CN113586892A

CN113586892A - Three-dimensional information acquisition device

Info

Publication number: CN113586892A
Application number: CN202110875098.5A
Authority: CN
Inventors: 陈相礼
Original assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Current assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Priority date: 2021-07-30
Filing date: 2021-07-30
Publication date: 2021-11-02

Abstract

The utility model provides a three-dimensional information acquisition device, relates to mechanical automation technical field, especially relates to information acquisition device technical field. The implementation scheme is as follows: a carrier configured to carry an object and to impart rotational movement to the object about a first axis in a first plane; a fastening device configured to support the image pickup device to move along a circular motion trajectory from a first side of the object to a second side of the object opposite to the first side in a second plane including the first axis and perpendicular to the first plane; and a calibration device configured to calibrate a distance between a central axis of the circular motion trajectory and the first plane based on the size of the object.

Description

Three-dimensional information acquisition device

Technical Field

The utility model relates to a mechanical automation technical field especially relates to information acquisition device technical field, concretely relates to three-dimensional information acquisition device.

Background

Three-dimensional information acquisition is widely applied to various leaders, such as three-dimensional image display and dimension measurement of articles. A plurality of images of an object are acquired by an imaging device, and three-dimensional information of the object is acquired based on the plurality of images, and the imaging device is widely used in various three-dimensional information acquisition devices.

The approaches described in this section are not necessarily approaches that have been previously conceived or pursued. Unless otherwise indicated, it should not be assumed that any of the approaches described in this section qualify as prior art merely by virtue of their inclusion in this section. Similarly, unless otherwise indicated, the problems mentioned in this section should not be considered as having been acknowledged in any prior art.

Disclosure of Invention

The present disclosure provides a three-dimensional information acquisition apparatus, including: a carrier configured to carry an object and to impart rotational movement to the object about a first axis in a first plane; a fastening device configured to support the image pickup device to move along a circular motion trajectory from a first side of the object to a second side of the object opposite to the first side in a second plane including the first axis and perpendicular to the first plane; and a calibration device configured to calibrate a distance between a central axis of the circular motion trajectory and the first plane based on a size of the object.

According to one or more embodiments of the present disclosure, the carrying device is used to drive the object to perform a rotation motion around a first axis passing through a middle region of the object on a first plane, and meanwhile, the carrying device is used to cooperate with a circular motion of the camera device moving from a first side to a second side of the object along a circular motion track passing through a first circle on a second plane perpendicular to the first plane, so that the camera device can obtain a plurality of images of the object in a plurality of directions, the plurality of images include information when the object rotates 360 ° in two mutually perpendicular directions, and therefore 720 ° omni-directional information about the object can be obtained, and three-dimensional information about the object can be obtained based on the plurality of images.

Meanwhile, the distance between the central axis of the circular motion track of the camera device and the first plane where the object is located is calibrated by the calibration device according to the size of the object, so that a plurality of positions obtained when the camera device moves along the circular motion track are related to the size of the object, the distance between the camera device and each position on the surface of the object on the motion track can be adjusted, the angle and the scaling size of the object in a plurality of images obtained by the camera device can be controlled, and three-dimensional information reflecting the real information of the object can be obtained according to the plurality of images.

It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present disclosure, nor do they limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the embodiments and, together with the description, serve to explain the exemplary implementations of the embodiments. The illustrated embodiments are for purposes of illustration only and do not limit the scope of the claims. Throughout the drawings, identical reference numbers designate similar, but not necessarily identical, elements.

FIGS. 1A-1B are schematic diagrams illustrating three-dimensional information acquisition of different objects according to the related art;

FIG. 2 illustrates a flow diagram of a three-dimensional information acquisition device according to some embodiments of the present disclosure;

FIG. 3 shows a schematic view of a transparent disc and a driving wheel in the three-dimensional information acquisition apparatus according to FIG. 2;

FIG. 4 shows a detail of the transparent disc and the driving wheel in the three-dimensional information acquisition apparatus according to FIG. 2;

FIG. 5 shows a schematic view of the arrangement of the vertical and horizontal supports in the fastening device in the three-dimensional information acquisition apparatus according to FIG. 2 in relation to the transparent disc;

FIG. 6 shows a schematic view of the arrangement of the vertical support and the second device in the fastening device in the three-dimensional information acquisition device according to FIG. 2 relative to the carrier device; and

fig. 7 shows a detailed view of the height measuring device provided on the support member in the three-dimensional information acquisition device according to the present disclosure.

Detailed Description

Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of the embodiments of the disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

In the present disclosure, unless otherwise specified, the use of the terms "first", "second", etc. to describe various elements is not intended to limit the positional relationship, the timing relationship, or the importance relationship of the elements, and such terms are used only to distinguish one element from another. In some examples, a first element and a second element may refer to the same instance of the element, and in some cases, based on the context, they may also refer to different instances.

The terminology used in the description of the various described examples in this disclosure is for the purpose of describing particular examples only and is not intended to be limiting. Unless the context clearly indicates otherwise, if the number of elements is not specifically limited, the elements may be one or more. Furthermore, the term "and/or" as used in this disclosure is intended to encompass any and all possible combinations of the listed items.

A three-dimensional information acquisition apparatus according to some embodiments of the present disclosure includes:

a carrier configured to carry an object and to impart rotational movement to the object about a first axis in a first plane;

a fastening device configured to support the image pickup device to move along a circular motion trajectory from a first side of the object to a second side of the object opposite to the first side in a second plane including the first axis and perpendicular to the first plane; and

a calibration device configured to calibrate a distance of a central axis of the circular motion trajectory from the first plane based on a size of the object.

The carrying device drives the object to rotate around a first axis passing through the middle area of the object on a first plane, and meanwhile, the carrying device is matched with the camera device to move on a second plane perpendicular to the first plane along a circular motion track passing through the first circle from the first side to the second side of the object, so that the camera device can obtain a plurality of images of the object in a plurality of directions, the plurality of images comprise information of the object rotating 360 degrees in two mutually perpendicular directions, 720-degree all-directional information about the object can be obtained, and three-dimensional information of the object can be obtained based on the plurality of images.

In the related art, the image capturing device uses a fixed track to capture various objects with different sizes, so that the image capturing device captures the different objects at the same angle and track, and therefore, among a plurality of images obtained for the different objects, the image capturing device often obtains a plurality of images at different distances from the surface of the object corresponding to the objects with different sizes, so that three-dimensional information obtained from the plurality of images is not a stable and intuitive viewing angle. For example, as shown in fig. 1A and 1B, two objects with different heights, a first object 101 with a height of 50cm and a second object 102 with a height of 10cm, are photographed by the image pickup device 110 along a predetermined trajectory a with the first object 101 with a larger height, the distance of the camera from each point of the first object 101 is substantially the same (D1, D2 and D3 are substantially equal), so that a front view of the same or similar distances from various positions of the first object 101 can be obtained, while for the second object 102, since the distances of the camera to the respective positions on the surface of the second object 102 on the predetermined trajectory a are not uniform (D4 is much larger than D3 and D5), so that in the process of performing three-dimensional image reconstruction, a three-dimensional image of the front view observable from various angles cannot be obtained for the second object 102, so that accurate information cannot be obtained from the three-dimensional image of the second object 102.

According to some embodiments, the calibration means is configured for calibrating the distance of the central axis from the first plane to be at least equal to half the dimension of the object in one of a plurality of directions of extension in the plane.

By calibrating the distance between the central axis and the first plane to be equal to half of the size of the object in one of the extension directions of the second plane, when the camera device moves around the object along the circular motion track, the distances from the positions of the object surface opposite to the second plane are the same or similar, so that the obtained multiple images can comprise front views with the same or similar zoom degrees about the positions of the object surface, and the three-dimensional information (such as the size and the like) obtained according to the multiple images can accurately represent the information of the object.

In some embodiments, the carrier comprises a carrier support for supporting the object for rotation by contact with the contact point.

In some embodiments, the load bearing device comprises a load bearing rope suspended by a connection point to suspend the rotation of the object in the air.

In some embodiments, the carrier has at least one support dimension that is adjustable in a first plane, the carrier further configured to a set support dimension of the at least one support dimension that corresponds to a dimension of the object.

Through setting up the carrying device as the carrying device that corresponds with each size scope in at least one size scope, make carrying device can adapt to the not unidimensional object to the realization can all collect 3D information to the not unidimensional object.

In some embodiments, the carrier arrangement comprises a support frame for supporting the object, wherein the first plane may be any plane within the world object space.

In some embodiments, the carrier arrangement comprises a carrier table for supporting the object, wherein the first plane is a horizontal plane.

In some embodiments, the fastening device comprises a support frame for supporting the camera device and a driving component, and the driving component drives the support frame to make circular motion, so that the camera device on the support frame moves along a circular motion track.

In some embodiments, the fastening device comprises a mechanical arm, and the mechanical arm drives the camera device to move along the circular motion track through an electromechanical control system.

In some embodiments, the camera may be any device with camera functionality including, but not limited to, a cell phone, a camera, etc. with camera functionality.

According to some embodiments, the carrier comprises a support member comprising a first support frame and a second support frame, wherein the support member is capable of defining at least one support dimension by varying a distance between the first support frame and the second support frame.

The first support frame and the second support frame with adjustable distance between the first support frame and the second support frame form the support part, at least one support size can be limited by the support part, the support size of the bearing device can be adjusted according to objects with different sizes, the bearing device corresponds to the size of the objects, therefore, the support of various different objects is realized, and the acquisition of three-dimensional information of the objects with various different sizes is further realized.

Referring now to fig. 2-7, a three-dimensional information acquisition device including a carrier device, a fastening device, and a calibration device according to some embodiments of the present disclosure is illustrated.

It is to be understood that the carrying device, the fastening device and the calibration device included in the three-dimensional information acquisition device in fig. 2-7 are only exemplary, and those skilled in the art will understand that any other form of support component can be adopted to achieve the technical effects of the present disclosure.

As shown in fig. 2, the support member includes a first support bracket 211 and a second support bracket 212. By adjusting the distance between the first support bracket 211 and the second support bracket 212, the support component may be enabled to define at least one support dimension.

In some embodiments, as shown in fig. 2, the supporting component further includes an adjusting slide rail 213, the adjusting slide rail 213 is located on the first supporting frame 211 and is slidably connected to the second supporting frame 212, and the distance between the first supporting frame 211 and the second supporting frame 212 is changed by sliding the second supporting frame 212 in the adjusting slide rail 213.

Through the adjusting slide rail that sets up, make the second support frame move in adjusting the slide rail to adjust the distance between first support frame and the second support frame, simplify the accommodation process to the distance between first support frame and the second support frame, easily adjust the support size of support component according to the size of different objects. Meanwhile, the adjusting slide rail is positioned on the first support frame, so that the overall structure of the three-dimensional information acquisition device is compact.

In some embodiments, the carrier further comprises: the size of the at least one transparent disc corresponds to the size of the at least one support one by one, and the first driving component is configured to drive the at least one transparent disc to rotate.

The transparent disc is arranged, the supporting part supports the transparent disc, and the first driving part is arranged to drive the transparent disc to rotate, so that the bearing device can bear an object to rotate in a horizontal plane. Meanwhile, the transparent disc is arranged, so that the camera device can move to the lower part of the object along a circular motion track from the upper part of the object, and an image of the bottom of the object is obtained through the bottom of the transparent disc. The transparent disc does not shield the bottom of the object, so that the camera device can acquire all-dimensional information of the object, and all-dimensional acquisition of three-dimensional information of the object is realized.

Furthermore, at least one transparent disc with the size corresponding to at least one support size of the support component is arranged, the support component supports the transparent discs with different sizes under different support sizes, and the support components with different support sizes are realized so as to support objects with different sizes.

For example, for an object of 50cm × 50cm × 50cm, a transparent square disc with a surface area of 60cm × 60cm may be selected for support; for an object of 20cm multiplied by 20cm, a square disc with the surface area of 20cm multiplied by 20cm can be selected for supporting, and the phenomenon that an inaccurate image is obtained because a transparent disc of 60cm is selected for supporting, the image pick-up device is far away from the object is avoided.

In some embodiments, the transparent disc may be provided as any light transmissive material, such as glass or the like.

In some embodiments, the transparent disk may have any shape, including but not limited to square, diamond, circle, etc., without limitation.

In some embodiments, as shown in fig. 2 and 3, each of the at least one transparent disk is a transparent circular disk 210, the first drive component comprising: a driving wheel 214, the rotation plane of which is parallel to the plane of the transparent disc 210, and the side surface of the driving wheel 214 contacts with the side surface of the transparent disc 210; and a driving motor 215 configured to perform a plurality of first drives on the driving wheel 214 to make the driving wheel 214 drive the transparent disc 210 to perform a rotating motion, wherein each first drive of the plurality of first drives is configured to rotate the transparent disc 210 by a first preset angle.

By setting each of the at least one transparent disc as a transparent disc, by setting transparent discs of different diameters, transparent discs of different sizes can be obtained to correspond to at least one support size of the support member, thereby realizing support members having different support sizes to be able to support objects of different sizes.

Through setting the transparent disc to carry out a lot of first drive through driving motor to the drive wheel with the side contact of this transparent disc to realize transparent disc's rotary motion, make transparent disc through carrying out a lot of rotation of presetting the angle, drive the object on transparent disc and carry out a lot of rotation of presetting the angle. The camera device is matched with the camera device to move along the circular motion track, so that objects can be shot at a plurality of preset angles, and a plurality of images at the same preset angles can be obtained for different objects. In the process of carrying out three-dimensional reconstruction on a plurality of images based on a preset angle to obtain three-dimensional information, the processing processes of the images are consistent for different objects, and the data processing process is simplified.

In some embodiments, as shown in fig. 2 and 3, the driving wheel 214 includes a first driving wheel 214A and a second driving wheel 214B, and a driving motor 215, wherein the first driving wheel 214A is located on the first support frame 211 and contacts with the transparent disc 210, the second driving wheel 214B is located on the second support frame 212 and contacts with the transparent disc 210, and a rotation plane of the first driving wheel 214A and the second driving wheel 214B is parallel to a plane of the transparent disc, so that the transparent disc 210 can be driven to rotate during the rotation of the first driving wheel 214 and the second driving wheel 215.

In some embodiments, the first drive wheel 214A is configured as a drive wheel and the second drive wheel 214B is configured as a driven wheel.

In some embodiments, as shown in fig. 2 and 3, the first and

second drive wheels

214A and 214B are also configured to support the transparent puck 210. Referring to fig. 4, the first driving wheel 214A includes a supporting wheel 411, and a rotating wheel 420 coaxially connected to the supporting wheel 411 and rotating coaxially with the supporting wheel 411, and the transparent disk 210 is supported by the supporting wheel 411, and is in contact with the side surface of the transparent disk 210 by the rotating wheel 420, and drives the transparent disk 210 to rotate by a frictional force therebetween, so as to realize the rotation of the transparent disk 210.

In some embodiments, as shown in fig. 4, a fixing wheel 412 is further included to cooperate with the supporting wheel 411 to limit the horizontal position of the transparent disk 210, so as to fix the transparent disk 210.

According to some embodiments, the first drive component further comprises a positioning device configured to position the rotational movement a plurality of times and to send an electrical signal corresponding to each of the plurality of positions; and a control motor, configured to be in communication connection with the positioning device, and control the driving motor to perform a first driving based on the electric signal.

The rotating motion of the transparent disc is positioned through the positioning device, and the angle of each rotation in the rotation of the transparent disc for multiple preset angles is controlled to be accurate through controlling the motor to control the driving motor based on the positioning of the positioning device. Compared with the prior art, the control method has the advantages that the driving motor is controlled to control the movement speed of the driving wheel, the control of the angle of each rotation in the rotation of the transparent disc for multiple preset angles is realized, the control method is high in control accuracy and simple.

According to some embodiments, as shown in fig. 3, the positioning device comprises: a plurality of photosensitive members 210A located at the bottom edge of the transparent disk 210; and a fixedly provided sensor (not shown) configured to transmit the electric signal based on the light signal of each of the plurality of photosensitive member regions.

Through the positioning device and the sensor on the transparent disc, the transparent disc is driven to rotate by a second preset angle every time, so that the objects with different sizes can run at the same angular speed, and the information of the objects with different sizes on the same angle can be obtained through the camera device.

In some embodiments, the photosensitive member is provided as a non-light blocking member, such as a lacquer layer on a transparent disc.

It is to be understood that in the present embodiment, only one transparent disk on which photosensitive members are provided is shown as an example to describe the positioning device in the three-dimensional information acquisition apparatus according to the present disclosure. It will be appreciated by those skilled in the art that where at least one transparent disc is provided as part of the support means, the at least one transparent disc may correspond to at least one transparent disc of different size, and a plurality of photosensitive members may be provided on each of the at least one transparent discs respectively to form the positioning means.

In some embodiments, as shown in fig. 3, the carrying device further includes: an alignment mark 217 located at the center of the transparent disk 210. Wherein the camera 240 is supported by the fastening means in a second plane by projecting the camera of the camera 240 onto the transparent disc 210 so as to cover the alignment mark 217.

Through setting up the alignment mark on transparent disc, the position that fastener supported camera device calibrates, and when the object was located transparent disc's center to when the projection of camera device's camera on transparent disc covers the alignment mark, the plane that fastener supported camera device place was located the coplanar with the object, is the second plane. When the camera device moves along the circular motion track, the distances between the camera device and the positions of the surface of the object opposite to the camera device in the second plane are the same or similar, and the distances between the camera device and the positions of the surface of the object opposite to the camera device in a plurality of planes parallel to the first plane are the same or similar, so that a plurality of obtained images can comprise front views with the same or similar zoom degrees relative to the positions of the surface of the object, and three-dimensional information (such as size and the like) obtained according to the images can accurately represent the information of the object.

In some embodiments, with continued reference to fig. 2, the fastening device comprises: a vertical bracket 230 and a horizontal bracket 231, and a second driving part 232. The first end of the vertical support 230 (as shown in fig. 1, the lower end of the vertical support 230 near the transparent circular disc 210) has an adjustable height position and a projection onto the plane of the transparent disc 210 is located outside the transparent disc 210. A first end of the horizontal bracket 231 is fixedly connected to a connection position between a first end and a second end of the vertical bracket 230 (as shown in fig. 1, an upper end of the vertical bracket 230 far from the transparent disc 210), and a second end of the horizontal bracket 231 extends at least to the center of the transparent disc along the horizontal direction. The second driving part 232 is configured to perform a plurality of second drives on the vertical support 230, so as to rotate the vertical support 230a plurality of times around the horizontal axis where the first end of the vertical support 230 is located, so as to move the horizontal support 231 along a circle with the first end of the vertical support 230 as a center and a radius of a length of a portion of the vertical support 230 between the first end of the vertical support 230 and the connection position, wherein each second drive of the plurality of second drives is configured to move the horizontal support 231 along the circle by a second preset angle.

Through setting the fastening device for supporting the camera device into a vertical support, a horizontal support and a second driving part, the vertical support is driven to rotate for a plurality of times around a first end of the vertical support through the second driving part so as to obtain a circular motion track, and in each rotation of the rotation for a plurality of times, the vertical support rotates for a preset angle, so that the camera device supported by the horizontal support moves for a second preset angle along the circular motion, thereby realizing that the camera device shoots an object positioned on a transparent disc at a plurality of preset angles, and further obtaining a plurality of images at the same preset angle for different objects. In the process of carrying out three-dimensional reconstruction on a plurality of images based on a preset angle to obtain three-dimensional information, the processing processes of the images are consistent for different objects, and the data processing process is simplified.

In one embodiment, the second drive component comprises a drive motor.

According to some embodiments, as shown in fig. 2 and 5, the vertical support 230 includes a first support 230A and a second support 230B. The first and

second brackets

230A and 230B are respectively located at opposite sides of the transparent disk 210 in the horizontal direction. A first end of the horizontal bracket 231 is fixedly connected with a second end of the first bracket 230A, a second end of the horizontal bracket 231 is fixedly connected with a second end of the second bracket 230B, and the horizontal bracket 231 has an adjustable length.

The vertical supports are arranged into the first support and the second support which are positioned on two opposite sides of the transparent disc in the horizontal direction, so that the horizontal support with the adjustable length is fixedly connected with the second ends of the first support and the second support, and the transparent disc with different sizes can be adapted by adjusting the length of the horizontal support.

In some embodiments, as shown in fig. 5, the middle portion 511 of the horizontal support 231 is provided in the form of a telescopic rod, so that the horizontal support 231 is adjustable in length.

In some embodiments, as shown in fig. 5, the fastening device further comprises a fixing part 233 configured to fix the image pickup device 234, the fixing part 233 being located on the horizontal bracket 231 and adjustable in position on the horizontal bracket 231.

The camera device is fixed on the horizontal support through the fixing component with the adjustable position on the horizontal support, so that the plane of the circular motion track can be adjusted by adjusting the position of the fixing component on the horizontal support. In some embodiments, an alignment mark is provided at the center of the transparent disk, and the alignment mark can be covered by the projection of the camera device on the transparent disk by adjusting the position of the fixing component on the horizontal bracket, so that the circular motion track is located in the second plane.

According to some embodiments, as shown in FIG. 5, the connection location between the first and second ends of the vertical support 230 (including the first support 230A and the second support 230B) includes an optional plurality of locations 510 such that the length of the portion of the vertical support 230 between the first end and the connection location is adjustable.

By adjusting the length of the portion between the first end of the vertical support and the connection location, the radius of the circular motion of the horizontal support with the first end of the vertical support as the center of a circle and the length of the portion between the first end of the vertical support and the connection location as the radius can be adjusted. The radius of the circular motion of the horizontal support is consistent with the radius of the circular motion track of the camera device, so that the radius of the circular motion track of the camera device can be controlled by controlling the connecting position of the first end of the horizontal support and the second end of the vertical support, the distance between each position of the camera device on the circular motion track and each position of the surface of an object is further adjusted, the angle and the scaling size of a plurality of images obtained by the camera device relative to the object are further accurately controlled, and three-dimensional information reflecting the reality and accurate information of the object can be obtained according to the plurality of images.

According to some embodiments, as shown in fig. 2 and 6, the second driving member 232 is connected with the first end of the vertical support 230 (including the first support 230A and the second support 230B) and has an adjustable height position to adjust the height position of the vertical support 230, and wherein the carrier device further includes a vertical chute 216 disposed on the support member (including the first support bracket 211 and the second support bracket 212), the vertical chute 216 configured to move the second driving member 232 within the vertical chute 216 to adjust the height position of the second driving member 232.

Through second drive assembly and vertical leg joint to the first end that drives vertical support removes in the vertical spout on the support component, thereby realizes the adjustment to the high position of vertical support, and then realizes the adjustment of the high position of the center pin of circular motion orbit, finally realizes the calibration to the circular motion orbit. The vertical sliding groove is used for moving the driving device, so that the adjusting process of the height position of the driving device is simplified.

In some embodiments, the calibration device is configured to determine that the height of the second drive component from the surface of the transparent disc is half the height of the corresponding object based on the height of the object.

By determining the height of the second driving part from the surface of the transparent disc to be half of the height of the object based on the height of the object, when the camera device moves around the object along the circular motion track, the distances from the positions of the surface of the object opposite to the second driving part in the vertical plane (second plane) are the same or similar, so that a plurality of obtained images can comprise front views with the same or similar zoom degrees relative to the positions of the surface of the object, and the three-dimensional information (such as the size and the like) obtained according to the plurality of images can accurately represent the information (such as the size and the like) of the object.

In some embodiments, as shown in fig. 2 and 7, the calibration device comprises: a height measuring device 250 positioned on the first support bracket 211.

The height of the object on the transparent disc is measured by the height measuring device, so that the moving distance of the second driving part in the vertical sliding groove can be adjusted based on the height of the object, and the circular motion track of the camera device can be calibrated. The height measuring device is arranged on the first support frame, so that the integration level of each part in the three-dimensional information acquisition device is high, and the structure is compact.

In some embodiments, the zero scale line of the height measuring device is flush with the surface of the transparent disc.

In some embodiments, as shown in fig. 6 and 7, the fastening device further comprises a height adjustment member 234 configured to adjust the height of the second driving member 232.

In some embodiments, the three-dimensional information acquisition apparatus 200 further comprises a control apparatus configured to:

controlling the bearing device to drive the object to rotate and controlling the fastening device to drive the camera device to move along the circular motion track; and

and controlling the camera device to photograph the object based on the rotation motion and the motion of the camera device along the circular motion track so as to obtain a plurality of images related to the object.

The control device controls the bearing device to drive the object to rotate, controls the fastening device to drive the camera device to move along the circular motion track, and controls the camera device to shoot the object simultaneously, so that the three-dimensional information acquisition device can acquire three-dimensional information fully automatically.

In some embodiments, the control device includes a controller in control communication with the first drive component and the second drive component.

In some embodiments, the control device includes a memory storing program instructions and a processor, and the processor is configured to control the carrying device, the fastening device and the image capturing device when executing the program instructions, so that the carrying device drives the object to perform a rotational motion, the fastening device drives the image capturing device to perform a motion along a circular motion track, and the image capturing device captures an image of the object. For example, the control device may be a mobile phone, a tablet computer, or the like.

In some embodiments, the camera device is a smartphone with a camera function, the control device can be in communication connection with the smartphone, and the control device can realize shooting control and shooting mode adjustment of the smartphone.

In some embodiments, the three-dimensional information collection device 200 further comprises:

a case configured to accommodate the carrying device, the fastening device, and the calibration device in an inner space of the case; and

and the lighting device is positioned on the side wall of the box body and has an adjustable lighting effect.

Through setting up lighting device on box and the box inner wall to adjust the illumination effect of the inner space of box, can adjust the effect through a plurality of images that camera device obtained, make the surface information of reaction object that these a plurality of images can be more clear, accurate.

In some embodiments, the box is a square box. The lighting device comprises a device with adjustable color temperature and brightness.

In some embodiments, the control device is further configured to control the lighting effect of the lighting device.

In some embodiments, the color temperature and the brightness of the lighting device are adjusted by the control device, so that the color temperature and the brightness in the box body can be adjusted in real time during the shooting process of the camera device, and the image effect of a plurality of images obtained by the camera device is adjusted in real time.

In some embodiments, the control apparatus is further configured to:

acquiring the plurality of images in the camera device; and is

Three-dimensional information of the object is acquired based on the plurality of images.

The control device is used for acquiring the three-dimensional information of the object, so that the three-dimensional information acquisition device can acquire the three-dimensional information from the image acquisition to the image acquisition based on the acquisition, and the full-automatic operation is realized.

In some embodiments, the control device is in communication with the camera device to acquire the plurality of images from the camera device in real time, and perform three-dimensional reconstruction based on the plurality of images to acquire three-dimensional information of the object in real time. For example, through the communication connection between the tablet computer as the control device and the smart phone as the camera device, the tablet computer is enabled to acquire the image of the smart phone in real time, and obtain the three-dimensional information of the object.

The above is an exemplary description of a three-dimensional information acquisition apparatus according to some embodiments of the present disclosure, which can achieve fully automatic acquisition of three-dimensional information for objects of different sizes and can enable accurate three-dimensional information to be obtained. At the same time, the device is simple, compact and easy to manufacture.

It will be understood that in this specification, the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like, indicate an orientation or positional relationship or dimension based on that shown in the drawings, and that such terms are used for convenience of description only and do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be considered limiting to the scope of this application.

Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to a number of indicated technical features. Thus, features defined as "first", "second", "third" may explicitly or implicitly include one or more of the features. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; the connection can be mechanical connection, electrical connection or communication; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact of the first and second features, or may comprise contact of the first and second features not directly but through another feature in between. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present disclosure may be performed in parallel, sequentially or in different orders, and are not limited herein as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved.

Although embodiments or examples of the present disclosure have been described with reference to the accompanying drawings, it is to be understood that the above-described methods, systems and apparatus are merely exemplary embodiments or examples and that the scope of the present invention is not limited by these embodiments or examples, but only by the claims as issued and their equivalents. Various elements in the embodiments or examples may be omitted or may be replaced with equivalents thereof. Further, the steps may be performed in an order different from that described in the present disclosure. Further, various elements in the embodiments or examples may be combined in various ways. It is important that as technology evolves, many of the elements described herein may be replaced with equivalent elements that appear after the present disclosure.

Claims

1. A three-dimensional information acquisition apparatus comprising:

2. The apparatus of claim 1, wherein the calibration device is configured to calibrate the distance of the central axis from the first plane to be at least equal to half a dimension of the object in one of a plurality of directions of extension in the plane.

3. The device of claim 1 or 2, wherein the carrier device comprises a support component comprising a first support bracket and a second support bracket, wherein the support component is capable of defining at least one support dimension by varying a distance between the first support bracket and the second support bracket.

4. The apparatus of claim 3, wherein the support member further comprises:

and the adjusting slide rail is fixedly arranged on the first support frame and is in sliding connection with the second support frame, so that the distance between the first support frame and the second support frame is changed when the second support frame slides on the adjusting slide rail.

5. The apparatus of claim 3 or 4, wherein the carrier further comprises:

at least one transparent disc, the size of the at least one transparent disc corresponding to the at least one support size one to one, an

A first drive member configured to drive each of the at least one transparent disk into rotational motion.

6. The apparatus of claim 5, wherein each of the at least one transparent disk is a transparent circular disk, the first drive component comprising:

the rotating plane of the driving wheel is parallel to the plane of the transparent disc, and the side face of the driving wheel is in contact with the side face of the transparent disc; and

a driving motor configured to perform a plurality of first drives on the driving wheel so that the driving wheel drives the transparent disc wheel to perform a rotational motion, wherein each first drive of the plurality of first drives is configured to rotate the transparent disc by a first preset angle.

7. The apparatus of claim 6, wherein the first drive component further comprises:

a positioning device configured to position the rotational motion a plurality of times and to send an electrical signal corresponding to each of the plurality of positions; and

a control motor configured to be in communication connection with the positioning device and control the driving motor to perform a first driving based on the electrical signal.

8. The apparatus of claim 7, wherein the positioning means comprises:

a plurality of photosensitive members located at a bottom edge of the transparent plate; and

a fixedly disposed sensor configured to transmit the electrical signal based on a light signal corresponding to each of the plurality of photosensitive members.

9. The apparatus of claim 7, wherein the carrier further comprises:

and the alignment mark is positioned in the center of the transparent disc, and the camera head of the camera device is projected on the transparent disc to cover the alignment mark, so that the fastening device supports the camera device to be positioned in the second plane.

10. The device of claim 6, wherein the fastening device comprises:

the first end of the vertical support is provided with an adjustable height position, and the projection of the first end of the vertical support on the plane of the transparent disc is positioned in the area outside the transparent disc;

the first end of the horizontal bracket is fixedly connected with the connecting position between the first end and the second end of the vertical bracket, and the second end of the horizontal bracket at least extends to the center of the transparent disc along the horizontal direction; and

and a second driving part configured to perform a plurality of second drives on the vertical support to rotate the vertical support around a horizontal axis where the first end of the vertical support is located, so as to move the horizontal support along a circle with the first end of the vertical support as a center and a radius of a part of the length of the vertical support between the first end of the vertical support and the connection position, wherein each of the plurality of second drives is configured to move the horizontal support along the circle by a second preset angle.

11. The apparatus of claim 10, wherein the second drive member is coupled to the first end of the vertical support and has an adjustable height position to adjust the height position of the first end of the vertical support, and wherein the carrier further comprises:

a vertical slide slot provided on the support member and configured to change a height position of the second driving member when the second driving member moves within the vertical slide slot.

12. The apparatus of claim 8 wherein the connection location between the first and second ends of the vertical support comprises a selectable plurality of locations such that a portion of the vertical support between the first end of the vertical support and the connection location is adjustable in length.

13. The apparatus of claim 9, wherein the vertical support comprises:

a first bracket and a second bracket, the first end of the first bracket and the first end of the second bracket being respectively located at two opposite sides of the transparent disc in the horizontal direction, wherein,

the first end of horizontal stand with first support fixed connection, the second end of horizontal stand with second support fixed connection, wherein, horizontal stand has adjustable length.

14. The apparatus of claim 13, wherein the fastening device further comprises a securing component configured to secure the camera device, the securing component being located on the horizontal support and being adjustable in position on the horizontal support.

15. The apparatus of claim 9, wherein the calibration apparatus is configured to determine that the height of the second drive component from the surface of the transparent disk is half the height of the object based on the height of the object.

16. The apparatus of claim 15, wherein the calibration means comprises:

and the height measuring device is positioned on the supporting frame.

17. The apparatus of any one of claims 1-16, further comprising a control apparatus configured to:

18. The apparatus of claim 17, further comprising:

19. The apparatus of claim 18, the control apparatus further configured to:

and adjusting the illumination effect of the lighting device.

20. The apparatus of claim 17, the control apparatus configured to:

acquiring the plurality of images in the camera device; and is