CN211606687U

CN211606687U - Double-projector binocular 3D camera

Info

Publication number: CN211606687U
Application number: CN202020513506.3U
Authority: CN
Inventors: 杨宇翔; 曹伟强
Original assignee: Seizet Technology Shenzhen Co Ltd
Current assignee: Seizet Technology Shenzhen Co Ltd
Priority date: 2020-04-10
Filing date: 2020-04-10
Publication date: 2020-09-29
Anticipated expiration: 2030-04-10

Abstract

A binocular 3D camera with double projectors comprises a middle shell component, two camera components, two projector components, two groups of first-class angle adjusting components and two groups of second-class angle adjusting components, wherein each camera component comprises a camera and a camera lens; the two projector assemblies and the center connecting lines of the two camera assemblies are in a cross distribution state, the middle shell assembly is positioned at the center of the cross, each camera assembly is fixedly connected with the middle shell through a first angle adjusting assembly, each projector assembly is fixedly connected with the middle shell through a group of second angle adjusting assemblies, and the distance from the projector assembly to the middle shell assembly is larger than the distance from the camera assembly to the middle shell assembly. The device can improve the integrity of the point cloud through multiple matching, and meanwhile, the point cloud precision can be improved.

Description

Double-projector binocular 3D camera

Technical Field

The utility model belongs to the technical field of industry 3D camera, more specifically relates to a two mesh 3D cameras of two projectors.

Background

An active binocular stereo camera based on a binocular stereo matching principle is widely applied to robot guiding and positioning and grabbing, and the problem of point cloud loss caused by single texture of a detected scene can be solved by actively projecting texture patterns. In the structure form of the traditional active binocular stereo camera, the 2D cameras are respectively installed at both sides of the base line, and the active texture projector is installed at the center position of the base line, however, in a specific scene, as shown in fig. 1, if the scene includes an object similar to a specular reflection surface, glare may be generated to cause overexposure of a 2D image, or one overexposure of the same object in two 2D cameras and an underexposed image are too dark, and the above problems can be defined as matching failure due to reflection of a measured object, and further point cloud loss.

SUMMERY OF THE UTILITY MODEL

To above defect, the utility model provides a two projectors are two mesh 3D cameras to solve the technical problem of traditional initiative two mesh 3D cameras because of the point cloud disappearance that the testee reflection of light arouses.

In order to achieve the above object, the present invention provides a binocular 3D camera with two projectors, which comprises a middle housing assembly, two camera assemblies symmetrically disposed at two sides of the middle housing assembly, two projector assemblies symmetrically disposed at the other two sides of the middle housing assembly, two sets of first angle adjusting assemblies corresponding to the camera assemblies, and two sets of second angle adjusting assemblies corresponding to the projector assemblies;

the camera component comprises a camera and a camera lens which are fixedly connected, the projector component comprises a projector and a projection lens which are fixedly connected, the middle shell component comprises a middle shell and a circuit unit arranged in the shell, and the circuit unit is respectively and electrically connected with the camera component and the projector component;

the two projector assemblies and the central connecting line of the two camera assemblies are in a cross distribution state, the middle shell assembly is positioned at the central position of the cross, and each camera assembly is fixedly connected with the middle shell through one group of first angle adjusting assemblies so as to adjust the deflection angle corresponding to the camera assembly; each projector assembly is fixedly connected with the middle shell through a group of angle adjusting assemblies of the second type respectively so as to adjust the deflection angle corresponding to the projector assembly, and the distance from the projector assembly to the middle shell is larger than the distance from the camera assembly to the middle shell.

Preferably, the housing comprises a middle housing, a rear cover plate and a front cover plate which are respectively arranged above and below the middle housing, and the circuit unit comprises a main circuit board and two projector circuit boards which are arranged in the middle housing;

the front cover plate and the rear cover plate are fixedly connected with the middle shell to form a closed space, and the main circuit board is fixed on the rear cover plate and is respectively and electrically connected with the two projector assemblies, the two camera assemblies and the two projector circuit boards; the two projector circuit boards are fixed on two inner side surfaces inside the middle shell and are electrically connected with the corresponding projector assemblies.

Furthermore, the two inner side surfaces are provided with internal thread holes corresponding to the projector circuit board, the projector circuit board is fastened on the side surface of the middle shell through the matching of a plurality of nylon columns and a plurality of screws, and the nylon columns are used for supporting the projector circuit board and are insulated from the middle shell;

and/or the rear cover plate is provided with an upright post, the main circuit board is provided with a mounting hole corresponding to the upright post, and the main circuit board is fastened on the rear cover plate through the matching of the upright post and the mounting hole.

Preferably, the first angle adjusting assembly and the second angle adjusting assembly respectively comprise a fixed sliding chute and an adjusting block connected with the fixed sliding chute, so as to be respectively used for horizontally rotating and adjusting the deflection angles of the camera assembly and the projector assembly; one end face of the fixed sliding chute is fixedly connected with the outer side face of the middle shell, and the other end face of the fixed sliding chute is provided with an arc-shaped groove; an end face of the fixing block is fixedly connected with the camera assembly or the projector assembly, and another end face of the fixing block is provided with an arc-shaped boss which can concentrically rotate in the arc-shaped groove and is fixedly connected through screws after being clamped and connected with the arc-shaped groove.

Preferably, the camera assembly further comprises a first mounting block arranged in a hollow manner, the inner dimension of the second mounting block is arranged corresponding to the outer contour of the camera, and the camera is inserted into the first mounting block and then is fastened and connected through threads on the bottom.

Preferably, the projector assembly further comprises a second mounting block, an upper cover plate and a lower cover plate which are arranged in a hollow manner, and the inner dimension of the second mounting block is arranged corresponding to the outer contour of the projector; the lower cover plate is positioned below the second mounting block, a through hole for the projector to pass through and a counter bore corresponding to the internal thread on the projector are arranged on the lower cover plate, and the projector passes through the lower cover plate and is fixedly connected with the lower cover plate and then is integrally inserted into the second mounting block; the upper cover plate is positioned above the second mounting block, and a communication interface used for electric connection between the projector and the main circuit board is arranged on the upper cover plate.

Furthermore, at least one group of heat dissipation copper blocks are connected between the projector and the inner surface of the second mounting block, the heat dissipation copper blocks are L-shaped, one end of each heat dissipation copper block is fixedly connected with the upper end face of the projector, the other end of each heat dissipation copper block is fixedly connected with the inner surface of the second mounting block, and therefore heat generated by the projector is conducted to the outer surface of the second mounting block through the heat dissipation copper blocks.

Further, the camera assembly and/or the projector assembly respectively further comprise a lens protection shell assembly, the lens protective case assembly is arranged below the camera assembly and/or the projector assembly, which comprises a lens protection shell, a protective glass and a pressing ring which are arranged in a hollow way, wherein the lens protection shell is covered on the camera lens and/or the projection head, a square boss is arranged at one end of the lens protective shell connected with the camera assembly and/or the projector assembly, the square boss is provided with a through hole for connecting with a screw hole of the camera assembly and/or the projector assembly, the other end of the lens protective shell is provided with a round step surface and an internal thread, the protective glass is placed on the round step surface, the tightening pressing ring is arranged above the protective glass and used for pressing and fixing the protective glass.

Preferably, the dual-projector binocular 3D camera further comprises cross arms arranged in pairs, each set of the cross arms is located between the middle shell assembly and the projector assembly and/or the camera assembly, one end of each cross arm is fixedly connected with the middle shell, and the other end of each cross arm is fixedly connected with the projector assembly and/or the camera assembly, so that the middle shell assembly and the projector assembly and/or the camera assembly can be fixedly connected and the distance between the middle shell assembly and the camera assembly can be adjusted.

Preferably, two projector binocular 3D cameras still include at least a set of mounting panel, the lateral surface at middle casing is fixed to mounting panel one end, and the other end is fixed on exterior structure spare, in order to be used for the installation of two projector binocular 3D cameras.

Only one projector of 3D camera traditional relatively is in the intermediate position of two 2D cameras, and is fixed, can only adjust the angle of 2D camera, can not adjust the angle of projector, the utility model discloses a two projector binocular 3D cameras have two projectors, and two projectors and two 2D camera center line are arranged perpendicularly, and the projector throws the pattern to the testee from two different directions, can improve the integrality and the point cloud precision of some clouds through matcing many times to effectively solve the object reflection of light and seriously lead to the problem of some clouds disappearance. Meanwhile, the angle of the 2D camera and the angle of the projector are adjustable, and the device can be suitable for different working distances (obtaining the optimal visual field range as far as possible). In addition, the distance between the two projectors/cameras can be adjusted by replacing the cross arm so as to adapt to different working scene requirements.

Drawings

FIG. 1 is a reflected light image of an object to be measured obtained by an active binocular stereo camera;

FIG. 2 is a comparison graph of a point cloud generated based on conventional single-projection binocular stereo matching and dual-projection binocular stereo matching as referred to in the present invention, wherein (a) is the point cloud generated based on conventional single-projection binocular stereo matching and (b) is the point cloud generated for dual-projection binocular stereo matching;

fig. 3 is a schematic structural diagram of an embodiment of the dual-projector binocular 3D camera of the present invention;

FIG. 4 is an exploded view of the embodiment of FIG. 3;

the projector comprises a middle shell component 1, a middle shell 11, a rear cover plate 12, a stand column 121, a front cover plate 13, a main circuit board 14, a projector circuit board 15 and a nylon column 151; the cross arm 2, the angle adjusting component 3, the fixed chute 31 and the adjusting block 32; the lens protection shell assembly 4, the lens protection shell 41, the protection glass 42, the pressing ring 43, the camera assembly 5, the first mounting block 51, the camera 52, the camera lens 53, the projector assembly 6, the second mounting block 61, the upper cover plate 62, the lower cover plate 63, the projector 64, the heat dissipation copper block 65, the projection lens 66 and the mounting plate 7.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the scope of the invention in any way.

Like reference numerals refer to like elements throughout the specification. The expression "and/or" includes any and all combinations of one or more of the associated listed items. In the drawings, the thickness, size, and shape of an object have been slightly exaggerated for convenience of explanation. The figures are purely diagrammatic and not drawn to scale.

It will be further understood that the terms "comprises," "comprising," "includes," "including," "has," "includes" and/or "including," when used in this specification, specify the presence of stated features, steps, integers, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, integers, operations, elements, components, and/or groups thereof.

The terms "substantially", "about" and the like as used in the specification are used as terms of approximation and not as terms of degree, and are intended to account for inherent deviations in measured or calculated values that would be recognized by one of ordinary skill in the art.

Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.

As shown in fig. 3 and 4, the utility model discloses a binocular 3D camera with two projectors, which comprises a middle shell component 1, two camera components 5 symmetrically arranged at two sides of the middle shell component 1, two projector components 6 symmetrically arranged at the other two sides of the middle shell component 1, two groups of first angle adjusting components 3 arranged corresponding to the camera components 5, and two groups of second angle adjusting components 3 arranged corresponding to the projector components 6;

the camera assembly 5 comprises a camera 52 and a camera lens 53 which are fixedly connected for acquiring pose information of an object to be shot; the projector assembly 6 comprises a projector 64 and a projection lens 66 which are fixedly connected, the middle shell assembly 1 comprises a middle shell 11 and a circuit unit arranged in the middle shell 11, and the circuit unit is respectively and electrically connected with the camera assembly 5 and the projector assembly 6;

the two projector assemblies 6 and the central connecting line of the two groups of camera assemblies 5 are in a cross distribution state, the middle shell assembly 1 is positioned at the central position of the cross, and each camera assembly 5 is fixedly connected with the middle shell 11 through one group of first-class angle adjusting assemblies 3 respectively so as to adjust the deflection angle of the corresponding camera assembly 5; each projector assembly 6 is fixedly connected with the middle shell 11 through a group of second angle adjusting assemblies 3 respectively to adjust the deflection angle of the corresponding projector assembly 6, and the distance from the projector assembly 6 to the middle shell assembly 1 is larger than the distance from the camera assembly 5 to the middle shell assembly 1.

The cameras 52 may be 2D cameras, the two groups of 2D cameras 52 are configured to acquire left and right matched image pairs, the light sensing chip of the 2D camera 52 may be a CCD image sensor or a CMOS image sensor, the shutter mode may be a global shutter or a rolling shutter or other suitable shutter modes, the data interface may be a GigE interface or a USB interface or other suitable interface modes, and the camera lens 53 may be a C-port lens or an S-port lens or other suitable lens interfaces; the two groups of projectors 64 are used for actively projecting texture patterns to a detected scene, can project random speckle textures and can also project other suitable texture patterns, the light sources of the projectors 64 can be LED light sources or laser light sources or other suitable light sources, and the light source wave bands of the projectors 64 can be white light or visible monochromatic light or infrared wave bands; only one projector of 3D camera traditional relatively is in the intermediate position of two 2D cameras 52, and is fixed, can only adjust the angle of 2D camera, the utility model discloses a two projector binocular 3D cameras be equipped with two 2D cameras 52 center line vertical layout projectors, can follow two different directions and throw the pattern to the testee, simultaneously, 2D camera 52 angle and projector angle are all adjustable in order to acquire best field of vision scope to effectively solve the problem that the object reflection of light seriously leads to a cloud disappearance.

Particularly, the utility model discloses a two projector binocular 3D cameras, during operation, at first according to actual field needs, adjust the deflection angle of camera 52 and projector 64 well to transfer the field of vision scope to optimum range, then based on one set of projector among them, acquire first set of binocular image pair, and carry out stereo matching based on first set of binocular image pair, generate first disparity map; then, based on the other set of projector, a second set of binocular image pairs is obtained, and stereo matching is carried out based on the second set of binocular image pairs to generate a second parallax image; the first disparity map and the second disparity map are fused to generate a fused disparity map, 3D point cloud is obtained according to the fused disparity map, the integrity of the point cloud can be further improved through multiple matching, the point cloud precision can be improved, and the problem of point cloud loss caused by the fact that the surface of a detected object reflects light in the traditional active binocular stereo camera 52 is effectively solved.

The three-dimensional reconstruction is carried out based on the scene shown in fig. 1, the result is shown in fig. 2, fig. 2 (a) is a point cloud picture generated based on the traditional single-projection binocular stereo matching, fig. 2 (b) is a point cloud picture generated based on the binocular stereo matching of the double projectors, and after the fusion of the double-projection disparity maps, the problem of point cloud loss caused by the reflection of the projectors is basically solved, and the point cloud integrity is greatly improved. In addition, based on the fusion of the disparity maps after two measurements, the point cloud precision is also improved compared with that of a double-projector.

As a preferable scheme, the casing comprises a middle casing 11, a rear cover plate 12 and a front cover plate 13 which are respectively arranged above and below the middle casing 11, and the circuit unit comprises a main circuit board 14 and two projector circuit boards 15 which are arranged in the middle casing 11; the front cover plate 13 and the rear cover plate 12 are fixedly connected with the middle shell 11 to form a closed space, and the main circuit board 14 is fixed on the rear cover plate 12 and is respectively and electrically connected with the two projector assemblies 6, the two camera assemblies 5 and the two projector circuit boards 15; two projector circuit boards 15 are fixed on two inner sides inside the intermediate housing 11 and are electrically connected to the corresponding projector assemblies 6.

Furthermore, the two inner side surfaces are provided with internal thread holes corresponding to the projector circuit board 15, the projector circuit board 15 is fastened on the side surface of the middle shell 11 through the matching of a plurality of nylon columns and a plurality of screws, and the nylon columns are used for supporting the projector circuit board 15 and are insulated from the middle shell 11; and/or, the back cover plate 12 is provided with a vertical column 121, the main circuit board 14 is provided with a mounting hole corresponding to the vertical column 121, and the main circuit board 14 is fastened on the back cover plate 12 through the matching of the vertical column 121 and the mounting hole. Besides, the back cover plate and the main circuit can be connected by the pillar 121, and can also be connected by a nylon column.

In the illustrated embodiment, the front cover 13 and the rear cover 12 are fixed to the middle housing 11 by screws to form a closed space. Two projector circuit boards 15 are fixed on both side surfaces inside the intermediate housing 11. The middle housing 11 has internal screw holes formed on both side surfaces thereof, screws are fixed to the screw holes of the middle housing 11 by passing through nylon posts 151 and the screws, the projector circuit board 15 is fastened to both surfaces by the nylon posts 151 and the screws, and the nylon posts 151 are used for supporting the projector circuit board 15 and insulating the same from the middle housing 11. The projector circuit board 15 is electrically connected with the main circuit board 14 and the projector assembly 6 respectively; the rear cover plate 12 is provided with a vertical column 121, the vertical column 121 is provided with an internal threaded hole, and the main circuit board 14 is fastened on the rear cover plate 12 through the matching of the vertical column 121 and a screw. The main circuit board 14 is electrically connected to the projector assembly 6 and the camera assembly 5, respectively.

As a preferred scheme, the first type angle adjustment assembly 3 and the second type angle adjustment assembly 3 respectively comprise a fixed chute 31 and an adjustment block 32 connected with the fixed chute 31, so as to be respectively used for horizontally rotating and adjusting the deflection angles of the camera assembly 5 and the projector assembly 6; one end face of the fixed chute 31 is fixedly connected with the outer side face of the middle shell 11, and the other end face of the fixed chute 31 is provided with an arc-shaped groove; one end face of the fixing block is fixedly connected with the camera assembly 5 or the projector assembly 6, the other end face of the fixing block is provided with an arc-shaped boss, the arc-shaped boss can concentrically rotate in the arc-shaped groove, and the arc-shaped boss is fixedly connected with the arc-shaped groove through screws after being clamped and connected.

In the illustrated embodiment, the fixing slide grooves 31 are fixed to two outer side surfaces of the intermediate housing 11, respectively. Two outer side surfaces of the middle shell 11 are provided with internal thread holes, the fixed chute 31 is provided with corresponding through holes, and the two are fastened by screws. The fixed sliding chute 31 is provided with a circular arc-shaped groove which is matched with the circular arc-shaped boss of the corresponding adjusting block 32, so that the deflection angles of the camera component 5 and the projector component 6 can be conveniently adjusted.

Preferably, the camera module 5 further comprises a first mounting block 51 disposed in a hollow manner, the second mounting block 61 has an inner dimension corresponding to the outer contour of the camera 52, and the camera 52 is inserted into the first mounting block 51 and then fastened by a screw thread at the bottom. In addition, every camera subassembly 5 sets up a lens protection shell subassembly 4 respectively, lens protection shell subassembly 4 is fixed in bottom surface under first installation piece 51, including the lens protection shell 41 that cavity set up, protective glass 42 and clamping ring 43, the one end that lens protection shell 41 is connected with first installation piece 51 is equipped with square boss, it has the through-hole to open above the square boss, with the screw hole screw connection of first installation piece 51, the lens protection shell 41 other end is equipped with circular step face and internal thread, protective glass 42 places on the step face, screw up clamping ring 43 and locate protective glass 42 top in order to compress tightly fixedly.

In the illustrated embodiment, the 2D camera 52 is in threaded connection with the lens 53 to form a functional assembly capable of shooting pose information of an object, a square hole corresponding to the 2D camera 52 is formed in the first mounting block 51, the 2D camera 52 is inserted into the square hole and then fastened through threaded connection at the bottom, a communication interface is arranged on a body of the 2D camera, and the main circuit board 14 can be directly electrically connected with the 2D camera; the outer side of the first mounting block 51 is provided with a fin-shaped groove, so that heat dissipation is facilitated, and the 2D camera 52 can generate heat during operation and can conduct the heat out through the first mounting block 51. The adjusting block 32 is disposed on the first mounting block 51 to be connected with the circular arc groove on the fixed chute 31 in a matching manner, so as to facilitate adjustment. The lens protective case assembly is fixed below the first mounting block 51, and forms a cavity with the first mounting block 51, thereby protecting the lens. One end of the lens protection shell 41 is provided with a square boss, a through hole is formed in the square boss and used for being in screw connection with a threaded hole in the first mounting block 51, the other end of the lens protection shell is provided with a circular step surface and an internal thread, the protection glass 42 is placed on the step surface, and then the pressing ring 43 is screwed tightly to compress the protection glass.

Preferably, the projector assembly 6 further comprises a second mounting block 61, an upper cover plate 62 and a lower cover plate 63 which are arranged in a hollow manner, wherein the inner dimension of the second mounting block 61 is arranged corresponding to the outer contour of the projector 64; the lower cover plate 63 is positioned below the second mounting block 61, a through hole for the projector 64 to pass through and a counter bore corresponding to the internal thread on the projector 64 are arranged on the lower cover plate 63, and the projector 64 passes through the lower cover plate 63 and is fixedly connected with the lower cover plate 63 and then integrally inserted into the second mounting block 61; the upper cover plate 62 is positioned above the second mounting block 61, and the upper cover plate 62 is provided with a communication interface for electrical connection between the projector 64 and the main circuit board 14. In addition, the communication interface can be arranged on the end face where the second mounting block is arranged without arranging the upper cover plate.

Furthermore, at least one set of heat dissipating copper blocks 65 is connected between the projector 64 and the inner surface of the second mounting block 61, the heat dissipating copper blocks 65 are L-shaped, one end of each heat dissipating copper block 65 is fixedly connected with the upper end surface of the projector 64, and the other end of each heat dissipating copper block 65 is fixedly connected with the inner surface of the second mounting block 61, so that heat generated by the projector 64 is conducted to the outer surface of the second mounting block 61 through the heat dissipating copper blocks 65.

In addition, still be equipped with every projector subassembly and still locate lens protection shell subassembly 4, lens protection shell subassembly 4 is fixed in the bottom surface under the second installation piece 61, including the lens protection shell 41 of cavity setting, protective glass 42 and clamping ring 43, the one end that lens protection shell 41 is connected with second installation piece 61 or second installation piece 61 is equipped with square boss, it has the through-hole to open above the square boss, in order to install the screw hole screwed connection of piece 61 or second installation piece 61, the other end of lens protection shell 41 is equipped with circular step face and internal thread, protective glass 42 places on the step face, screw up clamping ring 43 and locate protective glass 42 top in order to compress tightly fixedly.

In the illustrated embodiment, the projector 64 is fixed to the lower cover 63. The lower cover plate 63 is provided with a through hole for the projector 64 to pass through and a counter bore corresponding to the internal thread of the projector 64, and the projector 64 is fastened by screws after passing through the lower cover plate 63. Then the combination of the two is inserted into the square hole of the adjusting block 32, the adjusting block 32 is provided with an internal threaded hole, the lower cover plate 63 is correspondingly provided with a countersunk hole, and the two are fastened through screws. Two heat dissipating copper blocks 65 are also connected between the projector 64 and the inner surface of the adjustment block 32. The projector 64 generates heat during operation, the heat is conducted to the outer surface of the adjusting block 32 through the heat dissipation copper block 65, and the outer surface of the adjusting block 32 is further provided with fin-shaped grooves for facilitating heat dissipation. The heat dissipating copper block 65 is L-shaped, one end of which is connected to the upper end surface of the projector 64 and is fastened by screws, and the other end of which is connected to the inner surface of the adjusting block 32 and is also fastened by screws. The connection surfaces between the heat dissipation copper block 65 and the projector 64 and the adjusting block 32 are coated with heat conduction grease, which is beneficial to heat dissipation. The upper cover plate 62 is screwed to the other end of the adjustment block 32 and the projector is electrically connected to the main circuit board 14 through an interface 64 on the upper cover plate 62. The lens 66 is threadedly connected to the projector 64. The lens protection case assembly 4 is fastened to the lower cover plate 63 through screws, and forms a closed cavity with the lower cover plate 63, so that a lens is protected. One end of the lens protection shell 41 is provided with a square boss, a through hole is formed in the square boss and used for being in screw connection with a threaded hole in the second mounting block 61, a circular step surface and an internal thread are formed in the other end of the lens protection shell, the protection glass 42 is placed on the step surface, and then the pressing ring 43 is screwed tightly to compress the protection glass.

The light reflection areas created by different projectors are assigned to different parts of the field of view, bounded by the camera axis. If the distance from the projector to the intermediate housing is too small, there will be an overlap of the light-reflecting parts in the intermediate region. In order to ensure that the distance from the projector assembly 6 to the middle shell assembly 1 is greater than the distance from the camera assembly 5 to the middle shell assembly 1, and the installation and the distance adjustment are convenient, as a preferred scheme, the double-projector binocular 3D camera further comprises cross arms 2, each cross arm 2 is positioned between the middle shell assembly 1 and the projector assembly 6, one end of each cross arm is fixedly connected with the middle shell assembly 1, and the other end of each cross arm is fixedly connected with the projector assembly 6 so as to be used for adjusting and fixing the connection distance between the middle shell assembly 1 and the projector assembly 6. Furthermore, the increase in the center-to-center distance can also be achieved by enlarging the size of the second type of angular adjustment assembly 3 associated with the projector assembly. And/or each cross arm 2 is positioned between the middle shell assembly 1 and the camera assembly 5, one end of each cross arm is fixedly connected with the middle shell assembly 1, and the other end of each cross arm is fixedly connected with the camera assembly 5, so that the connection distance between the two cross arms can be adjusted and fixed. The camera assembly 5 may also adjust the distance by adding cross arms of different lengths. In addition, the increase in the center-to-center distance can also be achieved by enlarging the size of the first type of angle adjustment assembly connected to the camera assembly.

In the illustrated embodiment, two cross arms 2 are disposed between the projector assemblies 6 and the middle housing, and the two cross arms 2 are respectively fixed on the other two outer sides of the middle housing 11 to ensure that the two projector assemblies 6 and the camera assembly 5 are distributed in a cross shape. The other two outer side surfaces of the middle shell 11 are also provided with internal threaded holes, and the cross arm 2 is correspondingly provided with through holes and then fastened by screws. The cross arm 2 is of a step hollow tubular structure, and the weight can be reduced by colleagues who can guarantee rigidity. The two fixed sliding chutes 31 are fixedly connected with the cross arm 2. The other end face of the cross arm 2 is provided with a threaded hole and four small grooves. The fixed chute 31 is correspondingly provided with a through hole and four small bosses, and the small bosses and the small grooves are matched to form a spigot connection, so that the assembly is convenient, and the assembly precision is improved. The fixed chute 31 is then fastened to the crossbar 2 by screws. In practice, the cross arm can be replaced or added as required to adjust the distance from the projector to the middle housing.

As a preferred scheme, the dual-projector binocular 3D camera further comprises at least one set of mounting plate 7, one end of the mounting plate 7 is fixed on the outer side surface of the middle shell 11, and the other end is fixed on an external structural member, so as to be used for mounting the dual-projector binocular 3D camera. In the illustrated embodiment, two mounting plates 7 are provided, one end of each mounting plate 7 being fixed to the outer side of the intermediate housing 11 and the other end being fixed to an external structural member for mounting, the mounting plates being fixed to different positions, the projector assembly and the camera assembly being oriented differently.

The above embodiment numbers of the present invention are only for description, and do not represent the advantages and disadvantages of the embodiments.

The above is only the preferred embodiment of the present invention, and not the scope of the present invention, all the equivalent structures or equivalent flow changes made by the contents of the specification and the drawings or the direct or indirect application in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. The utility model provides a two projector binocular 3D cameras which characterized in that: the device comprises a middle shell component, two camera components symmetrically arranged on two sides of the middle shell component, two projector components symmetrically arranged on the other two sides of the middle shell component, two groups of first angle adjusting components arranged corresponding to the camera components, and two groups of second angle adjusting components arranged corresponding to the projector components;

2. The dual-projector binocular 3D camera of claim 1, wherein: the shell comprises a middle shell, a rear cover plate and a front cover plate which are respectively arranged above and below the middle shell, and the circuit unit comprises a main circuit board and two projector circuit boards which are arranged in the middle shell;

3. The dual-projector binocular 3D camera of claim 2, wherein: the two inner side surfaces are provided with internal thread holes corresponding to the projector circuit board, the projector circuit board is fastened on the side surface of the middle shell through the matching of a plurality of nylon columns and a plurality of screws, and the nylon columns are used for supporting the projector circuit board and are insulated from the middle shell;

4. The dual-projector binocular 3D camera of claim 1, wherein: the first angle adjusting assembly and the second angle adjusting assembly respectively comprise a fixed sliding chute and an adjusting block connected with the fixed sliding chute, so as to be respectively used for horizontally rotating and adjusting the deflection angles of the camera assembly and the projector assembly; one end face of the fixed sliding chute is fixedly connected with the outer side face of the middle shell, and the other end face of the fixed sliding chute is provided with an arc-shaped groove; one end face of the adjusting block is fixedly connected with the camera assembly or the projector assembly, the other end face of the adjusting block is provided with an arc-shaped boss, the arc-shaped boss can concentrically rotate in the arc-shaped groove, and the arc-shaped boss is fixedly connected with the arc-shaped groove through screws after being clamped and connected.

5. The dual-projector binocular 3D camera of claim 1, wherein: the camera assembly further comprises a first mounting block arranged in a hollow mode, the inner size of the first mounting block corresponds to the outer contour of the camera, and the camera is inserted into the first mounting block and then is fixedly connected through threads on the bottom.

6. The dual-projector binocular 3D camera of claim 1, wherein: the projector assembly further comprises a second mounting block, an upper cover plate and a lower cover plate which are arranged in a hollow mode, and the inner size of the second mounting block corresponds to the outer contour of the projector; the lower cover plate is positioned below the second mounting block, a through hole for the projector to pass through and a counter bore corresponding to the internal thread on the projector are arranged on the lower cover plate, and the projector passes through the lower cover plate and is fixedly connected with the lower cover plate and then is integrally inserted into the second mounting block; the upper cover plate is located above the second mounting block, and a communication interface used for electric connection between the projector and a main circuit board of the 3D camera is arranged on the upper cover plate.

7. The dual-projector binocular 3D camera of claim 6, wherein: at least one group of heat dissipation copper blocks are further connected between the projector and the inner surface of the second mounting block, each heat dissipation copper block is L-shaped, one end of each heat dissipation copper block is fixedly connected with the upper end face of the projector, the other end of each heat dissipation copper block is fixedly connected with the inner surface of the second mounting block, and heat generated by the projector is conducted to the outer surface of the second mounting block through the heat dissipation copper blocks.

8. The dual-projector binocular 3D camera of claim 1, wherein: the camera assembly and/or the projector assembly further each include a lens protective housing assembly, the lens protective case assembly is arranged below the camera assembly and/or the projector assembly, which comprises a hollow lens protective shell, protective glass and a pressing ring, wherein the lens protective shell is covered on the camera lens and/or the projection head of the 3D camera, a square boss is arranged at one end of the lens protective shell connected with the camera assembly and/or the projector assembly, the square boss is provided with a through hole for connecting with a screw hole of the camera assembly and/or the projector assembly, the other end of the lens protection shell is provided with a round step surface and an internal thread, the protection glass is placed on the round step surface, and the pressing ring is arranged above the protection glass and used for pressing and fixing the protection glass.

9. The dual-projector binocular 3D camera of claim 1, wherein: the projector and/or camera assembly comprises a middle shell assembly, a projector assembly and/or a camera assembly, and is characterized by further comprising cross arms arranged in pairs, wherein each group of cross arms are positioned between the middle shell assembly and the projector assembly and/or the camera assembly, one ends of the cross arms are fixedly connected with the middle shell, and the other ends of the cross arms are fixedly connected with the projector assembly and/or the camera assembly, so that the middle shell assembly and the projector assembly and/or the camera assembly can be fixedly connected and the distance between the middle shell assembly and the camera assembly can be.

10. The dual-projector binocular 3D camera of claim 1, wherein: still include at least a set of mounting panel, the lateral surface at middle casing is fixed to mounting panel one end, and the other end is fixed on exterior structure spare, in order to be used for the installation of two projectors binocular 3D cameras.