CN110595391B - Reticle structured light binocular vision scanning device - Google Patents
Reticle structured light binocular vision scanning device Download PDFInfo
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- CN110595391B CN110595391B CN201910918635.2A CN201910918635A CN110595391B CN 110595391 B CN110595391 B CN 110595391B CN 201910918635 A CN201910918635 A CN 201910918635A CN 110595391 B CN110595391 B CN 110595391B
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- 238000012545 processing Methods 0.000 claims description 11
- 230000000007 visual effect Effects 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 description 6
- 238000005259 measurement Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 4
- 238000007405 data analysis Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 230000000149 penetrating effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/2545—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object with one projection direction and several detection directions, e.g. stereo
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- Engineering & Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention provides a reticle structure binocular vision scanning device, wherein a supporting rod is vertically arranged at the edge of a supporting platform, a sliding rail is arranged on the side surface of the supporting rod, and a first connecting part and a second connecting part are connected to the sliding rail of the supporting rod in a sliding manner from top to bottom; the servo motor is fixed on the first connecting part, the line laser is fixed on a coupler of the servo motor, and the servo motor drives the line laser to rotate through the coupler; the first camera and the second camera are arranged on the second connecting component and are symmetrically arranged on two sides of the line laser by taking the line laser as an axis. The utility model discloses a line laser provides light, and servo motor can drive line laser and rotate, and first camera and second camera are located the both sides of line laser respectively, form binocular vision scanning structure, and accessible adapting unit adjusts the angle of camera and line laser, and the visual scanning structure shooting scope of monocular is wider, has solved monocular structure light and has had the surface to be sheltered from the condition by the part.
Description
Technical Field
The invention mainly relates to the technical field of visual three-dimensional image construction, in particular to a cross line structured light binocular visual scanning device.
Background
With the rapid development of the processing industry and the manufacturing industry in China and the continuous progress of modern detection technology, in the field of industrial measurement, the three-dimensional measurement technology of parts with complex surface morphology gradually becomes a research key point. The line structure light three-dimensional measurement technology based on the laser triangulation method has the characteristics of high precision, easy expansion, strong robustness and the like, and is the technology which is most widely applied and has the development prospect in non-contact three-dimensional measurement. When the traditional single-phase line structured light three-dimensional measurement faces a complex measured workpiece, the situation that the surface is partially shielded exists, so that the problem of incomplete measurement data is caused.
Disclosure of Invention
The invention aims to solve the technical problem of providing a reticle structure light binocular vision scanning device aiming at the defects of the prior art.
The technical scheme for solving the technical problems is as follows: a reticle structure optical binocular vision scanning device comprises a supporting platform, a supporting rod, a first connecting component, a second connecting component, a servo motor, a line laser, a first camera and a second camera,
The support platform is of a square plate-shaped structure, the support rods are vertically arranged at the edges of the support platform, sliding rails are arranged on the side surfaces of the support rods, and the first connecting part and the second connecting part are connected to the sliding rails of the support rods from top to bottom in a sliding manner and positioned; the servo motor is fixed on the first connecting part and is close to one side of the supporting platform, the line laser is fixed on a coupler of the servo motor, and the servo motor drives the line laser to rotate through the coupler;
The first camera and the second camera are arranged on the second connecting component and are symmetrically arranged on two sides of the line laser by taking the line laser as an axis.
The beneficial effects of the invention are as follows: the object to be measured is placed on the supporting platform, the line laser provides light, the servo motor can drive the line laser to rotate, the first camera and the second camera are respectively located on two sides of the line laser to form a binocular vision scanning structure, the angles of the camera and the line laser can be adjusted through the first connecting component and the second connecting component, the shooting range of the monocular vision scanning structure is wider, and the problem that the surface of the monocular structure light is partially shielded is solved.
On the basis of the technical scheme, the invention can be improved as follows.
Further, the first connecting part comprises a first sliding block, a first pulley and a first fixing bracket, and the first sliding block is in sliding connection with the sliding rail of the supporting rod through the first pulley; the first fixing support is of an L-shaped plate structure, the vertical end of the first fixing support is attached to the surface of the first sliding block, and the horizontal end of the first fixing support extends to the center of the supporting platform; the servo motor is fixed at the horizontal end of the first fixed support.
The beneficial effects of adopting the further scheme are as follows: the first sliding block is in sliding connection with the sliding rail, drives the servo motor and the line laser connected to the servo motor to slide up and down together, and adjusts the light angle.
Further, the first connecting part further comprises a first locking part, the first locking part transversely penetrates through the first sliding block and is in threaded connection with the first sliding block, one end of the first locking part is abutted to the supporting rod by tightening, and the first sliding block is fixed to the supporting rod.
The beneficial effects of adopting the further scheme are as follows: when the first sliding block slides to the preset position of the sliding rail, the first sliding block is fixed on the supporting rod through the first locking part, so that the first sliding block does not slide any more.
Further, the second connecting part comprises a second sliding block, a second pulley, a second fixing bracket, a first rotating disc part and a second rotating disc part, wherein the second sliding block is in sliding connection with the sliding rail of the supporting rod through the second pulley, the second fixing bracket is of a rectangular plate-shaped structure, and the middle part of the second fixing bracket is fixed on the second sliding block;
The first rotary disc part comprises a first connecting block and a first scale rotary disc rotationally connected with the first connecting block, and the second rotary disc part comprises a second connecting block and a second scale rotary disc rotationally connected with the second connecting block; the first connecting block and the second connecting block are fixed on the second fixed support, are positioned on two sides of the line laser in an axisymmetric mode and are used for taking the line laser as an axis, the first camera is fixedly connected with the first scale rotating disc, and the second camera is fixedly connected with the second scale rotating disc; the outer surfaces of the first scale rotating disc and the second scale rotating disc are circumferentially provided with scales.
The beneficial effects of adopting the further scheme are as follows: the second slider and slide rail sliding connection drive first camera and second camera and slide from top to bottom jointly to adjust shooting angle from top to bottom to through first carousel part and second carousel part horizontal rotation, adjust shooting angle, enlarge shooting scope.
Further, the second connecting part further comprises a second locking part, the second locking part transversely penetrates through the second sliding block and is in threaded connection with the second sliding block, one end of the second locking part is abutted to the supporting rod, and the second sliding block is fixed to the supporting rod.
The beneficial effects of adopting the further scheme are as follows: when the second sliding block slides to the preset position of the sliding rail, the second sliding block is fixed on the supporting rod through the second locking part, so that the second sliding block does not slide any more.
Further, the first rotating disc part further comprises a first rotating disc locking part, the first rotating disc locking part vertically penetrates through the first scale rotating disc and is in threaded connection with the first scale rotating disc, and one end of the first rotating disc locking part is screwed to be abutted against the first connecting block;
The second turntable part further comprises a second turntable locking part, the second turntable locking part vertically penetrates through the second scale rotating disc and is in threaded connection with the second scale rotating disc, and one end of the second turntable locking part is abutted to the second connecting block by tightening the second turntable locking part.
Further, the scanning device further comprises a first data line for transmitting the data acquired by the first camera to an external processing device, and the first data line is connected with an output port of the first camera;
the scanning device further comprises a second data line for transmitting data acquired by the second camera to the external processing device, and the second data line is connected with an output port of the second camera.
The beneficial effects of adopting the further scheme are as follows: image data captured by the first camera and the second camera may be transmitted to an external processing device through a data line for data analysis processing.
Drawings
Fig. 1 is a schematic structural diagram of a reticle structured light binocular vision scanning device according to an embodiment of the present invention.
In the drawings, the names of the components represented by the respective marks are as follows:
1. The support platform, 2, the bracing piece, 3, servo motor, 4, line laser, 5, first camera, 6, second camera, 7, first slider, 8, first fixed bolster, 14, first locking part, 10, second slider, 11, second fixed bolster, 12, first carousel part, 13, second carousel part, 9, second locking part, 201, slide rail, 301, the shaft coupling.
Detailed Description
The principles and features of the present invention are described below with reference to the drawings, the examples are illustrated for the purpose of illustrating the invention and are not to be construed as limiting the scope of the invention.
As shown in fig. 1, a reticle structured light binocular vision scanning device includes a support platform 1, a support bar 2, a first connection part, a second connection part, a servo motor 3, a line laser 4, a first camera 5 and a second camera 6,
The supporting platform 1 is of a square plate-shaped structure, the supporting rod 2 is vertically arranged at the edge of the supporting platform 1, a sliding rail 201 is arranged on the side surface of the supporting rod 2, and the first connecting part and the second connecting part are connected to the sliding rail 201 of the supporting rod 2 from top to bottom in a sliding manner and are positioned; the servo motor 3 is fixed on the first connecting part and is close to one side of the supporting platform 1, the line laser 4 is fixed on a coupler 301 of the servo motor 3, and the servo motor 3 drives the line laser 4 to rotate through the coupler 301;
The first camera 5 and the second camera 6 are disposed on the second connection member and are located on two sides of the line laser 4 with the line laser 4 as an axis symmetry.
In the above embodiment, the object to be measured is placed on the supporting platform, the line laser 4 provides light, the servo motor can drive the line laser 4 to rotate, the first camera 5 and the second camera 6 are respectively located at two sides of the line laser 4 to form a binocular vision scanning structure, and the angles of the camera and the line laser can be adjusted through the first connecting component and the second connecting component, so that the shooting range of the monocular vision scanning structure is wider, and the problem that the surface of the monocular structure light is partially shielded is solved.
Alternatively, as an embodiment of the present invention, the first connection part includes a first slider 7, a first pulley, and a first fixing bracket 8, and the first slider 7 is slidably connected with the sliding rail 201 of the supporting bar 2 through the first pulley; the first fixing support 8 is of an L-shaped plate structure, the vertical end of the first fixing support 8 is attached to the surface of the first sliding block 7, and the horizontal end of the first fixing support extends to the center of the supporting platform 1; the servo motor 3 is fixed at the horizontal end of the first fixed bracket 8.
Specifically, the support rod 2 is of a cuboid structure, the first sliding block 7 is of a rectangular frame structure, and the first sliding block 7 is sleeved on the support rod 2.
In the above embodiment, the first slider 7 is slidably connected with the slide rail 201, and drives the servo motor 3 and the line laser 4 connected to the servo motor 3 to slide up and down together, so as to adjust the light angle.
Alternatively, as an embodiment of the present invention, the first connecting member further includes a first locking member 14, where the first locking member 14 transversely penetrates the first slider 7 and is screwed with the first slider 7, and one end of the first locking member 14 is screwed to abut against the support rod 2, so as to fix the first slider 7 on the support rod 2.
Specifically, the first locking member 14 may be a screw member, the first slider 7 is provided with a screw hole, the screw member penetrates through the screw hole and abuts against the support rod 2, the first slider 7 is prevented from sliding downward, the screw member may be provided with a plurality of screw members, and the plurality of screw members are equidistantly provided on the first slider 7.
In the above embodiment, when the first slider 7 is slid to the predetermined position of the slide rail 201, the first slider 7 is fixed to the support rod 2 by the first locking member 14 so as not to slide any more.
Alternatively, as an embodiment of the present invention, the second connection part includes a second slider 10, a second pulley, a second fixing bracket 11, a first turntable part 12, and a second turntable part 13, the second slider 10 is slidably connected with the sliding rail 201 of the support bar 2 through the second pulley, the second fixing bracket 11 is in a rectangular plate structure, and a middle part of the second fixing bracket 11 is fixed on the second slider 10;
The first rotary disc part 12 comprises a first connecting block and a first scale rotary disc rotationally connected with the first connecting block, and the second rotary disc part 13 comprises a second connecting block and a second scale rotary disc rotationally connected with the second connecting block; the first connecting block and the second connecting block are fixed on the second fixing bracket 11 and are positioned on two sides of the line laser 4 in an axisymmetric way by taking the line laser 4 as an axis, the first camera 5 is fixedly connected with the first scale rotating disc, and the second camera 6 is fixedly connected with the second scale rotating disc; the outer surfaces of the first scale rotating disc and the second scale rotating disc are circumferentially provided with scales.
Specifically, the support rod 2 is of a cuboid structure, the second sliding block 10 is of a rectangular frame structure, and the second sliding block 10 is sleeved on the support rod 2 and located below the first sliding block 7.
In the above embodiment, the second slider 10 is slidably connected with the sliding rail 201, and drives the first camera 5 and the second camera 6 to slide up and down together, so as to adjust the shooting angle up and down, and the first turntable part 12 and the second turntable part 13 horizontally rotate, so as to adjust the shooting angle, and enlarge the shooting range.
Alternatively, as an embodiment of the present invention, the second connecting member further includes a second locking member 9, where the second locking member 9 transversely penetrates through the second slider 10 and is screwed with the second slider 10, and one end of the second locking member 9 is screwed to abut against the support rod 2, so as to fix the second slider 10 on the support rod 2.
Specifically, the second locking member 9 may be a screw member, the second slider 10 is provided with a screw hole, the screw member penetrates through the screw hole and abuts against the support rod 2, the second slider 10 is prevented from sliding downward, a plurality of screw members may be provided, and a plurality of screw members are equidistantly provided on the second slider 10.
In the above embodiment, when the second slider 10 slides to the predetermined position of the slide rail 201, the second slider 10 is fixed to the support rod 2 by the second locking member 9 so as not to slide any more.
Alternatively, as an embodiment of the present invention, the first rotating disc member 12 further includes a first rotating disc locking member vertically penetrating through the first scale rotating disc and screwed with the first scale rotating disc, and the first rotating disc locking member is screwed to have one end thereof abutted against the first connecting block;
the second rotary table part 13 further comprises a second rotary table locking part, the second rotary table locking part vertically penetrates through the second scale rotary table and is in threaded connection with the second scale rotary table, and one end of the second rotary table locking part is abutted to the second connecting block by tightening.
Optionally, as an embodiment of the present invention, the scanning apparatus further includes a first data line for transmitting data collected by the first camera 5 to an external processing device, and the first data line is connected to an output port of the first camera 5;
The scanning device further comprises a second data line for transmitting data acquired by the second camera 6 to the external processing device, the second data line being connected to an output port of the second camera 6.
In the above-described embodiment, the image data captured by the first camera 5 and the second camera 6 may be transmitted to an external processing apparatus through a data line for data analysis processing.
The operation method of the device is as follows:
The two cameras are fixed on the bracket scale turntable, the angles of the two cameras can be accurately adjusted according to the requirement of a measured object, and the measured object is ensured to be shot in a public view field. Simultaneously, the servo motor is controlled to rotate at a constant speed to drive the line laser to rotate, and the line laser light bar rotates 360 along the optical axis to finish the surface scanning of the measured object. When the line laser is not turned on, firstly, shooting an original image by using binocular cameras (namely a first camera and a second camera) respectively; when the line laser is turned on and the motor is not rotated, the binocular camera respectively shoots a light bar image; when the motor rotates, the external encoder records the rotation angle of the motor, the binocular camera starts to shoot at a certain frequency, and when the motor rotates for a circle, the motor stops rotating, and the binocular camera stops shooting.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (6)
1. The reticle structure binocular vision scanning device is characterized by comprising a supporting platform (1), a supporting rod (2), a first connecting component, a second connecting component, a servo motor (3), a line laser (4), a first camera (5) and a second camera (6),
The support platform (1) is of a square plate-shaped structure, the support rods (2) are vertically arranged at the edge of the support platform (1), sliding rails (201) are arranged on the side surfaces of the support rods (2), and the first connecting parts and the second connecting parts are connected to the sliding rails (201) of the support rods (2) in a sliding mode from top to bottom and are positioned; the servo motor (3) is fixed on the first connecting part and is close to one side of the supporting platform (1), the line laser (4) is fixed on a coupler (301) of the servo motor (3), and the servo motor (3) drives the line laser (4) to rotate through the coupler (301);
The first camera (5) and the second camera (6) are arranged on the second connecting component and are positioned on two sides of the line laser (4) in an axisymmetric way by taking the line laser (4);
The second connecting component comprises a second sliding block (10), a second pulley, a second fixing bracket (11), a first rotating disc component (12) and a second rotating disc component (13), wherein the second sliding block (10) is in sliding connection with a sliding rail (201) of the supporting rod (2) through the second pulley, the second fixing bracket (11) is of a rectangular plate-shaped structure, and the middle part of the second fixing bracket (11) is fixed on the second sliding block (10);
the first rotary disc part (12) comprises a first connecting block and a first scale rotary disc rotationally connected with the first connecting block, and the second rotary disc part (13) comprises a second connecting block and a second scale rotary disc rotationally connected with the second connecting block; the first connecting block and the second connecting block are fixed on the second fixing bracket (11) and are positioned on two sides of the line laser (4) in an axisymmetric way by taking the line laser (4), the first camera (5) is fixedly connected with the first scale rotating disc, and the second camera (6) is fixedly connected with the second scale rotating disc; the outer surfaces of the first scale rotating disc and the second scale rotating disc are circumferentially provided with scales.
2. The reticle structured light binocular vision scanning device according to claim 1, characterized in that the first connecting means comprises a first slider (7), a first pulley and a first fixed bracket (8), the first slider (7) being slidingly connected with the sliding rail (201) of the supporting bar (2) through the first pulley; the first fixing support (8) is of an L-shaped plate structure, the vertical end of the first fixing support (8) is attached to the surface of the first sliding block (7), and the horizontal end of the first fixing support extends to the center of the supporting platform (1); the servo motor (3) is fixed at the horizontal end of the first fixed support (8).
3. The reticle structured light binocular vision scanning device according to claim 2, wherein the first connecting member further comprises a first locking member (14), the first locking member (14) is transversely penetrated through the first slider (7) and is in threaded connection with the first slider (7), one end of the first locking member (14) is screwed to abut against the supporting rod (2), and the first slider (7) is fixed on the supporting rod (2).
4. A reticle structured light binocular vision scanning device according to claim 3, characterized in that the second connecting part further comprises a second locking part (9), the second locking part (9) transversely penetrates through the second slider (10) and is in threaded connection with the second slider (10), one end of the second locking part (9) is screwed to abut against the supporting rod (2), and the second slider (10) is fixed on the supporting rod (2).
5. A reticle structured light binocular vision scanning device according to claim 3, wherein the first turntable means (12) further comprises a first turntable locking means which vertically penetrates through the first scale rotation disk and is screwed with the first scale rotation disk, and one end of the first turntable locking means is screwed to abut against the first connecting block;
The second turntable part (13) further comprises a second turntable locking part, the second turntable locking part vertically penetrates through the second scale rotating disc and is in threaded connection with the second scale rotating disc, and one end of the second turntable locking part is abutted to the second connecting block by tightening.
6. The reticle structured light binocular vision scanning device according to any one of claims 1 to 5, characterized in that it further comprises a first data line for transmitting the data acquired by the first camera (5) to an external processing apparatus, said first data line being connected to an output port of the first camera (5);
The scanning device further comprises a second data line for transmitting data acquired by the second camera (6) to the external processing device, the second data line being connected to an output port of the second camera (6).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910918635.2A CN110595391B (en) | 2019-09-26 | 2019-09-26 | Reticle structured light binocular vision scanning device |
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| CN201910918635.2A CN110595391B (en) | 2019-09-26 | 2019-09-26 | Reticle structured light binocular vision scanning device |
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| CN110595391A CN110595391A (en) | 2019-12-20 |
| CN110595391B true CN110595391B (en) | 2024-06-18 |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105806242A (en) * | 2016-04-15 | 2016-07-27 | 同济大学 | Surface type measuring device adopting laser rotary scanning |
| CN107505324A (en) * | 2017-08-10 | 2017-12-22 | 王兴 | 3D scanning means and scan method based on binocular collaboration laser |
| CN207487590U (en) * | 2017-11-29 | 2018-06-12 | 刘松林 | vision measurement test platform |
| CN210293137U (en) * | 2019-09-26 | 2020-04-10 | 桂林电子科技大学 | Cross line structured light binocular vision scanning device |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ES2708792T3 (en) * | 2009-10-27 | 2019-04-11 | Formax Inc | Automatic product profiling device and product slicing system using the same |
| CN102062588B (en) * | 2009-11-11 | 2012-07-04 | 中国科学院沈阳自动化研究所 | Computer binocular vision denture scanning device and three-dimensional reconstruction method thereof |
| KR101802493B1 (en) * | 2016-01-21 | 2017-11-28 | 주식회사 한성시스코 | Pattern shape measuring apparatus using cross line laser |
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2019
- 2019-09-26 CN CN201910918635.2A patent/CN110595391B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105806242A (en) * | 2016-04-15 | 2016-07-27 | 同济大学 | Surface type measuring device adopting laser rotary scanning |
| CN107505324A (en) * | 2017-08-10 | 2017-12-22 | 王兴 | 3D scanning means and scan method based on binocular collaboration laser |
| CN207487590U (en) * | 2017-11-29 | 2018-06-12 | 刘松林 | vision measurement test platform |
| CN210293137U (en) * | 2019-09-26 | 2020-04-10 | 桂林电子科技大学 | Cross line structured light binocular vision scanning device |
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