CN115407478A - Three-dimensional imaging system and method for self-adaptive detection of distance - Google Patents
Three-dimensional imaging system and method for self-adaptive detection of distance Download PDFInfo
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- CN115407478A CN115407478A CN202211029411.4A CN202211029411A CN115407478A CN 115407478 A CN115407478 A CN 115407478A CN 202211029411 A CN202211029411 A CN 202211029411A CN 115407478 A CN115407478 A CN 115407478A
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- 238000003384 imaging method Methods 0.000 title claims abstract description 100
- 238000000034 method Methods 0.000 title claims abstract description 19
- 230000003044 adaptive effect Effects 0.000 claims 6
- 238000005259 measurement Methods 0.000 abstract description 37
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
- G02B7/18—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors
- G02B7/182—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors for 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
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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
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
- G02B7/18—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors
- G02B7/182—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors for mirrors
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Abstract
The application relates to the technical field of image detection, and provides a three-dimensional imaging system and a method for self-adaptively detecting distance, wherein the three-dimensional imaging system for self-adaptively detecting distance comprises: the device comprises a laser emitting device, an imaging device, a reflector, an angle adjusting device and a controller; the reflector is arranged at the position of the lens of the imaging device, and the angle adjusting device is connected with the reflector. In the practical application process, the reflector is controlled to rotate through the angle adjusting device, so that the imaging device traverses all detection areas, and the detection area to which the current detected object belongs is determined; and then judging the position of the detected object in the corresponding detection area, if the detected object is in the edge position of the corresponding detection area, controlling the reflector to rotate through the angle adjusting device so as to enable the detected image to be in the middle position of the next detection area or the previous detection area, thereby realizing full-field-depth three-dimensional measurement on the detected object in the whole detection range, enlarging the measurement range and ensuring the measurement precision requirement.
Description
Technical Field
The application relates to the technical field of image detection, in particular to a three-dimensional imaging system and a three-dimensional imaging method for self-adaptive distance detection.
Background
After the existing three-dimensional imaging device is designed, the depth of field and the measurement precision of the three-dimensional imaging device are fixed, and when the three-dimensional imaging device detects a fixed object or an object which moves at a low speed from the object, the depth of field and the measurement precision of the three-dimensional imaging device can meet the requirements.
However, when an object having a change in detection distance is detected, the measurement depth of field cannot be adjusted in real time, and therefore, under the same conditions, in order to cope with an object having a change in detection distance, if the measurement range is increased, the measurement accuracy is lowered, and if the measurement accuracy is increased, the measurement range is lowered.
Disclosure of Invention
The measurement depth of field of the existing three-dimensional imaging device cannot be adjusted in real time, and in the design stage, if the measurement range is enlarged in order to cope with an object with a changed detection distance, the measurement precision is reduced; the measurement range is reduced if the measurement accuracy is improved. For some specific imaging scenes, the overall measurement depth of field is large, but the local measurement depth of field is small, for example, in railway catenary detection, the height range of a catenary on one line can reach 1.5m, but at a specific certain measurement point, the range of the catenary needing imaging can be 0.2m, and the height change of the catenary is in a gradual change state, and at this time, in order to meet the requirement of the 1.5 m-height catenary detection, the measurement precision of an existing three-dimensional imaging device needs to be sacrificed.
The application provides a three-dimensional imaging system of self-adaptation detection distance, includes: the device comprises a laser emitting device, an imaging device, a reflector, an angle adjusting device and a controller, wherein the controller is connected with the laser emitting device, the imaging device and the angle adjusting device;
the reflector is arranged at the lens of the imaging device, and the angle adjusting device is connected with the reflector so as to adjust the angle of the reflector facing the reflecting surface on one side of the imaging device;
the controller is configured to:
starting the laser emitting device to emit laser to the detected object;
starting an imaging device, controlling a reflector to rotate through an angle adjusting device, enabling the imaging device to traverse all detection areas, and determining the detection area of the current detected object;
judging the position of the detected object in the corresponding detection area, if the detected object is at the edge position of the corresponding detection area, controlling the reflector to rotate through the angle adjusting device so that the detected image is at the middle position of the next detection area or the previous detection area, wherein the detection area comprises the middle position and the edge positions distributed at two sides of the middle position.
In an optional manner, the step of determining the position of the detected object in the corresponding detection area specifically includes:
and acquiring laser line characteristics on the detected object in the detection area, and determining the position of the detected object in the corresponding detection area according to the laser line characteristics.
In an alternative, the laser line characteristic is depth information of the laser line; and determining the distance from the laser line on the detected object to one side edge of the detected area according to the depth information of the laser line, and determining the position of the detected object in the corresponding detection area according to the distance from the laser line to the one side edge of the detected area.
In an alternative form, the laser line is characterized by a length of the laser line; and determining the position of the detected object in the corresponding detection area according to the laser line characteristics.
In an optional manner, the controller is further configured to:
and determining the angle of the reflector corresponding to each detection area according to the relative position of the reflector and the laser emitting device and the laser emitting direction of the laser emitting device.
In an optional manner, the controller is further configured to:
and determining the length range of the laser line on the detected object when the detected object is positioned in the corresponding detection area according to the distance between the detection area and the laser emitting device and the laser emitting angle of the laser emitting device.
Corresponding to the foregoing embodiment of the three-dimensional imaging system for adaptively detecting a distance, the present application further provides an embodiment of a three-dimensional imaging method for adaptively detecting a distance. The three-dimensional imaging method for the self-adaptive detection distance comprises the following steps:
and starting the laser emitting device to emit laser to the detected object.
And starting the imaging device, controlling the reflector to rotate through the angle adjusting device, enabling the imaging device to traverse all detection areas, and determining the detection area to which the current detected object belongs.
Judging the position of the detected object in the corresponding detection area, if the detected object is at the edge position of the corresponding detection area, controlling the reflector to rotate through the angle adjusting device so as to enable the detected image to be at the middle position of the next detection area or the previous detection area, wherein the detection area comprises the middle position and the edge positions distributed on two sides of the middle position.
In an optional manner, the step of determining the position of the detected object in the corresponding detection area specifically includes:
and acquiring laser line characteristics on the detected object in the detection area, and determining the position of the detected object in the corresponding detection area according to the laser line characteristics.
In an alternative, the laser line characteristic is depth information of the laser line; and determining the distance from the laser line on the detected object to one side edge of the detected area according to the depth information of the laser line, and determining the position of the detected object in the corresponding detection area according to the distance from the laser line to the one side edge of the detected area.
In an alternative form, the laser line is characterized by a length of the laser line; and determining the position of the detected object in the corresponding detection area according to the laser line characteristics.
In an optional manner, before the step of starting the laser emitting device to emit laser to the detected object, the method further includes:
and determining the angle of the reflector corresponding to each detection area according to the relative position of the reflector and the laser emitting device and the laser emitting direction of the laser emitting device.
In an optional manner, before the step of starting the laser emitting device to emit laser to the detected object, the method further includes:
and determining the length range of the laser line on the detected object when the detected object is positioned in the corresponding detection area according to the distance between the detection area and the laser emission device and the laser emission angle of the laser emission device.
As can be seen from the foregoing technical solutions, an embodiment of the present application provides a three-dimensional imaging system and a method for adaptively detecting a distance, where the three-dimensional imaging system for adaptively detecting a distance includes: the device comprises a laser emitting device, an imaging device, a reflector, an angle adjusting device and a controller connected with the laser emitting device, the imaging device and the angle adjusting device; the reflector is arranged at the lens of the imaging device, and the angle adjusting device is connected with the reflector so as to adjust the angle of the reflector facing the reflecting surface on one side of the imaging device.
In the practical application process, the reflector is controlled to rotate through the angle adjusting device, so that the imaging device traverses all detection areas, and the detection area to which the current detected object belongs is determined; and then judging the position of the detected object in the corresponding detection area, if the detected object is in the edge position of the corresponding detection area, controlling the reflector to rotate through the angle adjusting device so as to enable the detected image to be in the middle position of the next detection area or the previous detection area, thereby realizing the three-dimensional measurement of the full depth of field of the detected object in the whole detection range, increasing the measurement range and ensuring the measurement precision requirement.
Drawings
In order to more clearly explain the technical solution of the present application, the drawings needed to be used in the embodiments are briefly described below, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a three-dimensional imaging system for adaptively detecting a distance according to an embodiment of the present application;
fig. 2 is a schematic flowchart illustrating an implementation of a method for configuring a controller according to an embodiment of the present disclosure;
fig. 3 is a schematic diagram of an overlapping area of detection areas according to an embodiment of the present application.
In the figure: 1-laser emitting device, 2-imaging device and 3-reflector.
Detailed Description
The measurement depth of field of the existing three-dimensional imaging device cannot be adjusted in real time, and in the design stage, if the measurement range is enlarged in order to cope with an object with a changed detection distance, the measurement precision is reduced; the measurement range is reduced by improving the measurement precision. For some specific imaging scenes, the overall measurement depth of field is large, but the local measurement depth of field is small, for example, in railway catenary detection, the height range of a catenary on one line can reach 1.5m, but at a specific certain measurement point, the range of the catenary needing imaging can be 0.2m, and the height change of the catenary is in a gradual change state, and at this time, in order to meet the requirement of the 1.5 m-height catenary detection, the measurement precision of an existing three-dimensional imaging device needs to be sacrificed.
As shown in fig. 1, a three-dimensional imaging system for adaptively detecting a distance according to an embodiment of the present application includes a laser emitting device 1, an imaging device 2, a reflective mirror 3, an angle adjusting device, and a controller connected to the laser emitting device 1, the imaging device 2, and the angle adjusting device.
The reflector 3 is arranged at the lens of the imaging device 2, and the angle adjusting device is connected with the reflector 3 so as to adjust the angle of the reflecting surface of the reflector 3 facing one side of the imaging device 2.
In practical applications, the mirror 3 has a certain rotation range, and the mirror 3 rotates from a rotation start position to a rotation end position corresponding to the entire imaging area of the imaging device 2. The laser emitting device 1, the imaging device 2 and the reflective mirror 3 are not limited to be arranged on the same plane, as long as it is ensured that the laser emitting device 1, the imaging device 2 and the reflective mirror 3 can form a laser triangulation method, so that the imaging device 2 can acquire an image of the detected object which is directed to the laser emitting device 1.
The angle adjusting device may be a rotary motor connected to the mirror 3, or may be a rotary platform on which the mirror 3 is mounted. In practical applications, as shown in fig. 2, the controller connected to the laser emitting device 1, the imaging device 2 and the angle adjusting device is configured to perform steps 210 to 230.
Step 210: and starting the laser emitting device 1 to emit laser to the detected object.
As shown in fig. 3, the laser emitted by the laser emitting device 1 spreads in a fan-shaped manner, and irradiates on a plane relatively close to the laser emitting device, so that the formed laser line is relatively short, and irradiates on a plane relatively far from the laser emitting device, so that the formed laser line is relatively long.
Step 220: and starting the imaging device 2, controlling the reflector 3 to rotate through the angle adjusting device, enabling the imaging device 2 to traverse all detection areas, and determining the detection area to which the current detected object belongs.
It should be noted that the reflective mirror 3 is provided with a certain rotatable angle, wherein the angle of the reflective mirror 3 is at a rotation starting position in a state that the current detection area of the imaging device 2 is closest to the laser emitting device 1; in a state where the current detection area of the imaging device 2 is farthest from the laser emitting device 1, the mirror 3 is angularly positioned at a rotation end position.
It should be noted that, when the angle adjusting device adjusts the rotation angle of the reflective mirror 3, there is a minimum angle adjustment value, that is, an adjustment step length, in this embodiment of the present application, each time the rotation angle of one step length is adjusted, the angle adjusting device corresponds to one detection area of the imaging device 2, or after the rotation angles of a plurality of step lengths are adjusted, the angle adjusting device corresponds to one detection area of the imaging device 2.
It should be noted that, in the embodiment of the present application, an intersection area exists between a plurality of detection areas, that is, an overlapping area exists between two adjacent detection areas, and in an actual application process, if a detected object is located in the overlapping area of two detection areas, the detected object exists in both the two detection areas, for this reason, the rotation angle of the reflective mirror 3 may be randomly stopped at an angle corresponding to one of the detection areas, or the rotation angle of the reflective mirror 3 may be stopped at a position with a smaller angle or a larger angle, where the angle involved in the smaller angle or the larger angle is an angle between the current position of the reflective mirror 3 and the position of the reflective mirror 3 located at the rotation start angle.
Step 230: judging the position of the detected object in the corresponding detection area, if the detected object is at the edge position of the corresponding detection area, controlling the reflector 3 to rotate through the angle adjusting device, so that the detected image is at the middle position of the next detection area or the previous detection area, wherein the detection area comprises the middle position and the edge positions distributed at two sides of the middle position.
The detection areas related to the embodiment of the application are continuously distributed, and a single detection area is divided into a middle position and edge positions, wherein the number of the edge positions is even, and the edge positions are symmetrically distributed on two sides of the middle position.
In the practical application process, compared with the situation that the detected object is located at the edge position of the acquired image, the detected object is located at the middle position of the acquired image, the imaging effect is better, and the laser line is located at the middle position of the detection area correspondingly in the embodiment of the application.
In order to more clearly illustrate the effect of the embodiment of the present application, taking fig. 3 as an example, the detection area a, the detection area B and the detection area C are included in the drawing, and the detection area a includes an edge position a-1, an edge position a-3 and a middle position a-2; the detection area B comprises an edge position B-1, an edge position B-3 and a middle position B-2; the detection region C comprises an edge position C-1, an edge position C-3 and a middle position C-2; the overlapping positions of the three detection areas are shown in fig. 3, taking the current angle of the reflective mirror 3 corresponding to the detection area B as an example, on the image shot by the detection area B, if the detected object with the laser line is at the edge position B-1, the reflective mirror 3 is controlled to rotate, so that the detection area of the imaging device 4 is a, the detected object with the laser line falls into the middle position of the acquired image and the middle position a-2; if the detected object with the laser line is at the middle position B-2, the reflector 3 does not need to be controlled to move; if the detected object with the laser line is located at the edge position B-3, the reflector 3 is controlled to rotate, so that the detection area of the imaging device 4 is C, and the detected object with the laser line falls into the middle position for obtaining the image and the middle position C-2.
According to the three-dimensional imaging system capable of adaptively detecting the distance, the reflector 3 is controlled to rotate through the angle adjusting device, so that the imaging device 2 traverses all detection areas, and the detection area of the current detected object is determined; and then judging the position of the detected object in the corresponding detection area, if the detected object is in the edge position of the corresponding detection area, controlling the reflector 3 to rotate through the angle adjusting device so as to enable the detected image to be in the middle position of the next detection area or the previous detection area, thereby realizing the three-dimensional measurement of the full depth of field of the detected object in the whole detection range, increasing the measurement range and ensuring the measurement precision requirement.
In the above embodiment, the determination of the position of the detected object in the corresponding detection area may be implemented in various ways, for example, an image recognition technology may be employed to confirm the position of the detected object, in the embodiment of the present application, by acquiring characteristics of a laser line on a detected living body in the detection area, it should be noted that the imaging device 2 in the embodiment of the present application is a CCD image sensor, and on an image acquired by the CCD image sensor, characteristics of the laser line may be acquired, and according to the characteristics of the laser line, the affiliated position of the detected object in the corresponding detection area is determined, for example, the detected object has different shapes, the laser line is irradiated on the surface of the detected object to form different lines, for example, the detected object is a pipe, and the line of the laser line irradiated on the cross section of the pipe is an arc line with a specific curvature.
Specifically, the laser line feature may also be depth information of the laser line, and the distance from the laser line on the detected object to the edge of the detected area is determined according to the depth information of the laser line, and the position of the detected object in the corresponding detected area is determined according to the distance from the laser line to the edge of the detected area.
Specifically, the laser line characteristic is the length of the laser line; and determining the position of the detected object in the corresponding detection area according to the laser line characteristics.
Certainly, in the practical application process, the belonged position of the detected object in the corresponding detection area may also be determined in other manners, for example: and calculating the distance between the detected object and the laser emitting device 1 by using a laser triangulation method, and then determining the position of the detected object in the corresponding detection area according to the distance between the detected object and the laser emitting device 1 and the number of the detection area where the detected object is located currently. It should be noted that, since the embodiment of the present application relates to a plurality of detection regions, each detection region may be numbered, and the number of each detection region may be corresponding to the rotation angle of the mirror 3, so as to distinguish images acquired under different detection regions.
In the embodiment of the present application, for the application relationship between the detection area corresponding to the imaging device 2 and the rotation angle of the reflective mirror 3, the relative position between the reflective mirror 3 and the laser emitting device 1 is calibrated in advance, and the angle of the reflective mirror 3 corresponding to each detection area is determined according to the laser emitting direction of the laser emitting device 1, where it should be noted that the relative position between the reflective mirror 3 and the laser emitting device 1 includes the distance therebetween and the orientation relationship therebetween, that is, the angle between the position connecting line of the reflective mirror 3 and the laser emitting device 1 and the laser emitting direction of the laser emitting device 1.
In the embodiment of the present application, each detection area of the imaging device 2 is pre-divided and calibrated, and as shown in fig. 3, after determining the distance between the detection area and the laser emitting device 1 and the laser emitting angle α of the laser emitting device 1, and after determining which detection area the detected object is located in, the length range of the laser line on the detected object can be calculated. And because the length of the laser line is uniformly changed along with the position change of the detection area, the specific position of the detected object in the detection area is determined according to the length of the laser line on the detected object.
Corresponding to the foregoing embodiment of the three-dimensional imaging system for adaptively detecting a distance, the present application further provides an embodiment of a three-dimensional imaging method for adaptively detecting a distance. The three-dimensional imaging method for the self-adaptive detection distance comprises the following steps:
the laser emitting device 1 is started to emit laser to the detected object.
And starting the imaging device 2, controlling the reflector 3 to rotate through the angle adjusting device, enabling the imaging device 2 to traverse all detection areas, and determining the detection area of the current detected object.
Judging the position of the detected object in the corresponding detection area, if the detected object is at the edge position of the corresponding detection area, controlling the reflector 3 to rotate through the angle adjusting device, so that the detected image is at the middle position of the next detection area or the previous detection area, wherein the detection area comprises the middle position and the edge positions distributed at two sides of the middle position.
In an optional manner, the step of determining the position of the detected object in the corresponding detection area specifically includes:
and acquiring laser line characteristics on the detected object in the detection area, and determining the position of the detected object in the corresponding detection area according to the laser line characteristics.
In an alternative, the laser line characteristic is depth information of the laser line; and determining the distance from the laser line on the detected object to one side edge of the detected area according to the depth information of the laser line, and determining the position of the detected object in the corresponding detection area according to the distance from the laser line to the one side edge of the detected area.
In an alternative form, the laser line is characterized by a length of the laser line; and determining the position of the detected object in the corresponding detection area according to the laser line characteristics.
In an optional manner, before the step of starting the laser emitting device 1 to emit laser to the detected object, the method further includes:
and determining the angle of the reflective mirror 3 corresponding to each detection area according to the relative position of the reflective mirror 3 and the laser emitting device 1 and the laser emitting direction of the laser emitting device 1.
In an optional manner, before the step of starting the laser emitting device 1 to emit laser to the detected object, the method further includes:
and determining the length range of the laser line on the detected object when the detected object is in the corresponding detection area according to the distance between the detection area and the laser emitting device 1 and the laser emitting angle of the laser emitting device 1.
As can be seen from the foregoing technical solutions, an embodiment of the present application provides a three-dimensional imaging system and a method for adaptively detecting a distance, where the three-dimensional imaging system for adaptively detecting a distance includes: the device comprises a laser emitting device 1, an imaging device 2, a reflector 3, an angle adjusting device and a controller, wherein the controller is connected with the laser emitting device 1, the imaging device 2 and the angle adjusting device; the reflector 3 is arranged at the lens of the imaging device 2, and the angle adjusting device is connected with the reflector 3 so as to adjust the angle of the reflecting surface of the reflector 3 facing one side of the imaging device 2.
According to the three-dimensional imaging system capable of adaptively detecting the distance, the reflector 3 is controlled to rotate through the angle adjusting device, so that the imaging device 2 traverses all detection areas, and the detection area of the current detected object is determined; and then judging the position of the detected object in the corresponding detection area, if the detected object is in the edge position of the corresponding detection area, controlling the reflector 3 to rotate through the angle adjusting device so as to enable the detected image to be in the middle position of the next detection area or the previous detection area, thereby realizing the three-dimensional measurement of the full depth of field of the detected object in the whole detection range, increasing the measurement range and ensuring the measurement precision requirement.
The above embodiments are provided to explain the purpose, technical solutions and advantages of the present application in further detail, and it should be understood that the above embodiments are merely illustrative of the present application and are not intended to limit the scope of the present application, and any modifications, equivalent substitutions, improvements and the like made on the basis of the technical solutions of the present application should be included in the scope of the present application.
In the description provided herein, numerous specific details are set forth. It can be appreciated, however, that embodiments of the application may be practiced without these specific details. Similarly, in the above description of example embodiments of the application, various features of the embodiments of the application are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the application and aiding in the understanding of one or more of the various inventive aspects. Where the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this application.
Claims (10)
1. A three-dimensional imaging system for adaptively detecting distance, comprising: the device comprises a laser emitting device (1), an imaging device (2), a reflector (3), an angle adjusting device and a controller connected with the laser emitting device (1), the imaging device (2) and the angle adjusting device;
the reflector (3) is arranged at the lens of the imaging device (2), and the angle adjusting device is connected with the reflector (3) to adjust the angle of a reflecting surface of the reflector (3) facing one side of the imaging device (2);
the controller is configured to:
starting the laser emitting device (1) to emit laser to the detected object;
starting the imaging device (2), controlling the reflector (3) to rotate through the angle adjusting device, enabling the imaging device (2) to traverse all detection areas, and determining the detection area of the current detected object;
judging the position of the detected object in the corresponding detection area, if the detected object is at the edge position of the corresponding detection area, controlling the reflector (3) to rotate through the angle adjusting device so as to enable the detected image to be at the middle position of the next detection area or the previous detection area, wherein the detection area comprises the middle position and the edge positions distributed on two sides of the middle position.
2. The three-dimensional imaging system capable of adaptively detecting distance according to claim 1, wherein the step of determining the position of the detected object in the corresponding detection area specifically comprises:
and acquiring laser line characteristics on the detected object in the detection area, and determining the position of the detected object in the corresponding detection area according to the laser line characteristics.
3. The adaptive range finding three-dimensional imaging system according to claim 2, wherein the laser line characteristic is depth information of the laser line;
and determining the distance from the laser line on the detected object to one side edge of the detected area according to the depth information of the laser line, and determining the position of the detected object in the corresponding detection area according to the distance from the laser line to the one side edge of the detected area.
4. The adaptive range finding three-dimensional imaging system according to claim 2, wherein the laser line characteristic is the length of the laser line;
and determining the position of the detected object in the corresponding detection area according to the laser line characteristics.
5. The three-dimensional imaging system of adaptive detected distance according to claim 1, wherein the controller is further configured to:
and determining the angle of the reflector (3) corresponding to each detection area according to the relative position of the reflector (3) and the laser emitting device (1) and the laser emitting direction of the laser emitting device (1).
6. The three-dimensional imaging system of adaptive detected distance according to claim 1, wherein the controller is further configured to:
and determining the length range of the laser line on the detected object when the detected object is in the corresponding detection area according to the distance between the detection area and the laser emitting device (1) and the laser emitting angle of the laser emitting device (1).
7. A three-dimensional imaging method for adaptively detecting a distance, which is applied to the three-dimensional imaging system for adaptively detecting a distance according to any one of claims 1 to 6, the three-dimensional imaging method for adaptively detecting a distance comprising:
starting a laser emitting device (1) to emit laser to the detected object;
starting the imaging device (2), controlling the reflector (3) to rotate through the angle adjusting device, enabling the imaging device (2) to traverse all detection areas, and determining the detection area to which the current detected object belongs;
and judging the position of the detected object in the corresponding detection area, if the detected object is at the edge position of the corresponding detection area, controlling the reflector (3) to rotate through the angle adjusting device so as to enable the detected image to be at the middle position of the next detection area or the previous detection area, wherein the detection area comprises the middle position and the edge positions distributed on two sides of the middle position.
8. The three-dimensional imaging method capable of adaptively detecting distance according to claim 7, wherein the step of determining the position of the detected object in the corresponding detection area specifically comprises:
and acquiring laser line characteristics on the detected object in the detection area, and determining the position of the detected object in the corresponding detection area according to the laser line characteristics.
9. The method of adaptive range-finding three-dimensional imaging according to claim 8, wherein the laser line characteristic is depth information of the laser line;
and determining the distance from the laser line on the detected object to one side edge of the detected area according to the depth information of the laser line, and determining the position of the detected object in the corresponding detection area according to the distance from the laser line to the one side edge of the detected area.
10. The method of adaptive range three-dimensional imaging according to claim 8, wherein the laser line characteristic is a length of the laser line;
and determining the position of the detected object in the corresponding detection area according to the laser line characteristics.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211029411.4A CN115407478B (en) | 2022-08-25 | 2022-08-25 | Three-dimensional imaging system and method for self-adaptive detection distance |
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| CN202211029411.4A CN115407478B (en) | 2022-08-25 | 2022-08-25 | Three-dimensional imaging system and method for self-adaptive detection distance |
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| CN115407478A true CN115407478A (en) | 2022-11-29 |
| CN115407478B CN115407478B (en) | 2024-06-25 |
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