CN113720274A - Three-dimensional image acquisition device - Google Patents
Three-dimensional image acquisition device Download PDFInfo
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- CN113720274A CN113720274A CN202111024350.8A CN202111024350A CN113720274A CN 113720274 A CN113720274 A CN 113720274A CN 202111024350 A CN202111024350 A CN 202111024350A CN 113720274 A CN113720274 A CN 113720274A
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- 230000001681 protective effect Effects 0.000 claims description 15
- 238000005259 measurement Methods 0.000 claims description 12
- 238000012545 processing Methods 0.000 claims description 10
- 238000012544 monitoring process Methods 0.000 claims description 4
- 238000011156 evaluation Methods 0.000 claims description 3
- 238000012806 monitoring device Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 description 9
- 238000001514 detection method Methods 0.000 description 5
- 206010010904 Convulsion Diseases 0.000 description 2
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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
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/043—Allowing translations
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/239—Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/296—Synchronisation thereof; Control thereof
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
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Abstract
The invention discloses a three-dimensional image acquisition device, which comprises a main body unit, a control box unit and a three-dimensional image acquisition unit, wherein the main body unit comprises a main body and a control box; the bottom of a supporting arm of the main body unit is arranged on one side of the fixed platform, and a rotating component and a telescopic component are arranged on the supporting arm; the motor control module of the control box unit is connected with the main controller module, the rotating motor and the telescopic motor; the three-dimensional image acquisition unit is hung at the top of the support arm and is electrically connected with the main controller module; two first connecting plates are fixedly connected to one side, away from the supporting arm, of the fixed platform, a lead screw is connected to the center of each first connecting plate, a first sliding block and a second sliding block are respectively connected to two sides of the lead screw, and the tops of the first sliding block and the second sliding block are respectively connected with a second connecting plate through a first connecting rod and a second connecting rod; the second connecting plate is provided with a bearing platform for placing a target object. The invention can flexibly change the distance and the angle between the image acquisition unit and the acquired object, thereby improving the efficiency of three-dimensional image acquisition.
Description
Technical Field
The invention relates to the technical field of image acquisition, in particular to a three-dimensional image acquisition device.
Background
With the development of computer and image vision technology, the image monitoring technology can simulate the characteristics of human eyes and has the advantages of time and labor saving, objectivity, intellectualization and the like. The three-dimensional reconstruction technology has wide application prospect in the fields of industrial production and detection, cultural relic protection, game development, building design, clinical medicine and the like. Various measuring methods based on the principles of mechanics, optics, acoustics and electromagnetism have made great progress, and particularly optical non-contact measuring methods represented by a triangulation method, a moire fringe method, a stereoscopic vision method, a laser scanning method and a structured light method have been commercially applied in many fields. In order to obtain clear images, a plurality of images are subjected to multipoint image acquisition and are synthesized through software, so that a device capable of stably propelling a detected object to move is required to be matched with an image acquisition device; however, the position and the angle between the current three-dimensional image acquisition device and the acquired object cannot be flexibly changed, so that the three-dimensional image acquisition difficulty is increased.
Disclosure of Invention
The invention aims to provide a three-dimensional image acquisition device, which solves the problems in the prior art and enables the distance and the angle between an image acquisition unit and an acquired object to be flexibly changed, thereby improving the efficiency of three-dimensional image acquisition.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides a three-dimensional image acquisition device, which comprises a main body unit, a control box unit, a rotating motor, a telescopic motor and a three-dimensional image acquisition unit, wherein the main body unit is provided with a control box; the main body unit comprises a fixed platform and a supporting arm, the bottom of the supporting arm is arranged on one side of the fixed platform, and a rotating component and a telescopic component are arranged on the supporting arm; the control box unit consists of a main controller module and a motor control module, and the motor control module is connected with the main controller module, the rotating motor and the telescopic motor; the main controller module is used for issuing a control instruction to the rotating motor and/or the telescopic motor so as to control the supporting arm to rotate or stretch; the rotating motor is connected with the rotating component, and the telescopic motor is connected with the telescopic component; the three-dimensional image acquisition unit is hung at the top of the supporting arm and is electrically connected with the main controller module so as to acquire three-dimensional image information of a target object; two first connecting plates which are symmetrically arranged are fixedly connected to one side, away from the supporting arm, of the fixed platform, a lead screw is connected to the center of each first connecting plate, a limiting block is connected to the center of each lead screw, a first sliding block and a second sliding block are respectively connected to the surface of each lead screw and the two sides, located on the two sides of each limiting block, the tops of the first sliding blocks and the second sliding blocks are respectively and rotatably connected with a first connecting rod and a second connecting rod, the tops of the first connecting rods and the second connecting rods are fixedly connected with a second connecting plate, and a rotation control end is arranged at one end of each lead screw; the bearing table is fixedly arranged on the second connecting plate, the rotating disc is mounted on the bearing table, and the rotating disc is used for placing a target object.
Optionally, the plummer includes the drive box, the drive box is installed on the second connecting plate, install driving motor up in the drive box, install incomplete drive wheel on driving motor's the output shaft, two supporting seats are installed in driving motor's left side, the transmission shaft is installed through the mode that the bearing is connected along the horizontal direction in the top of supporting seat, the transmission column gear is installed to the one end of transmission shaft, the transmission column gear cooperatees with incomplete drive wheel, No. one gear is installed to the other end of transmission shaft, the top of No. one gear is equipped with the connecting axle, the one end of connecting axle is installed on the left inside wall of drive box through the mode that the bearing is connected, the mid-mounting of connecting axle has No. two gears, No. two gears mesh with No. one gear, the connecting axle is kept away from the one end of the left inside wall of drive box and is installed No. one bevel gear, the top of No. one bevel gear is equipped with No. two bevel gears, the second bevel gear is arranged in the horizontal direction and meshed with the first bevel gear, a support shaft is arranged in the middle of the second bevel gear in the vertical direction, the support shaft extends upwards and penetrates through the top of the driving box, the support shaft is arranged in the middle of the top of the driving box in a bearing connection mode, and a rotating disc is arranged at one end, far away from the second bevel gear, of the support shaft.
Optionally, a plurality of threaded holes are uniformly distributed in the outer circumference of the incomplete driving wheel, the central line of each threaded hole points to the circle center of the incomplete driving wheel, and a plurality of cylindrical teeth are mounted in each threaded hole in a threaded connection mode.
Optionally, a gear changing window is arranged on one side, close to the driving motor, of the driving box, and the protective door is installed on the gear changing window in a hinged mode.
Optionally, the rotating component is composed of a fixed clamping groove, a first rotating circular shaft, a second rotating circular shaft and a third rotating rod on the supporting arm; the telescopic part consists of a first telescopic rod and a second telescopic rod on the supporting arm; the fixed clamping groove is arranged on the supporting table and is clamped with one side of the first rotating circular shaft; the other side of the first rotating circular shaft is connected with a first telescopic rod, and the first telescopic rod is sleeved with the second telescopic rod; the other end of the second telescopic rod is connected with one side of the second rotary circular shaft; the other side of the second rotating circular shaft is connected with the third rotating rod; the rotating motor is used for controlling the first rotating circular shaft to rotate around the fixed clamping groove in a horizontal plane or a vertical plane; the telescopic motor is used for controlling the second telescopic rod to extend and shorten step by step through the inner diameter of the first telescopic rod; the second rotary circular shaft is used for rotating through a fixed angle, the third rotary rod rotates to be horizontal during working, and the third rotary rod rotates to be parallel and level with the second telescopic rod during folding.
Optionally, the rotating electrical machine includes a first electrical machine for controlling horizontal rotation and a second electrical machine for controlling vertical rotation; the telescopic motor comprises a third motor for controlling movement and a fourth motor for controlling telescopic movement.
Optionally, the system further comprises a transmission module and a back-end processing platform; the transmission module is used for transmitting the three-dimensional image of the target object sent by the main controller module to the back-end processing platform; and the back-end processing platform is used for carrying out parabolic curve fitting on the three-dimensional image and calculating the body condition characteristic value of the target object so as to carry out evaluation value monitoring on the body condition of the target object.
Optionally, the system further comprises a power management module; and the power supply management module is connected with the main controller module and is used for providing power supply for the three-dimensional image monitoring device.
Optionally, the three-dimensional image acquisition unit includes two mesh measurement shells, two sets of infrared cameras are provided with to two mesh measurement shells's one side surface, the surface of two mesh measurement shells is provided with protection machanism, protection machanism includes protective housing, protective housing's inside is provided with the tuber pipe, one side of protective housing is connected with the air-out shell, protective housing's opposite side is connected with air drafting mechanism, the air inlet end of tuber pipe with air drafting mechanism's air outlet intercommunication, the wind gap has been seted up to the lower terminal surface of air-out shell, the air-out end and the wind gap intercommunication of tuber pipe, the wind gap with infrared camera's the collection end of making a video recording is located same vertical plane.
Compared with the prior art, the invention has the following technical effects:
according to the invention, the main body unit bears the control box unit, the rotating motor, the telescopic motor and the three-dimensional image acquisition unit, and the three-dimensional image of the target object is acquired, wherein the control box unit drives the corresponding parts of the main body unit to stretch and rotate through the rotating motor and the telescopic motor, so that the position adjustment of an image acquisition point can be flexibly realized; the image acquisition height is automatically adjusted, and the method can be applied to acquiring images of objects with different heights; through shoot the detection thing constantly at plummer pivoted interval, be favorable to shooing stable clear image, setting up of incomplete drive wheel has increased the practical scope of this device, make this device can be used for getting for the picture of equidimension detection thing not and detect, setting up of rubber circle has increased transmission shaft pivoted resistance, the rotation inertia of transmission shaft has been reduced, make the transmission shaft only just can rotate when incomplete drive wheel meshes with the transmission column gear, the transmission precision has been guaranteed, and then the accuracy of getting for the picture has been guaranteed. Can be through the convulsions of the exhaust mechanism among the protection machanism, through the air-out port air-out of tuber pipe, the wind gap is for the platykurtic, and the air flows through the wind gap, forms the air curtain, and then protects infrared camera.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a three-dimensional image capturing device according to the present invention;
FIG. 2 is a schematic view of the inner structure of the carrier stage according to the present invention;
FIG. 3 is a schematic structural diagram of a three-dimensional image capturing unit according to the present invention;
wherein, 100 is a three-dimensional image acquisition device, 1 is a control box unit, 2 is a motor set, 3 is a three-dimensional image acquisition unit, 301 is a binocular measurement shell, 302 is an infrared camera, 303 is a cover plate, 304 is a fixed connecting plate, 305 is a protection mechanism, 4 is a fixed platform, 5 is a first connecting plate, 501 is a screw rod, 502 is a limit block, 503 is a first slide block, 504 is a second slide block, 505 is a first connecting rod, 506 is a second connecting rod, 507 is a second connecting plate, 6 is a bearing table, 61 is a driving box, 610 is a first bevel gear, 611 is a second bevel gear, 612 is a supporting shaft, 613 is a rotating disc, 614 is a protection door, 62 is a driving motor, 63 is an incomplete driving wheel, 64 is a supporting seat, 641 is a through hole, 642 is a bearing, 643 is a rubber ring, 65 is a transmission shaft, 66 is a transmission column gear, 67 is a first gear, 68 is a connecting shaft, 69 is a second gear, a third gear, a fourth gear, a fifth gear, a fourth gear, a fifth gear, a fourth gear, a fifth gear, a, 7 is fixed slot, 8 is first rotatory round axle, 9 is the second rotatory round axle, 10 is the third rotary rod, 11 is first telescopic link, 12 is the second telescopic link, 13 is the brace table.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a three-dimensional image acquisition device, which solves the problems in the prior art and enables the distance and the angle between an image acquisition unit and an acquired object to be flexibly changed, thereby improving the efficiency of three-dimensional image acquisition.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Referring to fig. 1 to 3, the present invention provides a three-dimensional image capturing device 100, which includes a main unit, a control box unit 1, a motor set 2 and a three-dimensional image capturing unit 3, wherein the motor set 2 includes a rotating motor and a telescopic motor, and includes a first motor, a second motor, a third motor and a fourth motor, respectively, for controlling horizontal rotation, vertical rotation, movement and telescopic movement, and the four motors can perform 360-degree omni-directional control; the main body unit comprises a fixed platform 4 and a supporting arm, the bottom of the supporting arm is arranged on one side of the fixed platform 4, and a rotating component and a telescopic component are arranged on the supporting arm; the control box unit 1 consists of a main controller module and a motor control module, and the motor control module is connected with the main controller module, a rotating motor and a telescopic motor; the main controller module is used for issuing a control instruction to the rotating motor and/or the telescopic motor so as to control the supporting arm to rotate or stretch; the rotating motor is connected with the rotating part, and the telescopic motor is connected with the telescopic part; the three-dimensional image acquisition unit 3 is hung at the top of the supporting arm and is electrically connected with the main controller module so as to acquire three-dimensional image information of a target object; a first connecting plate 5 is fixedly connected to one side, away from the supporting arm, of the fixed platform 4, a lead screw 501 is fixedly connected to the center of the first connecting plate 5, a limiting block 502 is fixedly connected to the center of the lead screw 501, a first slider 503 and a second slider 504 are respectively and fixedly connected to the surface of the lead screw 501 and located on two sides of the limiting block 502, a first connecting rod 505 and a second connecting rod 506 are respectively and rotatably connected to the tops of the first slider 503 and the second slider 504, and a second connecting plate 507 is fixedly connected to the tops of the first connecting rod 505 and the second connecting rod 506; a bearing table 6 is fixedly arranged on the second connecting plate 507, a rotating disc 613 is arranged on the bearing table 6, and a target object is placed on the rotating disc 613.
Specifically, the bearing table 6 includes a driving box 61, the driving box 61 is installed on a second connecting plate 507, an upward driving motor 62 is installed in the driving box 61, an incomplete driving wheel 63 is installed on an output shaft of the driving motor 62, two supporting seats 64 are installed on the left side of the driving motor 62, a transmission shaft 65 is installed above the supporting seats 64 in a horizontal direction in a manner of being connected through a bearing 642, a transmission column gear 66 is installed at one end of the transmission shaft 65, the transmission column gear 66 is matched with the incomplete driving wheel 63, a first gear 67 is installed at the other end of the transmission shaft 65, a connecting shaft 68 is arranged above the first gear 67, one end of the connecting shaft 68 is installed on the left inner side wall of the driving box 61 in a manner of being connected through the bearing 642, a second gear 69 is installed in the middle of the connecting shaft 68, the second gear 69 is engaged with the first gear 67, a first bevel gear 610 is installed at one end of the connecting shaft 68, which is far away from the left inner side wall of the driving box 61, a second bevel gear 611 is arranged above the first bevel gear 610, the second bevel gear 611 is arranged in the horizontal direction and is meshed with the first bevel gear 610, a support shaft 612 is arranged in the middle of the second bevel gear 611 in the vertical direction, the support shaft 612 extends upwards and penetrates through the top of the driving box 61, the support shaft 612 is arranged in the middle of the top of the driving box 61 in a connecting mode through a bearing 642, and a rotating disc 613 is arranged at one end, far away from the second bevel gear 611, of the support shaft 612.
A plurality of threaded holes are uniformly distributed in the outer circumference of the incomplete driving wheel 63, the central lines of the threaded holes point to the circle center of the incomplete driving wheel 63, and a plurality of cylindrical teeth are arranged in the threaded holes in a threaded connection mode.
One side of the driving box 61 close to the driving motor 62 is provided with a gear changing window, and the gear changing window is provided with a protective door 614 in a hinged mode. In order to facilitate the disassembly and assembly of the cylindrical teeth on the incomplete driving wheel 63, a tooth replacing window is formed in the driving box 61, and a protective door 614 is installed on the tooth replacing window to prevent external dust from entering the window.
The rotating component comprises a fixed clamping groove 7, a first rotating circular shaft 8, a second rotating circular shaft 9 and a third rotating rod 10 on the supporting arm; the telescopic part comprises a first telescopic rod 11 and a second telescopic rod 12 on the supporting arm; the fixed clamping groove 7 is arranged on the supporting table 13, the supporting table 13 is fixedly arranged on one side of the fixed platform 4, and the fixed clamping groove 7 is clamped with one side of the first rotating circular shaft 8; the other side of the first rotary round shaft 8 is connected with a first telescopic rod 11, and the first telescopic rod 11 is sleeved with a second telescopic rod 12; the other end of the second telescopic rod 12 is connected with one side of the second rotary circular shaft 9; the other side of the second rotary round shaft 9 is connected with a third rotary rod 10; the rotating motor is used for controlling the first rotating circular shaft 8 to rotate around the fixed clamping groove 7 in the horizontal plane or the vertical plane; the telescopic motor is used for controlling the second telescopic rod 12 to extend and shorten in a stepping mode through the inner diameter of the first telescopic rod 11; the second rotary circular shaft 9 is used for rotating through a fixed angle, rotates the third rotary rod 10 to the horizontal in work, and rotates the third rotary rod 10 to be flush with the second telescopic rod 12 when being folded. The rotating motor comprises a first motor for controlling horizontal rotation and a second motor for controlling vertical rotation; the telescoping motor comprises a third motor for controlling movement and a fourth motor for controlling telescoping.
The invention also comprises a transmission module and a back-end processing platform; the transmission module is used for transmitting the three-dimensional image of the target object sent by the main controller module to the back-end processing platform; and the back-end processing platform is used for carrying out parabolic curve fitting on the three-dimensional image and calculating the body condition characteristic value of the target object so as to carry out evaluation value monitoring on the body condition of the target object. The device also comprises a power management module; the power management module is connected with the main controller module and used for providing power for the three-dimensional image monitoring device.
Three-dimensional image acquisition unit 3 includes through fixed connection board 304 and third rotary rod 10 bottom fixed connection's two mesh measurement shells 301, two mesh measurement shells 301's one side surface is provided with two sets of infrared camera 302, two mesh measurement shells 301's surface is provided with protection machanism 305, protection machanism 305 includes protection shell, protection shell's inside is provided with the tuber pipe, one side of protection shell is connected with the air-out shell, protection shell's opposite side is connected with air exhaust mechanism, the air inlet end of tuber pipe and air exhaust mechanism's air outlet intercommunication, the wind gap has been seted up to the lower terminal surface of air-out shell, the air-out end and the wind gap intercommunication of tuber pipe, the wind gap is located same vertical plane with infrared camera's the collection end of making a video recording. Utilize the convulsions of the exhaust mechanism among the protection machanism, through the air-out port air-out of tuber pipe, the wind gap should be the platykurtic, and the air flows out through the wind gap, forms the air curtain, and then protects infrared camera 302. The outer surface of the front end of the binocular measurement shell 301 is connected with a cover plate 303 in a sliding mode, the cover plate 303 can cover the infrared camera 302, and when the binocular measurement shell is not used, lenses are protected; the position of the air inlet of the air draft mechanism is provided with a filter screen for preventing large granular substances from entering the air pipe. The infrared camera 302 is a left infrared camera and a right infrared camera which are composed of an infrared antireflection film and a CCD image sensor, when the infrared camera is used, a weak texture hydraulic element three-dimensional measuring platform is usually built, then the measuring platform is calibrated, the relation between the internal and external parameters and the relative position of the left infrared camera and the right infrared camera is determined, and a digital speckle pattern is projected on the surface of the hydraulic element through a projector; simultaneously shooting a hydraulic element to be measured with a speckle pattern covered on the surface by using a left infrared camera and a right infrared camera, and collecting a left speckle image and a right speckle image; performing image matching on the left speckle image and the right speckle image, acquiring the matching relation of corresponding points in the left speckle image and the right speckle image, and acquiring three-dimensional point cloud data of the hydraulic element according to the internal and external parameters and the relative position relation of the left infrared camera and the right infrared camera; and reconstructing the three-dimensional appearance of the hydraulic element according to the three-dimensional point cloud data, and acquiring the three-dimensional size information of the hydraulic element.
The power management module provides power for the whole device, firstly, the device is placed at a proper position, parameters of the telescopic motor, the horizontal rotating motor and the vertical rotating motor are set according to the size of a monitored target object and the position of the center of the compartment, the second telescopic rod 12 is controlled to extend to a specific position, and the third rotating rod 10 is controlled to a corresponding position. After the position is properly adjusted, the three-dimensional image acquisition unit 3 starts to work, transmits the acquired image to the main controller module, and finally transmits the image to a remote rear-end processing platform in a wireless mode by using the transmission module. The rotation control end of the screw rod 501 is a rotating wheel, a handle is arranged on the rotating wheel, the two sliding blocks can move oppositely along the screw rod 501 by rotating the handle, and then the second connecting plate 507 is driven to ascend by two connecting rods connected with the sliding blocks, so that the bearing table 6 ascends, and the distance between the image acquisition unit 3 and an object to be detected is shortened; when the detected object needs to be shot, the controller controls the driving motor 62 to work, the driving motor 62 drives the incomplete driving wheel 63 to rotate, the incomplete driving wheel 63 drives the transmission column gear 66 to intermittently rotate by being meshed with the transmission column gear 66, the transmission column gear 66 drives the first gear 67 to rotate by the transmission shaft 65, the first gear 67 drives the second gear 69 to rotate by gear meshing, the second gear 69 drives the first bevel gear 610 to rotate by the connecting shaft 68, the first bevel gear 610 drives the second bevel gear 611 to rotate, the second bevel gear 611 drives the supporting shaft 612 to rotate, the supporting shaft 612 drives the rotating disc 613 to rotate, and the detected object on the rotating disc 613 intermittently rotates. Wherein, according to the difference of the size of the detected object, need rolling disc 613 to rotate different angles, can change the mode through the dismouting cylindrical tooth that incomplete drive wheel 63 once drives transmission column gear 66 pivoted angle, and then changes the once rotatory angle of rolling disc 613, and this setting has increased the practical scope of this device, makes this device can be used for getting for instance of not equidimension detected object and detects.
One side of the driving box 61 close to the driving motor 62 is provided with a gear changing window, and the gear changing window is provided with a protective door 614 in a hinged mode. In order to facilitate the disassembly and assembly of the cylindrical teeth on the incomplete driving wheel 63, a tooth replacing window is formed in the driving box 61, and a protective door 614 is installed on the tooth replacing window to prevent external dust from entering the window.
The upper part of the support base 64 is provided with a through hole 641 along the horizontal direction, a bearing 642 is installed in the through hole 641, rubber rings 643 are installed at two ends of the through hole 641, and the transmission shaft 65 sequentially penetrates through the rubber rings 643 and the bearing 642 and is connected with the rubber rings 643 in a tight fit mode. Wherein, the setting of rubber circle 643 has increased the pivoted resistance of transmission shaft 65, has reduced the rotation inertia of transmission shaft 65, makes transmission shaft 65 just can rotate when incomplete drive wheel 63 meshes with transmission column gear 66, has guaranteed the transmission precision, and then has guaranteed the accuracy of getting for instance.
An operator places a detected object on the rotating disc 613, the angle of the rotating disc 613, which needs to be rotated each time, is judged according to the size of the detected object, and then a corresponding number of cylindrical teeth are installed on the incomplete driving wheel 63, after the cylindrical teeth are installed, the protective door 614 is closed, the driving motor 62 drives the incomplete driving wheel 63 to rotate, the incomplete driving wheel 63 drives the transmission column gear 66 to intermittently rotate by meshing with the transmission column gear 66, the transmission column gear 66 drives the first gear 67 to rotate through the transmission shaft 65, the first gear 67 drives the second gear 69 to rotate through gear meshing, the second gear 69 drives the first bevel gear 610 to rotate through the connecting shaft 68, the first bevel gear 610 drives the second bevel gear 611 to rotate, the second bevel gear 611 drives the supporting shaft 612 to rotate, the supporting shaft 612 drives the rotating disc 613 to rotate, the detected object on the rotating disc 613 intermittently rotates, at the moment of the gap between the rotation of the bearing table 6, the controller module controls the three-dimensional image acquisition unit to shoot and capture images of the detected object, and after the bearing table 6 rotates for a circle, the computer synthesizes the images to form a complete three-dimensional image; through shoot the detection thing at 6 pivoted intermittence moments of plummer, be favorable to shooing stable clear image, setting up of incomplete drive wheel 63 has increased the practical scope of this device, make this device can be used for getting for the image of equidimension detection thing and detect, setting up of rubber circle 643 has increased transmission shaft 65 pivoted resistance, the rotation inertia of transmission shaft 65 has been reduced, make transmission shaft 65 only can rotate when incomplete drive wheel 63 meshes with transmission column gear 66, the transmission precision has been guaranteed, and then the accuracy of getting for the image has been guaranteed.
In the description of the present invention, it should be noted that the terms "center", "top", "bottom", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The principle and the implementation mode of the invention are explained by applying a specific example, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (9)
1. A three-dimensional image acquisition device is characterized in that: the device comprises a main body unit, a control box unit, a rotating motor, a telescopic motor and a three-dimensional image acquisition unit; the main body unit comprises a fixed platform and a supporting arm, the bottom of the supporting arm is arranged on one side of the fixed platform, and a rotating component and a telescopic component are arranged on the supporting arm; the control box unit consists of a main controller module and a motor control module, and the motor control module is connected with the main controller module, the rotating motor and the telescopic motor; the main controller module is used for issuing a control instruction to the rotating motor and/or the telescopic motor so as to control the supporting arm to rotate or stretch; the rotating motor is connected with the rotating component, and the telescopic motor is connected with the telescopic component; the three-dimensional image acquisition unit is hung at the top of the supporting arm and is electrically connected with the main controller module so as to acquire three-dimensional image information of a target object; two first connecting plates which are symmetrically arranged are fixedly connected to one side, away from the supporting arm, of the fixed platform, a lead screw is connected to the center of each first connecting plate, a limiting block is connected to the center of each lead screw, a first sliding block and a second sliding block are respectively connected to the surface of each lead screw and the two sides, located on the two sides of each limiting block, the tops of the first sliding blocks and the second sliding blocks are respectively and rotatably connected with a first connecting rod and a second connecting rod, the tops of the first connecting rods and the second connecting rods are fixedly connected with a second connecting plate, and a rotation control end is arranged at one end of each lead screw; the bearing table is fixedly arranged on the second connecting plate, the rotating disc is mounted on the bearing table, and the rotating disc is used for placing a target object.
2. The three-dimensional image capturing apparatus according to claim 1, characterized in that: the bearing table comprises a driving box, the driving box is installed on the second connecting plate, an upward driving motor is installed in the driving box, an incomplete driving wheel is installed on an output shaft of the driving motor, two supporting seats are installed on the left side of the driving motor, a transmission shaft is installed above the supporting seats in a horizontal direction in a bearing connection mode, a transmission column gear is installed at one end of the transmission shaft, the transmission column gear is matched with the incomplete driving wheel, a first gear is installed at the other end of the transmission shaft, a connecting shaft is arranged above the first gear, one end of the connecting shaft is installed on the left inner side wall of the driving box in a bearing connection mode, a second gear is installed in the middle of the connecting shaft, the second gear is meshed with the first gear, a first bevel gear is installed at one end, far away from the left inner side wall of the driving box, of the connecting shaft is installed at one end of the left inner side wall of the driving box, a second bevel gear is arranged above the first bevel gear, the second bevel gear is arranged in the horizontal direction and meshed with the first bevel gear, a support shaft is arranged in the middle of the second bevel gear in the vertical direction, the support shaft extends upwards and penetrates through the top of the driving box, the support shaft is arranged in the middle of the top of the driving box in a bearing connection mode, and a rotating disc is arranged at one end, far away from the second bevel gear, of the support shaft.
3. The three-dimensional image capturing apparatus according to claim 2, characterized in that: a plurality of threaded holes are uniformly distributed in the outer circumference of the incomplete driving wheel, the central line of each threaded hole points to the circle center of the incomplete driving wheel, and a plurality of cylindrical teeth are arranged in the threaded holes in a threaded connection mode.
4. The three-dimensional image capturing device according to claim 3, characterized in that: one side of the driving box, which is close to the driving motor, is provided with a gear changing window, and the gear changing window is provided with a protective door in a hinged mode.
5. The three-dimensional image capturing apparatus according to claim 1, characterized in that: the rotating part consists of a fixed clamping groove, a first rotating circular shaft, a second rotating circular shaft and a third rotating rod on the supporting arm; the telescopic part consists of a first telescopic rod and a second telescopic rod on the supporting arm; the fixed clamping groove is arranged on the supporting table and is clamped with one side of the first rotating circular shaft; the other side of the first rotating circular shaft is connected with a first telescopic rod, and the first telescopic rod is sleeved with the second telescopic rod; the other end of the second telescopic rod is connected with one side of the second rotary circular shaft; the other side of the second rotating circular shaft is connected with the third rotating rod; the rotating motor is used for controlling the first rotating circular shaft to rotate around the fixed clamping groove in a horizontal plane or a vertical plane; the telescopic motor is used for controlling the second telescopic rod to extend and shorten step by step through the inner diameter of the first telescopic rod; the second rotary circular shaft is used for rotating through a fixed angle, the third rotary rod rotates to be horizontal during working, and the third rotary rod rotates to be parallel and level with the second telescopic rod during folding.
6. The three-dimensional image capturing device according to claim 5, characterized in that: the rotating motor comprises a first motor for controlling horizontal rotation and a second motor for controlling vertical rotation; the telescopic motor comprises a third motor for controlling movement and a fourth motor for controlling telescopic movement.
7. The three-dimensional image capturing device according to claim 6, characterized in that: the system also comprises a transmission module and a back-end processing platform; the transmission module is used for transmitting the three-dimensional image of the target object sent by the main controller module to the back-end processing platform; and the back-end processing platform is used for carrying out parabolic curve fitting on the three-dimensional image and calculating the body condition characteristic value of the target object so as to carry out evaluation value monitoring on the body condition of the target object.
8. The three-dimensional image capturing device according to claim 7, characterized in that: the device also comprises a power management module; and the power supply management module is connected with the main controller module and is used for providing power supply for the three-dimensional image monitoring device.
9. The three-dimensional image capturing apparatus according to claim 1, characterized in that: the three-dimensional image acquisition unit includes two mesh measurement shells, two mesh measurement shell's one side surface is provided with two sets of infrared camera, two mesh measurement shell's surface is provided with protection machanism, protection machanism includes protective housing, protective housing's inside is provided with the tuber pipe, one side of protective housing is connected with the air-out shell, protective housing's opposite side is connected with air drafting mechanism, the air inlet end of tuber pipe with air drafting mechanism's air outlet intercommunication, the wind gap has been seted up to the lower terminal surface of air-out shell, the air-out end and the wind gap intercommunication of tuber pipe, the wind gap with infrared camera's the collection end of making a video recording is located the coplanar.
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| CN202111024350.8A CN113720274A (en) | 2021-09-02 | 2021-09-02 | Three-dimensional image acquisition device |
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| CN202111024350.8A CN113720274A (en) | 2021-09-02 | 2021-09-02 | Three-dimensional image acquisition device |
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