CN202631778U - Structured light generation device and miniature three-dimensional imaging device - Google Patents
Structured light generation device and miniature three-dimensional imaging device Download PDFInfo
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- CN202631778U CN202631778U CN201220310863.5U CN201220310863U CN202631778U CN 202631778 U CN202631778 U CN 202631778U CN 201220310863 U CN201220310863 U CN 201220310863U CN 202631778 U CN202631778 U CN 202631778U
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- structured light
- optical fiber
- fiber bundle
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/06—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements
- A61B1/0605—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements for spatially modulated illumination
Abstract
The utility model relates to a structured light generation device and a miniature three-dimensional imaging device. The structured light generation device comprises an imaging optical fiber bundle and a light source device, wherein the imaging optical fiber bundle comprises an entrance end and an exit end, and the light source device is used for generating structured light; and the light source device is located at one side of the entrance end of the imaging optical fiber bundle, so that the generated structured light can be input through the entrance end and output through the exit end. The miniature three-dimensional imaging device comprises the structured light generation device, an image sensor and a carrier, wherein the image sensor is used for acquiring images of objects under the irradiation of the structured light generated by the structured light generation device, and the carrier is used for carrying the imaging optical fiber bundle of the structured light generation device and the image sensor; and both the exit end of the imaging optical fiber bundle and the image sensor are fixed at one end of the carrier. The structured light generation device disclosed by the utility model is smaller in volume. One end of the miniature three-dimensional imaging device (e.g. the detection end of an endoscope) disclosed by the utility model can have a smaller size.
Description
Technical field
The utility model relates to three-dimensional surface imaging (three-dimensional surface imaging) field, relates in particular to a kind of structured light generating means and has the miniature three-dimensional imaging device of this structured light generating means.
Background technology
The traditional design of structured light generator normally is made up of projector, complex structure, and cost is high, and can't accomplish miniaturization, microminiaturization.Especially for being similar to the such miniature imaging system of miniature three-dimensional imaging device, the volume of front-end probe is very little, can't hold the structured light generator according to traditional structural design.
Fig. 1 and Fig. 2 are respectively the synoptic diagram of two kinds of traditional structured light generation systems.Structured light generation systems among Fig. 1 utilizes light source and structured light wave filter to produce structured light projection, and this system comprises light source 1 and structured light filter plate 3, and the light that is produced by light source 1 forms projected image through the modulation of structured light filter plate 3 on target object.
Structured light generation systems among Fig. 2 utilizes conventional images or video projector 4 directly to produce required structured light projection image.
Can produce required structured light projection although be similar to structured light generator illustrated in figures 1 and 2; But the volume of this structured light generator itself is bigger; Narrow in application range generally can not directly be used for miniature three-dimensional imaging device miniature three-dimensional imaging devices such as endoscope, probe.
The utility model content
Provide brief overview hereinafter, so that the basic comprehension about some aspect of the utility model is provided about the utility model.Should be appreciated that this general introduction is not the exhaustive general introduction about the utility model.It is not key or the pith that intention is confirmed the utility model, neither be intended to limit the scope of the utility model.Its purpose only is to provide some notion with the form of simplifying, with this as the preorder in greater detail of argumentation after a while.
A fundamental purpose of the utility model is to provide little structured light generating means of a kind of volume and the miniature three-dimensional imaging device of using this device.
For realizing above-mentioned purpose, the utility model provides a kind of structured light generating means, comprising:
Imaging optical fiber bundle comprises incident end and exit end;
Light supply apparatus is used to produce structured light;
This light supply apparatus is positioned at incident end one side of this imaging optical fiber bundle, so that the structured light that produces is exported through the incident end input of this imaging optical fiber bundle and through the exit end of this imaging optical fiber bundle.
For realizing above-mentioned purpose, the utility model also provides a kind of miniature three-dimensional imaging device, comprises the said structure light generating apparatus, also comprises:
Imageing sensor is used to gather the image of the object under the structured light irradiation that the structured light generating means produces;
Carrier is used for the imaging optical fiber bundle of bearing structure light generating apparatus and the input end of imageing sensor, and wherein, the exit end of imaging optical fiber bundle and the input end of imageing sensor all are fixed on an end of said carrier.
The structured light generating means of the utility model adopts the light of imaging optical fiber bundle transmission light source device to produce required structured light, has dwindled the volume of structure light generating apparatus greatly.The miniature three-dimensional imaging device of the utility model adopts the said structure light generating apparatus to adopt the structured light generating means of above-mentioned miniaturization, can with the size of an end (the for example end of probe of endoscope) do very little.
Description of drawings
With reference to below in conjunction with the explanation of accompanying drawing, can understand the above of the utility model and other purpose, characteristics and advantage to the utility model embodiment with being more prone to.Parts in the accompanying drawing are just in order to illustrate the principle of the utility model.In the accompanying drawings, identical or similar techniques characteristic or parts will adopt identical or similar Reference numeral to represent.
Fig. 1 and Fig. 2 are respectively the synoptic diagram of two kinds of traditional structured light generation systems.
The structural representation of a kind of embodiment of the structured light generating means that Fig. 3 provides for the utility model.
Fig. 4 is the synoptic diagram that utilizes the structured light generating means generation rainbow structured light of Fig. 3.
Fig. 5 produces the synoptic diagram of the spatial lighting that spectral wavelength changes for the utility model utilizes prism in particular range.
Fig. 6 produces the synoptic diagram of the spatial lighting that spectral wavelength changes for the utility model utilizes diffraction grating in particular range.
Fig. 7 produces the synoptic diagram of the spatial lighting that spectral wavelength changes for the utility model utilizes the iridescence wave filter in particular range.
Fig. 8 carries out the synoptic diagram that three dimensional surface data is gathered for the structured light that the utility model utilizes the structured light generating means of the utility model to produce.
The process flow diagram of first embodiment of the structured light disposal route that Fig. 9 provides for the utility model.
The process flow diagram of second embodiment of the structured light disposal route that Figure 10 provides for the utility model.
The structural representation of a kind of embodiment of the miniature three-dimensional imaging device that Figure 11 provides for the utility model.
Embodiment
The embodiment of the utility model is described with reference to the accompanying drawings.Element and the characteristic in the accompanying drawing of the utility model or a kind of embodiment, described can combine with element and the characteristic shown in one or more other accompanying drawing or the embodiment.Should be noted that for purpose clearly, omitted and the utility model parts irrelevant, that those of ordinary skills are known and the expression and the description of processing in accompanying drawing and the explanation.
The utility model provides a kind of structured light generating means, comprising:
Imaging optical fiber bundle comprises incident end and exit end;
Light supply apparatus is used to produce structured light;
Said light supply apparatus is positioned at incident end one side of said imaging optical fiber bundle, so that the structured light that produces is exported through the incident end input of said imaging optical fiber bundle and through the exit end of said imaging optical fiber bundle.
The structured light generating means of the utility model adopts imaging fibre transmission structure light, compares traditional structured light generator, and volume can reduce greatly, therefore can be applied in the miniature three-dimensional imaging devices such as endoscope, probe.
With reference to figure 3, in embodiment 1, the structured light generating means of the utility model comprises imaging optical fiber bundle 10 and light supply apparatus 20.Imaging optical fiber bundle 10 comprises incident end 11 and exit end 12.Light supply apparatus 20 is used to produce structured light.Light supply apparatus 20 is positioned at a side of the incident end 11 of imaging optical fiber bundle 10, so that the structured light that produces is exported through incident end 11 inputs of imaging optical fiber bundle 10 and through the exit end 12 of imaging optical fiber bundle 10.This structured light can be the arbitrary structures light image, like " 3D " graph image among Fig. 3.
In the present embodiment, imaging optical fiber bundle 10 comprises the optical fiber of a plurality of orderly arrangements.Because these a plurality of optical fiber are to arrange in order, the characteristic that is coupled to the image of incident end 11 remains unchanged through Optical Fiber Transmission, i.e. the image of incident end 11 receptions can be transferred to exit end 12 unchangeably.The image of exit end 12 can be directly or the image projection that the structured light generating means produced through optical element to target object.
Embodiment 2
As shown in Figure 4, embodiment 2 is that with the difference of embodiment 1 light supply apparatus specifically can be: the light supply apparatus that is used to produce the structured light that spectral wavelength changes in specific scope.That is to say that the structured light that light supply apparatus 20 produces can be the spatial lighting that spectral wavelength changes in specific scope, like iridescence.This spatial lighting is transferred in the imaging optical fiber bundle 10 through the incident end 11 of imaging optical fiber bundle 10, and is exported by the exit end 12 of imaging optical fiber bundle 10, and the spatial lighting after the output can directly or through the projection optics element project on the target object.
With reference to figure 5-7; Embodiment 1 is that with the difference of embodiment 1,2 light supply apparatus 20 can produce this spatial lighting through several different methods, alternatively; Light supply apparatus 20 can comprise white light source 21 and light-dividing device, and the white light that white light source 21 produces produces this spatial lighting after the light-dividing device beam split.
Alternatively, light-dividing device can be prism 22a, the grating 22b among Fig. 6 or the iridescence wave filter 22c among Fig. 7 among Fig. 5.
Embodiment 3a
Among Fig. 5, prism 22a is used to decompose the composition of the light of white light source 21 emissions, makes light present the color of original spectrum.Because refractive index is relevant with light frequency, mixing the white light entering prism of various frequencies after, the light of different frequency has received deviation in various degree, has produced spectral wavelength continually varying spatial lighting in specific scope.
Embodiment 3b
Among Fig. 6, grating 22b can be diffraction grating, and the white light that white light source 21 sends repeats no more at this through forming this spectral wavelength continually varying spatial lighting in specific scope behind the diffraction of diffraction grating.
Embodiment 3c
Among Fig. 7, adopted the iridescence wave filter as light-dividing device, iridescence wave filter 22c is a kind of special optical device, and the light frequency that it is penetrated in each different horizontal position is different, and promptly penetrating wavelength X is the function of horizontal level x: λ=F (x).Behind the light process iridescence wave filter 22c of white light source 21 emissions, the wavelength of the light that each angle projects is different, and promptly penetrating wavelength X is the function of shooting angle θ: λ=H (θ).
Directly adopt spectral wavelength continually varying spatial lighting in particular range can reduce manufacturing cost as structured light; And because wavelength change; Can accurately identify the corresponding shooting angle of structured light each point, for obtaining of follow-up three-dimensional data laid a good foundation.
With reference to figure 8, when using the structured light generating means of the utility model, the structured light generating means of the utility model can throw the light with certain space and/or time Changing Pattern: I, and (u v), generates projected image on the target object surface.The variation of projected image is relevant with the three-dimension curved surface shape on target object surface with degreeof tortuosity.Imageing sensor collection capable of using has the image of the target object of structured light projection, and the image of gathering is handled and analyzed, draw corresponding to each pixel (i, three-dimensional data j) (xij, yij, zij), i=1,2 ... I, j=1,2 ... J.
As shown in Figure 8; Utilize structured light can identify the emergence angle θ of the pairing projection ray of each pixel in the image of collection exactly, and pairing imageing sensor 30 emergence angle of each pixel
can be drawn by the calibrating parameters of imageing sensor 30.Therefore, the distance R at target object surface distance sensor optics center can be drawn by following formula:
Wherein, B is the distance of optical centre of optical centre and the structured light generating means of imageing sensor 30, and in the present embodiment, the distance of the optical centre of structured light generating means can be, for example, and the center of imaging optical fiber bundle exit end.According to the relative space relation of imageing sensor 30 and structured light generating means, can draw D coordinates value (xij, the yij of target object surface each point (for example putting P) by the distance R of target object surface distance imageing sensor 30 optical centres; Zij), i=1,2; I, j=1,2; J, thus view picture three dimensional surface data (3-D view) produced.
Based on the above-mentioned principle among Fig. 8, the utility model discloses a kind of structured light disposal route.
With reference to figure 9, this structured light disposal route may further comprise the steps:
Step S10: the light supply apparatus through being placed on imaging optical fiber bundle one side produces structured light.The light supply apparatus 20 of incident end 11 1 sides that for example, can be through being placed on imaging optical fiber bundle 10 produces required structured light.
Step S20: the structured light that produces is exported through the incident end input of imaging optical fiber bundle and through the exit end of imaging optical fiber bundle.
Embodiment 2
With reference to Figure 10, the embodiment 2 of this structured light disposal route is with the difference of embodiment 1, and is further comprising the steps of after step S20:
Step S30: the structured light of imaging optical fiber bundle exit end output is incident upon on the target object;
Step S40: the image of gathering target object through imageing sensor;
Step S50: the pairing spectral wavelength of each pixel on the image of the target object that analysis is gathered;
Step S60: confirm the shooting angle of the exit end of said imaging optical fiber bundle to each pixel on the image of target object according to the pairing spectral wavelength of each pixel on the image of target object;
Step S70: according to the exit end of imaging optical fiber bundle to the distance at the exit end center of the optical centre of the shooting angle of each pixel on the image of target object, imageing sensor and imaging optical fiber bundle, imageing sensor shooting angle to each pixel on the image of target object; Confirm the distance of target object surface each point range image sensor optical centre, to obtain the three dimensional surface data of target object.
With reference to Figure 11; A kind of embodiment of the miniature three-dimensional imaging device of the utility model comprises above-mentioned structured light generating means, also comprises that imageing sensor 30 and carrier 40, imageing sensor 30 are used to gather the image of the target object under the structured light irradiation of structured light generating means output.Carrier 40 is used for the imaging optical fiber bundle 10 of bearing structure light generating apparatus and the input end of this imageing sensor 30, and wherein, the exit end 12 of imaging optical fiber bundle 10 and the input end 30 of imageing sensor all are fixed on an end of carrier 40.Principle shown in miniature three-dimensional imaging device Fig. 8 capable of using of the utility model is obtained the three dimensional surface data of target object.
Alternatively, this miniature three-dimensional imaging device can be endoscope or probe, and carrier 40 can be the probe of endoscope.The exit end of imaging optical fiber bundle 10 and the input end of imageing sensor 30 can be arranged on the front end of the probe of endoscope, for example, and an end that need go deep into surveying in the human body.
Alternatively; The incident end of imaging optical fiber bundle 10 stretches out from the other end of carrier 40; With the endoscope is example, and the incident end of imaging optical fiber bundle 10 can stretch out from the rear end of endoscope probe, so also can avoid the bigger light source of volume to be arranged on the endoscope probe front end and cause the endoscope distal end volume excessive.
Alternatively, the lighting device of miniature three-dimensional imaging device is this imaging optical fiber bundle, and the fibre bundle 10 that promptly forms images is multiplexed with the lighting device of miniature three-dimensional imaging device; For example, in endoscope, generally has special illumination channel; After using the structured light generating means of the utility model; Can need not extra illumination channel is set, but simultaneously with imaging optical fiber bundle as structured light generation passage and illumination channel, further simplified the structure of endoscope.
The structured light generating means of the utility model adopts the light of imaging optical fiber bundle transmission light source device to produce required structured light, has dwindled the volume of structure light generating apparatus greatly.The miniature three-dimensional imaging device of the utility model adopts the said structure light generating apparatus to adopt the structured light generating means of above-mentioned miniaturization; Can with the size of an end (the for example end of probe of endoscope) do very little, and imageing sensor only need be gathered piece image and just can analyze the three dimensional surface data that obtains target object.
Imageing sensor can also carry out high-speed image sampling, to obtain dynamic three-dimension surface image data, i.e. 3 d video images.
In the apparatus and method of the utility model, obviously, after can decomposing, make up and/or decompose, each parts or each step reconfigure.These decomposition and/or reconfigure the equivalents that should be regarded as the utility model.Simultaneously; In the above in the description to the utility model specific embodiment; Characteristic to a kind of embodiment is described and/or illustrated can be used in one or more other embodiment with identical or similar mode; Combined with the characteristic in other embodiment, or substitute the characteristic in other embodiment.
Should stress that term " comprises/comprise " existence that when this paper uses, refers to characteristic, key element, step or assembly, but not get rid of the existence of one or more further feature, key element, step or assembly or additional.
Though specified the utility model and advantage thereof, be to be understood that and under situation about not exceeding, can carry out various changes, substitute and conversion the spirit of appended the utility model that claim limited and scope.And the scope of the utility model is not limited only to the specific embodiment of the described process of instructions, equipment, means, method and step.The one of ordinary skilled in the art will readily appreciate that from the disclosure of the utility model, can use according to the utility model and carry out and process, equipment, means, method or step said essentially identical function of corresponding embodiment or acquisition result essentially identical with it, existing and that will be developed in the future.Therefore, appended claim is intended in their scope, comprise such process, equipment, means, method or step.
Claims (7)
1. a structured light generating means is characterized in that, comprising:
Imaging optical fiber bundle comprises incident end and exit end;
Light supply apparatus is used to produce structured light;
Said light supply apparatus is positioned at incident end one side of said imaging optical fiber bundle, so that the structured light that produces is exported through the incident end input of said imaging optical fiber bundle and through the exit end of said imaging optical fiber bundle.
2. structured light generating means according to claim 1 is characterized in that said imaging optical fiber bundle comprises the optical fiber of a plurality of orderly arrangements.
3. structured light generating means according to claim 1 and 2 is characterized in that said light supply apparatus comprises white light source and light-dividing device; Said white light source is positioned at a side of said light-dividing device, after said light-dividing device beam split, produces said structured light with the white light that said white light source is produced.
4. structured light generating means according to claim 3 is characterized in that, said light-dividing device is prism, grating or iridescence wave filter.
5. a miniature three-dimensional imaging device is characterized in that, comprises each described structured light generating means like claim 1-4, also comprises:
Imageing sensor is used to gather the image of the object under the structured light irradiation that said structured light generating means produces;
Carrier is used to carry the imaging optical fiber bundle of said structured light generating means and the input end of said imageing sensor, and wherein, the exit end of said imaging optical fiber bundle and the input end of said imageing sensor all are fixed on an end of said carrier.
6. miniature three-dimensional imaging device according to claim 5 is characterized in that, the incident end of said imaging optical fiber bundle stretches out from the other end of said carrier.
7. according to claim 5 or 6 described miniature three-dimensional imaging devices, it is characterized in that the lighting device of said miniature three-dimensional imaging device is said imaging optical fiber bundle.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201220310863.5U CN202631778U (en) | 2012-06-28 | 2012-06-28 | Structured light generation device and miniature three-dimensional imaging device |
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| CN201220310863.5U CN202631778U (en) | 2012-06-28 | 2012-06-28 | Structured light generation device and miniature three-dimensional imaging device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103513329A (en) * | 2012-06-28 | 2014-01-15 | 耿征 | Structured light generation device, structured light processing method and miniature three-dimensional imaging device |
| US10512508B2 (en) | 2015-06-15 | 2019-12-24 | The University Of British Columbia | Imagery system |
| CN110613510A (en) * | 2018-06-19 | 2019-12-27 | 清华大学 | Self-projection endoscope device |
-
2012
- 2012-06-28 CN CN201220310863.5U patent/CN202631778U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103513329A (en) * | 2012-06-28 | 2014-01-15 | 耿征 | Structured light generation device, structured light processing method and miniature three-dimensional imaging device |
| US10512508B2 (en) | 2015-06-15 | 2019-12-24 | The University Of British Columbia | Imagery system |
| CN110613510A (en) * | 2018-06-19 | 2019-12-27 | 清华大学 | Self-projection endoscope device |
| CN110613510B (en) * | 2018-06-19 | 2020-07-21 | 清华大学 | Self-projection endoscope device |
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| GR01 | Patent grant | ||
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20121226 Termination date: 20180628 |