CN113218326A - Method for size detection by adopting three-dimensional detection camera - Google Patents
Method for size detection by adopting three-dimensional detection camera Download PDFInfo
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- CN113218326A CN113218326A CN202110387425.2A CN202110387425A CN113218326A CN 113218326 A CN113218326 A CN 113218326A CN 202110387425 A CN202110387425 A CN 202110387425A CN 113218326 A CN113218326 A CN 113218326A
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- 238000001514 detection method Methods 0.000 title claims abstract description 87
- 238000000034 method Methods 0.000 title claims abstract description 25
- 230000001154 acute effect Effects 0.000 claims description 18
- 238000007689 inspection Methods 0.000 claims description 12
- 230000000007 visual effect Effects 0.000 claims description 12
- 230000003287 optical effect Effects 0.000 claims description 8
- 238000003384 imaging method Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
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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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
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- Length Measuring Devices By Optical Means (AREA)
Abstract
The application discloses a method for detecting the size by adopting a three-dimensional detection camera, which comprises the following steps of enabling a first detection group and a second detection group to respectively emit a laser plane; moving the three-dimensional detection camera to enable two laser planes of the three-dimensional detection camera to scan a detection part and form a laser line at the detection part; enabling the first detection group and the second detection group to respectively acquire images with laser lines; restoring three-dimensional point clouds of detection parts according to shapes and positions of laser lines in images acquired by the first detection group and the second detection group respectively; and splicing the two three-dimensional point clouds into a whole according to the positions of the first detection group and the second detection group. The method has the advantages that the size detection method can overcome the detection problem caused by the protruding structure of the object to be detected.
Description
Technical Field
The application relates to a size detection method, in particular to a method for carrying out size detection by adopting a three-dimensional detection camera.
Background
The production and manufacturing field often needs to carry out high-precision image acquisition on parts, and the laser 3D camera is widely applied.
As shown in fig. 1, when detecting a protruding structure, the conventional laser triangular 3D camera often cannot effectively acquire an image with a laser line, so that the three-dimensional size cannot be detected.
Disclosure of Invention
In order to solve the defects of the prior art, the present application provides a method for performing size detection by using a three-dimensional detection camera, where the three-dimensional detection camera further includes: the first detection group comprises a first laser emitting device and a first camera; the second detection group comprises a second laser emitting device and a second camera; the first laser emitting device and the second laser emitting device are arranged between the first camera and the second camera; the laser surface emitted by the first laser emitting device is obliquely intersected with the laser surface emitted by the second laser emitting device; the first laser emitting device is arranged between the second laser emitting device and the second camera; the second laser emitting device is arranged between the first laser emitting device and the first camera; the visual angle direction of the first camera is obliquely intersected with the visual angle direction of the second camera; the method comprises the following steps: enabling the first detection group and the second detection group to respectively emit a laser plane; moving the three-dimensional detection camera to enable two laser planes of the three-dimensional detection camera to scan a detection part and form a laser line at the detection part; enabling the first detection group and the second detection group to respectively acquire images with laser lines; restoring three-dimensional point clouds of detection parts according to shapes and positions of laser lines in images acquired by the first detection group and the second detection group respectively; and splicing the two three-dimensional point clouds into a whole according to the positions of the first detection group and the second detection group.
Furthermore, the first camera comprises a lens, and an optical axis of the lens of the first camera sequentially penetrates through the laser planes of the second laser emitting device and the first laser emitting device from the lens.
Furthermore, the second camera comprises a lens, and an optical axis of the lens of the second camera sequentially penetrates through the laser surfaces of the first laser emitting device and the second laser emitting device from the lens.
Furthermore, the first laser emitting device and the first camera are respectively positioned on two sides of a laser surface of the second laser emitting device.
Furthermore, the second laser emitting device and the second camera are respectively located on two sides of the laser surface of the first laser emitting device.
Furthermore, an acute angle formed by oblique intersection of the laser surface emitted by the first laser emitting device and the laser surface emitted by the second laser emitting device is less than or equal to an acute angle formed by oblique intersection of the view angle direction of the first camera and the view angle direction of the second camera.
Furthermore, an acute angle formed by oblique intersection of a laser surface emitted by the first laser emitting device and the view angle direction of the second camera is greater than or equal to an acute angle formed by oblique intersection of a laser surface emitted by the first laser emitting device and a laser surface emitted by the second laser emitting device.
Furthermore, an acute angle formed by oblique intersection of a laser surface emitted by the second laser emitting device and the visual angle direction of the first camera is greater than or equal to an acute angle formed by oblique intersection of a laser surface emitted by the first laser emitting device and a laser surface emitted by the second laser emitting device.
Further, the first camera and the second camera are symmetrically arranged relative to a middle plane.
Further, the first laser emitting device and the second laser emitting device are symmetrically arranged relative to a middle plane.
The application has the advantages that: a size detection method capable of overcoming the detection problem caused by the protruding structure of an object to be detected is provided.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, serve to provide a further understanding of the application and to enable other features, objects, and advantages of the application to be more apparent. The drawings and their description illustrate the embodiments of the invention and do not limit it. In the drawings:
FIG. 1 is a schematic diagram of a conventional laser 3D camera being unable to detect a groove;
fig. 2 is a structure of a three-dimensional inspection camera according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In this application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.
Furthermore, the terms "mounted," "disposed," "provided," "connected," and "sleeved" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 2, the three-dimensional inspection camera includes: the device comprises a shell, a first detection group and a second detection group.
The first detection group comprises a first laser emitting device and a first camera; the second detection group comprises a second laser emitting device and a second camera; the first laser emitting device and the second laser emitting device are arranged between the first camera and the second camera; the laser surface emitted by the first laser emitting device is obliquely intersected with the laser surface emitted by the second laser emitting device; the first laser emitting device is arranged between the second laser emitting device and the second camera; the second laser emitting device is arranged between the first laser emitting device and the first camera; the visual angle direction of the first camera is obliquely intersected with the visual angle direction of the second camera.
The visual angle direction of the camera in the present application may be the optical axis direction of the lens or the direction perpendicular to the imaging plane of the imaging unit in the camera. The optical axis of the lens of the camera and the imaging plane of the imaging unit can be vertically arranged and can be obliquely intersected to enlarge the imaging range.
Specifically, the first camera comprises a lens, and an optical axis of the lens of the first camera sequentially passes through the laser planes of the second laser emitting device and the first laser emitting device from the lens.
Specifically, the second camera comprises a lens, and the optical axis of the lens of the second camera sequentially penetrates through the laser planes of the first laser emitting device and the second laser emitting device from the lens.
Specifically, the first laser emitting device and the first camera are respectively located on two sides of a laser plane of the second laser emitting device.
Specifically, the second laser emitting device and the second camera are respectively located on two sides of the laser surface of the first laser emitting device.
Specifically, an acute angle formed by oblique intersection of a laser plane emitted by the first laser emitting device and a laser plane emitted by the second laser emitting device is smaller than or equal to an acute angle formed by oblique intersection of a viewing angle direction of the first camera and a viewing angle direction of the second camera.
Specifically, an acute angle formed by oblique intersection of a laser surface emitted by the first laser emitting device and the view angle direction of the second camera is greater than or equal to an acute angle formed by oblique intersection of a laser surface emitted by the first laser emitting device and a laser surface emitted by the second laser emitting device.
Specifically, an acute angle formed by oblique intersection of the laser surface emitted by the second laser emitting device and the view angle direction of the first camera is greater than or equal to an acute angle formed by oblique intersection of the laser surface emitted by the first laser emitting device and the laser surface emitted by the second laser emitting device.
Specifically, the first camera and the second camera are symmetrically arranged relative to a middle plane.
Specifically, the first laser emitting device and the second laser emitting device are symmetrically arranged relative to a middle plane.
By adopting the scheme, the problem of shielding at two sides can be solved, and the side reconstruction of the convex object can be completely realized.
The camera designed by the method has the following remarkable characteristics: the laser and the camera are designed in an alternating mode, so that the laser and the camera are not influenced mutually, and the installation space can be saved; the cameras on the two sides shoot the side faces of the object from different view angles, and the three-dimensional appearance of the side faces of the object can be reduced. So that it can cover all sides and the top of the object.
As another aspect of the present application, there is provided a method of performing size detection using a three-dimensional detection camera.
The method comprises the following steps:
enabling the first detection group and the second detection group to respectively emit a laser plane;
moving the three-dimensional detection camera to enable two laser planes of the three-dimensional detection camera to scan a detection part and form a laser line at the detection part;
enabling the first detection group and the second detection group to respectively acquire images with laser lines;
respectively restoring the three-dimensional point cloud of the part to be detected according to the shape and the position of the laser line in the images acquired by the first detection group and the second detection group;
and splicing the two three-dimensional point clouds into a whole according to the positions of the first detection group and the second detection group.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A method for size detection by using a three-dimensional detection camera is characterized by comprising the following steps:
the three-dimensional inspection camera further includes:
the first detection group comprises a first laser emitting device and a first camera;
the second detection group comprises a second laser emitting device and a second camera;
wherein,
the first laser emitting device and the second laser emitting device are arranged between the first camera and the second camera;
the laser surface emitted by the first laser emitting device is obliquely intersected with the laser surface emitted by the second laser emitting device;
the first laser emitting device is arranged between the second laser emitting device and the second camera;
the second laser emitting device is arranged between the first laser emitting device and the first camera;
the visual angle direction of the first camera is obliquely intersected with the visual angle direction of the second camera;
the method comprises the following steps:
enabling the first detection group and the second detection group to respectively emit a laser plane;
moving the three-dimensional detection camera to enable two laser planes of the three-dimensional detection camera to scan a detection part and form a laser line at the detection part;
enabling the first detection group and the second detection group to respectively acquire images with laser lines;
restoring three-dimensional point clouds of detection parts according to shapes and positions of laser lines in images acquired by the first detection group and the second detection group respectively;
and splicing the two three-dimensional point clouds into a whole according to the positions of the first detection group and the second detection group.
2. The method for size detection using a three-dimensional inspection camera according to claim 1, wherein:
the first camera comprises a lens, and an optical axis of the lens of the first camera sequentially penetrates through the laser planes of the second laser emission device and the first laser emission device from the lens.
3. The method for size detection using a three-dimensional inspection camera according to claim 3, wherein:
the second camera comprises a lens, and the optical axis of the lens of the second camera sequentially penetrates through the laser planes of the first laser emitting device and the second laser emitting device from the lens.
4. The method for size detection using a three-dimensional inspection camera according to claim 4, wherein:
the first laser emitting device and the first camera are respectively positioned at two sides of a laser surface of the second laser emitting device.
5. The method for size detection using a three-dimensional inspection camera according to claim 4, wherein:
the second laser emitting device and the second camera are respectively positioned at two sides of the laser surface of the first laser emitting device.
6. The method for size detection using a three-dimensional inspection camera according to claim 5, wherein:
the acute angle formed by the oblique intersection of the laser surface emitted by the first laser emitting device and the laser surface emitted by the second laser emitting device is less than or equal to the acute angle formed by the oblique intersection of the visual angle direction of the first camera and the visual angle direction of the second camera.
7. The method for size detection using a three-dimensional inspection camera according to claim 6, wherein:
the acute angle formed by the oblique intersection of the laser surface emitted by the first laser emitting device and the visual angle direction of the second camera is more than or equal to the acute angle formed by the oblique intersection of the laser surface emitted by the first laser emitting device and the laser surface emitted by the second laser emitting device.
8. The method for size detection using a three-dimensional inspection camera according to claim 7, wherein:
the acute angle formed by the oblique intersection of the laser surface emitted by the second laser emitting device and the visual angle direction of the first camera is more than or equal to the acute angle formed by the oblique intersection of the laser surface emitted by the first laser emitting device and the laser surface emitted by the second laser emitting device.
9. The method for size detection using a three-dimensional inspection camera according to claim 8, wherein:
the first camera and the second camera are symmetrically arranged relative to a middle dividing plane.
10. The method for size detection using a three-dimensional inspection camera according to claim 9, wherein:
the first laser emitting device and the second laser emitting device are symmetrically arranged relative to a middle plane.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010272435 | 2020-04-09 | ||
| CN2020102724357 | 2020-04-09 |
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| Publication Number | Publication Date |
|---|---|
| CN113218326A true CN113218326A (en) | 2021-08-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110387425.2A Pending CN113218326A (en) | 2020-04-09 | 2021-04-09 | Method for size detection by adopting three-dimensional detection camera |
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| Country | Link |
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| CN (1) | CN113218326A (en) |
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- 2021-04-09 CN CN202110387425.2A patent/CN113218326A/en active Pending
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