CN217764883U - Structure for improving optical complete reconstruction object imaging of grating structure - Google Patents

Abstract

The utility model relates to an improve complete structure of rebuilding object formation of image of grating structure light, casing including cross structure, the both ends of casing mutually perpendicular's axis of ordinates and cross axle fixed 3D visual sensor that is equipped with respectively, 3D visual sensor include projecting apparatus and the industry camera that quantity is the same, the casing on seted up the inspection hole and throw and gather the laser beam in order to make things convenient for 3D visual sensor, be equipped with the installation hole site on the casing so that the device can install on the detection auxiliary member of difference, the utility model discloses can not only provide complete point cloud data, can also save operating time, improve detection rate to the adaptability of the device has been strengthened, can use in the complicated scene of difference.

Description

Structure for improving optical complete reconstruction object imaging of grating structure

Technical Field

The utility model relates to an optical detection technical field especially relates to an improve complete structure of rebuilding object formation of image of grating structure light.

Background

The 3D vision sensor is more and more used at present to detect, fix a position the equidirectional, has extensive application in fields such as industry, agriculture, biomedicine, historical relic's protection, reverse engineering, and structured light measurement technique in the active measurement receives more and more extensive attention because of its advantages such as inherent non-contact, precision height, fast, easily realization, to common scanned object, and comparatively complete three-dimensional data can be rebuilt to traditional binocular structure light.

The main principle of structured light three-dimensional reconstruction is to project structured light with a specific pattern from a projector, then obtain the corresponding relation between the pixels of the projector and the pixels of a camera through the analysis and calculation of a plurality of groups of structured light, further realize the three-dimensional reconstruction of a shot object through system parameters calibrated in advance, and the four-step phase shift solution phase method is to utilize four groups of projected structured light to realize the phase calculation of each point in the camera, wherein the phase of the point has a fixed corresponding relation with the pixels of the projector.

Chinese patent application No. 2019107076451 discloses in the claims "step S21: triggering a camera and acquiring images: an object to be measured is placed at the center of the visual field of a camera, a left projection and a right projection are started to sequentially project gratings, the camera is triggered to collect images at the same time, a four-step phase shift method is used for projecting five-frequency gratings, and a single projection collects 20 grating patterns and 1 white light image, and the paragraph [ 0007 ] of the specification discloses multi-frequency structured light three-dimensional measuring equipment. The carrying platform is fixedly arranged. One end of the supporting rod is installed on the carrying platform, and the other end of the supporting rod vertically extends upwards and is connected with the fastening support. The fastening bracket is arranged on the supporting rod, is connected with the supporting rod in a sliding way and can be locked on the supporting rod. The X-axis sliding rail is fixed on the fastening support and is perpendicular to the fastening support. The camera is installed on the X-axis sliding rail downwards and is respectively and electrically connected with the grating projector and the acquisition equipment. The Y-axis slide rails are respectively installed on two sides of the fastening support and are symmetrically arranged relative to the X-axis slide rails. The grating projectors are respectively installed on the Y-axis sliding rails on the two sides downwards and are electrically connected with the acquisition equipment. The acquisition equipment is set as an industrial control computer or equipment for acquiring and analyzing images. "the device provided by the invention has the following defects: although the device utilizes the four-step phase-shifting phase method, adopts the structured light mode that multifrequency heterodyne kept away from to measure, can deal with the circumstances such as the boundary sudden change of object in the measurement process, but to the work piece too reflection of light, the condition of sheltering from each other will hardly rebuild out complete three-dimensional data, need wait for the position conversion of detecting element moreover, carry out data acquisition once more, detection rate is lower, the device is independent operation platform, and is bigger to the limitation that is suitable for the scene.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an improve the complete structure of rebuilding object formation of image of grating structure light, possess unordered stack or the high reflection of light work piece to under the complicated scene, the point cloud data of collection is also very complete, and it is more accurate to detect data to can install on the detection auxiliary member of difference, scene adaptability is stronger, has solved the problem among the prior art.

In order to achieve the purpose, the utility model adopts the following technical scheme:

the utility model provides an improve complete structure of rebuilding object formation of image of grating structure light, includes cross structure's casing, the both ends of casing mutually perpendicular's axis of ordinates and cross axle fixed 3D vision sensor that is equipped with respectively, 3D vision sensor include projecting apparatus and the industry camera that quantity is the same, the casing on seted up the inspection hole and throw and gather the laser beam in order to make things convenient for 3D vision sensor, be equipped with the installation hole site on the casing so that the device can install on the detection auxiliary member of difference.

Preferably, the number of the projectors and the number of the industrial cameras are four, and each projector and each camera establish an independent three-dimensional reconstruction system. The projector and the industrial camera are symmetrically arranged by the center of the cross structure of the shell, the projector is positioned on the inner side of the industrial camera, the optical axis of the industrial camera intersects with the optical axis of the corresponding projector on a vertical plane to form an intersection point, and even if the workpieces are stacked disorderly in a complex scene, the generated point cloud is complete due to shooting from a plurality of positions.

Preferably, the shell is fixedly provided with a projection mounting rack, and the projector is fixedly connected with the projection mounting rack.

Preferably, a Z-shaped frame is fixedly arranged on the shell, and the industrial camera is fixedly connected with the Z-shaped frame.

Preferably, the outer side surface of the shell is provided with a data transmission interface and a power interface, and the data transmission interface and the power interface are electrically connected with the 3D vision sensor.

Preferably, the data line interface and the power supply interface are connected to an upper industrial personal computer through a circuit.

Preferably, the number of the detection holes is equal to the sum of the number of the industrial cameras and the number of the projectors, and the positions of the detection holes correspond to the positions of the emission end of the projector and the lens of the industrial camera respectively.

The utility model has the advantages as follows: the utility model provides a cross structure's casing can the symmetry set up four projectors and industrial camera, and its independent three-dimensional reconstruction system is all established to every projector and every camera, carries out the projection to a work piece that is detected simultaneously and gathers, can not only provide complete point cloud data, can also save operating time, improves detection rate; the shell is provided with the mounting hole position, so that the device can be mounted on different detection auxiliary parts, the adaptability of the device is enhanced, and the device can be applied to different complex scenes.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention;

fig. 2 is a schematic view of an installation structure of the data line interface and the power interface provided by the present invention;

fig. 3 is a bottom view of the structure of the present invention;

the figures are labeled as follows: 100. a housing; 200. a 3D vision sensor; 201. a projector; 202. an industrial camera; 300. a detection hole; 400. a data transmission interface; 500. and a power interface.

Detailed Description

In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention can be embodied in many different forms other than those specifically described herein, and it will be apparent to those skilled in the art that similar modifications can be made without departing from the spirit and scope of the invention, and it is therefore not to be limited to the specific embodiments disclosed below.

In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

The examples are as follows:

referring to fig. 1, a structure for improving optical complete reconstruction object imaging of a grating structure is shown, which includes a housing 100 having a cross structure, two ends of a vertical axis and a horizontal axis perpendicular to each other of the housing 100 are respectively and fixedly provided with a 3D vision sensor 200, the 3D vision sensor 200 includes projectors 201 and industrial cameras 202 having the same number, the housing 100 is provided with a detection hole 300 for facilitating the 3D vision sensor 200 to project and collect light beams, the housing 100 is provided with mounting holes for allowing a device to be mounted on different detection auxiliary members, the number of the projectors 201 and the number of the industrial cameras 202 are four, the projectors 201 and the industrial cameras 202 are symmetrically arranged with respect to the center of the cross structure of the housing 100, each projector 201 and each industrial camera 202 establish an independent three-dimensional reconstruction system thereof, so that 16 combined three-dimensional reconstruction point cloud data can be generated, the projectors 201 are located inside the industrial cameras 202, and an intersection point of an optical axis of the industrial cameras 202 intersects with an optical axis of the corresponding projector on a vertical plane, even if the three-dimensional reconstruction system is a disordered superposed workpiece in a complex scene, the point cloud 201 can be completely generated.

As shown in fig. 2, a data transmission interface 400 and a power interface 500 are disposed on an outer side surface of the housing 100, the data transmission interface 400 and the power interface 500 are both electrically connected to the 3D vision sensor 200, and the data line interface 400 and the power interface 500 are connected to an upper industrial personal computer through a circuit.

The number of inspection holes 300 shown in fig. 3 is equal to the sum of the number of industrial cameras 202 and projectors 201, and the positions of the inspection holes 300 correspond to the positions of the emission ends of the projectors 201 and the lenses of the industrial cameras 202, respectively.

The upper industrial personal computer integrates point cloud data acquired by the industrial cameras 202, 16 groups of three-dimensional reconstruction data are converted into the same coordinate system through the calibration relation among a plurality of industrial cameras 202, the problems of scanning beat, calculated amount and the like are considered, in the using process, 16 combinations can be freely combined for use, under the condition of ensuring the point cloud integrity, the three-dimensional reconstruction is carried out by adopting as few combinations as possible through intelligent combinations, the method of the intelligent combination is to select data acquired by one industrial camera 202 first, areas which are not over-exposed and are not overlapped by the rest three industrial cameras 202 are selected in sequence to calculate point cloud data, and finally, the three-dimensional point cloud data acquired by the four groups of industrial cameras 202 are combined.

In summary, the following steps: the utility model provides a cross-structure's casing can be symmetrical to set up four projectors and industrial camera, can not only provide complete point cloud data, can also save operating time, improves detection rate; the shell is provided with the mounting hole position, so that the device can be mounted on different detection auxiliary parts, the adaptability of the device is enhanced, and the device can be applied to different complex scenes.

Having shown and described the basic principles and principal features of the invention and advantages thereof, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but is capable of other specific forms without departing from the spirit or essential characteristics thereof; the present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein, and any reference signs in the claims are not to be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims (5)

1. The utility model provides a structure of improving grating structure light complete reconstruction object formation of image, includes the casing of cross structure, its characterized in that: the both ends of casing mutually perpendicular's axis of ordinates and cross axle be fixed respectively and be equipped with 3D vision sensor, 3D vision sensor include projecting apparatus and the industry camera that quantity is the same, seted up the inspection hole on the casing and projected and gather the light beam in order to make things convenient for 3D vision sensor, be equipped with the installation hole site on the casing so that the device can install on different detection auxiliary members.

2. The structure for improving the imaging of the optical complete reconstruction object with the grating structure as claimed in claim 1, wherein: the quantity of projecting apparatus and industry camera be four, projecting apparatus and industry camera with the central symmetry of casing cross structure arrange, the projecting apparatus be located the inboard of industry camera, just the optical axis of industry camera on vertical face with the optical axis cross that corresponds the projecting apparatus have the nodical.

3. The structure for improving the imaging of the optical complete reconstruction object with the grating structure as claimed in claim 1, wherein: the casing lateral surface seted up data transmission interface and power source, data transmission interface and power source all with 3D visual sensor electric connection.

4. The structure for improving the imaging of the optical complete reconstruction object with the grating structure as claimed in claim 3, wherein: and the data transmission interface and the power supply interface are connected to an upper industrial personal computer through a circuit.

5. The structure for improving the imaging of the optically complete reconstructed object with the grating structure according to claim 1, wherein: the number of the detection holes is equal to the sum of the number of the industrial cameras and the number of the projectors, and the positions of the detection holes correspond to the positions of the emission end of the projector and the position of the lens of the industrial camera respectively.

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