CN107860315A - A kind of structure light omnidirectional light field vision system combining structure - Google Patents
A kind of structure light omnidirectional light field vision system combining structure Download PDFInfo
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- CN107860315A CN107860315A CN201711145033.5A CN201711145033A CN107860315A CN 107860315 A CN107860315 A CN 107860315A CN 201711145033 A CN201711145033 A CN 201711145033A CN 107860315 A CN107860315 A CN 107860315A
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- light
- top cover
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- field
- vision system
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- 238000009434 installation Methods 0.000 claims abstract description 12
- SEQDDYPDSLOBDC-UHFFFAOYSA-N Temazepam Chemical compound N=1C(O)C(=O)N(C)C2=CC=C(Cl)C=C2C=1C1=CC=CC=C1 SEQDDYPDSLOBDC-UHFFFAOYSA-N 0.000 claims description 8
- 229910000831 Steel Inorganic materials 0.000 claims description 6
- 239000010959 steel Substances 0.000 claims description 6
- 239000003292 glue Substances 0.000 claims description 5
- 238000003466 welding Methods 0.000 claims description 4
- 238000004026 adhesive bonding Methods 0.000 claims description 3
- 238000010276 construction Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 230000003287 optical effect Effects 0.000 claims description 3
- 229920001296 polysiloxane Polymers 0.000 claims description 3
- 239000000203 mixture Substances 0.000 abstract description 4
- 238000005259 measurement Methods 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- -1 and air-tightness Substances 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
-
- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B37/00—Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
- G01N2021/0106—General arrangement of respective parts
- G01N2021/0112—Apparatus in one mechanical, optical or electronic block
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Lenses (AREA)
Abstract
The present invention relates to a kind of structure light omnidirectional light field vision system combining structure, including base, cylinder, six prisms, hexagonal pyramid mirror and top cover；The base and top cover are six prism structures, and base circular hole is equipped with each angle of the base, top cover circular hole is equipped with each angle of the top cover；Connected between the base and top cover by cylindrical support, the upper end connection top cover circular hole of the cylinder, the lower end connect base circular hole of cylinder；The center of the base is provided with six prisms, and each side of six prism is provided with structured light projector installation aperture, structured light projector is provided with the structured light projector installation aperture.The beneficial effects of the invention are as follows：Structure light and omnidirectional vision are combined composition structure light omni-vision system by the present invention, combining structure is reasonable, Lytro illum light-field cameras can obtain the position and direction information of all light in scene, and the anamorphose that hexagonal pyramid mirror obtains is small, so as to substantially increase measurement accuracy.
Description
Technical field
The present invention relates to a kind of combining structure, and in particular to a kind of structure light omnidirectional light field vision system combining structure.
Background technology
In view of both are combined composition structure light omni-vision system by the respective possessed advantage of structure light and omnidirectional vision
Scheme have also been proposed.Structure light omni-vision system is mainly made up of image camera and speculum two parts at present.It is this
Main two kinds of vision system：One kind is made up of common camera, pyramidal plane mirror and structured light projector；Another kind is by general
Logical video camera, curved surface and structured light projector composition.Both vision systems all employ common camera imaging, this shooting
Machine can not obtain all ray positions and directional information in scene.And second of structure light omni-vision system reflecting part is all
Using curved mirror, this system due to the surface chart picture that video camera obtains by serious distortion can cause image procossing difficulty increase,
Also system model can be caused complicated and cause to demarcate difficulty increase.Also cause to measure further, since the anamorphose obtained is larger
Precision is less than traditional structure light vision system.
The content of the invention
The purpose of the present invention is to overcome deficiency of the prior art, there is provided a kind of structure light omnidirectional light field vision system combination
Structure.The purpose of the present invention is achieved through the following technical solutions：
This structure light omnidirectional light field vision system combining structure, including base, cylinder, six prisms, hexagonal pyramid mirror and top
Lid；The base and top cover are six prism structures, are equipped with base circular hole on each angle of the base, the top cover it is every
Top cover circular hole is equipped with individual angle；Connected between the base and top cover by cylindrical support, the upper end connection top of the cylinder
Lid circular hole, the lower end connect base circular hole of cylinder；The center of the base is provided with six prisms, and each side of six prism is set
There is structured light projector that aperture is installed, structured light projector, six rib are installed in the structured light projector installation aperture
The center of post is provided with light-field camera mounting hole, and light-field camera, the light-field camera mirror are provided with the light-field camera mounting hole
Head points to top cap central；The top cover lower surface is provided with hexagonal pyramid mirror, and the hexagonal pyramid mirror is by triangle projective planum microscope group into six ribs
The vertex of a cone of axicon lens points to the camera lens of light-field camera；The top cover, base, six prisms and hexagonal pyramid mirror centerline collineation and with light
The optical axis of field camera is conllinear.
As preferred：Each base of the hexagonal pyramid mirror is parallel with the corresponding sides of top cover.
As preferred：The base, top cover, cylinder and six prisms are steel material, and air-tightness, water are used between steel construction
The good T-shaped welding manner big with structural rigidity of close property connects.
As preferred：The hexagonal pyramid mirror bottom surface is arranged on top cover using silicone structure is gluing, the triangle projective planum
Connection medium between mirror uses shadowless glue.
As preferred：Six prism is welded on base, and the structured light projector is arranged on six ribs by seccotine
In the structured light projector installation aperture of post side.
As preferred：The light-field camera mounting hole post-production is camera model, and the light-field camera is fixed on camera
Inside model, light-field camera selects Lytro illum light-field cameras.
The beneficial effects of the invention are as follows：
(1) structure light and omnidirectional vision are combined composition structure light omni-vision system by the present invention, and combining structure is reasonable,
Lytro illum light-field cameras can obtain the position and direction information of all light in scene, and the image that hexagonal pyramid mirror obtains becomes
Shape is small, so as to substantially increase measurement accuracy.
(2) each several part of the present invention is attached using welding, shadowless glue and model bayonet socket, to apertured place glass
Glue is filled, and prevents occurring the deformation of structure in application process.
(3) each part of this structure installation will not both produce loosening at work, will not also interfere, firmly may be used
Lean on, and can each individual components of quick disassembly and installation.
(4) present invention it is simple and compact for structure, the dimensions of vision system can be effectively reduced, can be applied to three-dimensional navigation,
The field of machine vision such as three dimensions reconstruction.
Brief description of the drawings
Fig. 1 is the understructure schematic diagram of the present invention；
Fig. 2 is the base and top cover support rod structure schematic diagram of the present invention；
Fig. 3 is the structured light projector and light-field camera installation chassis structural representation of the present invention；
Fig. 4 is the structured light projector structural representation of the present invention；
Fig. 5 is the light-field camera structural representation of the present invention；
Fig. 6 is the hexagonal pyramid mirror structural representation of the present invention；
Fig. 7 is the overall structure diagram of the present invention；
Description of reference numerals：Base 1, base circular hole 2, cylinder 3, six prisms 4, structured light projector installation aperture 5, light field
Camera mounting hole 6, structured light projector 7, light-field camera 8, triangle projective planum mirror 9, hexagonal pyramid mirror 10, top cover 11, top cover circular hole
12。
Embodiment
The present invention is described further with reference to embodiment.The explanation of following embodiments is only intended to help and understands this
Invention.It should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention, also
Some improvement and modification can be carried out to the present invention, these are improved and modification also falls into the protection domain of the claims in the present invention
It is interior.
As shown in Figures 1 to 7, described structure light omnidirectional light field vision system combining structure measurement accuracy height, structure are closed
Reason, the anamorphose obtained is small and can obtain the position and direction information of all light in scene, structure light omnidirectional light field
Vision system combining structure includes base 1, base circular hole 2, cylinder 3, six prisms 4, structured light projector installation aperture 5, light field
Camera mounting hole 6, structured light projector 7, light-field camera 8, triangle projective planum mirror 9, hexagonal pyramid mirror 10, top cover 11 and top cover circular hole
12.As shown in figure 1, the base 1 is identical with the structure of top cover 11, the base 1 and top cover 11 are six prism structures, described
A base circular hole 2 is equipped with each angle of base 1, a top cover circular hole 12 is equipped with each angle of the top cover 11.
As shown in fig. 7, pass through six support connections of cylinder 3, the upper end connection top cover of the cylinder 3 between the base 1 and top cover 11
Circular hole 12, the lower end connect base circular hole 2 of cylinder 3.As shown in Fig. 3,7, the center of the base 1 is provided with six prisms 4, and described six
The side of prism 4 is provided with six structured light projectors and installs aperture 5, embedding structure light projector 7, the center of six prism 4
Provided with light-field camera mounting hole 6, built-in light-field camera 8, the camera lens of light-field camera 8 points to the center of top cover 11.Such as Fig. 6,7 institutes
Show, the lower surface of top cover 11 is provided with hexagonal pyramid mirror 10, and the hexagonal pyramid mirror 10 is made up of six pieces of triangle projective planum mirrors 9, six ribs
Each base of axicon lens 10 is parallel with the corresponding sides of top cover 11, and the vertex of a cone of hexagonal pyramid mirror 10 points to the camera lens of light-field camera 8.It is described
Top cover 11, base 1, the centerline collineation of six prisms 4 and hexagonal pyramid mirror 10 and conllinear with the optical axis of light-field camera 8.
The combination center base 1, top cover 11, cylinder 3, six prisms 4 be steel material, used between steel construction air-tightness,
Watertightness T-shaped welding manner preferably larger with structural rigidity connects.The bottom surface of hexagonal pyramid mirror 10 is gluing using silicone structure
On top cover 11, the connection medium between the triangle projective planum mirror 9 uses shadowless glue.Six prism 4 is welded on bottom
On seat 1, the structured light projector that the structured light projector 7 is arranged on the side of six prism 4 by seccotine is installed in aperture 5.
The post-production of light-field camera mounting hole 6 is camera model, light-field camera 8 is fixed on inside camera model, the light field
Camera 8 selects Lytro illum light-field cameras, and it has 90,000 micro lens arrays and 40,000,000 pixels.
Claims (6)
- A kind of 1. structure light omnidirectional light field vision system combining structure, it is characterised in that：Including base (1), cylinder (3), six ribs Post (4), hexagonal pyramid mirror (10) and top cover (11)；The base (1) and top cover (11) are six prism structures, the base (1) Each angle on be equipped with base circular hole (2), be equipped with top cover circular hole (12) on each angle of the top cover (11)；The base (1) supported and connected by cylinder (3) between top cover (11), the upper end connection top cover circular hole (12) of the cylinder (3), cylinder (3) lower end connect base circular hole (2)；The center of the base (1) is provided with six prisms (4), each side of six prism (4) Face is provided with structured light projector installation aperture (5), and structured light projector is provided with the structured light projector installation aperture (5) (7), the center of six prism (4) is provided with light-field camera mounting hole (6), and light is provided with the light-field camera mounting hole (6) Field camera (8), light-field camera (8) camera lens point to top cover (11) center；Top cover (11) lower surface is provided with hexagonal pyramid mirror (10), the hexagonal pyramid mirror (10) is made up of triangle projective planum mirror (9), and the vertex of a cone of hexagonal pyramid mirror (10) points to light-field camera (8) Camera lens；The top cover (11), base (1), the centerline collineation and and light-field camera of six prisms (4) and hexagonal pyramid mirror (10) (8) optical axis is conllinear.
- 2. structure light omnidirectional light field vision system combining structure according to claim 1, it is characterised in that：The hexagonal pyramid Each base of mirror (10) is parallel with the corresponding sides of top cover (11).
- 3. structure light omnidirectional light field vision system combining structure according to claim 1, it is characterised in that：The base (1), top cover (11), cylinder (3) and six prisms (4) are steel material, between steel construction using air-tightness, watertightness is good and structure The big T-shaped welding manner connection of rigidity.
- 4. structure light omnidirectional light field vision system combining structure according to claim 1, it is characterised in that：The hexagonal pyramid Mirror (10) bottom surface is arranged on top cover (11) using silicone structure is gluing, the connection medium between the triangle projective planum mirror (9) Using shadowless glue.
- 5. structure light omnidirectional light field vision system combining structure according to claim 1, it is characterised in that：Six prism (4) it is welded on base (1), the structure light that the structured light projector (7) is arranged on six prisms (4) side by seccotine is thrown In emitter installation aperture (5).
- 6. structure light omnidirectional light field vision system combining structure according to claim 1, it is characterised in that：The light field phase Machine mounting hole (6) post-production is camera model, and the light-field camera (8) is fixed on inside camera model, light-field camera (8) choosing With Lytro illum light-field cameras.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711145033.5A CN107860315A (en) | 2017-11-17 | 2017-11-17 | A kind of structure light omnidirectional light field vision system combining structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711145033.5A CN107860315A (en) | 2017-11-17 | 2017-11-17 | A kind of structure light omnidirectional light field vision system combining structure |
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| Publication Number | Publication Date |
|---|---|
| CN107860315A true CN107860315A (en) | 2018-03-30 |
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Family Applications (1)
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|---|---|---|---|
| CN201711145033.5A Pending CN107860315A (en) | 2017-11-17 | 2017-11-17 | A kind of structure light omnidirectional light field vision system combining structure |
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| CN (1) | CN107860315A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113959361A (en) * | 2020-07-02 | 2022-01-21 | 浙大城市学院 | High-resolution active structured light measurement refraction and reflection omnidirectional vision system |
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2017
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113959361A (en) * | 2020-07-02 | 2022-01-21 | 浙大城市学院 | High-resolution active structured light measurement refraction and reflection omnidirectional vision system |
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