CN102937424B - A kind of framework for projection gate Phase Double item stereo vision measuring three-dimensional morphology - Google Patents
A kind of framework for projection gate Phase Double item stereo vision measuring three-dimensional morphology Download PDFInfo
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- CN102937424B CN102937424B CN201210397323.XA CN201210397323A CN102937424B CN 102937424 B CN102937424 B CN 102937424B CN 201210397323 A CN201210397323 A CN 201210397323A CN 102937424 B CN102937424 B CN 102937424B
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Abstract
The invention discloses a kind of framed structure for projection gate Phase Double item stereo vision three dimensional shape measurement system, it is made up of underframe (1), main frame (2), connection handle (3), be bolted between main frame (2) and underframe (1), and the A face (2a) of main frame (2) contacts with the A face (1a) of underframe (1); Connection handle (3) and main frame (2) are bolted, and the periphery (3a) of connection handle (3) contacts with the inner headed face (2b) of main frame (2).The underframe (1) of the present invention's design reliably can fix grenade instrumentation (4); Main frame (2) reliably can fix left camera (51) and right camera (52), there is good structural rigidity and heat-sinking capability, and the relative position can finely tuned easily by the A face (2a) trimming main frame (2) between grenade instrumentation (4) and left camera (51) and right camera (52) and attitude; Whole measuring system is reliably connected with process equipment (as lathe) by connection handle (3), is convenient to measuring system and process equipment is integrated.
Description
Technical field
The present invention relates to a kind of framework for projection gate Phase Double item stereo vision measuring three-dimensional morphology, it is applicable to on-the-spot online three-dimensional measurement, optical touchless three-dimensional measurement, the measurement of projection gate Phase Double item stereo vision, the projection gate Phase Double item stereo vision be specially adapted to volume, weight, thermal stability, measuring accuracy have higher requirements is measured, and belongs to optical three-dimensional measurement technical field.
Background technology
Optical touchless three-dimensional measurement, with its noncontact, high precision, the advantage that is suitable for on-line measurement, can obtains target surface dense point cloud, gets more and more applications in processing site on-line measurement field.Projection gate Phase Double item stereo vision measuring technique has the feature such as high precision, good measurand adaptability, has become the mainstream technology of online optical touchless three-dimensional measurement.
The measuring accuracy especially on-line measurement precision of Binocular Stereo Vision System, directly by the impact of parallax range and baseline accuracy, therefore must carefully design system parallax range the actual parallax range of precision calibration.The parallax range of actual measuring system is determined by the framed structure of measuring system.For the on-line measurement of processing site, the temperature caused of generating heat when the change of environment temperature and system cloud gray model raises, and can affect parallax range forbidden because of " expanding with heat and contract with cold " effect of metal material, thus the measuring accuracy of influential system.On the other hand, on-line measurement application requires that Binocular Stereo Vision System volume is little as far as possible, and weight is light as far as possible so that by measuring system and process equipment integrated.Therefore, need to be optimized design to the structural framing of two CCD camera measure system, under ensureing that system dimension meets the prerequisite of on-line measurement requirement, the requirement of on-line measurement can be adapted to, still keep high-acruracy survey.
Although current binocular stereo vision measuring system can directly apply to processing site, it is not integrated with process equipment, thus to system bulk, weight and and process equipment integration aspect there is no too much requirement.There is not yet the patent about the binocular stereo vision three-dimension measuring system structural framing design aspect integrated with process equipment and bibliographical information.
Summary of the invention
The object of this invention is to provide a kind of framework for projection gate Phase Double item stereo vision measuring three-dimensional morphology, it has good thermal stability to ensure the baseline accuracy of system, meet little, the lightweight requirement of on-line measurement volume simultaneously, and have good in process equipment integration capability.Framed structure adopts fabricated structure, the basket type structure of outer likeness in form one band round shaft, the underframe of this framed structure is used for fixing grenade instrumentation, the connection handle of this framed structure is used for measuring system to be connected integrated with process equipment, the main frame of this framed structure has connected underframe and connection handle, be used for two cameras in left and right are installed, ensure parallax range and the coming year each camera and the relative position of grenade instrumentation and attitude; Main frame adopts integrated molding, and setting up three gussets increases rigidity.Main frame and underframe adopt duralumin, hard alumin ium alloy material, lightweight and have good heat-sinking capability.Actual test shows to adopt the projection gate phase place Binocular Stereo Vision System of this structure construction to have good precision, thermal stability and performance integrated with process equipment.
A kind of framework for projection gate Phase Double item stereo vision measuring three-dimensional morphology of the present invention, see Fig. 1, Fig. 2, Fig. 3, Fig. 3 A and Fig. 4, the hand basket of its outer likeness in form one band round shaft, it is made up of underframe (1), main frame (2) and connection handle (3), be bolted between main frame (2) and underframe (1), and the A face (2a) of main frame (2) contacts with the A face (1a) of underframe (1); Connection handle (3) and main frame (2) are bolted, and the periphery (3c) of connection handle (3), plane (3a) connect with the inner headed face (2b) of main frame (2).
Described underframe (1), is shown in Fig. 2, and its profile is a box cassette shapes not having top cover, is made up of base plate and four surrounding edges.Its material is duralumin, hard alumin ium alloy, and its B side (1b) and C side (1c) are provided with four countersunk head threaded holes (101,102,103,104), for clamping grenade instrumentation at surface level internal fixtion; The D bottom surface (1d) of underframe (1) is provided with the square hole (111,112,113,114,115,116,117,118) that eight sizes do not wait band fillet, while weight reduction, contributes to improving heat dispersion; The D bottom surface (1d) of underframe (1) is also provided with threaded hole (121), as connecting hole for subsequent use, when measuring system is not integrated with process equipment, can be threaded with the tripod of standard, be used for fixing measuring system.The E face (1e) of underframe (1) is provided with four countersunk head through holes (131,132,133,134), for the connection with main frame (2);
Described main frame (2), is shown in Fig. 3, and its profile is the posture hardware of a similar π font.Material is duralumin, hard alumin ium alloy, its upper surface C face (2c) is arranged six through holes (211,212,213; 221,222,223) connection of fixing left camera and right camera is respectively used to; Its upper surface C face (2c) is also provided with two leg-of-mutton reinforcement gussets (2e, 2f) and is connected with 2c face is vertical; Its lower surface be provided with a leg-of-mutton reinforcement gusset (2d) and main frame (2) baseplane (2h), side plane (2k) is vertical is connected; Its upper surface C face (2c) is provided with cubic boss (2g); Be provided with penetrating inner headed face (2b) in the middle part of boss, connect with the plane (3a) of connection handle (3), periphery (3c); Boss top is provided with two countersunk head threaded holes (201,202), for fixing with connection handle 3, ensures reliably to connect; The A face, bottom (2a) of its lower supporting leg type is provided with four threaded holes (231,232,233,234), for being connected with four countersunk head through holes (131,132,133,134) that (1e) face of underframe (1) is provided with;
Described connection handle (3), is shown in Fig. 4, is round rod type Step Shaft.Material is 45# steel, and one end-grain cutting is whittled into plane (3a) and periphery (3c), is convenient to the inner headed face (2b) penetrating with main frame and coordinates; Plane (3a) is provided with connecting thread hole, and the centre position of connection handle is provided with shallow trench (3b), is convenient to the cable of fixation measuring system, the tension force of cable is delivered to connection handle, reduces the stressed of main frame, alleviates the impact of cable strain on measuring system baseline.
The work overview brief introduction of this gage frame is as follows: first, complete the assembling of gage frame: installed respectively by left and right camera and stationary main frame upper surface, grenade instrumentation is installed and fixes in underframe, underframe be connected with main frame and fix, connection handle installed and is fixed to main frame relevant position; Then, the connection handle of this gage frame is connected with process equipment, realizes the integrated of measuring system and process equipment; Finally, the measuring system based on this gage frame is utilized to realize projection gate Phase Double item stereo vision measuring three-dimensional morphology.
Advantage and effect: major advantage of the present invention is: the thermal stability of (1) framed structure is high, what can ensure three dimensional shape measurement system has good baseline accuracy.(2) volume of framed structure is little, lightweight, and the ability integrated with process equipment is good.
Accompanying drawing explanation
Fig. 1 is the overall construction drawing of framed structure of the present invention
Fig. 2 is the structural drawing of underframe of the present invention
Fig. 2 A is the A direction view of Fig. 2
Fig. 3 is the structural drawing of main frame of the present invention
Fig. 3 A is the A direction view of Fig. 3
Fig. 4 is the structural drawing of connection handle of the present invention
Fig. 5 is the grenade instrumentation schematic diagram be installed in framed structure of the present invention
Fig. 6 is the camera schematic diagram be installed in framed structure of the present invention
In figure: 1. underframe, 1a. underframe A face, 1b. underframe B face, 1d. underframe D face, 1c. underframe C face, 1e. underframe E face, 101. countersunk head threaded holes, 102. countersunk head threaded holes, 103. countersunk head threaded holes, 104. countersunk head threaded holes, 111. fillet square holes, 112. fillet square holes, 113. fillet square hole 114. fillet square holes, 115. fillet square holes, 116. fillet square holes, 117. fillet square holes, 118. fillet square holes, 121. threaded hole, 131. countersunk head through holes, 132. countersunk head through holes, 133. countersunk head through hole 134. countersunk head through holes, 2. main frame, 2a. main frame A face, 2b. inner headed face, 2c. main frame C face, 2d. strengthens gusset, 2e. strengthens gusset, 2f. strengthens gusset, 2g. boss, 2h baseplane 2k side plane, 201. countersunk head threaded holes, 202. countersunk head threaded holes, 211. through hole, 212. through hole, 213. through hole 221. through holes, 222. through hole, 223. through hole, 231. threaded hole, 232. threaded hole 233. threaded holes, 234. threaded hole, 3. connection handle, 3a. plane, 3b. shallow slot, 3c. periphery
Embodiment
A kind of framework for projection gate Phase Double item stereo vision measuring three-dimensional morphology of the present invention, see Fig. 1, Fig. 2, Fig. 2 A, Fig. 3, Fig. 3 A and Fig. 4, the hand basket of its outer likeness in form one Ge Dai garden handle, it is made up of underframe (1), main frame (2) and connection handle (3), be bolted between main frame (2) and underframe (1), and the A face (2a) of main frame (2) contacts with the A face (1a) of underframe (1); Connection handle (3) and main frame (2) are bolted, and the periphery (3c) of connection handle (3), plane (3a) contact with the inner headed face (2b) of main frame (2).
Described underframe (1), is shown in Fig. 2, Fig. 2 A, and its profile is a box cassette shapes not having top cover, is made up of base plate and four surrounding edges.。Its material is duralumin, hard alumin ium alloy, and light weight, rigidity are large, coefficient of heat conductivity is high, and fixing grenade instrumentation 4 is installed in its effect, and is connected with main frame 2 by face 1a; Its B side (1b) and C side (1c) are provided with four countersunk head threaded holes (101,102,103,104), are used at surface level internal fixtion clamping grenade instrumentation; The D bottom surface (1d) of underframe (1) is provided with the square hole (111,112,113,114,115,116,117,118) that eight sizes do not wait band fillet, while weight reduction, contributes to improving heat dispersion; The D bottom surface (1d) of underframe (1) is also provided with threaded hole (121), as connecting hole for subsequent use, in measuring system when not integrated with process equipment, can be threaded with the tripod of standard, be used for fixing measuring system.The E face (1e) of underframe (1) is provided with four countersunk head through holes (131,132,133,134), for the connection with main frame (2);
Described main frame (2), is shown in Fig. 3, Fig. 3 A, and its profile is the posture hardware of a similar π font.Material is duralumin, hard alumin ium alloy, and light weight, rigidity are large, coefficient of heat conductivity is high, its upper surface C face (2c) is arranged six through holes (211,212,213; 221,222,223), be divided into two groups, be used for fixing left camera and right camera respectively, reliable fixing when being convenient to again install can be realized and regulate camera angle; Install camera time, can between camera and upper surface uniform application heat conductive silica gel, improve heat dispersion; Its upper surface C face (2c) is also provided with two leg-of-mutton reinforcement gussets (2e, 2f) and is connected with 2c face is vertical; Its lower surface be provided with a leg-of-mutton reinforcement gusset (2d) and main frame (2) baseplane (2h), side plane (2k) is vertical is connected; Its upper surface C face (2c) is provided with cubic boss (2g), increases the intensity of main frame, meets load requirement when fixing with connection handle; Be provided with penetrating inner headed face (2b) in the middle part of boss, with the plane (3a) of connection handle (3), periphery (3c) is affixed coordinates, and two the countersunk head threaded holes (201,202) arranged by boss top are fixed with connection handle 3, ensure reliably to connect; The A face, bottom (2a) of its lower supporting leg type is provided with four threaded holes (231,232,233,234), is connected and fixed for four the countersunk head through holes (131,132,133,134) be provided with (1e) face of underframe (1);
Described connection handle (3), is shown in Fig. 4, is round rod type Step Shaft.Material is 45# steel, and through high-frequency quenching process, ensures enough skin hardnesses, to bear clamping force when being connected with process equipment; One end-grain cutting is whittled into plane (3a) and periphery (3c), be convenient to the inner headed face (2b) penetrating with main frame coordinate, plane (3a) is provided with connecting thread hole, the centre position of connection handle is provided with shallow trench (3b), be convenient to the cable of fixation measuring system, the tension force of cable is delivered to connection handle, reduces the stressed of main frame, alleviate the impact of cable strain on measuring system baseline.Fig. 5 is the grenade instrumentation schematic diagram be installed on underframe, fixes by installing sunk screw in four the countersunk head threaded holes (101,102,103,104) on the B side (1b) and C side (1c) of underframe in Fig. 2 and clamps grenade instrumentation; Fig. 6 is the camera schematic diagram be installed on main frame, and camera is installed on the upper surface C face (2c) of main frame in figure 3, by six through holes (211,212,213 to this surface; 221,222,223) sunk screw is installed to fix left and right two cameras respectively in.
Measuring system assemble sequence: first left and right camera is fixed respectively respectively by the through hole of six on main frame upper surface; Then connection handle and main frame are in place by cylindrical mating surface, then fix with two bolts; Then grenade instrumentation is loaded underframe, and fixed by the countersunk head threaded hole on B side and C side; Finally, by four countersunk head through holes on underframe 1e face and the threaded hole on main frame, with four bolts, underframe and main frame are fixed, complete measuring system assembling.
Claims (1)
1. the framework for projection gate Phase Double item stereo vision measuring three-dimensional morphology, it is characterized in that: its profile is the hand basket of a band round shaft, it is made up of underframe (1), main frame (2) and connection handle (3), be bolted between main frame (2) and underframe (1), and the A face (2a) of main frame (2) contacts with the A face (1a) of underframe (1); Connection handle (3) and main frame (2) are bolted, and the periphery (3c) of connection handle (3), plane (3a) connect with the inner headed face (2b) of main frame (2);
Described underframe (1), its profile is a box cassette shapes not having top cover, is made up of base plate and four surrounding edges; Its material is duralumin, hard alumin ium alloy, and its B side (1b) and C side (1c) are provided with four countersunk head threaded holes (101,102,103,104), for clamping grenade instrumentation at surface level internal fixtion; The D bottom surface (1d) of underframe (1) is provided with the square hole (111,112,113,114,115,116,117,118) that eight sizes do not wait band fillet, while weight reduction, contributes to improving heat dispersion; The D bottom surface (1d) of underframe (1) is also provided with threaded hole (121), as connecting hole for subsequent use, when measuring system is not integrated with process equipment, can be threaded with the tripod of standard, be used for fixing measuring system; The E face (1e) of underframe (1) is provided with four countersunk head through holes (131,132,133,134), for the connection with main frame (2);
Described main frame (2), its profile is the posture hardware of a similar π font, and material is duralumin, hard alumin ium alloy, its upper surface C face (2c) is arranged six through holes (211,212,213; 221,222,223) connection of fixing left camera and right camera is respectively used to; Its upper surface C face (2c) is also provided with two leg-of-mutton reinforcement gussets (2e, 2f) and is connected with upper surface C face (2c) face is vertical; Its lower surface be provided with a leg-of-mutton reinforcement gusset (2d) and main frame (2) baseplane (2h), side plane (2k) is vertical is connected; Its upper surface C face (2c) is provided with cubic boss (2g); Be provided with penetrating inner headed face (2b) in the middle part of boss, connect with the plane (3a) of connection handle (3), periphery (3c); Boss top is provided with two countersunk head threaded holes (201,202), for fixing with connection handle 3, ensures reliably to connect; The A face, bottom (2a) of its lower supporting leg type is provided with four threaded holes (231,232,233,234), for being connected with four countersunk head through holes (131,132,133,134) that E face (1e) face of underframe (1) is provided with;
Described connection handle (3) is round rod type Step Shaft, and material is 45# steel, and one end-grain cutting is whittled into plane (3a) and periphery (3c), is convenient to the inner headed face (2b) penetrating with main frame and coordinates; Plane (3a) is provided with connecting thread hole, the centre position of connection handle is provided with shallow trench (3b), is convenient to the cable of fixation measuring system, the tension force of cable is delivered to connection handle, reduce the stressed of main frame, alleviate the impact of cable strain on measuring system baseline;
Measuring system assemble sequence: first left and right camera is fixed respectively respectively by the through hole of six on main frame upper surface; Then connection handle and main frame are in place by cylindrical mating surface, then fix with two bolts; Then grenade instrumentation is loaded underframe, and fixed by the countersunk head threaded hole on B side and C side; Finally, by the threaded hole on the countersunk head through hole of four on underframe face and main frame, with four bolts, underframe and main frame are fixed, complete measuring system assembling.
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Citations (3)
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| US7256899B1 (en) * | 2006-10-04 | 2007-08-14 | Ivan Faul | Wireless methods and systems for three-dimensional non-contact shape sensing |
| CN201701233U (en) * | 2010-05-15 | 2011-01-12 | 蔡正茂 | Oral cavity dental film photographical information collector fixing support |
| CN301597847S (en) * | 2011-01-14 | 2011-06-29 | 张宇航 | Three-dimensional scanner device system (3dza) |
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7256899B1 (en) * | 2006-10-04 | 2007-08-14 | Ivan Faul | Wireless methods and systems for three-dimensional non-contact shape sensing |
| CN201701233U (en) * | 2010-05-15 | 2011-01-12 | 蔡正茂 | Oral cavity dental film photographical information collector fixing support |
| CN301597847S (en) * | 2011-01-14 | 2011-06-29 | 张宇航 | Three-dimensional scanner device system (3dza) |
| CN301597848S (en) * | 2011-01-14 | 2011-06-29 | 张宇航 | Three-dimensional scanner device system (3dm) |
| CN301597846S (en) * | 2011-01-14 | 2011-06-29 | 张宇航 | Three-dimensional scanner device system (3dzb) |
| CN301768915S (en) * | 2011-07-21 | 2011-12-21 | 天津汇信软件有限公司 | 3D scanner |
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