal direction reaches a preset horizontal offset angle alpha, and forming second lattice laser.
And S303, repeating the steps from S301 to S302 until the rotation times in the horizontal direction reach a preset horizontal time n, thereby obtaining a plurality of second lattice lasers.
Wherein the content of the first and second substances,
theta is the divergence angle of the laser spot in the first matrix laser light,
and n and m are rounded and are the average value of the visual angles between all the adjacent laser spots in the first dot matrix laser.
In the embodiment, the two rotating shafts in the two-shaft galvanometer are arranged, so that the effect of column projection is achieved.
Fig. 6 is a second schematic diagram of a second laser projection position of the lattice according to the embodiment of the present invention.
Specifically, before the angle adjusting module rotates, the rotating shaft in the vertical direction of the galvanometer is set as a fast shaft, and the rotating shaft in the horizontal direction of the galvanometer is set as a slow shaft. Then, the control module controls the fast axis to enable the angle adjusting module to rotate fast in the vertical direction, so that a second dot matrix laser shown in fig. 6 is obtained, after the preset vertical times m are reached, the slow axis is controlled to rotate to enable the angle adjusting module to rotate once in the horizontal direction, then the fast axis is controlled to rotate to enable the angle adjusting module to rotate fast in the vertical direction for the vertical times, and so on, until the rotation times of the slow axis reach the preset horizontal times n, the rotation process of the whole angle adjusting module is finished. In the rotating process, m second lattice lasers are sequentially projected onto a measured object along the vertical direction; after the slow shaft rotates once, m second lattice lasers are successively projected onto a measured object along the horizontal direction, and the like until the rotation frequency of the slow shaft reaches n times, so that an image with closely distributed laser speckles is obtained.
The invention provides a dot matrix projection imaging method for increasing dot matrix density, which can improve the dot matrix laser density and further improve the three-dimensional measurement precision.
Fig. 7 is a schematic entity structure diagram of an electronic device according to an embodiment of the present invention, and as shown in fig. 7, the electronic device may include: a processor (processor)610, a communication Interface (Communications Interface)620, a memory (memory)630 and a communication bus 640, wherein the processor 610, the communication Interface 620 and the memory 630 communicate with each other via the communication bus 640. The processor 610 may invoke logic instructions in the memory 630 to perform a method of dot matrix projection imaging for increasing dot matrix density, the method being implemented based on the above-described dot matrix projection imaging system for increasing dot matrix density, the method comprising: acquiring first dot matrix laser projected by a projection module and reflected by an angle adjusting module; the light angle of the first dot matrix laser is not adjusted by the angle adjusting module; the angle adjusting module is controlled by the control module to rotate at a preset offset angle, and second lattice laser adjusted by the angle adjusting module is obtained; acquiring images corresponding to the first dot matrix laser and the second dot matrix laser through an imaging module; the value range of the preset offset angle is determined by the divergence angle of the laser spots in the first array laser and the visual angle of the adjacent laser spots; and all laser spots in the images corresponding to the first dot matrix laser and the second dot matrix laser are closely arranged.
In addition, the logic instructions in the memory 630 may be implemented in software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product, the computer program product comprising a computer program, the computer program being stored on a non-transitory computer-readable storage medium, the computer program, when executed by a processor, being operable to perform a method of dot matrix projection imaging for increasing dot matrix density, the method being implemented based on the above-mentioned dot matrix projection imaging system for increasing dot matrix density, the method comprising: acquiring first dot matrix laser projected by a projection module and reflected by an angle adjusting module; the light angle of the first dot matrix laser is not adjusted by the angle adjusting module; the angle adjusting module is controlled by the control module to rotate at a preset offset angle, and second lattice laser adjusted by the angle adjusting module is obtained; acquiring images corresponding to the first dot matrix laser and the second dot matrix laser through an imaging module; the value range of the preset offset angle is determined by the divergence angle of the laser spots in the first array laser and the visual angle of the adjacent laser spots; and all laser spots in the images corresponding to the first dot matrix laser and the second dot matrix laser are closely arranged.
In yet another aspect, the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored, the computer program being implemented by a processor to perform the methods provided by the above methods to perform a method for increasing dot density by dot projection imaging, the method being implemented based on the above system for increasing dot density, the method comprising: acquiring first dot matrix laser projected by a projection module and reflected by an angle adjusting module; the light angle of the first dot matrix laser is not adjusted by the angle adjusting module; the angle adjusting module is controlled by the control module to rotate at a preset offset angle, and second lattice laser adjusted by the angle adjusting module is obtained; acquiring images corresponding to the first dot matrix laser and the second dot matrix laser through an imaging module; the value range of the preset offset angle is determined by the divergence angle of the laser spots in the first array laser and the visual angle of the adjacent laser spots; and all laser spots in the images corresponding to the first dot matrix laser and the second dot matrix laser are closely arranged.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods of the various embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A dot matrix projection imaging system for increasing dot matrix density, comprising: a projection module, an angle adjusting module, a control module and an imaging module,
the projection module is used for projecting dot matrix laser;
the angle adjusting module is used for adjusting the light angle of the lattice laser;
the control module is used for controlling the angle adjusting module to rotate by a preset offset angle;
the imaging module is used for acquiring images before and after the angle adjusting module rotates by a preset offset angle;
the value range of the preset offset angle is determined by the divergence angle of the laser spots in the lattice laser and the visual angle of the adjacent laser spots;
all laser spots in the image before and after the angle adjustment module presented by the imaging module rotates by a preset offset angle are closely arranged.
2. A dot matrix projection imaging system for increasing dot matrix density according to claim 1, wherein the angle adjusting module is one of a galvanometer or a mirror.
3. A dot matrix projection imaging method for increasing dot matrix density, which is implemented based on the dot matrix projection imaging system for increasing dot matrix density of claim 1 or 2, and comprises:
acquiring first dot matrix laser projected by a projection module and reflected by an angle adjusting module; the light angle of the first dot matrix laser is not adjusted by the angle adjusting module;
the angle adjusting module is controlled by the control module to rotate at a preset offset angle, and second lattice laser adjusted by the angle adjusting module is obtained;
acquiring images corresponding to the first dot matrix laser and the second dot matrix laser through an imaging module;
the value range of the preset offset angle is determined by the divergence angle of the laser spots in the first spot array laser and the visual angle of the adjacent laser spots;
and all laser spots in the images corresponding to the first dot matrix laser and the second dot matrix laser are closely arranged.
4. The method of claim 3, wherein the obtaining the images corresponding to the first and second dot matrix lasers by the imaging module comprises:
s101, after the first dot matrix laser projected by the projection module and reflected by the angle adjusting module is obtained, the imaging module obtains a first dot matrix laser image corresponding to the first dot matrix laser;
s102, after the angle adjusting module is controlled by the control module to rotate at a preset offset angle to obtain second lattice laser, the imaging module obtains a second lattice laser image corresponding to the second lattice laser;
s103, repeating the S102, and obtaining a second lattice laser image corresponding to a second lattice laser corresponding to a preset number of times by the imaging module after the angle adjusting module is controlled by the control module to rotate for the preset number of times at a preset offset angle;
s104, the imaging module superposes the first dot matrix laser image and the second dot matrix laser image corresponding to the preset times to obtain a superposed image which is used as an image corresponding to the first dot matrix laser and the second dot matrix laser.
5. The method of claim 3, wherein before the obtaining the images corresponding to the first and second dot matrix lasers by the imaging module, the method further comprises:
controlling the angle adjusting module to rotate for a preset number of times at a preset offset angle through a control module within a preset exposure time to obtain second lattice laser corresponding to the preset number of times;
correspondingly, the obtaining of the images corresponding to the first lattice laser and the second lattice laser by the imaging module includes:
the imaging module acquires an image corresponding to the dot matrix laser after the first dot matrix laser and the second dot matrix laser corresponding to the preset times are superposed, and the image is used as an image corresponding to the first dot matrix laser and the second dot matrix laser;
wherein the predetermined exposure time is the exposure time for the imaging module to acquire an image.
6. The method according to claim 4 or 5, wherein the preset offset angle comprises a preset horizontal offset angle α and a preset vertical offset angle β;
the preset times comprise a preset horizontal time n and a preset vertical time m;
correspondingly, the controlling the angle adjusting module to rotate for a preset number of times at a preset offset angle by the control module includes:
s201, the control module controls the angle adjusting module to rotate for n times of preset horizontal times along the horizontal direction, and the offset angle of the angle adjusting module in the horizontal direction reaches a preset horizontal offset angle alpha every time to form n second lattice lasers;
s202, controlling the angle adjusting module to rotate once along the vertical direction, so that the offset angle of the angle adjusting module in the vertical direction reaches a preset vertical offset angle beta, and forming second lattice laser;
s203, repeating the steps from S201 to S202 until the rotation times in the vertical direction reach a preset vertical time m, and thus obtaining a plurality of second lattice lasers;
wherein the content of the first and second substances,
theta is the divergence angle of the laser spot in the first matrix laser light,
is the average value of the visual angles between all the adjacent laser spots in the first laser dot matrix.
7. The method according to claim 4 or 5, wherein the preset offset angle comprises a preset horizontal offset angle α and a preset vertical offset angle β;
the preset times comprise a preset horizontal time n and a preset vertical time m;
correspondingly, the controlling the angle adjusting module to rotate for a preset number of times at a preset offset angle by the control module includes:
s301, the control module controls the angle adjusting module to rotate for m times in a preset vertical direction along the vertical direction, and the offset angle of the angle adjusting module in the vertical direction reaches a preset vertical offset angle beta every time, so that m second lattice lasers are formed;
s302, controlling the angle adjusting module to rotate once along the horizontal direction, so that the offset angle of the angle adjusting module in the horizontal direction reaches a preset horizontal offset angle alpha, and forming second lattice laser;
s303, repeating the steps from S301 to S302 until the rotation frequency in the horizontal direction reaches a preset horizontal frequency n, thereby obtaining a plurality of second lattice lasers;
wherein the content of the first and second substances,
theta is the divergence angle of the laser spot in the first spot array laser,
is the average value of the visual angles between all the adjacent laser spots in the first laser dot matrix.
8. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the method for increasing the density of a lattice according to any of claims 3 to 7.
9. A non-transitory computer-readable storage medium having stored thereon a computer program, which when executed by a processor implements the method for increasing the density of a lattice according to any one of claims 3 to 7.
10. A computer program product comprising a computer program, wherein the computer program, when being executed by a processor, is adapted to carry out the method for increasing the density of a lattice according to any one of claims 3 to 7.
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