CN209310751U - A kind of spatial digitizer - Google Patents
A kind of spatial digitizer Download PDFInfo
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- CN209310751U CN209310751U CN201920114271.8U CN201920114271U CN209310751U CN 209310751 U CN209310751 U CN 209310751U CN 201920114271 U CN201920114271 U CN 201920114271U CN 209310751 U CN209310751 U CN 209310751U
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- camera
- fixing piece
- crossbeam
- spatial digitizer
- camera fixing
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Abstract
The utility model proposes a kind of spatial digitizers, comprising: projector, camera, crossbeam, camera fixing piece, camera fixing screws；The projector is for projecting beam to object under test；The camera is used to acquire the image of the object under test；At least two through-holes are offered on the camera fixing piece, the camera fixing screws at least there are two, the camera is fixed on the crossbeam by the through-hole that the camera fixing screws pass through on the camera fixing piece, there are gaps between the camera fixing piece and crossbeam, face contact or line contact between the camera fixing piece and the camera, the camera fixing piece is stretched deformation on the line direction of described two through-holes, camera is pressed abd fixed on crossbeam by the deformation of camera fixing piece, increase the frictional force between screw surface and connection sheet contact surface simultaneously, screw loosening is prevented to reach, fasten the effect of camera position.
Description
Technical field
The utility model relates to three-dimensional measurement instrument field, in particular to a kind of spatial digitizer.
Background technique
Spatial digitizer is a kind of quick, non-contact, high-precision and high density, approaching to reality model three-dimensional spatial information
The new and high technology of acquisition already becomes one of the technical way that three-dimensional spatial information obtains.The obtained point cloud data of the technology
Abundant information, in terms of occupy critically important status.
3-D scanning, which refers to, integrates light, mechanical, electrical and computer technology new and high technology, is mainly used for object space
Shape and structure and color are scanned, to obtain the space coordinate of body surface.And at present spatial digitizer fast move,
It is scanned after the compound movements such as overturning, rotation, camera relative position would tend to occur and change, to influence the calibration point of camera
Space coordinate, some deviations will appear to the spatial value of measurement；Spatial digitizer can go out in the process of work simultaneously
The phenomenon that existing projector, camera fever, the change that the service life and crossbeam fixed structure for influencing product are easily generated because heated
Shape and thermal expansion cause the relative position of camera to change, and then influence the space coordinate of the calibration point of camera, influence to measure
Precision.
Utility model content
Purpose of the utility model is to solve between the camera of spatial digitizer in the prior art and camera or phase
The stability of relative position between machine and projector is poor, leads to the problem that measurement accuracy is low, proposes a kind of spatial digitizer.
The spatial digitizer of the utility model, comprising: projector, camera, crossbeam, camera fixing piece, camera fixing screws；
The projector is for projecting beam to object under test；The camera is used to acquire the image of the object under test；The phase
Offer at least two through-holes on machine fixing piece, the camera fixing screws at least there are two, the camera fixing screws pass through
The camera is fixed on the crossbeam by the through-hole on the camera fixing piece, between the camera fixing piece and crossbeam
There are gap, face contact or line are contacted between the camera fixing piece and the camera, and the camera fixing piece is described two
Be stretched deformation on the line direction of a through-hole.
In a preferred embodiment, the camera fixing piece is made of the material with certain degree of hardness and tensile strength.
It is furthermore preferred that the camera fixing piece by with certain degree of hardness and tensile strength metal material or plastic material be made.It is more excellent
Choosing, the camera fixing piece is stainless steel connection sheet.
In a preferred embodiment, when the camera to be fixed on the crossbeam, the front end face of the camera, the right side
Side, left side and bottom surface respectively with front end limited block, right side confined planes, left side confined planes and the crossbeam on the crossbeam
Upper surface it is inconsistent.
In a preferred embodiment, the quantity of the camera includes at least four, and four cameras are according to certain
The left and right sides position of the projector is arranged in spacing, vertical range and angle, so that the spatial digitizer being capable of root
Switch magazine at least a pair of image to acquire the object under test according to the breadth size of the object under test.
In a preferred embodiment, the spatial digitizer further includes temperature sensor, is swept for detecting the three-dimensional
The temperature inside instrument is retouched, the temperature sensor is fixed on the crossbeam, and close to the camera and the projector.
In a preferred embodiment, the spatial digitizer further includes front housing, middle shell, pcb board component and rear cover, described
Crossbeam is fitted into the middle shell, and the front housing is fixed on middle shell；The pcb board component be fixed on it is described after cover, after described
Lid is fixed on the middle shell.
In a preferred embodiment, the front housing and/or after cover and offer heat release hole, while increasing is covered after described
If fan, the heat dissipation channel of two air flowing is formed.
In a preferred embodiment, it is further fixed on handle on the middle shell, for being convenient for carrying.In preferred embodiment party
In formula, the shape of the camera fixing piece can be adjusted according to the structure of the camera and the crossbeam.
Compared with prior art, the beneficial effects of the utility model have:
The D projectors of the utility model compress the camera by the deformation of the camera fixing piece, increase simultaneously
Frictional force between the big surface of the camera fixing screws and the contact surface of the camera fixing piece, prevents the camera from fixing
Screw loosening, so as to which camera to be fastened on crossbeam and will not loosen.
In a preferred embodiment, temperature sensing is additionally provided on crossbeam and close to the position of camera and projector
Device detects the heating temperature of projector and camera itself with realizing, is that the measurement result under different temperatures carries out essence
Degree compensation provides hardware foundation.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, it can also be obtained according to these attached drawings the attached drawing of other embodiments.
Fig. 1 is the external structure schematic diagram at the preceding visual angle of spatial digitizer in the utility model one embodiment.
Fig. 2 is the external structure schematic diagram of the back angle of spatial digitizer in the utility model one embodiment.
Fig. 3 is the schematic diagram of internal structure of spatial digitizer in the utility model one embodiment.
Fig. 4 is the structural schematic diagram of spatial digitizer internal temperature sensor in the utility model one embodiment.
Fig. 5 is the integrated connection knot of spatial digitizer inner camera fixing piece and camera in the utility model one embodiment
Structure schematic diagram.
Fig. 6 is the specific attachment structure schematic diagram of camera fixing piece and camera in the utility model one embodiment.
Fig. 7 is the partial structurtes signal in the utility model one embodiment in the main view at the preceding visual angle of spatial digitizer
Figure.
Fig. 8 is the position locating schematic diagram of camera and crossbeam in the utility model one embodiment.
Fig. 9 is the heat release hole structural schematic diagram in the utility model one embodiment on front housing.
Figure 10 be in the utility model one embodiment after the heat release hole structural schematic diagram that covers.
Appended drawing reference:
Front housing 1, middle shell 2, rear cover 3, crossbeam 4, handle 5, camera 6, projector 7, PCB component 8, camera lens 9, camera fixing piece
10, camera fixing screws 11, temperature sensor 12, fan 13, heat release hole 14；
The front end face 61 of camera, right side 62, left side 63, bottom surface 64；
The front end limited block 41 of crossbeam, right side confined planes 42, left side confined planes 43, beam upper end 44.
Specific embodiment
With reference to embodiment and compares attached drawing the utility model is described in further details.It is wherein identical
Appended drawing reference indicates identical component, unless stated otherwise.It is emphasized that following the description is only exemplary,
Rather than in order to limit the scope of the utility model and its application.
In a preferred embodiment, spatial digitizer uses heterodyne multiple frequency three dimensional optical measuring technology, by
Light and shade influence in measured workpiece surface is small, and the object non-reflective for surface can be measured directly, not need spray development agent, single width
Can measure breadth 400mm*300mm, 200mm*150mm, measuring speed is 1~2 second, and single width obtains point cloud data 300,000 or so,
Point spacing is 0.2mm, large format measurement accuracy 0.03mm, small breadth measurement accuracy 0.015.Powerful automatic Mosaic and fusion function
Energy.The identification of index point real-time tracking carries out global registration and automatically completes splicing, the optimization of system and fusion function after several scannings
It can be further ensured that the precision and integrality of data, be mainly used in reverse engineer, product testing etc..
Specifically, above-mentioned spatial digitizer grating projector in measurement projects on several multiple frequency gratings to object under test,
Two cameras to form an angle, which synchronize, adopts to obtain respective image, is then decoded to image and phase calculation, and using vertical
Body matching technique, triangulation principle calculate the three-dimensional coordinate of pixel in two public vision areas of video camera.It is practical at this
In novel other embodiments, the three-dimensional that object under test image obtains object under test can also be acquired by a camera
Coordinate.
It can be seen that between camera and camera between (binocular), camera and projector the relative position of (monocular) stabilization
Property is vital to the raising of scanning accuracy and the raising of equipment robustness of product, therefore the application alternative embodiment mentions
A kind of spatial digitizer is gone out, primary structure is in addition to including: front housing 1, middle shell 2, rear cover 3, crossbeam 4, the handle 5, (packet of camera 6
Include but be not limited to 4), projector 7 (including but not limited to 1, also known as " grating loss device 7 "), PCB (printed circuit
Plate) component 8, camera lens 9 etc., it further include camera fixing piece 10, the camera fixing screws 11 being used cooperatively with the camera fixing piece, temperature
Spend sensor 12 (including but not limited to 5), fan 13 etc..Specific structure can be found in shown in following figure 1- Fig. 4.
Wherein, four cameras 6 of above-mentioned spatial digitizer are arranged according to certain horizontal space, vertical range and angle
In the left and right sides position of grating loss device 6, aforementioned four camera 6 can be switched fast according to the breadth size of object under test
In at least a pair of image for acquiring above-mentioned object under test.
Its primary structure connection relationship are as follows: camera 6 passes through the phase at least two through-holes by camera fixing screws 11
Machine fixing piece 10 is fixed on crossbeam 4, shown in following Fig. 5 and Fig. 6.In the present case, camera fixing piece 10 is by with certain degree of hardness
Be made with the material of tensile strength, the material include with certain degree of hardness and tensile strength metal material and plastic material, wherein,
Preferred stainless steel material in metal material, such as in a specific embodiment, as shown in fig. 7, the camera fixing piece 10 is not
Rust steel connection sheet.
In addition, it is necessary to explanation, including but not limited to lower Fig. 5 of the shape of the camera fixing piece 10 and shown in fig. 6
Structure, can as the case may be and the planform of object to be fixed is adaptively adjusted, for example, not influencing entirely tightly
Gu under the premise of effect, the connection sheet of lower Fig. 5 and Fig. 6 to be designed as to hollow connection sheet etc..
In addition, it is necessary to explanation, the type of screw includes but is not limited to soket head cap screw, is not influencing entirely to fasten
Under the premise of effect, it can also be adaptively adjusted.
Specifically, as shown in Figure 6 and Figure 7, using soket head cap screw combination compression is fixed after, stainless steel connection sheet with
Between crossbeam there are gap (clearance fit herein is not limited to 1.5mm, does not do any restriction in the present embodiment), stainless steels
Between connection sheet and camera face contact or line contact (i.e. between stainless steel connection sheet and camera have certain contact area,
The contact area may include the top surface, right side and left side of camera, can also only include the top surface of camera, can also be only
Only include a seamed edge of camera), stainless steel connection sheet is stretched deformation on the line direction of two through-holes, above-mentioned fastening knot
The cardinal principle of structure is: compressing camera using the deformation of stainless steel connection sheet, while increasing screw surface and connection sheet contact surface
Between frictional force, to achieve the effect that prevent screw loosening, fastening camera position.
Further, the structure of camera fixing piece 10 simultaneously can three faces (the respectively top surface, right side of camera to camera 6
Face and left side) position limited, facilitates the installation and position restriction of camera, be detailed in Fig. 6.Position between camera and crossbeam
For relationship as shown in figure 8, there are four face participant positions to position on camera 6, which distinguishes front end face 61, right side 62, left side
Face 63 and bottom surface 64, correspondingly, participating in carrying out camera position positioning there are four structure or structural plane on crossbeam 4, this four
Structure or structural plane are front end limited block 41, right side confined planes 42, left side confined planes 43 and beam upper end 44 respectively.Fixed
When position, front end face 61, right side 62, left side 63 and the bottom surface 64 of camera 6 respectively with the front end limited block 41, right on crossbeam 4
Lateral confinement plane 42, left side confined planes 43 and beam upper end 44 are inconsistent, to reach position positioning.When the position of camera 6 is true
After setting, then by the way that processing is fixed in position of the camera fixing piece 10 to camera 6, as shown in fig. 7, passing through the fixed spiral shell of camera
Camera 6 is fixed on crossbeam 4 by the through-hole that nail 11 passes through on camera fixing piece 10.
Optionally, in the present embodiment, above-mentioned spatial digitizer is additionally provided with temperature sensor 12, the temperature sensor 12
Position on crossbeam 4 and near camera 6 and projector 7 is fixed on using screw, as shown in figure 4, to realize to projection
The heating temperature of instrument 7 and camera 6 itself is detected.In addition, as shown in figure 4, crossbeam 4 be fitted into shell 2, front housing 1 is fixed
In on middle shell 2；Fan 13 is fixed on rear cover 3 by fan fixing screws, pcb board component 8 is fixed on rear cover 3, it will
Rear cover 3 is fixed on middle shell 2.
Specifically, the construction cardinal principle of above-mentioned temperature sensor 12 and fan 13 is: projector 7 passes through itself fan
If heat is discharged to internal cavity by (projector itself is fan-free, can add fan in the rear end face of projector or side)
Afterwards, heat release hole 14 (such as Fig. 9 and Figure 10) is opened up by the corresponding position of front housing 1 and/or rear cover 3, while in spatial digitizer
Increase fan 13 (referring to Fig. 3) on rear cover 3, form the heat dissipation channel of two air flowing, to realize to projector 7 and camera
6 heating temperatures itself radiate.
Temperature detection is carried out by temperature sensor 12 to provide firmly for the measurement result progress accuracy compensation under different temperatures
Part basis specifically when temperature sensor 12 detects that temperature reaches certain limit, carries out centainly scanning result
System balance, it is ensured that the consistency of the spatial digitizer product of the utility model testing result at different temperatures, to guarantee
The accuracy of the spatial digitizer product of the utility model and the service life for extending product.
Optionally, in the present embodiment, all hardware device height of above-mentioned spatial digitizer is integrated, integrated design,
It is stable and reliable for performance, Portable movable measurement.
In the description of the present invention, it should be noted that term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of describing the present invention and simplifying the description, rather than indicate
Or imply that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore cannot understand
For limitations of the present invention.In addition, term " first ", " second " are used for description purposes only, and should not be understood as instruction or
Imply relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection inside two elements.For the ordinary skill in the art, on can understanding as the case may be
State the concrete meaning of term in the present invention.
It should be noted that it can directly on the other element when element is referred to as " being fixed on " another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it, which can be, is directly connected to
To another element or it may be simultaneously present centering elements.Term as used herein " vertical ", " horizontal ", " left side ",
" right side " and similar statement for illustrative purposes only, are not meant to be the only embodiment.
Unless otherwise defined, all technical and scientific terms used herein are led with the technology for belonging to the utility model
The normally understood meaning of the technical staff in domain is identical.Terminology used in the description of the utility model herein only be
The purpose of description specific embodiment, it is not intended that in limitation the utility model.Each technical characteristic of embodiment described above
It can be combined arbitrarily, for simplicity of description, not to all possible combination of each technical characteristic in above-described embodiment
It is all described, as long as being all considered to be the model of this specification record however, there is no contradiction in the combination of these technical features
It encloses.
It may be noted that all parts described in this application can be split as more multi-part according to the needs of implementation, it can also
The part operation of two or more components or component is combined into new component, to realize the purpose of this utility model.
It, cannot the above content is specific preferred embodiment further detailed description of the utility model is combined
Assert that the specific implementation of the utility model is only limited to these instructions.For those skilled in the art of the present invention
For, without departing from the concept of the premise utility, several equivalent substitute or obvious modifications, and performance can also be made
Or purposes is identical, all shall be regarded as belonging to the protection scope of the utility model.
Claims (10)
1. a kind of spatial digitizer characterized by comprising
Projector, camera, crossbeam, camera fixing piece, camera fixing screws；
The projector is for projecting beam to object under test；The camera is used to acquire the image of the object under test；
Offer at least two through-holes on the camera fixing piece, the camera fixing screws at least there are two, the camera is solid
Determine the through-hole of the screw on the camera fixing piece camera is fixed on the crossbeam, the camera fixing piece
There are gaps between crossbeam, and face contact or line contact between the camera fixing piece and the camera, and the camera is fixed
Part is stretched deformation on the line direction of described two through-holes.
2. spatial digitizer according to claim 1, which is characterized in that the front end face of the camera, right side, left side
With the bottom surface upper surface phase with front end limited block, right side confined planes, left side confined planes and the crossbeam on the crossbeam respectively
It contradicts.
3. spatial digitizer according to claim 1, which is characterized in that the camera includes at least four, and four
The left and right sides position of the projector is arranged according to certain horizontal space, vertical range and angle for camera, so that institute
Stating spatial digitizer, can to switch described magazine at least a pair according to the breadth size of the object under test described to acquire
The image of object under test.
4. spatial digitizer according to claim 1, which is characterized in that it further include temperature sensor, it is described for detecting
Temperature inside spatial digitizer, wherein the temperature sensor is fixed on the crossbeam, and close to the camera and institute
State projector.
5. spatial digitizer according to claim 1, which is characterized in that the spatial digitizer further include front housing, middle shell,
Pcb board component and rear cover, the crossbeam are fitted into the middle shell, and the front housing is fixed on middle shell；The pcb board component is fixed
It is covered after described, the rear cover is fixed on the middle shell.
6. spatial digitizer according to claim 5, which is characterized in that the front housing and/or it is described after cover and offer
Heat release hole, while being covered after described and adding fan, to form the heat dissipation channel of two air flowing.
7. spatial digitizer according to claim 5, which is characterized in that handle is further fixed on the middle shell, for side
Portable belt.
8. -7 any spatial digitizer according to claim 1, which is characterized in that the shape of the camera fixing piece can
It is adjusted according to the structure of the camera and the crossbeam.
9. -7 any spatial digitizer according to claim 1, which is characterized in that the camera fixing piece is certain by having
The material of hardness and tensile strength is made.
10. -7 any spatial digitizer according to claim 1, which is characterized in that the camera fixing piece is by having one
The metal material or plastic material for determining hardness and tensile strength are made.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920114271.8U CN209310751U (en) | 2019-01-23 | 2019-01-23 | A kind of spatial digitizer |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920114271.8U CN209310751U (en) | 2019-01-23 | 2019-01-23 | A kind of spatial digitizer |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112288855A (en) * | 2020-10-29 | 2021-01-29 | 张也弛 | Method and device for establishing eye gaze model of operator |
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2019
- 2019-01-23 CN CN201920114271.8U patent/CN209310751U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112288855A (en) * | 2020-10-29 | 2021-01-29 | 张也弛 | Method and device for establishing eye gaze model of operator |
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