CN208863003U - 一种双图案光学3d尺寸标注组件及其系统 - Google Patents
一种双图案光学3d尺寸标注组件及其系统 Download PDFInfo
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Abstract
一种光学尺寸标注系统,其包括一个或多个发光组件,配置成在物体上投射预定图案;成像组件,其被配置成感测物体散射和/或反射的光,并在投射图案时捕获物体的图像;以及处理组件,其被配置成分析物体的图像以确定物体的一个或多个尺寸参数。一种用于光学尺寸标注的方法,包括用至少两个相同的图案照亮物体;捕获被照亮物体的至少一个图像;以及通过分析包括所投射的图案的元件的图案分离来计算物体的尺寸。可以由一个或多个图案生成器产生图案。
Description
技术领域
本发明涉及光学尺寸标注,并且更具体地涉及双图案光学3D尺寸标注。
背景技术
一般而言,利用结构光三角测量成像(视差)的光学3D尺寸标注遭受由投影仪,相机和投影仪-相机对的相对位置和取向的变化引起的精度损失。这些变化可能是由热,结构或其他变化(例如部件老化)引起的。尺寸标注精度问题可以利用校准来部分地解决,但由于变化的不可校准部分(例如冲击和振动),最终精度仍然受到限制。此外,由于环境温度变化或自身生成的热量导致的系统温度变化可能影响三角形几何形状。由于不均匀的发热源和散热而发生的温度梯度变化可能引起三角形系统几何形状和各个部件的复杂变形,并且难以通过校准来解决。更具体地,相机聚焦和失真的变化可能直接导致3D 尺寸标注误差。另外,这种变化难以通过校准来控制或校正。相机模块的组件通常由具有显着不同的热膨胀系数(CTE)的多种材料制成。例如,材料可包括3.5ppm/C的硅传感器,约9ppm/C的玻璃透镜,铝桶和22ppm/C的保持器,塑料部件>60ppm/C。这种组合使得实际上不可能完全补偿由热膨胀引入的图像传感器上的图案图像位置的变化。
为了克服该问题,代替标准投影仪-相机对三角测量,可以应用利用两个或更多个相同投影图案的双图案光学3D尺寸标注系统,以从由相机捕获的双图案图像生成3D深度数据。
已经进行了若干尝试来解决该问题。例如,在Gharib的PCT专利申请号WO2014,011,182中,描述了基于会聚/发散的深度确定技术和具有散焦成像的用途。该系统包括两个投影仪,分别发射会聚的红色和蓝色光图案(或者可选地,单个分离光束);以及用于捕获图案的相机。在中国专利申请号CN 104,050,656中描述了一种用于确定图像中的物体深度的装置和技术。该系统包括用于投射低分辨率光学图案和高分辨率光学图案的发射器,以及用于检测合成图像的传感器,然后对该合成图像进行处理以获得物体的不同深度范围内的深度信息。然而,这些参考文献都没有提到投射平行光图案,并确定双图案的相邻点之间的距离以计算物体的深度。Miyasaka等人的论文“Development of Real Time 3-DMeasurement System Using Intensity Ratio Method”描述了一种使用强度比方法计算物体深度的系统。该系统包括光源和摄像机,其中两种类型的光图案(平面图案和线性图案)交替地投射到目标物体上。尽管该参考文献提到了计算给定像素处的两个不同光图案的强度比率,但是没有提及计算相邻点之间的距离的比率以确定物体的深度。此外,该参考文献未提及使用两个光源将双平行光图案投射到目标物体上。在Konolige的美国专利申请号 20,160,288,330中描述了一种用于深度感测的系统和方法。该系统包括光源,计算设备和以固定距离分开的两个光学传感器,每个光学传感器具有用于捕获可见光的第一组多个光电探测器,以及用于捕获红外光的第二组多个光电探测器。从可见光图像和红外光图像两者获得的深度信息被组合以确定表面或物体的深度图。然而,该参考文献没有提及使用两个投影仪同时在目标上产生平行光图案。此外,该参考文献没有提及确定相邻光图案之间的距离并且使用它来计算目标的深度。
因此,需要一种精确的光学尺寸标注的系统和方法。
发明内容
因此,在一个方面,本发明包括用于光学尺寸标注的组件和系统。
在示例性实施例中,尺寸标注组件包括相机模块;第一图案生成器,其设置在相机模块附近;第二图案生成器,其设置在相机模块附近并与第一图案生成器间隔开,其中第一和第二图案投影组件配置成生成相同的图案;以及处理系统,其被配置成检测和分析所生成的图案的元件的位置。
在另一示例性实施例中,光学尺寸标注系统包括一个或多个发光组件,其被配置成在物体上投射预定图案;成像组件,其被配置成感测物体散射和/或反射的光,并在投射图案时捕获物体的图像;处理组件,被配置成分析物体的图像以确定物体的尺寸。
在另一方面,本发明包括一种用于光学尺寸标注的方法。该方法包括用至少两个相同的图案照亮物体;捕获被照亮物体的图像;以及通过分析包括所投射的图案的元件的图案分离来计算物体的尺寸标注。
在以下详细描述及其附图中进一步解释了前述说明性概述,以及本发明的其他示例性目的和/或优点,以及实现本发明的方式。
附图说明
图1A示意性地描绘了根据一个实施例的尺寸标注组件。
图1B示意性地描绘了根据一个实施例的由尺寸标注组件产生的双重图案。
图2A-2D示意性地描绘了根据实施例的相机模块和图案生成器在尺寸标注组件内的相对位置。
图3A示意性地描绘了根据一个实施例的光学尺寸标注系统。
图3B示意性地描绘了根据一个实施例的具有中继透镜的光学尺寸标注系统。
图4示意性地描绘了根据一个实施例的用于双图案光学尺寸标注的方法。
具体实施方式
本发明包括用于光学尺寸标注的组件,系统和方法。
一般而言,双图案测量允许基于来自两个或更多个图案的相同点的图像分离与来自相同图案的相邻点之间的图像距离的比率来提取信息。与传统方法相比,这种方法可以提供各种益处。例如,相机可以处于任何位置或方向,并且相机相对位置的任何变化都不会影响测量结果。另外,可以从两个相同的投影仪或具有分束器的单个投影仪生成具有预定间隔的相同图案。两个相同的投影组件可以表现出相同或几乎相同的变化,这不会引入定位误差。使用具有分束器的单个投影仪获得的结果可以没有较小的图案对差异贡献。此外,具有已知图案分离的双图案图像可以产生3D尺寸标注结果,而不管相机聚焦、失真和放大率的变化。通过热膨胀引入的传感器上的图像位置的变化可能不会影响结果,因为结果是图案图像分离与图案图像基础特征的比率。
3D光学尺寸标注系统的潜在应用包括但不限于:物体尺寸标注以测量长度,宽度,高度,体积和不规则性,例如装载的货物中潜在的包装损坏;零对比度(仅表面轮廓)直接产品标记(DPM)条形码读取,包括使用移动3D传感器进行感测;用于图像识别的3D轮廓映射;以及用于非接触用户接口的运动和手势感测,例如,在电子设备中。
图1A示出了根据一个实施例的尺寸标注组件100。组件100包括具有一个或多个图像传感器和成像透镜组件的相机模块102。第一图案生成器104设置在相机模块102附近,并且具有第一激光二极管 106(未示出)和第一图案投影组件108(未示出)。第二图案生成器110设置在相机模块102附近并与第一图案生成器104间隔开,并具有第二激光二极管112(未示出)和第二图案投影组件114(未示出)。第一和第二图案投影组件108和114分别配置成生成相同的图案。处理系统116被配置成检测和分析所生成的图案的元件的位置。
在一个实施例中,第一和第二图案生成器104和110分别可以与相机模块等距。另外,第一和/或第二激光二极管106和112分别可以包括垂直腔表面发射激光器。或者,第一和/或第二激光二极管106 和112分别可以包括边缘发射激光器。另外,第一和/或第二图案投影组件108和114分别可包括投影透镜和图案管芯和/或准直透镜和衍射光学元件。处理系统116可以被配置成检测和分析所生成的图案的等同元件的位置。附加地或替代地,处理系统116可以被配置成检测和分析至少一个图案的相邻元件的位置。组件100还可包括设置在相机模块102附近的一个或多个附加图案生成器。
图1B示出了由尺寸标注组件100产生的双图案122的示例性实施例。可以基于来自两个相同图案的相同点的图像分离来计算深度。特别地,
深度=f(s/t),
其中s是来自两个图案的相同点的图像分离,并且t是相同图案的相邻点之间的图像距离(如图1B所示)。
图2A-2D示意性地描绘了根据若干实施例的相机模块202和图案生成器204在尺寸标注组件内的相对位置。在一些实施例中,相机模块202和两个或更多个图案生成器204可以位于同一平面上,而在其他实施例中,相机模块202和图案生成器204可以位于不同的平面上。例如,相机模块202可以位于一个平面上,并且图案生成器204可以位于不同的平面上,该平面可以位于相机模块202的前面(图2B),位于相机模块202的后面(图。2C),或其组合(图2A)。或者,相机模块202可以位于一个平面上,并且图案生成器204可以位于一个或多个弧上,这些弧可以类似地位于相机模块202的前面,在它后面或两者上(图2D)。图2A-2D中仅示出了两个图案生成器204以用于说明目的;一些实施例可以包括不同数量的图案生成器204。图 2A-2D示出了从顶部俯视尺寸标注组件的视角看的相机模块202和图案生成器204的相对位置,其中图案投射朝向图的底部;水平线表示安装表面。尽管附图示出了图案生成器204在Y方向上偏离相机模块 202,但是在一些实施例中,它们可以替代地或另外地在X和/或Z方向上偏移。其中图案生成器204以非对称方式偏移的混合配置也是可能的。
图3A和3B示出了光学尺寸标注系统300的示例性实施例。根据一个实施例,系统300包括一个或多个发光组件302,其配置成在物体上投射预定图案。成像组件304(未示出)被配置成感测物体的散射和/或反射的光,并且在投射图案时捕获物体的图像。处理组件306 (未示出)被配置成分析物体的图像以确定物体的一个或多个尺寸参数。
在一个实施例中,成像组件304可以包括一个或多个图像传感器,其具有成像透镜和/或适于多成像感测的第一分束器308,以及一个或多个光谱滤波器。一个或多个发光组件302可包括图案生成器和适于图案投影的第二分束器。另外,分束器可包括中继透镜310(图3B 中所示)。这样的配置可以用于减小系统的大小,并且对于具有空间限制的应用(例如移动设备)可能尤其有益。在一个实施例中,所述第二分束器包括中继透镜。
在一个实施例中,物体的一个或多个尺寸参数包括物体的长度,宽度和/或高度。系统300可以被配置用于扫描零对比度直接产品标记条形码、用于利用3D轮廓映射的图像识别,和/或用于针对非接触用户接口的运动和/或手势感测。
图4示出了根据一个实施例的用于双图案光学尺寸标注的方法 400。在402处,用由一个或多个图案生成器投射的至少两个相同的预定图案照亮物体。在404处,利用相机组件捕获被照亮物体的至少一个图像。在406,通过分析包括所投射的图案的元件的图案分离来计算物体的尺寸。
在一个实施例中,预定图案可包括点网格。方法400可以包括控制一个或多个图案分离参数。另外,在402处照亮物体可以包括利用可操作地耦合到分束器的投影仪照亮物体。
装置和方法部件旨在仅示出与理解本公开的实施例相关的那些具体细节,以免随着对于从本文中的描述获益的本领域普通技术人员将显而易见的细节而使本公开内容模糊。在各种实施例中,在此公开的示例性实施例中出现的要素的顺序可以变化。可以与示例性实施例中要素出现的顺序同时或以不同的顺序执行两个或更多个方法步骤。
在说明书和/或附图中,已经公开了本发明的典型实施例。本发明不限于这些示例性实施例。术语“和/或”的使用包括一个或多个相关所列项目的任何和所有组合。附图是示意性表示,因此不一定按比例绘制。除非另有说明,否则特定术语已用于通用和描述性意义,而非用于限制的目的。
Claims (15)
1.一种双图案光学3D尺寸标注组件,其特征在于包括:
相机模块,其具有一个或多个图像传感器和成像透镜组件;
第一图案生成器,其设置在相机模块附近,并具有第一激光二极管和第一图案投影组件;
第二图案生成器,其设置在相机模块附近并与第一图案生成器间隔开,并具有第二激光二极管和第二图案投影组件,其中第一和第二图案投影组件配置成生成相同的图案;以及
处理系统,其被配置成检测和分析所生成的图案的元件的位置。
2.根据权利要求1所述的组件,其中所述第一和第二图案生成器与所述相机模块等距。
3.根据权利要求1所述的组件,其中所述第一和/或第二激光二极管包括垂直腔表面发射激光器。
4.根据权利要求1所述的组件,其中所述第一和/或第二激光二极管包括边缘发射激光器。
5.根据权利要求1所述的组件,其中所述第一和/或第二图案投影组件包括投影透镜和图案管芯和/或准直透镜和衍射光学元件。
6.根据权利要求1所述的组件,其中,所述处理系统被配置成检测和分析所生成的图案的等同元件的位置。
7.根据权利要求1所述的组件,其中,所述处理系统被配置成检测和分析所述图案中的至少一个的相邻元件的位置。
8.根据权利要求1所述的组件,还包括设置在所述相机模块附近的一个或多个附加图案生成器。
9.一种双图案光学3D尺寸标注系统,其特征在于包括:
图案生成器和第二分束器,其被配置成在物体上投射预定图案;
成像组件,其被配置成感测物体散射和/或反射的光,并在投射图案时捕获物体的图像;以及
处理组件,其被配置成分析物体的图像以确定物体的一个或多个尺寸参数。
10.根据权利要求9所述的系统,其中所述成像组件包括一个或多个图像传感器,所述图像传感器具有成像透镜和/或适于多成像感测的第一分束器,以及一个或多个光谱滤波器。
11.根据权利要求9所述的系统,其中所述第二分束器包括中继透镜。
12.根据权利要求9所述的系统,其中所述物体的所述一个或多个尺寸参数包括所述物体的长度,宽度和/或高度。
13.根据权利要求9所述的系统,还被配置用于扫描零对比度直接产品标记条形码。
14.根据权利要求9所述的系统,还被配置用于利用3D轮廓映射的图像识别。
15.根据权利要求9所述的系统,还被配置用于针对非接触用户接口的运动和/或手势感测。
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