Multi-line laser three-dimensional imaging method and system based on random lattice

A multi-line laser three-dimensional imaging system based on a random lattice, comprising:

• a random lattice laser light source,
• a multi-line laser light source,
• a high-reflection mirror,
• a rotating mechanism,
• an image capture unit,
• a core control unit, and
• a data processing unit,
• wherein the random lattice laser light source is configured to project a random lattice pattern on a surface of an object;
• wherein laser light emitted from the multi-line laser light source is reflected by the high-reflection mirror to the surface of the object, an emission center of the light source coinciding with a center of the high-reflection mirror and the number of laser beams emitted being greater than or equal to 3;
• wherein the rotating mechanism is configured to drive the high-reflection mirror to rotate a ta certain speed, such that laser lines pan and scan on the surface of the object;
• wherein the image capture unit is configured to capture images of the object to obtain a background image containing a lattice pattern and object images P1, P2, . . . , and Pn containing lattice patterns and laser lines, the image capture unit comprising at least one imaging unit, an optical axis center of the imaging unit being on a same plane as the emission center of the multi-line laser light source;
• wherein the core control unit comprises a power management module, a communication module, and a control module, the power management module being configured to supply power to the system, the communication module being configured to support communications between other functional components in the system and the data processing unit, and the control module being configured to control laser projection of the random lattice laser light source and the multi-line laser light source, and to control the rotating mechanism to rotate to drive the high-reflection mirror to rotate at a certain speed;
• and
• wherein the data processing unit is configured to perform sub-pixel extraction on the laser lines in all the object images, to determine a line sequence position of each of the laser lines in the object images P2, . . . , and Pn by area-based matching, and to generate point cloud data by calculating using a triangulation measurement principle according to sub-pixel coordinates of each point on the laser line whose line sequence position is determined in the object images P1, P2, . . . , and Pn, such that three-dimensional reconstruction is performed on the object.