CN107016667A - A kind of utilization binocular vision obtains the device of large parts three-dimensional point cloud - Google Patents
A kind of utilization binocular vision obtains the device of large parts three-dimensional point cloud Download PDFInfo
- Publication number
- CN107016667A CN107016667A CN201710168404.5A CN201710168404A CN107016667A CN 107016667 A CN107016667 A CN 107016667A CN 201710168404 A CN201710168404 A CN 201710168404A CN 107016667 A CN107016667 A CN 107016667A
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- Prior art keywords
- guide rail
- motor
- slide block
- point cloud
- bolt connection
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
- G06T2207/30164—Workpiece; Machine component
Abstract
Present invention relates particularly to the device that a kind of utilization binocular vision obtains large parts three-dimensional point cloud, including horizontal guide rail screw mechanism, mobile base, turntable, several parts such as mechanical arm and camera system, wherein horizontal guide rail screw mechanism one end is provided with motor, drive leading screw to rotate by motor and then realize the motion of mobile base horizontal direction, motor is utilized and is bolted on level ground, leading screw one end is fixed in the rotary shaft of motor by shaft coupling, the other end of leading screw is fixed in cement platform by a bearing, guide rail is bolted on level ground, mobile base is connected by guide rail slide block with guide rail, mobile base and turntable bolt connection, turntable is connected with mechanical arm bearing, mechanical arm utilizes bolt connection with camera system by flange, the present invention has four frees degree, it is uniformly controlled by a console, cost is relatively low, suitable for the point cloud acquisition work of large parts.
Description
Technical field
The present invention relates to the acquisition of the three-dimensional point cloud of heavy parts, and in particular to one kind obtains large-scale zero using binocular vision
The device of part three-dimensional point cloud.
Background technology
In real world, all objects are all three-dimensional, and an objective object has its corresponding shape, line
The information such as reason, color and size, but it is two-dimensional signal mostly that traditional equipment, which recorded, is believed not comprising phase and depth
Therefore breath, the object being recorded just loses third dimension, it has not been convenient to the observation analysis of multi-angle and research, so just urgent need
Will the technology that three-dimensional appearance can be measured, three dimensional point cloud be it is a kind of can be for rebuilding three-dimensional spatial information
Technology, is numerous scientific researches such as Aeronautics and Astronautics, automobile, ship, pattern-recognition, Reverse Engineering CAD/CAM modelings, computer vision
The important subject in field, cloud data is a series of set for the space coordinate points for scanning surface in kind and obtaining, it
Not only include the three-dimensional coordinate information of object table millet cake, also comprising information such as color, textures, material object can be more meticulously presented
Three-dimensional detail, can draw, convenient storage to complex-curved and three-dimensional scenic, while also overcoming presence among two dimensional image
Some defects.
The further development of Point Cloud Processing technology, in three-dimension tidal current, human body reconstruction, machine vision, work
Acquisition, navigation and the automatic Pilot of industry CAD model, the operation of medical science correction, between the motion sensing control of game role, virtual fitting, it is empty
Intend the numerous areas such as driving and ecommerce, provide theoretical foundation for researcher, not only promote three-dimensional point cloud treatment technology
Further application in current academia and industrial quarters modeling, and promote three-dimensional reconstruction in more wide field
Preferably applied, so, the research to cloud data technology, with highly important academic significance and application value.
The content of the invention
At present, the acquisition modes of three-dimensional point cloud mainly have two kinds：Contact and contactless, contact method is conventional to be set
Standby is three dimensional coordinate measuring machine, cloud data is obtained by the detecting head of three dimensional coordinate measuring machine, the advantage of such method is
There is no special requirement to testee reflection characteristic and surface color, precision is very high, have the disadvantage expensive, measuring speed
Slowly, easily scratch measured surface, there is contact and radius compensation, be not suitable for measuring yielding, frangible, soft and super-thin
Object, is limited its application, non-contact method mainly has following several：Laser method, Structure light method, encoded light method and More are dry
The Schlieren method, stereoscopic parallax method etc. are related to, the advantage of non-contact method is that picking rate is fast, measurable frangible and yielding thing
Body, will not cause surface damage to determinand, and inferior position is that the edge contour of object is difficult accurate measurement, and easily by intensity of illumination and
Object under test Color influences, are influenceed larger by working environment, and are using most again with laser method in non-contact method
It is many, but often price is higher for the three dimensions data reduction equipment based on laser, therefore to being irradiated based on normal daylight
In the case of the research extracted of three-dimensional point cloud with relatively high practical value.
The invention aims to overcome some existing point clouds to obtain equipment weak point, propose one kind using shooting
Machine obtains equipment as scanning means three-dimensional point cloud, and it is compared with some existing point clouds obtain equipment, with broader scanning
Scope, can effectively improve the operating efficiency scanned to determinand, and video camera is can to differentiate the difference on determinand surface
Color, well can distinguish determinand, the determinand that can be become apparent from from environment in other chaff interferences
Two identical video cameras are separately fixed on the paw of mechanical arm front end by the three-D profile of body, the present invention, utilize two shootings
Machine simulates human eye, gets the image information of two width different visual angles of determinand same position, and by computer software to figure
Extracted as information carries out point cloud analysis, splicing fusion then is carried out to cloud data, position to be measured is obtained on three dimensions
Cloud data, with the motion of mechanical arm, video camera can be scanned with measuring targets diverse location, in order to get not
With the three dimensional point cloud of position, most these three dimensional point clouds carry out overall splicing fusion at last, are formed on computers
The accurate three-D profile of object under test.
The beneficial effects of the present invention are the present invention uses the motion mode of lead screw guide rails mechanism, and such a design can be protected
The robust motion of equipment is demonstrate,proved, eliminates due to adverse effect when ground out-of-flatness is gathered to cloud data, reduces one
Divide error, in the present invention, apply a turntable that can be rotated by 360 ° with horizontal direction, improve equipment in collection number
According to when flexibility, also apply the fluid pressure type that can a be stretched forearm in addition, and this fluid pressure type forearm and bottom is big
One hydraulic pressure support bar is equally installed between arm, the vertical height of forearm front-end camera can be adjusted using hydraulic pressure support bar
Degree, the impulse stroke in camera horizon direction can be adjusted using telescopic hydraulic forearm, meanwhile, mechanical arm large arm can also be entered
Swing in the range of row certain angle, the efficient working range of video camera can be greatly improved using the design of such a convolution,
In addition, being also equipped with a paw motor at mechanical arm paw and fluid pressure type forearm connecting shaft, electricity is driven by paw
Machine controls paw to be rotated around connecting shaft so that video camera is more flexible when obtaining data, and binocular camera again can be real
The function of human eye binocular is now simulated, the final purpose for obtaining determinand three-D profile is reached.
A kind of utilization binocular vision obtains the device of large parts three-dimensional point cloud, including guide rail one (8), guide rail two (9)
And leading screw (11) constitute lead screw guide rails mechanism, guide rail one (8), guide rail two (9) be utilized respectively embedded guide rail interior bolt consolidate
It is scheduled on level ground, leading screw (11) one end is connected using shaft coupling with motor two (10), leading screw (11) other end is utilized
Bearing is fixed on cement boss, the guide rail slide block machine that guide rail one (8) is constituted with guide rail slide block one (12), guide rail slide block two (13)
Structure, the guide rail slide block mechanism that guide rail two (9) is constituted with guide rail slide block three (14), guide rail slide block four (15), mobile foundation bottom plate (1)
The bolt connection between each sliding block, motor one (7) and pedestal bottom plate (1) bolt connection, each susceptor posts and pedestal
Bottom plate (1), pedestal top plate (2) bolt connection, turntable (16) and pedestal top plate (2) bolt connection, Y shaped bracket (17) and driving
Motor one (7) shaft coupling is connected, motor three (18), motor four (19) and Y shaped bracket (17) bolt connection, end cap one
(20), end cap two (21) and Y shaped bracket (17) bolt connection, mechanical arm large arm (22) are connected with Y shaped bracket (17) bearing, can stretched
Contracting mechanical arm forearm (24) is connected with large arm (22) by a rotatable axle, hydraulic pressure support bar (23) respectively with large arm
(22), forearm (24) axle is connected, and end paw (25) is connected with forearm (24) axle, paw controlled motor (27) and forearm (24) spiral shell
Tether and connect, paw controlled motor (27) is connected with end paw (25) by shaft coupling, camera system (26) and end paw
(25) flange is connected.
A kind of utilization binocular vision obtains the device of large parts three-dimensional point cloud, it is characterised in that：Pedestal bottom plate
(1) it is connected with the engagement of leading screw (11) screw thread, guide rail one (8), guide rail two (9) are utilized respectively being bolted to for embedded guide rail interior
On level ground, leading screw (11) one end is connected using shaft coupling with motor two (10), and leading screw (11) other end utilizes bearing
It is fixed on cement boss, the guide rail slide block mechanism that guide rail one (8) is constituted with guide rail slide block one (12), guide rail slide block two (13),
The guide rail slide block mechanism that guide rail two (9) is constituted with guide rail slide block three (14), guide rail slide block four (15), passes through motor two (10)
Leading screw (11) rotation is driven, mobile foundation is obtained and moves horizontally ability, a cloud, which can be significantly increased, using this design obtains
When effective travel, reduce when point cloud is obtained the drawbacks of move repeatedly determinand, can effectively reduce by mobile determinand institute
The human error brought.
A kind of utilization binocular vision obtains the device of large parts three-dimensional point cloud, it is characterised in that：Motor
One (7) are connected with Y shaped bracket (17) by shaft coupling so that mechanical arm system integrally obtains the free degree of a horizontal rotation,
Motor three (18), motor four (19) and Y shaped bracket (17) bolt connection, motor three (18), motor four
(19) by the swing of gear synchronous control machinery arm large arm (22), end cap one (20), end cap two (21) and Y shaped bracket
(17) bolt connection, mechanical arm large arm (22) is connected with Y shaped bracket (17) bearing, scalable mechanical arm forearm (24) and large arm
(22) connected by a rotatable axle, hydraulic pressure support bar (23) is connected with large arm (22), forearm (24) axle respectively, end hand
Pawl (25) is connected with forearm (24) axle, and paw controlled motor (27) and forearm (24) bolt connection, package unit have 4 freedom
Degree, compared with the laser scanner that in the market is commonly used, it is advantageous that it is simple in construction, it is easy to control, it is cheap.
Brief description of the drawings：
Fig. 1 is that a kind of utilization binocular vision of the invention obtains the device pedestal of large parts three-dimensional point cloud and guide rail is installed
Schematic diagram；
Fig. 2 is the device sliding block installation signal that a kind of utilization binocular vision of the invention obtains large parts three-dimensional point cloud
Figure；
Fig. 3 is the device integral installation signal that a kind of utilization binocular vision of the invention obtains large parts three-dimensional point cloud
Figure.
Fig. 4 is the device Figure of abstract that a kind of utilization binocular vision of the invention obtains large parts three-dimensional point cloud.
Claims (3)
1. a kind of utilization binocular vision obtains the device of large parts three-dimensional point cloud, it is mobile mainly by lead screw guide rails mechanism
Base, mechanical arm and camera system composition, it is characterised in that：Constituted including guide rail one (8), guide rail two (9) and leading screw (11)
Lead screw guide rails mechanism, guide rail one (8), guide rail two (9) are utilized respectively being bolted on level ground of embedded guide rail interior, silk
Thick stick (11) one end is connected using shaft coupling with motor two (10), and leading screw (11) other end is fixed on cement boss using bearing
On, guide rail one (8) and guide rail slide block one (12), the guide rail slide block mechanism of guide rail slide block two (13) composition, guide rail two (9) and guide rail
The guide rail slide block mechanism of sliding block three (14), guide rail slide block four (15) composition, bolt between mobile foundation bottom plate (1) and each sliding block
Connection, motor one (7) and pedestal bottom plate (1) bolt connection, each susceptor posts and pedestal bottom plate (1), pedestal top plate (2)
Bolt connection, turntable (16) and pedestal top plate (2) bolt connection, Y shaped bracket (17) connect with motor one (7) shaft coupling
Connect, motor three (18), motor four (19) and Y shaped bracket (17) bolt connection, end cap one (20), end cap two (21) with
Y shaped bracket (17) bolt connection, mechanical arm large arm (22) is connected with Y shaped bracket (17) bearing, scalable mechanical arm forearm (24)
It is connected with large arm (22) by a rotatable axle, hydraulic pressure support bar (23) is connected with large arm (22), forearm (24) axle respectively,
End paw (25) is connected with forearm (24) axle, paw controlled motor (27) and forearm (24) bolt connection, paw controlled motor
(27) it is connected with end paw (25) by shaft coupling, camera system (26) is connected with end paw (25) flange.
2. a kind of utilization binocular vision obtains the device of large parts three-dimensional point cloud according to claim 1, its feature exists
In：Pedestal bottom plate (1) is connected with the engagement of leading screw (11) screw thread, and guide rail one (8), guide rail two (9) are utilized respectively embedded guide rail interior
Be bolted on level ground, leading screw (11) one end is connected using shaft coupling with motor two (10), and leading screw (11) is another
One end is fixed on cement boss using bearing, guide rail one (8) and leading that guide rail slide block one (12), guide rail slide block two (13) are constituted
Rail slide block mechanism, the guide rail slide block mechanism that guide rail two (9) is constituted with guide rail slide block three (14), guide rail slide block four (15), by driving
Dynamic motor two (10) drives leading screw (11) rotation, obtains mobile foundation and moves horizontally ability, can be significantly using this design
Effective travel when increase point cloud is obtained, is reduced when point cloud is obtained the drawbacks of move repeatedly determinand, can effectively reduce due to
The human error that mobile determinand is brought.
3. a kind of utilization binocular vision obtains the device of large parts three-dimensional point cloud according to claim 1, its feature exists
In：Motor one (7) is connected with Y shaped bracket (17) by shaft coupling so that mechanical arm system integrally obtains a level rotation
The free degree turned, motor three (18), motor four (19) and Y shaped bracket (17) bolt connection, motor three (18),
Motor four (19) passes through the swing of gear synchronous control machinery arm large arm (22), end cap one (20), end cap two (21)
With Y shaped bracket (17) bolt connection, mechanical arm large arm (22) is connected with Y shaped bracket (17) bearing, scalable mechanical arm forearm
(24) be connected with large arm (22) by a rotatable axle, hydraulic pressure support bar (23) respectively with large arm (22), forearm (24) axle
Connection, end paw (25) is connected with forearm (24) axle, paw controlled motor (27) and forearm (24) bolt connection, package unit
4 frees degree are had, compared with the laser scanner that in the market is commonly used, it is advantageous that simple in construction, easy to control, price is low
It is honest and clean.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710168404.5A CN107016667B (en) | 2017-03-21 | 2017-03-21 | A kind of device obtaining large parts three-dimensional point cloud using binocular vision |
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| CN201710168404.5A CN107016667B (en) | 2017-03-21 | 2017-03-21 | A kind of device obtaining large parts three-dimensional point cloud using binocular vision |
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| CN107016667A true CN107016667A (en) | 2017-08-04 |
| CN107016667B CN107016667B (en) | 2019-07-05 |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107639638A (en) * | 2017-09-27 | 2018-01-30 | 广东工业大学 | A kind of keyboard mechanical arm based on machine vision |
| CN108444383A (en) * | 2018-03-08 | 2018-08-24 | 大连理工大学 | The box-like process integral measurement method of view-based access control model laser group |
| CN108748210A (en) * | 2018-07-18 | 2018-11-06 | 昆明理工大学 | A kind of light-duty package picks and places robot |
| CN108908272A (en) * | 2018-08-20 | 2018-11-30 | 东南大学 | A kind of two degrees of freedom towards library takes book platform |
| CN109079751A (en) * | 2018-07-13 | 2018-12-25 | 安徽派日特智能装备有限公司 | A kind of rotary type robot base |
| CN109185668A (en) * | 2018-11-05 | 2019-01-11 | 滁州市云米工业设计有限公司 | One kind fixing bracket with spatial digitizer for large product three-dimensional image acquisition |
| CN109243223A (en) * | 2018-09-28 | 2019-01-18 | 邯郸学院 | A kind of Multi-media interactive device |
| CN109839065A (en) * | 2017-11-29 | 2019-06-04 | 刘松林 | A kind of vision measurement test platform |
| CN109866201A (en) * | 2019-04-08 | 2019-06-11 | 清华大学 | Binocular vision system, mobile crawl robot and automatic picking method |
| CN110397254A (en) * | 2019-08-19 | 2019-11-01 | 广东博智林机器人有限公司 | A kind of four-degree-of-freedom movement mechanism and paving robot |
| CN110497246A (en) * | 2019-09-18 | 2019-11-26 | 上海理工大学 | Numerical control processing workpiece detection machine in place based on binocular vision |
| CN110561399A (en) * | 2019-09-16 | 2019-12-13 | 腾讯科技（深圳）有限公司 | Auxiliary shooting device for dyskinesia condition analysis, control method and device |
| CN111623744A (en) * | 2020-05-14 | 2020-09-04 | 湖北恒义智能科技有限公司 | Curved surface appearance acquisition and measurement system |
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| CN107639638A (en) * | 2017-09-27 | 2018-01-30 | 广东工业大学 | A kind of keyboard mechanical arm based on machine vision |
| CN107639638B (en) * | 2017-09-27 | 2024-01-23 | 广东工业大学 | Key mechanical arm based on machine vision |
| CN109839065A (en) * | 2017-11-29 | 2019-06-04 | 刘松林 | A kind of vision measurement test platform |
| CN108444383A (en) * | 2018-03-08 | 2018-08-24 | 大连理工大学 | The box-like process integral measurement method of view-based access control model laser group |
| CN108444383B (en) * | 2018-03-08 | 2019-06-28 | 大连理工大学 | The box-like process integral measurement method of view-based access control model laser group |
| CN109079751A (en) * | 2018-07-13 | 2018-12-25 | 安徽派日特智能装备有限公司 | A kind of rotary type robot base |
| CN108748210A (en) * | 2018-07-18 | 2018-11-06 | 昆明理工大学 | A kind of light-duty package picks and places robot |
| CN108908272A (en) * | 2018-08-20 | 2018-11-30 | 东南大学 | A kind of two degrees of freedom towards library takes book platform |
| CN109243223A (en) * | 2018-09-28 | 2019-01-18 | 邯郸学院 | A kind of Multi-media interactive device |
| CN109185668A (en) * | 2018-11-05 | 2019-01-11 | 滁州市云米工业设计有限公司 | One kind fixing bracket with spatial digitizer for large product three-dimensional image acquisition |
| CN111174063B (en) * | 2018-11-05 | 2021-06-04 | 安徽省春谷3D打印智能装备产业技术研究院有限公司 | Three-dimensional scanner fixing support for three-dimensional image acquisition of large product |
| CN109185668B (en) * | 2018-11-05 | 2020-04-14 | 龙岩市企信工业设计有限公司 | Three-dimensional scanner fixing support for three-dimensional image acquisition of large product |
| CN111174063A (en) * | 2018-11-05 | 2020-05-19 | 沈足金 | Three-dimensional scanner fixing support for product three-dimensional image acquisition |
| CN109866201A (en) * | 2019-04-08 | 2019-06-11 | 清华大学 | Binocular vision system, mobile crawl robot and automatic picking method |
| CN110397254A (en) * | 2019-08-19 | 2019-11-01 | 广东博智林机器人有限公司 | A kind of four-degree-of-freedom movement mechanism and paving robot |
| CN110397254B (en) * | 2019-08-19 | 2022-05-06 | 广东博智林机器人有限公司 | Four-degree-of-freedom motion mechanism and paving robot |
| CN110561399A (en) * | 2019-09-16 | 2019-12-13 | 腾讯科技（深圳）有限公司 | Auxiliary shooting device for dyskinesia condition analysis, control method and device |
| WO2021052208A1 (en) * | 2019-09-16 | 2021-03-25 | 腾讯科技（深圳）有限公司 | Auxiliary photographing device for movement disorder disease analysis, control method and apparatus |
| US11945125B2 (en) | 2019-09-16 | 2024-04-02 | Tencent Technology (Shenzhen) Company Limited | Auxiliary photographing device for dyskinesia analysis, and control method and apparatus for auxiliary photographing device for dyskinesia analysis |
| CN110497246A (en) * | 2019-09-18 | 2019-11-26 | 上海理工大学 | Numerical control processing workpiece detection machine in place based on binocular vision |
| CN111623744A (en) * | 2020-05-14 | 2020-09-04 | 湖北恒义智能科技有限公司 | Curved surface appearance acquisition and measurement system |
| CN113551612A (en) * | 2021-06-18 | 2021-10-26 | 中广核检测技术有限公司 | CRDM thermal casing wear loss measuring device |
| CN113442121A (en) * | 2021-07-30 | 2021-09-28 | 上海宜硕网络科技有限公司 | Mechanical arm, adjusting method and device thereof, and electronic equipment |
| CN114485466A (en) * | 2022-01-26 | 2022-05-13 | 哈尔滨理工大学 | Planetary gear tooth profile machining error measuring device and self-adaptive on-machine measuring method |
| CN114485466B (en) * | 2022-01-26 | 2023-11-21 | 哈尔滨理工大学 | Planet gear tooth form machining error measuring device and self-adaptive on-machine measuring method |
| CN114955074A (en) * | 2022-06-06 | 2022-08-30 | 苏州松生机电设备有限公司 | Automatic pile up top income formula case packer |
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| CN107016667B (en) | 2019-07-05 |
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