CN208936977U - A kind of amphibious handheld three-dimensional reconstructing device for photometric stereo imaging - Google Patents
A kind of amphibious handheld three-dimensional reconstructing device for photometric stereo imaging Download PDFInfo
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- CN208936977U CN208936977U CN201821924233.0U CN201821924233U CN208936977U CN 208936977 U CN208936977 U CN 208936977U CN 201821924233 U CN201821924233 U CN 201821924233U CN 208936977 U CN208936977 U CN 208936977U
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- photometric stereo
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Abstract
A kind of amphibious handheld three-dimensional reconstructing device for photometric stereo imaging, it includes the general frame and a dismountable pedestal of three telescopic booms for being separated by 120 degree, watertight source of parallel light and high definition watertight camera are attached by the telescopic arm for indicating precise length with the rotating arm for indicating accurate angle, one end of handle is fixed on the fixing end of telescopic arm, the other end is fixed in placement arm, watertight laser is installed in the middle part of placement arm, when equipment can insert the device into pedestal by placement arm when not used.The utility model is bigger for common photometric stereo three-dimensional reconstruction apparatus weight, and the distance of light source position and camera position has been fixed, and there are problems that reconstruction precision is insufficient or rebuilds not exclusively and not can be carried out underwater data acquisition.A kind of lightweight is devised, the high availability of photometric stereo three-dimensional reconstruction, high reliability, high precision and high portability may be implemented in the amphibious handheld three-dimensional reconstructing device of adjustableization.
Description
Technical field
The utility model relates to high-precision three-dimensionals to rebuild field, and in particular to a kind of land and water two for photometric stereo imaging
With handheld three-dimensional reconstructing device.
Background technique
Stereo photometry three-dimensional reconstruction is to carry out the most important method of three-dimensional reconstruction, source of parallel light currently with source of parallel light
Relative angle and height relative to object under test have vital effect to the reconstruction of object high-precision three-dimensional, are to guarantee weight
Build high-precision inevitable requirement.There are many problems for common photometric stereo three-dimensional reconstruction apparatus, its weight is bigger first,
Multiple person cooperational is needed just to can be carried out movement in data acquisition；Secondly the distance of source of parallel light position and camera position has been consolidated
It is fixed, there will be reconstruction precision deficiency when object under test is smaller or larger or rebuild incomplete problem；Last its cannot enter
Water carries out the acquisition of underwater object under test data.Therefore to reach multiple dimensioned high-precision three in the case where reducing man power and material
Dimension is rebuild, and a kind of amphibious handheld three-dimensional reconstructing device for photometric stereo imaging must be just used, there is presently no
Such device.
Summary of the invention
The utility model is currently used for the defect of photometric stereo three-dimensional reconstruction equipment in order to make up, and provides one kind and overcomes biography
Unite equipment deficiency, it can be achieved that photometric stereo three-dimensional reconstruction high availability, high reliability, the one of high precision and high portability
Kind is used for the amphibious handheld three-dimensional reconstructing device of photometric stereo.
A kind of amphibious handheld three-dimensional reconstructing device for photometric stereo imaging, is located at it is characterized in that including one
High definition watertight camera in placement arm, there are three the periphery that the telescopic arm for being separated by 120 degree is mounted on high definition watertight camera, three
Telescopic arm has scale, and the end of three telescopic arms is equipped with rotating arm with a scale, and the end of three rotating arms is respectively equipped with
Watertight source of parallel light, and placement arm is equipped with handle；The watertight laser of adjustable angle is installed in the middle part of placement arm.
The device further includes a dismountable pedestal, when pedestal can be inserted in device when not used.
Three telescopic arms include the upper telescopic arm being welded on above high definition watertight camera, are welded on high definition watertight phase
The left telescopic arm of machine lower left and the right telescopic arm for being welded on high definition watertight camera lower right, upper telescopic arm, left telescopic arm and the right side
Telescopic arm and the angle of high definition watertight camera optical axis are 75 degree.
The telescopic arm is equipped with the length scale for being accurate to millimeter.
The rotating arm is equipped with the scale being accurate to once.
The beneficial effects of the utility model are: the utility model is heavy for the equipment of existing photometric stereo three-dimensional reconstruction,
It is mobile difficult；Angle and distance is unadjustable, and measurement range is limited；Occupation area of equipment is big, places difficult；Water progress cannot be entered
The problem of immersed body data acquisition, uses new material to mitigate weight of equipment；It is combined using telescopic arm and rotating arm
Mode is to expand measurement range；Addition placement arm is used to insert the device into detachable base to reduce equipment the space occupied；It adopts
With high definition watertight camera, the method that watertight light source and watertight laser combine realizes the acquisition of underwater data.
Detailed description of the invention
Fig. 1 is the general structure schematic diagram of the utility model；
Fig. 2 is the positive structure diagram of the utility model；
Fig. 3 is the side structure schematic view of the utility model；
Fig. 4 is the overlooking structure diagram of the utility model；
Fig. 5 is the light path schematic diagram of the utility model.
Wherein, telescopic arm on 1,2 left telescopic arms, 3 right telescopic arms, 4 rotating arms, 5 watertight lasers, 6 pedestals, 7 high clear water
Close camera, 8 watertight sources of parallel light, 9 placement arms, 10 handles.
Specific embodiment
Attached drawing is specific embodiment of the utility model, as shown in Figures 1 to 5, a kind of water for photometric stereo imaging
Land two purpose hand holding formula three-dimensional reconstruction apparatus, it is characterized in that include the high definition watertight camera 7 being located in placement arm 9, there are three
It is separated by the periphery that 120 degree of telescopic arm is mounted on high definition watertight camera 7, three telescopic arms have scale, and three telescopic arms
End be equipped with rotating arm with a scale, the end of three rotating arms is respectively equipped with watertight source of parallel light 8, and sets in placement arm 9
There is handle 10；The watertight laser 5 of adjustable angle is installed in the middle part of placement arm 9.
The device further includes a dismountable pedestal 6, when pedestal 6 can be inserted in device when not used.
Three telescopic arms include the upper telescopic arm 1 for being welded on 7 top of high definition watertight camera, are welded on high definition watertight
The left telescopic arm 2 of 7 lower left of camera and the right telescopic arm 3 for being welded on 7 lower right of high definition watertight camera, upper telescopic arm 1, a left side are flexible
The angle of arm 2 and right telescopic arm 3 and 7 optical axis of high definition watertight camera is 75 degree.
The telescopic arm is equipped with the length scale for being accurate to millimeter.
The rotating arm 6 is equipped with the scale being accurate to once.
Embodiment
A kind of amphibious handheld three-dimensional reconstructing device for photometric stereo imaging of the utility model includes a phase
Every the general frame and a dismountable pedestal of 120 degree of three telescopic booms.Upper telescopic arm (1), left telescopic arm (2) and the right side
The specifications parameter of telescopic arm (3) is completely the same, and one end that three telescopic arms weld together is fixing end, and the length of fixing end is
Definite value 200mm, by projection be separated by 120 degree and with the angle of high definition watertight camera (7) optical axis be 75 degree in a manner of weld together.
High definition watertight camera (7) is mounted on the intersection point of telescopic arm fixing end.The telescopic arm other end is elongation end, is indicated on each elongation end
It is accurate to the length information of millimeter, guarantees each elongation end endpoint and high definition watertight camera (7) center after length adjustment
Distance is completely the same, to guarantee each watertight source of parallel light (8) at a distance from high definition watertight image center (7) position
It is completely the same.Watertight source of parallel light (8) is separately fixed at telescopic arm (1) by rotating arm (4), (2), the elongation end of (3),
The degree being accurate to once is indicated on rotating arm, can directly be read the angle of watertight source of parallel light after adjustment from rotating arm, be kept away
Exempt from the result that high-precision three-dimensional reconstruction is influenced because using protractor valuation to cause error.One end of handle (10), which is fixed on, stretches
The fixing end of contracting arm (1), the other end are fixed at placement arm (9) top 200mm, and placement arm (9) length is 300mm, are being disposed
Watertight linear laser (5) have been installed at arm 150mm, can carry out plane reference at any time.Pedestal can be inserted in placement arm (9)
(6), when device can reduce equipment the space occupied by placement arm (9) insertion detachable base (6) when not used.
The concrete operations process of device are as follows:
It is first turned on watertight linear laser (5) and high definition watertight camera (7), lineament scaling board is placed on high clear water
The front suitable distance of close camera (7) adjusts the angle of watertight linear laser (5), makes its dozen in the laser rays position of scaling board
The middle position of image is obtained in high definition watertight camera (7), scaling board is arbitrarily swung, obtains multiple images, for high clear water
The calibration of close camera (7) parameter.After the completion of being demarcated in air or in water, so that it may to the determinand in air or in water
The three-dimensional reconstruction of body progress photometric stereo.
Device is lifted from pedestal (6) by handle, telescopic arm (1) is adjusted according to the size of object under test, telescopic arm
(2) and the length of telescopic arm (3), keep the length of three telescopic arms consistent by length information accurate on telescopic arm.
Adjustment rotating arm (4) keeps the angle of three rotating arms identical, guarantees the light of three watertight sources of parallel light (8) to be measured
Object plane, which is submitted, converges into a border circular areas, and the area in region is greater than object under test.
All watertight sources of parallel light (8) are closed, watertight linear laser (5) and high definition watertight camera (7) are opened, shooting is linear
Laser beats the image on object under test, obtains the initial depth information of object under test.
It closes watertight linear laser (5), in the watertight source of parallel light (8) and right telescopic arm (3) on left telescopic arm (2)
In the case that watertight source of parallel light (8) is closed, the watertight source of parallel light (8) on upper telescopic arm (1) is opened, shoots image.
The watertight source of parallel light (8) on upper telescopic arm (1) is closed, the watertight source of parallel light (8) on right telescopic arm (3) is protected
Closing is held, the watertight source of parallel light (8) on left telescopic arm (2) is opened, shoots image.
The watertight source of parallel light (8) on left telescopic arm (2) is closed, the watertight source of parallel light (8) on upper telescopic arm (1) is protected
Closing is held, the watertight source of parallel light (8) on right telescopic arm (3) is opened, shoots image.
It can carry out the data acquisition in multiple orientation with measuring targets as needed, after data acquisition, close all
Watertight source of parallel light (8) closes high definition watertight camera (7), device is put back to pedestal (6).
Claims (5)
1. a kind of amphibious handheld three-dimensional reconstructing device for photometric stereo imaging, it is characterized in that including one is located at peace
The high definition watertight camera (7) on arm (9) is set, there are three the telescopic arms for being separated by 120 degree to be mounted on high definition watertight camera (7)
Periphery, three telescopic arms have scale, and the end of three telescopic arms is equipped with rotating arm with a scale, the end point of three rotating arms
Not She You watertight source of parallel light (8), and placement arm (9) be equipped with handle (10)；Adjustable angle is installed in the middle part of placement arm (9)
Watertight laser (5).
2. the amphibious handheld three-dimensional reconstructing device for photometric stereo imaging as described in claim 1, it is characterized in that
The device further includes a dismountable pedestal (6), when pedestal (6) can be inserted in device when not used.
3. the amphibious handheld three-dimensional reconstructing device for photometric stereo imaging as described in claim 1, it is characterized in that
Three telescopic arms include the upper telescopic arm (1) being welded on above high definition watertight camera (7), are welded on high definition watertight camera
(7) the left telescopic arm (2) for the side of sitting down and it is welded on the right telescopic arm (3) of high definition watertight camera (7) lower right, upper telescopic arm (1),
The angle of left telescopic arm (2) and right telescopic arm (3) and high definition watertight camera (7) optical axis is 75 degree.
4. the amphibious handheld three-dimensional reconstructing device for photometric stereo imaging as described in claim 1, it is characterized in that
The telescopic arm is equipped with the length scale for being accurate to millimeter.
5. the amphibious handheld three-dimensional reconstructing device for photometric stereo imaging as described in claim 1, it is characterized in that
The rotating arm (4) is equipped with the scale being accurate to once.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821924233.0U CN208936977U (en) | 2018-11-21 | 2018-11-21 | A kind of amphibious handheld three-dimensional reconstructing device for photometric stereo imaging |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821924233.0U CN208936977U (en) | 2018-11-21 | 2018-11-21 | A kind of amphibious handheld three-dimensional reconstructing device for photometric stereo imaging |
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| CN208936977U true CN208936977U (en) | 2019-06-04 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112113505A (en) * | 2020-09-23 | 2020-12-22 | 华中科技大学鄂州工业技术研究院 | Portable scanning measurement device and method based on line structured light |
-
2018
- 2018-11-21 CN CN201821924233.0U patent/CN208936977U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112113505A (en) * | 2020-09-23 | 2020-12-22 | 华中科技大学鄂州工业技术研究院 | Portable scanning measurement device and method based on line structured light |
| CN112113505B (en) * | 2020-09-23 | 2022-02-01 | 华中科技大学鄂州工业技术研究院 | Portable scanning measurement device and method based on line structured light |
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