CN210242692U - Multi-camera three-dimensional scanning measuring device - Google Patents
Multi-camera three-dimensional scanning measuring device Download PDFInfo
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- CN210242692U CN210242692U CN201921371997.6U CN201921371997U CN210242692U CN 210242692 U CN210242692 U CN 210242692U CN 201921371997 U CN201921371997 U CN 201921371997U CN 210242692 U CN210242692 U CN 210242692U
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- 238000005259 measurement Methods 0.000 claims description 17
- 238000000034 method Methods 0.000 abstract description 2
- 238000001514 detection method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 1
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Abstract
The utility model discloses a multi-camera three-dimensional scanning measuring device, which comprises a shell, wherein four cameras distributed in a cross shape are arranged in the shell, and a group of binocular stereoscopic vision systems are formed between every two four cameras to form six groups of binocular stereoscopic vision systems; the central positions of the four cameras further comprise projectors, and the projectors are used for projecting patterns to the surface of the measured object; the projected pattern is located within a common field of view of the four cameras; the device effectively solves the problem that the measured object is blocked in the measuring process, enlarges the measuring view field and improves the measuring efficiency.
Description
Technical Field
The utility model relates to an automatic change the measurement field, concretely relates to polyphaser three-dimensional scanning measuring device.
Background
The existing three-dimensional scanning measuring device mostly adopts a structure of a double-camera or a three-camera, a projector projects patterns to a measured object, and a left camera and a right camera respectively collect corresponding images to carry out corresponding point matching, so that the three-dimensional measurement of the surface of the object is completed.
Because the scanning measuring device with the binocular structure can only measure objects in the common field of view of the camera, if a complex curved surface is measured, partial information of the existing structure is lost, different angles need to be changed for scanning, and the efficiency is low; the three-dimensional measurement is carried out on a large object, and due to the restriction of a public view field, the measurement is time-consuming and the efficiency is low.
Disclosure of Invention
To the above situation, the utility model provides a polyphaser three-dimensional scanning measuring device effectively solves the problem that shelters from in the measurement process to enlarge the measurement visual field, improve measurement of efficiency.
The utility model discloses technical scheme as follows:
a multi-camera three-dimensional scanning measuring device is used for collecting point clouds on the surface of a measured object and comprises a shell, wherein four cameras distributed in a cross shape are arranged in the shell, and a group of binocular stereoscopic vision systems are formed between every two four cameras to form six groups of binocular stereoscopic vision systems;
the central positions of the four cameras are provided with projectors, and the projectors are used for projecting patterns to the surface of a measured object; the projected pattern is located within a common field of view of the four cameras.
Preferably, the distance between any two camera positions is equal;
preferably, the distance between the position of the projector and the position of each camera is equal.
Further, the outer wall of the shell is provided with a handle, and the measuring device is moved in a handheld mode. Further, the projector is a speckle projector that projects a speckle pattern.
Further, a flange is arranged on the outer wall of the shell and connected with the robot. Further, the projector is a digital grating projector projecting a plurality of grating fringe images, or the projector is a speckle projector projecting a speckle pattern.
When the device is used, the projector projects a pattern to the surface of a measured object; the four cameras simultaneously acquire the modulated patterns, three-dimensional point cloud data is obtained by utilizing left and right images of each group of binocular structures, and complete three-dimensional point cloud information on the surface of the measured object is obtained through point cloud splicing.
According to the scheme, the measurement view field can be effectively enlarged, the measurement efficiency is improved, and when the complex characteristic is measured, the point cloud data which is relatively comprehensive can be obtained through one-time scanning, a plurality of angles do not need to be converted, and the measurement efficiency is effectively improved.
Drawings
FIG. 1 is a schematic diagram of a camera and a projector in the embodiment;
fig. 2 is a schematic diagram of a six-group binocular stereo vision system in an embodiment.
Detailed Description
The technical solution of the present invention will be described in detail with reference to the accompanying drawings and the detailed description.
A multi-camera three-dimensional scanning measuring device is used for collecting point clouds on the surface of a measured object and comprises a shell, as shown in figures 1 and 2, four cameras 1 distributed in a cross shape are arranged in the shell, the distance between any two camera positions is equal, the distance between the position of a projector 2 and each camera position is equal, and a group of binocular stereoscopic vision systems are formed by every two four cameras to form six groups of binocular stereoscopic vision systems;
the central positions of the four cameras are provided with projectors, and the projectors project speckle patterns to the surface of the measured object by using the speckle projectors; the projected pattern is located within a common field of view of the four cameras; the outer wall of the shell is provided with a handle, and the measuring device is a handheld measuring device; when in detection, the handle is held by hand to move the measuring device to a position where three-dimensional detection is needed, and the camera collects speckle images.
The utility model discloses another kind of embodiment does: and a flange is arranged on the outer wall of the shell and connected with the robot. During detection, the robot drives the measuring device to move to a position where three-dimensional detection is needed, the projector adopts a digital grating projector to project a plurality of grating stripe images, and the camera collects the stripe images.
For convenience in explanation and accurate definition in the appended claims, the terms "upper", "lower", "inner" and "outer" are used to describe features of the exemplary embodiments with reference to the positions of such features as displayed in the figures.
The foregoing descriptions of specific exemplary embodiments of the present invention have been presented for purposes of illustration and description. The foregoing description is not intended to be exhaustive or to limit the invention to the precise form disclosed.
Claims (8)
1. The utility model provides a polyphaser three-dimensional scanning measuring device for gather measured object surface point cloud which characterized in that: the binocular stereoscopic vision system comprises a shell, wherein four cameras distributed in a cross shape are arranged in the shell, and a group of binocular stereoscopic vision systems are formed between every two four cameras to form six groups of binocular stereoscopic vision systems;
the central positions of the four cameras are provided with projectors, and the projectors are used for projecting patterns to the surface of a measured object; the projected pattern is located within a common field of view of the four cameras.
2. The multi-camera three-dimensional scanning measurement device of claim 1, wherein: the distance between any two camera positions is equal.
3. The multi-camera three-dimensional scanning measurement device of claim 1, wherein: the distance between the position of the projector and the position of each camera is equal.
4. The multi-camera three-dimensional scanning measurement device of claim 1, wherein: the outer wall of the shell is provided with a handle, and the measuring device is moved in a handheld mode.
5. The multi-camera three-dimensional scanning measurement device of claim 4, wherein: the projector is a speckle projector and projects speckle patterns.
6. The multi-camera three-dimensional scanning measurement device of claim 1, wherein: the outer wall of the shell is provided with a flange, and the flange is connected with the robot.
7. The multi-camera three-dimensional scanning measurement device of claim 6, wherein: the projector is a digital grating projector and projects a plurality of grating fringe images.
8. The multi-camera three-dimensional scanning measurement device of claim 6, wherein: the projector is a speckle projector and projects speckle patterns.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921371997.6U CN210242692U (en) | 2019-08-22 | 2019-08-22 | Multi-camera three-dimensional scanning measuring device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921371997.6U CN210242692U (en) | 2019-08-22 | 2019-08-22 | Multi-camera three-dimensional scanning measuring device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210242692U true CN210242692U (en) | 2020-04-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921371997.6U Active CN210242692U (en) | 2019-08-22 | 2019-08-22 | Multi-camera three-dimensional scanning measuring device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210242692U (en) |
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2019
- 2019-08-22 CN CN201921371997.6U patent/CN210242692U/en active Active
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: Room 495, building 3, 1197 Bin'an Road, Binjiang District, Hangzhou City, Zhejiang Province 310051 Patentee after: Yi Si Si (Hangzhou) Technology Co.,Ltd. Address before: Room 495, building 3, 1197 Bin'an Road, Binjiang District, Hangzhou City, Zhejiang Province 310051 Patentee before: ISVISION (HANGZHOU) TECHNOLOGY Co.,Ltd. |
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| CP01 | Change in the name or title of a patent holder |