CN110057301A - A kind of height detecting device and detection method based on binocular 3D parallax - Google Patents
A kind of height detecting device and detection method based on binocular 3D parallax Download PDFInfo
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- CN110057301A CN110057301A CN201910358440.7A CN201910358440A CN110057301A CN 110057301 A CN110057301 A CN 110057301A CN 201910358440 A CN201910358440 A CN 201910358440A CN 110057301 A CN110057301 A CN 110057301A
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- 238000000429 assembly Methods 0.000 claims abstract description 13
- 238000003384 imaging method Methods 0.000 claims abstract description 10
- 238000005259 measurement Methods 0.000 claims abstract description 10
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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
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/022—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by means of tv-camera scanning
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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
Abstract
A kind of height detecting device based on binocular 3D parallax, including two groups symmetrically arranged camera assembly, camera assembly include sequentially connected light source group, lens group, camera connector and camera body at an angle；For the setting of light source group in lens group front, the center line face of lens group is shot part, and camera connector is a wedge block, and lens group connect with camera body by camera connector and collectively forms imaging optical path channel；It further include the linear moving mechanism and control module and image analysis module for keeping camera assembly mobile.The present invention is based on the principles of binocular parallax, and by analyzing the part two images shot for counting carefully the shooting of two camera assemblies come the method for obtaining object dimensional geological information, measurement accuracy is high, can also carry out normotopia degree detection；By the way that the connector of wedge is arranged, makes camera lens and body that optimization be cooperated to meet husky nurse law principle, obtain the image of full apparent, further increase measurement accuracy.
Description
Technical field
The present invention relates to detection technique field more particularly to a kind of height detecting devices and detection based on binocular 3D parallax
Method.
Background technique
Connector is indispensable in the electronic equipment of the various industries such as consumer electronics, automotive electronics, mobile phone, network communication
Component, especially high-end precision connector is increasingly miniaturized, and the requirement to product quality is also higher and higher, to detection device
Required precision is also being continuously improved.And the quality of connector needle point directly affects the quality of product, connector pin cusp height is it
One important index.Currently, connector pin cusp height, which measures traditional method mainly, height transfer method and laser optical method,
Height transfer method needs direct contact product and has an impact to product, and the applicability of laser optical method has certain limitation
Property, it is suitable for thicker needle point.
Patented technology CN201810624535 before the applicant, mainly by the way that muti-piece reflecting mirror is arranged under camera
Being formed is in symmetrical two reflection channels of "eight" shape, and part to be measured is placed under two reflection channels, and camera lens can take
Two pictures obtain the actual height of needle point measurement point by the parallax that image analysis software handles two images up and down.This skill
Art scenario-frame is simple, easy to implement, but muti-piece reflecting mirror is placed in body, causes body huge, and mirror body is frangible, and mirror surface is also easy
It is difficult to be infected with dust cleaning, and the situations such as position of mirror body directly affect the effect of the photo of shooting, and then influence test result,
Lead to the poor reproducibility of test result；Its detection zone is also limited simultaneously.
Summary of the invention
The purpose of the present invention is overcoming the above-mentioned prior art, provide a kind of measurement accuracy is high, device structure is compact,
A kind of height detecting device based on binocular 3D parallax easy to maintain, while a kind of height inspection based on binocular 3D parallax being provided
Survey method.
The present invention is achieved through the following technical solutions:
A kind of height detecting device based on binocular 3D parallax, including two groups of symmetrically arranged camera shooting groups at an angle
Part, the plane of symmetry and plane where part shot are perpendicular, and the camera assembly includes sequentially connected light source group, lens group, phase
Machine connector and camera body；The light source group setting is in the lens group front, and it is to take the photograph that its light area, which covers part shot,
As providing illumination condition；The center line face of the lens group is shot part, and the camera connector is a wedge block, and lens group is logical
The camera connector is crossed to connect with the camera body and collectively form imaging optical path channel, and plane where making part shot,
These three faces of lens plane, imaging plane intersect on a straight line, to obtain the image of full apparent.
Further, the angle of lens group center line described in two groups of camera assemblies is 30 °~50 °, i.e. two groups of camera shootings
About 30 °~50 ° of component angle.Wedged gap is 5 °~20 ° on the camera connector, and inclined camera connector is in order to full
Plane, lens plane, these three faces of imaging plane intersect on a straight line where foot part shot.
Further, the light source group includes being enclosed in the annular panel of the camera lens front end and being mounted on annular panel
On light source, the annular panel is centroclinal inclined-plane, angle between the inclined-plane and annular center line is 60 °~
80°。
Further, the light source is blue light source, and blue light wavelength is short, and diffraction property is good, is suitable for high-acruracy survey.
It further, further include casing, the lens group, camera connector and camera body in two groups of camera assemblies are surrounded
In the casing, with dust-proof, protection.
It further, further include linear moving mechanism for keeping the camera assembly back and forth or left and right mobile, it is described straight
Line mobile mechanism includes sliding rail, sliding block and transmission component, and the transmission component is connected with the sliding block and the sliding block is driven to exist
Sliding in sliding rail, the camera assembly are connected by the connecting plate that its top is arranged with the sliding block on the linear moving mechanism.
The transmission component includes the motor being sequentially connected, driving wheel, driving belt, driven wheel, lead screw, feed screw nut, the lead screw
Nut is connected with the sliding block to be moved in sliding rail with band movable slider.
Further, the linear moving mechanism further includes the shell being arranged in outside the sliding rail, sliding block and transmission component,
The linear moving mechanism is fixed on part space above shot by the shell, makes the camera assembly on part shot with this
Fang Yidong is shot.
It further, further include lifting structure, the shell is fixed on the lifting structure, described shot for adjusting
Vertical range between component and part shot makes to obtain clearly image.
It further, further include control module and image analysis module；The control module includes laser range finder, pulse
Signal generator, camera control unit, the motor are stepper motor, and the camera control unit is electrically connected with the camera assembly
It connects；The laser range finder setting be electrically connected on the slide block and with the pulse signal generator, for detect sliding block and
The distance at sliding rail both ends, and transmit information to pulse signal generator；The pulse signal generator respectively with the stepping
Motor and camera control unit are electrically connected, to control the movement of the linear moving mechanism, and by pulse signal transmission to camera shooting
Control unit is to control camera shooting movement；The image that described image analysis module is used to shoot the camera assembly carries out operation point
Analysis.
A kind of detection method of the height detecting device based on binocular 3D parallax, detection process include the following steps:
S1, part to be taken the photograph are fixed in detection station, adjust the vertical range between the camera assembly and part shot；
S2, the datum level that part to be taken the photograph is set；
S3, the detection point height that part to be taken the photograph is set；
S4, the normotopia degree benchmark that part to be taken the photograph is set；
S5, starting motor, pulse signal generator, stepper motor receive the pulse signal of pulse signal generator sending
It is operated, the camera assembly is driven to move linearly along the centerline direction of its two lens group, the lens group starts
Line is carried out to the space shot under it to sweep；Pulse signal is sent to the camera shooting simultaneously and controls list by pulse signal generator
Member；
S6, it detects that lens group has scanned when taking the photograph part when camera control unit, starts return pulse signal generator
The pulse signal of transmission, and start the camera assembly and treat and take the photograph part and shot, the frequency of filming frequency and pulse signal
Unanimously, and by the image transmitting of shooting to described image analysis system；
S7, when laser range finder detects that camera assembly is moved to the end of sliding rail, communicate information to pulse signal
Generator, pulse signal generator stop sending pulse signal, and motor stops working, and camera assembly stops shooting；
S8, described image analysis module carry out parallax comparison operation to the image that two groups of camera assemblies take respectively, obtain
The height measurement results of part to be taken the photograph out.
Further, it is the principle based on binocular parallax that described image analysis module, which carries out operation to shooting image, i.e., sharp
Being obtained from different angles with two groups of camera assemblies includes the two images for being shot part and altitude datum, is shot part in two images
Between distance be parallax L1, the parallax distance between altitude datum is L2, is shot part compared with altitude datum, height tolerance Δ d
=k (L1-L2), wherein k is that basis demarcates the constant obtained in advance.Constant k is based on BLR algorithm and to use binocular parallax principle
Carry out what space calibration obtained.
The present invention compared with the prior art, the beneficial effect is that:
(1) based on the principle of binocular parallax, the two images of testee are obtained from different angles using imaging device,
By calculating the position deviation between image corresponding points, method to obtain object dimensional geological information, measurement accuracy is high, detection
Precision is up to 0.01mm；The measurements such as flake needle, the superfine plating needle point that detectable method for distinguishing cannot be tested simultaneously, are especially propped up
Hold the immeasurable normotopia degree detection of height transfer method and laser optical method.
(2) connector of wedge is set in camera assembly, makes camera lens and body that optimization be cooperated to meet husky nurse law principle,
Subject plane, image plane, these three faces of lens plane elongated surfaces intersect at a straight line, obtain the image of full apparent,
Further increase measurement accuracy.
(3) integrated image processing, motion control, light source control are in one, high degree of automation；And it is detected according to binocular 3D
Principle and feature develop a set of unique space calibration algorithm, and pre- calibration, live plug and play are convenient and efficient before dispatching from the factory.
(4) present apparatus housing construction is compact, and double camera assemblies are integrated in body, and motion structure also combines in shell, outside
It sees neatly, it is easy for installation.
Detailed description of the invention
Fig. 1 is the schematic perspective view of the embodiment of the present invention.
Fig. 2 is the stereochemical structure exploded view of the embodiment of the present invention.
Fig. 3 is the structural exploded view of camera assembly in the embodiment of the present invention.
Fig. 4 is optical schematic diagram of the invention.
Fig. 5 is detection principle diagram of the invention.
Fig. 6 is image analysis schematic diagram of the invention.
Appended drawing reference: 1- camera assembly；2- linear moving mechanism；3- is shot part；4- camera body；5- camera connector；
6- lens group；7- light source group；8- connecting plate；9- driving wheel；10- driving belt；11- driven wheel；12- casing；13- shell.
Specific embodiment
Such as FIG. 1 to FIG. 3, a kind of height detecting device based on binocular 3D parallax, including two groups symmetrically set at an angle
The camera assembly 1 set, the plane of symmetry and 3 place plane of part shot are perpendicular, and the camera assembly 1 includes sequentially connected light source
Group 7, lens group 6, camera connector 5 and camera body 4；The light source group 7 is arranged in 6 front of lens group, and its illumination
Region overlay is shot part 3 and provides illumination condition for camera shooting；The center line face of the lens group 6 is shot part 3, the camera connection
Part 5 is a wedge block, and lens group 6 connect with the camera body 4 by the camera connector 5 and collectively forms imaging optical path
Channel, and plane, lens plane, these three faces of imaging plane where between being shot is made to intersect on a straight line (such as Fig. 4), to obtain
The image of full apparent.
It is additionally provided with casing 12 outside two groups of camera assemblies 1, lens group 6, camera connector 5 and camera body 4 are enclosed in
In the casing 12, play the role of dust-proof and protection.
The angle of 6 center line of lens group described in two groups of camera assemblies 1 is 30 °~50 °, i.e., two groups of camera assemblies 1 press from both sides
About 30 °~50 ° of angle.Wedged gap is 5 °~20 ° on the camera connector 5, and inclined camera connector 5 is to meet quilt
These three faces of plane, lens plane, imaging plane are taken the photograph to intersect on a straight line.
The light source that the light source group 7 is enclosed in the annular panel of the camera lens front end and is mounted on annular panel,
The annular panel is centroclinal inclined-plane, and the angle between the inclined-plane and annular center line is 60 °~80 °.It is described
Light source is blue light source, and blue light wave layer is more, and light-gathering is good.
A kind of height detecting device based on binocular 3D parallax of the present embodiment further include for making the camera assembly 1 before
Afterwards or the linear moving mechanism 2 that moves left and right, the linear moving mechanism 2 include sliding rail, sliding block and transmission component, the transmission
Component is connected with the sliding block and the sliding block is driven to slide in sliding rail, the company that the camera assembly 1 is arranged by its top
Fishplate bar 8 is connected with the sliding block on the linear moving mechanism 2.
The transmission component includes the motor being sequentially connected, driving wheel 9, driving belt 10, driven wheel 11, lead screw, lead screw
Nut, the feed screw nut is connected with the sliding block to be moved in sliding rail with band movable slider.
The linear moving mechanism 2 further includes the shell 13 being arranged in outside the sliding rail, sliding block and transmission component, described straight
Line mobile mechanism 2 is fixed on 3 space above of part shot by the shell 13, makes the camera assembly 1 on part 3 shot with this
Fang Yidong is shot.
The present embodiment can also include a lifting structure (not shown), and the shell 13 is fixed on the lifting structure
On, for adjusting the vertical range between the component shot and part shot 3, make to obtain clearly image.
A kind of height detecting device based on binocular 3D parallax of the present embodiment further includes control module and image analysis mould
Block；The control module includes laser range finder, pulse signal generator, camera control unit, and the motor is stepper motor,
The camera control unit is electrically connected with the camera assembly 1；Laser range finder setting on the slide block and with it is described
Pulse signal generator electrical connection, for detecting sliding block at a distance from sliding rail both ends, and transmits information to pulse signal
Device；The pulse signal generator is electrically connected with the stepper motor and camera control unit respectively, is moved with controlling the straight line
The movement of motivation structure 2, and pulse signal transmission is controlled into camera shooting movement to camera control unit；Described image analysis module is used
Operational analysis is carried out in the image shot to the camera assembly 1.
A kind of detection method of the height detecting device based on binocular 3D parallax, detection process include the following steps:
S1, part to be taken the photograph are fixed in detection station, adjust the vertical range between the camera assembly 1 and part shot 3；
S2, the datum level that part to be taken the photograph is set；
S3, the detection point height that part to be taken the photograph is set；
S4, the normotopia degree benchmark that part to be taken the photograph is set；
S5, starting motor, pulse signal generator, stepper motor receive the pulse signal of pulse signal generator sending
It is operated, the camera assembly 1 is driven to move linearly along the centerline direction of its two lens group 6, the lens group 6 is opened
Begin to sweep the space shot progress line under it；Pulse signal is sent to the camera shooting simultaneously and controls list by pulse signal generator
Member；
S6, it detects that lens group 6 has scanned when taking the photograph part when camera control unit, starts return pulse signal generator
The pulse signal of transmission, and start the camera assembly 1 and treat and take the photograph part and shot, the frequency of filming frequency and pulse signal
Unanimously, and by the image transmitting of shooting to described image analysis system；
S7, when laser range finder detects that camera assembly 1 is moved to the end of sliding rail, communicate information to pulse signal
Generator, pulse signal generator stop sending pulse signal, and motor stops working, and camera assembly 1 stops shooting；
S7, described image analysis module carry out parallax comparison operation to the image that two groups of camera assemblies 1 take respectively, obtain
The height measurement results of part to be taken the photograph out.
Such as Fig. 4~Fig. 6, it is the principle based on binocular parallax that described image analysis module, which carries out operation to shooting image, i.e.,
Obtained from different angles using two groups of camera assemblies 1 includes the two images for being shot part and altitude datum, quilt in two images
The parallax distance taken the photograph between part is L1, and the parallax distance between altitude datum is L2, is shot part compared with altitude datum, height tolerance
Δ d=k (L1-L2), wherein k is that basis demarcates the constant obtained in advance.
Constant k is obtained based on BLR algorithm and with binocular parallax principle progress space calibration.
Above-listed detailed description is illustrating for possible embodiments of the present invention, and the embodiment is not to limit this hair
Bright the scope of the patents, all equivalence enforcements or change without departing from carried out by the present invention, is intended to be limited solely by the scope of the patents of this case.
Claims (11)
1. a kind of height detecting device based on binocular 3D parallax, which is characterized in that be symmetrical arranged at an angle including two groups
Camera assembly, plane where the plane of symmetry and part shot is perpendicular, and the camera assembly includes sequentially connected light source group, mirror
Head group, camera connector and camera body；The light source group setting is in the lens group front, and the covering of its light area is shot
Part provides illumination condition for camera shooting；The center line face of the lens group is shot part, and the camera connector is a wedge block, mirror
Head group connect with the camera body by the camera connector and collectively forms imaging optical path channel, and makes part place shot
These three faces of plane, lens plane, imaging plane intersect on a straight line, to obtain the image of full apparent.
2. a kind of height detecting device based on binocular 3D parallax according to claim 1, which is characterized in that two groups of camera shootings
The angle of lens group center line described in component is 30 °~50 °, and wedged gap is 5 °~20 ° on the camera connector.
3. a kind of height detecting device based on binocular 3D parallax according to claim 1, which is characterized in that the light source
The group light source that is enclosed in the annular panel of the camera lens front end and is mounted on annular panel, the annular panel for
The inclined inclined-plane in center, the angle between the inclined-plane and annular center line are 60 °~80 °.
4. a kind of height detecting device based on binocular 3D parallax according to claim 3, which is characterized in that the light source
For blue light source.
5. a kind of height detecting device based on binocular 3D parallax according to claim 1, which is characterized in that further include machine
Shell, lens group, camera connector and camera body in two groups of camera assemblies surround in the casing, with dust-proof, protection.
6. a kind of height detecting device based on binocular 3D parallax according to any one of claims 1 to 5, feature exist
In further including the linear moving mechanism for keeping the camera assembly back and forth or left and right mobile, the linear moving mechanism includes
Sliding rail, sliding block and transmission component, the transmission component is connected with the sliding block and the sliding block is driven to slide in sliding rail, described
Camera assembly is connected by the connecting plate that its top is arranged with the sliding block on the linear moving mechanism；The transmission component includes
Motor, driving wheel, driving belt, driven wheel, lead screw, the feed screw nut being sequentially connected, the feed screw nut and the sliding block phase
Even moved in sliding rail with band movable slider.
7. a kind of height detecting device based on binocular 3D parallax according to claim 6, which is characterized in that the straight line
Mobile mechanism further includes the shell being arranged in outside the sliding rail, sliding block and transmission component, and the linear moving mechanism passes through described
Shell is fixed on part space above shot, shoots camera assembly movement above part shot with this.
8. a kind of height detecting device based on binocular 3D parallax according to claim 6, which is characterized in that further include rising
Structure drops, and the shell is fixed on the lifting structure, for adjusting the vertical range between the component shot and part shot.
9. according to a kind of described in any item height detecting devices based on binocular 3D parallax of claim 6 to 8, feature exists
In further including control module and image analysis module；The control module includes laser range finder, pulse signal generator, takes the photograph
As control unit, the motor is stepper motor, and the camera control unit is electrically connected with the camera assembly；The Laser Measuring
Distance meter setting be electrically connected on the slide block and with the pulse signal generator, for detect sliding block and sliding rail both ends away from
From, and transmit information to pulse signal generator；The pulse signal generator is controlled with the stepper motor and camera shooting respectively
Unit processed is electrically connected, to control the movement of the linear moving mechanism, and by pulse signal transmission to camera control unit to control
Camera shooting movement processed；The image that described image analysis module is used to shoot the camera assembly carries out operational analysis.
10. a kind of detection method of the height detecting device based on binocular 3D parallax as claimed in claim 9, feature exist
In detection process includes the following steps:
S1, part to be taken the photograph are fixed in detection station, adjust the vertical range between the camera assembly and part shot；
S2, the datum level that part to be taken the photograph is set；
S3, the detection point height that part to be taken the photograph is set；
S4, the normotopia degree benchmark that part to be taken the photograph is set；
S5, starting motor, pulse signal generator, the pulse signal that stepper motor receives pulse signal generator sending carry out
Operating, drives the camera assembly to move linearly along the centerline direction of its two lens group, the lens group starts to it
Under space shot carry out line sweep；Pulse signal is sent to the camera control unit by pulse signal generator simultaneously；
S6, it detects that lens group has scanned when taking the photograph part when camera control unit, starts the transmission of return pulse signal generator
Pulse signal, and start the camera assembly and treat and take the photograph part and shot, filming frequency is consistent with the frequency of pulse signal,
And by the image transmitting of shooting to described image analysis system；
S7, when laser range finder detects that camera assembly is moved to the end of sliding rail, communicate information to pulse signal
Device, pulse signal generator stop sending pulse signal, and motor stops working, and camera assembly stops shooting；
The image that S8, described image analysis module respectively take two groups of camera assemblies carries out parallax comparison operation, obtain to
Take the photograph the height measurement results of part.
11. a kind of detection method of height detecting device based on binocular 3D parallax according to claim 10, feature
It is, it is the principle based on binocular parallax that described image analysis module, which carries out operation to shooting image, that is, utilizes two groups of camera shooting groups
It includes the two images for being shot part and altitude datum, the parallax distance being shot between part in two images that part obtains from different angles
For L1, the parallax distance between altitude datum is L2, is shot part compared with altitude datum, height tolerance Δ d=k (L1-L2),
Middle k is to carry out the constant that space calibration obtains based on BLR algorithm and with binocular parallax principle.
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| CN111193855A (en) * | 2020-03-24 | 2020-05-22 | 无锡创驰电气有限公司 | Binocular 3D camera |
| CN111412859A (en) * | 2020-03-24 | 2020-07-14 | 无锡创驰电气有限公司 | Monocular 3D camera |
| CN112828683A (en) * | 2020-07-30 | 2021-05-25 | 哈尔滨理工大学 | Bionic surface morphology detection device for outer covering part mold and multi-factor coupling control processing method |
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