TWI679609B - Three-dimensional structured light measurement system - Google Patents

Abstract

A three-dimensional structured light measurement system includes a first image capturing unit, a projection unit, a second image capturing unit, and a control unit. The control unit analyzes a two-dimensional image of a surface of an object captured by the first image capturing unit to generate a luminance grayscale condition, and according to the luminance grayscale condition, a plurality of predetermined raster patterns are generated. The corresponding brightness is adjusted respectively to generate a plurality of compensation grating patterns, and then the projection unit is controlled to project the compensation grating patterns onto the surface of the object. The control unit receives a plurality of projection raster images captured by the second image capturing unit, and generates a three-dimensional contour of the surface accordingly.

Description

Three-dimensional structured light measurement system

The present invention relates to a measurement system, and particularly to a three-dimensional structured light measurement system.

At present, in the footwear industry, most of the joints between the sole and the shoe body are glued, and the quality of the glue is related to the service life of the shoe. In the automated production process, it is necessary to first obtain the correct three-dimensional (3D) data of the shape of the sole of the shoe, so that the automated gumming equipment can follow the correct gumming path.

Referring to FIG. 1, a conventional three-dimensional structured light measurement system is suitable for measuring a three-dimensional profile of a surface of a sole 9, and includes a control unit 91, a photographing module 92, and a white light projection module 93. The sole 9 is placed on a platform 94. The white light projection module 93 is used to project a plurality of predetermined grating patterns onto the surface of the sole 9, and the photographing module 92 is used to capture multiple projections that are affected by the three-dimensional contour of the surface of the sole 9. Raster pattern. The degree of deformation of the grating patterns after the projection is related to the relative position between the white light projection module 93 and the photographing module 92 and the undulation of the surface of the sole 9. Therefore, when the relative position between the photographing module 92 and the white light projection module 93 is fixed, the three-dimensional contour of the surface of the sole 9 can be calculated by the triangulation method after the changes of the grating patterns after the projections.

The control unit 91 is electrically connected to the white light projection module 93 and controls the white light projection module 93 to sequentially project the predetermined grating patterns onto the surface of the sole 9. The control unit 91 is also electrically connected to the image module 92 and controls the image module 92 to capture the predetermined raster patterns projected onto the surface of the sole 9 to obtain a plurality of corresponding projected raster images 8 ( Contains the projected raster pattern). The control unit 91 generates a three-dimensional contour of the surface of the sole 9 according to the projected raster images 8.

Referring to FIGS. 1 and 2, FIG. 2 illustrates a plurality of aspects of the predetermined grating patterns by using a projection area 7 as an example. The predetermined grating patterns are a time-multiplexing method in a structured light coding method, and are binarized codes using intensity changes. For the convenience of explanation, the number of the predetermined grating patterns is described by taking three as an example, and they are respectively defined as a first grating pattern, a second grating pattern, and a third grating pattern in the order of being projected. In fact, the The number of predetermined raster patterns is increased to generate a more accurate three-dimensional contour.

The first grating pattern is such that the white light projection module 93 projects black light to a plurality of areas 71 to 74 in the projection area 7, and projects white light to other areas 75 to 78. The second grating pattern is such that the white light projection module 93 projects black light to a plurality of areas 71, 72, 75, and 76 in the projection area 7, and projects white light to a plurality of other areas 73, 74, and 77. , 78. The third grating pattern is such that the white light projection module 93 projects black light to a plurality of areas 71, 73, 75, 77 in the projection area 7, and projects white light to a plurality of other areas 72, 74, 76. , 78.

The control unit 91 analyzes the positions of the black light and the white light of the projection area 7 in the projected raster images 8 according to the three projected raster images 8 and decodes the positions of the black light and the white light, for example, respectively 0 and 1, thereby generating a three-dimensional contour of the surface of the sole 9. However, when the surface of the sole 9 is different in color or has a side wall in shape, the three-dimensional contour of the surface of the sole 9 calculated by the control unit 91 easily causes noise or perforation, which makes the The completeness of the three-dimensional data of the sole 9 is inadequate, which causes subsequent automated gluing equipment to fail to obtain the correct gluing path. Therefore, how to make the three-dimensional structured light measurement system obtain more accurate three-dimensional data has become a problem to be solved.

Therefore, an object of the present invention is to provide a three-dimensional structured light measurement system with higher accuracy.

Therefore, the three-dimensional structured light measurement system according to the present invention is suitable for measuring a three-dimensional contour of a surface of an object using a plurality of predetermined grating patterns, and includes a first image capturing unit, a projection unit, and a second image capturing unit , And a control unit.

The first image capturing unit captures a two-dimensional image related to the surface of the object. The projection unit receives a plurality of compensation grating patterns and sequentially projects the compensation grating patterns onto the surface of the object. The second image capturing unit captures images of the compensation grating patterns projected onto the surface of the object, and becomes a plurality of projected grating images, respectively.

The control unit is electrically connected to the first image capturing unit to receive the two-dimensional image, and analyzes the two-dimensional image to generate a grayscale condition of brightness of the surface related to the object in the two-dimensional image. The control unit is also electrically connected to the projection unit, and adjusts the brightness corresponding to the predetermined raster patterns according to the brightness grayscale conditions, so as to generate the compensation raster patterns, and then controls the projection of the projection unit. The second image capturing unit is connected to receive the projected raster images, and generate a three-dimensional contour of the surface of the object based on the projected raster images.

In some embodiments, the luminance grayscale condition is a luminance grayscale distribution of the surface of the object. The control unit includes a database that stores a plurality of sets of the compensation grating patterns, each set of the compensation grating patterns corresponding to the brightness grayscale distribution of the surface of the object, and the control unit according to the brightness Gray scale distribution, one of the plurality of sets of the compensation grating patterns is selected.

In other embodiments, the brightness grayscale condition is an average brightness grayscale of the surface of the object. The control unit includes a database that stores a plurality of sets of the compensation grating patterns, each set of the compensation grating patterns corresponding to a different average value of the luminance grayscale of the surface of the object.

The control unit calculates the average value of the luminance grayscale of the two-dimensional image, and then selects one of the plurality of sets of the compensation grating patterns according to the average value of the luminance grayscale. When the average value of the brightness grayscale indicates that the brightness grayscale of the surface of the object is higher, the brightness grayscale of the selected group of the compensation grating patterns is compared with the brightness grayscale of the predetermined grating patterns before conversion. The lower.

In other embodiments, the brightness grayscale condition is an average brightness grayscale of the surface of the object. The control unit calculates the average value of the brightness grayscale of the two-dimensional image, and then adjusts the corresponding brightness of the predetermined grating patterns according to the average value of the brightness grayscale, and generates corresponding compensation grating patterns. The average gray level indicates that the higher the gray level of the brightness of the surface of the object, the lower the gray level of the brightness of the compensation grating patterns compared to the brightness level of the predetermined grating pattern before conversion.

In other embodiments, the brightness grayscale condition is a brightness grayscale distribution of the surface of the object. The control unit determines the size of the brightness gray scale at different positions of the two-dimensional image according to the brightness gray scale distribution. When the luminance grayscale of a first region of the two-dimensional image is greater than or equal to a first threshold, the control unit adjusts each of the compensation grating patterns to a luminance grayscale corresponding to the first region to a First compensation intensity.

When the luminance grayscale of a second region of the two-dimensional image is less than or equal to a second threshold, the control unit adjusts each of the compensation grating patterns to a luminance grayscale corresponding to the second region to one. Second compensation intensity.

The predetermined luminance gray scales of the predetermined grating patterns in the first region and the second region are a first predetermined intensity and a second predetermined intensity, respectively, the first compensation intensity is less than the first predetermined intensity, and the second The compensation intensity is greater than the second predetermined intensity, and the first predetermined intensity is greater than the second predetermined intensity.

In some embodiments, when the luminance grayscale distribution is between 0 and 255, the first predetermined intensity and the second predetermined intensity are 255 and 0, the first compensation intensity and the second The compensation intensity is 200 and 50 respectively.

In other embodiments, the three-dimensional structured light measurement system further includes a third image capturing unit, which captures the projections onto the surface of the object at different angles with respect to the second image capturing unit. The images of the compensation raster pattern are respectively converted into a plurality of auxiliary projection raster images. The control unit is also electrically connected to the third image capture unit to receive the auxiliary projection raster images, and generate a three-dimensional contour of the surface of the object based on the projection raster images and the auxiliary projection raster images. .

In other embodiments, the compensation grating patterns projected onto the surface of the object are a time-multiplexing method using structured light coding, and are binary codes using intensity changes. .

The effect of the present invention is that the control unit analyzes the two-dimensional image captured by the first image capturing unit to determine the brightness grayscale condition of the surface of the object and adjusts the projection unit to The projected compensation grating patterns make the brightness gray scale of the projected colored light to be adjusted corresponding to different color areas of the object. Therefore, the three-dimensional structured light measurement system of the present case can avoid the three-dimensional data error caused by the color of the object in the conventional technology, and can improve the accuracy of the three-dimensional data.

Before the present invention is described in detail, it should be noted that in the following description, similar elements are represented by the same numbers.

Referring to FIG. 3 and FIG. 4, a first embodiment of the three-dimensional structured light measurement system according to the present invention is suitable for measuring a three-dimensional contour of a surface of an object 9 using a plurality of predetermined grating patterns, and includes a first image capturing unit 2 , A projection unit 3, a second image capture unit 4, and a control unit 1. In this embodiment, the object 9 is a shoe sole, the first image capturing unit 2 and the second image capturing unit 4 are, for example, two cameras, and the projection unit 3 is, for example, a light emitting diode (LED). The projector can project different colored lights. In this embodiment, the light-emitting diode projector is described using a white-light-emitting diode projector as an example. The control unit 1 is, for example, a computer host, but both Not in this limit. The predetermined grating patterns are a time-multiplexing code in a structured light coding method, and are binary codes using intensity changes.

The first image capturing unit 2 captures a two-dimensional image of the surface of the object 9. The projection unit 3 receives a plurality of compensation grating patterns, and sequentially projects the compensation grating patterns onto the surface of the object 9. These compensation raster patterns are also a time-series coding method using a binary coding with a change in intensity. The second image capturing unit 4 is controlled to capture images of the compensation grating patterns projected onto the surface of the object 9 and become a plurality of projected grating images 6 respectively.

The control unit 1 is electrically connected to the first image capturing unit 2 to receive the two-dimensional image, and analyzes the two-dimensional image to generate a brightness grayscale condition related to the surface of the object 9 in the two-dimensional image. . The control unit 1 is also electrically connected to the projection unit 3, and adjusts the brightness corresponding to the predetermined raster patterns respectively according to the brightness grayscale conditions to generate the compensation raster patterns, and then controls the projection unit 3 to project. The control unit 1 is also electrically connected to the second image capturing unit 4 to control the second image capturing unit 4 to capture images to receive the projected raster images 6, and according to the projected raster images 6, A three-dimensional contour of the surface of the object 9 is generated.

In this embodiment, the brightness grayscale condition is a brightness grayscale distribution of the surface of the object 9. The control unit 1 includes a database 11 that stores a plurality of sets of the compensation grating patterns, each set of the compensation grating patterns corresponding to the different grayscale distributions of the surface of the object 9. The control unit 1 selects one of the plurality of sets of the compensation grating patterns according to the luminance grayscale distribution.

For different objects 9, a user can first project the predetermined raster patterns onto the object 9 to obtain three-dimensional data of the object 9, and then adjust the projection unit 3 according to the conventional method in the prior art. The brightnesses of the compensation grating patterns to be projected in this embodiment are in different regions 71 to 78 (see FIG. 6) of a projection region 7. That is, for different objects 9, such as different colors, the corresponding compensation grating patterns are designed in advance and stored in the database 11. By analyzing the two-dimensional image captured by the first image capturing unit 2, the control unit 1 can know the corresponding compensation grating patterns required by the object 9, so that the three-dimensional contour of the surface of the object 9 It will not be obtained correctly due to the influence of noise and other issues.

Referring to FIG. 3 and FIG. 4, a second embodiment of the three-dimensional structured light measurement system of the present invention is substantially the same as the first embodiment, except that the brightness grayscale condition is that of the surface of the object 9. A luminance grayscale average. The database 11 stores a plurality of sets of the compensation grating patterns, and each set of the compensation grating patterns corresponds to a different average value of the luminance grayscale of the surface of the object 9.

The control unit 1 calculates the average value of the luminance grayscale of the two-dimensional image. Referring to FIG. 5 again, for example, the object 9 (that is, the sole) in the two-dimensional image 21 includes object regions 901 to 903. The level is between 0 and 255, and 0 and 255 represent black and white respectively. If the three object areas 901 to 903 are all black, the average value of the gray scale of the brightness is 0. If the three object areas 901 to 903 are all white, the average value of the brightness grayscale is 255. If the object regions 901 and 902 are black and the object region 903 is white, the average value of the luminance grayscale is 128, for example.

The control unit 1 then selects one of the plurality of sets of compensation grating patterns according to the average value of the luminance grayscale. When the average value of the brightness grayscale indicates that the brightness grayscale of the surface of the object 9 is higher, for example, the closer it is to 255, the more white portions of the object 9 are, so the group selected by the control unit 1 The gray scales of the brightness of the compensation grating patterns are lower than those of the predetermined grating patterns before the conversion, and vice versa, so as to avoid the compensation gratings projected by the projection unit 3 onto the object 9 The pattern is too bright and stray light overflows, thereby preventing the control unit 1 from misjudging the decoded raster image 6 after such projection, so the accuracy of the three-dimensional structured light measurement system can be improved.

Referring to FIG. 4 and FIG. 7, a third embodiment of the three-dimensional structured light measurement system of the present invention is substantially the same as the second embodiment, except that the control unit 1 does not include the database 11 (as shown in FIG. 3), the control unit 1 calculates the average value of the brightness grayscale of the two-dimensional image, and then adjusts the brightness corresponding to the predetermined grating patterns respectively according to the average value of the brightness grayscale to generate the corresponding compensation grating patterns . When the average value of the brightness grayscale indicates that the brightness grayscale of the surface of the object 9 is higher, the brightness grayscale of the compensation grating patterns is lower than that of the predetermined grating pattern before conversion.

Referring again to FIG. 6, for example, assuming that the predetermined grating patterns are the same as the examples described in the prior art, the compensation grating patterns are respectively defined as a first compensation grating pattern, a second compensation grating pattern, and a first Three compensation raster patterns. When the average brightness is equal to 255, the first compensation grating pattern is such that the projection unit 3 projects black light to a plurality of areas 71 to 74 in the projection area 7 and projects white light to a plurality of other areas 75 ~ 78. The second compensation grating pattern is such that the projection unit 3 projects black light onto a plurality of areas 71, 72, 75, 76 in the projection area 7, and projects white light onto other areas 73, 74, 77, 78. The third compensation grating pattern is such that the projection unit 3 projects black light to a plurality of areas 71, 73, 75, 77 in the projection area 7, and projects white light to a plurality of other areas 72, 74, 76, 78. The most important difference is that the predetermined grating patterns are such that the white light projection module 93 (as shown in FIG. 1) projects black light and white light with brightness gray levels of 0 and 255, respectively, and the compensation grating patterns are such that the projection The unit 3 projects black light and white light with a gray scale of 0 and a small gray scale (eg, 250).

Referring to FIG. 4 and FIG. 7, a fourth embodiment of the three-dimensional structured light measurement system of the present invention is substantially the same as the first embodiment, except that the control unit 1 does not include the database 11 (as shown in FIG. 3), and the control unit 1 determines the size of the brightness grayscale at different positions of the two-dimensional image according to the brightness grayscale distribution.

When the luminance gray level of a first region of the two-dimensional image is greater than or equal to a first threshold, the control unit 1 adjusts each of the compensation grating patterns to a luminance gray level corresponding to the first region to A first compensation intensity.

When the brightness gray level of a second region of the two-dimensional image is less than or equal to a second threshold, the control unit 1 adjusts each of the compensation grating patterns to a brightness gray level corresponding to the second region to A second compensation intensity.

The predetermined luminance gray scales of the predetermined grating patterns in the first region and the second region are a first predetermined intensity and a second predetermined intensity, respectively, the first compensation intensity is less than the first predetermined intensity, and the second The compensation intensity is greater than the second predetermined intensity, and the first predetermined intensity is greater than the second predetermined intensity.

For example, referring to FIG. 5 again, the object 9 (ie, the sole) in the two-dimensional image 21 includes object regions 901 to 903, where the object regions 901 and 902 are black and the object region 903 is white. Referring again to FIG. 6, assuming that the predetermined grating patterns are the same as the examples described in the prior art, the compensation grating patterns are respectively defined as a first compensation grating pattern, a second compensation grating pattern, and a third compensation grating pattern in the order of being projected. And are all projected onto the projection area 7, where the position of the object 9 includes the object areas A1 ~ A10.

When the brightness gray level is, for example, distributed between 0 and 255, the first predetermined intensity and the second predetermined intensity are 255 and 0, and the first compensation intensity and the second compensation intensity are 200 and 50, respectively. . The predetermined grating patterns enable the white light projection module 93 (as shown in FIG. 1) to project white light and black light with luminance grayscales of 255 and 0, respectively.

The first compensation grating pattern is such that the projection unit 3 projects colored light with a luminance gray level of 50 (the second compensation intensity) to the object areas A1 to A3 in the projection area 7 and projects black light with a brightness of 0. Areas 71 to 74 do not include part of the object areas A1 to A3. In addition, the projection unit 3 is configured to project colored light having a brightness gray level of 200 (the first compensation intensity) to the object areas A6 to A7 in the projection area 7 and to project white light having a brightness of 255 into areas 75 to 78. It does not include part of the object area A6 ~ A7. That is, the first area is the object areas A6 to A7, and the second area is the object areas A1 to A3.

The second compensation grating pattern is such that the projection unit 3 projects colored light with a brightness gray level of 50 (the second compensation intensity) to the object areas A1, A2, and A8 in the projection area 7, and sets the black color to black. The light is projected onto a part of the areas 71, 72, 75, and 76 excluding the object areas A1, A2, and A8. In addition, the projection unit 3 is configured to project colored light having a luminance gray scale of 200 (the first compensation intensity) to the object areas A4 to A5 in the projection area 7 and project white light having a brightness of 255 to areas 73, 74, 77 and 78 do not include part of the object areas A4 to A5. That is, the first area is the object areas A4 to A5, and the second area is the object areas A1, A2, A8.

The third compensation grating pattern is such that the projection unit 3 projects colored light with a brightness gray level of 50 (the second compensation intensity) to the object areas A1, A3, and A9 in the projection area 7, and sets the brightness to black for 0 The light is projected onto a part of the areas 71, 73, 75, and 77 that do not include the object areas A1, A3, and A9. In addition, the projection unit 3 is configured to project colored light having a luminance gray level of 200 (the first compensation intensity) to the object areas A5 and A7 in the projection area 7 and project white light having a brightness of 255 to the areas 72, 74, 76 and 78 do not include part of the object areas A5 and A7. That is, the first area is the object areas A5 and A7, and the second area is the object areas A1, A3, and A9.

In addition, it should be added that: in the first embodiment to the fourth embodiment, the three-dimensional structured light measurement system includes only one image capturing unit (ie, the second image capturing unit 4) to capture the Raster image after projection. In other embodiments, the three-dimensional structured light measurement system further includes a third image capture unit having the same function as the second image capture unit 4, and is different from the second image capture unit 4 in a different manner. The angle of view captures images of the compensation grating patterns projected onto the surface of the object 9 and becomes a plurality of auxiliary projection raster images, respectively. The control unit 1 is also electrically connected to the third image capturing unit to receive the auxiliary projection raster images, and generate the surface of the object 9 based on the projection raster images and the auxiliary projection raster images. The three-dimensional contour avoids the problem of shooting blind spots when using a single image capture unit (ie, the second image capture unit 4).

Moreover, in the first embodiment to the fourth embodiment, the projection unit 3 of the three-dimensional structured light measurement system is described by taking a white light emitting diode projector as an example to project a gray scale of brightness. Different white light and black light. In other embodiments, the projection unit 3 may also be a projector capable of projecting light sources of different colors, such as blue light, yellow light, red light, and black light with different brightness and gray levels. However, its effect lies in the use of colored light of different colors, such as complementary colored light, so that the control unit 4 is more accurate in decoding and judging the projection raster images captured by the second image capturing unit 4.

In summary, whether the compensation raster patterns stored in the database are pre-stored or the control unit analyzes the two-dimensional image captured by the first image capturing unit to determine the object The brightness and grayscale conditions of the surface can be used to adjust the compensation grating patterns to be projected by the projection unit, so that the brightness and grayscale of the projected color light can be adjusted according to different color regions of the object. Therefore, in the conventional technology, the error of the three-dimensional data due to the difference in the color of the object can be avoided, and the accuracy of the three-dimensional data can be improved. Therefore, the purpose of the present invention can be achieved.

However, the above are only examples of the present invention. When the scope of implementation of the present invention cannot be limited by this, any simple equivalent changes and modifications made according to the scope of the patent application and the contents of the patent specification of the present invention are still Within the scope of the invention patent.

1‧‧‧control unit

11‧‧‧Database

2‧‧‧ The first image capture unit

21‧‧‧ 2D image

3‧‧‧ Projection Unit

4‧‧‧Second image capture unit

6‧‧‧ Raster image after projection

7‧‧‧ projection area

71 ~ 78‧‧‧area

8‧‧‧ Raster image after projection

9‧‧‧ Object

901‧‧‧ Object Area

902‧‧‧ Object Area

903‧‧‧ Object Area

91‧‧‧control unit

92‧‧‧Photographic Module

93‧‧‧White light projection module

94‧‧‧ Platform

A1 ~ A10‧‧‧Object area

Other features and effects of the present invention will be clearly presented in the embodiment with reference to the drawings, in which: FIG. 1 is a schematic diagram illustrating a conventional three-dimensional structured light measurement system; FIG. 2 is a schematic diagram, supplementing FIG. 1 Illustrate a projection area; Figure 3 is a block diagram illustrating an embodiment of the three-dimensional structured light measurement system of the present invention; Figure 4 is a schematic diagram to assist Figure 3 to illustrate the embodiment; Figure 5 is a schematic diagram illustrating an embodiment of the A two-dimensional image; FIG. 6 is a schematic diagram illustrating a projection area of one embodiment; and FIG. 7 is a block diagram illustrating another embodiment of the three-dimensional structured light measurement system of the present invention.

Claims (8)

A three-dimensional structured light measurement system is suitable for measuring a three-dimensional contour of a surface of an object by using a plurality of predetermined grating patterns, and includes: a first image capturing unit for capturing a two-dimensional image of the surface of the object A projection unit that receives multiple compensation grating patterns and sequentially projects the compensation grating patterns onto the surface of the object; a second image capture unit that captures the compensations projected onto the surface of the object The images of the raster pattern are respectively converted into a plurality of projected raster images; and a control unit electrically connected to the first image capturing unit to receive the two-dimensional image, and analyzing the two-dimensional image to generate an image related to the object. A brightness grayscale condition of the surface in the two-dimensional image, the control unit is also electrically connected to the projection unit, and according to the brightness grayscale condition, the brightness corresponding to the predetermined grating patterns is adjusted respectively to generate the The compensation raster pattern is controlled, and then the projection unit is controlled to project, and the second image capture unit is also electrically connected to receive the projected raster images. In the deformed grating image of the object surface, to produce a three-dimensional profile of the surface of the article after such projection according. The three-dimensional structured light measurement system according to claim 1, wherein the luminance grayscale condition is a luminance grayscale distribution of the surface of the object, and the control unit includes a database that stores a plurality of groups of these Compensation grating pattern, each group of the compensation grating patterns corresponding to the different grayscale distribution of the surface of the object, the control unit selects one of the plurality of groups of the compensation grating patterns according to the brightness grayscale distribution group. The three-dimensional structured light measurement system according to claim 1, wherein the luminance grayscale condition is an average luminance grayscale of the surface of the object, and the control unit includes a database that stores a plurality of groups of these A compensation grating pattern, each set of the compensation grating patterns corresponding to a different average value of the brightness grayscale of the surface of the object, and the control unit calculates the average value of the brightness grayscale of the two-dimensional image, and then according to the brightness Gray level average value, select one of the plurality of groups of compensation grating patterns. When the brightness gray level average value indicates that the brightness gray level of the surface of the object is higher, the selected group of compensation grating patterns is selected. The grayscale of the brightness is lower than that of the predetermined grating patterns before conversion. The three-dimensional structured light measurement system according to claim 1, wherein the luminance grayscale condition is an average luminance grayscale of the surface of the object, and the control unit calculates the average luminance grayscale of the two-dimensional image , And then adjust the brightness corresponding to the predetermined grating patterns according to the average value of the brightness grayscale to generate corresponding compensation grating patterns. When the average value of the brightness grayscale represents the brightness grayscale of the surface of the object, When it is high, the gray scale of the brightness of the compensation grating patterns is lower than that of the predetermined grating pattern before the conversion. The three-dimensional structured light measurement system according to claim 1, wherein the luminance grayscale condition is a luminance grayscale distribution of the surface of the object, and the control unit determines whether the luminance grayscale distribution is in the two-dimensional image based on the luminance grayscale distribution. The brightness gray scales of different positions of the. When the brightness gray scale of a first region of the two-dimensional image is greater than or equal to a first threshold, the control unit responds to each of the compensation grating patterns. The brightness grayscale of the first region is adjusted to a first compensation intensity. When the brightness grayscale of a second region of the two-dimensional image is less than or equal to a second threshold, the control unit changes each of the compensation raster patterns. One is adjusted to a second compensation intensity corresponding to the luminance grayscale of the second region, and the predetermined luminance grayscales of the predetermined grating patterns in the first region and the second region are a first predetermined intensity and a A second predetermined intensity, the first compensation intensity is less than the first predetermined intensity, the second compensation intensity is greater than the second predetermined intensity, and the first predetermined intensity is greater than the second predetermined intensity. The three-dimensional structured light measurement system according to claim 5, wherein when the luminance grayscale distribution is between 0 and 255, the first predetermined intensity and the second predetermined intensity are 255 and 0, respectively, and the first The compensation intensity and the second compensation intensity are 200 and 50, respectively. The three-dimensional structured light measurement system according to claim 1, further comprising a third image capturing unit, which captures the compensations projected onto the surface of the object at different angles with respect to the second image capturing unit. The image of the raster pattern becomes a plurality of auxiliary projection raster images, and the control unit is also electrically connected to the third image capturing unit to receive the auxiliary projection raster images, and according to the projection raster images and the projection After the auxiliary projection of the raster image, a three-dimensional contour of the surface of the object is generated. The three-dimensional structured light measurement system according to claim 1, wherein the compensation grating patterns projected onto the surface of the object are time-multiplexed using structured light coding, and intensity changes are used. Binary encoding.