CN209978890U - Multi-laser-line rapid detection system - Google Patents
Multi-laser-line rapid detection system Download PDFInfo
- Publication number
- CN209978890U CN209978890U CN201920349384.6U CN201920349384U CN209978890U CN 209978890 U CN209978890 U CN 209978890U CN 201920349384 U CN201920349384 U CN 201920349384U CN 209978890 U CN209978890 U CN 209978890U
- Authority
- CN
- China
- Prior art keywords
- stereo camera
- binocular stereo
- camera modules
- line laser
- binocular
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Length Measuring Devices By Optical Means (AREA)
Abstract
The utility model discloses a many laser lines rapid detection system, including a plurality of two mesh three-dimensional camera modules, image processor, the control unit, two mesh three-dimensional camera modules are the polygon and arrange, two mesh three-dimensional camera modules include casing, two mesh three-dimensional camera, line laser emitter. The number of the binocular stereo camera modules is at least two. The binocular stereo camera modules work in a coordinated manner. When the image of the measured object is acquired, the binocular stereo camera modules are triggered simultaneously, the line laser transmitter and the binocular stereo camera can move, and the positions of the line laser transmitter and the binocular stereo camera modules are kept relatively fixed in work. The utility model discloses establish a plurality of two mesh stereo camera module polygon and distribute, gather the depth image of testee through the collaborative work, calculate the three-dimensional coordinate and the attitude information of testee, increased scanout speed, can realize short-term test, output, reduce the vision blind area among the actual testing process, the precision is higher.
Description
Technical Field
The utility model relates to a three-dimensional detection technology field especially relates to a many laser lines short-term test system.
Background
Binocular vision is an important branch of computers, can simulate human eyes and the process of human stereoscopic vision perception, and is one of the core subjects of computer vision research. In recent years, binocular vision technology has been widely used in the fields of obstacle detection, target object detection, and the like.
The binocular stereo vision uses one or two CCD or CMOS digital cameras to shoot the same surface of the measured object from different angles, and obtains the three-dimensional coordinates of the point by calculating the parallax of the space point in the two images. This measurement method requires determining the corresponding position of the same point in space on two or more images taken at different angles. The information of the surface of an object is collected when the object is scanned, laser rays are projected to the surface of the object by using a laser, the laser rays are collected by a camera after being reflected by the surface of the object, and the laser stripes on the collected image can provide the information of dense object surface points.
In the ordinary binocular vision shooting range, because line laser is from top or side transmission, once detect and can only acquire the three-dimensional information of the object in a certain plane of vision, can have certain blind area because unable all-round shooting, especially to very high object, can not satisfy the requirement that high accuracy detected.
Disclosure of Invention
The utility model aims to solve the technical problem that to the defect that involves in the background art, provide a many laser lines rapid detection system, through the module that establishes a plurality of two mesh cameras and line laser and combine, three-dimensional distribution is in detecting system around the testee, can all-round accurate detection testee's three-dimensional coordinate and attitude information.
The utility model discloses an aim at and solve its technical problem and adopt following technical scheme to realize:
a multi-laser-line rapid detection system comprises a plurality of binocular stereo camera modules, an image processor and a control unit, wherein the binocular stereo camera modules are connected with the image processor, the image processor is connected with the control unit, and the control unit sends a trigger signal to the binocular stereo camera modules;
the binocular stereo camera modules are arranged in a polygon mode, and the arrangement direction of each binocular stereo camera module inwards collects image signals in a centralized mode.
The binocular stereo camera module comprises a shell, a binocular stereo camera and a line laser emitter.
Preferably, the binocular stereo camera includes first to second cameras, and the binocular stereo camera is installed inside the housing.
Preferably, the number of the binocular stereo camera modules is at least two.
Preferably, the plurality of binocular stereo camera modules work cooperatively and are used for fusing real-time depth image data and real-time attitude data at the same time to obtain three-dimensional image data and three-dimensional coordinate data.
Preferably, when the image of the object to be measured is acquired, the binocular stereo camera modules are triggered simultaneously, the triggering mode comprises star triggering and chain triggering, and the star triggering is triggered by the control end sending triggering signals to the binocular stereo cameras simultaneously according to the set frequency;
and the chain trigger is used for uniformly sending trigger signals by the control unit main trigger.
Preferably, the line laser emitter is arranged in the binocular stereo camera, or the line laser emitter is hung outside the binocular stereo camera and forms a common structure with the binocular stereo camera, or the line laser emitter and the binocular stereo camera are installed in a split mode.
Preferably, the line laser emitter and the binocular stereo camera can move in position, and the positions of the line laser emitter and the binocular stereo camera are kept relatively fixed during operation.
The beneficial effects of the utility model are that, establish a plurality of two mesh stereo camera module polygon distributions, through collaborative work, gather the depth image of testee, calculate the three-dimensional coordinate and the gesture information of testee, greatly increased scanout speed, can realize short-term test, output, reduce the vision blind area among the actual testing process, the precision is higher.
Drawings
FIG. 1 is a schematic perspective view of a multi-laser-line rapid detection system;
FIG. 2 is a schematic top view of a multiple laser line rapid inspection system;
FIG. 3 is a schematic perspective view of another embodiment of a multiple laser line rapid inspection system;
FIG. 4 is a schematic top view of another embodiment of a multiple laser line rapid inspection system.
Description of reference numerals: the system comprises a 1-binocular stereo camera module, a 2-shell, a 3-line laser emitter and a 4-binocular stereo camera.
Detailed Description
The technical solution of the present invention will be further described in detail with reference to the accompanying drawings. It is obvious that the described embodiments are only some of the embodiments of the present invention, not all embodiments, and all other embodiments obtained by those skilled in the art without inventive work belong to the protection scope of the present invention.
It will be understood that, although the terms first, second, third, etc. may be used herein to describe various elements, components and/or sections, these elements, components and/or sections should not be limited by these terms.
In the present embodiment, as shown in fig. 1 and fig. 2, a multi-laser-line fast detection system includes a plurality of binocular stereo camera modules 1;
the binocular stereo camera modules 1 are arranged in a polygon mode, and image signals are collected inwards and intensively in the arrangement direction of each binocular stereo camera module 1.
In this embodiment, the binocular stereo camera module 1 includes a housing 2, a binocular stereo camera 4, and a line laser emitter 3.
In the present embodiment, the binocular stereo camera 4 includes first to second cameras, and the binocular stereo camera 4 is installed inside the housing 2.
The line laser emitter 3 is arranged in the binocular stereo camera 4, or the line laser emitter 3 is externally hung on the binocular stereo camera 4 and forms a common body structure with the binocular stereo camera 4, or the line laser emitter 3 and the binocular stereo camera 4 are installed in a split type. The positions of the line laser emitter 3 and the binocular stereo camera 4 can be moved, and the line laser emitter and the binocular stereo camera are kept relatively static during work. Namely, when the multi-laser-line rapid detection system works, the laser-line emitter 3 and the binocular stereo camera 4 are installed inside the shell 2 together, or the laser-line emitter 3 is externally arranged outside the shell 2 of the binocular stereo camera, so that the consistent effect can be achieved.
In this embodiment, first, a detection device is installed, a platform where a measured object is located is used as a reference surface, a plurality of modules such as a binocular stereo camera 4 and a line laser emitter 3 are erected above the reference surface, so that the length of line laser emitted by the line laser emitter 3 is enough to sweep the upper surface of the measured object, the laser lines can be shot by two cameras, the positions of the binocular stereo camera and the line laser emitter are kept relatively static, and the binocular stereo camera shoots a laser scanning process.
In this embodiment, when an image of a measured object is acquired, the binocular stereo camera modules 1 are triggered simultaneously, the triggering mode includes star triggering and chain triggering, and the star triggering is triggered by a control end sending a triggering signal to the binocular stereo cameras 4 simultaneously according to a set frequency;
and the chain trigger is used for uniformly sending trigger signals by the main trigger at the control end.
In this embodiment, the number of the binocular stereo camera modules 1 is four, and the binocular stereo camera modules are distributed in a polygonal shape along a central point, and an angle between each two adjacent binocular stereo camera modules and the central point is 90 degrees.
In this embodiment, the plurality of binocular stereo camera 4 modules work cooperatively to fuse real-time depth image data and real-time attitude data at the same time to obtain three-dimensional image data and three-dimensional coordinate data. According to the data scanned by each binocular stereo camera module, the spatial coordinates of a plurality of binocular stereo cameras 4 in the system are calibrated in advance, the obtained calibrated coordinates are subjected to data fusion conversion during use, and then all coordinate points are subjected to fusion imaging to obtain the pose information of the measured object. A plurality of two mesh stereo camera modules trigger the scanning in coordination, can reduce the vision blind area, scan the measured object from many angles, reduce the vision blind area, also improved scanning speed and work efficiency simultaneously.
In other embodiments, as shown in fig. 3 and 4, the number of the binocular stereo camera modules 1 is set to three, an angle between each two adjacent binocular stereo camera modules and the central point is 120 degrees, the two adjacent binocular stereo camera modules are distributed in a polygonal manner along the same central point, and the acquired image data is subjected to conversion calculation to obtain three-dimensional image data and three-dimensional coordinate data.
The beneficial effects of the utility model are that, establish a plurality of two mesh stereo camera module polygon distributions, through collaborative work, gather the depth image of testee, calculate the three-dimensional coordinate and the gesture information of testee, greatly increased scanout speed, can realize short-term test, output, reduce the vision blind area among the actual testing process, the precision is higher.
The preferred embodiments of the present disclosure have been disclosed only to aid in the description, and alternate embodiments have not been set forth in detail to avoid obscuring the invention in the particular embodiments described. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the specification and its practical application, to thereby enable others skilled in the art to best understand the specification and its practical application. The specification is limited only by the claims and their full scope and equivalents.
Claims (8)
1. A multi-laser-line rapid detection system is characterized by comprising a plurality of binocular stereo camera modules, an image processor and a control unit; the binocular stereo camera module is connected with an image processor, the image processor is connected with a control unit, and the control unit sends a trigger signal to the binocular stereo camera module;
the binocular stereo camera modules are arranged in a polygon mode, and the arrangement direction of each binocular stereo camera module inwards collects image signals in a centralized mode.
2. The system of claim 1, wherein the binocular stereo camera module comprises a housing, a binocular stereo camera, and a line laser emitter.
3. The system of claim 2, wherein the binocular stereo camera comprises first to second cameras, and the binocular stereo camera is installed inside the housing.
4. The system for rapidly detecting multiple laser lines according to claim 1, wherein the number of the binocular stereo camera modules is at least two.
5. The system of claim 1, wherein the plurality of binocular stereo camera modules work in concert to fuse real-time depth image data and real-time pose data at the same time to obtain three-dimensional image data and three-dimensional coordinate data.
6. The system for rapidly detecting multiple laser lines according to claim 1, wherein when an image of a detected object is acquired, the binocular stereo camera modules are simultaneously triggered, the triggering modes comprise star triggering and chain triggering, and the star triggering is triggered by a control end sending a triggering signal to the binocular stereo cameras simultaneously according to a set frequency;
and the chain trigger is used for uniformly sending trigger signals by the control unit main trigger.
7. The system of claim 2, wherein the line laser emitter is built in the binocular stereo camera, or the line laser emitter is hung outside the binocular stereo camera and forms a common structure with the binocular stereo camera, or the line laser emitter and the binocular stereo camera are installed in a split manner.
8. The system of claim 2, wherein the line laser transmitter and the binocular stereo camera are movable and remain fixed in position during operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920349384.6U CN209978890U (en) | 2019-03-19 | 2019-03-19 | Multi-laser-line rapid detection system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920349384.6U CN209978890U (en) | 2019-03-19 | 2019-03-19 | Multi-laser-line rapid detection system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209978890U true CN209978890U (en) | 2020-01-21 |
Family
ID=69255044
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920349384.6U Active CN209978890U (en) | 2019-03-19 | 2019-03-19 | Multi-laser-line rapid detection system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209978890U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114324070A (en) * | 2021-12-10 | 2022-04-12 | 国网内蒙古东部电力有限公司电力科学研究院 | Outdoor detection method, recording medium and system for surface hydrophobicity of high-voltage bushing umbrella skirt |
-
2019
- 2019-03-19 CN CN201920349384.6U patent/CN209978890U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114324070A (en) * | 2021-12-10 | 2022-04-12 | 国网内蒙古东部电力有限公司电力科学研究院 | Outdoor detection method, recording medium and system for surface hydrophobicity of high-voltage bushing umbrella skirt |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP6564537B1 (en) | 3D reconstruction method and apparatus using monocular 3D scanning system | |
| CN110044300B (en) | Amphibious three-dimensional vision detection device and detection method based on laser | |
| US10401143B2 (en) | Method for optically measuring three-dimensional coordinates and controlling a three-dimensional measuring device | |
| CN104034263B (en) | A kind of non-contact measurement method of forging's block dimension | |
| US10582188B2 (en) | System and method for adjusting a baseline of an imaging system with microlens array | |
| US7417717B2 (en) | System and method for improving lidar data fidelity using pixel-aligned lidar/electro-optic data | |
| CN114998499B (en) | Binocular three-dimensional reconstruction method and system based on line laser galvanometer scanning | |
| CN107909624B (en) | Method for extracting and fusing two-dimensional image from three-dimensional tomography | |
| RU2626051C2 (en) | Method for determining distances to objects using images from digital video cameras | |
| CN107941153B (en) | Visual system for optimizing calibration of laser ranging | |
| CN104567728A (en) | Laser vision profile measurement system, measurement method and three-dimensional target | |
| JP6164679B2 (en) | Camera calibration method and camera calibration apparatus | |
| CN109539983B (en) | Integrated multi-target vertical target testing device and testing method | |
| CN107421462A (en) | Object three-dimensional contour outline measuring system based on line laser structured light | |
| CN106767526A (en) | A kind of colored multi-thread 3-d laser measurement method based on the projection of laser MEMS galvanometers | |
| Molnár et al. | Accuracy test of Microsoft Kinect for human morphologic measurements | |
| CN101271590A (en) | Method for acquiring cam contour object shape | |
| KR20190013467A (en) | Live metrology of an object during manufacturing or other operations | |
| CN110849269A (en) | System and method for measuring geometric dimension of field corn cobs | |
| CN114577135B (en) | 3D detection method and system for chip pin warpage based on single lens | |
| CN111829435A (en) | Multi-binocular camera and line laser cooperative detection method | |
| CN209978890U (en) | Multi-laser-line rapid detection system | |
| CN204944450U (en) | Depth data measuring system | |
| CN102401901B (en) | Distance measurement system and distance measurement method | |
| CN108036742A (en) | New lines structural light three-dimensional method for sensing and device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |