CN210321626U

CN210321626U - Binocular camera distance measuring device used in industrial environment

Info

Publication number: CN210321626U
Application number: CN201921620049.1U
Authority: CN
Inventors: 戴元丰; 代作晓; 郭光智; 王晓; 胡俊生
Original assignee: TAICANG INSTITUTE OF OPTO-ELECTRONIC TECHNOLOGY; Suzhou Evernovi Optoelectronics Co ltd
Current assignee: TAICANG INSTITUTE OF OPTO-ELECTRONIC TECHNOLOGY; Suzhou Evernovi Optoelectronics Co ltd
Priority date: 2019-09-26
Filing date: 2019-09-26
Publication date: 2020-04-14
Anticipated expiration: 2029-09-26

Abstract

The utility model discloses a two mesh camera range unit under be used for industrial environment, including pole setting, casing, light filter, left camera and right camera, set up the installation cavity that is used for installing left camera and right camera in the casing, the light filter sets up the opening part at the installation cavity, and the right camera is fixed to be set up in the installation cavity, and the setting of left camera horizontal slip is in the installation cavity. The utility model discloses the horizontal position of left camera can be adjusted to the binocular camera that uses, and relative position is adjusted in order to adapt to the different environment of measuring object distance. When a short-distance object is observed, the distance between the left camera and the right camera is increased, and when a long-distance object is observed, the distance between the left camera and the right camera is reduced, so that the calculation result is more accurate; when the right camera is moved in the horizontal direction, only the translation vector T is influenced on the calibration data, and the calibration data can be correspondingly adjusted according to the displacement data measured by the ultrasonic ranging module without repeated calibration work.

Description

Binocular camera distance measuring device used in industrial environment

Technical Field

The utility model relates to an industrial production field, in particular to be used for two mesh range unit under industrial environment.

Background

The machine vision technology is developed rapidly at present, and binocular vision positioning is taken as an important branch, because the binocular vision positioning can well imitate the principle of human vision, the three-dimensional coordinates of a measured object under world coordinates are obtained by matching pictures of a left camera and a right camera, and the binocular vision positioning is widely applied to the aspects of unmanned driving, three-dimensional reconstruction and the like. However, binocular vision is rarely applied to industries, particularly welding industries, due to a complicated working environment, various random disturbances, cost limitations, and the like.

SUMMERY OF THE UTILITY MODEL

To the defect that prior art exists above, the utility model discloses a main aim at overcomes prior art's weak point, discloses a two mesh camera range unit under being used for industrial environment, including pole setting, casing, light filter, left camera and right camera, set up in the casing and be used for the installation left side camera with the installation cavity of right side camera, the light filter sets up the opening part of installation cavity, the right side camera is fixed to be set up in the installation cavity, the gliding setting of left side camera level is in the installation cavity.

Further, two parallel slide rails are arranged in the installation cavity, a slide block is arranged at a position corresponding to the left camera, and the slide block is arranged in the slide rails in a sliding mode.

The camera comprises a left camera and a left camera, and is characterized by further comprising a shifting rod and a fixed knob, wherein a first sliding groove communicated with the mounting cavity is formed in the side wall of the shell, one end of the shifting rod is arranged on the left camera, the other end of the shifting rod penetrates through the first sliding groove and protrudes out of the shell, and the fixed knob is arranged at one end, protruding out of the shell, of the shifting rod.

Further, the fixed knob is in threaded connection with the shifting rod.

Further, still include ultrasonic ranging sensor and baffle, set up on the casing lateral wall with the second spout of installation cavity intercommunication, ultrasonic ranging sensor sets up the one end of second spout, the baffle extends and sets up the connecting rod, the connecting rod passes the second spout with left camera is connected, and the baffle with ultrasonic ranging sensor flushes and sets up relatively.

Furthermore, an opening allowing the optical filter to pass through is formed in the side wall of one side of the shell, and a groove for fixing the optical filter is formed in the corresponding position of the side wall of the other side of the shell.

Furthermore, the upper wall and the lower wall of the opening of the shell are provided with symmetrical third sliding grooves, and the upper edge and the lower edge of the optical filter are arranged in the third sliding grooves.

Further, the left camera and the right camera are Cognex industrial cameras with the model number of In-Sightdigital CCD 800-.

Further, the model of the ultrasonic sensor is HY-SRF 05.

The utility model discloses the beneficial effect who gains:

the utility model realizes multiple environments, can select the light filtering mode, has simple and convenient operation and low cost; and the horizontal position of the left camera can be adjusted, and the relative position is adjusted to adapt to the environment with different distances of the measured object. When a short-distance object is observed, the distance between the left camera and the right camera is increased, and when a long-distance object is observed, the distance between the left camera and the right camera is reduced, so that the calculation result is more accurate; when the right camera is moved in the horizontal direction, only the translation vector T is influenced on the calibration data, and the calibration data can be correspondingly adjusted according to the displacement data measured by the ultrasonic ranging module without repeated calibration work. The lens can be prepositioned with a replaceable optical filter or an attenuation sheet, so that the influence of high-brightness noise in the environment on bright light at a welding spot in welding is weakened, and the lens can be protected to a certain extent.

Drawings

Fig. 1 is a schematic structural view of a binocular camera distance measuring device used in an industrial environment according to the present invention;

FIG. 2 is a schematic view of the internal structure of the housing;

FIG. 3 is a schematic structural view of the housing;

FIG. 4 is a schematic view of the structure of FIG. 3 from another perspective;

the reference numbers are as follows:

1. an upright rod 2, a shell 3, a light filter 4, a left camera 5, a right camera 6, a sliding rail 7, a deflector rod 8, a fixed knob 9, an ultrasonic distance measuring sensor 10, a baffle plate 11, a connecting rod 21, an installation cavity 22, a first sliding groove 23, a second sliding groove 24, a third sliding groove 25, an opening 26, a groove 41 and a sliding block,

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention will be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.

The utility model provides a binocular camera range unit for under industrial environment, as shown in fig. 1-4, including pole setting 1, casing 2, light filter 3, left camera 4 and right camera 5, set up the installation cavity 21 that is used for installing left camera 4 and right camera 5 in the casing 2, light filter 3 sets up the opening part at installation cavity 21, and right camera 5 is fixed to be set up in installation cavity 21, and the setting of 4 horizontal sliding's of left camera is in installation cavity 21. Therefore, the housing 2 and the optical filter 3 are matched with each other, so that the installation cavity 21 is equivalent to a sealed space, and oil vapor can be effectively prevented from entering the installation cavity 21 in industrial production to pollute the left camera 4 and the right camera 5 and damage the cameras. In addition, the left camera 4 can be movably arranged, so that the distance between the left camera 4 and the right camera 5 can be adjusted, the distance is larger when a short-distance object is observed, the coordinate calculation result is more accurate, the distance is smaller when a long-distance object is observed, and the coordinate calculation result is more accurate. The left camera 4 and the right camera 5 can both use a Cognex industrial camera with the model of In-Sight Digital CCD 800-5715-1.

In one embodiment, as shown in fig. 1 to 4, two parallel slide rails 6 are disposed in the mounting cavity 21, a slide block 41 is disposed at a position corresponding to the left camera 4, and the slide block 41 is slidably disposed in the slide rails 6. Through two slide rails 6 of parallel arrangement, guarantee left camera 4 horizontal migration's stability and reliability.

In an embodiment, as shown in fig. 1-4, the device further includes a shift lever 7 and a fixing knob 8, a first sliding groove 22 communicated with the mounting cavity 21 is formed in a lower side wall of the housing 2, and the first sliding groove is parallel to the sliding direction of the left camera 4; one end of the shift lever 7 is arranged on the left camera 4, the other end of the shift lever passes through the first chute 22 and protrudes out of the shell 2, and the fixing knob 8 is arranged at one end of the shift lever 7 protruding out of the shell 2. Preferably, the fixing knob 8 is screw-engaged with the shift lever. When the left camera 4 needs to move horizontally, the fixing knob 8 is rotated to move towards the side far away from the shell 2, so that the fixing knob 8 is separated from the shell 2, and then the fixing knob 8 or the poking rod 7 is pushed to push the left camera 4 to move horizontally; after the camera is adjusted to the designated position, the fixing knob 8 is rotated reversely, so that the fixing knob 8 is tightly attached to the shell 2, and the left camera 4 is further fixed and prevented from moving horizontally. In addition, in order to facilitate the installation of the shift lever 7, a screw hole is formed in the corresponding position of the left camera 4, the shift lever 7 is in threaded fit with the screw hole, and the shift lever 7 is fixedly installed on the left camera 4.

In an embodiment, as shown in fig. 1-4, the device further includes an ultrasonic distance measuring sensor 9 and a baffle 10, a second chute 23 communicating with the mounting cavity 21 is formed in a side wall above the housing 2, the ultrasonic distance measuring sensor 9 is disposed at one end of the second chute 23, the baffle 10 extends to form a connecting rod 11, the connecting rod 11 passes through the second chute 23 to be connected with the left camera 4, and the baffle 10 is flush and opposite to the ultrasonic distance measuring sensor 9. The ultrasonic distance measuring sensor 9 may be a HY-SRF05 product. Through the mutual cooperation of the ultrasonic ranging sensor 9 and the baffle 10, the distance between the left camera 4 and the right camera 5 can be measured, and then the displacement data measured by the ultrasonic ranging module can be correspondingly adjusted without repeated calibration.

In one embodiment, as shown in fig. 1-4, an opening 25 is opened on one side wall of the housing 2 for allowing the filter to pass through, and a groove 26 for fixing the filter 3 is disposed at a corresponding position on the other side wall of the housing 2. Preferably, the upper wall and the lower wall of the opening of the housing 2 are provided with symmetrical third sliding grooves 24, and the upper edge and the lower edge of the optical filter 3 are placed in the third sliding grooves 24. The filter 3 is supported and guided to move horizontally by the third chute 24. Further, the sealing property of the mounting cavity 21 and the stability of the filter 3 during movement are improved. Meanwhile, the optical filter 3 can weaken the influence of high-brightness noise in the environment on the bright light at the welding spot in welding and can protect the lens to a certain extent. Of course, the filter 3 may use an attenuation sheet.

The utility model discloses when using, as shown in fig. 1-4, loosen fixed knob 8 soon, then promote driving lever 7 with horizontal migration left side camera 4, simultaneously, the distance between left side camera 4 and the right side camera 5 is measured to ultrasonic ranging sensor 9, moves to fixed knob 8 of fastening soon behind the assigned position, through the relative position of adjusting left side camera 4 and right side camera 5 in order to adapt to the different environment of measuring the object distance. And then the distance measurement is carried out by a binocular distance measurement method. The binocular distance measuring method is common knowledge and will not be described herein.

The above are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention; the scope of the appended claims should be accorded the broadest interpretation so as to encompass all such modifications and equivalent arrangements as is within the spirit and scope of the present invention.

Claims

1. The utility model provides a binocular camera range unit for under industrial environment, its characterized in that, includes pole setting, casing, light filter, left camera and right camera, set up in the casing and be used for the installation left side camera with the installation cavity of right side camera, the light filter sets up the opening part of installation cavity, right side camera is fixed to be set up in the installation cavity, left side camera horizontal slip's setting is in the installation cavity.

2. The binocular camera ranging device used in the industrial environment as claimed in claim 1, wherein two parallel slide rails are arranged in the installation cavity, a slide block is arranged at a position corresponding to the left camera, and the slide block is slidably arranged in the slide rails.

3. The binocular camera distance measuring device used in the industrial environment of claim 1, further comprising a shift lever and a fixing knob, wherein a first sliding groove communicated with the mounting cavity is formed in a side wall of the housing, one end of the shift lever is arranged on the left camera, the other end of the shift lever penetrates through the first sliding groove and protrudes out of the housing, and the fixing knob is arranged at one end of the shift lever protruding out of the housing.

4. A binocular camera ranging apparatus for use in industrial environments as claimed in claim 3, wherein the fixing knob is threadedly coupled to the shifter lever.

5. The binocular camera distance measuring device used in the industrial environment of claim 1, further comprising an ultrasonic distance measuring sensor and a baffle, wherein a second chute communicated with the installation cavity is formed in the side wall of the shell, the ultrasonic distance measuring sensor is arranged at one end of the second chute, a connecting rod is arranged in the baffle in an extending mode, the connecting rod penetrates through the second chute to be connected with the left camera, and the baffle and the ultrasonic distance measuring sensor are flush and arranged oppositely.

6. A binocular camera distance measuring device used in industrial environment as claimed in claim 1 wherein the side wall of one side of the housing is opened with an opening allowing the filter to pass through and a groove for fixing the filter is provided at a corresponding position of the side wall of the other side of the housing.

7. A binocular camera distance measuring device used in an industrial environment according to claim 6 wherein the upper and lower walls of the opening of the housing are provided with symmetrical third chutes, and the upper and lower edges of the optical filter are disposed in the third chutes.

8. A binocular camera distance measuring device used In industrial environment as claimed In claim 1 wherein, the left camera and the right camera are Cognex industrial cameras with model number In-Sight Digital CCD 800-.

9. A binocular camera distance measuring device used in an industrial environment of claim 5 wherein the ultrasonic sensor is model HY-SRF 05.