技术领域Technical Field
本申请涉及三维扫描领域，具体而言，涉及一种三维扫描仪、三维扫描系统和三维扫描方法。The present application relates to the field of three-dimensional scanning, and in particular, to a three-dimensional scanner, a three-dimensional scanning system and a three-dimensional scanning method.
背景技术Background technique
针对口腔内部的三维扫描领域，现有三维扫描仪通常使用如下方式进行三维重建处理：其一、基于时间编码的正弦条纹解相匹配，然后三维重建和拼接融合，获取物体的三维形貌；其二、基于时间编码的条纹中心线提取并三维重建和拼接融合的算法，获取物体的三维形貌；其三、基于显微共焦三维成像原理获取物体的三维形貌。Regarding the three-dimensional scanning of the inside of the oral cavity, existing three-dimensional scanners usually use the following methods for three-dimensional reconstruction processing: first, based on the matching of time-coded sinusoidal fringe solutions, three-dimensional reconstruction and splicing fusion, to obtain the three-dimensional morphology of the object; second, based on the algorithm of time-coded fringe centerline extraction and three-dimensional reconstruction and splicing fusion, to obtain the three-dimensional morphology of the object; third, based on the principle of microscopic confocal three-dimensional imaging, to obtain the three-dimensional morphology of the object.
但是，上述各个方式各有缺陷，并不适合于将口腔内部的三维扫描装置进行推广使用，具体缺陷如下：However, each of the above methods has its own defects and is not suitable for promoting the use of three-dimensional scanning devices inside the oral cavity. The specific defects are as follows:
首先，基于时间编码的三维重建方法较难实现小体积的手持式扫描，进而导致无法应用于口腔内部的三维扫描领域，此外，基于时间编码的三维重建方法还需要高帧率相机和高速算法支持，进而导致三维扫描设备的生成成本较高，不利于推广使用；First, the 3D reconstruction method based on time coding is difficult to achieve small-volume handheld scanning, which makes it impossible to apply it to the field of 3D scanning inside the oral cavity. In addition, the 3D reconstruction method based on time coding also requires high-frame rate cameras and high-speed algorithm support, which leads to high production costs of 3D scanning equipment, which is not conducive to its popularization and use.
其次，基于显微共焦三维成像原理的进行三维重建时，所需硬件成本较高，同样不利于三维扫描设备的推广使用。Secondly, when performing three-dimensional reconstruction based on the principle of microscopic confocal three-dimensional imaging, the required hardware cost is relatively high, which is also not conducive to the promotion and use of three-dimensional scanning equipment.
针对相关技术中三维重建方法所需硬件成本较高，不利于三维扫描装置的推广使用的技术问题，目前尚未提出有效的解决方案。With regard to the technical problem that the hardware cost required for the three-dimensional reconstruction method in the related art is relatively high, which is not conducive to the promotion and use of three-dimensional scanning devices, no effective solution has been proposed so far.
发明内容Summary of the invention
本申请提供一种三维扫描仪、三维扫描系统和三维扫描方法，以解决相关技术中三维重建方法所需硬件成本较高，不利于三维扫描装置的推广使用的技术问题。The present application provides a three-dimensional scanner, a three-dimensional scanning system and a three-dimensional scanning method to solve the technical problem that the hardware cost required for the three-dimensional reconstruction method in the related art is high, which is not conducive to the promotion and use of the three-dimensional scanning device.
根据本申请的一个方面，提供了一种三维扫描仪。该三维扫描仪包括：图像投影装置，用于分别在每个预设周期向目标对象投射该预设周期对应的预设条纹图案，其中，每个预设条纹图案的条纹依据预设彩色编码条纹排布设置，每个预设条纹图案包括预设彩色编码条纹的至少一种颜色的条纹，且多个预设条纹图案包括预设彩色编码条纹的至少两种颜色的条纹，且所述预设条纹图案中的条纹与所述预设彩色编码条纹中相同颜色的条纹排布一致；图像采集装置，用于在所述目标对象被投射预设条纹图案的情况下，采集经所述目标对象调制的光线，以获取多个条纹图像，其中，所获取的条纹图像作为编码图以确定各条纹序列，以及作为重建图以对所述目标对象进行三维重建。According to one aspect of the present application, a three-dimensional scanner is provided. The three-dimensional scanner includes: an image projection device, which is used to project a preset stripe pattern corresponding to the preset period to a target object in each preset period, wherein the stripes of each preset stripe pattern are arranged according to a preset color-coded stripe arrangement, each preset stripe pattern includes stripes of at least one color of the preset color-coded stripes, and multiple preset stripe patterns include stripes of at least two colors of the preset color-coded stripes, and the stripes in the preset stripe pattern are arranged in the same manner as the stripes of the same color in the preset color-coded stripes; an image acquisition device, which is used to acquire light modulated by the target object when the preset stripe pattern is projected on the target object, so as to acquire multiple stripe images, wherein the acquired stripe images are used as coding images to determine each stripe sequence, and as reconstruction images to perform three-dimensional reconstruction of the target object.
可选的，图像投影装置还包括：DLP投影部，其中，所述图像投影装置通过所述DLP投影部在每个预设周期分别向目标对象投射该预设周期对应的预设条纹图案。Optionally, the image projection device further includes: a DLP projection unit, wherein the image projection device projects a preset stripe pattern corresponding to the preset period to the target object through the DLP projection unit in each preset period.
可选的，图像投影装置还包括：光线发射部，用于分别在每个预设周期发射该预设周期所对应的初始光线，其中，每种所述初始光线由至少一种条纹颜色的光线组成，所述条纹颜色为所述预设彩色编码条纹中的条纹的颜色；光线透射部，设置于所述初始光线的传输路径上，其中，每种所述初始光线经所述光线透射部上设有的预设彩色编码条纹的图案透射后，均生成各自对应的预设彩色条纹投射至目标对象上。Optionally, the image projection device also includes: a light emitting unit, which is used to emit initial light corresponding to the preset period in each preset period, wherein each of the initial light rays is composed of light of at least one stripe color, and the stripe color is the color of the stripes in the preset color-coded stripes; a light transmitting unit, which is arranged on the transmission path of the initial light rays, wherein each of the initial light rays generates corresponding preset color stripes after being transmitted through the pattern of preset color-coded stripes provided on the light transmitting unit and projected onto the target object.
可选的，所述光线发射部还包括多个光源单元，每个所述光源单元所发射的光线波段各不相同，其中，所述光线发射部通过所述多个光源单元发射所述初始光线。Optionally, the light emitting unit further includes a plurality of light source units, each of the light source units emits light of different wavelength bands, wherein the light emitting unit emits the initial light through the plurality of light source units.
可选的，所述光线发射部还包括光线聚合单元，所述光线聚合单元设置于所述多个光源单元发射的光线的传输路径上，其中，所述多个光源单元发射的光线经所述光线聚合单元进行聚合处理后，以同一条传输路径投射至所述光线透射部。Optionally, the light emitting part further includes a light aggregation unit, which is disposed on a transmission path of the light emitted by the multiple light source units, wherein the light emitted by the multiple light source units is aggregated by the light aggregation unit and then projected to the light transmitting part via the same transmission path.
可选的，所述光源单元包括以下至少之一：LED光源，激光发射器。Optionally, the light source unit includes at least one of the following: an LED light source, a laser transmitter.
可选的，所述光线透射部还包含衍射光栅，其中，所述光线透射部通过所述衍射光栅生成预设条纹图案，以投射至目标对象上。Optionally, the light transmitting portion further includes a diffraction grating, wherein the light transmitting portion generates a preset stripe pattern through the diffraction grating to project the pattern onto the target object.
可选的，所述三维扫描仪还包括时序控制部，所述时序控制部与所述图像投影装置、所述图像采集装置相连接，用于控制所述图像投影装置分别在每个预设周期发射该预设周期所对应的预设条纹图案，并控制所述图像采集装置分别在多个预设周期中采集经所述目标对象调制的光线，以获取与每种所述预设条纹图案所对应的条纹图像。Optionally, the three-dimensional scanner also includes a timing control unit, which is connected to the image projection device and the image acquisition device, and is used to control the image projection device to emit a preset stripe pattern corresponding to the preset period in each preset period, and control the image acquisition device to collect light modulated by the target object in multiple preset periods, so as to obtain a stripe image corresponding to each preset stripe pattern.
可选的，所述三维扫描仪还包括时序控制部，所述时序控制部与所述多个光源单元、所述图像采集装置相连接，用于控制所述多个光源单元分别在不同预设周期发射光线，以在每个预设周期中分别生成该预设周期所对应的初始光线；以及控制所述图像采集装置分别在多个预设周期中采集经所述目标对象调制的光线，以获取与每种所述初始光线所对应的条纹图像。Optionally, the three-dimensional scanner also includes a timing control unit, which is connected to the multiple light source units and the image acquisition device, and is used to control the multiple light source units to emit light in different preset periods, so as to generate initial light corresponding to the preset period in each preset period; and control the image acquisition device to collect light modulated by the target object in multiple preset periods, so as to obtain a stripe image corresponding to each of the initial light.
可选的，所述三维扫描仪还包括照明件，所述照明件用于照射目标对象，其中，所述图像采集装置还用于在所述目标对象被所述照明件投射照明光线的情况下，采集所述目标对象的纹理图。Optionally, the three-dimensional scanner further comprises an illuminating element for illuminating the target object, wherein the image acquisition device is further configured to acquire a texture map of the target object when the target object is projected with illumination light by the illuminating element.
可选的，所述图像采集装置还包括多个相机，所述多个相机中至少包含一个黑白相机，其中，所述图像采集装置通过所述多个相机对经所述目标对象调制的光线进行采集，得到多个条纹图像，其中，至少一个所述黑白相机所得到的条纹图像作为重建图以对所述目标对象进行三维重建；以及，至少多个黑白相机所得到的条纹图像作为编码图以确定个各条纹序列，和/或，至少一个彩色相机所得到的条纹图像作为编码图以确定个各条纹序列。Optionally, the image acquisition device further includes multiple cameras, wherein the multiple cameras include at least one black-and-white camera, wherein the image acquisition device acquires light modulated by the target object through the multiple cameras to obtain multiple stripe images, wherein the stripe image obtained by at least one of the black-and-white cameras is used as a reconstruction image to perform three-dimensional reconstruction of the target object; and the stripe images obtained by at least multiple black-and-white cameras are used as coding images to determine individual stripe sequences, and/or the stripe images obtained by at least one color camera are used as a coding image to determine individual stripe sequences.
可选的，图像采集装置还包括光束处理装置，所述光束处理装置包含进光部和至少两个出光部，其中，各个相机分别对应不同的出光部设置，所述图像采集装置通过光束处理装置以采集经所述目标对象调制的光线。Optionally, the image acquisition device also includes a light beam processing device, which includes a light input part and at least two light output parts, wherein each camera is arranged corresponding to a different light output part, and the image acquisition device collects the light modulated by the target object through the light beam processing device.
可选的，所述光束处理装置还包含至少一个第一光束分离单元，所述第一光束分离单元用于对从进光部投射进的光线进行分光处理，以便所述光线分别从所述至少两个出光部投射至所述出光部对应设置的相机。Optionally, the light beam processing device further includes at least one first light beam separation unit, which is used to perform light splitting processing on the light projected from the light input part, so that the light is projected from the at least two light output parts to cameras corresponding to the light output parts.
可选的，所述光束处理装置还包含至少一个第二光束分离单元，所述第二光束分离单元用于对指定相机将获取的光线进行分离处理，以便所述指定相机获取到指定波段的光线，其中，所述指定波段至少包含：至少一初始光线所包含的光线波段。Optionally, the light beam processing device further includes at least one second light beam separation unit, which is used to separate the light to be acquired by the designated camera so that the designated camera acquires light of a designated band, wherein the designated band at least includes: a light band contained in at least one initial light beam.
可选的，所述光束处理装置包括直角两通道分色棱镜，且，所述直角两通道分色棱镜包含第三出光部和第四出光部，其中，所述光束处理装置通过所述直角两通道分色棱镜，实现对从进光部投射进的光线进行分光处理，以便所述光线分别从所述第三出光部和所述第四出光部投射至各自出光部对应设置的相机；所述图像采集装置包括与所述第三出光部对应设置的第三相机，以及与第四出光部对应设置的第四相机，第三相机基于采集到的光线生成第三条纹图像，第四相机基于采集到的光线生成第四条纹图像，第三条纹图像与第四条纹图像中均包括至少两种颜色的条纹且至少两种颜色的条纹可识别；其中，所述光束处理装置通过所述直角两通道分色棱镜，实现对指定相机将获取的光线进行分离处理，以便所述指定相机获取到包含指定波段的光线，其中，所述指定相机获取到包含指定波段的光线包括：所述第三相机获取到第三指定波段的光线，所述第四相机获取到第四指定波段的光线。Optionally, the light beam processing device includes a right-angle two-channel color separation prism, and the right-angle two-channel color separation prism includes a third light output portion and a fourth light output portion, wherein the light beam processing device realizes light separation processing on the light projected from the light input portion through the right-angle two-channel color separation prism, so that the light is projected from the third light output portion and the fourth light output portion to the cameras corresponding to the respective light output portions respectively; the image acquisition device includes a third camera corresponding to the third light output portion, and a fourth camera corresponding to the fourth light output portion, and the third camera generates based on the collected light The third fringe image, the fourth camera generates a fourth fringe image based on the collected light, the third fringe image and the fourth fringe image both include fringe of at least two colors and the fringe of at least two colors are identifiable; wherein the light beam processing device realizes separation processing of the light to be acquired by the designated camera through the right-angle two-channel color separation prism, so that the designated camera acquires the light containing the designated band, wherein the designated camera acquires the light containing the designated band includes: the third camera acquires the light of the third designated band, and the fourth camera acquires the light of the fourth designated band.
可选的，所述光束处理装置包括三通道分色棱镜，且，所述三通道分色棱镜包含第五出光部、第六出光部和第七出光部，其中，所述光束处理装置通过所述三通道分色棱镜，实现对从进光部投射进的光线进行分光处理，以便所述光线分别从所述第五出光部、所述第六出光部和所述第七出光部投射至各自出光部对应设置的相机；所述图像采集装置包括与所述第五出光部对应设置的第五相机、与第六出光部对应设置的第六相机，以及与所述第七出光部对应设置的第七相机，第五相机基于采集到的光线生成第五条纹图像，第六相机基于采集到的光线生成第六条纹图像，第七相机基于采集到的光线生成第七条纹图像，第五条纹图像、第六条纹图像和第七条纹图像中均包括至少两种颜色的条纹且至少两种颜色的条纹可识别；其中，所述光束处理装置通过所述三通道分色棱镜，实现对指定相机将获取的光线进行分离处理，以便所述指定相机获取到包含指定波段的光线，其中，所述指定相机获取到包含指定波段的光线至少包括：所述第五相机获取到第五指定波段的光线、所述第六相机获取到第六指定波段的光线，且所述第五指定波段不同于所述第六指定波段。Optionally, the light beam processing device includes a three-channel color separation prism, and the three-channel color separation prism includes a fifth light output portion, a sixth light output portion and a seventh light output portion, wherein the light beam processing device realizes light separation processing on the light projected from the light input portion through the three-channel color separation prism, so that the light is projected from the fifth light output portion, the sixth light output portion and the seventh light output portion to cameras corresponding to the respective light output portions respectively; the image acquisition device includes a fifth camera corresponding to the fifth light output portion, a sixth camera corresponding to the sixth light output portion, and a seventh camera corresponding to the seventh light output portion, the fifth camera generates a fifth fringe image based on the collected light, and the sixth camera A sixth fringe image is generated based on the collected light, and a seventh camera generates a seventh fringe image based on the collected light, and the fifth fringe image, the sixth fringe image and the seventh fringe image all include fringe of at least two colors and the fringe of at least two colors is identifiable; wherein the light beam processing device realizes separation processing of the light acquired by the designated camera through the three-channel color separation prism, so that the designated camera acquires the light containing the designated band, wherein the light containing the designated band acquired by the designated camera at least includes: the fifth camera acquires the light of the fifth designated band, the sixth camera acquires the light of the sixth designated band, and the fifth designated band is different from the sixth designated band.
可选的，所述光束处理装置包括半反半透棱镜，且所述半反半透棱镜包含第一出光部和第二出光部，其中，所述光束处理装置通过所述半反半透棱镜，实现对从进光部投射进的光线进行分光处理，以便所述光线分别从所述第一出光部和第二出光部投射至各自出光部对应设置的相机；所述图像采集装置包括与所述第一出光部对应设置的第一相机，以及与第二出光部对应设置的第二相机，第一相机基于采集到的光线生成第一条纹图像，第二相机基于采集到的光线生成第二条纹图像，第一条纹图像与第二条纹图像中均包括至少两种颜色的条纹且至少两种颜色的条纹可识别。Optionally, the light beam processing device includes a semi-reflective and semi-transparent prism, and the semi-reflective and semi-transparent prism includes a first light output portion and a second light output portion, wherein the light beam processing device realizes spectroscopic processing of the light projected from the light input portion through the semi-reflective and semi-transparent prism, so that the light is projected from the first light output portion and the second light output portion to cameras corresponding to the respective light output portions respectively; the image acquisition device includes a first camera corresponding to the first light output portion, and a second camera corresponding to the second light output portion, the first camera generates a first stripe image based on the collected light, and the second camera generates a second stripe image based on the collected light, and the first stripe image and the second stripe image both include stripes of at least two colors, and the stripes of at least two colors are identifiable.
可选的，所述光束处理装置还包括滤光片，其中，所述光束处理装置通过所述滤光片对指定相机将获取的光线进行分离处理，以便所述指定相机获取到包含指定波段的光线，且所述多个相机至少有一个相机为指定相机。Optionally, the light beam processing device further includes a filter, wherein the light beam processing device separates and processes the light to be acquired by the designated camera through the filter so that the designated camera acquires light containing a designated wavelength band, and at least one of the multiple cameras is a designated camera.
可选的，所述三维扫描仪还包括照明件，其中，所述图像采集装置还用于在目标对象被照明件照射的情况下，采集经目标对象反射的照明光，以获取所述目标对象的纹理数据。Optionally, the three-dimensional scanner further includes an illumination component, wherein the image acquisition device is further used to acquire illumination light reflected by the target object when the target object is illuminated by the illumination component, so as to obtain texture data of the target object.
可选的，所述图像采集装置可识别确定红光、绿光和蓝光。Optionally, the image acquisition device can identify and determine red light, green light and blue light.
根据本申请的一个方面，提供了一种三维扫描系统。该三维扫描系统包括：三维扫描仪，用于分别在每个预设周期向目标对象投射该预设周期对应的预设条纹图案，并在所述目标对象被投射预设条纹图案的情况下，采集经所述目标对象调制的光线，以获取多个条纹图像，其中，每个预设条纹图案的条纹依据预设彩色编码条纹排布设置，每个预设条纹图案包括预设彩色编码条纹的至少一种颜色的条纹，且多个预设条纹图案包括预设彩色编码条纹的至少两种颜色的条纹，且所述预设条纹图案中的条纹与所述预设彩色编码条纹中相同颜色的条纹排布一致；图像处理器，与所述三维扫描仪相连接，用于获取所述三维扫描仪获取的多个条纹图像，并依据所述条纹图像作为编码图以确定各条纹序列，以及作为重建图以对所述目标对象进行三维重建。According to one aspect of the present application, a three-dimensional scanning system is provided. The three-dimensional scanning system includes: a three-dimensional scanner, which is used to project a preset stripe pattern corresponding to the preset period to a target object in each preset period, and when the preset stripe pattern is projected on the target object, collect the light modulated by the target object to obtain multiple stripe images, wherein the stripes of each preset stripe pattern are arranged according to a preset color-coded stripe arrangement, each preset stripe pattern includes stripes of at least one color of the preset color-coded stripes, and multiple preset stripe patterns include stripes of at least two colors of the preset color-coded stripes, and the stripes in the preset stripe pattern are arranged in the same manner as the stripes of the same color in the preset color-coded stripes; an image processor, connected to the three-dimensional scanner, used to obtain multiple stripe images obtained by the three-dimensional scanner, and use the stripe image as a coding map to determine each stripe sequence, and as a reconstruction map to perform three-dimensional reconstruction on the target object.
可选的，在所述三维扫描仪通过多个相机对经目标对象调制的光线进行采集，以获取多个条纹图像，且所述多个相机中至少包含一个黑白相机的情况下，所述图像处理器还用于：将至少一个所述黑白相机所得到的条纹图像作为重建图以对所述目标对象进行三维重建；将至少多个黑白相机所得到的条纹图像作为编码图以确定个各条纹序列，和/或，将至少一个彩色相机所得到的条纹图像作为编码图以确定个各条纹序列。Optionally, when the three-dimensional scanner collects light modulated by the target object through multiple cameras to obtain multiple stripe images, and the multiple cameras include at least one black-and-white camera, the image processor is further used to: use the stripe image obtained by at least one of the black-and-white cameras as a reconstruction image to perform three-dimensional reconstruction of the target object; use the stripe images obtained by at least multiple black-and-white cameras as coding images to determine individual stripe sequences, and/or use the stripe image obtained by at least one color camera as a coding image to determine individual stripe sequences.
根据本申请的一个方面，提供了一种三维扫描方法。该三维扫描方法包括：分别在每个预设周期发射一种该预设周期所对应的初始光线，其中，每种所述初始光线由预设彩色编码条纹中的至少一种颜色的光线组成，且每种所述初始光线经所述光线透射部上设有的预设彩色编码条纹的图案透射后，均生成各自对应的预设彩色条纹投射至目标对象上；在所述多个预设周期内分别采集经所述目标对象调制的光线，并基于上述光线获取多个条纹图像，其中，所获取的条纹图像作为编码图以确定各条纹序列，以及作为重建图以对所述目标对象进行三维重建；基于所述编码图确定所述多个条纹图像中各条纹的序列；基于序列对所述重建图进行三维重建，获取所述目标对象的三维数据。According to one aspect of the present application, a three-dimensional scanning method is provided. The three-dimensional scanning method includes: emitting an initial light corresponding to the preset period in each preset period, wherein each of the initial light is composed of light of at least one color in the preset color-coded stripes, and each of the initial light is transmitted through the pattern of the preset color-coded stripes provided on the light transmission part, and each of the initial light generates a corresponding preset color stripe projected onto the target object; collecting the light modulated by the target object in the plurality of preset periods, and acquiring a plurality of stripe images based on the light, wherein the acquired stripe images are used as coding images to determine the sequence of each stripe, and as reconstruction images to perform three-dimensional reconstruction of the target object; determining the sequence of each stripe in the plurality of stripe images based on the coding images; and performing three-dimensional reconstruction of the reconstruction images based on the sequence to acquire three-dimensional data of the target object.
可选的，所述三维扫描方法还包括：将照明光投射至目标对象上并基于所述照明光获取所述目标对象的纹理数据；基于所述目标对象的三维数据及纹理数据，获取所述目标对象的彩色三维数据。Optionally, the three-dimensional scanning method further includes: projecting illumination light onto a target object and acquiring texture data of the target object based on the illumination light; and acquiring color three-dimensional data of the target object based on the three-dimensional data and texture data of the target object.
根据本申请的一个方面，提供了一种三维扫描方法。该三维扫描方法包括：获取第一图像和第二图像，所述第一图像与所述第二图像为基于同一光线透射部获取到的条纹图像；基于所述第一图像确定各条纹的编码序列；基于所述编码序列对所述第二图像的条纹进行条纹匹配，实现三维重建以获取目标对象的三维数据。According to one aspect of the present application, a three-dimensional scanning method is provided. The three-dimensional scanning method includes: acquiring a first image and a second image, wherein the first image and the second image are stripe images acquired based on the same light transmission part; determining a coding sequence of each stripe based on the first image; performing stripe matching on the stripes of the second image based on the coding sequence to achieve three-dimensional reconstruction to acquire three-dimensional data of a target object.
可选的，所述三维扫描方法还包括：获取纹理数据，基于所述三维数据及所述纹理数据获取所述目标对象的彩色三维数据。Optionally, the three-dimensional scanning method further includes: acquiring texture data, and acquiring color three-dimensional data of the target object based on the three-dimensional data and the texture data.
综上所述，本申请基于空间编码的条纹提取算法，实现了取消动态投影的投影需求，以及仅需少量二维图像即可实现目标对象的三维重建的技术效果，解决了相关技术中三维重建方法所需硬件成本较高，不利于三维扫描装置的推广使用的技术问题。To summarize, the present application uses a fringe extraction algorithm based on spatial coding, which achieves the technical effect of eliminating the projection requirement of dynamic projection and realizing three-dimensional reconstruction of the target object with only a small number of two-dimensional images. It solves the technical problem that the hardware cost required for the three-dimensional reconstruction method in the related technology is high, which is not conducive to the promotion and use of three-dimensional scanning devices.
此外，该三维扫描仪通过将颜色作为空间编码的信息，还提升三维识别准确性。In addition, the 3D scanner improves 3D recognition accuracy by using color as spatially encoded information.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
构成本申请的一部分的附图用来提供对本申请的进一步理解，本申请的示意性实施例及其说明用于解释本申请，并不构成对本申请的不当限定。在附图中：The drawings constituting a part of the present application are used to provide a further understanding of the present application. The illustrative embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:
图1是根据本申请实施例提供的一种可选的三维扫描仪的示意图一；FIG1 is a schematic diagram of an optional three-dimensional scanner provided according to an embodiment of the present application;
图2是根据本申请实施例提供的一种可选的三维扫描仪的示意图二；FIG. 2 is a second schematic diagram of an optional three-dimensional scanner provided according to an embodiment of the present application;
图3是根据本申请实施例提供的一种照明件和反光镜之间的位置关系的示意图；3 is a schematic diagram of a positional relationship between an illumination element and a reflector according to an embodiment of the present application;
图4是根据本申请实施例提供的一种光束处理装置中的光束路径的示意图；FIG4 is a schematic diagram of a beam path in a beam processing device according to an embodiment of the present application;
图5是根据本申请实施例提供的一种可选的三维扫描仪的示意图三；FIG5 is a third schematic diagram of an optional three-dimensional scanner provided according to an embodiment of the present application;
图6是根据本申请实施例提供的一种可选的三维扫描仪的示意图四；FIG6 is a fourth schematic diagram of an optional three-dimensional scanner provided according to an embodiment of the present application;
图7是根据本申请实施例提供的一种可选的三维扫描系统的示意图；FIG7 is a schematic diagram of an optional three-dimensional scanning system provided according to an embodiment of the present application;
图8是根据本申请实施例提供的一种可选的三维扫描方法的流程图一。FIG8 is a flowchart 1 of an optional three-dimensional scanning method provided according to an embodiment of the present application.
其中，上述附图包括以下附图标记：The above drawings include the following reference numerals:
10、图像投影装置；20、图像采集装置；30、照明件；40、反光镜；11、DLP投影部；12、光线发射部；13、光线透射部；14、第一成像镜头；121、光源单元；21、相机；22、光束处理装置；22a、直角两通道分色棱镜；22b、三通道分色棱镜；22c、半反半透棱镜；22d、滤光片；23、第二成像镜头。10. Image projection device; 20. Image acquisition device; 30. Illuminating element; 40. Reflector; 11. DLP projection unit; 12. Light emitting unit; 13. Light transmitting unit; 14. First imaging lens; 121. Light source unit; 21. Camera; 22. Light beam processing device; 22a. Right-angle two-channel color separation prism; 22b. Three-channel color separation prism; 22c. Semi-reflective and semi-transparent prism; 22d. Filter; 23. Second imaging lens.
具体实施方式Detailed ways
需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。下面将参考附图并结合实施例来详细说明本申请。It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.
为了使本技术领域的人员更好地理解本申请方案，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分的实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都应当属于本申请保护的范围。In order to enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of this application.
需要说明的是，本申请的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本申请的实施例。It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so as to describe the embodiments of the present application described herein.
此外，各个实施例中的“第一”、“第二”等术语独立存在，而不必用于限定相同“第一”、“第二”术语在各个独立实施例中表示为同一事件。应该理解这样使用的数据在使得适当情况下可以任意改变，以便这里描述的本申请的实时例。In addition, the terms "first", "second" and the like in each embodiment exist independently, and need not be used to limit the same "first", "second" terms to represent the same event in each independent embodiment. It should be understood that the data used in this way can be arbitrarily changed in appropriate circumstances so as to describe the real-time examples of the present application described here.
此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、系统、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。In addition, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus that includes a series of steps or elements is not necessarily limited to those steps or elements explicitly listed, but may include other steps or elements not explicitly listed or inherent to such process, method, product, or apparatus.
根据本申请的实施例，提供了一种三维扫描仪。According to an embodiment of the present application, a three-dimensional scanner is provided.
图1是根据本申请实施例的一种三维扫描仪的示意图。如图1所示，该三维扫描仪包括：图像投影装置10和图像采集装置20。Fig. 1 is a schematic diagram of a three-dimensional scanner according to an embodiment of the present application. As shown in Fig. 1 , the three-dimensional scanner includes: an image projection device 10 and an image acquisition device 20 .
图像投影装置10，用于分别在每个预设周期向目标对象投射该预设周期对应的预设条纹图案，其中，每个预设条纹图案的条纹依据预设彩色编码条纹排布设置，每个预设条纹图案包括预设彩色编码条纹的至少一种颜色的条纹，且多个预设条纹图案包括预设彩色编码条纹的至少两种颜色的条纹，且所述预设条纹图案中的条纹与所述预设彩色编码条纹中相同颜色的条纹排布一致。An image projection device 10 is used to project a preset stripe pattern corresponding to the preset period to a target object in each preset period, wherein the stripes of each preset stripe pattern are arranged according to a preset color-coded stripe arrangement, each preset stripe pattern includes stripes of at least one color of the preset color-coded stripes, and multiple preset stripe patterns include stripes of at least two colors of the preset color-coded stripes, and the stripes in the preset stripe pattern are arranged consistently with the stripes of the same color in the preset color-coded stripes.
需要说明的是：在每个预设周期向目标对象投射该预设周期对应的预设条纹图案可以为：图像投影装置10周期性投射预设条纹图案，图像投影装置10在每个预设周期投射多个预设条纹图案，多个预设条纹图案分时投射。例如，图像投影装置10在第一时段投射第一预设条纹图案，在第二时段投射第二预设条纹图案，图像采集装置20在第一时段采集第一预设条纹图案，在第二时段采集第二预设条纹图案，图像采集装置20重复这一过程直至目标对象扫描完成。It should be noted that: projecting the preset stripe pattern corresponding to the preset period to the target object in each preset period may be: the image projection device 10 periodically projects the preset stripe pattern, the image projection device 10 projects multiple preset stripe patterns in each preset period, and the multiple preset stripe patterns are projected in time. For example, the image projection device 10 projects the first preset stripe pattern in the first time period, and projects the second preset stripe pattern in the second time period, the image acquisition device 20 acquires the first preset stripe pattern in the first time period, and acquires the second preset stripe pattern in the second time period, and the image acquisition device 20 repeats this process until the scanning of the target object is completed.
在一个可选的示例中，如图2所示，图像投影装置10还包括：DLP投影部11，其中，所述图像投影装置10通过所述DLP投影部11在每个预设周期分别向目标对象投射该预设周期对应的多个预设条纹图案。In an optional example, as shown in FIG. 2 , the image projection device 10 further includes: a DLP projection unit 11 , wherein the image projection device 10 projects a plurality of preset stripe patterns corresponding to the preset period to the target object through the DLP projection unit 11 in each preset period.
也即，所述图像投影装置10可以通过DLP投影部11实现其功能。That is, the image projection device 10 can realize its function through the DLP projection unit 11 .
具体的，DLP投影部11分别在每个预设周期向目标对象投射该预设周期对应的多个预设条纹图案，其中，每个预设条纹图案的条纹依据预设彩色编码条纹排布设置，每个预设条纹图案包括预设彩色编码条纹的至少一种颜色的条纹，且多个预设条纹图案包括预设彩色编码条纹的至少两种颜色的条纹，且所述预设条纹图案中的条纹与所述预设彩色编码条纹中相同颜色的条纹排布一致。Specifically, the DLP projection unit 11 projects multiple preset stripe patterns corresponding to the preset period to the target object in each preset period, wherein the stripes of each preset stripe pattern are arranged according to a preset color-coded stripe arrangement, each preset stripe pattern includes stripes of at least one color of the preset color-coded stripes, and multiple preset stripe patterns include stripes of at least two colors of the preset color-coded stripes, and the stripes in the preset stripe pattern are arranged consistently with the stripes of the same color in the preset color-coded stripes.
在一个可选的示例中，图像投影装置10还包括：光线发射部12，用于分别在每个预设周期发射该预设周期所对应的多个初始光线，其中，每个所述初始光线由至少一种条纹颜色的光线组成，所述条纹颜色为所述预设彩色编码条纹中的条纹的颜色；光线透射部13，设置于所述初始光线的传输路径上，其中，每个所述初始光线经所述光线透射部13上设有的预设彩色编码条纹的图案透射后，均生成各自对应的预设彩色条纹即预设条纹图案投射至目标对象上，所述预设条纹图案中的条纹与所述预设彩色编码条纹中相同颜色的条纹排布一致。In an optional example, the image projection device 10 also includes: a light emitting unit 12, which is used to emit multiple initial light rays corresponding to the preset period in each preset period, wherein each of the initial light rays is composed of light rays of at least one stripe color, and the stripe color is the color of the stripes in the preset color-coded stripes; a light transmitting unit 13, which is arranged on the transmission path of the initial light rays, wherein each of the initial light rays, after being transmitted through the pattern of preset color-coded stripes provided on the light transmitting unit 13, generates respective corresponding preset color stripes, i.e., a preset stripe pattern, which is projected onto the target object, and the stripes in the preset stripe pattern are arranged consistently with the stripes of the same color in the preset color-coded stripes.
需要说明的是，预设彩色编码条纹为预设的各颜色条纹排布标准，在本申请中，可以通过DLP投影部11直接投射符合预设的各颜色条纹排布标准的预设条纹图案，也可以由光线透射部13作为预设的各颜色条纹排布标准的载体，即光线透射部13确定了预设的各颜色条纹排布标准，初始光线通过光线投射部后生成按预设的各颜色条纹排布标准排布的预设条纹图案。It should be noted that the preset color-coded stripes are preset arrangement standards for stripes of various colors. In the present application, the preset stripe pattern that meets the preset arrangement standards for stripes of various colors can be directly projected by the DLP projection unit 11, or the light transmission unit 13 can be used as a carrier of the preset arrangement standards for stripes of various colors, that is, the light transmission unit 13 determines the preset arrangement standards for stripes of various colors, and the initial light passes through the light projection unit to generate a preset stripe pattern arranged according to the preset arrangement standards for stripes of various colors.
也即，所述图像投影装置10可以通过光线发射部12和光线透射部13实现其功能。That is, the image projection device 10 can realize its functions through the light emitting part 12 and the light transmitting part 13 .
具体的，三维扫描仪可以通过透射投影的方式，形成不同预设条纹图案以投射至目标对象上，且所生成的每个预设条纹图案的条纹依据光线透射部13上设有的预设彩色编码条纹排布设置，每个预设条纹图案包括预设彩色编码条纹的至少一种颜色的条纹，且多个预设条纹图案包括预设彩色编码条纹的至少两种颜色的条纹，且所述预设条纹图案中的条纹与所述预设彩色编码条纹中相同颜色的条纹排布一致。Specifically, the three-dimensional scanner can form different preset stripe patterns by transmission projection to project them onto the target object, and the stripes of each preset stripe pattern generated are arranged according to the preset color-coded stripes provided on the light transmission part 13, each preset stripe pattern includes stripes of at least one color of the preset color-coded stripes, and multiple preset stripe patterns include stripes of at least two colors of the preset color-coded stripes, and the stripes in the preset stripe pattern are arranged consistently with the stripes of the same color in the preset color-coded stripes.
可选的，所述光线发射部12还包括多个光源单元121，每个所述光源单元121所发射的光线波段各不相同，其中，所述光线发射部12通过所述多个光源单元121发射所述初始光线，初始光线可以为仅由单个光源单元121发射的单一波段的光线，也可以为由多个光源单元121同步发射的多个波段的光线。Optionally, the light emitting unit 12 also includes multiple light source units 121, and each of the light source units 121 emits light of different wavelength bands. The light emitting unit 12 emits the initial light through the multiple light source units 121. The initial light can be light of a single wavelength band emitted by only a single light source unit 121, or can be light of multiple wavelength bands emitted synchronously by multiple light source units 121.
举例说明：如图1所示，光线发射部12包含三个光源单元121，且每个光源单元121所发射的光线波段各不相同，例如：第一光源单元121发射605-700波段的光线，即，红色光线；第二光源单元121发射435-480波段的光线，即，蓝色光线；第三光源单元121发射500-560波段的光线，即，绿色光线。For example: as shown in Figure 1, the light emitting part 12 includes three light source units 121, and the light bands emitted by each light source unit 121 are different. For example, the first light source unit 121 emits light in the 605-700 band, that is, red light; the second light source unit 121 emits light in the 435-480 band, that is, blue light; the third light source unit 121 emits light in the 500-560 band, that is, green light.
在预设周期的A时段，第一光源单元121发射605-700波段的光线；在预设周期的B时段，第二光源单元121发射435-480波段的光线；在预设周期的C时段，第一光源单元121发射605-700波段的光线，第二光源单元121发射450-480波段的光线，同时第三光源单元121发射500-560波段的光线。In the A period of the preset cycle, the first light source unit 121 emits light in the 605-700 band; in the B period of the preset cycle, the second light source unit 121 emits light in the 435-480 band; in the C period of the preset cycle, the first light source unit 121 emits light in the 605-700 band, the second light source unit 121 emits light in the 450-480 band, and the third light source unit 121 emits light in the 500-560 band.
或，在预设周期的A时段，第一光源单元121发射605-700波段的光线；在预设周期的B时段，第二光源单元121发射450-480波段的光线；在预设周期的C时段，第三光源单元121发射500-560波段的光线。Or, in period A of the preset cycle, the first light source unit 121 emits light in the 605-700 band; in period B of the preset cycle, the second light source unit 121 emits light in the 450-480 band; in period C of the preset cycle, the third light source unit 121 emits light in the 500-560 band.
需要说明的是：上述对第一光源单元121、第二光源单元121和第三光源单元121的设定为示意性举例，并非对光源单元121所能发射的光线波段的具体限定。在上述示意性举例之外，光源单元121所能发射的光线波段可任意选择，本申请对此不作具体限定。It should be noted that the above settings of the first light source unit 121, the second light source unit 121 and the third light source unit 121 are schematic examples, and are not specific limitations on the wavelengths of light that can be emitted by the light source unit 121. In addition to the above schematic examples, the wavelengths of light that can be emitted by the light source unit 121 can be selected arbitrarily, and this application does not make specific limitations on this.
还需要说明的是：上述对预设周期A、预设周期B、预设周期C中所运行的光源单元121的设定为示意性举例，并非对各个预设周期所能发射光线的光源单元121的具体限定。在上述示意性举例之外，在各个预设周期中所能启动的光源单元121可以任意选择，本申请对此不作具体限定。It should also be noted that the above settings of the light source units 121 running in the preset cycle A, preset cycle B, and preset cycle C are illustrative examples, and are not specific limitations on the light source units 121 that can emit light in each preset cycle. In addition to the above illustrative examples, the light source units 121 that can be activated in each preset cycle can be selected arbitrarily, and this application does not make specific limitations on this.
可选的，光源单元121可以包括以下至少之一：LED光源，激光发射器。Optionally, the light source unit 121 may include at least one of the following: an LED light source, a laser transmitter.
也即，所述光源单元121可以通过激光发射器实现其功能，也可以通过LED光源实现其功能。其中，激光具有定向发光、亮度极高、颜色极纯、相干性好的优点。That is, the light source unit 121 can realize its function through a laser emitter or an LED light source. Among them, laser has the advantages of directional light emission, extremely high brightness, extremely pure color, and good coherence.
具体的，所述光线发射部12还包括多个LED光源，每个所述LED光源所发射的光线波段各不相同，其中，所述光线发射部12通过所述多个LED光源发射所述初始光线。Specifically, the light emitting unit 12 further includes a plurality of LED light sources, each of which emits light in a different wavelength band, wherein the light emitting unit 12 emits the initial light through the plurality of LED light sources.
具体的，所述光线发射部12还包括多个激光发射器，每个所述激光发射器所发射的光线波段各不相同，其中，所述光线发射部12通过所述多个激光发射器发射所述初始光线。Specifically, the light emitting unit 12 further includes a plurality of laser emitters, each of which emits light in a different wavelength band, wherein the light emitting unit 12 emits the initial light through the plurality of laser emitters.
可选的，所述光线发射部12还包括光线聚合单元，所述光线聚合单元设置于所述多个光源单元121发射的光线的传输路径上，其中，所述多个光源单元121发射的光线经所述光线聚合单元进行聚合处理后，以同一条传输路径投射至所述光线透射部13。Optionally, the light emitting portion 12 further includes a light aggregation unit, which is disposed on a transmission path of the light emitted by the multiple light source units 121, wherein the light emitted by the multiple light source units 121 is aggregated by the light aggregation unit and then projected to the light transmitting portion 13 via the same transmission path.
也即，初始光线是经所述光线聚合单元进行聚合处理后，以同一条传输路径投射至所述光线透射部13的光线组合，其中，光线聚合单元可以通过半反半透棱镜22c实现其功能。That is, the initial light is a combination of light rays that are aggregated by the light aggregation unit and projected to the light transmission portion 13 via the same transmission path, wherein the light aggregation unit can achieve its function through a semi-reflective and semi-transparent prism 22c.
举例说明：如图1所示，光线发射部12包含三个光源单元121，且每个光源单元121所发射的光线波段各不相同，第一光源单元121和第二光源单元121的光线路径上设有第一半反半透棱镜22c，其中，所述第一半反半透棱镜22c用于将所述第一光源单元121和所述第二光源单元121所发出的光线进行聚合处理，以投射至第二半反半透棱镜22c上；第三光源单元121设置在第二半反半透棱镜22c远离经所述聚合处理的光线的一侧，其中，所述第三光源单元121所发出的光线和经上述聚合处理的光线经由所述第二半反半透棱镜22c的聚合处理，生成以同一传输路径投射至所述光线透射部13的光线组合。For example: as shown in Figure 1, the light emitting part 12 includes three light source units 121, and the light bands emitted by each light source unit 121 are different, and a first semi-reflective and semi-transparent prism 22c is provided on the light path of the first light source unit 121 and the second light source unit 121, wherein the first semi-reflective and semi-transparent prism 22c is used to aggregate the light emitted by the first light source unit 121 and the second light source unit 121 to project them onto the second semi-reflective and semi-transparent prism 22c; the third light source unit 121 is arranged on the side of the second semi-reflective and semi-transparent prism 22c away from the light that has been aggregated, wherein the light emitted by the third light source unit 121 and the light that has been aggregated are aggregated by the second semi-reflective and semi-transparent prism 22c to generate a light combination that is projected to the light transmission part 13 via the same transmission path.
可选的，所述光线透射部13还包含光栅，具体的，所述光线透射部13通过所述光栅生成预设条纹图案，以投射至目标对象上。Optionally, the light transmitting portion 13 further includes a grating. Specifically, the light transmitting portion 13 generates a preset stripe pattern through the grating to project the pattern onto the target object.
具体的，光栅上设有不同区域，且不同区域对应不同的波段，即不同区域可透射不同波段的光线，光栅上的不同区域确定了预设彩色编码条纹，也可以理解为，所述光栅上的各个区域与所述预设彩色编码条纹中的各个条纹的排布一致，且各个区域所对应的波段与排布一致的条纹所对应的条纹颜色相对应。例如，光栅包括供第一波段的光线透射的第一区域和供第二波段的光线透射的第二区域，第一波段的光线经过光栅后形成第一波段的条纹且条纹的排布与第一区域的排布一致，第二波段的光线经过光栅后形成第二波段的条纹且条纹的排布与第二区域的排布一致。Specifically, different areas are provided on the grating, and different areas correspond to different bands, that is, different areas can transmit light of different bands, and different areas on the grating determine preset color-coded stripes, which can also be understood as that each area on the grating is consistent with the arrangement of each stripe in the preset color-coded stripes, and the band corresponding to each area corresponds to the stripe color corresponding to the stripe with consistent arrangement. For example, the grating includes a first area for light of a first band to transmit and a second area for light of a second band to transmit, and the light of the first band forms stripes of the first band after passing through the grating, and the arrangement of the stripes is consistent with the arrangement of the first area, and the light of the second band forms stripes of the second band after passing through the grating, and the arrangement of the stripes is consistent with the arrangement of the second area.
也即，光线发射部12在预设周期的不同时段发射不同初始光线；此时，在某种初始光线投射至光栅上时，各种颜色光线通过各自对应的区域透射，形成预设条纹图案。That is, the light emitting unit 12 emits different initial lights at different time periods of a preset cycle; at this time, when a certain initial light is projected onto the grating, lights of various colors are transmitted through their respective corresponding areas to form a preset stripe pattern.
需要说明的是：在该光线发射部12通过所述多个激光发射器发射初始光线的情况下，所述光线发射部12还可以包括相位调制单元，其中，该相位调制单元设置于初始光线的传输路径上，以便初始光线通过相位调制单元消除衍射斑之后，投射至光线透射部13。It should be noted that: when the light emitting unit 12 emits the initial light through the multiple laser emitters, the light emitting unit 12 may also include a phase modulation unit, wherein the phase modulation unit is arranged on the transmission path of the initial light, so that the initial light is projected onto the light transmitting unit 13 after the diffraction spot is eliminated by the phase modulation unit.
具体的，相位调制单元可以包含：相位调制元件和光束耦合元件，所述相位调制元件设置于初始光线的传输路径上，且所述相位调制元件绕预定轴线旋转，其中，初始光线的传输路径与所述相位调制元件的预定轴线相平行；所述光束耦合元件设置于初始光线的传输路径上，用于对初始光线进行准直调整，并降低初始光线的发散角。Specifically, the phase modulation unit may include: a phase modulation element and a beam coupling element, wherein the phase modulation element is arranged on the transmission path of the initial light, and the phase modulation element rotates around a predetermined axis, wherein the transmission path of the initial light is parallel to the predetermined axis of the phase modulation element; the beam coupling element is arranged on the transmission path of the initial light, and is used to collimate the initial light and reduce the divergence angle of the initial light.
其中，所述相位调制元件可以为如下任意形式：一透明光学材料薄板、微光学元件或随机位相板；以及，相位调制单元还包括驱动电机，该相位调制元件由驱动电机驱动，以一定的速度绕旋转轴转动；The phase modulation element may be in any of the following forms: a transparent optical material sheet, a micro-optical element or a random phase plate; and the phase modulation unit further comprises a driving motor, and the phase modulation element is driven by the driving motor to rotate around the rotation axis at a certain speed;
其中，光束耦合元件可以由一准直系统和一会聚透镜组成，或与其有等效功能的光学系统组成。The beam coupling element may be composed of a collimating system and a converging lens, or an optical system having equivalent functions thereto.
其中，相位调制元件可以位于光束耦合元件之前，也可以位于光束耦合元件之后。The phase modulation element may be located before the beam coupling element or after the beam coupling element.
需要说明的是：在该光线发射部12通过所述多个光源单元121发射初始光线的情况下，所述光线发射部12还可以包括固体介质元件，其中，所述固体介质元件设置于初始光线的传输路径上，初始光线通过固体介质元件进行多次反射混光后，以光场强度均匀的形式投射至光线透射部13。It should be noted that: when the light emitting part 12 emits the initial light through the multiple light source units 121, the light emitting part 12 may also include a solid medium element, wherein the solid medium element is arranged on the transmission path of the initial light, and the initial light is projected to the light transmitting part 13 in the form of uniform light field intensity after being reflected and mixed multiple times by the solid medium element.
具体的，固体介质元件可以为如下任意形式：细长型六面体棱镜、柱体棱镜、椎体棱镜；同时，固体介质元件可以为光线在固体界面围成的空间中进行多次反射的空心棒，也可以为光线在固体透明介质内部进行多次反射的实心棒，其中，实心棒的输入端和输出端面镀增透膜，空心棒在内表面镀增反膜，此外，固体介质元件出射端面与入射端面平行设置。Specifically, the solid medium element can be any of the following forms: an elongated hexahedral prism, a cylindrical prism, or a pyramidal prism; at the same time, the solid medium element can be a hollow rod in which light is reflected multiple times in a space surrounded by a solid interface, or a solid rod in which light is reflected multiple times inside a solid transparent medium, wherein the input and output end faces of the solid rod are coated with an anti-reflection film, and the inner surface of the hollow rod is coated with an anti-reflection film, and in addition, the output end face of the solid medium element is arranged parallel to the incident end face.
可选的，所述三维扫描仪还包括时序控制部，所述时序控制部与所述图像投影装置10、所述图像采集装置20相连接，用于控制所述图像投影装置10分别在每个预设周期发射该预设周期所对应的预设条纹图案，并控制所述图像采集装置20分别在多个预设周期中采集经所述目标对象调制的光线，以获取与每种所述预设条纹图案所对应的条纹图像。Optionally, the three-dimensional scanner also includes a timing control unit, which is connected to the image projection device 10 and the image acquisition device 20, and is used to control the image projection device 10 to emit a preset stripe pattern corresponding to the preset period in each preset period, and control the image acquisition device 20 to collect light modulated by the target object in multiple preset periods, so as to obtain a stripe image corresponding to each of the preset stripe patterns.
也即，三维扫描仪通过时序控制部，控制所述图像投影装置10分别在每个预设周期发射该预设周期所对应的预设条纹图案，以及控制所述图像采集装置20分别在多个预设周期中采集经所述目标对象调制的光线，以获取与每种所述预设条纹图案所对应的条纹图像。That is, the three-dimensional scanner controls the image projection device 10 to emit a preset stripe pattern corresponding to the preset period in each preset period through the timing control unit, and controls the image acquisition device 20 to acquire light modulated by the target object in multiple preset periods, so as to obtain a stripe image corresponding to each preset stripe pattern.
也即，三维扫描仪通过时序控制部，使得图像投影装置10和图像采集装置20的工序相一致。That is, the three-dimensional scanner makes the processes of the image projection device 10 and the image acquisition device 20 consistent through the timing control unit.
可选的，所述三维扫描仪还包括时序控制部，所述时序控制部与所述多个光源单元121、所述图像采集装置20相连接，用于控制所述多个光源单元121分别在不同预设周期发射光线，以在每个预设周期中分别生成该预设周期所对应的初始光线；以及控制所述图像采集装置20分别在多个预设周期中采集经所述目标对象调制的光线，以获取与每种所述初始光线所对应的条纹图像。Optionally, the three-dimensional scanner also includes a timing control unit, which is connected to the multiple light source units 121 and the image acquisition device 20, and is used to control the multiple light source units 121 to emit light in different preset periods, so as to generate initial light corresponding to the preset period in each preset period; and control the image acquisition device 20 to collect light modulated by the target object in multiple preset periods, so as to obtain a stripe image corresponding to each of the initial light.
也即，三维扫描仪通过时序控制部，控制所述多个光源单元121分别在不同预设周期发射光线，以生成各个预设周期所对应的投射至目标对象上的预设条纹图案，以及控制所述图像采集装置20分别在多个预设周期中采集经所述目标对象调制的光线，以获取与每种所述初始光线所对应的条纹图像。That is, the three-dimensional scanner controls the multiple light source units 121 to emit light in different preset periods through the timing control unit to generate preset stripe patterns corresponding to each preset period and projected onto the target object, and controls the image acquisition device 20 to acquire the light modulated by the target object in multiple preset periods to obtain stripe images corresponding to each of the initial lights.
也即，三维扫描仪通过时序控制部，使得多个光源单元121和图像采集装置20的工序相一致。That is, the three-dimensional scanner makes the processes of the plurality of light source units 121 and the image acquisition device 20 consistent through the timing control unit.
需要说明的是：上述两种时序控制部可以均为本申请的可选示例，也即，在本申请中三维扫描装置包括：第一时序控制部或第二时序控制部，其中，所述第一时序控制部与所述图像投影装置10、所述图像采集装置20相连接，用于控制所述图像投影装置10分别在每个预设周期发射该预设周期所对应的预设条纹图案，并控制所述图像采集装置20分别在多个预设周期中采集经所述目标对象调制的光线，以获取与每种所述预设条纹图案所对应的条纹图像；所述第二时序控制部与所述多个光源单元121、所述图像采集装置20相连接，用于控制所述多个光源单元121分别在不同预设周期发射光线，以在每个预设周期中分别生成该预设周期所对应的初始光线；以及控制所述图像采集装置20分别在多个预设周期中采集经所述目标对象调制的光线，以获取与每种所述初始光线所对应的条纹图像。It should be noted that the above two timing control units can both be optional examples of the present application, that is, in the present application, the three-dimensional scanning device includes: a first timing control unit or a second timing control unit, wherein the first timing control unit is connected to the image projection device 10 and the image acquisition device 20, and is used to control the image projection device 10 to emit a preset stripe pattern corresponding to the preset period in each preset period, and control the image acquisition device 20 to collect the light modulated by the target object in multiple preset periods to obtain a stripe image corresponding to each of the preset stripe patterns; the second timing control unit is connected to the multiple light source units 121 and the image acquisition device 20, and is used to control the multiple light source units 121 to emit light in different preset periods, so as to generate initial light corresponding to the preset period in each preset period; and control the image acquisition device 20 to collect the light modulated by the target object in multiple preset periods to obtain a stripe image corresponding to each of the initial light.
可选的，所述三维扫描仪还包括照明件30，所述三维扫描仪还包括照明件30，其中，所述图像采集装置20还用于在目标对象被照明件30照射的情况下，采集经目标对象反射的照明光，以获取所述目标对象的纹理数据。Optionally, the three-dimensional scanner also includes a lighting element 30, wherein the image acquisition device 20 is also used to collect the illumination light reflected by the target object when the target object is illuminated by the lighting element 30, so as to obtain texture data of the target object.
进一步的，在三维扫描仪还包括照明件30的情况下，所述图像采集装置20可识别确定红光、蓝光和绿光，以便图像采集装置20在目标对象被所述照明件30投射照明光线的情况下，采集该目标对象的纹理图像，通过纹理图像和三维数据生成与目标对象颜色一致(或，颜色基本一致)的三维模型，也即，实现真彩扫描。Furthermore, when the three-dimensional scanner also includes an illumination element 30, the image acquisition device 20 can identify and determine red light, blue light and green light, so that when the target object is projected with illumination light by the illumination element 30, the image acquisition device 20 can capture a texture image of the target object, and generate a three-dimensional model that is consistent with the color (or substantially consistent with the color) of the target object through the texture image and the three-dimensional data, that is, to achieve true color scanning.
举例说明：上述照明件30可以为发射白光的LED灯，如果图像投影装置10包括DLP投影部11，则通过DLP投影部11投射照明光线即可，即图像投影装置10与照明件30为一体装置。For example, the lighting element 30 may be an LED lamp that emits white light. If the image projection device 10 includes a DLP projection unit 11 , the DLP projection unit 11 may be used to project the lighting light, that is, the image projection device 10 and the lighting element 30 are an integrated device.
进一步的，在三维扫描仪还包括照明件30的情况下，所述时序控制部还与所述照明件30相连接，用于控制照明件30投射照明光线至目标对象上，并控制图像采集装置20在所述目标对象被所述照明件30投射照明光线的情况下，采集所述目标对象的纹理图。Furthermore, when the three-dimensional scanner also includes an illumination element 30, the timing control unit is also connected to the illumination element 30, and is used to control the illumination element 30 to project illumination light onto the target object, and to control the image acquisition device 20 to capture the texture map of the target object when the target object is projected with illumination light by the illumination element 30.
进一步的，在三维扫描仪还包括照明件30，且时序控制部还与所述照明件30相连接的情况下，时序控制部用于控制图像投影装置10与照明件30交替投射预设条纹图案和照明光线至目标对象上且时序控制部用于控制图像采集装置20相对图像投影装置10同步采集预设条纹图案，用于控制图像采集装置20相对照明件30同步采集纹理图像；或，时序控制部用于控制多个光源单元121与照明件30交替投射预设条纹图案和照明光线至目标对象上且时序控制部用于控制图像采集装置20相对图像投影装置10同步采集预设条纹图案，用于控制图像采集装置20相对照明件30同步采集纹理图像。Further, when the three-dimensional scanner also includes an illuminating element 30, and the timing control unit is also connected to the illuminating element 30, the timing control unit is used to control the image projection device 10 and the illuminating element 30 to alternately project a preset stripe pattern and an illumination light onto the target object, and the timing control unit is used to control the image acquisition device 20 to synchronously acquire the preset stripe pattern relative to the image projection device 10, and is used to control the image acquisition device 20 to synchronously acquire the texture image relative to the illuminating element 30; or, the timing control unit is used to control the multiple light source units 121 and the illuminating element 30 to alternately project a preset stripe pattern and an illumination light onto the target object, and the timing control unit is used to control the image acquisition device 20 to synchronously acquire the preset stripe pattern relative to the image projection device 10, and is used to control the image acquisition device 20 to synchronously acquire the texture image relative to the illuminating element 30.
可选的，所述三维扫描仪还包括反光镜40，所述反光镜40用于改变光线的传输路径。Optionally, the three-dimensional scanner further includes a reflector 40, and the reflector 40 is used to change the transmission path of the light.
举例说明：所述反光镜40设置于预设条纹图案的传输路径上，具体的，预设条纹图案经反光镜40反射至目标对象上，再经目标对象调制后反射至图像采集装置20；此时，可以减少图像投影装置10和图像采集装置20的安装约束，降低图像投影装置10和图像采集装置20所需要的空间大小。For example: the reflector 40 is arranged on the transmission path of the preset stripe pattern. Specifically, the preset stripe pattern is reflected to the target object by the reflector 40, and then modulated by the target object and reflected to the image acquisition device 20. At this time, the installation constraints of the image projection device 10 and the image acquisition device 20 can be reduced, and the space required by the image projection device 10 and the image acquisition device 20 can be reduced.
举例说明：所述反光镜40设置于多个光源单元121所发射的光线的传输路径上，具体的，反光镜40用于改变多个光源单元121所发射的光线的传输路径，以便减少多个光源单元121的安装约束，降低多个光源单元121所需要的空间大小。For example: the reflector 40 is arranged on the transmission path of the light emitted by the multiple light source units 121. Specifically, the reflector 40 is used to change the transmission path of the light emitted by the multiple light source units 121 so as to reduce the installation constraints of the multiple light source units 121 and reduce the space required for the multiple light source units 121.
可选的，在三维扫描仪还包括照明件30和反光镜40，且反光镜40设置于预设条纹图案的传输路径上的情况下，如图3所示，所述照明件30可以设置于所述反光镜40外周；也可以设置在扫描仪的其他部位，与反光镜40配合设置，通过反光镜40将照明光反射到目标对象，例如，令该照明件30设置于第一成像镜头14的靠近光源单元121的一侧，使其与光源单元121所投射的光线均可通过第一成像镜头14，通过反光镜40反射到目标对象。Optionally, when the three-dimensional scanner also includes an illuminating element 30 and a reflector 40, and the reflector 40 is arranged on the transmission path of the preset stripe pattern, as shown in FIG. 3 , the illuminating element 30 can be arranged on the periphery of the reflector 40; it can also be arranged at other parts of the scanner and cooperated with the reflector 40 to reflect the illumination light to the target object through the reflector 40. For example, the illuminating element 30 is arranged on the side of the first imaging lens 14 close to the light source unit 121, so that the light projected by the illuminating element 30 and the light source unit 121 can pass through the first imaging lens 14 and be reflected to the target object through the reflector 40.
举例说明：三维扫描仪包括握持部和设置于握持部前端的入口部，图像投影装置10和图像采集装置20均安装于握持部，反光镜40安装于入口部，照明件30可安装于入口部，也可安装于握持部。For example: the three-dimensional scanner includes a gripping portion and an entrance portion arranged at the front end of the gripping portion, the image projection device 10 and the image acquisition device 20 are both installed on the gripping portion, the reflector 40 is installed on the entrance portion, and the lighting component 30 can be installed on the entrance portion or on the gripping portion.
图像采集装置20，用于在所述目标对象被投射预设条纹图案的情况下，采集经所述目标对象调制的光线，以获取多个条纹图像，其中，所获取的条纹图像作为编码图以确定各条纹序列，以及作为重建图以对所述目标对象进行三维重建，生成目标对象的三维数据。The image acquisition device 20 is used to collect light modulated by the target object when a preset stripe pattern is projected onto the target object, so as to obtain a plurality of stripe images, wherein the obtained stripe images are used as a coding image to determine each stripe sequence, and as a reconstruction image to perform three-dimensional reconstruction on the target object, thereby generating three-dimensional data of the target object.
也即，在目标对象被投射预设条纹图案的情况下，目标对象上会映射出被投射的预设条纹图案，而该预设条纹图案会基于目标对象的自身形状发生变形(即调制)，此时，图像采集装置20采集上述发生变形的预设条纹图案，进而获取到条纹图像，其中，条纹图像则用于确定各条纹序列，以及对目标对象进行三维重建。That is, when the preset stripe pattern is projected onto the target object, the projected preset stripe pattern will be mapped onto the target object, and the preset stripe pattern will be deformed (i.e., modulated) based on the shape of the target object itself. At this time, the image acquisition device 20 acquires the above-mentioned deformed preset stripe pattern and obtains a stripe image, wherein the stripe image is used to determine each stripe sequence and to perform three-dimensional reconstruction of the target object.
在一个可选的示例中，所述图像采集装置20还包括多个相机21，所述多个相机21中至少包含一个黑白相机21，其中，所述图像采集装置20通过所述多个相机21对经所述目标对象调制的光线进行采集，得到多个条纹图像，其中，至少一个所述黑白相机21所得到的条纹图像作为重建图以对所述目标对象进行三维重建；以及，至少多个黑白相机21所得到的条纹图像作为编码图以确定个各条纹序列，和/或，至少一个彩色相机21所得到的条纹图像作为编码图以确定个各条纹序列。In an optional example, the image acquisition device 20 further includes a plurality of cameras 21, wherein the plurality of cameras 21 include at least one black-and-white camera 21, wherein the image acquisition device 20 acquires light modulated by the target object through the plurality of cameras 21 to obtain a plurality of stripe images, wherein the stripe image obtained by at least one of the black-and-white cameras 21 is used as a reconstruction image to perform three-dimensional reconstruction of the target object; and the stripe images obtained by at least a plurality of black-and-white cameras 21 are used as coding images to determine individual stripe sequences, and/or the stripe images obtained by at least one color camera 21 are used as coding images to determine individual stripe sequences.
也即，所述图像采集装置20通过所述多个相机21对经所述目标对象调制的光线进行采集，得到多个条纹图像，而上述多个相机21中至少包含一个黑白相机21，其中，至少一个所述黑白相机21所得到的条纹图像作为重建图以对所述目标对象进行三维重建。That is, the image acquisition device 20 acquires light modulated by the target object through the multiple cameras 21 to obtain multiple stripe images, and the multiple cameras 21 include at least one black-and-white camera 21, wherein the stripe image obtained by at least one of the black-and-white cameras 21 is used as a reconstruction image to perform three-dimensional reconstruction of the target object.
需要说明的是：黑白相机21的成像分辨率高于彩色相机21，因此，令多个相机21中至少包含一个黑白相机21，并使用黑白相机21所生成的条纹图像进行三维重建，提升了目标对象的三维重建准确性。It should be noted that the imaging resolution of the black and white camera 21 is higher than that of the color camera 21. Therefore, the multiple cameras 21 include at least one black and white camera 21, and the stripe image generated by the black and white camera 21 is used for three-dimensional reconstruction, which improves the accuracy of three-dimensional reconstruction of the target object.
具体的，至少一个所述黑白相机21所得到的条纹图像作为重建图以对所述目标对象进行三维重建包括：由一个黑白相机21所得到的条纹图像作为重建图以对所述目标对象进行三维重建；由多个黑白相机21所得到的条纹图像作为重建图以对所述目标对象进行三维重建；由一个黑白相机21和至少一个彩色相机21所得到的条纹图像作为重建图以对所述目标对象进行三维重建；由多个黑白相机21和至少一个彩色相机21所得到的条纹图像作为重建图以对所述目标对象进行三维重建。Specifically, using the stripe image obtained by at least one of the black-and-white cameras 21 as a reconstruction image to perform three-dimensional reconstruction of the target object includes: using the stripe image obtained by one black-and-white camera 21 as a reconstruction image to perform three-dimensional reconstruction of the target object; using the stripe image obtained by multiple black-and-white cameras 21 as a reconstruction image to perform three-dimensional reconstruction of the target object; using the stripe image obtained by one black-and-white camera 21 and at least one color camera 21 as a reconstruction image to perform three-dimensional reconstruction of the target object; using the stripe image obtained by multiple black-and-white cameras 21 and at least one color camera 21 as a reconstruction image to perform three-dimensional reconstruction of the target object.
具体的，至少多个黑白相机21所得到的条纹图像作为编码图以确定个各条纹序列，和/或，至少一个彩色相机21所得到的条纹图像作为编码图以确定个各条纹序列包括：由多个黑白相机21所得到的条纹图像作为编码图以确定个各条纹序列；由至少一个彩色相机21所得到的条纹图像作为编码图以确定个各条纹序列；由至少一个彩色相机21和至少一个黑白相机21所得到的条纹图像作为编码图以确定个各条纹序列。Specifically, the stripe images obtained by at least a plurality of black-and-white cameras 21 are used as coding images to determine individual stripe sequences, and/or the stripe images obtained by at least one color camera 21 are used as coding images to determine individual stripe sequences, including: the stripe images obtained by a plurality of black-and-white cameras 21 are used as coding images to determine individual stripe sequences; the stripe images obtained by at least one color camera 21 are used as coding images to determine individual stripe sequences; the stripe images obtained by at least one color camera 21 and at least one black-and-white camera 21 are used as coding images to determine individual stripe sequences.
也即，作为编码图的至少一个条纹图像中所包含的条纹信息，需要能确定各个条纹的编码序列；即，编码图由能确定各个条纹的编码序列的条纹图像组成。That is, the stripe information contained in at least one stripe image of the coding image needs to be able to determine the coding sequence of each stripe; that is, the coding image is composed of stripe images that can determine the coding sequence of each stripe.
可选的，所述相机21可以为CDD相机，也可以为CMOS相机。具体的，本申请对相机形式不作具体限定，技术人员可以依据技术需求做相应替换。Optionally, the camera 21 may be a CDD camera or a CMOS camera. Specifically, the present application does not specifically limit the camera form, and technicians may make corresponding replacements according to technical requirements.
需要说明的是：而CCD相机具有体积小、重量轻、不受磁场影响、以及具有抗震动和抗撞击的特性，因此，在三维扫描仪采用2CCD相机获取条纹图像的情况下，该三维扫描仪的体积也能相应减少，使得该三维扫描仪便于手持使用，以及应用于空间较小的待扫描环境(例如：口腔)。It should be noted that: CCD cameras are small in size, light in weight, unaffected by magnetic fields, and resistant to vibration and impact. Therefore, when a 3D scanner uses 2CCD cameras to obtain fringe images, the size of the 3D scanner can be reduced accordingly, making the 3D scanner easy to use by hand and applicable to smaller scanning environments (such as the oral cavity).
举例说明：通过图像投影装置10，在预设周期的a时段向目标对象投射预先设计好的预设条纹图像A，在预设周期的b时段向目标对象投射预设设计好的预设条纹图像B，并控制图像采集装置20快速采集带有预设条纹图像的目标对象的图像，其中，图像采集装置20中包含的相机21分别采集到不同的条纹图像，例如，相机211为彩色相机21，用于在所述目标对象被投射预设条纹图案A的情况下，获取彩色条纹图像；相机212为黑白相机21，用于在所述目标对象被投射预设条纹图案B的情况下，获取黑白条纹图像。For example: through the image projection device 10, a pre-designed preset stripe image A is projected onto the target object in the period a of the preset cycle, and a pre-designed preset stripe image B is projected onto the target object in the period b of the preset cycle, and the image acquisition device 20 is controlled to quickly acquire an image of the target object with the preset stripe image, wherein the camera 21 included in the image acquisition device 20 respectively acquires different stripe images, for example, the camera 211 is a color camera 21, which is used to obtain a color stripe image when the preset stripe pattern A is projected onto the target object; the camera 212 is a black and white camera 21, which is used to obtain a black and white stripe image when the preset stripe pattern B is projected onto the target object.
此时，将彩色条纹图像和黑白条纹图像传输至计算机端，计算机以彩色条纹图像作为编码信息，以黑白条纹图像作为重建图，以获取目标对象的三维形貌。At this time, the color stripe image and the black and white stripe image are transmitted to the computer. The computer uses the color stripe image as encoding information and the black and white stripe image as a reconstructed image to obtain the three-dimensional morphology of the target object.
在一个可选的示例中，图像采集装置20还包括光束处理装置22，所述光束处理装置22包含进光部和至少两个出光部，其中，各个相机21分别对应不同的出光部设置，所述图像采集装置20通过光束处理装置22以采集经所述目标对象调制的光线。In an optional example, the image acquisition device 20 also includes a light beam processing device 22, which includes a light input part and at least two light output parts, wherein each camera 21 is respectively arranged corresponding to a different light output part, and the image acquisition device 20 uses the light beam processing device 22 to collect light modulated by the target object.
其中，所述图像采集装置20还包括第二成像镜头23，所述第二成像镜头23与所述光束处理装置22的进光部对应设置，其中，所述图像采集装置20所采集的光线通过所述第二成像镜头23射向所述光束处理装置22的进光部，至所述光束处理装置22的不同出光部。The image acquisition device 20 further includes a second imaging lens 23, which is arranged corresponding to the light input part of the light beam processing device 22, wherein the light collected by the image acquisition device 20 is emitted to the light input part of the light beam processing device 22 through the second imaging lens 23, and then to different light output parts of the light beam processing device 22.
也即，图像采集装置20通过设置光束处理装置22，使得多个相机21可以基于从同一第二成像镜头23射入的同轴光分别进行成像，即，使得多个相机21所分别获取的条纹图案具有一致的视场和角度。具体地，光束处理装置22的进光部设有一第二成像镜头23，光束处理装置22包括多个出光部，出光部分别与相机21一一对应设置，光束处理装置22对入射其中的光线进行方向调整和/或波段分离，使得各相机21可基于同一入射方向的光线分别成像且可基于指定波段的光线进行成像。That is, the image acquisition device 20 is provided with a light beam processing device 22, so that the multiple cameras 21 can respectively perform imaging based on the coaxial light incident from the same second imaging lens 23, that is, the stripe patterns respectively acquired by the multiple cameras 21 have a consistent field of view and angle. Specifically, the light input part of the light beam processing device 22 is provided with a second imaging lens 23, and the light beam processing device 22 includes a plurality of light output parts, which are respectively arranged in a one-to-one correspondence with the cameras 21. The light beam processing device 22 adjusts the direction and/or separates the wavelengths of the light incident therein, so that each camera 21 can respectively perform imaging based on the light of the same incident direction and can perform imaging based on the light of a specified wavelength band.
举例说明：如图4所示，目标对象的光线通过光束处理装置22的进光部射入；而光束处理装置22将目标对象的影像光线进行分光处理，令该影像光线分别从至少两个出光部射出，以投射至多个相机21；此时，多个相机21所采集到的条纹图像，均是以同一视角获取的条纹图像。For example: as shown in Figure 4, the light of the target object is incident through the light input part of the light beam processing device 22; and the light beam processing device 22 performs spectral processing on the image light of the target object, so that the image light is emitted from at least two light output parts respectively to be projected to multiple cameras 21; at this time, the stripe images captured by the multiple cameras 21 are all stripe images acquired from the same viewing angle.
可选的，所述光束处理装置22还包含至少一个第一光束分离单元，所述第一光束分离单元用于对从进光部投射进的光线进行分光处理，以便所述光线分别从所述至少两个出光部投射至所述出光部对应设置的相机21。Optionally, the light beam processing device 22 further includes at least one first light beam separation unit, which is used to perform light splitting processing on the light projected from the light input part, so that the light is projected from the at least two light output parts to the cameras 21 corresponding to the light output parts.
也即，光束处理装置22通过第一光束分离单元，将所接收到的光分离成朝向多个方向投射的光。举例说明：一束红蓝光线经第一光束分离单元处理后，形成两束红蓝光线，两束红蓝光线分别朝不同的方向射出。That is, the light beam processing device 22 separates the received light into lights projected in multiple directions through the first light beam separation unit. For example, after a red and blue light beam is processed by the first light beam separation unit, two red and blue light beams are formed, and the two red and blue light beams are projected in different directions.
可选的，所述光束处理装置22还包含至少一个第二光束分离单元，所述第二光束分离单元用于对指定相机21将获取的光线进行分离处理，以便所述指定相机21获取到指定波段的光线，其中，所述指定波段至少包含：至少一初始光线所包含的光线波段。Optionally, the light beam processing device 22 further includes at least one second light beam separation unit, which is used to separate the light to be acquired by the designated camera 21 so that the designated camera 21 acquires light of a designated band, wherein the designated band at least includes: a light band contained in at least one initial light beam.
也即，光束处理装置22可以通过第二光束分离单元，将所接收到的光分离出部分波段的光线。举例说明：一束红蓝光线经第二光束分离单元处理后，形成一束蓝色光线。That is, the light beam processing device 22 can separate the received light into light beams of partial wavelength bands through the second light beam separation unit. For example, a beam of red and blue light is processed by the second light beam separation unit to form a beam of blue light.
需要说明的是：本申请中的所述第一光束分离单元和所述第二光束分离单元可以集成在一个物理单元中，也可以是各个单元单独物理存在。It should be noted that: the first beam splitting unit and the second beam splitting unit in the present application can be integrated into one physical unit, or each unit can exist physically separately.
举例说明：所述第一光束分离单元可以为半反半透棱镜22c；所述第二光束分离单元可以为滤光片22d；所述第一光束分离单元和所述第二光束分离单元可以集成在直角两通道分色棱镜22a中；所述第一光束分离单元和所述第二光束分离单元可以集成在三通道分色棱镜22b中。For example: the first beam separation unit can be a semi-reflective and semi-transparent prism 22c; the second beam separation unit can be a filter 22d; the first beam separation unit and the second beam separation unit can be integrated in a right-angle two-channel color separation prism 22a; the first beam separation unit and the second beam separation unit can be integrated in a three-channel color separation prism 22b.
举例说明：在预设周期的a时段，图像投影装置10向目标对象投射预先设计好的预设条纹图像A，其中，预设条纹图像A由蓝色条纹和绿色条纹组合而成，以及图像采集装置20中的相机211采集经所述目标对象调制的光线的情况下，相机211所对应的第二光束分离单元对相机211将获取的光线进行分离处理，以便所述相机211能获取到绿色光线和蓝色光线。优选的，所述相机211仅能获取到绿色光线和蓝色光线。For example: in the a period of the preset cycle, the image projection device 10 projects a pre-designed preset stripe image A to the target object, wherein the preset stripe image A is composed of blue stripes and green stripes, and the camera 211 in the image acquisition device 20 acquires the light modulated by the target object, and the second beam separation unit corresponding to the camera 211 separates the light to be acquired by the camera 211, so that the camera 211 can acquire green light and blue light. Preferably, the camera 211 can only acquire green light and blue light.
优选的，所述图像采集装置20所包含的多个相机21与多个预设条纹图案一一对应，也即，每个相机21可识别确定的光线颜色与其对应的预设条纹图案所包含的条纹颜色相一致。Preferably, the multiple cameras 21 included in the image acquisition device 20 correspond one-to-one to the multiple preset stripe patterns, that is, each camera 21 can identify that the color of the light is consistent with the stripe color included in the corresponding preset stripe pattern.
可选的，重建图的条纹颜色数量少于预设彩色编码条纹中条纹颜色的数量，这样相邻条纹之间的间距不会过小，解决条纹匹配过程中因间距过小而不能准确匹配的问题。优选的，在重建图仅由一个颜色条纹所组成。优选的，重建图通过黑白相机21获取。优选的，重建图为仅由蓝色光线生成的黑白条纹图像，蓝光较其他颜色的光具有更高的抗干扰性，稳定性更高。Optionally, the number of stripe colors in the reconstructed image is less than the number of stripe colors in the preset color-coded stripes, so that the spacing between adjacent stripes is not too small, solving the problem of inaccurate matching due to too small spacing during stripe matching. Preferably, the reconstructed image is composed of only one color stripe. Preferably, the reconstructed image is obtained by a black and white camera 21. Preferably, the reconstructed image is a black and white stripe image generated only by blue light, and blue light has higher anti-interference and higher stability than other colors of light.
需要说明的是：所述三维扫描仪还可以包括：散热系统、加热防雾系统、软件算法系统等，其中，散热系统用于防止三维扫描仪装置内部过热，导致扫描仪损坏的情况发生；加热防雾系统用于防止三维扫描仪中各个光学仪器发生雾面现象，导致无法获取到精准的条纹图像的情况下发生；软件算法系统用于依据图像采集装置20所获取的至少一个条纹图像，对目标对象进行三维重建。It should be noted that the three-dimensional scanner may also include: a heat dissipation system, a heating and anti-fog system, a software algorithm system, etc., wherein the heat dissipation system is used to prevent overheating inside the three-dimensional scanner device, which may cause damage to the scanner; the heating and anti-fog system is used to prevent fogging of various optical instruments in the three-dimensional scanner, which may result in the inability to obtain accurate stripe images; the software algorithm system is used to perform three-dimensional reconstruction of the target object based on at least one stripe image obtained by the image acquisition device 20.
综上所述，本申请实施例提供的三维扫描仪基于空间编码的条纹提取算法，实现了取消动态投影的投影需求，以及仅需少量二维图像即可实现目标对象的三维重建的技术效果，解决了相关技术中三维重建方法所需硬件成本较高，不利于三维扫描装置的推广使用的技术问题。To sum up, the three-dimensional scanner provided in the embodiment of the present application is based on a spatially coded fringe extraction algorithm, which achieves the technical effect of eliminating the projection requirement of dynamic projection and realizing three-dimensional reconstruction of the target object with only a small number of two-dimensional images. It solves the technical problem that the hardware cost required for the three-dimensional reconstruction method in the related technology is high, which is not conducive to the promotion and use of three-dimensional scanning devices.
此外，该三维扫描仪通过将颜色作为空间编码的信息，还提升三维识别准确性。In addition, the 3D scanner improves 3D recognition accuracy by using color as spatially encoded information.
为了使得本领域技术人员能够更加清楚地了解本申请的技术方案，以下将结合具体的实施例来说明：In order to enable those skilled in the art to more clearly understand the technical solution of the present application, the following will be described in conjunction with specific embodiments:
实施例一：Embodiment 1:
以图1为例，所述光束处理装置22包括直角两通道分色棱镜22a，且，所述直角两通道分色棱镜22a包含第三出光部和第四出光部，其中，所述光束处理装置22通过所述直角两通道分色棱镜22a，实现对从进光部投射进的光线进行分光处理，以便所述光线分别从所述第三出光部和所述第四出光部投射至各自出光部对应设置的相机21。Taking Figure 1 as an example, the light beam processing device 22 includes a right-angle two-channel color separation prism 22a, and the right-angle two-channel color separation prism 22a includes a third light output portion and a fourth light output portion, wherein the light beam processing device 22 realizes the light separation processing of the light projected from the light input portion through the right-angle two-channel color separation prism 22a, so that the light is respectively projected from the third light output portion and the fourth light output portion to the cameras 21 corresponding to the respective light output portions.
相应的，所述图像采集装置20包括与所述第三出光部对应设置的第三相机21，以及与第四出光部对应设置的第四相机21，第三相机21基于采集到的光线生成第三条纹图像，第四相机21基于采集到的光线生成第四条纹图像，第三条纹图像与第四条纹图像中均包括至少两种颜色的条纹且至少两种颜色的条纹可识别。Correspondingly, the image acquisition device 20 includes a third camera 21 arranged corresponding to the third light emitting portion, and a fourth camera 21 arranged corresponding to the fourth light emitting portion. The third camera 21 generates a third stripe image based on the collected light, and the fourth camera 21 generates a fourth stripe image based on the collected light. Both the third stripe image and the fourth stripe image include stripes of at least two colors, and the stripes of at least two colors are identifiable.
需要说明的是：第三条纹图像与第四条纹图像中均包括至少两种颜色的条纹是用于实现在颜色上对两种条纹进行区分处理，而非对颜色的限定。It should be noted that the third stripe image and the fourth stripe image both include stripes of at least two colors for the purpose of distinguishing the two stripes in color, rather than limiting the colors.
此外，所述光束处理装置22通过所述直角两通道分色棱镜22a，实现对指定相机21将获取的光线进行分离处理，以便所述指定相机21获取到包含指定波段的光线，其中，所述指定相机21获取到包含指定波段的光线包括：所述第三相机21获取到第三指定波段的光线，所述第四相机21获取到第四指定波段的光线。In addition, the light beam processing device 22 separates the light acquired by the designated camera 21 through the right-angle two-channel color separation prism 22a, so that the designated camera 21 acquires light containing a designated band, wherein the light containing a designated band acquired by the designated camera 21 includes: the third camera 21 acquires light of the third designated band, and the fourth camera 21 acquires light of the fourth designated band.
下面举例说明：Here are some examples:
优选的，第三相机21为黑白相机21，第四相机21为彩色相机21。Preferably, the third camera 21 is a black and white camera 21 , and the fourth camera 21 is a color camera 21 .
光线发射部12在第一时段发射红色光线至光线透射部13上，该红色光线经由光线透射部13上设有的预设图案投射后，生成第一预设条纹图案；该第一预设条纹图案以红色编码条纹的形式投射至目标对象上，光线经目标对象调制后传输至图像处理装置，在本实施例中，直角两通道分色棱镜22a为红、绿蓝分色棱镜，使红色光线从第三出光部射出，使绿色光线和蓝色光线从第四出光部射出；此时，红色编码条纹通过直角两通道分色棱镜22a从第三出光部射出由黑白相机21采集，黑白相机21生成包含红色条纹的第三条纹图像；The light emitting unit 12 emits red light to the light transmitting unit 13 in the first period of time. After the red light is projected through the preset pattern provided on the light transmitting unit 13, a first preset stripe pattern is generated. The first preset stripe pattern is projected onto the target object in the form of red coded stripes. The light is modulated by the target object and transmitted to the image processing device. In this embodiment, the right-angle two-channel color separation prism 22a is a red, green and blue color separation prism, so that the red light is emitted from the third light emitting unit, and the green light and the blue light are emitted from the fourth light emitting unit. At this time, the red coded stripes are emitted from the third light emitting unit through the right-angle two-channel color separation prism 22a and are collected by the black and white camera 21, and the black and white camera 21 generates a third stripe image containing red stripes.
光线发射部12在第二时段发射绿色光线和蓝色光线至光线透射部13上，该绿色光线和蓝色光线经由光线透射部13上设有的预设图像透射后，生成第二预设条纹图案；该第二预设条纹图案以绿蓝色编码条纹的形式投射至目标对象上，光线经目标对象调制后传输至图像处理装置；此时，绿蓝色编码条纹通过直角两通道分色棱镜22a从第四出光部射出由彩色相机21采集，彩色相机21生成包含绿色条纹和蓝色条纹的第四条纹图像。The light emitting unit 12 emits green light and blue light to the light transmitting unit 13 in the second time period. After the green light and the blue light are transmitted through the preset image provided on the light transmitting unit 13, a second preset stripe pattern is generated; the second preset stripe pattern is projected onto the target object in the form of green-blue coded stripes, and the light is modulated by the target object and transmitted to the image processing device; at this time, the green-blue coded stripes are emitted from the fourth light emitting unit through the right-angle two-channel color separation prism 22a and collected by the color camera 21, and the color camera 21 generates a fourth stripe image including green stripes and blue stripes.
照明件30在第八时段投射照明光至目标对象上，经目标对象发射后传输至图像处理装置，照明光中的蓝色光线和绿色光线由彩色相机21采集生成第四纹理图，红色光线由黑白相机21采集生成第三纹理图，第三纹理图与第四纹理图合成目标对象的纹理图。可见，为了获取目标对象的纹理图，红光、绿光和蓝光均需被彩色相机21采集并识别，或红光、绿光和蓝光均需被彩色相机21和黑白相机21采集并识别，即部分颜色光被彩色相机21采集并识别，部分颜色光被黑白相机21采集并识别。The lighting element 30 projects illumination light onto the target object in the eighth period, and after being emitted by the target object, it is transmitted to the image processing device. The blue light and green light in the illumination light are collected by the color camera 21 to generate a fourth texture map, and the red light is collected by the black-and-white camera 21 to generate a third texture map. The third texture map and the fourth texture map are combined to form a texture map of the target object. It can be seen that in order to obtain the texture map of the target object, the red light, the green light and the blue light must all be collected and identified by the color camera 21, or the red light, the green light and the blue light must all be collected and identified by the color camera 21 and the black-and-white camera 21, that is, part of the color light is collected and identified by the color camera 21, and part of the color light is collected and identified by the black-and-white camera 21.
进一步的，由于第三条纹图像和第四条纹图像均对应同一个光线透射部13，因此，第三条纹图像和第四条纹图像中的各个条纹相对应，具体的，第三条纹图像与第四条纹图像基于同一坐标系组合后其中的条纹与光线透射部13上的预设彩色编码条纹相对应。Furthermore, since the third fringe image and the fourth fringe image both correspond to the same light transmission portion 13, the stripes in the third fringe image and the fourth fringe image correspond to each other. Specifically, after the third fringe image and the fourth fringe image are combined based on the same coordinate system, the stripes therein correspond to the preset color-coded stripes on the light transmission portion 13.
具体的，第三条纹图像作为重建图，第四条纹图像作为编码图，其中，第四条纹图像由彩色相机21采集，第四条纹图像中的绿色条纹和蓝色条纹均可识别确定，由此即可确定第四条纹图像中各条纹的编码序列；基于第三条纹图像与第四条纹图像的条纹对应关系，第三条纹图像的各条纹可通过第四条纹的编码序列识别及匹配，实现三维重建。Specifically, the third stripe image is used as a reconstructed image, and the fourth stripe image is used as a coding image, wherein the fourth stripe image is collected by a color camera 21, and both the green stripes and the blue stripes in the fourth stripe image can be identified and determined, thereby determining the coding sequence of each stripe in the fourth stripe image; based on the corresponding relationship between the stripes of the third stripe image and the fourth stripe image, each stripe of the third stripe image can be identified and matched through the coding sequence of the fourth stripe to achieve three-dimensional reconstruction.
优选的，黑白相机21仅获取单色光，因此，第三条纹图像也可识别确定，第三条纹图像可与第四条纹图像组合确定各条纹的编码序列，即，第三条纹图像与第四条纹图像均作为编码图。Preferably, the black and white camera 21 only acquires monochromatic light, so the third fringe image can also be identified and determined, and the third fringe image can be combined with the fourth fringe image to determine the coding sequence of each fringe, that is, the third fringe image and the fourth fringe image are both used as coding images.
此外，本实施例可设置滤光片22d，也可不设置滤光片22d，滤光片22d与直角两通道分色棱镜22a配合设置即可。In addition, the present embodiment may or may not be provided with a filter 22d, and the filter 22d may be provided in conjunction with the right-angle two-channel color separation prism 22a.
值得强调的是：在该实施例中，光束处理装置22通过所述直角两通道分色棱镜22a，实现对从进光部投射进的光线进行分光处理，以便所述光线分别从所述第三出光部和所述第四出光部投射至各自出光部对应设置的相机21；也即，光束处理装置22通过直角两通道分色棱镜22a实现了第一光束分离单元所对应的功能。It is worth emphasizing that: in this embodiment, the light beam processing device 22 realizes the splitting processing of the light projected from the light input part through the right-angle two-channel color separation prism 22a, so that the light is projected from the third light output part and the fourth light output part to the cameras 21 corresponding to the respective light output parts; that is, the light beam processing device 22 realizes the function corresponding to the first light beam separation unit through the right-angle two-channel color separation prism 22a.
同理，还值得强调的是：在该实施例中，光束处理装置22还通过所述直角两通道分色棱镜22a，实现对指定相机21将获取的光线进行分离处理，以便所述指定相机21获取到包含指定波段的光线；也即，光束处理装置22通过直角两通道分色棱镜22a实现了第二光束分离单元所对应的功能。Similarly, it is also worth emphasizing that: in this embodiment, the light beam processing device 22 also uses the right-angle two-channel color separation prism 22a to separate the light acquired by the designated camera 21, so that the designated camera 21 acquires light containing a designated wavelength band; that is, the light beam processing device 22 realizes the function corresponding to the second light beam separation unit through the right-angle two-channel color separation prism 22a.
直角两通道分色棱镜22a集成了第一光束分离单元和第二光束分离单元，以实现指定波段的光线从指定方向射出，例如，直角两通道分色棱镜22a为使红绿光线从第三出光部射出、使蓝色光线从第四光部射出，当一包含红绿蓝三色光线的光束通过直角两通道分色棱镜22a，红绿光线与蓝色光线分离，红绿光线通过第三出光部射出，蓝色光线通过第三出光部射出。The right-angle two-channel color separation prism 22a integrates a first beam separation unit and a second beam separation unit to realize that light of a specified wavelength band is emitted from a specified direction. For example, the right-angle two-channel color separation prism 22a enables red and green light to be emitted from the third light emitting portion and blue light to be emitted from the fourth light emitting portion. When a light beam containing red, green and blue light rays passes through the right-angle two-channel color separation prism 22a, the red and green light rays are separated from the blue light rays, and the red and green light rays are emitted through the third light emitting portion, and the blue light rays are emitted through the fourth light emitting portion.
实施例二：Embodiment 2:
以图5为例，所述光束处理装置22包括三通道分色棱镜22b，且，所述三通道分色棱镜22b包含第五出光部、第六出光部和第七出光部，其中，所述光束处理装置22通过所述三通道分色棱镜22b，实现对从进光部投射进的光线进行分光处理，以便所述光线分别从所述第五出光部、所述第六出光部和所述第七出光部投射至各自出光部对应设置的相机21。Taking Figure 5 as an example, the light beam processing device 22 includes a three-channel color separation prism 22b, and the three-channel color separation prism 22b includes a fifth light output portion, a sixth light output portion and a seventh light output portion, wherein the light beam processing device 22 realizes the light separation processing of the light projected from the light input portion through the three-channel color separation prism 22b, so that the light is respectively projected from the fifth light output portion, the sixth light output portion and the seventh light output portion to the cameras 21 corresponding to the respective light output portions.
相应的，所述图像采集装置20包括与所述第五出光部对应设置的第五相机21、与第六出光部对应设置的第六相机21，以及与所述第七出光部对应设置的第七相机21，第五相机21基于采集到的光线生成第五条纹图像，第六相机21基于采集到的光线生成第六条纹图像，第七相机21基于采集到的光线生成第七条纹图像，第五条纹图像、第六条纹图像和第七条纹图像中均包括至少两种颜色的条纹且至少两种颜色的条纹可识别。Correspondingly, the image acquisition device 20 includes a fifth camera 21 arranged corresponding to the fifth light emitting portion, a sixth camera 21 arranged corresponding to the sixth light emitting portion, and a seventh camera 21 arranged corresponding to the seventh light emitting portion. The fifth camera 21 generates a fifth fringe image based on the collected light, the sixth camera 21 generates a sixth fringe image based on the collected light, and the seventh camera 21 generates a seventh fringe image based on the collected light. The fifth fringe image, the sixth fringe image, and the seventh fringe image all include fringe of at least two colors, and the fringe of at least two colors is identifiable.
需要说明的是：第五条纹图像、第六条纹图像和第七条纹图像中包括至少两种颜色的条纹是用于实现在颜色上对两种条纹进行区分处理，而非对颜色的限定。It should be noted that the fifth fringe image, the sixth fringe image and the seventh fringe image include fringe stripes of at least two colors for distinguishing the two fringe stripes in color, rather than limiting the color.
此时，所述光束处理装置22通过所述三通道分色棱镜22b，实现对指定相机21将获取的光线进行分离处理，以便所述指定相机21获取到包含指定波段的光线，其中，所述指定相机21获取到包含指定波段的光线至少包括：所述第五相机21获取到第五指定波段的光线、所述第六相机21获取到第六指定波段的光线，且所述第五指定波段不同于所述第六指定波段。At this time, the light beam processing device 22 uses the three-channel color separation prism 22b to separate the light acquired by the designated camera 21, so that the designated camera 21 acquires light containing the designated band, wherein the light containing the designated band acquired by the designated camera 21 at least includes: the fifth camera 21 acquires light of the fifth designated band, the sixth camera 21 acquires light of the sixth designated band, and the fifth designated band is different from the sixth designated band.
优选的，第五相机21、第六相机21和第七相机21中至少一者为黑白相机21，具体地，第五相机21为黑白相机21，第六相机21和第七相机21为彩色相机21；或，第五相机21和第六相机21为黑白相机21，第七相机21为彩色相机21；或，第五相机21、第六相机21和第七相机21均为黑白相机21。Preferably, at least one of the fifth camera 21, the sixth camera 21 and the seventh camera 21 is a black and white camera 21, specifically, the fifth camera 21 is a black and white camera 21, and the sixth camera 21 and the seventh camera 21 are color cameras 21; or, the fifth camera 21 and the sixth camera 21 are black and white cameras 21, and the seventh camera 21 is a color camera 21; or, the fifth camera 21, the sixth camera 21 and the seventh camera 21 are all black and white cameras 21.
下面举例说明：Here are some examples:
优选的，第五相机21、第六相机21和第七相机21均为黑白相机21。Preferably, the fifth camera 21 , the sixth camera 21 and the seventh camera 21 are all black and white cameras 21 .
光线发射部12在第三时段发射红色光线至光线透射部13上，该红色光线经由光线透射部13上设有的预设彩色编码条纹投射后，生成第三预设条纹图案；该第三预设条纹图案以红色编码条纹的形式投射至目标对象上，光线经目标对象调制后传输至图像处理装置，在本实施例中，光束处理装置为分离红、绿、蓝三色的三通道分色棱镜22b，使红色光线从第五出光部射出，使绿色光线从第六出光部射出，使蓝色光线从第七出光部射出；此时，红色编码条纹经三通道分色棱镜22b分解，通过第五出光部由第五相机21采集，第五相机21生成包含红色条纹的第五条纹图像；The light emitting unit 12 emits red light to the light transmitting unit 13 in the third time period, and the red light is projected through the preset color coding stripes provided on the light transmitting unit 13 to generate a third preset stripe pattern; the third preset stripe pattern is projected onto the target object in the form of red coded stripes, and the light is modulated by the target object and transmitted to the image processing device. In this embodiment, the light beam processing device is a three-channel color separation prism 22b for separating red, green and blue colors, so that the red light is emitted from the fifth light emitting unit, the green light is emitted from the sixth light emitting unit, and the blue light is emitted from the seventh light emitting unit; at this time, the red coded stripes are decomposed by the three-channel color separation prism 22b, and are collected by the fifth camera 21 through the fifth light emitting unit, and the fifth camera 21 generates a fifth stripe image containing red stripes;
光线发射部12在第四时段发射蓝色光线至光线透射部13上，该蓝色光线经由光线透射部13上设有的预设图像投射后，生成第四预设条纹图案；该第四预设条纹图案以蓝色编码条纹的形式投射至目标对象上，光线经目标对象调制后传输至图像处理装置；此时，蓝色编码条纹三通道分色棱镜22b分解，通过第六出光部由第六相机21采集，第六相机21生成包含蓝色条纹的第六条纹图像。The light emitting unit 12 emits blue light to the light transmitting unit 13 in the fourth time period. After the blue light is projected through the preset image provided on the light transmitting unit 13, a fourth preset stripe pattern is generated. The fourth preset stripe pattern is projected onto the target object in the form of blue coded stripes, and the light is modulated by the target object and transmitted to the image processing device. At this time, the blue coded stripes are decomposed by the three-channel color separation prism 22b and collected by the sixth camera 21 through the sixth light emitting unit. The sixth camera 21 generates a sixth stripe image containing blue stripes.
光线发射部12在第五时段发射绿色光线至光线透射部13上，该绿色光线经由光线透射部13上设有的预设图像投射后，生成第五预设条纹图案；该第五预设条纹图案以绿色编码条纹的形式投射至目标对象上，光线经目标对象调制后传输至图像处理装置；此时，绿色编码条纹经三通道分色棱镜22b分解，通过第七出光部由第七相机21采集，第七相机21生成包含绿色条纹的第七条纹图像。The light emitting unit 12 emits green light to the light transmitting unit 13 in the fifth time period. After the green light is projected through the preset image provided on the light transmitting unit 13, a fifth preset stripe pattern is generated. The fifth preset stripe pattern is projected onto the target object in the form of green coded stripes. The light is modulated by the target object and transmitted to the image processing device. At this time, the green coded stripes are decomposed by the three-channel color separation prism 22b, collected by the seventh camera 21 through the seventh light emitting unit, and the seventh camera 21 generates a seventh stripe image containing green stripes.
照明件30在第九时段投射照明光至目标对象上，经目标对象发射后传输至图像处理装置，照明光中的红色光线由第五相机21采集生成第五纹理图，蓝色光线由第六相机21采集生成第六纹理图，绿色光线由第七相机21采集生成第七纹理图，第五纹理图、第六纹理图与第七纹理图合成目标对象的纹理图。可见，为了获取目标对象的纹理图，红光、绿光和蓝光均需被彩色相机21采集并识别，或红光、绿光和蓝光均需被彩色相机21和黑白相机21采集并识别，即部分颜色光被彩色相机21采集并识别，部分颜色光被黑白相机21采集并识别，或红光、绿光和蓝光均需被黑白相机21采集并识别，即每种颜色的光分别由一个黑白相机21独立采集以识别确定。The lighting element 30 projects illumination light onto the target object in the ninth time period, and after being emitted by the target object, the light is transmitted to the image processing device. The red light in the illumination light is collected by the fifth camera 21 to generate the fifth texture map, the blue light is collected by the sixth camera 21 to generate the sixth texture map, and the green light is collected by the seventh camera 21 to generate the seventh texture map. The fifth texture map, the sixth texture map and the seventh texture map are combined to form the texture map of the target object. It can be seen that in order to obtain the texture map of the target object, the red light, the green light and the blue light must all be collected and identified by the color camera 21, or the red light, the green light and the blue light must all be collected and identified by the color camera 21 and the black-and-white camera 21, that is, part of the color light is collected and identified by the color camera 21, and part of the color light is collected and identified by the black-and-white camera 21, or the red light, the green light and the blue light must all be collected and identified by the black-and-white camera 21, that is, each color of light is independently collected by a black-and-white camera 21 for identification and determination.
进一步的，由于第五条纹图像、第六条纹图像和第七条纹图像均对应同一个光线透射部13，因此，第五条纹图像、第六条纹图像和第七条纹图像中的各个条纹相对应，具体的，第五条纹图像、第六条纹图像和第七条纹图像组合后与光线透射部13上的预设图案相对应。Further, since the fifth fringe image, the sixth fringe image and the seventh fringe image all correspond to the same light transmission portion 13, the stripes in the fifth fringe image, the sixth fringe image and the seventh fringe image correspond to each other. Specifically, the fifth fringe image, the sixth fringe image and the seventh fringe image correspond to the preset pattern on the light transmission portion 13 after being combined.
具体的，由第五条纹图像、第六条纹图像和第七条纹图像确定的任意条纹图像组合可作为重建图，由第五条纹图像、第六条纹图像和第七条纹图像确定的任意条纹图像组合可作为编码图。优选的，第五条纹图像、第六条纹图像和第七条纹图像共同作为编码图，以确定各个条纹的编码序列；第五条纹图像、第六条纹图像和第七条纹图像共同作为重建图，以实现三维重建。Specifically, any fringe image combination determined by the fifth fringe image, the sixth fringe image, and the seventh fringe image can be used as a reconstruction image, and any fringe image combination determined by the fifth fringe image, the sixth fringe image, and the seventh fringe image can be used as a coding image. Preferably, the fifth fringe image, the sixth fringe image, and the seventh fringe image are used together as a coding image to determine the coding sequence of each fringe; the fifth fringe image, the sixth fringe image, and the seventh fringe image are used together as a reconstruction image to achieve three-dimensional reconstruction.
此外，本实施例可设置滤光片22d，也可不设置滤光片22d，滤光片22d与三通道分色棱镜22b配合设置即可。In addition, in this embodiment, the filter 22d may be provided or not provided. The filter 22d may be provided in conjunction with the three-channel color separation prism 22b.
值得强调的是：在该实施例中，光束处理装置22通过所述三通道分色棱镜22b，实现对从进光部投射进的光线进行分光处理，以便所述光线分别从所述第五出光部、所述第六出光部和所述第七出光部投射至各自出光部对应设置的相机21；也即，光束处理装置22通过三通道分色棱镜22b实现了第一光束分离单元所对应的功能。It is worth emphasizing that: in this embodiment, the light beam processing device 22 realizes the spectroscopic processing of the light projected from the light input part through the three-channel color separation prism 22b, so that the light is projected from the fifth light output part, the sixth light output part and the seventh light output part to the cameras 21 corresponding to the respective light output parts; that is, the light beam processing device 22 realizes the function corresponding to the first light beam separation unit through the three-channel color separation prism 22b.
同理，在该实施例中，光束处理装置22还通过所述三通道分色棱镜22b，实现对指定相机21将获取的光线进行分离处理，以便所述指定相机21获取到包含指定波段的光线；也即，光束处理装置22通过三通道分色棱镜22b实现了第二光束分离单元所对应的功能。Similarly, in this embodiment, the light beam processing device 22 also uses the three-channel color separation prism 22b to separate the light acquired by the designated camera 21, so that the designated camera 21 acquires light containing a designated wavelength band; that is, the light beam processing device 22 realizes the function corresponding to the second light beam separation unit through the three-channel color separation prism 22b.
实施例三：Embodiment three:
以图6为例，所述光束处理装置22包括半反半透棱镜22c，且所述半反半透棱镜22c包含第一出光部和第二出光部，其中，所述光束处理装置22通过所述半反半透棱镜22c，实现对从进光部投射进的光线进行分光处理，以便所述光线分别从所述第一出光部和第二出光部投射至各自出光部对应设置的相机21；Taking FIG. 6 as an example, the light beam processing device 22 includes a semi-reflective and semi-transparent prism 22c, and the semi-reflective and semi-transparent prism 22c includes a first light output portion and a second light output portion, wherein the light beam processing device 22 realizes the light splitting processing of the light projected from the light input portion through the semi-reflective and semi-transparent prism 22c, so that the light is projected from the first light output portion and the second light output portion to the cameras 21 corresponding to the respective light output portions;
相应的，所述图像采集装置20包括与所述第一出光部对应设置的第一相机21，以及与第二出光部对应设置的第二相机21，第一相机21基于采集到的光线生成第一条纹图像，第二相机21基于采集到的光线生成第二条纹图像，第一条纹图像与第二条纹图像中均包括至少两种颜色的条纹且至少两种颜色的条纹可识别。Correspondingly, the image acquisition device 20 includes a first camera 21 arranged corresponding to the first light emitting portion, and a second camera 21 arranged corresponding to the second light emitting portion. The first camera 21 generates a first stripe image based on the collected light, and the second camera 21 generates a second stripe image based on the collected light. Both the first stripe image and the second stripe image include stripes of at least two colors, and the stripes of at least two colors are identifiable.
需要说明的是：第一条纹图像与第二条纹图像中均包括至少两种颜色的条纹是用于实现在颜色上对两种条纹进行区分处理，而非对颜色的限定。It should be noted that: the first stripe image and the second stripe image both include stripes of at least two colors for distinguishing the two stripes in color, rather than limiting the colors.
此外，在实施例中，所述光束处理装置22还包括滤光片22d，其中，所述光束处理装置22通过所述滤光片22d对指定相机21将获取的光线进行分离处理，以便所述指定相机21获取到包含指定波段的光线，且所述多个相机21至少有一个相机21为指定相机21。In addition, in an embodiment, the light beam processing device 22 also includes a filter 22d, wherein the light beam processing device 22 separates the light acquired by the designated camera 21 through the filter 22d, so that the designated camera 21 acquires light containing a designated wavelength band, and at least one camera 21 among the multiple cameras 21 is the designated camera 21.
在一个可选的示例中，滤光片22d设置于第一出光部和第一相机21之间，以使第一相机21获取到第一指定波段的光线，和/或，设置于第二出光部和第二相机21之间，以使第二相机21获取到第二指定波段的光线。In an optional example, the filter 22d is disposed between the first light output portion and the first camera 21 so that the first camera 21 acquires light of a first specified wavelength band, and/or, is disposed between the second light output portion and the second camera 21 so that the second camera 21 acquires light of a second specified wavelength band.
下面举例说明：Here are some examples:
优选的，第一相机21为黑白相机21，第二相机21为彩色相机21，且黑白相机21与滤光片22d对应设置。Preferably, the first camera 21 is a black and white camera 21, the second camera 21 is a color camera 21, and the black and white camera 21 and the filter 22d are arranged correspondingly.
光线发射部12在第六时段发射红色光线至光线透射部13上，该红色光线经由光线透射部13上设有的预设图案(即预设编码条纹)投射后，生成第六预设条纹图案；该第六预设条纹图案以红色编码条纹的形式投射至目标对象上，光线经目标对象调制后传输至图像处理装置；此时，红色编码条纹经半反半透棱镜22c分解，分解成两束红色光线，其中，至少一束光线由黑白相机21所采集，以生成第一条纹图像。The light emitting unit 12 emits red light to the light transmitting unit 13 in the sixth time period. The red light is projected through the preset pattern (i.e., preset coded stripes) provided on the light transmitting unit 13 to generate a sixth preset stripe pattern. The sixth preset stripe pattern is projected onto the target object in the form of red coded stripes, and the light is modulated by the target object and transmitted to the image processing device. At this time, the red coded stripes are decomposed by the semi-reflective and semi-transparent prism 22c into two beams of red light, wherein at least one beam of light is collected by the black and white camera 21 to generate a first stripe image.
此外，该光线经由黑白相机21所采集之前，由红色滤光片22d进行滤光处理。也即，相机21前所设置的滤光片22d的滤光颜色，与相机21所采集的光束颜色相对应。In addition, the light is filtered by the red filter 22d before being collected by the black and white camera 21. That is, the filtering color of the filter 22d arranged in front of the camera 21 corresponds to the color of the light beam collected by the camera 21.
光线发射部12在第七时段发射红色光线和蓝色光线至光线透射部13上，该红色光线和蓝色光线经由光线透射部13上设有的预设图像投射后，生成第七预设条纹图案；该第七预设条纹图案以红蓝色编码条纹的形式投射至目标对象上，光线经目标对象调制后传输至图像处理装置；此时，红蓝色编码条纹经半反半透棱镜22c分解，分解成两束红蓝光线，其中，至少一束光线由彩色相机21所采集，以生成第二条纹图像。The light emitting unit 12 emits red light and blue light to the light transmitting unit 13 in the seventh time period. The red light and blue light are projected through the preset image provided on the light transmitting unit 13 to generate a seventh preset stripe pattern. The seventh preset stripe pattern is projected onto the target object in the form of red and blue coded stripes, and the light is modulated by the target object and transmitted to the image processing device. At this time, the red and blue coded stripes are decomposed by the semi-reflective and semi-transparent prism 22c into two beams of red and blue light, among which at least one beam of light is collected by the color camera 21 to generate a second stripe image.
照明件30在第十时段投射照明光至目标对象上，经目标对象发射后传输至图像处理装置，照明光中的红色光线、蓝色光线和绿色光线由第二相机21采集生成纹理图。在本实施例中，若在彩色相机21前设置滤光片22d，则为了获取目标对象的纹理图，红光、绿光和蓝光需被彩色相机21和黑白相机21采集并识别，即部分颜色光被彩色相机21采集并识别，部分颜色光被黑白相机21采集并识别。The lighting element 30 projects illumination light onto the target object in the tenth time period, and the target object transmits the illumination light to the image processing device after the illumination light is emitted. The red light, the blue light, and the green light in the illumination light are collected by the second camera 21 to generate a texture map. In this embodiment, if a filter 22d is provided in front of the color camera 21, in order to obtain the texture map of the target object, the red light, the green light, and the blue light need to be collected and identified by the color camera 21 and the black-and-white camera 21, that is, part of the color light is collected and identified by the color camera 21, and part of the color light is collected and identified by the black-and-white camera 21.
进一步的，由于第一条纹图像与第二条纹图像均对应同一个光线透射部13，因此，第一条纹图像与第二条纹图像中的各个条纹相对应，具体的，第一条纹图像与第二条纹图像组合后与光线透射部13上的预设图案相对应。Furthermore, since the first fringe image and the second fringe image both correspond to the same light transmission portion 13 , the first fringe image corresponds to each fringe in the second fringe image. Specifically, the first fringe image and the second fringe image correspond to a preset pattern on the light transmission portion 13 after being combined.
具体的，第一条纹图像作为重建图，第二条纹图像作为编码图，其中，第二条纹图像由彩色相机21采集，第二条纹图像中的红色条纹和蓝色条纹均可识别确定，由此即可确定第二条纹图像中各条纹的编码序列；基于第一条纹图像与第二条纹图像的条纹对应关系，第一条纹图像的各条纹可通过第二条纹图像的编码序列识别及匹配，实现三维重建。Specifically, the first stripe image is used as a reconstructed image, and the second stripe image is used as a coding image, wherein the second stripe image is collected by a color camera 21, and both the red stripes and the blue stripes in the second stripe image can be identified and determined, thereby determining the coding sequence of each stripe in the second stripe image; based on the corresponding relationship between the stripes of the first stripe image and the second stripe image, each stripe of the first stripe image can be identified and matched through the coding sequence of the second stripe image to achieve three-dimensional reconstruction.
需要说明的是：在黑白相机21前设置滤光片22d进行为一个可选的示例，本申请对是否在相机21前设置滤光片22d并不做具体限定，只需确保各相机21获取的条纹图像中至少有两种颜色的条纹可识别确定。It should be noted that setting a filter 22d in front of the black and white camera 21 is an optional example. The present application does not specifically limit whether to set a filter 22d in front of the camera 21. It only needs to ensure that at least two colors of stripes in the stripe image obtained by each camera 21 are identifiable and determined.
具体的，黑白相机21前不设置滤光片22d，黑白相机21获取的第一条纹图像包含红色条纹；或，在彩色相机21前设置蓝色滤光片22d，彩色相机21获取的第二条纹图像包含蓝色条纹，由于光线发射部12第六时段发射的红色光线，第七时段发射的红色光线和蓝色光线，为了确保各相机21获取的条纹图像中至少有两种颜色条纹可识别确定，因此彩色相机21前不可设置红色滤光片22d，避免黑白相机21与彩色相机21获取到的条纹图像中仅有红色条纹；或，在彩色相机21前设置双色滤光片22d，彩色相机21获取的第二条纹图像包含红色条纹和蓝色条纹。Specifically, no filter 22d is set in front of the black-and-white camera 21, and the first stripe image obtained by the black-and-white camera 21 includes red stripes; or, a blue filter 22d is set in front of the color camera 21, and the second stripe image obtained by the color camera 21 includes blue stripes. Since the red light emitted by the light emitting unit 12 in the sixth period, and the red light and blue light emitted in the seventh period, in order to ensure that at least two color stripes in the stripe image obtained by each camera 21 can be identified and determined, the red filter 22d cannot be set in front of the color camera 21 to avoid only red stripes in the stripe images obtained by the black-and-white camera 21 and the color camera 21; or, a two-color filter 22d is set in front of the color camera 21, and the second stripe image obtained by the color camera 21 includes red stripes and blue stripes.
需要说明的是，每个周期中各预设条纹图案及照明光的投射时间间隔设置得非常小，以此确保三维扫描仪在这个周期中保持不动或基本保持不动，预设条纹图案和照明光(基本)投射于目标对象的同一区域。It should be noted that the projection time interval of each preset stripe pattern and illumination light in each cycle is set very small to ensure that the 3D scanner remains stationary or basically remains stationary during this cycle, and the preset stripe pattern and illumination light are (basically) projected on the same area of the target object.
值得强调的是：在该实施例中，光束处理装置22通过所述半反半透棱镜22c对光线进行透射和反射，而实现对从进光部投射进的光线进行分光处理，以便所述光线分别从所述第一出光部和第二出光部投射至各自出光部对应设置的相机21；也即，光束处理装置22通过半反半透棱镜22c实现了第一光束分离单元所对应的功能。It is worth emphasizing that: in this embodiment, the light beam processing device 22 transmits and reflects the light through the semi-reflective and semi-transparent prism 22c, so as to realize the spectroscopic processing of the light projected from the light input part, so that the light is projected from the first light output part and the second light output part to the cameras 21 corresponding to the respective light output parts; that is, the light beam processing device 22 realizes the function corresponding to the first light beam separation unit through the semi-reflective and semi-transparent prism 22c.
同时，还值得强调的是：在该实施例中，光束处理装置22通过所述滤光片22d对指定相机21将获取的光线进行分离处理，以便所述指定相机21获取到包含指定波段的光线；也即，光束处理装置22通过滤光片22d实现了第二光束分离单元所对应的功能。At the same time, it is also worth emphasizing that: in this embodiment, the light beam processing device 22 separates the light acquired by the designated camera 21 through the filter 22d, so that the designated camera 21 acquires the light containing the designated wavelength band; that is, the light beam processing device 22 realizes the function corresponding to the second light beam separation unit through the filter 22d.
需要说明的是：本申请所列举的上述实施例一、实施例二和实施例三均为，使得本领域技术人员能够更加清楚地了解本申请的技术方案的一种举例性示意，在此对本申请并不做具体限定。若其他具体装置可以实现本申请中对光束处理装置22的功能限定描述，同样也可以作为本申请的一种实行的技术方案。It should be noted that the above-mentioned Embodiment 1, Embodiment 2 and Embodiment 3 listed in this application are all illustrative examples to enable those skilled in the art to more clearly understand the technical solution of this application, and this application is not specifically limited here. If other specific devices can realize the functional limitation description of the light beam processing device 22 in this application, they can also be used as a technical solution implemented in this application.
此外，还需要说明的是：本申请所列举的上述实施例一、实施例二和实施例三，均可以相互结合参考，以实现本申请中对光束处理装置22的功能限定描述，例如，在实施例二和实施例三中，在光束处理装置22通过直角两通道分色棱镜22a或三通道分色棱镜22b实现了第二光束分离单元所对应的功能之后，该光束处理装置22仍可以继续通过滤光片22d再次实现了第二光束分离单元所对应的功能。In addition, it should be noted that the above-mentioned Embodiment 1, Embodiment 2 and Embodiment 3 listed in the present application can be combined with each other for reference to realize the functional limitation description of the light beam processing device 22 in the present application. For example, in Embodiment 2 and Embodiment 3, after the light beam processing device 22 realizes the function corresponding to the second light beam separation unit through the right-angle two-channel color separation prism 22a or the three-channel color separation prism 22b, the light beam processing device 22 can still continue to realize the function corresponding to the second light beam separation unit again through the filter 22d.
综上，本方案与现有技术相比，本发明的有益效果在于如下：In summary, compared with the prior art, the beneficial effects of the present invention are as follows:
1、基于空间编码的条纹提取算法，实现了仅需少量二维图像即可对目标对象进行三维重建的技术目的，达到了降低相机21帧率和算法的运算成本的技术效果；1. Based on the spatial coding fringe extraction algorithm, the technical purpose of 3D reconstruction of the target object can be achieved with only a small number of 2D images, achieving the technical effect of reducing the camera 21 frame rate and the algorithm's computational cost;
2、通过利用颜色作为空间编码的信息，使得编码信息易识别，进而达到了提升识别准确性的技术效果；2. By using color as spatially encoded information, the encoded information is easy to identify, thereby achieving the technical effect of improving recognition accuracy;
3、基于本申请的三维扫描仪的技术原理，使得该三维扫描仪可以通过简单的透射投影方式，进行图案投影处理；进一步的，在三维扫描仪通过透射投影方式进行图案投影处理的情况下，极大地降低了硬件成本；3. Based on the technical principle of the three-dimensional scanner of the present application, the three-dimensional scanner can perform pattern projection processing by a simple transmission projection method; further, when the three-dimensional scanner performs pattern projection processing by transmission projection, the hardware cost is greatly reduced;
4、在该三维扫描仪使用激光作为光源进行图案投影处理的情况下，可以提升该投影装置(即，光线发射部12和光线透射部13的结合)的亮度和景深，进行实现低成本高亮度高景深的技术效果。4. When the three-dimensional scanner uses laser as a light source for pattern projection processing, the brightness and depth of field of the projection device (i.e., the combination of the light emitting part 12 and the light transmitting part 13) can be improved to achieve the technical effect of low cost, high brightness and high depth of field.
也即，本申请所提供的三维扫描仪具备硬件低成本、实时帧率低要求、光学系统高亮度与大景深、以及设备小型化的优点；进而令该三维扫描仪实现了对口内牙齿和牙龈等具有反光、透射光和扩散光等特性的材质上直接进行带彩色纹理的动态实时三维扫描。That is, the three-dimensional scanner provided by the present application has the advantages of low hardware cost, low real-time frame rate requirements, high brightness and large depth of field of the optical system, and miniaturization of the equipment; thereby enabling the three-dimensional scanner to directly perform dynamic real-time three-dimensional scanning with colored textures on materials such as teeth and gums in the mouth that have the characteristics of reflection, transmission and diffusion of light.
根据本申请的实施例，还提供了一种三维扫描系统。According to an embodiment of the present application, a three-dimensional scanning system is also provided.
图7是根据本申请实施例的一种三维扫描系统的示意图。如图7所示，该三维扫描系统包括：三维扫描仪71和图像处理器73。FIG7 is a schematic diagram of a three-dimensional scanning system according to an embodiment of the present application. As shown in FIG7 , the three-dimensional scanning system includes: a three-dimensional scanner 71 and an image processor 73 .
三维扫描仪71，用于分别在每个预设周期向目标对象投射该预设周期对应的预设条纹图案，并在所述目标对象被投射预设条纹图案的情况下，采集经所述目标对象调制的光线，以获取多个条纹图像，其中，每个预设条纹图案的条纹依据预设彩色编码条纹排布设置，每个预设条纹图案包括预设彩色编码条纹的至少一种颜色的条纹，且多个预设条纹图案包括预设彩色编码条纹的至少两种颜色的条纹，且所述预设条纹图案中的条纹与所述预设彩色编码条纹中相同颜色的条纹排布一致；A three-dimensional scanner 71, used for projecting a preset stripe pattern corresponding to the preset period to a target object in each preset period, and collecting light modulated by the target object when the preset stripe pattern is projected onto the target object, so as to obtain a plurality of stripe images, wherein the stripes of each preset stripe pattern are arranged according to a preset color-coded stripe arrangement, each preset stripe pattern includes stripes of at least one color of the preset color-coded stripes, and a plurality of preset stripe patterns include stripes of at least two colors of the preset color-coded stripes, and the stripes in the preset stripe pattern are arranged in a consistent manner with the stripes of the same color in the preset color-coded stripes;
图像处理器73，与所述三维扫描仪71相连接，用于获取所述三维扫描仪71获取的多个条纹图像，并依据所述条纹图像作为编码图以确定各条纹序列，以及作为重建图以对所述目标对象进行三维重建；An image processor 73, connected to the three-dimensional scanner 71, for acquiring a plurality of fringe images acquired by the three-dimensional scanner 71, and using the fringe images as coding images to determine each fringe sequence, and as reconstruction images to perform three-dimensional reconstruction of the target object;
需要说明的是：该三维扫描仪71为上述实施例所提供的任意一种三维扫描仪。It should be noted that the three-dimensional scanner 71 is any one of the three-dimensional scanners provided in the above embodiments.
还需要说明的是：该三维扫描系统基于空间编码的条纹提取算法，实现了令三维扫描仪71可以通过简单的透射投影方式，进行图案投影处理，以及仅需少量二维图像即可实现目标对象的三维重建的技术效果，解决了相关技术中三维重建方法所需硬件成本较高，不利于三维扫描装置的推广使用的技术问题。It should also be noted that: the three-dimensional scanning system is based on a spatially encoded fringe extraction algorithm, which enables the three-dimensional scanner 71 to perform pattern projection processing through a simple transmission projection method, and the technical effect of realizing three-dimensional reconstruction of the target object with only a small number of two-dimensional images, solving the technical problem that the hardware cost required for the three-dimensional reconstruction method in the related technology is high, which is not conducive to the promotion and use of three-dimensional scanning devices.
此外，该三维扫描系统通过将颜色作为空间编码的信息，还提升三维识别准确性。In addition, the 3D scanning system also improves the accuracy of 3D recognition by using color as spatially encoded information.
在一个可选的示例中，在所述三维扫描仪71通过多个相机21对经目标对象调制的光线进行采集，以获取多个条纹图像，且所述多个相机21中至少包含一个黑白相机21的情况下，所述图像处理器73还用于：将至少一个所述黑白相机21所得到的条纹图像作为重建图以对所述目标对象进行三维重建；将至少多个黑白相机21所得到的条纹图像作为编码图以确定个各条纹序列，和/或，将至少一个彩色相机21所得到的条纹图像作为编码图以确定个各条纹序列。In an optional example, when the three-dimensional scanner 71 collects light modulated by the target object through multiple cameras 21 to obtain multiple stripe images, and the multiple cameras 21 include at least one black-and-white camera 21, the image processor 73 is further used to: use the stripe image obtained by at least one of the black-and-white cameras 21 as a reconstruction image to perform three-dimensional reconstruction of the target object; use the stripe images obtained by at least multiple black-and-white cameras 21 as coding images to determine individual stripe sequences, and/or use the stripe image obtained by at least one color camera 21 as a coding image to determine individual stripe sequences.
根据本申请的实施例，还提供了一种三维扫描方法。According to an embodiment of the present application, a three-dimensional scanning method is also provided.
需要说明的是：本申请实施例的三维扫描方法应用于本申请实施例所提供的上述三维扫描仪。以下对本申请实施例提供的三维扫描方法进行介绍。It should be noted that the three-dimensional scanning method of the embodiment of the present application is applied to the above three-dimensional scanner provided in the embodiment of the present application. The three-dimensional scanning method provided in the embodiment of the present application is introduced below.
图8是根据本申请实施例的一种三维扫描方法的流程图。如图8所示，该三维扫描方法包括：FIG8 is a flow chart of a three-dimensional scanning method according to an embodiment of the present application. As shown in FIG8 , the three-dimensional scanning method includes:
步骤S801，分别在每个预设周期发射该预设周期所对应的初始光线，其中，每种所述初始光线由预设彩色编码条纹中的至少一种颜色的光线组成，且每种所述初始光线经所述光线透射部13上设有的预设彩色编码条纹的图案透射后，均生成各自对应的预设彩色条纹投射至目标对象上；Step S801, emitting initial light corresponding to the preset period in each preset period, wherein each of the initial light is composed of light of at least one color in the preset color coding stripes, and each of the initial light generates a corresponding preset color stripe after being transmitted through the pattern of the preset color coding stripes provided on the light transmission part 13 and projected onto the target object;
步骤S803，在所述多个预设周期内分别采集经所述目标对象调制的光线，并基于上述光线获取多个条纹图像，其中，所获取的条纹图像作为编码图以确定各条纹序列，以及作为重建图以对所述目标对象进行三维重建；Step S803, collecting the light modulated by the target object in the plurality of preset periods respectively, and acquiring a plurality of fringe images based on the light, wherein the acquired fringe images are used as coding images to determine each fringe sequence, and as reconstruction images to perform three-dimensional reconstruction of the target object;
步骤S805，基于所述编码图确定所述多个条纹图像中各条纹的序列；Step S805, determining a sequence of each stripe in the plurality of stripe images based on the coding map;
步骤S807，基于序列对所述重建图进行三维重建，获取所述目标对象的三维数据。Step S807: perform three-dimensional reconstruction on the reconstruction image based on the sequence to obtain three-dimensional data of the target object.
综上所述，本申请实施例提供的三维扫描方法基于空间编码的条纹提取算法，实现了令三维扫描仪可以通过简单的透射投影方式，进行图案投影处理，以及仅需少量二维图像即可实现目标对象的三维重建的技术效果，解决了相关技术中三维重建方法所需硬件成本较高，不利于三维扫描装置的推广使用的技术问题。To sum up, the three-dimensional scanning method provided in the embodiment of the present application is based on a spatially coded fringe extraction algorithm, which enables a three-dimensional scanner to perform pattern projection processing through a simple transmission projection method, and realizes the technical effect of three-dimensional reconstruction of the target object with only a small number of two-dimensional images. It solves the technical problem that the hardware cost required for the three-dimensional reconstruction method in the related art is high, which is not conducive to the promotion and use of three-dimensional scanning devices.
此外，该三维扫描方法通过将颜色作为空间编码的信息，还达到了提升三维识别准确性的技术效果。In addition, this three-dimensional scanning method achieves the technical effect of improving the accuracy of three-dimensional recognition by using color as spatially encoded information.
在一个可选的示例中，所述三维扫描方法还包括：将照明光投射至目标对象上并基于所述照明光获取所述目标对象的纹理数据；基于所述目标对象的三维数据及纹理数据，获取所述目标对象的彩色三维数据。In an optional example, the three-dimensional scanning method further includes: projecting illumination light onto a target object and acquiring texture data of the target object based on the illumination light; and acquiring color three-dimensional data of the target object based on the three-dimensional data and texture data of the target object.
可选的，纹理数据可以通过单个相机21获取，也可以通过多个相机21获取的数据合成。Optionally, the texture data may be acquired through a single camera 21 , or may be synthesized through data acquired by multiple cameras 21 .
优选的，步骤S803，采集经目标对象调制的光线，并基于该光线获取至少两个条纹图像，其中，至少一个条纹图像通过黑白相机21获取，而黑白相机21获取的条纹图像作为重建图。Preferably, step S803 collects light modulated by the target object and obtains at least two fringe images based on the light, wherein at least one fringe image is obtained by a black and white camera 21, and the fringe image obtained by the black and white camera 21 is used as a reconstructed image.
具体地，步骤S805，基于编码图确定多个条纹图像中各条纹的序列，基于编码图中各条纹的排列信息及颜色信息确定编码序列，例如，对于按红、绿、绿、红排列的四条条纹，如通过红色(1,0)、绿色(0,1)进行编解码，则其编码序列为(1,0)(0,1)(0,1)(1,0)，又如按红、蓝、蓝、绿、红排列的五条条纹，如通过红色(1,0,0)、绿色(0,1,0)、蓝色(0,0,1)进行编解码，则其编码序列为(1,0,0)、(0,0,1)、(0,0,1)、(0,1,0)；Specifically, step S805, based on the coding map, the sequence of each stripe in the plurality of stripe images is determined, and the coding sequence is determined based on the arrangement information and color information of each stripe in the coding map. For example, for four stripes arranged in red, green, green, and red, if they are encoded and decoded by red (1, 0) and green (0, 1), their coding sequence is (1, 0) (0, 1) (0, 1) (1, 0); for another example, for five stripes arranged in red, blue, blue, green, and red, if they are encoded and decoded by red (1, 0, 0), green (0, 1, 0), and blue (0, 0, 1), their coding sequence is (1, 0, 0), (0, 0, 1), (0, 0, 1), (0, 1, 0);
具体地，步骤S807，基于编码序列对重建图的各条纹进行条纹匹配，对于双目重建，结合本实施例即具有两个图像采集装置20，对两个图像采集装置20的重建图进行条纹匹配，匹配后进行点云的重建，获取目标对象的三维数据，对于单目重建，结合本实施例即具有一个图像采集装置20，对图像采集装置20的重建图及光线透射部13上设有的预设彩色编码条纹进行条纹匹配，匹配后进行点云的重建，获取目标对象的三维数据。Specifically, step S807, based on the coding sequence, stripe matching is performed on each stripe of the reconstructed image. For binocular reconstruction, in combination with the present embodiment, that is, two image acquisition devices 20 are provided, stripe matching is performed on the reconstructed images of the two image acquisition devices 20, and point clouds are reconstructed after matching to obtain three-dimensional data of the target object. For monocular reconstruction, in combination with the present embodiment, that is, one image acquisition device 20 is provided, stripe matching is performed on the reconstructed image of the image acquisition device 20 and the preset color coded stripes provided on the light transmission portion 13, and point clouds are reconstructed after matching to obtain three-dimensional data of the target object.
以下通过具体方法进行说明：The following is an explanation of the specific method:
在一个可选的示例中，光线发射部12和光线透射部13于第一时段投射红蓝彩色编码条纹至目标对象，经目标对象调制后传输至图像处理装置，红蓝彩色编码条纹的光线经半反半透棱镜22c分离成至少一束红蓝彩色编码条纹的光线，其中一束红蓝彩色编码条纹的光线由彩色相机21采集，彩色相机21生成对应的红蓝彩色编码条纹图像；以及，光线发射部12和光线透射部13于第二时段投射蓝色编码条纹至目标对象，经目标对象调制后传输至图像处理装置，蓝色编码条纹的光线经半反半透棱镜22c分离成至少一束蓝色编码条纹的光线，其中一束蓝色编码条纹的光线通过蓝色滤光片22d由黑白相机21采集，黑白相机21生成对应的蓝色条纹图像。In an optional example, the light emitting unit 12 and the light transmitting unit 13 project red and blue color coded stripes to the target object in a first time period, which are modulated by the target object and transmitted to the image processing device, and the light of the red and blue color coded stripes is separated into at least one beam of light of the red and blue color coded stripes by the semi-reflective and semi-transparent prism 22c, wherein one beam of light of the red and blue color coded stripes is collected by the color camera 21, and the color camera 21 generates a corresponding red and blue color coded stripe image; and, the light emitting unit 12 and the light transmitting unit 13 project blue coded stripes to the target object in a second time period, which are modulated by the target object and transmitted to the image processing device, and the light of the blue coded stripes is separated into at least one beam of light of the blue coded stripes by the semi-reflective and semi-transparent prism 22c, wherein one beam of light of the blue coded stripes is collected by the black and white camera 21 through the blue filter 22d, and the black and white camera 21 generates a corresponding blue stripe image.
此外，照明件30于第三时段照射白光至目标对象，经目标对象反射后由彩色相机21采集，彩色相机21生成纹理图，基于红蓝彩色编码条纹图像确定各条纹的编码序列，基于编码序列对蓝色条纹图像的各条纹进行条纹匹配，实现三维重建获取目标对象的三维数据，基于三维数据及纹理图获取目标对象的真彩三维数据。In addition, the lighting element 30 irradiates white light to the target object in the third time period, which is reflected by the target object and then collected by the color camera 21. The color camera 21 generates a texture map, determines the coding sequence of each stripe based on the red and blue color coded stripe image, performs stripe matching on each stripe of the blue stripe image based on the coding sequence, realizes three-dimensional reconstruction to obtain three-dimensional data of the target object, and obtains true color three-dimensional data of the target object based on the three-dimensional data and the texture map.
在一个可选的示例中，光线发射部12和光线透射部13于第一时段投射红绿彩色编码条纹至目标对象，经目标对象调制后传输至图像处理装置，红绿彩色编码条纹的光线经直角两通道分色棱镜22a分解出一束红绿彩色编码条纹的光线，其中，该一束红绿彩色编码条纹的光线由彩色相机21采集，彩色相机21生成对应的红绿彩色编码条纹图像；以及，光线发射部12和光线透射部13于第二时段投射蓝色编码条纹至目标对象，经目标对象调制后传输至图像处理装置，蓝色编码条纹的光线经直角两通道分色棱镜22a分解出一束蓝色编码条纹的光线，其中，该一束蓝色编码条纹的光线由黑白相机21采集，黑白相机21生成对应的蓝色条纹图像。In an optional example, the light emitting unit 12 and the light transmitting unit 13 project red and green color coded stripes to the target object in a first time period, which are modulated by the target object and transmitted to the image processing device, and the light of the red and green color coded stripes is decomposed into a beam of light of red and green color coded stripes by a right-angle two-channel color separation prism 22a, wherein the beam of light of the red and green color coded stripes is collected by a color camera 21, and the color camera 21 generates a corresponding red and green color coded stripe image; and, the light emitting unit 12 and the light transmitting unit 13 project blue coded stripes to the target object in a second time period, which are modulated by the target object and transmitted to the image processing device, and the light of the blue coded stripes is decomposed into a beam of light of blue coded stripes by a right-angle two-channel color separation prism 22a, wherein the beam of light of the blue coded stripes is collected by a black and white camera 21, and the black and white camera 21 generates a corresponding blue stripe image.
此外，照明件30于第三时段照射白光至目标对象，经目标对象反射后由彩色相机21和黑白相机21采集，彩色相机21生成基于红光和绿光的纹理图，黑白相机21生成基于蓝光的纹理图，基于红绿彩色编码条纹图像确定各条纹的编码序列，基于编码序列对蓝色条纹图像的各条纹进行条纹匹配，实现三维重建获取目标对象的三维数据，基于彩色相机21的纹理图和黑白相机21的纹理图合成基于白光的纹理图，基于三维数据及白光的纹理图获取目标对象的真彩三维数据。In addition, the lighting element 30 irradiates white light to the target object in the third time period, and the light is reflected by the target object and collected by the color camera 21 and the black-and-white camera 21. The color camera 21 generates a texture map based on red light and green light, and the black-and-white camera 21 generates a texture map based on blue light. The coding sequence of each stripe is determined based on the red and green color coded stripe image, and stripe matching is performed on each stripe of the blue stripe image based on the coding sequence to achieve three-dimensional reconstruction and obtain three-dimensional data of the target object. A texture map based on white light is synthesized based on the texture map of the color camera 21 and the texture map of the black-and-white camera 21, and true-color three-dimensional data of the target object is obtained based on the three-dimensional data and the texture map of white light.
在一个可选的示例中，光线发射部12和光线透射部13于第一时段投射红色编码条纹至目标对象，经目标对象调制后传输至图像处理装置，红色编码条纹的光线经三通道分色棱镜22b分解出一束红色编码条纹的光线，其中，该一束红色编码条纹的光线由第一黑白相机21采集，第一黑白色相机21生成对应的红色编码条纹图像；光线发射部12和光线透射部13于第二时段投射绿色编码条纹至目标对象，经目标对象调制后传输至图像处理装置，绿色编码条纹的光线经三通道分色棱镜22b分解成出一束绿色编码条纹的光线，其中，该一束绿色编码条纹的光线由第二黑白相机21采集，第二黑白色相机21生成对应的绿色编码条纹图像；以及，光线发射部12和光线透射部13于第三时段投射蓝色编码条纹至目标对象，经目标对象调制后传输至图像处理装置，蓝色编码条纹的光线经三通道分色棱镜22b分解成出一束蓝色编码条纹的光线，其中，该一束蓝色编码条纹的光线由第三黑白相机21采集，第三黑白色相机21生成对应的蓝色编码条纹图像。In an optional example, the light emitting unit 12 and the light transmitting unit 13 project red coded stripes to the target object in a first time period, which are modulated by the target object and transmitted to the image processing device. The light of the red coded stripes is decomposed into a beam of light of the red coded stripes by the three-channel color separation prism 22b, wherein the beam of light of the red coded stripes is collected by the first black-and-white camera 21, and the first black-and-white camera 21 generates a corresponding red coded stripe image; the light emitting unit 12 and the light transmitting unit 13 project green coded stripes to the target object in a second time period, which are modulated by the target object and transmitted to the image processing device. The light of the green coded stripes is decomposed into a beam of light of the red coded stripes by the three-channel color separation prism 22b, wherein the light of the red coded stripes is collected by the first black-and-white camera 21, and the first black-and-white camera 21 generates a corresponding red coded stripe image. The color prism 22b decomposes the light beam of green coded stripes, wherein the light beam of green coded stripes is collected by the second black-and-white camera 21, and the second black-and-white camera 21 generates a corresponding green coded stripe image; and the light emitting unit 12 and the light transmitting unit 13 project the blue coded stripes to the target object in the third time period, which are modulated by the target object and transmitted to the image processing device, and the light beam of blue coded stripes is decomposed into a light beam of blue coded stripes by the three-channel color separation prism 22b, wherein the light beam of blue coded stripes is collected by the third black-and-white camera 21, and the third black-and-white camera 21 generates a corresponding blue coded stripe image.
此外，照明件30于第四时段照射白光至目标对象，经目标对象反射后由三个黑白相机21采集，第一黑白相机21生成基于红光的纹理图，第二黑白相机21生成基于绿光的纹理图，第三黑白相机21生成基于蓝光的纹理图，基于红色条纹图像、绿色条纹图像和蓝色条纹图像的组合确定各条纹的编码序列，基于编码序列对红色条纹图像、绿色条纹图像和蓝色条纹图像的各条纹进行条纹匹配，实现三维重建获取目标对象的三维数据，基于三个黑白相机21的纹理图合成基于白光的纹理图，基于三维数据及白光的纹理图获取目标对象的真彩三维数据。In addition, the lighting element 30 irradiates white light to the target object in the fourth time period, and the light is collected by three black-and-white cameras 21 after being reflected by the target object. The first black-and-white camera 21 generates a texture map based on red light, the second black-and-white camera 21 generates a texture map based on green light, and the third black-and-white camera 21 generates a texture map based on blue light. The coding sequence of each stripe is determined based on a combination of the red stripe image, the green stripe image, and the blue stripe image. Stripe matching is performed on each stripe of the red stripe image, the green stripe image, and the blue stripe image based on the coding sequence to achieve three-dimensional reconstruction to obtain three-dimensional data of the target object. A texture map based on white light is synthesized based on the texture maps of the three black-and-white cameras 21, and true-color three-dimensional data of the target object is obtained based on the three-dimensional data and the texture map of white light.
需要说明的是，在附图的流程图示出的步骤可以在诸如一组计算机可执行指令的计算机系统中执行，并且，虽然在流程图中示出了逻辑顺序，但是在某些情况下，可以以不同于此处的顺序执行所示出或描述的步骤。It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.
需要说明的是，在附图的流程图示出的步骤可以在诸如一组计算机可执行指令的计算机系统中执行，并且，虽然在流程图中示出了逻辑顺序，但是在某些情况下，可以以不同于此处的顺序执行所示出或描述的步骤。It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.
本发明实施例提供了一种存储介质，其上存储有程序，该程序被处理器执行时实现所述三维扫描方法。An embodiment of the present invention provides a storage medium on which a program is stored. When the program is executed by a processor, the three-dimensional scanning method is implemented.
本发明实施例提供了一种处理器，所述处理器用于运行程序，其中，所述程序运行时执行所述三维扫描方法。An embodiment of the present invention provides a processor, which is used to run a program, wherein the three-dimensional scanning method is executed when the program is run.
还需要说明的是，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、商品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、商品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括要素的过程、方法、商品或者设备中还存在另外的相同要素。It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.
本领域技术人员应明白，本申请的实施例可提供为方法、系统或计算机程序产品。因此，本申请可采用完全硬件实施例、完全软件实施例或结合软件和硬件方面的实施例的形式。而且，本申请可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.
以上仅为本申请的实施例而已，并不用于限制本申请。对于本领域技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原理之内所作的任何修改、等同替换、改进等，均应包含在本申请的权利要求范围之内。The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.
以及，在本发明的上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述的部分，可以参见其他实施例的相关描述。Furthermore, in the above-mentioned embodiments of the present invention, the description of each embodiment has its own emphasis, and for the parts not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.
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