CN205622779U - Single -phase quick -witted binocular vision sensor - Google Patents
Single -phase quick -witted binocular vision sensor Download PDFInfo
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- CN205622779U CN205622779U CN201620056303.XU CN201620056303U CN205622779U CN 205622779 U CN205622779 U CN 205622779U CN 201620056303 U CN201620056303 U CN 201620056303U CN 205622779 U CN205622779 U CN 205622779U
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- camera
- speculum
- binocular vision
- photograph
- reflection mirror
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Abstract
The utility model discloses a single -phase quick -witted binocular vision sensor, including right speculum, left speculum, various color ring shape structured light, outer frame, taking the photograph the camera, wherein outer frame includes adjustable support, adjustable support, takes the photograph camera mounting groove and base. The utility model discloses based on accurate machine design, to take the photograph the camera and form two virtual cameras of optical axis vertically through controlling the speculum formation of image, various color ring shape structured light makes the continuous colored optical mode of measuring object body surface shape of face one -tenth. Be equivalent to in the binocular vision technique, take the photograph the camera with two and obtain target object characteristic in not equidirectional shooting. The utility model discloses an innovation structure of speculum and various color ring shape structured light about single -phase machine combines has reduced in the very big degree because the time lock nature that real -time operation had realized better three -dimensional reconsitution to the influence of three -dimensional reconsitution, is simplified to two difference of the intrinsic confidential reference items of camera of taking the photograph.
Description
Technical field
The utility model discloses a kind of one camera binocular vision sensor, belong to computer vision skill
Art field.
Background technology
Traditional binocular vision sensor is based on principle of parallax, utilizes what two intersections put to take the photograph phase
Same testee observed from different perspectives by machine, obtains the image coordinate of same object feature point,
Complete the three-dimensional measurement of impact point.But there is certain shortcoming in the method: on the one hand, for
For kinetic measurement, due to two cameras duty can not Complete Synchronization thus reduce
Certainty of measurement；On the other hand, for some occasion, due to the volume of vision sensor and
Weight demands is strict, and the vision sensor of two camera compositions is difficult to meet requirement.
Single camera is not obtaining two width figures of testee in the same time from different perspectives, obtains with this
Obtain stereoscopic parallax binocular vision 3 D measurement.Although only using a camera, but measuring
Journey need constantly mobile, it is difficult to carry out in real time in existing measurement, real time synchronization difference.
The binocular vision system that single camera combines plane mirror composition is flexible for installation, system
Configuration has only to a camera and two pieces of speculums, and real time synchronization is good, it is only necessary to obtain
Piece image, decreases workload, improves efficiency.
Utility model content
In order to solve the defect that prior art exists, the utility model discloses a kind of one camera double
Visual sense sensor, based on a camera and two pieces of speculums, surveys with computer vision
The binocular vision design that amount is core, it is achieved that technique of binocular stereoscopic vision, thus realize
Three-dimensionalreconstruction.And this name is equipped with loop configuration light of enameling and system can be made to obtain more mesh
Mark object features, thus simplify calculating, and synchronization real-time is good；
Technical solution of the present utility model is:
A kind of one camera binocular vision sensor, including right reflection mirror, left reflection minor, outside framework are the 4th,
Camera,
Described left reflection minor and right reflection mirror symmetrically intersect on described outside framework, its phase
Angle is handed over to be 60 °-90 °, a length of 15-20cm, a width of 5-10cm；
The described camera left reflection minor that is installed on separated by a distance is divided equally with right reflection mirror angle
In the plane, and its optical axis is facing to the center of left reflection minor and right reflection mirror intersecting lens in line institute；
Described camera forms a virtual camera through right reflection mirror, through left camera shape
Becoming the virtual camera of another one, two virtual cameras constitute traditional binocular stereoscopic vision and take the photograph phase
Machine, thus realize three-dimensionalreconstruction.
Further, also including colored loop configuration light, described colored loop configuration light is positioned at
Left reflection minor and right reflection mirror vertical lower, its center is formed with left reflection minor, right reflection mirror mirror
Three-legged structure center point-blank, make measurement body surface form the colored optical mode of continuous print
Formula.
Further, described outside framework includes base, and be vertically set on described base is anti-
Penetrate mirror adjustable support, for supporting the camera adjustable support of camera, for fixing camera
Camera mounting groove, base is steel material, be used for stationary mirror adjustable support and coloured silk
Look loop configuration light.
Outside framework flexible structure, height adjustable, described camera adjustable support is steel material,
Adjusting its length, thus it is possible to vary the height of camera, camera adjustable support can move simultaneously
Move thus change the distance of camera and left and right speculum；
Further, described speculum adjustable support is additionally provided with for regulating left reflection minor
With the speculum connecting portion of the angle of right reflection mirror, described speculum adjustable support is steel material
Material, adjusts its speculum connecting portion, thus it is possible to vary the angle of left and right speculum；
Further, the side of described camera mounting groove is provided with and facilitates manual rotation adjustment to take the photograph
The engraved structure of camera 5 focal length.
Compared to existing technology, the beneficial effects of the utility model are as follows:
First, single camera is used to combine the innovation structure that left and right speculum variegates loop configuration light,
Sensor construction is simplified.Distance between camera and speculum can be far smaller than binocular vision
Actual range between two cameras, the beneficially Miniaturization Design of sensor in feel.
2nd, single camera is used to combine the innovation structure that left and right speculum variegates loop configuration light,
Colored loop configuration light makes measurement body surface form continuous print colourama pattern.Make testee
Parallax bigger, simplify and calculate, reduce the workload of computer vision treatment technology, improve effect
Rate.
3rd, two cameras being fictionalized by single camera are identical, and its focal length, camera lens are abnormal
Parameter is also identical avoids traditional binocular two width image for change, optic response, Pixel size etc.
Stringent synchronization require, it is only necessary to obtain piece image, decrease workload, improve efficiency；
Brief description
Fig. 1 is the composition schematic diagram of the utility model sensor.
Fig. 2 is the outside framework composition schematic diagram of the utility model sensor.
Fig. 3 is the theory structure model schematic of the utility model sensor.
It shown in figure is: 1-left reflection minor；2-right reflection mirror；The colored loop configuration light of 3-；4-
Outside framework；5-camera；6-camera adjustable support；7-speculum adjustable support；8-takes the photograph phase
Machine mounting groove；9-base；The virtual camera of 10-first；The virtual camera of 11-second；12-is false
If object.
Detailed description of the invention
Below by specific embodiment, the purpose of this utility model is described in further detail,
Embodiment can not repeat one by one at this, but therefore embodiment of the present utility model is not defined in
Following example.
As depicted in figs. 1 and 2, a kind of one camera binocular vision sensor, including right reflection mirror is the 2nd,
Left reflection minor the 1st, outside framework the 4th, colored loop configuration light the 3rd, camera 5, described left reflection minor 1
Symmetrically intersect on described outside framework 4 with right reflection mirror 2, its crossing angle is 60 °-
90 °, a length of 15-20cm, a width of 5-10cm；Described camera 5 peace separated by a distance
It is loaded on left reflection minor 1 with right reflection mirror 2 Bisector of angle institute in the plane, and its optical axis faces toward
Left reflection minor 1 and the center of right reflection mirror 2 intersecting lens；Described colored loop configuration light 3
It is positioned at left reflection minor 1 and right reflection mirror 2 vertical lower, its center and left reflection minor the 1st, right reflection
The three-legged structure center that mirror 2 mirror is formed point-blank, makes measurement body surface be formed continuously
Colourama pattern.
Described outside framework 4 includes base 9, and the speculum being vertically set on described base 9 can
The camera adjustable support the 7th, for supporting camera 5 for the support is adjusted the 6th, to be used for fixing camera 5
Camera mounting groove 8, base 9 is steel material, be used for stationary mirror adjustable support 7
With colored loop configuration light 3.
Outside framework 4 flexible structure, height adjustable, described camera adjustable support 6 is steel
Material, adjusts its length, thus it is possible to vary the height of camera, simultaneously camera adjustable support 6
Can move thus change the distance of camera and left and right speculum；
It is additionally provided with for regulating left reflection minor 1 anti-with the right side on described speculum adjustable support 7
Penetrating the speculum connecting portion of the angle of mirror 2, described speculum adjustable support 7 is steel material,
Adjust its speculum connecting portion, thus it is possible to vary the angle of left and right speculum；
The side of described camera mounting groove 8 is provided with and facilitates manual rotation to adjust camera 5 Jiao
Away from engraved structure.
Described camera 5 forms the first virtual camera 10 through right reflection mirror 2, anti-through a left side
Penetrating mirror 1 and forming the other second virtual camera 11, two virtual cameras constitute traditional binocular and stand
Body vision camera, gathers the target object image with parallax from different perspectives, thus realizes
Three-dimensionalreconstruction.
As it is shown on figure 3, it is a kind of such as the adjustment method of described one camera binocular vision sensor, bag
Include step:
Step 1, the 5th, assume object 12 and left reflection minor 1 setting in coordinate system according to camera
The coordinate value of upper object pip tries to achieve this speculum normal slope K1, camera 5 is arranged on
Set at coordinate origin, it is assumed that object 12 coordinate is (0, y1), object on left reflection minor 1
Pip coordinate be (x2,y2), owing to form orthogonal virtual binocular vision system, institute
With y2=y1+x2, then the slope K of the normal of either mirror is tried to achieve1For:
Step 2, with assume object 12 coordinate as the center of circle, with this center of circle to left reflection minor 1 away from
It is that radius draws circle from d, make to be cut in drawn circle outside right reflection mirror 2 in point (x3,y3), obtain
The slope K of the normal of right reflection mirror 22For:
Step 3, according to described K1、K2Draw left reflection minor 1 and angle formed by right reflection mirror 2
Degree α:
α=π+arctan (K1)-arctan(K2)； (3)
Step 4, the angle [alpha] that the 1st, right reflection mirror 2 is formed according to left reflection minor and hypothesis object
Colored loop configuration light 3 is placed on the position directly below of object by 12 positions, its center with
The three-legged structure center that left reflection minor the 1st, right reflection mirror 2 mirror is formed is point-blank.
The black and white industry vidicon that the camera 5 using produces for Ying Meijing company of Germany, specifically
Model is DMK 72AUC02.
The utility model is based on Precision Machinery Design, with computer vision measurement as core,
In conjunction with industrial environment requirement, design the fine measuring instrument that can use online；Camera 4
Form two vertical virtual cameras of optical axis through left reflection minor the 1st, right reflection mirror 2 imaging, colored
Loop configuration light 3 makes measurement body surface form continuous print colourama pattern.Phase is taken the photograph in computer control
Machine 5 photographic subjects object, and image is processed.Be equivalent in binocular vision technology, use
Two cameras 3 obtain target object feature in different directions shooting.The utility model uses single-phase
Machine combines left reflection minor the 1st, right reflection mirror 2 and the innovation structure of colored loop configuration light 3, very big journey
Reduce the impact on three-dimensionalreconstruction for the difference due to the intrinsic internal reference of double cameras on degree, simplify real
When computing achieve the synchronousness of more preferable three-dimensional reconstruction.
Above-described embodiment of the present utility model is only by clearly demonstrating what the utility model was made
Citing, and it is not the restriction to embodiment of the present utility model.General for art
For logical technical staff, the change of other multi-forms can also be made on the basis of the above description
Change or variation.Here without also cannot all of embodiment be given exhaustive.All in this practicality
Any modification, equivalent and the improvement etc. made within novel spirit and principle, all should wrap
It is contained within the utility model scope of the claims.
Claims (4)
1. an one camera binocular vision sensor, it is characterised in that: include right reflection mirror (2), left reflection minor (1), outside framework (4), camera (5),
Described left reflection minor (1) and right reflection mirror (2) symmetrically intersect on described outside framework (4), and its crossing angle is 60 °-90 °, a length of 15-20cm, a width of 5-10cm；
Described camera (5) is separated by a distance is installed on left reflection minor (1) with right reflection mirror (2) Bisector of angle institute in the plane, and its optical axis is facing to the center of left reflection minor (1) and right reflection mirror (2) intersecting lens.
2. one camera binocular vision sensor according to claim 1, it is characterized in that: also include colored loop configuration light (3), described colored loop configuration light (3) is positioned at left reflection minor (1) and right reflection mirror (2) vertical lower, and the three-legged structure center that its center and left reflection minor (1), right reflection mirror (2) mirror are formed is point-blank.
3. one camera binocular vision sensor as claimed in claim 2, it is characterized in that: described outside framework (4) includes base (9), the speculum adjustable support (7) being vertically set on described base (9), the camera adjustable support (6) being used for supporting camera (5), the camera mounting groove (8) being used for fixing camera (5).
4. the one camera binocular vision sensor as described in claim 3, it is characterised in that: it is additionally provided with the speculum connecting portion for regulating left reflection minor (1) and the angle of right reflection mirror (2) on described speculum adjustable support (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620056303.XU CN205622779U (en) | 2016-01-20 | 2016-01-20 | Single -phase quick -witted binocular vision sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620056303.XU CN205622779U (en) | 2016-01-20 | 2016-01-20 | Single -phase quick -witted binocular vision sensor |
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| Publication Number | Publication Date |
|---|---|
| CN205622779U true CN205622779U (en) | 2016-10-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620056303.XU Expired - Fee Related CN205622779U (en) | 2016-01-20 | 2016-01-20 | Single -phase quick -witted binocular vision sensor |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105744258A (en) * | 2016-01-20 | 2016-07-06 | 华南理工大学 | Single-camera binocular vision sensor and debugging method thereof |
-
2016
- 2016-01-20 CN CN201620056303.XU patent/CN205622779U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105744258A (en) * | 2016-01-20 | 2016-07-06 | 华南理工大学 | Single-camera binocular vision sensor and debugging method thereof |
| CN105744258B (en) * | 2016-01-20 | 2017-10-20 | 华南理工大学 | A kind of one camera binocular vision sensor and its adjustment method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161005 Termination date: 20220120 |