阅读说明：本技术 图像获取方法及系统 (Image acquisition method and system ) 是由 王星泽 何良雨 舒远 于 2018-12-19 设计创作，主要内容包括：一种图像获取方法,该方法包括：投射模块初始光栅条纹到目标物体的被测面(201),成像模块接收所述初始光栅条纹经过所述被侧面反射后的初始调制光栅条纹(202)；成像模块根据所述初始调制光栅条纹,确定出所述被测面的参考三维图像(203)；若所述参考三维图像的图像质量低于预设图像质量阈值,则根据所述参考三维图像确定出目标光栅条纹(204)；分区域自适应地控制微型LED阵列,实现对光栅条纹的精确调整,并将所述目标光栅条纹投射到所述被测面(205)；接收所述目标光栅条纹经过所述被测面反射后的目标调制光栅条纹(206)；根据所述目标调制光栅条纹,确定出所述被测面的目标三维图像(207)。该方法突出检测场景中的黑暗区域,减弱饱和区域,可提升对目标物体的被测面的图像获取时的准确性。(An image acquisition method, the method comprising: projecting module initial grating stripes to a measured surface (201) of a target object, and receiving initial modulation grating stripes (202) of the initial grating stripes after being reflected by the side surface by an imaging module; the imaging module determines a reference three-dimensional image (203) of the measured surface according to the initial modulation grating stripes; if the image quality of the reference three-dimensional image is lower than a preset image quality threshold, determining a target grating stripe (204) according to the reference three-dimensional image; the micro LED array is controlled in a regional self-adaptive mode, the grating stripes are accurately adjusted, and the target grating stripes are projected to the measured surface (205); receiving target modulation grating stripes (206) of the target grating stripes after the target grating stripes are reflected by the measured surface; and determining a target three-dimensional image (207) of the detected surface according to the target modulation grating stripes. The method highlights dark areas in the detection scene, weakens saturated areas, and can improve the accuracy of image acquisition of the detected surface of the target object.)

An image acquisition method, characterized in that the method comprises:

projecting initial grating stripes to a measured surface of a target object;

receiving initial modulation grating stripes of the initial grating stripes after the initial grating stripes are reflected by the measured surface;

determining a reference three-dimensional image of the measured surface according to the initial modulation grating stripes;

acquiring the image quality of the reference three-dimensional image, and determining a target grating stripe according to the reference three-dimensional image if the image quality of the reference three-dimensional image is lower than a preset image quality threshold;

projecting the target grating stripe to the measured surface;

receiving target modulation grating stripes of the target grating stripes after the target grating stripes are reflected by the measured surface;

and determining a target three-dimensional image of the measured surface according to the target modulation grating stripes.

The method of claim 1, wherein the surface under test comprises a plurality of regions, and wherein obtaining the image quality of the reference three-dimensional image comprises:

splitting the reference three-dimensional image according to the area of the measured surface to obtain a plurality of sub-reference three-dimensional images;

obtaining an image quality of each sub-reference three-dimensional image of the plurality of sub-reference three-dimensional images;

and taking the minimum value in the image qualities of the plurality of sub-reference three-dimensional images as the image quality of the reference three-dimensional image.

The method of claim 2, wherein determining a target grating stripe from the reference three-dimensional image comprises:

obtaining the light intensity of the area corresponding to the sub-reference three-dimensional images in the measured surface according to the sub-reference three-dimensional images;

determining target light intensity of the regions corresponding to the multiple sub-reference three-dimensional images in the detected surface according to the light intensity of the regions corresponding to the multiple sub-reference three-dimensional images in the detected surface and a preset genetic algorithm;

determining the target luminous intensity of each LED module in the LED microarray generating the target light intensity according to a preset light intensity calculation formula;

and adjusting the luminous intensity of each LED module in the LED microarray to be the target luminous intensity of each LED module to obtain the target grating stripe.

The method of claim 3, wherein the LED micro array is a square array of N x M LED modules, and the predetermined light intensity calculation formula comprises:

when N and M are odd numbers, the light intensity at the point P (x, y, z) on the measured surface of the target object may be represented as E (x, y, z), and the preset light intensity calculation formula is specifically as follows:

when N and M are even numbers, the light intensity at the point P (x, y, z) on the measured surface of the target object may be represented as E (x, y, z), and the preset light intensity calculation formula is specifically as follows:

wherein, I_LED＝S_LEDL_LEDIs the luminous intensity, S, of the LED micro-array_LEDIs the light emitting area of the LED micro-array,L_LEDfor the radiation brightness of the LED micro array, d is the distance between two adjacent LED modules, x, y, z, i and j are real numbers, and m can be calculated by the following formula:

wherein, theta_1/2The viewing angle corresponds to half of the illumination when the illumination is 0 degree.

The method according to any one of claims 2 to 4, further comprising:

if the image quality of the target three-dimensional image is lower than the preset image quality threshold, splitting the target three-dimensional image according to the region of the detected surface to obtain a plurality of sub-target three-dimensional images, wherein the sub-target three-dimensional images correspond to the sub-reference three-dimensional images one by one;

extracting at least one first reference image from the plurality of sub-target three-dimensional images, wherein the first reference image is a sub-target three-dimensional image of which the image quality is lower than the preset image quality threshold value, and extracting at least one second reference image from the plurality of sub-reference target images, and the second reference image is an image corresponding to the first reference image in the plurality of sub-reference three-dimensional images;

fusing the at least one first reference image and the at least one second reference image to obtain at least one fused sub-target three-dimensional image;

and combining the at least one fused sub-target three-dimensional image with a third reference image to obtain a real three-dimensional image of the measured surface, wherein the third reference image is an image except the first reference image in the plurality of sub-target three-dimensional images.

An image acquisition system comprising a projection module, a brightness adjustment module, and an imaging module, wherein,

the projection module is used for projecting the initial grating stripes to a measured surface of a target object and projecting the target grating stripes to the measured surface;

the imaging module is used for receiving initial modulation grating stripes after the initial grating stripes are reflected by the measured surface, determining a reference three-dimensional image of the measured surface according to the initial modulation grating stripes, receiving target modulation grating stripes after the target grating stripes are reflected by the measured surface, and determining a target three-dimensional image of the measured surface according to the target modulation grating stripes;

the brightness adjusting module is used for obtaining the image quality of the reference three-dimensional image, and if the image quality of the reference three-dimensional image is lower than a preset image quality threshold, determining a target grating stripe according to the reference three-dimensional image.

The system of claim 6, wherein the surface under test comprises a plurality of regions, and wherein the brightness adjustment module is specifically configured to:

splitting the reference three-dimensional image according to the area of the measured surface to obtain a plurality of sub-reference three-dimensional images;

obtaining an image quality of each sub-reference three-dimensional image of the plurality of sub-reference three-dimensional images;

and taking the minimum value in the image qualities of the plurality of sub-reference three-dimensional images as the image quality of the reference three-dimensional image.

The system of claim 7, wherein the brightness adjustment module is further specifically configured to:

obtaining the light intensity of the area corresponding to the sub-reference three-dimensional images in the measured surface according to the sub-reference three-dimensional images;

determining target light intensity of the regions corresponding to the multiple sub-reference three-dimensional images in the detected surface according to the light intensity of the regions corresponding to the multiple sub-reference three-dimensional images in the detected surface and a preset genetic algorithm;

determining the target luminous intensity of each LED module in the LED microarray generating the target light intensity according to a preset light intensity calculation formula;

and adjusting the luminous intensity of each LED module in the LED microarray to be the target luminous intensity of each LED module to obtain the target grating stripe.

The system of claim 8, wherein the LED micro array is a square array of N x M LED modules, and the predetermined light intensity calculation formula comprises:

when N and M are odd numbers, the light intensity at the point P (x, y, z) on the measured surface of the target object may be represented as E (x, y, z), and the preset light intensity calculation formula is specifically as follows:

when N and M are even numbers, the light intensity at the point P (x, y, z) on the measured surface of the target object may be represented as E (x, y, z), and the preset light intensity calculation formula is specifically as follows:

wherein, I_LED＝S_LEDL_LEDIs the luminous intensity, S, of the LED micro-array_LEDIs the light emitting area, L, of the LED micro-array_LEDFor the radiation brightness of the LED micro array, d is the distance between two adjacent LED modules, x, y, z, i and j are real numbers, and m can be calculated by the following formula:

wherein, theta_1/2The viewing angle corresponds to half of the illumination when the illumination is 0 degree.

The system of any one of claims 7 to 9, wherein the brightness adjustment module is further specifically configured to:

if the image quality of the target three-dimensional image is lower than the preset image quality threshold, splitting the target three-dimensional image according to the region of the detected surface to obtain a plurality of sub-target three-dimensional images, wherein the sub-target three-dimensional images correspond to the sub-reference three-dimensional images one by one;

extracting at least one first reference image from the plurality of sub-target three-dimensional images, wherein the first reference image is a sub-target three-dimensional image of which the image quality is lower than the preset image quality threshold value, and extracting at least one second reference image from the plurality of sub-reference target images, and the second reference image is an image corresponding to the first reference image in the plurality of sub-reference three-dimensional images;

fusing the at least one first reference image and the at least one second reference image to obtain at least one fused sub-target three-dimensional image;

and combining the at least one fused sub-target three-dimensional image with a third reference image to obtain a real three-dimensional image of the measured surface, wherein the third reference image is an image except the first reference image in the plurality of sub-target three-dimensional images.