CN108759712A - The aviation luggage three-dimensional detection device of laser projection stereoscopic vision - Google Patents
The aviation luggage three-dimensional detection device of laser projection stereoscopic vision Download PDFInfo
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- CN108759712A CN108759712A CN201810426494.8A CN201810426494A CN108759712A CN 108759712 A CN108759712 A CN 108759712A CN 201810426494 A CN201810426494 A CN 201810426494A CN 108759712 A CN108759712 A CN 108759712A
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- laser
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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
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/2433—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures for measuring outlines by shadow casting
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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
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
A kind of aviation luggage three-dimensional detection device of laser projection stereoscopic vision.It include shell and setting inside the housing or the left camera angle rotating device on surface, left video camera telescopic device, left video camera, laser projection camera lens, right video camera, right camera rotating apparatus, DHMI interfaces, right video camera telescopic device, USB interface, power interface, network interface and control device；Effect of the present invention：Have many advantages, such as that big visual field, non-contact, abundant information and precision are high, and cost performance and reliability can be significantly improved；The queuing time handled efficiency, reduce passenger that self-help baggage consigning system can be improved improves the trip experience of passenger, the scientific and technological level of displaying civil aviaton, has extensive social benefit and application prospect.
Description
Technical field
The invention belongs to airfield detection equipment technical fields, more particularly to a kind of aviation row of laser projection stereoscopic vision
Lee's three-dimensional detection device.
Background technology
In automatic baggage sorting and self-help baggage consigning system, the specification for detecting luggage automatically, including appearance, ruler are needed
Very little, number of packages, shape etc., in order to distinguish super rule luggage, refusal delivery shape does not conform to rule luggage etc..Common three-dimensional rebuilding method
Have：Stereo vision method, method of structured light, infrared scanning method, beam splitting type photometric stereo video camera imaging method, laser radar are three-dimensional
Imaging method etc..
The method of structured light of testee surface three dimensional reconstruction is carried out using a projecting apparatus and a video camera；It is in light
There is higher reconstruction precision under the dark environment of line, but if light is too strong, video camera just can not accurately identify bright spot,
Three-dimensional reconstruction may be caused to fail in this way；Wherein, the projecting apparatus in method of structured light is needed to testee surface projection grid
Pattern etc. has the image of coding, while needing the testee surface image of tens of different codings of continuous acquisition, to solve
Distance of the object away from video camera is calculated, therefore this method is suitable for the three-dimensional reconstruction of stationary body；
Laser radar three-dimensional imaging method can solve the problems, such as to come due to light variation and grass, but be surveyed based on triangle
Laser radar away from method does not break away from the short defect of finding range, and most products are all within the scope of 5-6m；Also, because of transmitting
Be single-point laser, only have 4k or so, the speed of reconstruct three-dimensional information that can compare along with the laser of general manufacturer goes out points
Slowly, the requirement of real-time is not achieved.
The three-dimensional reconstruction and beam splitting type photometric stereo video camera of infrared scanning method all use infrared launcher, still
Infrared light has poor robustness to light.
Stereo vision method has many advantages, such as big visual field, non-contact, abundant information and high-precision, but is stood based on traditional
Body vision method is difficult to carry out reliable Stereo matching and Three-dimensional Gravity for pure color or the unconspicuous testee of textural characteristics
It builds, in order to increase the textural characteristics on testee surface, generally using laser projection device, (laser of generation passes through the diffraction
An image with coding pattern is formed after optical component) increase its surface to the method for body surface projection code pattern
Textural characteristics, to improve the reliability of Stereo matching and the precision of three-dimensional reconstruction.
Therefore it needs one kind that there is high integration, there is the three-dimensional detection device of strong robustness to obtain surrounding environment change
The specification information of aviation luggage.
Invention content
To solve the above-mentioned problems, the purpose of the present invention is to provide a kind of aviation luggages three of laser projection stereoscopic vision
Tie up detection device.
In order to achieve the above object, the aviation luggage three-dimensional detection device packet of laser projection stereoscopic vision provided by the invention
Include shell and setting inside the housing or the left camera angle rotating device on surface, left video camera telescopic device, left video camera,
Laser projection camera lens, right video camera, right camera rotating apparatus, DHMI interfaces, right video camera telescopic device, USB interface, power supply
Interface, network interface and control device；Wherein shell is cuboid structure, and exhaust outlet is equipped in the middle part of top surface and the back side；It is left
Video camera telescopic device and right video camera telescopic device are respectively provided at the both sides position of shell；Left camera angle rotating device and
Right camera rotating apparatus is respectively provided at left video camera telescopic device and the flexible dress of right video camera in a manner of it can rotate left and right
The front end set；Left video camera and right video camera are separately mounted to left camera angle rotating device and right camera rotating apparatus
Front center；Laser projection camera lens is mounted on the front center of shell；DHMI interfaces, USB interface, power interface and network interface
It is arranged at the back side both sides position of shell；Control device includes optics supplementary module, embedded type control module and Three-dimensional Gravity modeling
Block；And control device simultaneously with left camera angle rotating device, left video camera, laser projection camera lens, right video camera and the right side
Camera rotating apparatus is electrically connected.
The aviation luggage three-dimensional detection device of the laser projection stereoscopic vision further includes being separately mounted to swash on shell
The left protection cap of laser lens and the right protection cap of laser lens at light projection lens both sides position.
The advantageous effect of the aviation luggage three-dimensional detection device of laser projection stereoscopic vision provided by the invention：
Have many advantages, such as that big visual field, non-contact, abundant information and precision are high, and cost performance and reliable can be significantly improved
Property；Advantage mainly has following two points：
● economic benefit：
The laser scanner and laser radar sensor in the luggage processing decorum can be substituted first, realize that luggage is quickly high
The three-dimensional detection of precision, before can be used for luggage detection before level-one screening machine, the detection of baggage sorting major loop luggage, baggage sorting slot
Detection etc.；
Then luggage coloured image and depth image can be exported simultaneously, can be used for baggage reconciliation in bag tracking system and
It loses and searches.
● social benefit
The queuing time handled efficiency, reduce passenger that self-help baggage consigning system can be improved, improves the trip of passenger
Experience, the scientific and technological level for showing civil aviaton have extensive social benefit and application prospect.
Description of the drawings
Fig. 1 is the aviation luggage three-dimensional detection device stereochemical structure signal of laser projection stereoscopic vision provided by the invention
Figure；
Fig. 2 is the aviation luggage three-dimensional detection device rearview of laser projection stereoscopic vision provided by the invention；
Fig. 3 be laser projection stereoscopic vision provided by the invention aviation luggage three-dimensional detection device in control system form
Figure；
Fig. 4 is the horizontally-parallel mode configuration schematic diagram of binocular in the present invention；
Fig. 5 is binocular lateral convergence mode configuration schematic diagram in the present invention；
Fig. 6 is laser code types of patterns figure in the present invention；
Fig. 7 is the control method flow of the aviation luggage three-dimensional detection device of laser projection stereoscopic vision provided by the invention
Figure.
Specific implementation mode
In the following with reference to the drawings and specific embodiments to the aviation luggage of laser projection stereoscopic vision provided by the invention three-dimensional
Detection device is described in detail.
As shown in Fig. 1-Fig. 6, the aviation luggage three-dimensional detection device of laser projection stereoscopic vision provided by the invention includes
Shell 1 and it is arranged in the inside of shell 1 or the left camera angle rotating device 3 on surface, left video camera telescopic device 4, left camera shooting
Machine 5, laser projection camera lens 7, right video camera 9, right camera rotating apparatus 10, DHMI interfaces 11, right video camera telescopic device 12,
Usb 13, power interface 14, network interface 16 and control device；Wherein shell 1 is cuboid structure, top surface and the back side
Middle part is equipped with exhaust outlet 2；Left video camera telescopic device 4 and right video camera telescopic device 12 are respectively provided at the both sides of shell 1
Position；Left camera angle rotating device 3 and right camera rotating apparatus 10 are respectively provided at a left side in a manner of it can rotate left and right and take the photograph
The front end of camera telescopic device 4 and right video camera telescopic device 12；Left video camera 5 and right video camera 9 are separately mounted to left camera shooting
The front center of machine angle rotating device 3 and right camera rotating apparatus 10；Laser projection camera lens 7 is mounted on the front end of shell 1
Middle part；DHMI interfaces 11, usb 13, power interface 14 and network interface 16 are arranged at the back side both sides position of shell 1,
Middle DHMI interfaces 11 are for connecting display screen；Usb 13 is used for data transmission；Power interface 14 is for connecting power supply；Network
Interface 16 is used for network communication；Control device includes optics supplementary module 15, embedded type control module 17 and three-dimensional reconstruction module
18；Wherein optics supplementary module 15 is used to determine type, the size for generating laser code pattern and the projection of laser code pattern
Angle and location information；Embedded type control module 17 is for laser projection control, the synchronous acquisition control of left and right cameras
And the rotation angle control of video camera；Three-dimensional reconstruction module 18 for the image of two camera acquisitions is pre-processed,
Three-dimensional correction, Stereo matching, three-dimensional reconstruction and the visualization for putting cloud are carried out according to the parameter of stereo calibration, final output luggage
Specification information including size and number of packages, and control device simultaneously with left camera angle rotating device 3, left video camera
5, laser projection camera lens 7, right video camera 9 and right camera rotating apparatus 10 are electrically connected.
The aviation luggage three-dimensional detection device of the laser projection stereoscopic vision further includes being separately mounted to swash on shell 1
The right protection cap of the left protection cap 6 of laser lens and laser lens at 7 both sides position of light projection lens 8.
Now the aviation luggage three-dimensional detection device operation principle of laser projection stereoscopic vision provided by the invention is illustrated such as
Under：As shown in fig. 7, the present apparatus open after, first by staff according to size to be checked luggage with 11 phase of DHMI interfaces
The horizontally-parallel pattern of binocular as shown in Figure 4 or binocular lateral convergence pattern as shown in Figure 5 are selected on the display screen of connection；
Wherein the horizontally-parallel pattern of binocular is that left video camera 5 is parallel with the optical axis of right video camera 9, and luggage needs to be placed on left video camera 5
Image with the overlapping region of 9 visual field of right video camera, such two video cameras shooting will include luggage；Correspondingly if luggage
It is excessive, it just needs to make the present apparatus far from luggage using the horizontally-parallel pattern of binocular, can be covered so as to the visual field of two video cameras
Luggage, but when video camera increases at a distance from luggage, the precision of three-dimensional reconstruction will reduce；In order to preferably solve this
Contradiction can use binocular lateral convergence pattern；The pattern is utilized under the control of embedded type control module 17 on the controller
Left camera angle rotating device 3 and right camera rotating apparatus 10 make left video camera 5 and right video camera 9 surround respective rotation
Center opposite direction rotating certain angle, such two video cameras overlap range in the visual field of short distance and will further expand, in phase
Under conditions of same distance, the image of two video cameras shooting can include the luggage of bigger, and precision will not reduce.In addition,
Left video camera 5 is adjusted respectively using left video camera telescopic device 4 and right video camera telescopic device 12 and right video camera 9 is leant out outside
The length of 1 front end of shell；Then laser code figure as shown in FIG. 6 is selected on a display screen according to information such as the appearance colors of luggage
The type of picture, and set the size of laser code pattern and the angle of projection.When passenger is in self-help baggage consigning system display screen
After upper confirmation carries out luggage delivery, the optics supplementary module 15 on control device will extract above-mentioned fixed laser code figure
Then above-mentioned laser code pattern is projected to the surface of luggage by the type of case by laser projection camera lens 7, follow-up vertical to improve
The precision of body matched reliability and three-dimensional reconstruction；Embedded type control module 17 controls left video camera 5 later and right video camera 9 is same
The image of surfaces of luggage of the step acquisition with laser code image, and image data is transferred to three-dimensional reconstruction module 18；It is three-dimensional
It rebuilds module 18 first to pre-process the image data of two camera acquisitions, be carried out according to the parameter of stereo calibration three-dimensional
Correction, Stereo matching, three-dimensional reconstruction and the visualization for putting cloud, the size and number of packages isotactic of luggage are shown eventually by display
Lattice information.
Claims (2)
1. a kind of aviation luggage three-dimensional detection device of laser projection stereoscopic vision, it is characterised in that：The aviation luggage three
Dimension detection device includes that shell (1) and setting are taken the photograph in shell (1) inside or the left camera angle rotating device (3) on surface, a left side
Camera telescopic device (4), left video camera (5), laser projection camera lens (7), right video camera (9), right camera rotating apparatus (10),
DHMI interfaces (11), right video camera telescopic device (12), USB interface (13), power interface (14), network interface (16) and control
Device；Wherein shell (1) is cuboid structure, and exhaust outlet (2) is equipped in the middle part of top surface and the back side；Left video camera telescopic device
(4) and right video camera telescopic device (12) is respectively provided at the both sides position of shell (1)；Left camera angle rotating device (3) and
Right camera rotating apparatus (10) is respectively provided at left video camera telescopic device (4) and right video camera in a manner of it can rotate left and right
The front end of telescopic device (12)；Left video camera (5) and right video camera (9) are separately mounted to left camera angle rotating device (3)
With the front center of right camera rotating apparatus (10)；Laser projection camera lens (7) is mounted on the front center of shell (1)；DHMI
Interface (11), USB interface (13), power interface (14) and network interface (16) are arranged at the back side both sides position of shell (1)；Control
Device processed includes optics supplementary module (15), embedded type control module (17) and three-dimensional reconstruction module (18)；And control device
Simultaneously with left camera angle rotating device (3), left video camera (5), laser projection camera lens (7), right video camera (9) and right camera shooting
Machine rotating device (10) is electrically connected.
2. the aviation luggage three-dimensional detection device of laser projection stereoscopic vision according to claim 1, it is characterised in that：Institute
The aviation luggage three-dimensional detection device for the laser projection stereoscopic vision stated further includes being separately mounted to laser projection mirror on shell (1)
The left protection cap of laser lens (6) and the right protection cap of laser lens (8) at head (7) both sides position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810426494.8A CN108759712A (en) | 2018-05-07 | 2018-05-07 | The aviation luggage three-dimensional detection device of laser projection stereoscopic vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810426494.8A CN108759712A (en) | 2018-05-07 | 2018-05-07 | The aviation luggage three-dimensional detection device of laser projection stereoscopic vision |
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| Publication Number | Publication Date |
|---|---|
| CN108759712A true CN108759712A (en) | 2018-11-06 |
Family
ID=64010015
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810426494.8A Pending CN108759712A (en) | 2018-05-07 | 2018-05-07 | The aviation luggage three-dimensional detection device of laser projection stereoscopic vision |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110147749A (en) * | 2019-05-10 | 2019-08-20 | 中国民航大学 | A kind of civil aviaton's missing baggage auxiliary method for retrieving |
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| CN103925884A (en) * | 2013-01-14 | 2014-07-16 | 上海核工程研究设计院 | Automatic measuring device for assembly clearance of radial support key |
| EP2813807A1 (en) * | 2013-06-04 | 2014-12-17 | Gerresheimer Regensburg GmbH | Recording device for the rotation angles of a puncture cannula |
| CN204405025U (en) * | 2015-03-02 | 2015-06-17 | 武汉克诺德智能科技有限公司 | A kind of face battle array measurement mechanism based on binocular vision |
| CN106352812A (en) * | 2016-10-13 | 2017-01-25 | 河南龙璟科技有限公司 | Novel high-resolution adjustable vertical three-dimensional scanning instrument |
| CN206740073U (en) * | 2017-04-07 | 2017-12-12 | 新疆大学 | It is a kind of can phase modifier spacing and angle structural light measurement experimental provision |
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2018
- 2018-05-07 CN CN201810426494.8A patent/CN108759712A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103925884A (en) * | 2013-01-14 | 2014-07-16 | 上海核工程研究设计院 | Automatic measuring device for assembly clearance of radial support key |
| EP2813807A1 (en) * | 2013-06-04 | 2014-12-17 | Gerresheimer Regensburg GmbH | Recording device for the rotation angles of a puncture cannula |
| CN204405025U (en) * | 2015-03-02 | 2015-06-17 | 武汉克诺德智能科技有限公司 | A kind of face battle array measurement mechanism based on binocular vision |
| CN106352812A (en) * | 2016-10-13 | 2017-01-25 | 河南龙璟科技有限公司 | Novel high-resolution adjustable vertical three-dimensional scanning instrument |
| CN206740073U (en) * | 2017-04-07 | 2017-12-12 | 新疆大学 | It is a kind of can phase modifier spacing and angle structural light measurement experimental provision |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110147749A (en) * | 2019-05-10 | 2019-08-20 | 中国民航大学 | A kind of civil aviaton's missing baggage auxiliary method for retrieving |
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Application publication date: 20181106 |