CN116224364A - Three-dimensional imaging system, method, device, equipment and storage medium - Google Patents
Three-dimensional imaging system, method, device, equipment and storage medium Download PDFInfo
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- CN116224364A CN116224364A CN202310512302.6A CN202310512302A CN116224364A CN 116224364 A CN116224364 A CN 116224364A CN 202310512302 A CN202310512302 A CN 202310512302A CN 116224364 A CN116224364 A CN 116224364A
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Abstract
The application provides a three-dimensional imaging system, a three-dimensional imaging method, a three-dimensional imaging device and a three-dimensional imaging storage medium, and belongs to the technical field of photoelectric control. The system comprises: the device comprises a control module, a laser emission module, a driving module, a laser receiving module, an area array detector and an image generation module; the control module is used for controlling the laser emission module to generate laser and emitting the laser to the target object and controlling the driving module to generate a driving signal; the driving module is used for controlling the laser receiving module to modulate the returned laser through the driving signal, and the laser receiving module is used for modulating the laser returned from the target object into a target optical signal; the area array detector is used for converting the target optical signal sent by the laser receiving module into a target electric signal and generating an intensity image of a target object based on the target electric signal; the image generation module is used for calculating a target three-dimensional image based on the intensity image of the target object under the control of the control module. The method and the device can improve the stability of the whole system and the accuracy of generating the three-dimensional image.
Description
Technical Field
The present disclosure relates to the field of photoelectric control technologies, and in particular, to a three-dimensional imaging system, a method, an apparatus, a device, and a storage medium.
Background
In many fields such as automobiles, entertainment, archaeology, aerospace, etc., it is often necessary to acquire high-resolution three-dimensional images of a target object.
In the prior art, the adopted high-resolution three-dimensional imaging method generally needs to modulate an optical signal by using at least two electro-optical modulators, divide the optical signal into two paths by using a polarization beam splitter, and then image the optical signal on two area array detectors, thereby obtaining a three-dimensional image of a target.
However, because the light path of the whole system is complex, the alignment and matching requirements on the two light paths after light splitting are very high, so that the propagation error of the light path is easy to occur, and the light intensity information acquired by the two area array detectors also can cause error occurrence due to the consistency problem of equipment setting, so that the stability and environmental adaptability of the whole system are poor.
Disclosure of Invention
The invention aims to provide a three-dimensional imaging system, a method, a device, equipment and a storage medium, which can improve the stability of the whole system and the accuracy of generating a three-dimensional image.
Embodiments of the present application are implemented as follows:
in one aspect of the embodiments of the present application, there is provided a three-dimensional imaging system, including: the device comprises a control module, a laser emission module, a driving module, a laser receiving module, an area array detector and an image generation module;
the control module is respectively connected with the laser emission module, the driving module, the area array detector and the image generation module, and is used for controlling the laser emission module to generate laser and emit the laser to the target object, and is also used for controlling the driving module to generate a driving signal;
the driving module is connected with the laser receiving module and is used for controlling the laser receiving module to modulate returned laser through a driving signal, and the laser receiving module is used for modulating the laser returned from the target object into a target optical signal;
the area array detector is connected with the laser receiving module and is used for converting the target optical signal sent by the laser receiving module into a target electric signal and generating an intensity image of a target object based on the target electric signal;
the image generation module is connected with the area array detector and is used for calculating a target three-dimensional image based on the intensity image of the target object under the control of the control module.
Optionally, the laser emitting module includes: the device comprises a laser, a beam splitting prism and a laser emission unit;
the laser is connected with the control module and is used for generating laser and sending the laser to the beam splitting prism under the control of the control module;
the beam splitting prism is used for refracting laser into the laser emission unit;
the laser emitting unit is used for refracting laser to the target object.
Optionally, the driving module includes: the photoelectric sensing element, the delay trigger and the driver;
the delay trigger is respectively connected with the photoelectric sensing element and the driver, and the delay trigger and the driver are respectively connected with the control module;
the beam splitting prism is also used for refracting laser into the photoelectric sensing element;
the photoelectric sensing element is used for triggering the delay trigger to work, and the delay trigger is used for correspondingly controlling the driver to generate and send out a driving signal at target time under the control of the control module.
Optionally, the photo-sensing element is a photodiode.
Optionally, the laser receiving module includes: a laser receiving unit and a polarization modulation device;
the polarization modulation device is connected with the driver to receive a driving signal from the driver;
the polarization modulation equipment is used for receiving the laser returned by the laser receiving unit, modulating the laser based on the driving signal to obtain a target optical signal, and sending the target optical signal to the area array detector.
Optionally, the three-dimensional imaging system further comprises: an imaging lens;
the polarization modulation device is used for transmitting the target optical signal to the area array detector through the imaging lens.
In another aspect of the embodiments of the present application, there is provided a three-dimensional imaging method applied to a control module in a three-dimensional imaging system, the method including:
controlling the laser emitting module to send first laser and controlling the driving module to generate a first driving signal, wherein the first driving signal is a monotonically increasing signal or a monotonically decreasing signal;
controlling the laser emitting module to send second laser and controlling the driving module to generate a second driving signal, wherein the second driving signal is a monotonically decreasing signal when the first driving signal is a monotonically increasing signal, and the second driving signal is a monotonically increasing signal when the first driving signal is a monotonically decreasing signal;
the control image generation module synthesizes a target three-dimensional image based on a first image and a second image, wherein the first image is a two-dimensional intensity image obtained by the area array detector based on first laser, and the second image is a two-dimensional intensity image obtained by the area array detector based on second laser.
In another aspect of the embodiments of the present application, there is provided a three-dimensional imaging apparatus applied to a control module in a three-dimensional imaging system, the apparatus including: a transmission control unit and a synthesis control unit;
The transmission control unit is used for controlling the laser emission module to transmit the first laser and controlling the driving module to generate a first driving signal, wherein the first driving signal is a monotonically increasing signal or a monotonically decreasing signal;
the transmission control unit is also used for controlling the laser emission module to transmit the second laser and controlling the driving module to generate a second driving signal, wherein the second driving signal is a monotonically decreasing signal when the first driving signal is a monotonically increasing signal, and the second driving signal is a monotonically increasing signal when the first driving signal is a monotonically decreasing signal;
and the synthesis control unit is used for controlling the image generation module to synthesize a target three-dimensional image based on a first image and a second image, wherein the first image is a two-dimensional intensity image obtained by the area array detector based on the first laser, and the second image is a two-dimensional intensity image obtained by the area array detector based on the second laser.
In another aspect of the embodiments of the present application, there is provided a computer device comprising: the system comprises a memory and a processor, wherein the memory stores various signals generated in the imaging process and stores a computer program which can be run on the processor, and when the processor executes the computer program, the steps of the three-dimensional imaging method are realized.
In another aspect of the embodiments of the present application, a computer-readable storage medium is provided, on which a computer program is stored which, when executed by a processor, implements the steps of a three-dimensional imaging method.
The beneficial effects of the embodiment of the application include:
in a three-dimensional imaging system, a method, an apparatus, a device, and a storage medium provided in embodiments of the present application, the three-dimensional imaging system may include: the device comprises a control module, a laser emission module, a driving module, a laser receiving module, an area array detector and an image generation module; the three-dimensional imaging system can respectively send a plurality of lasers under the control of the control module, and then a plurality of intensity images can be correspondingly obtained through the laser emitting module, the driving module, the laser receiving module, the area array detector and the image generating module.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered limiting the scope, and that other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of a system architecture of a three-dimensional imaging system according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of a laser emitting module in the three-dimensional imaging system according to the embodiment of the present application;
fig. 3 is a schematic structural diagram of a driving module in the three-dimensional imaging system according to the embodiment of the present application;
fig. 4 is a schematic structural diagram of a laser receiving module in the three-dimensional imaging system according to the embodiment of the present application;
FIG. 5 is a schematic diagram of the overall structure of a three-dimensional imaging system according to an embodiment of the present disclosure;
FIG. 6 is a timing diagram of a three-dimensional imaging system provided in an embodiment of the present application;
FIG. 7 is a composite view of a three-dimensional image of a target provided in an embodiment of the present application;
fig. 8 is a schematic flow chart of a three-dimensional imaging method according to an embodiment of the present application;
Fig. 9 is a schematic structural diagram of a three-dimensional imaging device according to an embodiment of the present application;
fig. 10 is a schematic structural diagram of a computer device according to an embodiment of the present application.
Icon: 100-a control module; 110-memory; a 120-processor; 200-a laser emission module; 210-a laser; 220-a beam-splitting prism; 230-a laser emission unit; 300-a driving module; 310-a photo-sensing element; 320-delay flip-flop; 330-a driver; 400-a laser receiving module; 410-a laser receiving unit; 420-polarization modulation device; 430-an imaging lens; 500-area array detector; 600-image generation module.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, which are generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, as provided in the accompanying drawings, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present application, it should be noted that the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.
Fig. 1 is a schematic system architecture diagram of a three-dimensional imaging system provided in an embodiment of the present application, referring to fig. 1, the three-dimensional imaging system includes: the device comprises a control module 100, a laser emitting module 200, a driving module 300, a laser receiving module 400, an area array detector 500 and an image generating module 600.
The control module 100 is respectively connected with the laser emission module 200, the driving module 300, the area array detector 500 and the image generation module 600, the control module 100 is used for controlling the laser emission module 200 to generate laser and emit the laser to the target object, and the control module 100 is also used for controlling the driving module 300 to generate a driving signal; the driving module 300 is connected with the laser receiving module 400, the driving module 300 is used for controlling the laser receiving module 400 to modulate returned laser through a driving signal, and the laser receiving module 400 is used for modulating the laser returned from the target object into a target optical signal; the area array detector 500 is connected with the laser receiving module 400, and the area array detector 500 is used for converting a target optical signal sent by the laser receiving module 400 into a target electric signal and generating an intensity image of a target object based on the target electric signal; the image generation module 600 is connected to the area array detector 500, and the image generation module 600 is configured to calculate a target three-dimensional image based on an intensity image of the target object under the control of the control module.
Alternatively, the control module 100 may be specifically any type of controller, such as: any type of controller such as a CPU (Central Processing Unit ) or MCU (Microcontroller Unit, micro control unit) is not particularly limited herein, and any processing device that can implement overall control may be used.
The laser emitting module 200 may be a module for emitting laser light to a target object, specifically may generate corresponding laser light under the control of the control module 100, and the relevant attribute of each emitted laser light may be configured in advance.
The driving module 300 may be a timing driving module, and may generate a corresponding driving signal after the laser emitting module 200 emits the laser, and then send the driving signal to the laser receiving module 400 for driving.
The laser receiving module 400 may be configured to receive laser light returned from the target object, and modulate the returned laser light under the control of the driving signal, to obtain a corresponding target optical signal, and send the target optical signal to the area array detector 500.
The area array detector 500 may be a device for converting an optical signal into an electrical signal, for example, may be a CCD (Charge-coupled device) detector, a CMOS (Complementary Metal Oxide Semiconductor ) detector, an EMCCD (Electron-multiplexing CCD, electron Multiplying CCD, etc.), and the area array detector 500 may convert a received target optical signal into a target electrical signal and obtain an intensity image of a target object based on the target electrical signal, and it should be noted that the intensity image may be a two-dimensional image and may transmit the intensity image to the image generating module 600.
It should be noted that, under the control of the control module 100, a plurality of intensity images may be obtained by the above method, for example, two intensity images may be obtained and may be respectively sent to the image generating module 600, and the image generating module 600 may be any type of image processor, for example: the GPU (Graphics Processing Unit, graphics processor) may perform image resolution on the image generation module 600 according to the multiple intensity images, so as to obtain a target three-dimensional image, that is, obtain the target three-dimensional image based on the multiple two-dimensional intensity images.
The operation of the three-dimensional imaging system is explained in detail as follows:
taking two laser emissions as an example, first, under the control of the control module 100, the laser emission module 200 may emit a first laser to the target object, after the first laser emission, the driving module 300 may generate a first driving signal, the laser receiving module 400 may receive the first laser returned from the target object, the laser receiving module may convert the first laser into a first target optical signal under the driving of the first driving signal, and send the first target optical signal to the area array detector 500, the area array detector 500 converts the first target optical signal into a first target electrical signal, and obtains a first image based on the first target electrical signal, where the first image is an intensity image, and may send the first image to the image generating module 600; further, under the control of the control module 100, the laser emission module 200 may emit a second laser to the target object, after the second laser is emitted, the driving module 300 may generate a second driving signal (it should be noted that, the first driving signal and the second driving signal may be different signals, for example, one of the first driving signal and the second driving signal is an increasing signal, and the other of the first driving signal and the second driving signal is a decreasing signal), the laser receiving module 400 may receive the second laser returned from the target object, and the laser receiving module may convert the second laser into a second target optical signal and obtain a second image based on the second target optical signal, where the second image is another intensity image, and may send the second image to the image generating module 600, and the image generating module 600 may generate a target three-dimensional image that meets the requirement based on the first image and the second intensity image under the control of the control module 100.
Since the first image and the second image are different intensity images generated for the same target object and different driving signals, the target three-dimensional image can be obtained by resolving the intensity information of the images.
In one three-dimensional imaging system provided in an embodiment of the present application, the three-dimensional imaging system may include: the device comprises a control module, a laser emission module, a driving module, a laser receiving module, an area array detector and an image generation module; the three-dimensional imaging system can respectively send a plurality of lasers under the control of the control module, and then a plurality of intensity images can be correspondingly obtained through the laser emitting module, the driving module, the laser receiving module, the area array detector and the image generating module.
The specific structure of the laser emitting module and the connection relation of the contained structure in the above three-dimensional imaging system are explained in detail below.
Fig. 2 is a schematic structural diagram of a laser emitting module in a three-dimensional imaging system according to an embodiment of the present application, referring to fig. 2, a laser emitting module 200 includes: a laser 210, a beam splitting prism 220, and a laser emitting unit 230.
The laser 210 is connected with the control module 100, and the laser 210 is used for generating laser and sending the laser to the beam splitting prism 220 under the control of the control module 100; the beam-splitting prism 220 is used to refract the laser light into the laser light emitting unit 230; the laser light emitting unit 230 is used to refract laser light toward a target object.
It should be noted that, the laser 210 may be a device that generates laser light, and may emit corresponding laser light under the control of the control module 100, where the beam splitter prism 220 and the laser emission unit 230 are optical devices, and no corresponding electrical connection structure may be provided, and when the laser 210 emits laser light, the beam splitter prism 220 may be aligned for emission. The beam-splitting prism 220 may re-transmit the laser light to the laser light emitting unit 230 and refract the laser light by aiming the laser light emitting unit 230 at the target object. The laser 210 may be a pulse laser, and the wavelength of the emitted laser light may be selected to be a wavelength band with high quantum efficiency of the area array detector 500, which is not particularly limited herein.
The beam splitter prism 220 is used to split the laser beam and divide the transmitted laser beam into two parts, wherein a larger part of the laser beam can be refracted to the target object through the laser emitting unit 230 and a smaller part of the laser beam can be transmitted to the driving module 300.
In the three-dimensional imaging system provided in the embodiment of the present application, the laser emission module may include: the laser comprises a laser, a beam splitting prism and a laser emitting unit. The laser is connected with the control module and used for generating laser and sending the laser to the beam splitting prism under the control of the control module; the beam splitting prism is used for refracting laser into the laser emission unit; the laser emitting unit is used for refracting laser to the target object. The specific structure of the laser emitting module can realize the generation and distribution of laser and the transmission to a target object, so that the laser transmitting process can be more stably completed.
The specific structure of the driving module and the connection relation of the included structures in the above three-dimensional imaging system are specifically explained below.
Fig. 3 is a schematic structural diagram of a driving module in the three-dimensional imaging system according to the embodiment of the present application, referring to fig. 3, the driving module 300 includes: a photo-sensing element 310, a delay trigger 320 and a driver 330.
The delay trigger 320 is connected with the photoelectric sensing element 310 and the driver 330 respectively, and the delay trigger 320 and the driver 330 are connected with the control module 100 respectively; the beam splitter prism 220 is further used for refracting laser light into the photo-sensing element 310; the photo sensing element 310 is used for triggering the delay trigger 320 to work, and the delay trigger 320 is used for correspondingly controlling the driver 330 to generate and send out a driving signal at a target time under the control of the control module 100.
It should be noted that, the photo-sensing element 310 may be a device that converts an optical signal into an electrical signal, and the photo-sensing element 310 may convert a small portion of the laser light split by the beam splitter 220 into an electrical signal and send the electrical signal to the delay trigger 320.
The delay trigger 320 may be a device for timing triggering, and may be activated after receiving an electrical signal sent by the photo sensing element 310, and control the driver 330 to operate to generate a driving signal after the activation.
The driver 330 may generate a driving signal, and may generate different driving signals when the laser is transmitted multiple times to the same target object, for example: the first time a monotonically increasing drive signal may be generated and the second time a monotonically decreasing drive signal may be generated.
Alternatively, the photo-sensing element 310 may be a photodiode in particular.
In the three-dimensional imaging system provided in the embodiment of the present application, the driving module may include: the photoelectric sensing element, the delay trigger and the driver; the delay trigger is respectively connected with the photoelectric sensing element and the driver, and the delay trigger and the driver are respectively connected with the control module; the beam splitting prism is also used for refracting laser into the photoelectric sensing element; the photoelectric sensing element is used for triggering the delay trigger to work, and the delay trigger is used for correspondingly controlling the driver to generate and send out a driving signal at target time under the control of the control module. The laser transmitting module and the laser receiving module can be synchronized through the driving module, so that the synchronism and the stability of the whole three-dimensional imaging system are improved.
The specific structure of the laser receiving module and the connection relation of the contained structure in the above three-dimensional imaging system are specifically explained below.
Fig. 4 is a schematic structural diagram of a laser receiving module in the three-dimensional imaging system provided in the embodiment of the present application, referring to fig. 4, a laser receiving module 400 includes: a laser receiving unit 410, a polarization modulation device 420.
Wherein the polarization modulation device 420 is connected to the driver 330 to receive the driving signal from the driver 330; the polarization modulation device 420 is configured to receive the laser light returned by the laser light receiving unit 410, modulate the laser light based on the driving signal, obtain a target optical signal, and send the target optical signal to the area array detector 500.
Alternatively, the laser light receiving unit 410 may correspond to the role of the laser light emitting unit 230, may be an optical element for receiving the laser light returned from the target object, and may transmit the returned laser light to the polarization modulation device 420. The laser receiving unit 410 may perform filtering, collimation, and the like on the returned laser light.
The polarization modulation device 420 may first polarize the return laser light to convert it into linearly polarized light; then, under the action of a driving signal applied by the driver 330, the polarization state of the laser light is modulated, and the linearly polarized light is converted into elliptically polarized light; and after modulation, carrying out polarization analysis on the laser, converting elliptical polarized light into linear polarized light, and obtaining a target optical signal.
The polarization modulation device 420 used in the system may be an elasto-optical modulation device, an acousto-optic modulation device, a magneto-optic modulation device, an electro-optic modulation device, or the like, which can change the polarization state of an optical signal monotonically with a driving signal.
Optionally, the three-dimensional imaging system further comprises: an imaging lens 430; the polarization modulation device 420 is used to transmit the target optical signal to the area array detector 500 through the imaging lens 430.
It should be noted that the imaging lens may be an optical element, so that the forwarding of the target optical signal may be implemented, and the target optical signal may be sent to the area array detector by the polarization modulation device 420.
In the three-dimensional imaging system provided in the embodiment of the application, the laser receiving module includes: a laser receiving unit and a polarization modulation device; the polarization modulation device is connected with the driver to receive a driving signal from the driver; the polarization modulation equipment is used for receiving the laser returned by the laser receiving unit, modulating the laser based on the driving signal to obtain a target optical signal, and sending the target optical signal to the area array detector. The laser receiving module can modulate the laser, so that a more accurate target optical signal is obtained, and the photoelectric conversion efficiency of the area array detector can be improved.
In order to more fully explain the three-dimensional imaging system provided in the embodiments of the present application, the three-dimensional imaging system is explained below based on the overall structure.
Fig. 5 is a schematic overall structure of the three-dimensional imaging system provided in the embodiment of the present application, and referring to fig. 5, a specific structure of the system has been specifically described above, and a detailed description is omitted herein, and an operation principle of the three-dimensional imaging system is specifically explained below based on the overall structure.
Fig. 6 is a timing chart of the three-dimensional imaging system according to the embodiment of the present application, please refer to fig. 5 and fig. 6 in combination.
Taking two lasers as examples, the control module outputs a signal to drive the laser 210 to emit first laser light at the time t=0s, most of energy is irradiated on the target object by the laser emission unit 230 when the first laser light passes through the beam splitting prism 220, and the small energy is converted into an electrical signal after being acted by the photoelectric sensing element 310, and the delay trigger 320 is activated. Under the control of the control module 100 and the delay trigger 320, the area array detector 500 starts to operate at time t0, and the driver 330 applies a first driving signal that monotonically increases to the polarization modulation device 420 at time t0, where the expression of the first driving signal is:
wherein, the liquid crystal display device comprises a liquid crystal display device,
for a time value relative to the first laser emission, < >>
Is->
The intensity of the drive signal acting on the polarization-modulating device at the moment, is->
The drive signal strength required to induce the desired polarization state change of the system,/for example>
For the time required for monotonic variation of the drive signal value, t0 is the moment at which the application of the drive signal on the polarization modulation device is started.
Optionally, the laser light returned from each point on the target object is all
]Arrives at the three-dimensional imaging system and is filtered, collimated by the laser receiving unit 410 and transmitted to the polarization modulation device 420. The polarization modulation device 420 first polarizes the return laser light, converting it into linearly polarized light; then, under the action of a driving signal applied by the driver 330, the polarization state of the laser light is modulated, and the linearly polarized light is converted into elliptically polarized light; after modulation, carrying out polarization analysis on the laser, and converting elliptical polarized light into linear polarized light; thereafter, the target optical signal is transmitted to the area array detector 500 by the imaging lens 430. Because the distances between the points on the target object and the three-dimensional imaging system are different, the return time is different, and the intensity of the driving signal correspondingly applied to the polarization modulation device 420 is also different, because The polarization states of the returned laser lights from each point on the polarized target bear different modulation degrees of the polarization modulation device 420, and the energy of the optical signals entering the area array detector 500 after polarization detection is also different. After receiving the target optical signal, the area array detector 500 converts the target optical signal into a target electrical signal, and the image generating module 600 converts the target electrical signal into a digital image and stores the digital image, wherein the light intensity recorded by each pixel on the area array detector 500 is I1 (X, Y), so as to obtain a first image.
The control module 100 outputs a signal to drive the laser 210 to emit a second laser light at time T0, most of the energy is irradiated on the target by the laser emitting unit 230 when the second laser light passes through the beam splitter prism 220, and a small part of the energy is converted into an electrical signal after being acted by the photo-sensing element 310, and the delay trigger 320 is activated. Under the control of the control module 100 and the delay trigger 320, the area array detector 500 starts to operate at time t0+t0, and the driver 330 applies a monotonically decreasing second driving signal to the polarization modulation device 420 at time t0+t0, where the expression of the second driving signal is:
under the action of the second laser, the laser returned from each point on the target object is all
]Arrives at the three-dimensional imaging system and is filtered, collimated by the laser receiving unit 410 and transmitted to the polarization modulation device 420. The polarization modulation device 420 first polarizes the return laser light, converting it into linearly polarized light; then, under the action of a driving signal applied by the driver 330, the polarization state of the laser light is modulated, and the linearly polarized light is converted into elliptically polarized light; after modulation, carrying out polarization analysis on the laser, and converting elliptical polarized light into linear polarized light; thereafter, the target optical signal is transmitted to the area array detector 500 by the imaging lens 430. After receiving the target optical signal, the area array detector 500 converts the target optical signal into a target electrical signal, the image generating module 600 converts the target electrical signal into a digital image, and stores the digital image, wherein the light intensity recorded by each pixel on the area array detector 500 is I2 (X Y), a second image is obtained.
After the first image and the second image are acquired, the control module 100 outputs a signal to drive the image generation module 600 to calculate the target three-dimensional image from the intensity information of the two images. The distance between each point on the target and the three-dimensional imaging system can be expressed as:
wherein, the liquid crystal display device comprises a liquid crystal display device,
for phase delay, the calculation is performed according to the light intensity information of the two imaging:
wherein the sum of the two light intensities
. In case the distance between the target object and the three-dimensional imaging system is larger than the target size, the light intensity of the target three-dimensional image is +.>
Can be approximated as:
wherein, the liquid crystal display device comprises a liquid crystal display device,
for the optical system efficiency->
For the reflectivity of the target +.>
For the transmissivity of laser light propagating in the medium between the target object and the three-dimensional imaging system +.>
For the light transmission diameter of the laser receiving unit, +.>
Is the laser emission power.
Fig. 7 is a composite view of a target three-dimensional image provided in an embodiment of the present application, please refer to fig. 7, wherein a in fig. 7 is a first image, b is a second image, and c is a target three-dimensional image.
The following specifically explains the implementation procedure of the three-dimensional imaging method provided in the embodiment of the present application.
Fig. 8 is a flow chart of a three-dimensional imaging method provided in an embodiment of the present application, please refer to fig. 8, the method includes:
S810: the laser emitting module is controlled to send first laser, and the driving module is controlled to generate a first driving signal.
Wherein the first driving signal is a monotonically increasing signal or a monotonically decreasing signal.
Alternatively, the execution body of the method may be a control module in the three-dimensional imaging system, and the control module may send the first laser to the laser emitting module and control the driving module to generate the first driving signal.
The first laser returns to the laser receiving module through the target object, the laser receiving module modulates the laser under the drive of the first driving signal to obtain a first target optical signal, and the first target optical signal is converted into a first target electric signal through the area array detector, so that a first image is obtained.
S820: and controlling the laser emitting module to send the second laser and controlling the driving module to generate a second driving signal.
Wherein the second driving signal is a monotonically decreasing signal when the first driving signal is a monotonically increasing signal, and the second driving signal is a monotonically increasing signal when the first driving signal is a monotonically decreasing signal.
The control module may send the second laser to the laser emitting module and control the driving module to generate the second driving signal.
The second laser returns to the laser receiving module through the target object, the laser receiving module modulates the laser under the drive of the second driving signal to obtain a second target optical signal, and the second target optical signal is converted into a second target electric signal through the area array detector, so that a second image is obtained.
S830: the control image generation module synthesizes the target three-dimensional image based on the first image and the second image.
The first image is an intensity image obtained by the area array detector based on the first laser, and the second image is an intensity image obtained by the area array detector based on the second laser.
In the three-dimensional imaging method provided by the embodiment of the application, the laser emitting module can be controlled to send the first laser, and the driving module is controlled to generate the first driving signal; controlling the laser emitting module to send second laser and controlling the driving module to generate a second driving signal; the control image generation module synthesizes the target three-dimensional image based on the first image and the second image. The three-dimensional imaging system can respectively send a plurality of lasers under the control of the control module, and then a plurality of intensity images can be correspondingly obtained through the laser emitting module, the driving module, the laser receiving module, the area array detector and the image generating module.
The following describes a device, an apparatus, a storage medium, etc. corresponding to the three-dimensional imaging method provided by the present application, and specific implementation processes and technical effects of the device, the apparatus, the storage medium, etc. are referred to above, and are not described in detail below.
Fig. 9 is a schematic structural diagram of a three-dimensional imaging device provided in an embodiment of the present application, referring to fig. 9, the device includes: a transmission control unit 910 and a composition control unit 920;
a transmission control unit 910, configured to control the laser emission module to transmit the first laser, and control the driving module to generate a first driving signal, where the first driving signal is a monotonically increasing signal or a monotonically decreasing signal;
the transmission control unit 910 is further configured to control the laser emitting module to transmit the second laser, and control the driving module to generate a second driving signal, where the second driving signal is a monotonically decreasing signal when the first driving signal is a monotonically increasing signal, and the second driving signal is a monotonically increasing signal when the first driving signal is a monotonically decreasing signal;
the synthesis control unit 920 is configured to control the image generation module to synthesize the three-dimensional image of the target based on a first image and a second image, where the first image is an intensity image obtained by the area array detector based on the first laser, and the second image is an intensity image obtained by the area array detector based on the second laser.
In the three-dimensional imaging device provided by the embodiment of the application, the laser emitting module can be controlled to send the first laser, and the driving module is controlled to generate the first driving signal; controlling the laser emitting module to send second laser and controlling the driving module to generate a second driving signal; the control image generation module synthesizes the target three-dimensional image based on the first image and the second image. The three-dimensional imaging system can respectively send a plurality of lasers under the control of the control module, and then a plurality of intensity images can be correspondingly obtained through the laser emitting module, the driving module, the laser receiving module, the area array detector and the image generating module.
The foregoing apparatus is used for executing the method provided in the foregoing embodiment, and its implementation principle and technical effects are similar, and are not described herein again.
The above modules may be one or more integrated circuits configured to implement the above methods, for example: one or more application specific integrated circuits (Application Specific Integrated Circuit, abbreviated as ASICs), or one or more microprocessors, or one or more field programmable gate arrays (Field Programmable Gate Array, abbreviated as FPGAs), etc. For another example, when a module above is implemented in the form of a processing element scheduler code, the processing element may be a general-purpose processor, such as a central processing unit (Central Processing Unit, CPU) or other processor that may invoke the program code. For another example, the modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).
Fig. 10 is a schematic structural diagram of a computer device provided in an embodiment of the present application, referring to fig. 10, the computer device includes: the device comprises a memory 110 and a processor 120, wherein the memory 110 stores various signals generated in the imaging process and stores a computer program which can be run on the processor 120, and the processor 120 realizes the steps of the three-dimensional imaging method when executing the computer program.
It should be noted that the computer device may be specifically the control module.
In another aspect of the embodiments of the present application, there is also provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of a three-dimensional imaging method.
In the several embodiments provided by the present invention, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of elements is merely a logical functional division, and there may be additional divisions of actual implementation, e.g., multiple elements or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in hardware plus software functional units.
The integrated units implemented in the form of software functional units described above may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium, and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (english: processor) to perform part of the steps of the methods of the embodiments of the invention. And the aforementioned storage medium includes: u disk, mobile hard disk, read-Only Memory (ROM), random access Memory (Random Access Memory, RAM), magnetic disk or optical disk, etc.
The foregoing is merely a specific embodiment of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes or substitutions are covered by the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the same, but rather, various modifications and variations may be made by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.
Claims (10)
1. A three-dimensional imaging system, comprising: the device comprises a control module, a laser emission module, a driving module, a laser receiving module, an area array detector and an image generation module;
the control module is respectively connected with the laser emission module, the driving module, the area array detector and the image generation module, and is used for controlling the laser emission module to generate laser and emit the laser to a target object, and the control module is also used for controlling the driving module to generate a driving signal;
the driving module is connected with the laser receiving module and is used for controlling the laser receiving module to modulate returned laser through a driving signal, and the laser receiving module is used for modulating the laser returned from a target object into a target optical signal;
The area array detector is connected with the laser receiving module, and is used for converting the target optical signal sent by the laser receiving module into a target electric signal and generating an intensity image of a target object based on the target electric signal;
the image generation module is connected with the area array detector and is used for calculating a target three-dimensional image based on the intensity image of the target object under the control of the control module.
2. The three-dimensional imaging system of claim 1, wherein the laser emitting module comprises: the device comprises a laser, a beam splitting prism and a laser emission unit;
the laser is connected with the control module and is used for generating laser and sending the laser to the beam splitting prism under the control of the control module;
the beam splitting prism is used for refracting laser into the laser emission unit;
the laser emitting unit is used for refracting laser to the target object.
3. The three-dimensional imaging system of claim 2, wherein the drive module comprises: the photoelectric sensing element, the delay trigger and the driver;
the delay trigger is respectively connected with the photoelectric sensing element and the driver, and the delay trigger and the driver are respectively connected with the control module;
The beam splitting prism is also used for refracting laser into the photoelectric sensing element;
the photoelectric sensing element is used for triggering the delay trigger to work, and the delay trigger is used for correspondingly controlling the driver to generate and send out a driving signal at target time under the control of the control module.
4. The three-dimensional imaging system of claim 3, wherein the photo-sensing element is a photodiode.
5. The three-dimensional imaging system of claim 3, wherein the laser receiving module comprises: a laser receiving unit and a polarization modulation device;
the polarization modulation device is connected with the driver to receive a driving signal from the driver;
the polarization modulation equipment is used for receiving the laser returned by the laser receiving unit, modulating the laser based on the driving signal to obtain a target optical signal, and sending the target optical signal to the area array detector.
6. The three-dimensional imaging system of claim 5, wherein the three-dimensional imaging system further comprises: an imaging lens;
the polarization modulation device is used for sending the target optical signal to the area array detector through the imaging lens.
7. A method of three-dimensional imaging, wherein the method is applied to a control module in a three-dimensional imaging system according to any one of claims 1-6, the method comprising:
controlling a laser emitting module to send first laser and controlling the driving module to generate a first driving signal, wherein the first driving signal is a monotonically increasing signal or a monotonically decreasing signal;
controlling a laser emitting module to send second laser and controlling the driving module to generate a second driving signal, wherein the second driving signal is a monotonically decreasing signal when the first driving signal is a monotonically increasing signal, and the second driving signal is a monotonically increasing signal when the first driving signal is a monotonically decreasing signal;
the control image generation module synthesizes a target three-dimensional image based on a first image and a second image, wherein the first image is a two-dimensional intensity image obtained by an area array detector based on the first laser, and the second image is a two-dimensional intensity image obtained by an area array detector based on the second laser.
8. A three-dimensional imaging device, characterized in that the device is applied to a control module in a three-dimensional imaging system according to any one of claims 1-6, the device comprising: a transmission control unit and a synthesis control unit;
The transmission control unit is used for controlling the laser transmitting module to transmit first laser and controlling the driving module to generate a first driving signal, wherein the first driving signal is a monotonically increasing signal or a monotonically decreasing signal;
the sending control unit is further used for controlling the laser emitting module to send second laser and controlling the driving module to generate a second driving signal, wherein the second driving signal is a monotonically decreasing signal when the first driving signal is a monotonically increasing signal, and the second driving signal is a monotonically increasing signal when the first driving signal is a monotonically decreasing signal;
the synthesis control unit is used for controlling the image generation module to synthesize a target three-dimensional image based on a first image and a second image, wherein the first image is a two-dimensional intensity image obtained by the area array detector based on the first laser, and the second image is a two-dimensional intensity image obtained by the area array detector based on the second laser.
9. A computer device, comprising: memory, processor, the memory keeps the various signals that produce in the imaging process, and store the computer program that can run on the said processor, when carrying out the said computer program, realizes the step of the method of claim 7.
10. A computer readable storage medium, characterized in that the storage medium has stored thereon a computer program which, when executed by a processor, implements the steps of the method of claim 7.
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