CN207304718U - A kind of monocular multi-focus stereo vision apparatus for robot three-dimensional environment sensing - Google Patents
A kind of monocular multi-focus stereo vision apparatus for robot three-dimensional environment sensing Download PDFInfo
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- CN207304718U CN207304718U CN201721358309.3U CN201721358309U CN207304718U CN 207304718 U CN207304718 U CN 207304718U CN 201721358309 U CN201721358309 U CN 201721358309U CN 207304718 U CN207304718 U CN 207304718U
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- 238000003384 imaging method Methods 0.000 claims abstract description 9
- 230000003287 optical effect Effects 0.000 claims abstract description 4
- 239000007787 solid Substances 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 5
- 230000008447 perception Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
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Abstract
The utility model discloses a kind of monocular multi-focus stereo vision apparatus for robot three-dimensional environment sensing, including camera lens, camera and displacement sensor.Wherein camera lens or camera are movable part, can be moved along the direction of camera lens optical axis, and displacement sensor is used for the positional information for measuring movable part.Change the image distance of the imaging system by moving lens or camera, the sighting device is set to focus on the different depth location of environment, and the multiple focussing image of environment different depth position is focused on using camera collection, robot three-dimensional environment sensing can be realized by image procossing.The utility model is a kind of monocular multi-focus stereo vision apparatus that can realize robot three-dimensional environment sensing, its principle belongs to monocular passive vision, has the advantages that simple in structure, hardware cost is low, system calibrating workload is small.
Description
Technical field
The utility model belongs to robot vision field, and in particular to a kind of monocular for robot three-dimensional environment sensing
Multi-focus stereo vision apparatus.
Background technology
Vision technique is the important means of robot perception environment.Robot is filled using monocular structure light vision more at present
Put, binocular vision device or multi-vision visual device realize that three-dimensional environment perceives.Monocular structure light vision device uses active vision
Technology, by project structured light into environment, 3 D scene rebuilding is carried out by modes such as the deformation of structure light or flight time.
Binocular vision device or multi-vision visual device shoot same width scene using two or more cameras in different positions, pass through meter
Calculate parallax of the spatial point in different images and carry out 3 D scene rebuilding.But currently used for the solid of robot three-dimensional environment sensing
Sighting device still suffers from the shortcomings of complicated, hardware cost is high, system calibrating is complicated.
The content of the invention
The technical problems to be solved in the utility model is to answer for structure existing for existing robot stereo vision's device
Miscellaneous, the deficiencies of hardware cost is high, system calibrating heavy workload, there is provided one kind has that simple in structure, hardware cost is low, system calibrating
The robot monocular multi-focus stereo vision apparatus for the advantages that workload is small.
In view of the above-mentioned problems, the utility model proposes following technical scheme：
A kind of monocular multi-focus stereo vision apparatus for robot three-dimensional environment sensing, is installed on robot platform
Anterior position, it is characterised in that including camera lens, camera and displacement sensor；The camera lens is located at the front of camera, camera lens and
Camera forms imaging system, for gathering the multiple focussing image of environment；Institute's displacement sensors are fixed on robot platform, are used
In the displacement of measure camera lens or camera motion.
Further, the camera lens is tight shot or zoom lens.
Further, the camera lens or camera relative to robot be moveable, its direction of motion be along into
As systematic optical axis direction.
Compared with prior art, the utility model has following technique effect：
1st, the utility model is made of a camera, a camera lens and a displacement sensor, it is not necessary to emitting structural light
Laser and other cameras, therefore it is simple in structure, hardware cost is low；
2nd, the utility model is made of a camera, a camera lens and a displacement sensor, is a kind of most simple vision system
System, therefore the workload of system calibrating is small；
3rd, for the utility model using the displacement of displacement sensor measure movable part camera lens or camera, which is imaging
The key parameter of system, the robot three-dimensional environment sensing that is determined as of movable part displacement provide sufficient information, favorably
Three-dimensional environment perception is carried out in robot.
Brief description of the drawings
Fig. 1 is the signal for the monocular multi-focus stereo vision apparatus that the utility model is used for robot three-dimensional environment sensing
Figure；
Fig. 2 is the schematic diagram of the first preferably embodiment of the utility model；
The schematic diagram for preferably embodiment that Fig. 3 is the utility model second；
Fig. 4 is the schematic diagram of the third preferably embodiment of the utility model；
Fig. 5 is the schematic diagram of the 4th kind of the utility model preferably embodiment；
Fig. 6 is the schematic diagram of the 5th kind of the utility model preferably embodiment.
In figure, 1. camera lenses, 2. cameras, 3. displacement sensors, 4. first pinboards, 5. sliding blocks, 6. line slideways, 7. machines
People's platform, 8. second pinboards, 9. second sliding blocks, the telescopic focusing ring of 10. length.
Embodiment
Below by drawings and examples, the technical solution of the utility model is described in further detail.
The utility model discloses a kind of monocular multi-focus stereo vision apparatus for robot three-dimensional environment sensing, such as
Shown in Fig. 1, including camera lens 1, camera 2 and displacement sensor 3；The camera lens 1 is located at same direction, 1, the camera lens with camera 2
In the front of camera 2, camera lens 1 and camera 2 form imaging system, for gathering the multiple focussing image of environment；The displacement sensing
Device 3 is fixed on robot platform, the displacement moved for measuring camera lens 1 or camera 2.
In the present embodiment, the camera lens 1 is tight shot or zoom lens, and for zoom lens, three are carried out in robot
Its physics focal length remains unchanged when tieing up environment sensing.
In the present embodiment, the camera lens 1 or camera 2 are moveable relative to robot, its direction of motion is edge
Imaging system optical axis direction, for changing the image distance of imaging system.
In the present embodiment, robot passes through mobile movable part camera lens 1 or camera 2 when carrying out three-dimensional environment perception
Change the image distance of imaging system, the sighting device is focused on the different depth location of environment, and focused on using camera collection
The multiple focussing image of environment different depth position, robot realize that three-dimensional environment perceives by image procossing.
In the first preferably embodiment, as shown in Fig. 2, camera lens 1 is movable part, camera lens 1 passes through first turn
Fishplate bar 4 is fixedly connected with the sliding block 5 on line slideway 6, and line slideway 6 is fixed on robot platform 7；Camera 2 is logical
The second pinboard 8 is crossed to be fixed on robot platform 7；Displacement sensor 3 is linear displacement transducer, its slide plate and the first switching
Plate 4 is fixedly connected, its slide is fixed on robot platform 7.
In second preferably embodiment, put down as shown in figure 3, camera lens 1 is fixed on robot by the first pinboard 4
On platform 7；Camera 2 is movable part, and camera 2 is fixed by the second pinboard 8 with the sliding block 5 on line slideway 6 to be connected
Connect, line slideway 6 is fixed on robot platform 7；Displacement sensor 3 is linear displacement transducer, its slide plate and the second switching
Plate 8 is fixedly connected, its slide is fixed on robot platform 7.
In the third preferably embodiment, as shown in figure 4, camera lens 1 and camera 2 are movable part, camera lens 1 is logical
The first pinboard 4 is crossed to be fixedly connected with the sliding block 5 on line slideway 6；Camera 2 is by the second pinboard 8 with being installed on
The second sliding block 9 on line slideway 6 is fixedly connected；Line slideway 6 is fixed on robot platform 7；Displacement sensor 3 is straight line
Displacement sensor, has two slide plates on the sensor, and one of slide plate is fixedly connected with the first pinboard 4, another cunning
Piece is fixedly connected with the second pinboard 8, and the slide of the linear displacement transducer is fixed on robot platform 7.
In the 4th kind preferably embodiment, camera lens 1 carries focusing ring, as shown in figure 5, camera lens 1 directly connects with camera 2
Connect, or when the interface that camera lens 1 is connected with camera 2 mismatches, camera lens 1 is connected with camera 2 by camera lens adapter ring；Camera 2 is logical
The second pinboard 8 is crossed to be fixed on robot platform 7；Displacement sensor 3 is angular displacement sensor, its rotor with camera lens 1
Focusing ring rotates synchronously, its base is fixed on robot platform 7.
In the 5th kind preferably embodiment, as shown in fig. 6, camera lens 1 passes through the telescopic focusing ring 10 of length and phase
Machine 2 is directly connected to；Camera 2 is fixed on robot platform 7 by the second pinboard 8；Displacement sensor 3 and telescopic focusing
Ring 10 is connected, for measuring the distance of stretch out and draw back of telescopic focusing ring 10.
In the 6th kind preferably embodiment, in other ways displacement sensor 3 can be replaced to measure movable part mirror
First 1 or the displacement of camera 2, driving stepper motor movable part camera lens 1 or camera 2 such as are used, by the arteries and veins of Driving Stepping Motor
Rush the displacement that number is converted into movable part camera lens 1 or camera 2.
The above, is only the better embodiment of the utility model, not the utility model is imposed any restrictions, every
Any simple modification, change and the equivalent structure change made according to the utility model technical spirit to embodiment of above,
Still fall within the protection domain of technical solutions of the utility model.
Claims (3)
1. a kind of monocular multi-focus stereo vision apparatus for robot three-dimensional environment sensing, is installed on robot platform,
It is characterised in that it includes camera lens (1), camera (2) and displacement sensor (3)；The camera lens (1) and camera (2) are located at same side
To camera lens (1) and camera (2) form imaging system, for gathering the multiple focussing image of environment；Institute's displacement sensors (3) are solid
Due to the displacement on robot platform, moved for measuring camera lens (1) or camera (2).
2. it is used for the monocular multi-focus stereo vision apparatus of robot three-dimensional environment sensing, its feature as claimed in claim 1
It is, the camera lens (1) is tight shot or zoom lens.
3. it is used for the monocular multi-focus stereo vision apparatus of robot three-dimensional environment sensing, its feature as claimed in claim 1
It is, the camera lens (1) or camera (2) are moveable relative to robot, its direction of motion is along imaging system
Optical axis direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721358309.3U CN207304718U (en) | 2017-10-20 | 2017-10-20 | A kind of monocular multi-focus stereo vision apparatus for robot three-dimensional environment sensing |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721358309.3U CN207304718U (en) | 2017-10-20 | 2017-10-20 | A kind of monocular multi-focus stereo vision apparatus for robot three-dimensional environment sensing |
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| Publication Number | Publication Date |
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| CN207304718U true CN207304718U (en) | 2018-05-01 |
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| CN201721358309.3U Active CN207304718U (en) | 2017-10-20 | 2017-10-20 | A kind of monocular multi-focus stereo vision apparatus for robot three-dimensional environment sensing |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109274954A (en) * | 2018-10-26 | 2019-01-25 | 北京理工大学 | A kind of small recessed monocular stereo imaging system |
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2017
- 2017-10-20 CN CN201721358309.3U patent/CN207304718U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109274954A (en) * | 2018-10-26 | 2019-01-25 | 北京理工大学 | A kind of small recessed monocular stereo imaging system |
| CN109274954B (en) * | 2018-10-26 | 2020-09-25 | 北京理工大学 | Foveola monocular stereoscopic imaging system |
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| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Shaanxi Fun Intelligent Information Technology Co.,Ltd. Assignor: CHANG'AN University Contract record no.: X2023980048490 Denomination of utility model: A monocular multi focus stereo vision device for robot 3D environment perception Granted publication date: 20180501 License type: Common License Record date: 20231127 |