CN204388803U - The combination fastener of laser instrument and camera in Constructed Lighting Vision System - Google Patents

Abstract

The combined fixing device of laser and camera in structured light vision system belongs to the field of positioning and attitude adjustment device of laser and camera in structured light vision system. The device includes a base, a laser attitude adjustment mechanism, a camera angle adjustment mechanism and four screws. The seat includes a seat plate, a laser hinge seat and a camera shaft seat; the laser attitude adjustment mechanism includes a laser sleeve, a sleeve shaft seat, a sleeve shaft and a pin shaft; the camera angle adjustment mechanism includes a camera sleeve and a camera shaft. The beneficial effects of the utility model are: the combined fixing device respectively fixes the linear laser and the camera through the laser attitude adjustment mechanism with two rotational degrees of freedom and the camera angle adjustment mechanism with one rotational degree of freedom, and ensures the attitude adjustment through the base The relative position of the final linear laser and the camera remains unchanged, which is beneficial to reduce the failure of the calibrated system calibration parameters in the application process of the structured light vision system.

Description

Combination Fixture of Laser and Camera in Structured Light Vision System

technical field

The utility model belongs to the field of positioning and attitude adjustment devices for a laser and a camera in a structured light vision system, in particular to a combined fixing device for a laser and a camera in a structured light vision system.

Background technique

The structured light vision system based on visual measurement technology can well adapt to the new standards and requirements put forward by modern industry for the detection of workpiece shape and size. It is a non-contact shape detection method with both precision and efficiency. The linear laser is a line-structure laser emitting device commonly used in visual measurement technology. It can emit a laser plane and project a highly linear laser light bar on the projection plane. When the laser emitted by the linear laser irradiates the surface of the workpiece to be detected , the original linear laser light strip will change its shape corresponding to the surface shape of the workpiece to be detected. Use the camera to take the photo of the laser light strip at this time, and the three-dimensional surface shape of the detected workpiece can be calculated through the visual measurement algorithm.

Adjustment and calibration are required before using the structured light vision system. First, adjust and calibrate the projection angle of the linear laser and the shooting angle of the camera according to the size, shape, and reflection of the light of the workpiece to ensure that the camera The photos taken meet the detection requirements. After that, the internal parameters of the camera in the structured light vision system and the laser light plane space attitude equation should be calibrated. The structured light vision system can start the normal visual measurement work after the adjustment and calibration are completed, and in the whole process of visual measurement, the relative position of the linear laser and the camera must be kept relatively unchanged, otherwise it will cause problems in the calibration process. The obtained system calibration parameters are invalid and lead to changes in the spatial equation parameters of the laser light plane, which cannot be used in subsequent measurement steps.

Existing structured light vision systems usually use two independent tripods to support the laser and the camera respectively, and use their respective tripods to adjust the projection angle of the laser and the shooting angle of the camera respectively. However, the relative positions of the two independent tripods cannot be fixed, which makes it impossible to reliably ensure that the positions of the linear laser and the camera remain relatively unchanged during the subsequent calibration of the structured light vision system. Once the relative position of the laser and the camera changes, the system calibration parameters obtained during the calibration process will become invalid and the spatial equation parameters of the laser light plane will change, which cannot be used in subsequent measurement steps and requires re-calibration.

Utility model content

In order to solve the problem that two independent tripods are used as supporting devices for the laser and the camera respectively, the attitudes of the two independent tripods are only conducive to the attitude adjustment of the laser and the camera, but cannot reliably guarantee the laser in the subsequent calibration process. The relative position with the camera remains unchanged, which leads to the technical problem that the calibrated system calibration parameters are invalid when the structured light vision system is applied. The utility model provides a combination and fixing device of the laser and the camera in the structured light vision system.

The technical scheme that the utility model solves the technical problem that takes is as follows:

The combined fixing device of the laser and the camera in the structured light vision system includes a base, a laser attitude adjustment mechanism, a camera angle adjustment mechanism and four screws. The base includes a seat plate, a laser hinge seat and a camera shaft seat. The laser hinge Both the seat and the camera shaft seat are fixedly connected to the upper end surface of the seat plate; the laser attitude adjustment mechanism includes a laser sleeve, a sleeve shaft seat, a sleeve shaft and a pin shaft, and the side wall of the middle section of the laser sleeve is provided with three The laser fastening screw hole; the top of the sleeve shaft seat is fixedly connected with the outer wall of the laser sleeve; the upper end of the sleeve shaft is rotationally connected with the sleeve shaft seat, and a radial pin hole is opened at the lower end; the sleeve shaft The pin hole at the lower end is rotatably connected with the laser hinge seat through the pin shaft; the camera angle adjustment mechanism includes a camera sleeve and a camera shaft, the outer wall of the camera sleeve is fixedly connected with one end of the camera shaft, and the other end of the camera shaft passes through the camera The shaft seat is rotatably connected to the seat plate; camera fastening screw holes are provided on the side wall of the middle section of the camera sleeve; the three laser fastening screw holes are matched with the screws, and the camera fastening screw holes are matched with the screws .

The beneficial effects of the utility model are: the combined fixing device respectively fixes the linear laser and the camera through the laser attitude adjustment mechanism with two rotational degrees of freedom and the camera angle adjustment mechanism with one rotational degree of freedom, and ensures the attitude adjustment through the base The relative position of the final linear laser and the camera remains unchanged, which is beneficial to reduce the failure of the calibrated system calibration parameters in the application process of the structured light vision system. In addition, the device also has the advantages of simple and practical structure, low cost, easy popularization and the like.

Description of drawings

Fig. 1 is a three-dimensional schematic diagram of a combined fixing device of a laser and a camera in the structured light vision system of the present invention;

Fig. 2 is a schematic diagram of the explosive assembly of Fig. 1;

Fig. 3 is a schematic diagram of the application of the combined fixing device of the laser and the camera in the structured light vision system of the present invention.

Detailed ways

Below in conjunction with accompanying drawing, the utility model is described in further detail.

As shown in Figures 1 to 2, the combined fixing device of the laser and the camera in the structured light vision system of the present invention includes a base 1, a laser attitude adjustment mechanism 2, a camera angle adjustment mechanism 3 and four screws 4, the base 1 It includes a seat plate 1-1, a laser hinge seat 1-2 and a camera shaft seat 1-3, and the laser hinge seat 1-2 and the camera shaft seat 1-3 are fixedly connected to the upper surface of the seat plate 1-1.

The laser attitude adjustment mechanism 2 includes a laser sleeve 2-1, a sleeve shaft seat 2-2, a sleeve rotating shaft 2-3 and a pin shaft 2-4, and the side wall of the middle section of the laser sleeve 2-1 is provided with three A laser fastening screw hole 2-1-1. The top of the sleeve shaft seat 2-2 is fixedly connected with the outer wall of the laser sleeve 2-1; the upper end of the sleeve shaft 2-3 is rotationally connected with the sleeve shaft seat 2-2, and a radial pin hole is opened at the lower end . The pin hole at the lower end of the sleeve rotating shaft 2-3 is rotatably connected with the laser hinge base 1-2 through the pin shaft 2-4.

The camera angle adjustment mechanism 3 includes a camera sleeve 3-1 and a camera shaft 3-2, the outer wall of the camera sleeve 3-1 is fixedly connected to one end of the camera shaft 3-2, and the other end of the camera shaft 3-2 passes through The camera shaft seat 1-3 is rotatably connected with the seat plate 1-1. A camera fastening screw hole 3-1-1 is provided on the side wall of the middle section of the camera sleeve 3-1.

The three laser fastening screw holes 2-1-1 are matched with the screw 4, and the camera fastening screw hole 3-1-1 is matched with the screw 4.

As shown in Figure 3, when specifically applying the combined fixing device of the laser and the camera in the structured light vision system of the present utility model, the linear laser 6 is inserted into the laser sleeve 2-1, and the linear laser is rotated according to the size and shape of the workpiece to be detected , to adjust the projection angle of the laser light bar on the workpiece, after that, use three screws 4 to fasten the linear laser 6 in the laser sleeve 2-1 through their respective corresponding laser fastening screw holes 2-1-1 . Fasten the camera 5 in the camera sleeve 3-1 in the same way.

Turn on the linear laser 6 and the camera 5 respectively, use the camera 5 to take pictures of the laser light bar projected on the workpiece to be detected, and check the reflection of the workpiece on the photo, if the reflection is too strong in some positions, it is not suitable for the structured light vision system If it is not detected, it is necessary to readjust the shooting angle of the linear laser 6 or the attitude of the camera 5 . The shooting angle of the camera 5 can be adjusted by rotating the camera shaft 3-2 left and right; the linear laser 6 can be adjusted by rotating the sleeve shaft seat 2-2 left and right or adjusting the pitch angle of the sleeve shaft 2-3 back and forth It has two degrees of freedom. When the photos taken by the camera 5 meet the detection requirements, the adjustment process of the structured light vision system is completed.

Keep the relative position of the adjusted linear laser 6 and camera 5 unchanged, further calibrate the spatial relationship between the two, and establish the world coordinate system of the camera relative to the laser, then the structured light vision system can be completed before use. Calibration work.

During the use of the structured light vision system, the base 1 can move as a whole under the premise of keeping the laser attitude adjustment mechanism 2 and the camera angle adjustment mechanism 3 relatively stationary, so the moving process will neither damage the alignment of the linear laser 6 nor the camera 5. The relative position will not invalidate the calibrated camera world coordinate system in the structured light vision system.

Claims (1)

1. The combined fixing device of the laser and the camera in the structured light vision system, characterized in that the device includes a base (1), a laser attitude adjustment mechanism (2), a camera angle adjustment mechanism (3) and four screws (4) , the base (1) includes a seat plate (1-1), a laser hinge seat (1-2) and a camera shaft seat (1-3), and the laser hinge seat (1-2) and the camera shaft seat (1- 3) are all fixedly connected to the upper end surface of the seat plate (1-1); The laser attitude adjustment mechanism (2) includes a laser sleeve (2-1), a sleeve shaft seat (2-2), a sleeve shaft (2-3) and a pin shaft (2-4), and the laser sleeve ( 2-1) There are three laser fastening screw holes (2-1-1) on the side wall of the middle section; the top of the sleeve shaft seat (2-2) is fixedly connected with the outer wall of the laser sleeve (2-1); The upper end of the sleeve rotating shaft (2-3) is rotationally connected with the sleeve shaft seat (2-2), and a radial pin hole is opened at the lower end thereof; the pin shaft hole at the lower end of the sleeve rotating shaft (2-3) passes through The pin shaft (2-4) is rotationally connected with the laser hinge seat (1-2); The camera angle adjustment mechanism (3) includes a camera sleeve (3-1) and a camera shaft (3-2), and the outer wall of the camera sleeve (3-1) is fixedly connected to one end of the camera shaft (3-2) , the other end of the camera shaft (3-2) is rotationally connected with the seat plate (1-1) through the camera shaft seat (1-3); Fixed screw hole (3-1-1); The three laser fastening screw holes (2-1-1) are all matched with the screw (4), and the camera fastening screw hole (3-1-1) is matched with the screw (4).