CN110595391A - Cross line structured light binocular vision scanning device - Google Patents
Cross line structured light binocular vision scanning device Download PDFInfo
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- CN110595391A CN110595391A CN201910918635.2A CN201910918635A CN110595391A CN 110595391 A CN110595391 A CN 110595391A CN 201910918635 A CN201910918635 A CN 201910918635A CN 110595391 A CN110595391 A CN 110595391A
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- line laser
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- 238000012545 processing Methods 0.000 claims description 11
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- 230000009286 beneficial effect Effects 0.000 description 6
- 238000005259 measurement Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000007405 data analysis Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
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Classifications
-
- 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
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/2545—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object with one projection direction and several detection directions, e.g. stereo
Abstract
The invention provides a cross-line structured light binocular vision scanning device, wherein a supporting rod is vertically arranged at the edge of a supporting platform, a sliding rail is arranged on the side surface of the supporting rod, and a first connecting part and a second connecting part are connected to the sliding rail of the supporting rod in a sliding manner from top to bottom; the servo motor is fixed on the first connecting part, the line laser is fixed on a coupler of the servo motor, and the servo motor drives the line laser to rotate through the coupler; the first camera and the second camera are arranged on the second connecting component and are positioned on two sides of the line laser in axial symmetry with the line laser. This neotype line laser instrument provides light, and servo motor can drive the line laser instrument and rotate, and first camera and second camera are located the both sides of line laser instrument respectively, form two mesh vision scanning structures, and the angle of accessible adapting unit regulation camera and line laser instrument, and more monocular vision scanning structure shooting range is wider, has solved monocular structured light and has had the surface to be sheltered from the condition by the part.
Description
Technical Field
The invention mainly relates to the technical field of visual three-dimensional image construction, in particular to a cross-line structured light binocular visual scanning device.
Background
With the rapid development of the processing industry and the manufacturing industry in China and the continuous progress of the modern detection technology, the three-dimensional measurement technology of parts with complex surface morphologies gradually becomes the key research point in the field of industrial measurement. The line structured light three-dimensional measurement technology based on the laser triangulation method has the characteristics of high precision, easiness in expansion, strong robustness and the like, and becomes the technology which is most widely applied and has the greatest development prospect in non-contact three-dimensional measurement. When the traditional single-camera linear structured light three-dimensional measurement faces a complex measured workpiece, the surface is partially shielded, and the problem of incomplete measurement data is caused.
Disclosure of Invention
The invention aims to solve the technical problem of providing a cross-line structured light binocular vision scanning device aiming at the defects of the prior art.
The technical scheme for solving the technical problems is as follows: a cross-line structured light binocular vision scanning device comprises a supporting platform, a supporting rod, a first connecting part, a second connecting part, a servo motor, a line laser, a first camera and a second camera,
the supporting platform is of a square plate-shaped structure, the supporting rod is vertically arranged at the edge of the supporting platform, a sliding rail is arranged on the side face of the supporting rod, and the first connecting part and the second connecting part are connected to the sliding rail of the supporting rod in a sliding mode from top to bottom and are positioned; the servo motor is fixed on the first connecting part and close to one side of the supporting platform, the line laser is fixed on a coupler of the servo motor, and the servo motor drives the line laser to rotate through the coupler;
the first camera and the second camera are arranged on the second connecting component and are symmetrically positioned on two sides of the line laser by taking the line laser as an axis.
The invention has the beneficial effects that: place the testee on supporting platform, the line laser provides light, and servo motor can drive the line laser and rotate, and first camera and second camera are located the both sides of line laser respectively, form two mesh vision scanning structures, and the angle of camera and line laser is adjusted to first adapting unit of accessible and second adapting unit, and more monocular vision scanning structure shooting range is wider, has solved monocular structure light and has had the surface to be sheltered from the condition by the part.
On the basis of the technical scheme, the invention can be further improved as follows.
Further, the first connecting part comprises a first sliding block, a first pulley and a first fixing support, and the first sliding block is connected with the sliding rail of the supporting rod in a sliding mode through the first pulley; the first fixing support is of an L-shaped plate-shaped structure, the vertical end of the first fixing support is attached to the surface of the first sliding block, and the horizontal end of the first fixing support extends to the center of the supporting platform; the servo motor is fixed at the horizontal end of the first fixing support.
The beneficial effect of adopting the further scheme is that: first slider and slide rail sliding connection drive servo motor and the line laser ware of connecting on servo motor and slide from top to bottom jointly, adjust the light angle.
The first connecting part further comprises a first locking part which transversely penetrates through the first sliding block and is in threaded connection with the first sliding block, and the first locking part is screwed down to enable one end of the first locking part to abut against the support rod so as to fix the first sliding block on the support rod.
The beneficial effect of adopting the further scheme is that: when the first sliding block slides to a preset position of the sliding rail, the first sliding block is fixed on the supporting rod through the first locking part and does not slide any more.
Further, the second connecting part comprises a second sliding block, a second pulley, a second fixing bracket, a first turntable part and a second turntable part, the second sliding block is connected with the sliding rail of the supporting rod through the second pulley in a sliding mode, the second fixing bracket is of a rectangular plate-shaped structure, and the middle of the second fixing bracket is fixed on the second sliding block;
the first turntable component comprises a first connecting block and a first scale rotating disc which is rotatably connected with the first connecting block, and the second turntable component comprises a second connecting block and a second scale rotating disc which is rotatably connected with the second connecting block; the first connecting block and the second connecting block are fixed on the second fixing support and are positioned on two sides of the line laser in axial symmetry by taking the line laser as an axis, the first camera is fixedly connected with the first scale rotating disc, and the second camera is fixedly connected with the second scale rotating disc; scales are circumferentially arranged on the outer surfaces of the first scale rotating disc and the second scale rotating disc.
The beneficial effect of adopting the further scheme is that: the second slider is connected with the slide rail in a sliding manner, drives the first camera and the second camera to jointly slide up and down to adjust the shooting angle up and down, and adjusts the shooting angle through the horizontal rotation of the first turntable component and the second turntable component, so that the shooting range is enlarged.
Furthermore, the second connecting part also comprises a second locking part, the second locking part transversely penetrates through the second sliding block and is in threaded connection with the second sliding block, and the second locking part is screwed down to enable one end of the second locking part to abut against the supporting rod, so that the second sliding block is fixed on the supporting rod.
The beneficial effect of adopting the further scheme is that: when the second sliding block slides to the preset position of the sliding rail, the second sliding block is fixed on the supporting rod through the second locking part and does not slide any more.
The first dial locking part vertically penetrates through the first scale rotating dial and is in threaded connection with the first scale rotating dial, and one end of the first dial locking part abuts against the first connecting block by being screwed down;
the second rotary disc part further comprises a second rotary disc locking part, the second rotary disc locking part vertically penetrates through the second scale rotary disc and is in threaded connection with the second scale rotary disc, and the second rotary disc locking part is screwed down to enable one end of the second rotary disc locking part to abut against the second connecting block.
Further, the scanning device further comprises a first data line for transmitting the data collected by the first camera to an external processing device, and the first data line is connected with an output port of the first camera;
the scanning device further comprises a second data line used for transmitting the data collected by the second camera to the external processing equipment, and the second data line is connected with an output port of the second camera.
The beneficial effect of adopting the further scheme is that: the image data shot by the first camera and the second camera can be transmitted to an external processing device through a data line for data analysis processing.
Drawings
Fig. 1 is a schematic structural diagram of a cross-line structured light binocular vision scanning apparatus according to an embodiment of the present invention.
In the drawings, the names of the components represented by the respective symbols are as follows:
1. supporting platform, 2, bracing piece, 3, servo motor, 4, line laser instrument, 5, first camera, 6, second camera, 7, first slider, 8, first fixed bolster, 9, first locking part, 10, second slider, 11, second fixed bolster, 12, first carousel part, 13, second carousel part, 14, second locking part, 201, slide rail, 301, shaft coupling.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1, a cross-line structured light binocular vision scanning device comprises a supporting platform 1, a supporting rod 2, a first connecting part, a second connecting part, a servo motor 3, a line laser 4, a first camera 5 and a second camera 6,
the supporting platform 1 is of a square plate-shaped structure, the supporting rod 2 is vertically arranged at the edge of the supporting platform 1, a sliding rail 201 is arranged on the side surface of the supporting rod 2, and the first connecting part and the second connecting part are connected to the sliding rail 201 of the supporting rod 2 in a sliding manner from top to bottom and are positioned; the servo motor 3 is fixed on the first connecting part and close to one side of the supporting platform 1, the line laser 4 is fixed on a coupler 301 of the servo motor 3, and the servo motor 3 drives the line laser 4 to rotate through the coupler 301;
the first camera 5 and the second camera 6 are disposed on the second connecting member and are located on both sides of the line laser 4 with the line laser 4 as an axis symmetry.
Above-mentioned embodiment, place the testee on supporting platform, line laser 4 provides light, and servo motor can drive line laser 4 and rotate, and first camera 5 and second camera 6 are located line laser 4's both sides respectively, form two mesh vision scanning structures, and the angle of camera and line laser is adjusted to first adapting unit of accessible and second adapting unit, and more monocular vision scanning structure shooting range is wider, has solved that there is the surface to be sheltered from the condition by the part in monocular structured light.
Optionally, as an embodiment of the present invention, the first connecting component includes a first sliding block 7, a first pulley and a first fixing bracket 8, and the first sliding block 7 is slidably connected to the sliding rail 201 of the supporting rod 2 through the first pulley; the first fixing bracket 8 is of an L-shaped plate-shaped structure, the vertical end of the first fixing bracket 8 is attached to the surface of the first sliding block 7, and the horizontal end of the first fixing bracket 8 extends to the center of the supporting platform 1; the servo motor 3 is fixed at the horizontal end of the first fixing bracket 8.
Specifically, the bracing piece 2 is the cuboid structure, first slider 7 is the rectangle frame structure, first slider 7 cover is in on the bracing piece 2.
In the above embodiment, the first slider 7 is slidably connected to the slide rail 201 to drive the servo motor 3 and the line laser 4 connected to the servo motor 3 to slide up and down together, so as to adjust the light angle.
Optionally, as an embodiment of the present invention, the first connecting part further includes a first locking part 14, the first locking part 14 transversely penetrates through the first slider 7 and is screwed with the first slider 7, and the first locking part 14 is screwed to make one end of the first locking part abut against the support rod 2, so as to fix the first slider 7 on the support rod 2.
Specifically, the first locking component 9 may be a screw component, the first slider 7 is provided with a screw hole, the screw component penetrates through the screw hole and abuts against the support rod 2 to prevent the first slider 7 from sliding downwards, and the screw components may be provided in plurality, and the plurality of screw components are arranged on the first slider 7 at equal intervals.
In the above embodiment, when the first slider 7 slides to a predetermined position of the slide rail 201, the first slider 7 is fixed to the support rod 2 by the first locking member 9 so as not to slide.
Optionally, as an embodiment of the present invention, the second connecting component includes a second slider 10, a second pulley, a second fixing bracket 11, a first turntable component 12, and a second turntable component 13, the second slider 10 is slidably connected with the sliding rail 201 of the supporting rod 2 through the second pulley, the second fixing bracket 11 is a rectangular plate-shaped structure, and a middle portion of the second fixing bracket 11 is fixed on the second slider 10;
the first turntable component 12 comprises a first connecting block and a first scale rotating disc which is rotatably connected with the first connecting block, and the second turntable component 13 comprises a second connecting block and a second scale rotating disc which is rotatably connected with the second connecting block; the first connecting block and the second connecting block are fixed on the second fixed support 11 and are positioned on two sides of the line laser 4 in an axisymmetric manner by taking the line laser 4 as an axis, the first camera 5 is fixedly connected with the first scale rotating disc, and the second camera 6 is fixedly connected with the second scale rotating disc; scales are circumferentially arranged on the outer surfaces of the first scale rotating disc and the second scale rotating disc.
Specifically, the support rod 2 is of a cuboid structure, the second slider 10 is of a rectangular frame structure, and the second slider 10 is sleeved on the support rod 2 and located below the first slider 7.
In the above embodiment, the second slider 10 is slidably connected to the slide rail 201 to drive the first camera 5 and the second camera 6 to slide up and down together, so as to adjust the shooting angle up and down, and the first turntable component 12 and the second turntable component 13 horizontally rotate to adjust the shooting angle, thereby expanding the shooting range.
Optionally, as an embodiment of the present invention, the second connecting member further includes a second locking member 9, the second locking member 9 transversely penetrates through the second slider 10 and is screwed with the second slider 10, and the second locking member 9 is screwed to make one end of the second locking member abut against the support rod 2, so as to fix the second slider 10 on the support rod 2.
Specifically, the second locking member 14 may be a screw member, the second slider 10 is provided with a screw hole, the screw member is inserted through the screw hole and abuts against the support rod 2 to prevent the second slider 10 from sliding downwards, and the screw members may be provided in plurality, and the plurality of screw members are arranged on the second slider 10 at equal intervals.
In the above embodiment, when the second slider 10 slides to a predetermined position of the slide rail 201, the second slider 10 is fixed to the support rod 2 by the second locking member 14 so as not to slide.
Optionally, as an embodiment of the present invention, the first dial member 12 further includes a first dial lock member vertically penetrating the first dial and screwed to the first dial, and the first dial lock member is screwed to make one end of the first dial lock member abut against the first connecting block;
the second rotating disc part 13 further comprises a second rotating disc locking part, the second rotating disc locking part vertically penetrates through the second scale rotating disc and is in threaded connection with the second scale rotating disc, and the second rotating disc locking part is screwed down to enable one end of the second rotating disc locking part to abut against the second connecting block.
Optionally, as an embodiment of the present invention, the scanning apparatus further includes a first data line for transmitting data collected by the first camera 5 to an external processing device, and the first data line is connected to an output port of the first camera 5;
the scanning apparatus further comprises a second data line for transmitting data acquired by the second camera 6 to the external processing device, the second data line being connected to an output port of the second camera 6.
In the above embodiment, the image data captured by the first camera 5 and the second camera 6 may be transmitted to an external processing device through a data line for data analysis processing.
The operation method of the device comprises the following steps:
two cameras are fixed on the support scale turntable, and the angles of the cameras can be accurately adjusted according to the needs of a measured object, so that the measured object is ensured to be shot in a public view field. Meanwhile, the servo motor is controlled to rotate at a constant speed to drive the line laser to rotate, and the line laser light strip rotates 360 degrees along the optical axis to complete the scanning of the surface of the measured object. When the line laser is not opened, firstly, shooting an original image by using binocular cameras (namely a first camera and a second camera); when line laser is opened and the motor does not rotate, the binocular cameras respectively shoot a light bar image; when the motor rotates for a circle, the motor stops rotating, and the binocular camera stops photographing.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (7)
1. A binocular vision scanning device with cross line structured light is characterized by comprising a supporting platform (1), a supporting rod (2), a first connecting part, a second connecting part, a servo motor (3), a line laser (4), a first camera (5) and a second camera (6),
the supporting platform (1) is of a square plate-shaped structure, the supporting rod (2) is vertically arranged at the edge of the supporting platform (1), a sliding rail (201) is arranged on the side surface of the supporting rod (2), and the first connecting part and the second connecting part are connected to the sliding rail (201) of the supporting rod (2) in a sliding mode from top to bottom and are located; the servo motor (3) is fixed on the first connecting part and close to one side of the supporting platform (1), the line laser (4) is fixed on a coupler (301) of the servo motor (3), and the servo motor (3) drives the line laser (4) to rotate through the coupler (301);
the first camera (5) and the second camera (6) are arranged on the second connecting component and are positioned on two sides of the line laser (4) in axial symmetry with the line laser (4) as an axis.
2. The crosshair structured light binocular vision scanning device according to claim 1, wherein the first connecting means comprises a first slider (7), a first pulley and a first fixed bracket (8), the first slider (7) is slidably connected with the sliding rail (201) of the support bar (2) through the first pulley; the first fixing support (8) is of an L-shaped plate-shaped structure, the vertical end of the first fixing support (8) is attached to the surface of the first sliding block (7), and the horizontal end of the first fixing support extends to the center of the supporting platform (1); the servo motor (3) is fixed at the horizontal end of the first fixing support (8).
3. The crosshair structured light binocular vision scanning device according to claim 2, wherein the first connecting means further comprises a first locking means (14), the first locking means (14) transversely penetrates the first slider (7) and is screw-coupled to the first slider (7), and the first locking means (14) is tightened to abut one end thereof against the support rod (2) to fix the first slider (7) to the support rod (2).
4. The crosshair structured light binocular vision scanning device according to claim 1, wherein the second connecting part comprises a second slider (10), a second pulley, a second fixed bracket (11), a first turntable part (12) and a second turntable part (13), the second slider (10) is slidably connected with the sliding rail (201) of the support rod (2) through the second pulley, the second fixed bracket (11) is a rectangular plate-shaped structure, and the middle part of the second fixed bracket (11) is fixed on the second slider (10);
the first turntable component (12) comprises a first connecting block and a first scale rotating disc which is rotatably connected with the first connecting block, and the second turntable component (13) comprises a second connecting block and a second scale rotating disc which is rotatably connected with the second connecting block; the first connecting block and the second connecting block are fixed on the second fixing support (11) and are positioned on two sides of the line laser (4) in an axisymmetric manner by taking the line laser (4) as an axis, the first camera (5) is fixedly connected with the first scale rotating disc, and the second camera (6) is fixedly connected with the second scale rotating disc; scales are circumferentially arranged on the outer surfaces of the first scale rotating disc and the second scale rotating disc.
5. The crosshair structured light binocular vision scanning device according to claim 4, wherein the second connecting part further comprises a second locking part (9), the second locking part (9) transversely penetrates the second slider (10) and is in threaded connection with the second slider (10), the second locking part (9) is tightened to make one end abut on the support rod (2), and the second slider (10) is fixed on the support rod (2).
6. The crosshair structured light binocular vision scanning device according to claim 4, wherein the first dial member (12) further comprises a first dial locking member vertically penetrating the first dial and threadedly coupled with the first dial, the first dial locking member being tightened to abut one end thereof against the first connecting block;
the second rotary disc part (13) further comprises a second rotary disc locking part, the second rotary disc locking part vertically penetrates through the second scale rotary disc and is in threaded connection with the second scale rotary disc, and one end of the second rotary disc locking part is abutted to the second connecting block by screwing.
7. The crosshair structured light binocular vision scanning device according to any one of claims 1 to 6, further comprising a first data line for transmitting data collected by the first camera (5) to an external processing device, the first data line being connected to an output port of the first camera (5);
the scanning device further comprises a second data line for transmitting data acquired by the second camera (6) to the external processing device, the second data line being connected to an output port of the second camera (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910918635.2A CN110595391A (en) | 2019-09-26 | 2019-09-26 | Cross line structured light binocular vision scanning device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910918635.2A CN110595391A (en) | 2019-09-26 | 2019-09-26 | Cross line structured light binocular vision scanning device |
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| CN110595391A true CN110595391A (en) | 2019-12-20 |
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| US20120212603A1 (en) * | 2009-10-27 | 2012-08-23 | Lindee Scott A | Automated Product Profiling Apparatus and Product Slicing System Using the Same |
| CN105806242A (en) * | 2016-04-15 | 2016-07-27 | 同济大学 | Surface type measuring device adopting laser rotary scanning |
| KR20170087726A (en) * | 2016-01-21 | 2017-07-31 | 주식회사 한성시스코 | Pattern shape measuring apparatus using cross line laser |
| CN107505324A (en) * | 2017-08-10 | 2017-12-22 | 王兴 | 3D scanning means and scan method based on binocular collaboration laser |
| CN207487590U (en) * | 2017-11-29 | 2018-06-12 | 刘松林 | vision measurement test platform |
| CN210293137U (en) * | 2019-09-26 | 2020-04-10 | 桂林电子科技大学 | Cross line structured light binocular vision scanning device |
-
2019
- 2019-09-26 CN CN201910918635.2A patent/CN110595391A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120212603A1 (en) * | 2009-10-27 | 2012-08-23 | Lindee Scott A | Automated Product Profiling Apparatus and Product Slicing System Using the Same |
| KR20170087726A (en) * | 2016-01-21 | 2017-07-31 | 주식회사 한성시스코 | Pattern shape measuring apparatus using cross line laser |
| CN105806242A (en) * | 2016-04-15 | 2016-07-27 | 同济大学 | Surface type measuring device adopting laser rotary scanning |
| CN107505324A (en) * | 2017-08-10 | 2017-12-22 | 王兴 | 3D scanning means and scan method based on binocular collaboration laser |
| CN207487590U (en) * | 2017-11-29 | 2018-06-12 | 刘松林 | vision measurement test platform |
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