CN102012626B - Binocular stereo camera and 3d imaging system - Google Patents
Binocular stereo camera and 3d imaging system Download PDFInfo
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- CN102012626B CN102012626B CN201010565731.2A CN201010565731A CN102012626B CN 102012626 B CN102012626 B CN 102012626B CN 201010565731 A CN201010565731 A CN 201010565731A CN 102012626 B CN102012626 B CN 102012626B
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- image unit
- rotating shaft
- adjutage
- video camera
- binocular solid
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Abstract
The invention is suitable for the technical field of image pickup, and provides a binocular stereo camera and a three-dimensional (3D) imaging system. The binocular stereo camera comprises a first image pickup unit, a second image pickup unit and an angle regulating mechanism for regulating an included angle between the lenses of the first image pickup unit and the second image pickup unit. The included angle between the lenses of the two image pickup units is regulated, so that two frames in close shot have a large overlapped area and high third dimension.
Description
Technical field
The invention belongs to the camera technique field, relate in particular to a kind of binocular solid video camera and 3D imaging system.
Background technology
The binocular solid video camera is meant through two apish eyes of image unit, carries out the device of camera work simultaneously.The video content of its shooting comprises the video of two angles, when showing, delivers to respectively in two eyes of beholder through 3D imaging equipment, and the beholder can produce the stereoscopic vision of being in the action.The spacing of two image unit camera lenses is called stereo base width (Stereo base), camera lens and when to be taken the photograph distance between the scenery be 50 times of stereo base width, stereoeffect was best.
Usually, two camera lenses of existing binocular solid video camera are fixing side by side, and promptly the stereo base fixed width is constant.The video camera of stereo base fixed width when close shot is taken about the picture overlapping region less, stereoeffect is poor.
Summary of the invention
The purpose of the embodiment of the invention is to provide a kind of binocular solid video camera, is intended to solve the problem of existing binocular solid video camera stereoeffect difference when close shot is taken.
The embodiment of the invention is to realize like this; The angle adjusting mechanism that a kind of binocular solid video camera comprises first image unit and second image unit and is used to regulate angle between said first image unit and the second image unit camera lens; Said angle adjusting mechanism comprises first adjutage, second adjutage, is located at first rotating shaft of said first adjutage, one end, is located at second rotating shaft of said second adjutage, one end and is located at said first adjutage and the 3rd rotating shaft of the second adjutage other end; Said first image unit is located at said first rotating shaft, and said second image unit is located at said second rotating shaft; Rotate said the 3rd rotating shaft, make the sense of rotation of said first adjutage and second adjutage opposite, according to the stereo base width of the said binocular solid video camera of focal length parameter regulation; Perhaps
Second rotating shaft and the 4th rotating shaft that said angle adjusting mechanism comprises first adjutage, second adjutage, is divided into first rotating shaft and the 3rd rotating shaft at the said first adjutage two ends and is divided into the said second adjutage two ends; Said first image unit is located at said first rotating shaft, and said second image unit is located at said second rotating shaft; The sense of rotation of said the 3rd rotating shaft and the 4th rotating shaft is opposite, according to the stereo base width of the said binocular solid video camera of focal length parameter regulation.
Another purpose of the embodiment of the invention is to provide a kind of 3D imaging system, and said 3D imaging system adopts above-mentioned binocular solid video camera.
The embodiment of the invention makes two captured width of cloth pictures of close shot have bigger overlapping region through regulating the angle between two image unit camera lenses, and stereoscopic sensation is strong.
Description of drawings
Fig. 1 is the structural representation of the binocular solid video camera that provides of the embodiment of the invention;
Fig. 2 is the structural representation of another binocular solid video camera of providing of the embodiment of the invention;
Fig. 3 is the control circuit block diagram of the binocular solid video camera that provides of the embodiment of the invention;
Fig. 4 is the fundamental diagram of the binocular solid video camera that provides of the embodiment of the invention.
Embodiment
In order to make the object of the invention, technical scheme and advantage clearer,, the present invention is further elaborated below in conjunction with accompanying drawing and embodiment.Should be appreciated that specific embodiment described herein only in order to explanation the present invention, and be not used in qualification the present invention.
The embodiment of the invention makes two captured width of cloth pictures of close shot have bigger overlapping region through regulating the angle between two image unit camera lenses, and stereoscopic sensation is strong.
The angle adjusting mechanism that the binocular solid video camera that the embodiment of the invention provides comprises first image unit and second image unit and is used to regulate angle between said first image unit and the second image unit camera lens.
The 3D imaging system that the embodiment of the invention provides adopts above-mentioned binocular solid video camera.
Below in conjunction with specific embodiment realization of the present invention is described in detail.
As shown in Figure 1; The angle adjusting mechanism 13 that the binocular solid video camera that the embodiment of the invention provides comprises first image unit 11 and second image unit 12 and is used to regulate angle between this first image unit 11 and second image unit, 12 camera lenses; Through the angle between these angle adjusting mechanism 13 adjusting first image units 11 and second image unit, 12 camera lenses; Make two captured width of cloth pictures of close shot have bigger overlapping region, stereoscopic sensation is strong.
Particularly; This angle adjusting mechanism 13 comprises first adjutage 21, second adjutage 22, be located at these first adjutage, 21 1 ends first rotating shaft 31, be located at second rotating shaft 32 of these second adjutage, 22 1 ends and be located at this first adjutage 21 and the 3rd rotating shaft 33 of second adjutage, 22 other ends; First image unit 11 is located at first rotating shaft, 31, the second image units 12 is located at second rotating shaft 32.This angle adjusting mechanism 13 is simple in structure, easy operating.When the binocular solid video camera is taken, by first image unit 11 and second image unit, the 12 picked-up first scape picture and the second scape pictures, the center of this first scape picture and the second scape picture is all overlapped with the center of being taken the photograph scenery respectively, this moment, stereoeffect was best.
This binocular solid video camera is taken scenery; When especially close shot is taken; First rotating shaft 31 and second rotating shaft 32 are rotated in opposite direction, angle between first image unit 11 and second image unit, 12 camera lenses is increased according to the focal length parameter or reduce, and have strengthened the stereoeffect of binocular solid video camera when taking the scene of the various depth of field; Especially make two captured width of cloth pictures of close shot have bigger overlapping region, stereoscopic sensation is strong.Can adjust " going out screen " and " going into screen " effect of video through the angle of regulating between this first image unit 11 and second image unit, 12 camera lenses simultaneously; Thereby make " going out screen " and " going into screen " best results; Wherein " go out screen " is meant that scenery on the screen looks like outside screen and floating, " going into screen " on the contrary then.
For making the stereo base width cooperate focal length of camera to adjust automatically; Through rotating the 3rd rotating shaft 33 first adjutage 21 and second adjutage 22 are rotated in opposite direction, the distance that can increase or reduce between first image unit 11 and second image unit, 12 camera lenses is the stereo base width.The embodiment of the invention drives adjutage by rotating shaft and smoothly rotates, and is more smooth and easy between the picture of adjacent twice picked-up of binocular solid video camera, avoided other regulative mode that picture is existed and paused, inadequately problem smoothly.
As one embodiment of the present of invention; Angle adjusting mechanism 13 comprises first adjutage 21, second adjutage 22, second rotating shaft 32 and the 5th rotating shaft 35 being located at first rotating shaft 31 and the 4th rotating shaft 34 at first adjutage, 21 two ends and being located at second adjutage, 22 two ends; First image unit 11 is located at this first rotating shaft 31; Second image unit 12 is located at this second rotating shaft 32, and is as shown in Figure 2.Likewise, through rotating the 4th rotating shaft 34 and the 5th rotating shaft 35 first adjutage 21 and second adjutage 22 are rotated in opposite direction, the distance that can increase or reduce between first image unit 11 and second image unit, 12 camera lenses is the stereo base width.
As shown in Figure 3; This binocular solid video camera also has in order to control the control circuit that above-mentioned each rotating shaft is rotated, and each rotating shaft is driven by first motor 51 like first rotating shaft 31 by corresponding with it motor driven; Second rotating shaft 32 is driven by second motor 52; The 3rd rotating shaft 33 is driven by the 3rd motor 53, and the 4th rotating shaft 34 is driven by the 4th motor 54, and the 5th rotating shaft 35 is driven by the 5th motor 55.This control circuit comprises the focus controlling module 41 that is used to obtain the focal length parameter and according to the motor driving module 42 of this focal length calculation of parameter revolution parameter; Focus controlling module 41 is electrically connected with first image unit 11 and second image unit 12 respectively, and motor driving module 42 is electrically connected with each motor respectively.After focus controlling module 41 receives the focal length of camera of user's manual adjustments, this focal length parameter is sent to motor driving module 42 and two image units; Image unit is according to this its camera parameter of focal length parameter adjustment; Motor driving module 42 goes out the rotational parameters of each motor according to this focal length calculation of parameter; And this rotational parameters is sent to each motor; Thereby adjust two distance (being the stereo base width) and lens directions thereof between the image unit, reach the purpose that cooperates image unit to work as front focal length.
As shown in Figure 4, motor driving module 42 bases array function down drive each motor,
When f＞Lcsc (γ/2):
α＝90°，
β＝arccos(L/f)；
When f≤Lcsc (γ/2):
α＝arcsin(f·sin(γ/2)/L)，
β＝180°-α-γ/2；
Wherein f is the focal length of first image unit 11 or second image unit 12, and L is the length of first adjutage 21 or second adjutage 22, and γ is the stereoeffect angle of scenery to first image unit 11 and second image unit 12 that be taken when best;
α is the angle of first adjutage 21 or second adjutage 22 and binocular solid video camera axis, and β is the angle of first adjutage 21 and first image unit, 11 camera lens optical axis or the angle between second adjutage 21 and second image unit, 12 camera lens optical axis.
Should be appreciated that and can one of them image unit be fixed, regulate the position and the lens direction thereof of another image unit, also can realize same function and effect.
For making the 3rd rotating shaft 33 or the 4th rotating shaft 34 and the 5th rotating shaft 35 rotation more firm, a main support 61 is located in the 3rd rotating shaft 33 or the 4th rotating shaft 34 and the 5th rotating shaft 35.
The embodiment of the invention makes two captured width of cloth pictures of close shot have bigger overlapping region through regulating the angle between two image unit camera lenses, and stereoscopic sensation is strong.Simultaneously, also can adjust, thereby make " going out screen " and " going into screen " best results " going out screen " and " going into screen " effect of video.In addition, drives adjutage by rotating shaft and smoothly rotate, thereby the distance that changes between first image unit and the second image unit camera lens is the stereo base width that the picture that the binocular solid video camera is absorbed is more smooth and easy.
The above is merely preferred embodiment of the present invention, not in order to restriction the present invention, all any modifications of within spirit of the present invention and principle, being done, is equal to and replaces and improvement etc., all should be included within protection scope of the present invention.
Claims (6)
1. binocular solid video camera; Comprise first image unit and second image unit; It is characterized in that; Said binocular solid video camera also comprises the angle adjusting mechanism that is used to regulate angle between said first image unit and the second image unit camera lens; Said angle adjusting mechanism comprises first adjutage, second adjutage, is located at first rotating shaft of said first adjutage, one end, is located at second rotating shaft of said second adjutage, one end and is located at said first adjutage and the 3rd rotating shaft of the second adjutage other end, and said first image unit is located at said first rotating shaft, and said second image unit is located at said second rotating shaft; Rotate said the 3rd rotating shaft, make the sense of rotation of said first adjutage and second adjutage opposite, according to the stereo base width of the said binocular solid video camera of focal length parameter regulation; Perhaps
Second rotating shaft and the 4th rotating shaft that said angle adjusting mechanism comprises first adjutage, second adjutage, is divided into first rotating shaft and the 3rd rotating shaft at the said first adjutage two ends and is divided into the said second adjutage two ends; Said first image unit is located at said first rotating shaft, and said second image unit is located at said second rotating shaft; The sense of rotation of said the 3rd rotating shaft and the 4th rotating shaft is opposite, according to the stereo base width of the said binocular solid video camera of focal length parameter regulation.
2. binocular solid video camera as claimed in claim 1 is characterized in that, the sense of rotation of said first rotating shaft and second rotating shaft is opposite, increases or reduce the angle between said first image unit and the second image unit camera lens according to preset focal length parameter.
3. according to claim 1 or claim 2 binocular solid video camera; It is characterized in that; Absorb the first scape picture and the second scape picture by said first image unit and second image unit respectively, and the center of the said first scape picture and the second scape picture is all overlapped with the center of being taken the photograph scenery.
4. according to claim 1 or claim 2 binocular solid video camera; It is characterized in that; Said binocular solid video camera also has in order to control the control circuit that each rotating shaft is rotated; Each rotating shaft is by corresponding with it motor driven; Said control circuit comprises the focus controlling module that is used to obtain said focal length parameter and according to the motor driving module of said focal length calculation of parameter revolution parameter, said focus controlling module is electrically connected with said first image unit and second image unit respectively, and said motor driving module is electrically connected with each motor respectively.
5. binocular solid video camera as claimed in claim 4 is characterized in that, said motor driving module basis array function down drives each motor,
When f＞Lcsc (γ/2):
α＝90°，
β＝arccos(L/f)；
When f≤Lcsc (γ/2):
α＝arcsin(f·sin(γ/2)/L)，
β＝180°-α-γ/2；
Wherein f is the focal length of said first image unit or second image unit, and L is the length of said first adjutage or second adjutage, and γ is the stereoeffect angle of scenery to said first image unit and second image unit that be taken when best;
α is the angle between said first adjutage or second adjutage and said binocular solid video camera axis, and β is angle or the angle between said second adjutage and the said second image unit camera lens optical axis between said first adjutage and the said first image unit camera lens optical axis.
6. a 3D imaging system is characterized in that, said 3D imaging system adopts like each described binocular solid video camera in the claim 1～5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201010565731.2A CN102012626B (en) | 2010-11-30 | 2010-11-30 | Binocular stereo camera and 3d imaging system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010565731.2A CN102012626B (en) | 2010-11-30 | 2010-11-30 | Binocular stereo camera and 3d imaging system |
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| CN102012626A CN102012626A (en) | 2011-04-13 |
| CN102012626B true CN102012626B (en) | 2012-06-27 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102866573A (en) * | 2011-07-07 | 2013-01-09 | 登尼克股份有限公司 | Three-dimensional imaging system and three-dimensional imaging method |
| CN105323551A (en) * | 2015-10-21 | 2016-02-10 | 常州市武进牛塘红星制刷厂 | Monitoring equipment with wide-angle monitoring |
| CN106840010A (en) * | 2015-12-03 | 2017-06-13 | 北京国网富达科技发展有限责任公司 | Binocular stereo vision measuring device |
| CN105929631A (en) * | 2016-06-03 | 2016-09-07 | 深圳市中幼国际教育科技有限公司 | Virtual reality stereoscopic projector |
| CN107131416A (en) * | 2017-04-26 | 2017-09-05 | 北京小米移动软件有限公司 | A kind of hand-held head |
| CN107830818A (en) * | 2017-12-14 | 2018-03-23 | 苏州西博三维科技有限公司 | Three-dimensional shape measuring apparatus |
| CN108050954A (en) * | 2017-12-14 | 2018-05-18 | 苏州西博三维科技有限公司 | Three-dimensional shape measuring apparatus |
| CN108036741A (en) * | 2017-12-14 | 2018-05-15 | 苏州西博三维科技有限公司 | Three-dimensional shape measuring apparatus |
| CN108917650A (en) * | 2018-05-17 | 2018-11-30 | 北京林业大学 | A kind of folding structure light three-dimensional scanning device |
| CN108626549B (en) * | 2018-07-13 | 2023-08-18 | 深圳供电局有限公司 | Peripheral image data acquisition support of electric power pole tower |
| CN109108975A (en) * | 2018-08-31 | 2019-01-01 | 深圳市博辉特科技有限公司 | A kind of 6 axis robot of binocular vision guidance system |
| CN109729337A (en) * | 2018-11-15 | 2019-05-07 | 华南师范大学 | A kind of vision synthesizer and its control method applied to dual camera |
| CN109579783B (en) * | 2018-12-07 | 2021-11-16 | 长沙捕光新能源科技有限公司 | Device for improving range finding precision of binocular camera |
| CN110376827B (en) * | 2019-07-29 | 2023-06-30 | 唐山飞天科技有限公司 | 3D stereoscopic shooting lens switching device and 3D shooting system with same |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN100437351C (en) * | 2003-08-19 | 2008-11-26 | 鸿富锦精密工业（深圳）有限公司 | Three-dimensional viewfinder digital camera module |
| CN1912736A (en) * | 2006-04-21 | 2007-02-14 | 钟磊 | Three-D digital camera shooting device and method |
| CN101794068A (en) * | 2010-02-04 | 2010-08-04 | 朱仕康 | Stereo video shooting device |
| CN101840146A (en) * | 2010-04-20 | 2010-09-22 | 夏佳梁 | Method and device for shooting stereo images by automatically correcting parallax error |
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