TWI679609B - Three-dimensional structured light measurement system - Google Patents
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Abstract
一種三維結構光測量系統包含一第一影像擷取單元、一投影單元、一第二影像擷取單元、及一控制單元。該控制單元分析該第一影像擷取單元所擷取相關於一物件的一表面的一個二維影像,以產生一亮度灰階條件,並根據該亮度灰階條件,將多個預定光柵圖案所對應的亮度分別作調整,以產生多個補償光柵圖案,進而控制該投影單元投影該等補償光柵圖案至該物件的該表面。該控制單元接收該第二影像擷取單元所擷取的多個投影光柵影像,並據以產生該表面的三維輪廓。A three-dimensional structured light measurement system includes a first image capturing unit, a projection unit, a second image capturing unit, and a control unit. The control unit analyzes a two-dimensional image of a surface of an object captured by the first image capturing unit to generate a luminance grayscale condition, and according to the luminance grayscale condition, a plurality of predetermined raster patterns are generated. The corresponding brightness is adjusted respectively to generate a plurality of compensation grating patterns, and then the projection unit is controlled to project the compensation grating patterns onto the surface of the object. The control unit receives a plurality of projection raster images captured by the second image capturing unit, and generates a three-dimensional contour of the surface accordingly.
Description
本發明是有關於一種測量系統,特別是指一種三維結構光測量系統。The present invention relates to a measurement system, and particularly to a three-dimensional structured light measurement system.
目前在製鞋業中,鞋底與鞋身的接合大部分採用塗膠方式,而塗膠的優劣關係到該隻鞋子的使用壽命。在自動化的生產過程中,需要先取得正確的鞋底外型的三維(3D)資料,才能使自動化塗膠設備依循正確的塗膠路徑。At present, in the footwear industry, most of the joints between the sole and the shoe body are glued, and the quality of the glue is related to the service life of the shoe. In the automated production process, it is necessary to first obtain the correct three-dimensional (3D) data of the shape of the sole of the shoe, so that the automated gumming equipment can follow the correct gumming path.
參閱圖1,習知的一種三維結構光測量系統適用於測量一鞋底9的一表面的三維輪廓,並包含一個控制單元91、一個攝影模組92、及一個白光投影模組93。該鞋底9放置於一個平台上94。該白光投影模組93用來投射多個預定光柵圖案至該鞋底9的該表面上,該攝影模組92用來擷取被該鞋底9的該表面的三維輪廓所影響後的多個投影後光柵圖案。由於該等投影後光柵圖案的變形程度與該白光投影模組93及該攝影模組92之間的相對位置及鞋底9的該表面的起伏有關。因此,當該攝影模組92與該白光投影模組93之間的相對位置固定時,該等投影後光柵圖案的變化情況可以透過三角測量法計算該鞋底9的該表面的三維輪廓。Referring to FIG. 1, a conventional three-dimensional structured light measurement system is suitable for measuring a three-dimensional profile of a surface of a sole 9, and includes a control unit 91, a photographing module 92, and a white light projection module 93. The sole 9 is placed on a platform 94. The white light projection module 93 is used to project a plurality of predetermined grating patterns onto the surface of the sole 9, and the photographing module 92 is used to capture multiple projections that are affected by the three-dimensional contour of the surface of the sole 9. Raster pattern. The degree of deformation of the grating patterns after the projection is related to the relative position between the white light projection module 93 and the photographing module 92 and the undulation of the surface of the sole 9. Therefore, when the relative position between the photographing module 92 and the white light projection module 93 is fixed, the three-dimensional contour of the surface of the sole 9 can be calculated by the triangulation method after the changes of the grating patterns after the projections.
該控制單元91電連接該白光投影模組93,並控制該白光投影模組93將該等預定光柵圖案依序投影至該鞋底9的該表面。該控制單元91還電連接該影像模組92,並控制該影像模組92擷取投影至該鞋底9的該表面的該等預定光柵圖案,以獲得分別對應的多個投影後光柵影像8(包含投影後光柵圖案)。該控制單元91再根據該等投影後光柵影像8,產生該鞋底9的該表面的三維輪廓。The control unit 91 is electrically connected to the white light projection module 93 and controls the white light projection module 93 to sequentially project the predetermined grating patterns onto the surface of the sole 9. The control unit 91 is also electrically connected to the image module 92 and controls the image module 92 to capture the predetermined raster patterns projected onto the surface of the sole 9 to obtain a plurality of corresponding projected raster images 8 ( Contains the projected raster pattern). The control unit 91 generates a three-dimensional contour of the surface of the sole 9 according to the projected raster images 8.
參閱圖1與圖2,圖2以一個投影區域7舉例說明該等預定光柵圖案的多個態樣。該等預定光柵圖案是採用結構光編碼方法中的一種時序編碼(Time-Multiplexing),且是採用強度變化的二值化編碼。為方便說明起見,該等預定光柵圖案的數量以三個為例作說明,並依照被投影的順序分別定義為第一光柵圖案、第二光柵圖案、及第三光柵圖案,實際上,該等預定光柵圖案的數量更多,以產生精確度更高的三維輪廓。Referring to FIGS. 1 and 2, FIG. 2 illustrates a plurality of aspects of the predetermined grating patterns by using a projection area 7 as an example. The predetermined grating patterns are a time-multiplexing method in a structured light coding method, and are binarized codes using intensity changes. For the convenience of explanation, the number of the predetermined grating patterns is described by taking three as an example, and they are respectively defined as a first grating pattern, a second grating pattern, and a third grating pattern in the order of being projected. In fact, the The number of predetermined raster patterns is increased to generate a more accurate three-dimensional contour.
該第一光柵圖案是使得該白光投影模組93將黑色光投射至該投影區域7中的多個區域71~74,且將白色光投射至另外多個區域75~78。該第二光柵圖案是使得該白光投影模組93將黑色光投射至該投影區域7中的多個區域71、72、75、76,且將白色光投射至另外多個區域73、74、77、78。該第三光柵圖案是使得該白光投影模組93將黑色光投射至該投影區域7中的多個區域71、73、75、77,且將白色光投射至另外多個區域72、74、76、78。The first grating pattern is such that the white light projection module 93 projects black light to a plurality of areas 71 to 74 in the projection area 7, and projects white light to other areas 75 to 78. The second grating pattern is such that the white light projection module 93 projects black light to a plurality of areas 71, 72, 75, and 76 in the projection area 7, and projects white light to a plurality of other areas 73, 74, and 77. , 78. The third grating pattern is such that the white light projection module 93 projects black light to a plurality of areas 71, 73, 75, 77 in the projection area 7, and projects white light to a plurality of other areas 72, 74, 76. , 78.
該控制單元91根據該三個投影後光柵影像8,分析該等投影後光柵影像8中的投影區域7的黑色光及白色光的位置,並將黑色光及白色光的位置解碼,例如分別為0及1,進而產生該鞋底9的該表面的三維輪廓。然而,當該鞋底9的該表面的顏色不同,或者形狀上有邊牆時,該控制單元91所計算出的該鞋底9的該表面的三維輪廓容易造成雜訊或穿孔的現象,而使得該鞋底9的三維資料的完整性不足,進而導致後續的自動化塗膠設備無法獲得正確的塗膠路徑。因此,如何使得三維結構光測量系統獲得正確度更高的三維資料便成為一個待解決的問題。The control unit 91 analyzes the positions of the black light and the white light of the projection area 7 in the projected raster images 8 according to the three projected raster images 8 and decodes the positions of the black light and the white light, for example, respectively 0 and 1, thereby generating a three-dimensional contour of the surface of the sole 9. However, when the surface of the sole 9 is different in color or has a side wall in shape, the three-dimensional contour of the surface of the sole 9 calculated by the control unit 91 easily causes noise or perforation, which makes the The completeness of the three-dimensional data of the sole 9 is inadequate, which causes subsequent automated gluing equipment to fail to obtain the correct gluing path. Therefore, how to make the three-dimensional structured light measurement system obtain more accurate three-dimensional data has become a problem to be solved.
因此,本發明的目的,即在提供一種正確度更高的三維結構光測量系統。Therefore, an object of the present invention is to provide a three-dimensional structured light measurement system with higher accuracy.
於是,根據本發明三維結構光測量系統,適用於利用多個預定光柵圖案測量一物件的一表面的三維輪廓,並包含一個第一影像擷取單元、一個投影單元、一個第二影像擷取單元、及一個控制單元。Therefore, the three-dimensional structured light measurement system according to the present invention is suitable for measuring a three-dimensional contour of a surface of an object using a plurality of predetermined grating patterns, and includes a first image capturing unit, a projection unit, and a second image capturing unit , And a control unit.
該第一影像擷取單元擷取相關於該物件的該表面的一個二維影像。該投影單元接收多個補償光柵圖案,並將該等補償光柵圖案依序投影至該物件的該表面。該第二影像擷取單元擷取投影至該物件的該表面的該等補償光柵圖案之影像,而分別成為多個投影後光柵影像。The first image capturing unit captures a two-dimensional image related to the surface of the object. The projection unit receives a plurality of compensation grating patterns and sequentially projects the compensation grating patterns onto the surface of the object. The second image capturing unit captures images of the compensation grating patterns projected onto the surface of the object, and becomes a plurality of projected grating images, respectively.
該控制單元電連接該第一影像擷取單元以接收該二維影像,並分析該二維影像,以產生相關於該物件的該表面在該二維影像中的一亮度灰階條件。該控制單元還電連接該投影單元,並根據該亮度灰階條件,將該等預定光柵圖案所對應的亮度分別作調整,以產生該等補償光柵圖案,進而控制該投影單元投影,且還電連接該第二影像擷取單元,以接收該等投影後光柵影像,並根據該等投影後光柵影像,產生該物件的該表面的三維輪廓。The control unit is electrically connected to the first image capturing unit to receive the two-dimensional image, and analyzes the two-dimensional image to generate a grayscale condition of brightness of the surface related to the object in the two-dimensional image. The control unit is also electrically connected to the projection unit, and adjusts the brightness corresponding to the predetermined raster patterns according to the brightness grayscale conditions, so as to generate the compensation raster patterns, and then controls the projection of the projection unit. The second image capturing unit is connected to receive the projected raster images, and generate a three-dimensional contour of the surface of the object based on the projected raster images.
在一些實施態樣中,其中,該亮度灰階條件是該物件的該表面的一亮度灰階分布。該控制單元包括一個資料庫,該資料庫儲存多組該等補償光柵圖案,該每一組該等補償光柵圖案對應該物件的該表面的不同的該亮度灰階分布,該控制單元根據該亮度灰階分布,選擇該多組該等補償光柵圖案之其中一組。In some embodiments, the luminance grayscale condition is a luminance grayscale distribution of the surface of the object. The control unit includes a database that stores a plurality of sets of the compensation grating patterns, each set of the compensation grating patterns corresponding to the brightness grayscale distribution of the surface of the object, and the control unit according to the brightness Gray scale distribution, one of the plurality of sets of the compensation grating patterns is selected.
在另一些實施態樣中,其中,該亮度灰階條件是該物件的該表面的一亮度灰階平均值。該控制單元包括一個資料庫,該資料庫儲存多組該等補償光柵圖案,該每一組該等補償光柵圖案對應該物件的該表面的不同的該亮度灰階平均值。In other embodiments, the brightness grayscale condition is an average brightness grayscale of the surface of the object. The control unit includes a database that stores a plurality of sets of the compensation grating patterns, each set of the compensation grating patterns corresponding to a different average value of the luminance grayscale of the surface of the object.
該控制單元計算該二維影像的該亮度灰階平均值,再根據該亮度灰階平均值,選擇該多組該等補償光柵圖案之其中一組。當該亮度灰階平均值表示該物件的該表面的亮度灰階越高時,所選擇的該組該等補償光柵圖案的亮度灰階相較於轉換前的該等預定光柵圖案的亮度灰階越低。The control unit calculates the average value of the luminance grayscale of the two-dimensional image, and then selects one of the plurality of sets of the compensation grating patterns according to the average value of the luminance grayscale. When the average value of the brightness grayscale indicates that the brightness grayscale of the surface of the object is higher, the brightness grayscale of the selected group of the compensation grating patterns is compared with the brightness grayscale of the predetermined grating patterns before conversion. The lower.
在另一些實施態樣中,其中,該亮度灰階條件是該物件的該表面的一亮度灰階平均值。該控制單元計算該二維影像的該亮度灰階平均值,再根據該亮度灰階平均值,調整該等預定光柵圖案所分別對應的亮度,而產生對應的該等補償光柵圖案,當該亮度灰階平均值表示該物件的該表面的亮度灰階越高時,該等補償光柵圖案的亮度灰階相較於轉換前的該等預定光柵圖案的亮度灰階越低。In other embodiments, the brightness grayscale condition is an average brightness grayscale of the surface of the object. The control unit calculates the average value of the brightness grayscale of the two-dimensional image, and then adjusts the corresponding brightness of the predetermined grating patterns according to the average value of the brightness grayscale, and generates corresponding compensation grating patterns. The average gray level indicates that the higher the gray level of the brightness of the surface of the object, the lower the gray level of the brightness of the compensation grating patterns compared to the brightness level of the predetermined grating pattern before conversion.
在另一些實施態樣中,其中,該亮度灰階條件是該物件的該表面的一亮度灰階分布。該控制單元根據該亮度灰階分布,判斷在該二維影像的不同位置的亮度灰階的大小。當該二維影像的一第一區域的亮度灰階大於等於一第一閥值時,該控制單元將該等補償光柵圖案之其中每一者在對應該第一區域的亮度灰階調整為一第一補償強度。In other embodiments, the brightness grayscale condition is a brightness grayscale distribution of the surface of the object. The control unit determines the size of the brightness gray scale at different positions of the two-dimensional image according to the brightness gray scale distribution. When the luminance grayscale of a first region of the two-dimensional image is greater than or equal to a first threshold, the control unit adjusts each of the compensation grating patterns to a luminance grayscale corresponding to the first region to a First compensation intensity.
當該二維影像的一第二區域的亮度灰階小於等於一第二閥值時,該控制單元將該等補償光柵圖案之其中每一者在對應該第二區域的亮度灰階調整為一第二補償強度。When the luminance grayscale of a second region of the two-dimensional image is less than or equal to a second threshold, the control unit adjusts each of the compensation grating patterns to a luminance grayscale corresponding to the second region to one. Second compensation intensity.
該等預定光柵圖案在該第一區域及該第二區域的預設亮度灰階分別是一第一預定強度及一第二預定強度,該第一補償強度小於該第一預定強度,該第二補償強度大於該第二預定強度,該第一預定強度大於該第二預定強度。The predetermined luminance gray scales of the predetermined grating patterns in the first region and the second region are a first predetermined intensity and a second predetermined intensity, respectively, the first compensation intensity is less than the first predetermined intensity, and the second The compensation intensity is greater than the second predetermined intensity, and the first predetermined intensity is greater than the second predetermined intensity.
在一些實施態樣中,其中,當該亮度灰階分布介於0至255之間時,該第一預定強度及該第二預定強度分別是255及0,該第一補償強度及該第二補償強度分別是200及50。In some embodiments, when the luminance grayscale distribution is between 0 and 255, the first predetermined intensity and the second predetermined intensity are 255 and 0, the first compensation intensity and the second The compensation intensity is 200 and 50 respectively.
在另一些實施態樣中,該三維結構光測量系統還包含一個第三影像擷取單元,相對於該第二影像擷取單元以不同的視角,擷取投影至該物件的該表面的該等補償光柵圖案之影像,而分別成為多個輔助投影後光柵影像。該控制單元還電連接該第三影像擷取單元,以接收該等輔助投影後光柵影像,並根據該等投影後光柵影像及該等輔助投影後光柵影像,產生該物件的該表面的三維輪廓。In other embodiments, the three-dimensional structured light measurement system further includes a third image capturing unit, which captures the projections onto the surface of the object at different angles with respect to the second image capturing unit. The images of the compensation raster pattern are respectively converted into a plurality of auxiliary projection raster images. The control unit is also electrically connected to the third image capture unit to receive the auxiliary projection raster images, and generate a three-dimensional contour of the surface of the object based on the projection raster images and the auxiliary projection raster images. .
在另一些實施態樣中,其中,投影至該物件的該表面的該等補償光柵圖案是採用結構光編碼方法中的一種時序編碼(Time-Multiplexing),且是採用強度變化的二值化編碼。In other embodiments, the compensation grating patterns projected onto the surface of the object are a time-multiplexing method using structured light coding, and are binary codes using intensity changes. .
本發明的功效在於:藉由該控制單元分析該第一影像擷取單元所擷取的該二維影像,以判斷該物件的該表面的該亮度灰階條件,並據以調整該投影單元所要投射的該等補償光柵圖案,進而使得所投射出的色光的亮度灰階會對應物件的不同顏色區域作出調整。因此,本案三維結構光測量系統能夠避免習知技術中,因為該物件的顏色的不同所產生的三維資料錯誤,而能提高三維資料的正確度。The effect of the present invention is that the control unit analyzes the two-dimensional image captured by the first image capturing unit to determine the brightness grayscale condition of the surface of the object and adjusts the projection unit to The projected compensation grating patterns make the brightness gray scale of the projected colored light to be adjusted corresponding to different color areas of the object. Therefore, the three-dimensional structured light measurement system of the present case can avoid the three-dimensional data error caused by the color of the object in the conventional technology, and can improve the accuracy of the three-dimensional data.
在本發明被詳細描述之前,應當注意在以下的說明內容中,類似的元件是以相同的編號來表示。Before the present invention is described in detail, it should be noted that in the following description, similar elements are represented by the same numbers.
參閱圖3與圖4,本發明三維結構光測量系統的一個第一實施例,適用於利用多個預定光柵圖案測量一物件9的一表面的三維輪廓,並包含一個第一影像擷取單元2、一個投影單元3、一個第二影像擷取單元4、及一個控制單元1。在本實施例中,該物件9是一個鞋底,該第一影像擷取單元2及該第二影像擷取單元4例如是二個攝影機,該投影單元3例如是一個發光二極體(LED)投影機,可以投射出不同的色光,在本實施例中,該發光二極體投影機是以一種白光發光二極體投影機為例作說明,該控制單元1例如是一個電腦主機,但都不在此限。該等預定光柵圖案是採用結構光編碼方法中的一種時序編碼(Time- Multiplexing),且是採用強度變化的二值化編碼。Referring to FIG. 3 and FIG. 4, a first embodiment of the three-dimensional structured light measurement system according to the present invention is suitable for measuring a three-dimensional contour of a surface of an object 9 using a plurality of predetermined grating patterns, and includes a first image capturing unit 2 , A projection unit 3, a second image capture unit 4, and a control unit 1. In this embodiment, the object 9 is a shoe sole, the first image capturing unit 2 and the second image capturing unit 4 are, for example, two cameras, and the projection unit 3 is, for example, a light emitting diode (LED). The projector can project different colored lights. In this embodiment, the light-emitting diode projector is described using a white-light-emitting diode projector as an example. The control unit 1 is, for example, a computer host, but both Not in this limit. The predetermined grating patterns are a time-multiplexing code in a structured light coding method, and are binary codes using intensity changes.
該第一影像擷取單元2擷取相關於該物件9的該表面的一個二維影像。該投影單元3接收多個補償光柵圖案,並將該等補償光柵圖案依序投影至該物件9的該表面。該等補償光柵圖案也是採用一種強度變化的二值化編碼的時序編碼方法。該第二影像擷取單元4受控制以擷取投影至該物件9的該表面的該等補償光柵圖案之影像,而分別成為多個投影後光柵影像6。The first image capturing unit 2 captures a two-dimensional image of the surface of the object 9. The projection unit 3 receives a plurality of compensation grating patterns, and sequentially projects the compensation grating patterns onto the surface of the object 9. These compensation raster patterns are also a time-series coding method using a binary coding with a change in intensity. The second image capturing unit 4 is controlled to capture images of the compensation grating patterns projected onto the surface of the object 9 and become a plurality of projected grating images 6 respectively.
該控制單元1電連接該第一影像擷取單元2以接收該二維影像,並分析該二維影像,以產生相關於該物件9的該表面在該二維影像中的一亮度灰階條件。該控制單元1還電連接該投影單元3,並根據該亮度灰階條件,將該等預定光柵圖案所對應的亮度分別作調整,以產生該等補償光柵圖案,進而控制該投影單元3投影。該控制單元1還電連接該第二影像擷取單元4,以控制該第二影像擷取單元4擷取影像,以接收該等投影後光柵影像6,並根據該等投影後光柵影像6,產生該物件9的該表面的三維輪廓。The control unit 1 is electrically connected to the first image capturing unit 2 to receive the two-dimensional image, and analyzes the two-dimensional image to generate a brightness grayscale condition related to the surface of the object 9 in the two-dimensional image. . The control unit 1 is also electrically connected to the projection unit 3, and adjusts the brightness corresponding to the predetermined raster patterns respectively according to the brightness grayscale conditions to generate the compensation raster patterns, and then controls the projection unit 3 to project. The control unit 1 is also electrically connected to the second image capturing unit 4 to control the second image capturing unit 4 to capture images to receive the projected raster images 6, and according to the projected raster images 6, A three-dimensional contour of the surface of the object 9 is generated.
在本實施例中,該亮度灰階條件是該物件9的該表面的一亮度灰階分布。該控制單元1包括一個資料庫11,該資料庫11儲存多組該等補償光柵圖案,該每一組該等補償光柵圖案對應該物件9的該表面的不同的該亮度灰階分布。該控制單元1根據該亮度灰階分布,選擇該多組該等補償光柵圖案之其中一組。In this embodiment, the brightness grayscale condition is a brightness grayscale distribution of the surface of the object 9. The control unit 1 includes a database 11 that stores a plurality of sets of the compensation grating patterns, each set of the compensation grating patterns corresponding to the different grayscale distributions of the surface of the object 9. The control unit 1 selects one of the plurality of sets of the compensation grating patterns according to the luminance grayscale distribution.
針對不同的物件9,一個使用者可以藉由先前技術中的習知方法,先將該等預定光柵圖案投射至該物件9,以獲得該物件9的三維資料,再據以調整該投影單元3在本實施例中所要投射的該等補償光柵圖案在一個投影區域7的不同區域71~78(如圖6)的亮度。也就是說,針對不同的物件9,例如不同顏色,所對應的該等補償光柵圖案是預先設計而儲存於該資料庫11中。藉由分析該第一影像擷取單元2所擷取的該二維影像,該控制單元1即能獲知該物件9所需要對應的該等補償光柵圖案,使得該物件9的該表面的三維輪廓不會因為雜訊等問題的影響,而能正確地獲得。For different objects 9, a user can first project the predetermined raster patterns onto the object 9 to obtain three-dimensional data of the object 9, and then adjust the projection unit 3 according to the conventional method in the prior art. The brightnesses of the compensation grating patterns to be projected in this embodiment are in different regions 71 to 78 (see FIG. 6) of a projection region 7. That is, for different objects 9, such as different colors, the corresponding compensation grating patterns are designed in advance and stored in the database 11. By analyzing the two-dimensional image captured by the first image capturing unit 2, the control unit 1 can know the corresponding compensation grating patterns required by the object 9, so that the three-dimensional contour of the surface of the object 9 It will not be obtained correctly due to the influence of noise and other issues.
參閱圖3與圖4,本發明三維結構光測量系統的一個第二實施例,大致上是與該第一實施例相同,不同的地方在於:該亮度灰階條件是該物件9的該表面的一亮度灰階平均值。該資料庫11儲存多組該等補償光柵圖案,該每一組該等補償光柵圖案對應該物件9的該表面的不同的該亮度灰階平均值。Referring to FIG. 3 and FIG. 4, a second embodiment of the three-dimensional structured light measurement system of the present invention is substantially the same as the first embodiment, except that the brightness grayscale condition is that of the surface of the object 9. A luminance grayscale average. The database 11 stores a plurality of sets of the compensation grating patterns, and each set of the compensation grating patterns corresponds to a different average value of the luminance grayscale of the surface of the object 9.
該控制單元1計算該二維影像的該亮度灰階平均值, 再參閱圖5,舉例來說,該二維影像21中的該物件9(即鞋底)包含物件區域901~903,假設亮度灰階是介於0至255之間,且0與255分別表示黑色與白色,如果三個物件區域901~903都是黑色,則該亮度灰階平均值是0。如果三個物件區域901~903都是白色,則該亮度灰階平均值是255。如果物件區域901、902是黑色,物件區域903是白色,則該亮度灰階平均值例如是128。The control unit 1 calculates the average value of the luminance grayscale of the two-dimensional image. Referring to FIG. 5 again, for example, the object 9 (that is, the sole) in the two-dimensional image 21 includes object regions 901 to 903. The level is between 0 and 255, and 0 and 255 represent black and white respectively. If the three object areas 901 to 903 are all black, the average value of the gray scale of the brightness is 0. If the three object areas 901 to 903 are all white, the average value of the brightness grayscale is 255. If the object regions 901 and 902 are black and the object region 903 is white, the average value of the luminance grayscale is 128, for example.
該控制單元1再根據該亮度灰階平均值,選擇該多組該等補償光柵圖案之其中一組。當該亮度灰階平均值表示該物件9的該表面的亮度灰階越高時,例如越接近255,表示該物件9的偏向白色的部分越多,因此,該控制單元1所選擇的該組該等補償光柵圖案的亮度灰階相較於轉換前的該等預定光柵圖案的亮度灰階越低,同理,反之亦然,以避免該投影單元3投射至該物件9的該等補償光柵圖案產生太亮而有雜光溢出的現象,進而避免該控制單元1對該等投影後光柵影像6的解碼產生誤判,因此能提高三維結構光測量系統的正確度。The control unit 1 then selects one of the plurality of sets of compensation grating patterns according to the average value of the luminance grayscale. When the average value of the brightness grayscale indicates that the brightness grayscale of the surface of the object 9 is higher, for example, the closer it is to 255, the more white portions of the object 9 are, so the group selected by the control unit 1 The gray scales of the brightness of the compensation grating patterns are lower than those of the predetermined grating patterns before the conversion, and vice versa, so as to avoid the compensation gratings projected by the projection unit 3 onto the object 9 The pattern is too bright and stray light overflows, thereby preventing the control unit 1 from misjudging the decoded raster image 6 after such projection, so the accuracy of the three-dimensional structured light measurement system can be improved.
參閱圖4與圖7,本發明三維結構光測量系統的一個第三實施例,大致上是與該第二實施例相同,不同的地方在於:該控制單元1不包含該資料庫11(如圖3),該控制單元1計算該二維影像的該亮度灰階平均值,再根據該亮度灰階平均值,調整該等預定光柵圖案所分別對應的亮度,而產生對應的該等補償光柵圖案。當該亮度灰階平均值表示該物件9的該表面的亮度灰階越高時,該等補償光柵圖案的亮度灰階相較於轉換前的該等預定光柵圖案的亮度灰階越低。Referring to FIG. 4 and FIG. 7, a third embodiment of the three-dimensional structured light measurement system of the present invention is substantially the same as the second embodiment, except that the control unit 1 does not include the database 11 (as shown in FIG. 3), the control unit 1 calculates the average value of the brightness grayscale of the two-dimensional image, and then adjusts the brightness corresponding to the predetermined grating patterns respectively according to the average value of the brightness grayscale to generate the corresponding compensation grating patterns . When the average value of the brightness grayscale indicates that the brightness grayscale of the surface of the object 9 is higher, the brightness grayscale of the compensation grating patterns is lower than that of the predetermined grating pattern before conversion.
再參閱圖6,舉例來說,假設該等預定光柵圖案如同先前技術所述的例子,該等補償光柵圖案依照被投影的順序分別定義為第一補償光柵圖案、第二補償光柵圖案、及第三補償光柵圖案。當該亮度平均值等於255時,該第一補償光柵圖案是使得該投影單元3將黑色光投射至該投影區域7中的多個區域71~74,且將白色光投射至另外多個區域75~78。該第二補償光柵圖案是使得該投影單元3將黑色光投射至該投影區域7中的多個區域71、72、75、76,且將白色光投射至另外多個區域73、74、77、78。該第三補償光柵圖案是使得該投影單元3將黑色光投射至該投影區域7中的多個區域71、73、75、77,且將白色光投射至另外多個區域72、74、76、78。最重要的差異是:該等預定光柵圖案是使得白光投影模組93(如圖1)將亮度灰階分別為0與255的黑色光與白色光作投射,而該等補償光柵圖案是使得投影單元3將亮度灰階分別為0與亮度灰階較小(如250)的黑色光與白色光作投射。Referring again to FIG. 6, for example, assuming that the predetermined grating patterns are the same as the examples described in the prior art, the compensation grating patterns are respectively defined as a first compensation grating pattern, a second compensation grating pattern, and a first Three compensation raster patterns. When the average brightness is equal to 255, the first compensation grating pattern is such that the projection unit 3 projects black light to a plurality of areas 71 to 74 in the projection area 7 and projects white light to a plurality of other areas 75 ~ 78. The second compensation grating pattern is such that the projection unit 3 projects black light onto a plurality of areas 71, 72, 75, 76 in the projection area 7, and projects white light onto other areas 73, 74, 77, 78. The third compensation grating pattern is such that the projection unit 3 projects black light to a plurality of areas 71, 73, 75, 77 in the projection area 7, and projects white light to a plurality of other areas 72, 74, 76, 78. The most important difference is that the predetermined grating patterns are such that the white light projection module 93 (as shown in FIG. 1) projects black light and white light with brightness gray levels of 0 and 255, respectively, and the compensation grating patterns are such that the projection The unit 3 projects black light and white light with a gray scale of 0 and a small gray scale (eg, 250).
參閱圖4與圖7,本發明三維結構光測量系統的一個第四實施例,大致上是與該第一實施例相同,不同的地方在於:該控制單元1不包含該資料庫11(如圖3),且該控制單元1根據該亮度灰階分布,判斷在該二維影像的不同位置的亮度灰階的大小。Referring to FIG. 4 and FIG. 7, a fourth embodiment of the three-dimensional structured light measurement system of the present invention is substantially the same as the first embodiment, except that the control unit 1 does not include the database 11 (as shown in FIG. 3), and the control unit 1 determines the size of the brightness grayscale at different positions of the two-dimensional image according to the brightness grayscale distribution.
當該二維影像的一第一區域的亮度灰階大於等於一第一閥值時,該控制單元1將該等補償光柵圖案之其中每一者在對應該第一區域的亮度灰階調整為一第一補償強度。When the luminance gray level of a first region of the two-dimensional image is greater than or equal to a first threshold, the control unit 1 adjusts each of the compensation grating patterns to a luminance gray level corresponding to the first region to A first compensation intensity.
當該二維影像的一第二區域的亮度灰階小於等於一第二閥值時,該控制單元1將該等補償光柵圖案之其中每一者在對應該第二區域的亮度灰階調整為一第二補償強度。When the brightness gray level of a second region of the two-dimensional image is less than or equal to a second threshold, the control unit 1 adjusts each of the compensation grating patterns to a brightness gray level corresponding to the second region to A second compensation intensity.
該等預定光柵圖案在該第一區域及該第二區域的預設亮度灰階分別是一第一預定強度及一第二預定強度,該第一補償強度小於該第一預定強度,該第二補償強度大於該第二預定強度,該第一預定強度大於該第二預定強度。The predetermined luminance gray scales of the predetermined grating patterns in the first region and the second region are a first predetermined intensity and a second predetermined intensity, respectively, the first compensation intensity is less than the first predetermined intensity, and the second The compensation intensity is greater than the second predetermined intensity, and the first predetermined intensity is greater than the second predetermined intensity.
舉例來說,再參閱圖5,該二維影像21中的該物件9(即鞋底)包含物件區域901~903,其中,物件區域901、902是黑色,物件區域903是白色。再參閱圖6,假設該等預定光柵圖案如同先前技術所述的例子,該等補償光柵圖案依照被投影的順序分別定義為第一補償光柵圖案、第二補償光柵圖案、及第三補償光柵圖案,且都被投射至該投影區域7,其中,該物件9所在的位置包含物件區域A1~A10。For example, referring to FIG. 5 again, the object 9 (ie, the sole) in the two-dimensional image 21 includes object regions 901 to 903, where the object regions 901 and 902 are black and the object region 903 is white. Referring again to FIG. 6, assuming that the predetermined grating patterns are the same as the examples described in the prior art, the compensation grating patterns are respectively defined as a first compensation grating pattern, a second compensation grating pattern, and a third compensation grating pattern in the order of being projected. And are all projected onto the projection area 7, where the position of the object 9 includes the object areas A1 ~ A10.
當該亮度灰階例如是分布介於0至255之間時,該第一預定強度及該第二預定強度分別是255及0,該第一補償強度及該第二補償強度分別是200及50。該等預定光柵圖案是使得白光投影模組93(如圖1)將亮度灰階分別為255與0的白色光與黑色光作投射。When the brightness gray level is, for example, distributed between 0 and 255, the first predetermined intensity and the second predetermined intensity are 255 and 0, and the first compensation intensity and the second compensation intensity are 200 and 50, respectively. . The predetermined grating patterns enable the white light projection module 93 (as shown in FIG. 1) to project white light and black light with luminance grayscales of 255 and 0, respectively.
該第一補償光柵圖案是使得該投影單元3將亮度灰階是50(該第二補償強度)的色光投射至該投影區域7中的物件區域A1~A3,並將亮度是0的黑色光投射至區域71~74中不包含物件區域A1~A3的部分區域。且使得該投影單元3將亮度灰階是200(該第一補償強度)的色光投射至該投影區域7中的物件區域A6~A7,並將亮度是255的白色光投射至區域75~78中不包含物件區域A6~A7的部分區域。即該第一區域是物件區域A6~A7,該第二區域是物件區域A1~A3。The first compensation grating pattern is such that the projection unit 3 projects colored light with a luminance gray level of 50 (the second compensation intensity) to the object areas A1 to A3 in the projection area 7 and projects black light with a brightness of 0. Areas 71 to 74 do not include part of the object areas A1 to A3. In addition, the projection unit 3 is configured to project colored light having a brightness gray level of 200 (the first compensation intensity) to the object areas A6 to A7 in the projection area 7 and to project white light having a brightness of 255 into areas 75 to 78. It does not include part of the object area A6 ~ A7. That is, the first area is the object areas A6 to A7, and the second area is the object areas A1 to A3.
該第二補償光柵圖案是使得該投影單元3將亮度灰階是50(該第二補償強度)的色光投射至該投影區域7中的物件區域A1、A2、A8,並將亮度是0的黑色光投射至區域71、72、75、76中不包含物件區域A1、A2、A8的部分區域。且使得該投影單元3將亮度灰階是200(該第一補償強度)的色光投射至該投影區域7中的物件區域A4~A5,並將亮度是255的白色光投射至區域73、74、77、78中不包含物件區域A4~A5的部分區域。即該第一區域是物件區域A4~A5,該第二區域是物件區域A1、A2、A8。The second compensation grating pattern is such that the projection unit 3 projects colored light with a brightness gray level of 50 (the second compensation intensity) to the object areas A1, A2, and A8 in the projection area 7, and sets the black color to black. The light is projected onto a part of the areas 71, 72, 75, and 76 excluding the object areas A1, A2, and A8. In addition, the projection unit 3 is configured to project colored light having a luminance gray scale of 200 (the first compensation intensity) to the object areas A4 to A5 in the projection area 7 and project white light having a brightness of 255 to areas 73, 74, 77 and 78 do not include part of the object areas A4 to A5. That is, the first area is the object areas A4 to A5, and the second area is the object areas A1, A2, A8.
該第三補償光柵圖案是使得該投影單元3將亮度灰階是50(該第二補償強度)的色光投射至該投影區域7中的物件區域A1、A3、A9,並將亮度是0的黑色光投射至區域71、73、75、77中不包含物件區域A1、A3、A9的部分區域。且使得該投影單元3將亮度灰階是200(該第一補償強度)的色光投射至該投影區域7中的物件區域A5、A7,並將亮度是255的白色光投射至區域72、74、76、78中不包含物件區域A5、A7的部分區域。即該第一區域是物件區域A5、A7,該第二區域是物件區域A1、A3、A9。The third compensation grating pattern is such that the projection unit 3 projects colored light with a brightness gray level of 50 (the second compensation intensity) to the object areas A1, A3, and A9 in the projection area 7, and sets the brightness to black for 0 The light is projected onto a part of the areas 71, 73, 75, and 77 that do not include the object areas A1, A3, and A9. In addition, the projection unit 3 is configured to project colored light having a luminance gray level of 200 (the first compensation intensity) to the object areas A5 and A7 in the projection area 7 and project white light having a brightness of 255 to the areas 72, 74, 76 and 78 do not include part of the object areas A5 and A7. That is, the first area is the object areas A5 and A7, and the second area is the object areas A1, A3, and A9.
另外要補充說明的是:在該第一實施例至該第四實施例中,該三維結構光測量系統都僅包含一個影像擷取單元(即第二影像擷取單元4),以擷取該等投影後光柵影像。而在其他實施例中,該三維結構光測量系統還包含一個與該第二影像擷取單元4的功能相同的第三影像擷取單元,並相對於該第二影像擷取單元4以不同的視角,擷取投影至該物件9的該表面的該等補償光柵圖案之影像,而分別成為多個輔助投影後光柵影像。該控制單元1還電連接該第三影像擷取單元,以接收該等輔助投影後光柵影像,並根據該等投影後光柵影像及該等輔助投影後光柵影像,產生該物件9的該表面的三維輪廓,以避免使用單一個影像擷取單元(即第二影像擷取單元4)時,有可能會有拍攝死角的問題。In addition, it should be added that: in the first embodiment to the fourth embodiment, the three-dimensional structured light measurement system includes only one image capturing unit (ie, the second image capturing unit 4) to capture the Raster image after projection. In other embodiments, the three-dimensional structured light measurement system further includes a third image capture unit having the same function as the second image capture unit 4, and is different from the second image capture unit 4 in a different manner. The angle of view captures images of the compensation grating patterns projected onto the surface of the object 9 and becomes a plurality of auxiliary projection raster images, respectively. The control unit 1 is also electrically connected to the third image capturing unit to receive the auxiliary projection raster images, and generate the surface of the object 9 based on the projection raster images and the auxiliary projection raster images. The three-dimensional contour avoids the problem of shooting blind spots when using a single image capture unit (ie, the second image capture unit 4).
再者,在該第一實施例至該第四實施例中,該三維結構光測量系統的該投影單元3都是以一種白光發光二極體投影機為例作說明,以投射出亮度灰階不同的白色光與黑色光。而在其他實施例中,該投影單元3也可以是一種能夠投射出不同顏色光源的投影機,例如投射出亮度灰階不同的藍色光、黃色光、紅色光、黑色光等等,都不在此限,其功效在於利用不同顏色的色光,如互補色光,使得該控制單元4對該第二影像擷取單元4所擷取的該等投影後光柵影像的解碼判斷的正確性更佳。Moreover, in the first embodiment to the fourth embodiment, the projection unit 3 of the three-dimensional structured light measurement system is described by taking a white light emitting diode projector as an example to project a gray scale of brightness. Different white light and black light. In other embodiments, the projection unit 3 may also be a projector capable of projecting light sources of different colors, such as blue light, yellow light, red light, and black light with different brightness and gray levels. However, its effect lies in the use of colored light of different colors, such as complementary colored light, so that the control unit 4 is more accurate in decoding and judging the projection raster images captured by the second image capturing unit 4.
綜上所述,無論是藉由該資料庫所預先儲存的該等補償光柵圖案,或是藉由該控制單元分析該第一影像擷取單元所擷取的該二維影像,以判斷該物件的該表面的該亮度灰階條件,都能據以調整該投影單元所要投射的該等補償光柵圖案,進而使得所投射出的色光的亮度灰階會對應物件的不同顏色區域作出調整。因而能夠避免習知技術中,因為該物件的顏色的不同所產生的三維資料錯誤,而能提高三維資料的正確度,故確實能達成本發明的目的。In summary, whether the compensation raster patterns stored in the database are pre-stored or the control unit analyzes the two-dimensional image captured by the first image capturing unit to determine the object The brightness and grayscale conditions of the surface can be used to adjust the compensation grating patterns to be projected by the projection unit, so that the brightness and grayscale of the projected color light can be adjusted according to different color regions of the object. Therefore, in the conventional technology, the error of the three-dimensional data due to the difference in the color of the object can be avoided, and the accuracy of the three-dimensional data can be improved. Therefore, the purpose of the present invention can be achieved.
惟以上所述者,僅為本發明的實施例而已,當不能以此限定本發明實施的範圍,凡是依本發明申請專利範圍及專利說明書內容所作的簡單的等效變化與修飾,皆仍屬本發明專利涵蓋的範圍內。However, the above are only examples of the present invention. When the scope of implementation of the present invention cannot be limited by this, any simple equivalent changes and modifications made according to the scope of the patent application and the contents of the patent specification of the present invention are still Within the scope of the invention patent.
1‧‧‧控制單元1‧‧‧control unit
11‧‧‧資料庫11‧‧‧Database
2‧‧‧第一影像擷取單元2‧‧‧ The first image capture unit
21‧‧‧二維影像21‧‧‧ 2D image
3‧‧‧投影單元3‧‧‧ Projection Unit
4‧‧‧第二影像擷取單元4‧‧‧Second image capture unit
6‧‧‧投影後光柵影像6‧‧‧ Raster image after projection
7‧‧‧投影區域7‧‧‧ projection area
71~78‧‧‧區域71 ~ 78‧‧‧area
8‧‧‧投影後光柵影像8‧‧‧ Raster image after projection
9‧‧‧物件9‧‧‧ Object
901‧‧‧物件區域901‧‧‧ Object Area
902‧‧‧物件區域902‧‧‧ Object Area
903‧‧‧物件區域903‧‧‧ Object Area
91‧‧‧控制單元91‧‧‧control unit
92‧‧‧攝影模組92‧‧‧Photographic Module
93‧‧‧白光投影模組93‧‧‧White light projection module
94‧‧‧平台94‧‧‧ Platform
A1~A10‧‧‧物件區域A1 ~ A10‧‧‧Object area
本發明的其他的特徵及功效,將於參照圖式的實施方式中清楚地呈現,其中: 圖1是一個示意圖,說明習知的一種三維結構光測量系統; 圖2是一個示意圖,輔助圖1說明一個投影區域; 圖3是一個方塊圖,說明本發明三維結構光測量系統的一個實施例; 圖4是一個示意圖,輔助圖3說明該實施例; 圖5是一個示意圖,說明一個實施例的一個二維影像; 圖6是一個示意圖,說明一個實施例的一個投影區域;及 圖7是一個方塊圖,說明本發明三維結構光測量系統的另一個實施例。Other features and effects of the present invention will be clearly presented in the embodiment with reference to the drawings, in which: FIG. 1 is a schematic diagram illustrating a conventional three-dimensional structured light measurement system; FIG. 2 is a schematic diagram, supplementing FIG. 1 Illustrate a projection area; Figure 3 is a block diagram illustrating an embodiment of the three-dimensional structured light measurement system of the present invention; Figure 4 is a schematic diagram to assist Figure 3 to illustrate the embodiment; Figure 5 is a schematic diagram illustrating an embodiment of the A two-dimensional image; FIG. 6 is a schematic diagram illustrating a projection area of one embodiment; and FIG. 7 is a block diagram illustrating another embodiment of the three-dimensional structured light measurement system of the present invention.
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