CN107819268B - Method and device for controlling laser power in 3D scanning system - Google Patents
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Abstract
Description
技术领域technical field
本发明涉及逆向工程技术领域，尤其涉及一种三维扫描系统中激光器功率的控制方法及装置。The invention relates to the technical field of reverse engineering, in particular to a method and device for controlling laser power in a three-dimensional scanning system.
背景技术Background technique
长久以来，对真实物体几何尺寸的精确测量主要采用游标卡尺、千分尺、角度尺等测量工具的接触式人工测量方式，这种测量方式无法测量形状不规则的物体表面且对于文物古迹等要求非接触的测量对象也存在技术瓶颈。随着相关学科的发展以及新技术新需求的驱动，三维扫描技术应运而生，该技术能够在不接触被测物体的情况下，根据采集到的物体表面信息计算出点云的空间分布，通过一系列的曲面重构方法在计算机中将点云数据整合成被测物体的三角网格模型，该项技术被广泛应用于工业设计领域的辅助制造与检验、医疗领域的手术定位与康复、游戏娱乐领域的实景建模与仿真以及考古领域的遗址保护与复原等。For a long time, the precise measurement of the geometric dimensions of real objects mainly uses contact-type manual measurement methods such as vernier calipers, micrometers, and angle rulers. This measurement method cannot measure the surface of irregular objects and requires non-contact for cultural relics and historic sites There are also technical bottlenecks in measuring objects. With the development of related disciplines and the drive of new technology and new needs, 3D scanning technology has emerged as the times require. This technology can calculate the spatial distribution of point clouds based on the collected object surface information without touching the measured object. Through A series of surface reconstruction methods integrate point cloud data into a triangular mesh model of the measured object in the computer. This technology is widely used in auxiliary manufacturing and inspection in the field of industrial design, surgical positioning and rehabilitation in the medical field, and games Real-world modeling and simulation in the field of entertainment, protection and restoration of ruins in the field of archaeology, etc.
三维扫描系统主要包括数据采集与模型重构两部分，在数据采集过程中，三维扫描仪由能够投射出一条或多条一字激光线的激光器和双目相机组成，当被扫描对象将照射光线反射进互成一定夹角的双目相机中时，便得到了被扫描对象的一组立体图像对，随着三维扫描仪位置的不断变化，立体图像对的数量不断增多，这些立体图像对分别记录了被扫描对象不同位置、不同角度的图像信息。在模型重构过程中，首先，根据三角测量原理，按照立体图像对获取的先后顺序，计算出每组立体图像对中记录的被扫描对象表面的点云数据，并将所有点云数据统一到相同的坐标系中；然后，将获取的点云数据编织成三角网格并生成三维曲面模型。为了使扫描过程能够实时看到模型重构效果，模型重构与数据采集需同步进行。The 3D scanning system mainly includes two parts: data acquisition and model reconstruction. During the data acquisition process, the 3D scanner is composed of a laser capable of projecting one or more inline laser lines and a binocular camera. When the scanned object will be irradiated with light When reflected into the binocular cameras at a certain angle with each other, a set of stereo image pairs of the scanned object is obtained. With the continuous change of the position of the 3D scanner, the number of stereo image pairs continues to increase. These stereo image pairs are respectively The image information of different positions and angles of the scanned object is recorded. In the process of model reconstruction, firstly, according to the principle of triangulation, according to the order of acquisition of stereo image pairs, calculate the point cloud data of the surface of the scanned object recorded in each stereo image pair, and unify all point cloud data into in the same coordinate system; then, weaving the acquired point cloud data into a triangular mesh and generating a 3D surface model. In order to enable the scanning process to see the effect of model reconstruction in real time, model reconstruction and data collection need to be carried out simultaneously.
根据三角测量原理，被扫描物体表面点云数据由立体图像对中激光线中心的位置计算得到，图像中激光线中心的提取精度越高，计算得到的点云数据越准确，当激光器功率在合理区间时采集到的图像中激光线中心的亮度最高，沿中心向两侧边缘亮度逐渐降低，且激光线中心的高亮度区域宽度很窄，这种成像特点非常利于提取精确的激光线中心位置；当激光器功率过低时，由于激光线的光强低于探测器的灵敏度，采集到的图像中激光线的成像区域与其它区域无明显区别，因此，无法准确提取激光线中心的位置；当激光器功率过高时，由于激光线的光强过高使探测器达到饱和状态，采集到的图像中激光线的成像区域虽然明显区分于其它区域，但是高亮度区域过宽，因此仍无法准确提取激光线中心的位置。由于不同表面颜色和粗糙度的物体对激光线的反射能力各不相同，因此，必须将激光器功率调节到合理范围内才能准确提取激光线中心的位置。由此可以看出，如何将激光器的功率调节到合理的范围是一项亟待解决的问题。According to the principle of triangulation, the point cloud data on the surface of the scanned object is calculated from the position of the laser line center in the stereo image. The higher the extraction accuracy of the laser line center in the image, the more accurate the calculated point cloud data. When the laser power is reasonable The brightness of the center of the laser line in the image collected during the interval is the highest, and the brightness gradually decreases along the center to the edges on both sides, and the width of the high-brightness area in the center of the laser line is very narrow. This imaging feature is very conducive to extracting the precise center position of the laser line; When the laser power is too low, because the light intensity of the laser line is lower than the sensitivity of the detector, the imaging area of the laser line in the collected image has no obvious difference from other areas, so the position of the center of the laser line cannot be accurately extracted; When the power is too high, the detector is saturated due to the high light intensity of the laser line. Although the imaging area of the laser line in the collected image is clearly distinguished from other areas, the high-brightness area is too wide, so it is still impossible to accurately extract the laser light. The location of the center of the line. Since objects with different surface colors and roughnesses have different reflection abilities to the laser line, the laser power must be adjusted within a reasonable range to accurately extract the position of the center of the laser line. It can be seen from this that how to adjust the power of the laser to a reasonable range is an urgent problem to be solved.
发明内容Contents of the invention
有鉴于此，本发明提供了一种三维扫描系统中激光器功率的控制方法，能够有效的将激光器的功率调节到合理的范围，进而有效提高了三维扫描系统对扫描环境的适应能力。In view of this, the present invention provides a laser power control method in a three-dimensional scanning system, which can effectively adjust the power of the laser to a reasonable range, thereby effectively improving the adaptability of the three-dimensional scanning system to the scanning environment.
本发明提供了一种三维扫描系统中激光器功率的控制方法，包括：The invention provides a method for controlling laser power in a three-dimensional scanning system, comprising:
采集所述激光器投射到被扫描物体上的反射光生成所述被扫描物体的图像，所述激光器为能够投射出至少一条一字激光线的激光器；Collecting reflected light projected by the laser onto the scanned object to generate an image of the scanned object, the laser being a laser capable of projecting at least one inline laser line;
基于所述被扫描物体的图像调节所述激光器的功率，直至所述激光器的功率满足预设条件。The power of the laser is adjusted based on the image of the scanned object until the power of the laser meets a preset condition.
优选地，所述基于所述被扫描物体的图像调节所述激光器的功率，直至所述激光器的功率满足预设条件包括：Preferably, the adjusting the power of the laser based on the image of the scanned object until the power of the laser meets a preset condition includes:
基于所述被扫描物体的图像灰度阈值对所述图像进行二值化和连通域识别；performing binarization and connected domain identification on the image based on the image grayscale threshold of the scanned object;
计算所述图像中激光线的有效识别率和饱和率；calculating the effective recognition rate and saturation rate of the laser line in the image;
基于所述有效识别率和饱和率调节所述激光器的功率，直至所述激光器的功率满足预设条件。Adjusting the power of the laser based on the effective recognition rate and the saturation rate until the power of the laser meets a preset condition.
优选地，所述计算所述图像中激光线的有效识别率和饱和率包括：Preferably, the calculation of the effective recognition rate and saturation rate of the laser line in the image includes:
基于公式计算有效识别率Re，其中，Ne为所述图像中有效子连通域的数量，H为所述图像高度，NL为激光线数量；formula based Calculate the effective recognition rate R e , where Ne is the number of effective sub-connected domains in the image, H is the image height, and N L is the number of laser lines;
基于公式计算饱和率Rs，其中，Ns为所述图像中饱和子连通域的数量。formula based Calculate the saturation rate R s , where N s is the number of saturated sub-connected domains in the image.
优选地，所述方法还包括：Preferably, the method also includes:
显示所述有效识别率和饱和率。Display the effective recognition rate and saturation rate.
优选地，所述方法还包括：Preferably, the method also includes:
显示所述有效子连通域和所述饱和子连通域。The effective subconnected domain and the saturated subconnected domain are displayed.
优选地，所述基于所述有效识别率和饱和率调节所述激光器的功率，直至所述激光器的功率满足预设条件包括：Preferably, the adjusting the power of the laser based on the effective recognition rate and saturation rate until the power of the laser meets preset conditions includes:
判断所述有效识别率是否大于预设有效识别率阈值，若是，则结束所述激光器功率调节，若否，则：Judging whether the effective recognition rate is greater than the preset effective recognition rate threshold, if so, then ending the laser power adjustment, if not, then:
将所述饱和率与预设饱和率阈值进行比较，当所述饱和率大于等于所述预设饱和率阈值时减小所述激光器功率，当所述饱和率小于所述预设饱和率阈值时增大所述激光器功率。Comparing the saturation rate with a preset saturation rate threshold, reducing the laser power when the saturation rate is greater than or equal to the preset saturation rate threshold, and reducing the laser power when the saturation rate is less than the preset saturation rate threshold Increase the laser power.
一种三维扫描系统中激光器功率的控制装置，包括：A control device for laser power in a three-dimensional scanning system, comprising:
双目相机，用于采集所述激光器投射到被扫描物体上的反射光生成所述被扫描物体的图像，所述激光器为能够投射出至少一条一字激光线的激光器；A binocular camera, configured to collect reflected light projected by the laser onto the scanned object to generate an image of the scanned object, the laser being a laser capable of projecting at least one inline laser line;
控制器，用于基于所述被扫描物体的图像调节所述激光器的功率，直至所述激光器的功率满足预设条件。a controller, configured to adjust the power of the laser based on the image of the object to be scanned until the power of the laser satisfies a preset condition.
优选地，所述控制器包括：Preferably, the controller includes:
识别模块，用于基于所述被扫描物体的图像灰度阈值对所述图像进行二值化和连通域识别；An identification module, configured to binarize the image and identify connected domains based on the image grayscale threshold of the scanned object;
计算模块，用于计算所述图像中激光线的有效识别率和饱和率；A calculation module, used to calculate the effective recognition rate and saturation rate of the laser line in the image;
调节模块，用于基于所述有效识别率和饱和率调节所述激光器的功率，直至所述激光器的功率满足预设条件。An adjustment module, configured to adjust the power of the laser based on the effective recognition rate and saturation rate until the power of the laser meets a preset condition.
优选地，所述计算模块具体用于：Preferably, the calculation module is specifically used for:
基于公式计算有效识别率Re，其中，Ne为所述图像中有效子连通域的数量，H为所述图像高度，NL为激光线数量；formula based Calculate the effective recognition rate R e , where Ne is the number of effective sub-connected domains in the image, H is the image height, and N L is the number of laser lines;
基于公式计算饱和率Rs，其中，Ns为所述图像中饱和子连通域的数量。formula based Calculate the saturation rate R s , where N s is the number of saturated sub-connected domains in the image.
优选地，所述装置还包括：Preferably, the device also includes:
显示器，用于显示所述有效识别率和饱和率。A display is used to display the effective recognition rate and saturation rate.
优选地，所述显示器还用于：Preferably, the display is also used for:
显示所述有效子连通域和所述饱和子连通域。The effective subconnected domain and the saturated subconnected domain are displayed.
优选地，所述调节模块包括：Preferably, the adjustment module includes:
判断单元，用于判断所述有效识别率是否大于预设有效识别率阈值；A judging unit, configured to judge whether the effective recognition rate is greater than a preset effective recognition rate threshold;
结束单元，用于当所述有效识别率大于预设有效识别率阈值时，结束所述激光器功率调节；An end unit, configured to end the laser power adjustment when the effective recognition rate is greater than a preset effective recognition rate threshold;
比较单元，用于将所述饱和率与预设饱和率阈值进行比较，当所述饱和率大于等于所述预设饱和率阈值时减小所述激光器功率，当所述饱和率小于所述预设饱和率阈值时增大所述激光器功率。A comparison unit, configured to compare the saturation rate with a preset saturation rate threshold, reduce the laser power when the saturation rate is greater than or equal to the preset saturation rate threshold, and reduce the laser power when the saturation rate is less than the preset saturation rate threshold The laser power is increased when the saturation rate threshold is set.
从上述技术方案可以看出，本发明提供了一种三维扫描系统中激光器功率的控制方法，当需要对三维扫描系统中的激光器的功率进行控制时，首先采集激光器投射到被扫描物体上的反射光生成所述被扫描物体的图像，激光器为能够投射出至少一条一字激光线的激光器，然后根据被扫描物体的图像调节激光器的功率，直至激光器的功率满足预设条件。本发明通过对激光器功率的控制使三维扫描系统在扫描不同材质表面物体时均能获得有效的激光线图案，大大提高了三维扫描系统对扫描环境的适应能力。与使用固定功率激光器而通过调节曝光时间来控制激光线图案的三维扫描系统相比，由于本发明可以使用较大功率调节范围的激光器，因此，对于高反光的扫描物表面具有更好的适应能力。It can be seen from the above technical solution that the present invention provides a method for controlling the power of the laser in the three-dimensional scanning system. When it is necessary to control the power of the laser in the three-dimensional scanning system, first collect the reflection of the laser projected on the object to be scanned. The image of the scanned object is generated by light, and the laser is a laser capable of projecting at least one inline laser line, and then the power of the laser is adjusted according to the image of the scanned object until the power of the laser meets a preset condition. The invention enables the three-dimensional scanning system to obtain effective laser line patterns when scanning surface objects of different materials by controlling the laser power, thereby greatly improving the adaptability of the three-dimensional scanning system to the scanning environment. Compared with the three-dimensional scanning system that uses a fixed power laser and controls the laser line pattern by adjusting the exposure time, since the present invention can use a laser with a larger power adjustment range, it has better adaptability to the surface of the highly reflective object to be scanned .
附图说明Description of drawings
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without creative work.
图1为本发明公开的一种三维扫描系统中激光器功率的控制方法实施例1的方法流程图；Fig. 1 is a method flow chart of Embodiment 1 of a method for controlling laser power in a three-dimensional scanning system disclosed by the present invention;
图2为本发明公开的一种三维扫描系统中激光器功率的控制方法实施例2的方法流程图；Fig. 2 is a method flowchart of Embodiment 2 of a method for controlling laser power in a three-dimensional scanning system disclosed by the present invention;
图3为本发明公开的一种三维扫描系统中激光器功率的控制方法实施例3的方法流程图；Fig. 3 is a method flowchart of Embodiment 3 of a method for controlling laser power in a three-dimensional scanning system disclosed by the present invention;
图4为本发明公开的一种三维扫描系统中激光器功率的控制装置实施例1的结构示意图；Fig. 4 is a schematic structural diagram of Embodiment 1 of a control device for laser power in a three-dimensional scanning system disclosed by the present invention;
图5为本发明公开的一种三维扫描系统中激光器功率的控制装置实施例2的结构示意图；Fig. 5 is a schematic structural diagram of Embodiment 2 of a control device for laser power in a three-dimensional scanning system disclosed by the present invention;
图6为本发明公开的一种三维扫描系统中激光器功率的控制装置实施例3的结构示意图。FIG. 6 is a schematic structural diagram of Embodiment 3 of a control device for laser power in a three-dimensional scanning system disclosed in the present invention.
具体实施方式Detailed ways
下面将结合本发明实施例中的附图，对本发明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发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，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，都属于本发明保护的范围。The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
如图1所示，为本发明公开的一种三维扫描系统中激光器功率的控制方法实施例1的流程图，所述方法包括：As shown in FIG. 1, it is a flow chart of Embodiment 1 of a method for controlling laser power in a three-dimensional scanning system disclosed by the present invention. The method includes:
S101、采集激光器投射到被扫描物体上的反射光生成所述被扫描物体的图像，激光器为能够投射出至少一条一字激光线的激光器；S101. Collect reflected light projected by the laser onto the scanned object to generate an image of the scanned object, where the laser is a laser capable of projecting at least one inline laser line;
当需要对三维扫描系统中的激光器的功率进行调节控制时，首先设定一个激光器功率的初始值，然后采集激光器工作时投射到被扫描物体上的反射光生成所述被扫描物体的图像。需要说明的是，激光器为能够投射出一条或多条一字激光线的激光器。When it is necessary to adjust and control the power of the laser in the three-dimensional scanning system, first set an initial value of the laser power, and then collect the reflected light projected on the scanned object when the laser is working to generate an image of the scanned object. It should be noted that the laser is a laser capable of projecting one or more inline laser lines.
S102、基于被扫描物体的图像调节激光器的功率，直至激光器的功率满足预设条件。S102. Adjust the power of the laser based on the image of the scanned object until the power of the laser meets a preset condition.
在调节的过程中重复上述步骤S101和步骤S102，直至经过调节后的激光器的功率满足预设条件，即达到能够使三维扫描系统的扫描结果更加准确的状态。需要说明的是，在重复执行上述步骤S101和步骤S102的过程中，步骤S101中的激光器功率的初始值，除第一次为操作人员设定的功率初始值外，以后的激光器功率的初始值为上一次功率调节后得到的激光器的功率值。During the adjustment process, the above step S101 and step S102 are repeated until the adjusted power of the laser satisfies the preset condition, that is, reaches a state that can make the scanning result of the three-dimensional scanning system more accurate. It should be noted that, in the process of repeatedly executing the above steps S101 and S102, the initial value of the laser power in step S101, except for the initial power value set for the operator for the first time, the initial value of the subsequent laser power It is the power value of the laser obtained after the last power adjustment.
综上所述，在上述实施例中，当需要对三维扫描系统中的激光器的功率进行控制时，首先采集激光器投射到被扫描物体上的反射光生成所述被扫描物体的图像，激光器为能够投射出至少一条一字激光线的激光器，然后根据被扫描物体的图像调节激光器的功率，直至激光器的功率满足预设条件。本发明通过对激光器功率的控制使三维扫描系统在扫描不同材质表面物体时均能获得有效的激光线图案，大大提高了三维扫描系统对扫描环境的适应能力。与使用固定功率激光器而通过调节曝光时间来控制激光线图案的三维扫描系统相比，由于本发明可以使用较大功率调节范围的激光器，因此，对于高反光的扫描物表面具有更好的适应能力。To sum up, in the above embodiment, when it is necessary to control the power of the laser in the three-dimensional scanning system, the reflected light projected by the laser on the object to be scanned is first collected to generate an image of the object to be scanned, and the laser is capable of A laser projecting at least one inline laser line, and then adjusting the power of the laser according to the image of the scanned object until the power of the laser meets the preset condition. The invention enables the three-dimensional scanning system to obtain effective laser line patterns when scanning surface objects of different materials by controlling the laser power, thereby greatly improving the adaptability of the three-dimensional scanning system to the scanning environment. Compared with the three-dimensional scanning system that uses a fixed power laser and controls the laser line pattern by adjusting the exposure time, since the present invention can use a laser with a larger power adjustment range, it has better adaptability to the surface of the highly reflective object to be scanned .
如图2所示，为本发明公开的一种三维扫描系统中激光器功率的控制方法实施例2的流程图，所述方法包括：As shown in FIG. 2 , it is a flow chart of Embodiment 2 of a method for controlling laser power in a three-dimensional scanning system disclosed in the present invention. The method includes:
S201、采集激光器投射到被扫描物体上的反射光生成所述被扫描物体的图像，激光器为能够投射出至少一条一字激光线的激光器；S201. Collect the reflected light projected by the laser onto the scanned object to generate an image of the scanned object, where the laser is a laser capable of projecting at least one inline laser line;
当需要对三维扫描系统中的激光器的功率进行调节控制时，首先设定一个激光器功率的初始值，然后采集激光器工作时投射到被扫描物体上的反射光生成所述被扫描物体的图像。需要说明的是，激光器为能够投射出一条或多条一字激光线的激光器。When it is necessary to adjust and control the power of the laser in the three-dimensional scanning system, first set an initial value of the laser power, and then collect the reflected light projected on the scanned object when the laser is working to generate an image of the scanned object. It should be noted that the laser is a laser capable of projecting one or more inline laser lines.
S202、基于被扫描物体的图像灰度阈值对图像进行二值化和连通域识别；S202. Binarize the image and identify connected domains based on the image grayscale threshold of the scanned object;
S203、计算图像中激光线的有效识别率和饱和率；S203. Calculate the effective recognition rate and saturation rate of the laser line in the image;
S204、基于有效识别率和饱和率调节激光器的功率，直至激光器的功率满足预设条件。S204. Adjust the power of the laser based on the effective recognition rate and the saturation rate until the power of the laser meets a preset condition.
在对激光器的功率进行调节时，可以通过被扫描物体的图像灰度阈值对被扫描物体的图像进行二值化和连通域识别，同时计算出图像中激光线的有效识别率和饱和率，根据计算出的有效识别率和饱和率调节激光器的功率，在调节的过程中重复上述步骤S201～步骤S204，直至激光器的功率满足预设条件。需要说明的是，在重复执行上述步骤S201～步骤S204的过程中，步骤S201中的激光器功率的初始值，除第一次为操作人员设定的功率初始值外，以后的激光器功率的初始值为上一次功率调节后得到的激光器的功率值。When adjusting the power of the laser, the image of the scanned object can be binarized and connected domain identified through the image gray threshold of the scanned object, and the effective recognition rate and saturation rate of the laser line in the image can be calculated at the same time, according to The calculated effective recognition rate and saturation rate adjust the power of the laser, and the above steps S201 to S204 are repeated during the adjustment process until the power of the laser meets the preset conditions. It should be noted that, in the process of repeatedly executing the above steps S201 to S204, the initial value of the laser power in step S201, in addition to the initial value of the power set for the operator for the first time, the initial value of the subsequent laser power It is the power value of the laser obtained after the last power adjustment.
具体的，在上述实施例中，在计算图像中激光线的有效识别率时，可以通过公式计算有效识别率Re，其中，Ne为所述图像中有效子连通域的数量，H为所述图像高度，NL为激光线数量；另外，有效子连通域为宽度小于宽度阈值且区域中像素值为255的像素数量小于3个的子连通域，所述子连通域为连通域的行数据。Specifically, in the above embodiment, when calculating the effective recognition rate of the laser line in the image, the formula Calculate the effective recognition rate Re , where Ne is the number of effective sub-connected domains in the image, H is the image height, and N L is the number of laser lines; in addition, the effective sub-connected domains have a width less than the width threshold and the area A sub-connected domain whose pixel value is 255 is less than 3 sub-connected domains, and the sub-connected domain is the row data of the connected domain.
具体的，在上述实施例中，在计算图像中激光线的饱和率时，可以基于公式计算出饱和率Rs，其中，Ns为所述图像中饱和子连通域的数量；另外，饱和子连通域为宽度小于宽度阈值且区域中像素值为255的像素数量不少于3个的子连通域。Specifically, in the above embodiment, when calculating the saturation rate of the laser line in the image, it can be based on the formula Calculate the saturation rate R s , where N s is the number of saturated sub-connected domains in the image; in addition, the saturated sub-connected domains have a width smaller than the width threshold and the number of pixels with a pixel value of 255 in the region is not less than 3 Sub-connected domain.
如图3所示，为本发明公开的一种三维扫描系统中激光器功率的控制方法实施例3的流程图，所述方法包括：As shown in FIG. 3 , it is a flow chart of Embodiment 3 of a method for controlling laser power in a three-dimensional scanning system disclosed in the present invention. The method includes:
S301、采集激光器投射到被扫描物体上的反射光生成所述被扫描物体的图像，激光器为能够投射出至少一条一字激光线的激光器；S301. Collect reflected light projected by the laser onto the scanned object to generate an image of the scanned object, where the laser is a laser capable of projecting at least one inline laser line;
当需要对三维扫描系统中的激光器的功率进行调节控制时，首先设定一个激光器功率的初始值，然后采集激光器工作时投射到被扫描物体上的反射光生成所述被扫描物体的图像。需要说明的是，激光器为能够投射出一条或多条一字激光线的激光器。When it is necessary to adjust and control the power of the laser in the three-dimensional scanning system, first set an initial value of the laser power, and then collect the reflected light projected on the scanned object when the laser is working to generate an image of the scanned object. It should be noted that the laser is a laser capable of projecting one or more inline laser lines.
S302、基于被扫描物体的图像灰度阈值对图像进行二值化和连通域识别；S302. Binarize the image and identify connected domains based on the image grayscale threshold of the scanned object;
S303、计算图像中激光线的有效识别率和饱和率；S303. Calculate the effective recognition rate and saturation rate of the laser line in the image;
在对激光器的功率进行调节时，可以通过被扫描物体的图像灰度阈值对被扫描物体的图像进行二值化和连通域识别，同时计算出图像中激光线的有效识别率和饱和率。When adjusting the power of the laser, the image of the scanned object can be binarized and connected domain identified through the image gray threshold of the scanned object, and the effective recognition rate and saturation rate of the laser line in the image can be calculated at the same time.
S304、显示有效识别率和饱和率；S304, displaying the effective recognition rate and saturation rate;
当计算出有效识别率和饱和率后，还可以进一步将有效识别率和饱和率进行显示，以便操作人员能够直观的观察到有效识别率值和饱和率值。After the effective recognition rate and saturation rate are calculated, the effective recognition rate and saturation rate can be further displayed, so that the operator can intuitively observe the effective recognition rate value and the saturation rate value.
S305、判断有效识别率是否大于预设有效识别率阈值，若是，进入S306，若否，则进入S307：S305. Determine whether the effective recognition rate is greater than the preset effective recognition rate threshold, if yes, go to S306, if not, go to S307:
当计算出图像中激光线的有效识别率后，进一步对有效识别率进行判断，判断有效识别率是否大于预设有效识别率阈值。需要说明的是，在判断有效识别率是否大于预设有效识别率阈值时，可以进行自动判断，也可以是操作人员通过显示出的有效识别率进行人为的判断。After the effective recognition rate of the laser lines in the image is calculated, the effective recognition rate is further judged to determine whether the effective recognition rate is greater than a preset effective recognition rate threshold. It should be noted that when judging whether the effective recognition rate is greater than the preset effective recognition rate threshold, it can be judged automatically, or it can be judged manually by the operator based on the displayed effective recognition rate.
S306、结束所述激光器功率调节；S306. End the adjustment of the laser power;
当判断有效识别率大于预设有效识别率阈值时，表明此时激光器的功率满足预设条件，此时可结束对激光器的功率调节。When it is judged that the effective recognition rate is greater than the preset effective recognition rate threshold, it indicates that the power of the laser meets the preset condition at this time, and the power adjustment of the laser can be ended at this time.
S307、将饱和率与预设饱和率阈值进行比较，当饱和率大于等于所述预设饱和率阈值时减小所述激光器功率，当所述饱和率小于所述预设饱和率阈值时增大所述激光器功率。S307. Comparing the saturation rate with a preset saturation rate threshold, reducing the power of the laser when the saturation rate is greater than or equal to the preset saturation rate threshold, and increasing the laser power when the saturation rate is less than the preset saturation rate threshold The laser power.
当判断有效识别率小于等于预设有效识别率阈值时，进一步将计算出的饱和率与预设饱和率阈值进行比较。需要说明的是，在比较饱和率和预设饱和率阈值时，可以进行自动比较，也可以是操作人员通过显示出的饱和率进行人为的判断。When it is determined that the effective recognition rate is less than or equal to the preset effective recognition rate threshold, the calculated saturation rate is further compared with the preset saturation rate threshold. It should be noted that when comparing the saturation rate with the preset saturation rate threshold, the comparison can be performed automatically, or the operator can make a human judgment based on the displayed saturation rate.
当饱和率大于等于预设饱和率阈值时，此时将激光器的功率减小，当饱和率小于预设饱和率阈值时，此时将激光器的功率增加。需要说明的是，在减小激光器的功率或增加激光器的功率时，可以进行自动调节，也可以通过操作人员进行手动调节。When the saturation rate is greater than or equal to the preset saturation rate threshold, the power of the laser is reduced at this time, and when the saturation rate is less than the preset saturation rate threshold, the power of the laser is increased at this time. It should be noted that when the power of the laser is reduced or increased, automatic adjustment can be performed, or manual adjustment can be performed by the operator.
需要说明的是，在上述调节激光器功率的过程中，重复执行上述步骤S301～步骤S307，直至经过调节后的激光器的功率满足预设条件。在重复执行上述步骤S301～步骤S307的过程中，步骤S301中的激光器功率的初始值，除第一次为操作人员设定的功率初始值外，以后的激光器功率的初始值为上一次功率调节后得到的激光器的功率值。It should be noted that, in the above process of adjusting the power of the laser, the above step S301 to step S307 are repeatedly executed until the adjusted power of the laser satisfies the preset condition. In the process of repeatedly executing the above steps S301 to S307, the initial value of the laser power in step S301, except for the initial power value set by the operator for the first time, the initial value of the subsequent laser power is the last power adjustment The power value of the laser obtained after.
具体的，在上述实施例中，在计算图像中激光线的有效识别率时，可以通过公式计算有效识别率Re，其中，Ne为所述图像中有效子连通域的数量，H为所述图像高度，NL为激光线数量；另外，有效子连通域为宽度小于宽度阈值且区域中像素值为255的像素数量小于3个的子连通域，所述子连通域为连通域的行数据。Specifically, in the above embodiment, when calculating the effective recognition rate of the laser line in the image, the formula Calculate the effective recognition rate Re , where Ne is the number of effective sub-connected domains in the image, H is the image height, and N L is the number of laser lines; in addition, the effective sub-connected domains have a width less than the width threshold and the area A sub-connected domain whose pixel value is 255 is less than 3 sub-connected domains, and the sub-connected domain is the row data of the connected domain.
具体的，在上述实施例中，在计算图像中激光线的饱和率时，可以基于公式计算出饱和率Rs，其中，Ns为所述图像中饱和子连通域的数量；另外，饱和子连通域为宽度小于宽度阈值且区域中像素值为255的像素数量不少于3个的子连通域。Specifically, in the above embodiment, when calculating the saturation rate of the laser line in the image, it can be based on the formula Calculate the saturation rate R s , where N s is the number of saturated sub-connected domains in the image; in addition, the saturated sub-connected domains have a width smaller than the width threshold and the number of pixels with a pixel value of 255 in the region is not less than 3 Sub-connected domain.
具体的，在上述实施例中，还可以将有效子连通域和饱和子连通域在图像中用不同的颜色标记出来并将标记后的图像进行显示，操作人员根据观察到的着色区域判断激光器功率是否需要调节，并根据观察到的结果对激光器的功率进行调节。Specifically, in the above-mentioned embodiment, the effective sub-connected domain and the saturated sub-connected domain can also be marked with different colors in the image and the marked image can be displayed, and the operator judges the power of the laser according to the observed colored area. Whether it needs to be adjusted, and adjust the power of the laser according to the observed results.
综上所述，本发明通过对激光器功率的控制使三维扫描系统在扫描不同材质表面物体时均能获得有效的激光线图案，大大提高了三维扫描系统对扫描环境的适应能力。与使用固定功率激光器而通过调节曝光时间来控制激光线图案的三维扫描系统相比，由于本发明可以使用较大功率调节范围的激光器，因此，对于高反光的扫描物表面具有更好的适应能力。In summary, the present invention enables the 3D scanning system to obtain effective laser line patterns when scanning surface objects of different materials by controlling the laser power, which greatly improves the adaptability of the 3D scanning system to the scanning environment. Compared with the three-dimensional scanning system that uses a fixed power laser and controls the laser line pattern by adjusting the exposure time, since the present invention can use a laser with a larger power adjustment range, it has better adaptability to the surface of the highly reflective object to be scanned .
如图4所示，为本发明公开的一种三维扫描系统中激光器功率的控制装置实施例1的结构示意图，所述装置包括：As shown in FIG. 4 , it is a schematic structural diagram of Embodiment 1 of a control device for laser power in a three-dimensional scanning system disclosed by the present invention. The device includes:
双目相机401，用于采集激光器投射到被扫描物体上的反射光生成所述被扫描物体的图像，激光器为能够投射出至少一条一字激光线的激光器；The binocular camera 401 is used to collect the reflected light projected by the laser onto the scanned object to generate an image of the scanned object, and the laser is a laser capable of projecting at least one inline laser line;
当需要对三维扫描系统中的激光器的功率进行调节控制时，首先设定一个激光器功率的初始值，然后采集激光器工作时投射到被扫描物体上的反射光生成所述被扫描物体的图像。需要说明的是，激光器为能够投射出一条或多条一字激光线的激光器。When it is necessary to adjust and control the power of the laser in the three-dimensional scanning system, first set an initial value of the laser power, and then collect the reflected light projected on the scanned object when the laser is working to generate an image of the scanned object. It should be noted that the laser is a laser capable of projecting one or more inline laser lines.
控制器402，用于基于被扫描物体的图像调节激光器的功率，直至激光器的功率满足预设条件。The controller 402 is configured to adjust the power of the laser based on the image of the scanned object until the power of the laser meets a preset condition.
然后根据生成的被扫描物体的图像对激光器的功率进行调节，在调节的过程中重复上述步骤采集激光器投射到被扫描物体上的反射光生成所述被扫描物体的图像，直至经过调节后的激光器的功率满足预设条件，即达到能够使三维扫描系统的扫描结果更加准确的状态。需要说明的是，在上述重复调节激光器功率的过程中，激光器功率的初始值，除第一次为操作人员设定的功率初始值外，以后的激光器功率的初始值为上一次功率调节后得到的激光器的功率值。Then adjust the power of the laser according to the generated image of the scanned object, and repeat the above steps during the adjustment process to collect the reflected light projected by the laser on the scanned object to generate an image of the scanned object until the adjusted laser The power of the power satisfies the preset condition, that is, reaches a state that can make the scanning result of the three-dimensional scanning system more accurate. It should be noted that, in the above process of repeatedly adjusting the laser power, the initial value of the laser power, except for the initial power value set for the operator for the first time, the initial value of the subsequent laser power is obtained after the last power adjustment The power value of the laser.
综上所述，在上述实施例中，当需要对三维扫描系统中的激光器的功率进行控制时，首先采集激光器投射到被扫描物体上的反射光生成所述被扫描物体的图像，激光器为能够投射出至少一条一字激光线的激光器，然后根据被扫描物体的图像调节激光器的功率，直至激光器的功率满足预设条件。To sum up, in the above embodiment, when it is necessary to control the power of the laser in the three-dimensional scanning system, the reflected light projected by the laser on the object to be scanned is first collected to generate an image of the object to be scanned, and the laser is capable of A laser projecting at least one inline laser line, and then adjusting the power of the laser according to the image of the scanned object until the power of the laser meets the preset condition.
本发明通过对激光器功率的控制使三维扫描系统在扫描不同材质表面物体时均能获得有效的激光线图案，大大提高了三维扫描系统对扫描环境的适应能力。与使用固定功率激光器而通过调节曝光时间来控制激光线图案的三维扫描系统相比，由于本发明可以使用较大功率调节范围的激光器，因此，对于高反光的扫描物表面具有更好的适应能力。The invention enables the three-dimensional scanning system to obtain effective laser line patterns when scanning surface objects of different materials by controlling the laser power, thereby greatly improving the adaptability of the three-dimensional scanning system to the scanning environment. Compared with the three-dimensional scanning system that uses a fixed power laser and controls the laser line pattern by adjusting the exposure time, since the present invention can use a laser with a larger power adjustment range, it has better adaptability to the surface of the highly reflective object to be scanned .
如图5所示，为本发明公开的一种三维扫描系统中激光器功率的控制装置实施例2的结构示意图，所述装置包括：As shown in FIG. 5 , it is a schematic structural diagram of Embodiment 2 of a control device for laser power in a three-dimensional scanning system disclosed by the present invention. The device includes:
双目相机501，用于采集激光器投射到被扫描物体上的反射光生成所述被扫描物体的图像，激光器为能够投射出至少一条一字激光线的激光器；The binocular camera 501 is used to collect the reflected light projected by the laser onto the scanned object to generate an image of the scanned object, and the laser is a laser capable of projecting at least one inline laser line;
当需要对三维扫描系统中的激光器的功率进行调节控制时，首先设定一个激光器功率的初始值，然后采集激光器工作时投射到被扫描物体上的反射光生成所述被扫描物体的图像。需要说明的是，激光器为能够投射出一条或多条一字激光线的激光器。When it is necessary to adjust and control the power of the laser in the three-dimensional scanning system, first set an initial value of the laser power, and then collect the reflected light projected on the scanned object when the laser is working to generate an image of the scanned object. It should be noted that the laser is a laser capable of projecting one or more inline laser lines.
识别模块502，用于基于被扫描物体的图像灰度阈值对图像进行二值化和连通域识别；An identification module 502, configured to binarize the image and identify connected domains based on the image grayscale threshold of the scanned object;
计算模块503，用于计算图像中激光线的有效识别率和饱和率；Calculation module 503, for calculating the effective recognition rate and saturation rate of the laser line in the image;
调节模块504，用于基于有效识别率和饱和率调节激光器的功率，直至激光器的功率满足预设条件。The adjustment module 504 is configured to adjust the power of the laser based on the effective recognition rate and the saturation rate until the power of the laser meets a preset condition.
在对激光器的功率进行调节时，可以通过被扫描物体的图像灰度阈值对被扫描物体的图像进行二值化和连通域识别，同时计算出图像中激光线的有效识别率和饱和率，根据计算出的有效识别率和饱和率调节激光器的功率，直至激光器的功率满足预设条件。需要说明的是，在上述重复调节激光器功率的过程中，激光器功率的初始值，除第一次为操作人员设定的功率初始值外，以后的激光器功率的初始值为上一次功率调节后得到的激光器的功率值。When adjusting the power of the laser, the image of the scanned object can be binarized and connected domain identified through the image gray threshold of the scanned object, and the effective recognition rate and saturation rate of the laser line in the image can be calculated at the same time, according to The calculated effective recognition rate and saturation rate adjust the power of the laser until the power of the laser meets the preset condition. It should be noted that, in the above process of repeatedly adjusting the laser power, the initial value of the laser power, except for the initial power value set for the operator for the first time, the initial value of the subsequent laser power is obtained after the last power adjustment The power value of the laser.
具体的，在上述实施例中，在计算图像中激光线的有效识别率时，可以通过公式计算有效识别率Re，其中，Ne为所述图像中有效子连通域的数量，H为所述图像高度，NL为激光线数量；另外，有效子连通域为宽度小于宽度阈值且区域中像素值为255的像素数量小于3个的子连通域，所述子连通域为连通域的行数据。Specifically, in the above embodiment, when calculating the effective recognition rate of the laser line in the image, the formula Calculate the effective recognition rate Re , where Ne is the number of effective sub-connected domains in the image, H is the image height, and N L is the number of laser lines; in addition, the effective sub-connected domains have a width less than the width threshold and the area A sub-connected domain whose pixel value is 255 is less than 3 sub-connected domains, and the sub-connected domain is the row data of the connected domain.
具体的，在上述实施例中，在计算图像中激光线的饱和率时，可以基于公式计算出饱和率Rs，其中，Ns为所述图像中饱和子连通域的数量；另外，饱和子连通域为宽度小于宽度阈值且区域中像素值为255的像素数量不少于3个的子连通域。Specifically, in the above embodiment, when calculating the saturation rate of the laser line in the image, it can be based on the formula Calculate the saturation rate R s , where N s is the number of saturated sub-connected domains in the image; in addition, the saturated sub-connected domains have a width smaller than the width threshold and the number of pixels with a pixel value of 255 in the region is not less than 3 Sub-connected domain.
如图6所示，为本发明公开的一种三维扫描系统中激光器功率的控制装置实施例3的结构示意图，所述装置包括：As shown in FIG. 6, it is a schematic structural diagram of Embodiment 3 of a control device for laser power in a three-dimensional scanning system disclosed by the present invention. The device includes:
双目相机601，用于采集激光器投射到被扫描物体上的反射光生成所述被扫描物体的图像，激光器为能够投射出至少一条一字激光线的激光器；The binocular camera 601 is used to collect the reflected light projected by the laser onto the scanned object to generate an image of the scanned object, and the laser is a laser capable of projecting at least one inline laser line;
当需要对三维扫描系统中的激光器的功率进行调节控制时，首先设定一个激光器功率的初始值，然后采集激光器工作时投射到被扫描物体上的反射光生成所述被扫描物体的图像。需要说明的是，激光器为能够投射出一条或多条一字激光线的激光器。When it is necessary to adjust and control the power of the laser in the three-dimensional scanning system, first set an initial value of the laser power, and then collect the reflected light projected on the scanned object when the laser is working to generate an image of the scanned object. It should be noted that the laser is a laser capable of projecting one or more inline laser lines.
识别模块602，用于基于被扫描物体的图像灰度阈值对图像进行二值化和连通域识别；An identification module 602, configured to binarize the image and identify connected domains based on the image grayscale threshold of the scanned object;
计算模块603，用于计算图像中激光线的有效识别率和饱和率；Calculation module 603, used to calculate the effective recognition rate and saturation rate of the laser line in the image;
在对激光器的功率进行调节时，可以通过被扫描物体的图像灰度阈值对被扫描物体的图像进行二值化和连通域识别，同时计算出图像中激光线的有效识别率和饱和率。When adjusting the power of the laser, the image of the scanned object can be binarized and connected domain identified through the image gray threshold of the scanned object, and the effective recognition rate and saturation rate of the laser line in the image can be calculated at the same time.
显示器604，用于显示有效识别率和饱和率；A display 604, configured to display an effective recognition rate and a saturation rate;
当计算出有效识别率和饱和率后，还可以进一步将有效识别率和饱和率进行显示，以便操作人员能够直观的观察到有效识别率值和饱和率值。After the effective recognition rate and saturation rate are calculated, the effective recognition rate and saturation rate can be further displayed, so that the operator can intuitively observe the effective recognition rate value and the saturation rate value.
判断单元605，用于判断有效识别率是否大于预设有效识别率阈值；A judging unit 605, configured to judge whether the effective recognition rate is greater than a preset effective recognition rate threshold;
当计算出图像中激光线的有效识别率后，进一步对有效识别率进行判断，判断有效识别率是否大于预设有效识别率阈值。需要说明的是，在判断有效识别率是否大于预设有效识别率阈值时，可以进行自动判断，也可以是操作人员通过显示出的有效识别率进行人为的判断。After the effective recognition rate of the laser lines in the image is calculated, the effective recognition rate is further judged to determine whether the effective recognition rate is greater than a preset effective recognition rate threshold. It should be noted that when judging whether the effective recognition rate is greater than the preset effective recognition rate threshold, it can be judged automatically, or it can be judged manually by the operator based on the displayed effective recognition rate.
结束单元606，用于当有效识别率大于预设有效识别率阈值时，结束所述激光器功率调节；An end unit 606, configured to end the laser power adjustment when the effective recognition rate is greater than the preset effective recognition rate threshold;
当判断有效识别率大于预设有效识别率阈值时，表明此时激光器的功率满足预设条件，此时可结束对激光器的功率调节。When it is judged that the effective recognition rate is greater than the preset effective recognition rate threshold, it indicates that the power of the laser meets the preset condition at this time, and the power adjustment of the laser can be ended at this time.
比较单元607，用于当有效识别率小于等于预设有效识别率阈值时，将饱和率与预设饱和率阈值进行比较，当饱和率大于等于所述预设饱和率阈值时减小所述激光器功率，当所述饱和率小于所述预设饱和率阈值时增大所述激光器功率。The comparison unit 607 is used to compare the saturation rate with the preset saturation rate threshold when the effective recognition rate is less than or equal to the preset effective recognition rate threshold, and reduce the laser when the saturation rate is greater than or equal to the preset saturation rate threshold power, increasing the power of the laser when the saturation rate is less than the preset saturation rate threshold.
当判断有效识别率小于等于预设有效识别率阈值时，进一步将计算出的饱和率与预设饱和率阈值进行比较。需要说明的是，在比较饱和率和预设饱和率阈值时，可以进行自动比较，也可以是操作人员通过显示出的饱和率进行人为的判断。When it is determined that the effective recognition rate is less than or equal to the preset effective recognition rate threshold, the calculated saturation rate is further compared with the preset saturation rate threshold. It should be noted that when comparing the saturation rate with the preset saturation rate threshold, the comparison can be performed automatically, or the operator can make a human judgment based on the displayed saturation rate.
当饱和率大于等于预设饱和率阈值时，此时将激光器的功率减小，当饱和率小于预设饱和率阈值时，此时将激光器的功率增加。需要说明的是，在减小激光器的功率或增加激光器的功率时，可以进行自动调节，也可以通过操作人员进行手动调节。需要说明的是，在上述重复调节激光器功率的过程中，激光器功率的初始值，除第一次为操作人员设定的功率初始值外，以后的激光器功率的初始值为上一次功率调节后得到的激光器的功率值。When the saturation rate is greater than or equal to the preset saturation rate threshold, the power of the laser is reduced at this time, and when the saturation rate is less than the preset saturation rate threshold, the power of the laser is increased at this time. It should be noted that when the power of the laser is reduced or increased, automatic adjustment can be performed, or manual adjustment can be performed by the operator. It should be noted that, in the process of repeatedly adjusting the laser power, the initial value of the laser power, in addition to the initial value of the power set for the operator for the first time, the initial value of the subsequent laser power is obtained after the last power adjustment The power value of the laser.
具体的，在上述实施例中，在计算图像中激光线的有效识别率时，可以通过公式计算有效识别率Re，其中，Ne为所述图像中有效子连通域的数量，H为所述图像高度，NL为激光线数量；另外，有效子连通域为宽度小于宽度阈值且区域中像素值为255的像素数量小于3个的子连通域，所述子连通域为连通域的行数据。Specifically, in the above embodiment, when calculating the effective recognition rate of the laser line in the image, the formula Calculate the effective recognition rate Re , where Ne is the number of effective sub-connected domains in the image, H is the image height, and N L is the number of laser lines; in addition, the effective sub-connected domains have a width less than the width threshold and the area A sub-connected domain whose pixel value is 255 is less than 3 sub-connected domains, and the sub-connected domain is the row data of the connected domain.
具体的，在上述实施例中，在计算图像中激光线的饱和率时，可以基于公式计算出饱和率Rs，其中，Ns为所述图像中饱和子连通域的数量；另外，饱和子连通域为宽度小于宽度阈值且区域中像素值为255的像素数量不少于3个的子连通域。Specifically, in the above embodiment, when calculating the saturation rate of the laser line in the image, it can be based on the formula Calculate the saturation rate R s , where N s is the number of saturated sub-connected domains in the image; in addition, the saturated sub-connected domains have a width smaller than the width threshold and the number of pixels with a pixel value of 255 in the region is not less than 3 Sub-connected domain.
具体的，在上述实施例中，还可以将有效子连通域和饱和子连通域在图像中用不同的颜色标记出来并将标记后的图像进行显示，操作人员根据观察到的着色区域判断激光器功率是否需要调节，并根据观察到的结果对激光器的功率进行调节。Specifically, in the above-mentioned embodiment, the effective sub-connected domain and the saturated sub-connected domain can also be marked with different colors in the image and the marked image can be displayed, and the operator judges the power of the laser according to the observed colored area. Whether it needs to be adjusted, and adjust the power of the laser according to the observed results.
综上所述，本发明通过对激光器功率的控制使三维扫描系统在扫描不同材质表面物体时均能获得有效的激光线图案，大大提高了三维扫描系统对扫描环境的适应能力。与使用固定功率激光器而通过调节曝光时间来控制激光线图案的三维扫描系统相比，由于本发明可以使用较大功率调节范围的激光器，因此，对于高反光的扫描物表面具有更好的适应能力。In summary, the present invention enables the 3D scanning system to obtain effective laser line patterns when scanning surface objects of different materials by controlling the laser power, which greatly improves the adaptability of the 3D scanning system to the scanning environment. Compared with the three-dimensional scanning system that uses a fixed power laser and controls the laser line pattern by adjusting the exposure time, since the present invention can use a laser with a larger power adjustment range, it has better adaptability to the surface of the highly reflective object to be scanned .
本说明书中各个实施例采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似部分互相参见即可。对于实施例公开的装置而言，由于其与实施例公开的方法相对应，所以描述的比较简单，相关之处参见方法部分说明即可。Each embodiment in this specification is described in a progressive manner, each embodiment focuses on the difference from other embodiments, and the same and similar parts of each embodiment can be referred to each other. As for the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and for the related information, please refer to the description of the method part.
专业人员还可以进一步意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、计算机软件或者二者的结合来实现，为了清楚地说明硬件和软件的可互换性，在上述说明中已经按照功能一般性地描述了各示例的组成及步骤。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本发明的范围。Professionals can further realize that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, computer software or a combination of the two. In order to clearly illustrate the possible For interchangeability, in the above description, the composition and steps of each example have been generally described according to their functions. Whether these functions are executed by hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods to implement the described functions for each specific application, but such implementation should not be regarded as exceeding the scope of the present invention.
结合本文中所公开的实施例描述的方法或算法的步骤可以直接用硬件、处理器执行的软件模块，或者二者的结合来实施。软件模块可以置于随机存储器(RAM)、内存、只读存储器(ROM)、电可编程ROM、电可擦除可编程ROM、寄存器、硬盘、可移动磁盘、CD-ROM、或技术领域内所公知的任意其它形式的存储介质中。The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein may be directly implemented by hardware, software modules executed by a processor, or a combination of both. Software modules can be placed in random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other Any other known storage medium.
对所公开的实施例的上述说明，使本领域专业技术人员能够实现或使用本发明。对这些实施例的多种修改对本领域的专业技术人员来说将是显而易见的，本文中所定义的一般原理可以在不脱离本发明的精神或范围的情况下，在其它实施例中实现。因此，本发明将不会被限制于本文所示的这些实施例，而是要符合与本文所公开的原理和新颖特点相一致的最宽的范围。The above description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention will not be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
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| CN105157602A (en) * | 2015-07-13 | 2015-12-16 | 西北农林科技大学 | Remote three-dimensional scanning system and method based on machine vision |
| CN106296716A (en) * | 2016-08-24 | 2017-01-04 | 深圳奥比中光科技有限公司 | The power regulating method of light source, depth measurement method and device |
| CN107272018A (en) * | 2017-04-24 | 2017-10-20 | 北京航空航天大学 | A kind of 3-D scanning Full-waveform laser radar system |
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