CN211606687U - Double-projector binocular 3D camera - Google Patents

Double-projector binocular 3D camera Download PDF

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CN211606687U
CN211606687U CN202020513506.3U CN202020513506U CN211606687U CN 211606687 U CN211606687 U CN 211606687U CN 202020513506 U CN202020513506 U CN 202020513506U CN 211606687 U CN211606687 U CN 211606687U
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projector
assembly
camera
assemblies
binocular
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杨宇翔
曹伟强
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Seizet Technology Shenzhen Co Ltd
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Seizet Technology Shenzhen Co Ltd
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Abstract

一种双投射器双目3D相机,包括中间壳体组件,两个相机组件、两个投射器组件、两组第一类、第二类角度调整组件,相机组件包括相机以及相机镜头,投射器组件包括投射器以及投影镜头,中间壳体组件包括中间壳体以及设于中间壳体内部的电路单元,电路单元与相机组件、投射器组件电连接;两个投射器组件与两个相机组件的中心连线呈十字分布状态,中间壳体组件位于十字的中心位置处,每个相机组件经由第一类角度调整组件与中间壳体固定连接,每个投射器组件经由一组第二类角度调整组件与中间壳体固定连接,投射器组件至中间壳体组件的距离大于相机组件至中间壳体组件的距离设置。该装置可通过多次匹配以提高点云的完整性,同时还可提高点云精度。

Figure 202020513506

A dual-projector binocular 3D camera, comprising a middle housing assembly, two camera assemblies, two projector assemblies, two groups of first-type and second-type angle adjustment assemblies, the camera assembly includes a camera and a camera lens, and a projector The assembly includes a projector and a projection lens, the intermediate housing assembly includes an intermediate casing and a circuit unit arranged inside the intermediate casing, the circuit unit is electrically connected with the camera assembly and the projector assembly; the two projector assemblies are connected with the two camera assemblies. The center connection line is in a cross distribution state, the intermediate housing assembly is located at the center of the cross, each camera assembly is fixedly connected to the intermediate housing via the first type of angle adjustment assembly, and each projector assembly is adjusted through a set of second type of angle adjustment The assembly is fixedly connected with the intermediate casing, and the distance from the projector assembly to the intermediate casing assembly is set greater than the distance from the camera assembly to the intermediate casing assembly. The device can improve the integrity of the point cloud through multiple matching, and also improve the accuracy of the point cloud.

Figure 202020513506

Description

一种双投射器双目3D相机A dual-projector binocular 3D camera

技术领域technical field

本实用新型属于工业3D相机技术领域,更具体地,涉及一种双投射器双目3D相机。The utility model belongs to the technical field of industrial 3D cameras, and more particularly relates to a dual-projector binocular 3D camera.

背景技术Background technique

基于双目立体匹配原理的主动双目立体相机已广泛应用于机器人引导与定位抓取,通过主动投射纹理图案,可解决因被测场景纹理单一造成的点云缺失问题。在传统主动双目立体相机结构形式中,2D相机分别安装在基线两侧,主动纹理投射器安装在基线中心位置,然而在特定场景下,如图1所示,如场景中包括类似镜面反射表面的物体时,会产生眩光,造成2D图像过曝,或同一物体在两个2D相机中一个过曝而另一个曝光不足图像过暗,以上问题均可定义为因被测物反光造成匹配失败,进而点云缺失。Active binocular stereo cameras based on the principle of binocular stereo matching have been widely used in robot guidance and positioning and grasping. By actively projecting texture patterns, the problem of missing point clouds caused by the single texture of the tested scene can be solved. In the traditional active binocular stereo camera structure, the 2D cameras are installed on both sides of the baseline, and the active texture projector is installed at the center of the baseline. However, in a specific scene, as shown in Figure 1, the scene includes similar specular reflection surfaces. When the object is detected, glare will be generated, causing the 2D image to be overexposed, or the same object will be overexposed and the other underexposed in two 2D cameras. Then the point cloud is missing.

实用新型内容Utility model content

针对以上缺陷,本实用新型提供了一种双投射器双目3D相机,以解决传统主动双目3D相机因被测物反光引起的点云缺失的技术问题。In view of the above defects, the present utility model provides a dual-projector binocular 3D camera to solve the technical problem of the missing point cloud caused by the reflection of the measured object in the traditional active binocular 3D camera.

为实现上述目的,本实用新型提供一种双投射器双目3D相机,包括中间壳体组件,对称设于所述中间壳体组件两侧的两个相机组件、对称设于所述中间壳体组件另外两侧的两个投射器组件、对应所述相机组件设置的两组第一类角度调整组件、以及对应所述投射器组件设置的两组第二类角度调整组件;In order to achieve the above purpose, the present invention provides a dual-projector binocular 3D camera, which includes a middle casing assembly, two camera assemblies symmetrically arranged on both sides of the middle casing assembly, and symmetrically arranged on the middle casing. Two projector assemblies on the other two sides of the assembly, two groups of first type angle adjustment assemblies arranged corresponding to the camera assembly, and two groups of second type angle adjustment assemblies disposed corresponding to the projector assemblies;

所述相机组件包括固定连接的相机与相机镜头,所述投射器组件包括固定连接的投射器与投影镜头,所述中间壳体组件包括中间壳体以及设于所述壳体内部的电路单元,所述电路单元分别与所述相机组件以及所述投射器组件电连接;The camera assembly includes a fixedly connected camera and a camera lens, the projector assembly includes a fixedly connected projector and a projection lens, and the intermediate casing assembly includes an intermediate casing and a circuit unit disposed inside the casing, The circuit unit is electrically connected to the camera assembly and the projector assembly, respectively;

两个所述投射器组件与两组所述相机组件的中心连线呈十字分布状态,所述中间壳体组件位于所述十字的中心位置处,每个所述相机组件分别经由一组所述第一类角度调整组件与所述中间壳体固定连接以调整对应所述相机组件的偏转角度;每个所述投射器组件分别经由一组所述第二类角度调整组件与所述中间壳体固定连接以调整对应所述投射器组件的偏转角度,且所述投射器组件至所述中间壳体组件的距离大于所述相机组件至所述中间壳体组件的距离设置。The central connecting lines of the two projector assemblies and the two sets of the camera assemblies are in a cross-distributed state, the intermediate housing assembly is located at the center of the cross, and each of the camera assemblies passes through a set of the camera assemblies respectively. The first type of angle adjustment components are fixedly connected with the intermediate housing to adjust the deflection angle corresponding to the camera components; each of the projector components is connected to the intermediate housing through a set of the second type of angle adjustment components respectively The fixed connection is used to adjust the deflection angle corresponding to the projector assembly, and the distance from the projector assembly to the intermediate casing assembly is set greater than the distance from the camera assembly to the intermediate casing assembly.

优选的,所述壳体包括中间壳体、分别设于所述中间壳体上方与下方的后盖板与前盖板,所述电路单元包括设于所述中间壳体内部的主电路板和两个投射器电路板;Preferably, the casing includes a middle casing, a rear cover plate and a front cover plate respectively arranged above and below the middle casing, and the circuit unit includes a main circuit board and a main circuit board arranged inside the middle casing. Two projector circuit boards;

所述前盖板和后盖板与中间壳体固定连接以形成一个封闭空间,所述主电路板固定于所述后盖板上,且分别与两个所述投射器组件、两个所述相机组件以及两个所述投射器电路板电连接;所述两个所述投射器电路板固定在中间壳体内部的两个内侧面上,并与对应的所述投射器组件电连接。The front cover plate and the rear cover plate are fixedly connected with the intermediate casing to form a closed space, the main circuit board is fixed on the rear cover plate, and is respectively connected with the two projector assemblies and the two The camera assembly and the two projector circuit boards are electrically connected; the two projector circuit boards are fixed on the two inner sides of the intermediate housing and are electrically connected with the corresponding projector assemblies.

进一步的,两个所述内侧面上对应所述投射器电路板开有内螺纹孔,所述投射器电路板经由多个尼龙柱、多个螺钉的配合紧固在所述中间壳体的侧面,且所述尼龙柱用于支撑投射器电路板以及与所述中间壳体绝缘;Further, two inner side surfaces are provided with internally threaded holes corresponding to the projector circuit board, and the projector circuit board is fastened to the side surface of the intermediate housing through the cooperation of a plurality of nylon posts and a plurality of screws. , and the nylon column is used to support the projector circuit board and to be insulated from the intermediate housing;

和/或,所述后盖板上有立柱,所述主电路板对应所述立柱设有安装孔,所述主电路板经由所述立柱与所述安装孔的配合紧固于所述后盖板上。And/or, there are uprights on the back cover, the main circuit board is provided with mounting holes corresponding to the uprights, and the main circuit board is fastened to the back cover through the cooperation between the uprights and the mounting holes board.

优选的,第一类角度调整组件与所述第二类角度调整组件分别包括固定滑槽以及与所述固定滑槽相连的调整块,以分别用于水平转动调节所述相机组件、所述投射器组件偏转角度;所述固定滑槽一端面与所述中间壳体的外侧面固定连接,所述固定滑槽的另外一端面设有圆弧形凹槽;所述固定块一端面与所述相机组件或所述投射器组件固定相连,所述固定块的另一端面设有圆弧形凸台,所述圆弧形凸台可在所述圆弧形凹槽中同心旋转,所述圆弧形凸台与所述圆弧形凹槽卡接连接后,经由螺钉连接固定。Preferably, the first type of angle adjustment assembly and the second type of angle adjustment assembly respectively comprise a fixed chute and an adjustment block connected to the fixed chute, respectively used for horizontally rotating and adjusting the camera assembly, the projection one end face of the fixed chute is fixedly connected to the outer side surface of the intermediate housing, and the other end face of the fixed chute is provided with an arc-shaped groove; The camera assembly or the projector assembly is fixedly connected, the other end surface of the fixed block is provided with a circular arc-shaped boss, and the circular arc-shaped boss can rotate concentrically in the circular arc-shaped groove, and the circular After the arc-shaped boss and the circular arc-shaped groove are clamped and connected, they are fixed by screw connection.

优选的,所述相机组件还包括一中空设置的第一安装块,所述第二安装块的内部尺寸对应所述相机外部轮廓设置,所述相机插入第一安装块中后经由底部的螺纹紧固连接。Preferably, the camera assembly further includes a hollow first mounting block, the inner size of the second mounting block is set to correspond to the outer contour of the camera, and the camera is inserted into the first mounting block and is tightened through a screw at the bottom solid connection.

优选的,所述投射器组件还包括中空设置的第二安装块、上盖板以及下盖板,所述第二安装块的内部尺寸对应所述投射器外部轮廓设置;所述下盖板位于所述第二安装块下方,所述下盖板上设有供所述投射器穿过的通孔以及与所述投射器上内螺纹对应的沉头孔,所述投射器穿过所述下盖板并与所述下盖板固定连接后整体插入所述第二安装块中;所述上盖板所述位于所述第二安装块上方,所述上盖板上设有用于所述投射器与所述主电路板之间的电连接的通信接口。Preferably, the projector assembly further comprises a hollow second mounting block, an upper cover plate and a lower cover plate, the inner size of the second mounting block is set corresponding to the outer contour of the projector; the lower cover plate is located at Below the second mounting block, the lower cover is provided with a through hole for the projector to pass through and a countersunk hole corresponding to the inner thread on the projector, and the projector passes through the lower cover. The cover plate is fixedly connected with the lower cover plate and is integrally inserted into the second installation block; the upper cover plate is located above the second installation block, and the upper cover plate is provided with the projection for the projection A communication interface for the electrical connection between the device and the main circuit board.

进一步的,所述投射器与所述第二安装块内表面之间还连接有至少一组散热铜块,所述散热铜块为L型,所述散热铜块一端与所述投射器的上端面固定连接、所述散热铜块的另一端与所述第二安装块内表面固定连接,以经由所述散热铜块将所述投射器产生的热量导到所述第二安装块外表面。Further, at least one group of heat-dissipating copper blocks is connected between the projector and the inner surface of the second mounting block, the heat-dissipating copper blocks are L-shaped, and one end of the heat-dissipating copper block is connected to the upper part of the projector. The end face is fixedly connected, and the other end of the heat dissipation copper block is fixedly connected to the inner surface of the second installation block, so as to conduct the heat generated by the projector to the outer surface of the second installation block through the heat dissipation copper block.

进一步的,所述相机组件和/或所述投射器组件还分别包括一镜头保护壳组件,所述镜头保护壳组件设于所述相机组件和/或所述投射器组件下方,其包括中空设置的镜头保护壳、保护玻璃以及压圈,所述镜头保护壳罩设于所述相机镜头和/或所述投影头上,所述镜头保护壳所述相机组件和/或所述投射器组件相连接的一端设有方形凸台,所述方形凸台上面开有通孔以与所述相机组件和/或所述投射器组件的螺纹孔螺钉连接,所述镜头保护壳另一端设有圆形台阶面以及内螺纹,所述保护玻璃放置于所述圆形台阶面上,所述拧紧压圈设于所述保护玻璃上方以用于所述保护玻璃的压紧固定。Further, the camera assembly and/or the projector assembly further respectively include a lens protective shell assembly, and the lens protective shell assembly is arranged below the camera assembly and/or the projector assembly, which includes a hollow setting. The lens protection case, the protection glass and the pressure ring, the lens protection case cover is provided on the camera lens and/or the projection head, and the camera assembly and/or the projector assembly of the lens protection case are in phase with each other. One end of the connection is provided with a square boss, and a through hole is opened on the square boss for screw connection with the threaded hole of the camera assembly and/or the projector assembly, and the other end of the lens protective shell is provided with a circular Step surface and internal thread, the protective glass is placed on the circular stepped surface, and the tightening pressure ring is arranged above the protective glass for pressing and fixing the protective glass.

优选的,所述的双投射器双目3D相机还包括成对设置的横臂,每组所述横臂位于所述中间壳体组件与所述投射器组件和/或所述相机组件之间,所述横臂一端与所述中间壳体固定连接、另一端与所述投射器组件和/或所述相机组件固定连接,以用于所述中间壳体组件与所述投射器组件和/或所述相机组件之间的连接固定以及间距调整。Preferably, the dual-projector binocular 3D camera further includes a pair of cross arms, and each group of the cross arms is located between the intermediate housing assembly and the projector assembly and/or the camera assembly , one end of the cross arm is fixedly connected with the intermediate casing, and the other end is fixedly connected with the projector assembly and/or the camera assembly, so as to be used for the intermediate casing assembly and the projector assembly and/or Or the connection between the camera components is fixed and the distance is adjusted.

优选的,所述的双投射器双目3D相机还包括至少一组安装板,所述安装板一端固定在中间壳体的外侧面,另一端固定在外部结构件上,以用于所述双投射器双目3D相机的安装。Preferably, the dual-projector binocular 3D camera further comprises at least one set of mounting plates, one end of the mounting plate is fixed on the outer side of the intermediate casing, and the other end is fixed on the external structural member, so as to be used for the dual-projector binocular 3D camera. Installation of the projector binocular 3D camera.

相对传统的3D相机只有一个投射器,处于两个2D相机的中间位置,且固定不动,只能调节2D相机的角度,不能调节投射器的角度而言,本实用新型的一种双投射器双目3D相机,具有两个投射器,两个投射器与两个2D相机中心连线垂直布置,投射器从两个不同的方向对被测物体投射图案,通过多次匹配可提高点云的完整性与点云精度,以有效解决物体反光严重导致点云缺失的问题。同时,不仅2D相机角度可调,投射器角度也可调,可以适用于不同的工作距离(尽量获取最佳视野范围)。此外,还可通过更换横臂来调节两个投射器/相机之间的距离,以适应不同工作场景需求。Compared with the traditional 3D camera, which has only one projector, which is located in the middle position of the two 2D cameras, and is fixed, only the angle of the 2D camera can be adjusted, but the angle of the projector cannot be adjusted. The binocular 3D camera has two projectors, and the two projectors are arranged perpendicular to the center line of the two 2D cameras. The projectors project patterns on the measured object from two different directions. Through multiple matching, the accuracy of the point cloud can be improved. Integrity and point cloud accuracy to effectively solve the problem of missing point clouds caused by serious reflection of objects. At the same time, not only the angle of the 2D camera is adjustable, but the angle of the projector is also adjustable, which can be applied to different working distances (try to obtain the best field of view). In addition, the distance between the two projectors/cameras can be adjusted by changing the cross arm to suit the needs of different work scenarios.

附图说明Description of drawings

图1是一种主动双目立体相机获取的被测物反光图片;Figure 1 is a reflective picture of the measured object obtained by an active binocular stereo camera;

图2是一种基于传统单投射双目立体匹配和本发明中涉及的双投射双目立体匹配生成的点云对比图,其中,(a)为基于传统单投射双目立体匹配生成的点云,(b)为双投射双目立体匹配生成的点云;2 is a point cloud comparison diagram based on traditional single-projection binocular stereo matching and the dual-projection binocular stereo matching involved in the present invention, wherein (a) is a point cloud generated based on traditional single-projection binocular stereo matching , (b) is the point cloud generated by dual-projection binocular stereo matching;

图3为本实用新型一种双投射器双目3D相机一实施例的结构示意图;3 is a schematic structural diagram of an embodiment of a dual-projector binocular 3D camera of the present invention;

图4为图3所示实施例的爆炸图;Fig. 4 is an exploded view of the embodiment shown in Fig. 3;

其中,中间壳体组件1、中间壳体11,后盖板12,立柱121、前盖板13,主电路板14、投射器电路板15、尼龙柱151;横臂2、角度调整组件3、固定滑槽31、调整块32;镜头保护壳组件4、镜头保护壳41,保护玻璃42、压圈43、相机组件5、第一安装块51、相机52、相机镜头53、投射器组件6、第二安装块61、上盖板62、下盖板63、投射器64、散热铜块65、投影镜头66、安装板7。Among them, the intermediate casing assembly 1, the intermediate casing 11, the rear cover 12, the column 121, the front cover 13, the main circuit board 14, the projector circuit board 15, the nylon column 151; the cross arm 2, the angle adjustment assembly 3, Fixed chute 31, adjustment block 32; lens protective case assembly 4, lens protective case 41, protective glass 42, pressure ring 43, camera assembly 5, first mounting block 51, camera 52, camera lens 53, projector assembly 6, The second mounting block 61 , the upper cover 62 , the lower cover 63 , the projector 64 , the heat dissipation copper block 65 , the projection lens 66 , and the mounting plate 7 .

具体实施方式Detailed ways

为使本实用新型的目的、技术方案及优点更加清楚明白,以下结合附图及实施例对本实用新型进行进一步的详细说明。应当理解,此处所描述的具体实施例仅仅用以解释本实用新型,而非以任何方式限制本实用新型的保护范围。In order to make the purpose, technical solutions and advantages of the present utility model more clearly understood, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the protection scope of the present invention in any way.

在说明书的全文中,相同的附图标号指代相同的元件。表述“和/或”包括相关联的所列相目中的一个或多个的任何和全部组合。在附图中,为了便于说明,已稍微夸大了物体的厚度、尺寸和形状。附图仅为示例而非严格按比例绘制。Throughout the specification, the same reference numerals refer to the same elements. 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 objects have been slightly exaggerated for convenience of explanation. The drawings are examples only and are not drawn strictly to scale.

还应理解的是,用语“包括”、“包括有”、“具有”、“包含”和/或“包含有”,当在本说明书中使用时表示存在所陈述的特征、步骤、整体、操作、元件和/或部件,但不排除存在或附加有一个或多个其它特征、步骤、整体、操作、元件、部件和/或它们的组合。It will also be understood that the terms "comprising", "comprising", "having", "comprising" and/or "comprising" when used in this specification mean the presence of the 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 combinations thereof.

如在说明书中使用的用语“基本上”、“大约”以及类似的用于用作表示近似的用语,而不用作表示程度的用语,并且旨在说明将由本领域普通技术人员认识到的、测量值或计算值中的固有偏差。The terms "substantially," "approximately," and the like, as used in the specification, are used as terms of approximation, not as terms of degree, and are intended to describe measurements that would be recognized by one of ordinary skill in the art. Inherent bias in a value or calculated value.

除非另有限定,否则本文中使用的所有用语(包括技术用语和科学用语)均具有与本申请所属领域普通技术人员的通常理解相同的含义。还应理解的是,用语(例如在常用词典中定义的用语)应被解释为具有与它们在相关技术的上下文中的含义一致的含义,并且将不被以理想化或过度正式意义解释,除非本文中明确如此限定。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 should also be understood that terms (such as those defined in commonly used dictionaries) should be interpreted to have meanings consistent with their meanings in the context of the related art, and will not be interpreted in an idealized or overly formal sense unless It is expressly so limited herein.

需要说明的是,在不冲突的情况下,本申请的实施例及实施例中的特征可以相互组合。It should be noted that the embodiments of the present application and the features in the embodiments may be combined with each other in the case of no conflict.

如图3和图4所示,本实用新型公开了一种双投射器双目3D相机,包括中间壳体组件1,对称设于中间壳体组件1两侧的两个相机组件5、对称设于中间壳体组件1另外两侧的两个投射器组件6、对应相机组件5设置的两组第一类角度调整组件3、以及对应投射器组件6设置的两组第二类角度调整组件3;As shown in FIG. 3 and FIG. 4 , the present invention discloses a dual-projector binocular 3D camera, which includes an intermediate housing assembly 1 , two camera assemblies 5 symmetrically arranged on both sides of the intermediate housing assembly 1 , symmetrically arranged Two projector assemblies 6 on the other two sides of the intermediate housing assembly 1 , two sets of first-type angle adjustment assemblies 3 disposed corresponding to the camera assembly 5 , and two sets of second-type angle adjustment assemblies 3 disposed corresponding to the projector assembly 6 ;

相机组件5包括相机52以及相机镜头53,二者固定连接以用于获取待拍摄物体的位姿信息;投射器组件6包括固定连接的投射器64与投影镜头66,中间壳体组件1包括中间壳体11以及设于中间壳体11内部的电路单元,电路单元分别与相机组件5以及投射器组件6电连接;The camera assembly 5 includes a camera 52 and a camera lens 53, which are fixedly connected to obtain the pose information of the object to be photographed; the projector assembly 6 includes a fixedly connected projector 64 and a projection lens 66, and the intermediate housing assembly 1 includes a middle the casing 11 and the circuit unit arranged inside the intermediate casing 11, the circuit units are respectively electrically connected with the camera assembly 5 and the projector assembly 6;

两个投射器组件6与两组相机组件5的中心连线呈十字分布状态,中间壳体组件1位于十字的中心位置处,每个相机组件5分别经由一组第一类角度调整组件3与中间壳体11固定连接以调整对应相机组件5的偏转角度;每个投射器组件6分别经由一组第二类角度调整组件3与中间壳体11固定连接以调整对应投射器组件6的偏转角度,且投射器组件6至中间壳体组件1的距离大于相机组件5至中间壳体组件1的距离设置。The center lines connecting the two projector assemblies 6 and the two groups of camera assemblies 5 are in a cross-distributed state, and the intermediate housing assembly 1 is located at the center of the cross. The intermediate casing 11 is fixedly connected to adjust the deflection angle of the corresponding camera assembly 5; each projector assembly 6 is fixedly connected to the intermediate casing 11 via a set of second-type angle adjustment assemblies 3 respectively to adjust the deflection angle of the corresponding projector assembly 6 , and the distance from the projector assembly 6 to the intermediate casing assembly 1 is set greater than the distance from the camera assembly 5 to the intermediate casing assembly 1 .

相机52可为2D相机,两组2D相机52用于获取左右匹配图像对,2D相机52的感光芯片可选用CCD图像传感器或CMOS图像传感器,快门形式可选用全局快门或卷帘快门或其它合适的快门形式,数据接口可采用GigE接口或USB接口或其它合适的接口形式,相机镜头53可选用C口镜头或S口镜头或其它合适的镜头接口;两组投射器64用于主动向被测场景投射纹理图案,可投射随机散斑纹理,也可投射其它合适的纹理图案,投射器64光源可选用LED光源或激光光源或其它合适的光源,投射器64光源波段可选用白光或可见光单色光或红外波段;相对传统的3D相机只有一个投射器,处于两个2D相机52的中间位置,且固定不动,只能调节2D相机的角度而言,本实用新型所示的一种双投射器双目3D相机设有与两个2D相机52中心连线垂直布置投射器,可从两个不同的方向对被测物体投射图案,同时,2D相机52角度与投射器角度均可调以获取最佳视野范围,以有效解决物体反光严重导致点云缺失的问题。The camera 52 can be a 2D camera, two sets of 2D cameras 52 are used to obtain left and right matching image pairs, the photosensitive chip of the 2D camera 52 can be selected from a CCD image sensor or a CMOS image sensor, and the shutter form can be selected from a global shutter or a rolling shutter or other suitable ones. Shutter form, the data interface can adopt GigE interface or USB interface or other suitable interface form, the camera lens 53 can choose C-mount lens or S-mount lens or other suitable lens interface; two sets of projectors 64 are used to actively project the scene under test Projecting texture patterns, random speckle textures can be projected, and other suitable texture patterns can also be projected. The light source of the projector 64 can be LED light source or laser light source or other suitable light source, and the light source band of the projector 64 can be white light or visible light monochromatic light. Or infrared band; compared with the traditional 3D camera, there is only one projector, which is in the middle of the two 2D cameras 52, and it is fixed and can only adjust the angle of the 2D camera. The binocular 3D camera is provided with a projector arranged vertically with the center of the two 2D cameras 52, which can project patterns on the measured object from two different directions. At the same time, the angle of the 2D camera 52 and the projector can be adjusted to obtain the most The optimal field of view can effectively solve the problem of missing point clouds caused by serious reflection of objects.

具体而言,本实用新型所示的双投射器双目3D相机,工作时,首先根据实际场地需要,调整好相机52以及投射器64的偏转角度,以将视野范围调至最优范围,然后基于其中一组投射器,获取第一组双目图像对,并基于第一组双目图像对进行立体匹配,生成第一视差图;然后基于另外一组投射器,获取第二组双目图像对,并基于第二组双目图像对进行立体匹配,生成第二视差图;对第一视差图及第二视差图进行融合,生成融合后的视差图,根据融合后的视差图得到3D点云,通过多次匹配可进一步提高点云的完整性,同时还可提高点云精度,有效克服传统主动双目立体相机52因被测物表面反光引起的点云缺失问题。Specifically, the dual-projector binocular 3D camera shown in the present utility model, when working, firstly adjust the deflection angles of the camera 52 and the projector 64 according to the actual site needs, so as to adjust the field of view to the optimal range, and then Based on one set of projectors, obtain a first set of binocular image pairs, and perform stereo matching based on the first set of binocular image pairs to generate a first disparity map; then based on another set of projectors, obtain a second set of binocular images Yes, and perform stereo matching based on the second set of binocular image pairs to generate a second disparity map; fuse the first disparity map and the second disparity map to generate a fused disparity map, and obtain 3D points according to the fused disparity map Through multiple matching, the integrity of the point cloud can be further improved, and the accuracy of the point cloud can be improved at the same time, which effectively overcomes the problem of missing point clouds caused by the reflection of the surface of the measured object in the traditional active binocular stereo camera 52.

基于图1场景进行三维重建,结果如图2所示,图2中(a)为基于传统单投射双目立体匹配生成的点云图,图2中(b)为基于双投射器的双目立体匹配生成的点云图,经过双投射视差图融合后,基本解决了由于投射器反光引起的点云缺失问题,点云完整性大大提高。此外,基于两次测量后的视差图融合,点云精度也较双投射器有所提高。3D reconstruction is performed based on the scene in Figure 1, and the result is shown in Figure 2. Figure 2 (a) is the point cloud image generated based on traditional single-projection binocular stereo matching, and Figure 2 (b) is the binocular stereo based on dual projectors. The point cloud map generated by matching, after the fusion of the dual projection disparity map, basically solves the problem of missing point cloud caused by the reflection of the projector, and the integrity of the point cloud is greatly improved. In addition, based on the fusion of disparity maps after two measurements, the point cloud accuracy is also improved compared to the dual projector.

作为一优选方案,壳体包括中间壳体11、分别设于中间壳体11上方与下方的后盖板12与前盖板13,电路单元包括设于中间壳体11内部的主电路板14和两个投射器电路板15;前盖板13和后盖板12与中间壳体11固定连接以形成一个封闭空间,主电路板14固定于后盖板12上,且分别与两个投射器组件6、两个相机组件5以及两个投射器电路板15电连接;两个投射器电路板15固定在中间壳体11内部的两个内侧面上,并与对应的投射器组件6电连接。As a preferred solution, the casing includes an intermediate casing 11 , a rear cover 12 and a front cover 13 respectively disposed above and below the intermediate casing 11 , and the circuit unit includes a main circuit board 14 and Two projector circuit boards 15; the front cover 13 and the rear cover 12 are fixedly connected with the intermediate casing 11 to form a closed space, the main circuit board 14 is fixed on the rear cover 12, and is respectively connected with the two projector assemblies 6. The two camera assemblies 5 and the two projector circuit boards 15 are electrically connected; the two projector circuit boards 15 are fixed on the two inner sides of the intermediate housing 11 and are electrically connected to the corresponding projector assemblies 6 .

更进一步的,两个内侧面上对应投射器电路板15开有内螺纹孔,投射器电路板15经由多个尼龙柱、多个螺钉的配合紧固在中间壳体11的侧面,且尼龙柱用于支撑投射器电路板15以及与中间壳体11绝缘;和/或,后盖板12上有立柱121,主电路板14对应立柱121设有安装孔,主电路板14通过立柱121与安装孔的配合紧固于后盖板12上。此外,后盖板与主电路除了可以用立柱121连接之外,也可以采用尼龙柱的方式连接。Further, the two inner surfaces corresponding to the projector circuit board 15 are provided with internally threaded holes, and the projector circuit board 15 is fastened to the side of the intermediate housing 11 through the cooperation of a plurality of nylon posts and a plurality of screws, and the nylon posts It is used to support the projector circuit board 15 and insulate it from the intermediate housing 11; and/or, there are uprights 121 on the rear cover 12, the main circuit board 14 is provided with mounting holes corresponding to the uprights 121, and the main circuit board 14 is installed with the uprights 121. The matching of the holes is fastened on the rear cover plate 12 . In addition, the rear cover plate and the main circuit may be connected by means of nylon posts in addition to the upright posts 121 .

图示实施例中,前盖板13和后盖板12通过螺钉与中间壳体11固定,形成一个封闭空间。两个投射器电路板15固定在中间壳体11内部的两个侧面上。中间壳体11的两个侧面上开有内螺纹孔,螺钉穿过尼龙柱与中间壳体11上的螺纹孔固定,投射器电路板15通过尼龙柱151和螺钉紧固在这两个面上,尼龙柱151用于支撑投射器电路板15以及与中间壳体11绝缘。投射器电路板15分别与主电路板14和投射器组件6电连接;后盖板12上有立柱121,立柱121上开有内螺纹孔,主电路板14通过立柱121与螺钉的配合紧固在后盖板12上。主电路板14分别与投射器组件6和相机组件5电连接。In the illustrated embodiment, the front cover 13 and the rear cover 12 are fixed to the middle casing 11 by screws to form a closed space. Two projector circuit boards 15 are fixed on both sides inside the intermediate casing 11 . Two sides of the intermediate casing 11 are provided with internal threaded holes, the screws are fixed to the threaded holes on the intermediate casing 11 through the nylon posts, and the projector circuit board 15 is fastened to these two surfaces through the nylon posts 151 and screws , the nylon post 151 is used to support the projector circuit board 15 and to be insulated from the intermediate housing 11 . The projector circuit board 15 is electrically connected to the main circuit board 14 and the projector assembly 6 respectively; the rear cover plate 12 is provided with a post 121, the post 121 is provided with an internal thread hole, and the main circuit board 14 is fastened by the cooperation of the post 121 and the screw on the rear cover 12. The main circuit board 14 is electrically connected to the projector assembly 6 and the camera assembly 5, respectively.

作为一优选方案,第一类角度调整组件3与第二类角度调整组件3分别包括固定滑槽31以及与固定滑槽31相连的调整块32,以分别用于水平转动调节相机组件5、投射器组件6偏转角度;固定滑槽31一端面与中间壳体11的外侧面固定连接,固定滑槽31的另外一端面设有圆弧形凹槽;固定块一端面与相机组件5或投射器组件6固定相连,固定块的另一端面设有圆弧形凸台,圆弧形凸台可在圆弧形凹槽中同心旋转,圆弧形凸台与圆弧形凹槽卡接连接后,经由螺钉连接固定。As a preferred solution, the first type of angle adjustment assembly 3 and the second type of angle adjustment assembly 3 respectively include a fixed chute 31 and an adjustment block 32 connected to the fixed chute 31 for horizontally rotating and adjusting the camera assembly 5, projection One end face of the fixed chute 31 is fixedly connected with the outer side of the intermediate housing 11, and the other end face of the fixed chute 31 is provided with an arc-shaped groove; one end face of the fixed block is connected to the camera assembly 5 or the projector The component 6 is fixedly connected, and the other end face of the fixed block is provided with an arc-shaped boss, which can rotate concentrically in the arc-shaped groove. After the arc-shaped boss and the arc-shaped groove are clamped and connected , fixed via screw connection.

图示实施例中,固定滑槽31分别固定在中间壳体11上的两个外侧面。中间壳体11的两个外侧面开有内螺纹孔,固定滑槽31上开有对应的通孔,两者通过螺钉紧固。固定滑槽31上设有圆弧形凹槽,与对应调整块32的圆弧形凸台配合,方便调节相机组件5以及投射器组件6的偏转角度。In the illustrated embodiment, the fixing chute 31 is respectively fixed on the two outer sides of the intermediate casing 11 . Two outer sides of the intermediate housing 11 are provided with internal threaded holes, and the fixing chute 31 is provided with corresponding through holes, and the two are fastened by screws. The fixed chute 31 is provided with an arc-shaped groove, which cooperates with the arc-shaped boss of the corresponding adjustment block 32 to facilitate adjustment of the deflection angles of the camera assembly 5 and the projector assembly 6 .

作为一优选方案,相机组件5还包括一中空设置的第一安装块51,第二安装块61的内部尺寸对应相机52外部轮廓设置,相机52插入第一安装块51中后经由底部的螺纹紧固连接。此外,每个相机组件5分别设置一镜头保护壳组件4,镜头保护壳组件4固定于第一安装块51下底面,包括中空设置的镜头保护壳41、保护玻璃42以及压圈43,镜头保护壳41与第一安装块51相连接的一端设有方形凸台,方形凸台上面开有通孔,以与第一安装块51的螺纹孔螺钉连接,镜头保护壳41另一端设有圆形台阶面以及内螺纹,保护玻璃42放置于台阶面上,拧紧压圈43设于保护玻璃42上方以用于压紧固定。As a preferred solution, the camera assembly 5 further includes a hollow first mounting block 51 , the inner size of the second mounting block 61 is set to correspond to the outer contour of the camera 52 , and the camera 52 is inserted into the first mounting block 51 and tightened through the bottom thread. solid connection. In addition, each camera assembly 5 is respectively provided with a lens protective shell assembly 4, the lens protective shell assembly 4 is fixed on the bottom surface of the first mounting block 51, and includes a hollow lens protective shell 41, a protective glass 42 and a pressure ring 43, which protects the lens. One end of the shell 41 connected to the first mounting block 51 is provided with a square boss, and a through hole is opened on the top of the square boss for screw connection with the threaded hole of the first mounting block 51, and the other end of the lens protection shell 41 is provided with a circular On the stepped surface and the inner thread, the protective glass 42 is placed on the stepped surface, and the tightening pressure ring 43 is provided above the protective glass 42 for pressing and fixing.

图示实施例中,2D相机52与镜头53螺纹连接,形成可拍摄物体位姿信息的功能组件,第一安装块51上开有与2D相机52对应的方孔,将2D相机52插入方孔中,然后通过底部的螺纹连接进行紧固,2D相机的本体上设有通信接口,主电路板14可直接与2D相机电连接;第一安装块51外侧开有翅片状的沟槽,利于散热,2D相机52在工作中会产生热量,可通过第一安装块51传导出去。调整块32设于第一安装块51上,以与固定滑槽31上的圆弧形凹槽配合连接,方便调节。镜头保护壳组件固定在第一安装块51的下方,与第一安装块51形成一个空腔,对镜头起到保护作用。镜头保护壳41一端有方形凸台,上面开有通孔,用于与第一安装块51上的螺纹孔螺钉连接,另一端有圆形台阶面,以及内螺纹,将保护玻璃42放置于台阶面上,然后拧紧压圈43将其压紧。In the illustrated embodiment, the 2D camera 52 is threadedly connected to the lens 53 to form a functional component capable of photographing the pose information of the object. The first mounting block 51 is provided with a square hole corresponding to the 2D camera 52, and the 2D camera 52 is inserted into the square hole. The 2D camera body is provided with a communication interface, and the main circuit board 14 can be directly electrically connected to the 2D camera; the outer side of the first mounting block 51 is provided with a fin-shaped groove, which is convenient for For heat dissipation, the 2D camera 52 will generate heat during operation, which can be conducted out through the first mounting block 51 . The adjustment block 32 is arranged on the first installation block 51 to be connected with the arc-shaped groove on the fixed chute 31 to facilitate adjustment. The lens protection shell assembly is fixed below the first mounting block 51 , and forms a cavity with the first mounting block 51 to protect the lens. One end of the lens protection case 41 has a square boss with a through hole on it, which is used for screw connection with the threaded hole on the first mounting block 51, and the other end has a circular step surface and an inner thread, and the protective glass 42 is placed on the step. surface, and then tighten the pressure ring 43 to compress it.

作为一优选方案,投射器组件6还包括中空设置的第二安装块61、上盖板62以及下盖板63,第二安装块61的内部尺寸对应投射器64外部轮廓设置;下盖板63位于第二安装块61下方,下盖板63上设有供投射器64穿过的通孔以及与投射器64上内螺纹对应的沉头孔,投射器64穿过下盖板63并与下盖板63固定连接后整体插入第二安装块61中;上盖板62位于第二安装块61上方,上盖板62上设有用于投射器64与主电路板14之间的电连接的通信接口。此外,也可不设置上盖板,而将通信接口设置在第二安装块所在端面上。As a preferred solution, the projector assembly 6 further includes a hollow second mounting block 61, an upper cover 62 and a lower cover 63. The inner size of the second mounting block 61 corresponds to the outer contour of the projector 64; the lower cover 63 Below the second mounting block 61, the lower cover plate 63 is provided with a through hole for the projector 64 to pass through and a countersunk hole corresponding to the inner thread on the projector 64. The projector 64 passes through the lower cover plate 63 and is connected with the lower The cover plate 63 is integrally inserted into the second installation block 61 after being fixedly connected; the upper cover plate 62 is located above the second installation block 61, and the upper cover plate 62 is provided with a communication for the electrical connection between the projector 64 and the main circuit board 14 interface. In addition, the upper cover plate may not be provided, and the communication interface may be provided on the end face where the second mounting block is located.

更进一步的,投射器64与第二安装块61内表面之间还连接有至少一组散热铜块65,散热铜块65为L型,散热铜块65一端与投射器64的上端面固定连接、散热铜块65的另一端与第二安装块61内表面固定连接,以经由散热铜块65将投射器64产生的热量导到第二安装块61外表面。Furthermore, at least one group 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, and one end of the heat-dissipating copper blocks 65 is fixedly connected to the upper end surface of the projector 64 . . The other end of the heat-dissipating copper block 65 is fixedly connected to the inner surface of the second mounting block 61 , so as to conduct the heat generated by the projector 64 to the outer surface of the second mounting block 61 through the heat-dissipating copper block 65 .

此外,还设有每个投射器组件还设于镜头保护壳组件4,镜头保护壳组件4固定于第二安装块61下底面,包括中空设置的镜头保护壳41、保护玻璃42以及压圈43,镜头保护壳41与第二安装块61或第二安装块61相连接的一端设有方形凸台,方形凸台上面开有通孔,以与第二安装块61或第二安装块61的螺纹孔螺钉连接,镜头保护壳41另一端设有圆形台阶面以及内螺纹,保护玻璃42放置于台阶面上,拧紧压圈43设于保护玻璃42上方以用于压紧固定。In addition, each projector assembly is also arranged on the lens protective shell assembly 4, and the lens protective shell assembly 4 is fixed on the bottom surface of the second mounting block 61, including the hollow lens protective shell 41, the protective glass 42 and the pressure ring 43. , the end of the lens protection shell 41 connected with the second mounting block 61 or the second mounting block 61 is provided with a square boss. The other end of the lens protective shell 41 is provided with a circular stepped surface and an inner thread, the protective glass 42 is placed on the stepped surface, and the tightening pressure ring 43 is provided above the protective glass 42 for pressing and fixing.

图示实施例中,投射器64固定在下盖板63上。下盖板63上有供投射器64穿过的通孔,以及与投射器64上内螺纹对应的沉头孔,将投射器64穿过下盖板63后,用螺钉进行紧固。然后再将两者的组合体插入到调整块32的方孔中,调整块32上开有内螺纹孔,下盖板63上对应设有沉头孔,两者通过螺钉进行紧固。投射器64与调整块32内表面之间还连接有两个散热铜块65。投射器64在工作时会产生热量,通过散热铜块65将热量导到调整块32外表面,调整块32外表面还设有翅片状的沟槽,便于散热。散热铜块65为L型,一端与投射器64上端面连接,通过螺钉紧固,另一端与调整块32内表面连接,同样通过螺钉紧固。散热铜块65和投射器64及调整块32之间的连接面上均涂有导热脂,利于散热。上盖板62与调整块32另一端面进行螺钉紧固,投射器通64过上盖板62上的接口与主电路板14进行电连接。镜头66与投射器64通过螺纹连接。镜头保护壳组件4通过螺钉紧固到下盖板63上,与下盖板63形成封闭腔,对镜头起到保护作用。镜头保护壳41一端有方形凸台,上面开有通孔,用于与第二安装块61上的螺纹孔螺钉连接,另一端有圆形台阶面,以及内螺纹,将保护玻璃42放置于台阶面上,然后拧紧压圈43将其压紧。In the illustrated embodiment, the projector 64 is fixed on the lower cover 63 . The lower cover 63 has a through hole for the projector 64 to pass through, and a countersunk hole corresponding to the internal thread on the projector 64. After the projector 64 is passed through the lower cover 63, it is fastened with screws. Then, the combination of the two is inserted into the square hole of the adjustment block 32. The adjustment block 32 has internal threaded holes, and the lower cover plate 63 has corresponding countersunk holes, and the two are fastened by screws. Two heat dissipation 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, and the heat is conducted to the outer surface of the adjustment block 32 through the heat dissipation copper block 65. The outer surface of the adjustment block 32 is also provided with fin-shaped grooves to facilitate heat dissipation. The heat-dissipating copper block 65 is L-shaped, one end is connected to the upper end surface of the projector 64, and is fastened by screws, and the other end is connected to the inner surface of the adjustment block 32, which is also fastened by screws. The connection surfaces between the heat-dissipating copper block 65 , the projector 64 and the adjusting block 32 are all coated with thermally conductive grease, which is conducive to heat dissipation. The upper cover 62 and the other end face of the adjustment block 32 are fastened with screws, and the projector 64 is electrically connected to the main circuit board 14 through the interface on the upper cover 62 . The lens 66 is screwed to the projector 64 . The lens protection shell assembly 4 is fastened to the lower cover plate 63 by screws, and forms a closed cavity with the lower cover plate 63 to protect the lens. One end of the lens protection shell 41 has a square boss with a through hole on it, which is used for screw connection with the threaded hole on the second mounting block 61, and the other end has a circular step surface and an inner thread, and the protective glass 42 is placed on the step. surface, and then tighten the pressure ring 43 to compress it.

将不同投射器造成的反光区域,以相机轴线为界,分配到视野的不同部分。如果投射器至中间壳体的距离太小的话,在中间区域反光部分会有重叠。为确定投射器组件6至中间壳体组件1的距离大于相机组件5至中间壳体组件1的距离设置,且方便安装及间距调整,作为一优选方案,双投射器双目3D相机还包括横臂2,每个横臂2位于中间壳体组件1与投射器组件6之间,其一端与中间壳体组件1固定连接,另一端与投射器组件6固定连接,以用于二者之间的连接间距调整以及固定。此外,也可通过扩大与投射器组件相连的第二类角度调整组件3的尺寸实现中心距的增加。和/或,每个横臂2位于中间壳体组件1与相机组件5之间,其一端与中间壳体组件1固定连接,另一端与相机组件5固定连接,以用于二者之间的连接间距调整以及固定。相机组件5也可以通过增加不同长度的横臂来调整距离。此外,也可通过扩大与相机组件相连的第一类角度调整组件的尺寸实现中心距的增加。Allocate the reflective areas caused by different projectors 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, the reflective parts will overlap in the intermediate area. In order to determine that the distance from the projector assembly 6 to the intermediate casing assembly 1 is greater than the distance from the camera assembly 5 to the intermediate casing assembly 1, and to facilitate installation and spacing adjustment, as a preferred solution, the dual-projector binocular 3D camera also includes a horizontal Arms 2, each cross arm 2 is located between the intermediate housing assembly 1 and the projector assembly 6, one end of which is fixedly connected to the intermediate housing assembly 1, and the other end is fixedly connected to the projector assembly 6 for use between the two The connection spacing is adjusted and fixed. Furthermore, an increase in center distance can also be achieved by enlarging the size of the second type of angle adjustment assembly 3 connected to the projector assembly. And/or, each cross arm 2 is located between the intermediate housing assembly 1 and the camera assembly 5, one end of which is fixedly connected with the intermediate housing assembly 1, and the other end is fixedly connected with the camera assembly 5, so as to be used for the connection between the two. Connection spacing adjustment and fixing. The camera assembly 5 can also be adjusted in distance by adding cross arms of different lengths. In addition, an increase in 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.

图实施例中,在投射器组件6与中间壳体之间设置两个横臂2,两个横臂2分别固定在中间壳体11的另外两个外侧面上,以保证两个投射器组件6与相机组件5的中心连线呈十字分布状态。中间壳体11的另外两个外侧面上同样开有内螺纹孔,横臂2上对应开有通孔,然后通过螺钉进行紧固。横臂2呈阶梯空心管状结构,在能保证刚度的同事也能减小重量。两个固定滑槽31与横臂2固定连接。横臂2的另一端面上设有螺纹孔,以及四个小凹槽。固定滑槽31上对应设有通孔及四个小凸台,小凸台与小凹槽配合形成止口连接,方便组装,提高组装精度。然后通过螺钉将固定滑槽31与横臂2进行紧固连接。在实际工作中,可根据需要,更换或者增加横臂,以进行投射器至中间壳体的距离调整。In the embodiment shown in the figure, two transverse arms 2 are provided between the projector assembly 6 and the intermediate casing, and the two transverse arms 2 are respectively fixed on the other two outer sides of the intermediate casing 11 to ensure that the two projector assemblies are 6 and the center of the camera assembly 5 are in a cross-distributed state. The other two outer surfaces of the intermediate housing 11 are also provided with internally threaded holes, and the transverse arms 2 are provided with corresponding through holes, which are then fastened by screws. The transverse arm 2 has a stepped hollow tubular structure, which can reduce the weight while ensuring the rigidity. The two fixed sliding grooves 31 are fixedly connected with the transverse arm 2 . The other end face of the transverse arm 2 is provided with threaded holes and four small grooves. The fixed chute 31 is correspondingly provided with a through hole and four small bosses, and the small bosses cooperate with the small grooves to form a stopper connection, which facilitates assembly and improves assembly accuracy. Then, the fixed chute 31 is fastened to the transverse arm 2 by means of screws. In actual work, the cross arm can be replaced or added as required to adjust the distance from the projector to the intermediate housing.

作为一优选方案,双投射器双目3D相机还包括至少一组安装板7,安装板7一端固定在中间壳体11的外侧面,另一端固定在外部结构件上,以用于双投射器双目3D相机的安装。图示实施例中,设有两个安装板7,两个安装板7一端固定在中间壳体11的外侧面,另一端固定在外部结构件上,用于安装,其安装板的固定位置不同,投射器组件与相机组件的朝向不同。As a preferred solution, the dual-projector binocular 3D camera further includes at least one set of mounting plates 7, one end of the mounting plate 7 is fixed on the outer side of the intermediate housing 11, and the other end is fixed on the external structural member, so as to be used for the dual-projector Installation of a binocular 3D camera. In the illustrated embodiment, two mounting plates 7 are provided. One end of the two mounting plates 7 is fixed on the outer side of the intermediate housing 11, and the other end is fixed on the external structural member for installation. The fixing positions of the mounting plates are different. , the projector assembly is oriented differently from the camera assembly.

上述本实用新型实施例序号仅仅为了描述,不代表实施例的优劣。The above-mentioned serial numbers of the embodiments of the present invention are only for description, and do not represent the advantages or disadvantages of the embodiments.

以上仅为本实用新型的优选实施例,并非因此限制本实用新型的专利范围,凡是利用本实用新型说明书及附图内容所作的等效结构或等效流程变换,或直接或间接运用在其他相关的技术领域,均同理包括在本实用新型的专利保护范围内。The above are only the preferred embodiments of the present utility model, and are not intended to limit the scope of the present utility model patent. Any equivalent structure or equivalent process transformation made by using the contents of the present utility model description and accompanying drawings, or directly or indirectly applied to other related The technical field of the present invention is similarly included in the scope of patent protection of the present invention.

Claims (10)

1.一种双投射器双目3D相机,其特征在于:包括中间壳体组件,对称设于所述中间壳体组件两侧的两个相机组件、对称设于所述中间壳体组件另外两侧的两个投射器组件、对应所述相机组件设置的两组第一类角度调整组件、以及对应所述投射器组件设置的两组第二类角度调整组件;1. A dual-projector binocular 3D camera, characterized in that it comprises an intermediate casing assembly, two camera assemblies symmetrically arranged on both sides of the intermediate casing assembly, and two other camera assemblies symmetrically arranged on the intermediate casing assembly. two projector assemblies on the side, two groups of first type angle adjustment assemblies disposed corresponding to the camera assembly, and two groups of second type angle adjustment assemblies disposed corresponding to the projector assemblies; 所述相机组件包括固定连接的相机与相机镜头,所述投射器组件包括固定连接的投射器与投影镜头,所述中间壳体组件包括中间壳体以及设于所述壳体内部的电路单元,所述电路单元分别与所述相机组件以及所述投射器组件电连接;The camera assembly includes a fixedly connected camera and a camera lens, the projector assembly includes a fixedly connected projector and a projection lens, and the intermediate casing assembly includes an intermediate casing and a circuit unit disposed inside the casing, The circuit unit is electrically connected to the camera assembly and the projector assembly, respectively; 两个所述投射器组件与两组所述相机组件的中心连线呈十字分布状态,所述中间壳体组件位于所述十字的中心位置处,每个所述相机组件分别经由一组所述第一类角度调整组件与所述中间壳体固定连接以调整对应所述相机组件的偏转角度;每个所述投射器组件分别经由一组所述第二类角度调整组件与所述中间壳体固定连接以调整对应所述投射器组件的偏转角度,且所述投射器组件至所述中间壳体组件的距离大于所述相机组件至所述中间壳体组件的距离设置。The central connecting lines of the two projector assemblies and the two sets of the camera assemblies are in a cross-distributed state, the intermediate housing assembly is located at the center of the cross, and each of the camera assemblies passes through a set of the camera assemblies respectively. The first type of angle adjustment components are fixedly connected with the intermediate housing to adjust the deflection angle corresponding to the camera components; each of the projector components is connected to the intermediate housing through a set of the second type of angle adjustment components respectively The fixed connection is used to adjust the deflection angle corresponding to the projector assembly, and the distance from the projector assembly to the intermediate casing assembly is set greater than the distance from the camera assembly to the intermediate casing assembly. 2.根据权利要求1所述的双投射器双目3D相机,其特征在于:所述壳体包括中间壳体、分别设于所述中间壳体上方与下方的后盖板与前盖板,所述电路单元包括设于所述中间壳体内部的主电路板和两个投射器电路板;2 . The dual-projector binocular 3D camera according to claim 1 , wherein the casing comprises a middle casing, a rear cover plate and a front cover plate respectively disposed above and below the middle casing, 2 . The circuit unit includes a main circuit board and two projector circuit boards arranged inside the intermediate housing; 所述前盖板和后盖板与中间壳体固定连接以形成一个封闭空间,所述主电路板固定于所述后盖板上,且分别与两个所述投射器组件、两个所述相机组件以及两个所述投射器电路板电连接;所述两个所述投射器电路板固定在中间壳体内部的两个内侧面上,并与对应的所述投射器组件电连接。The front cover plate and the rear cover plate are fixedly connected with the intermediate casing to form a closed space, the main circuit board is fixed on the rear cover plate, and is respectively connected with the two projector assemblies and the two The camera assembly and the two projector circuit boards are electrically connected; the two projector circuit boards are fixed on the two inner sides of the intermediate housing and are electrically connected with the corresponding projector assemblies. 3.根据权利要求2所述的双投射器双目3D相机,其特征在于:两个所述内侧面上对应所述投射器电路板开有内螺纹孔,所述投射器电路板经由多个尼龙柱、多个螺钉的配合紧固在所述中间壳体的侧面,且所述尼龙柱用于支撑投射器电路板以及与所述中间壳体绝缘;3 . The dual-projector binocular 3D camera according to claim 2 , wherein two inner threaded holes corresponding to the projector circuit boards are formed on the two inner surfaces, and the projector circuit boards pass through a plurality of threaded holes. 4 . Nylon posts and a plurality of screws are fastened on the side of the intermediate housing, and the nylon posts are used to support the projector circuit board and to be insulated from the intermediate housing; 和/或,所述后盖板上有立柱,所述主电路板对应所述立柱设有安装孔,所述主电路板经由所述立柱与所述安装孔的配合紧固于所述后盖板上。And/or, there are uprights on the back cover, the main circuit board is provided with mounting holes corresponding to the uprights, and the main circuit board is fastened to the back cover through the cooperation between the uprights and the mounting holes board. 4.根据权利要求1所述的双投射器双目3D相机,其特征在于:第一类角度调整组件与所述第二类角度调整组件分别包括固定滑槽以及与所述固定滑槽相连的调整块,以分别用于水平转动调节所述相机组件、所述投射器组件偏转角度;所述固定滑槽一端面与所述中间壳体的外侧面固定连接,所述固定滑槽的另外一端面设有圆弧形凹槽;所述调整块一端面与所述相机组件或所述投射器组件固定相连,所述调整块的另一端面设有圆弧形凸台,所述圆弧形凸台可在所述圆弧形凹槽中同心旋转,所述圆弧形凸台与所述圆弧形凹槽卡接连接后,经由螺钉连接固定。4. The dual-projector binocular 3D camera according to claim 1, wherein the first type of angle adjustment assembly and the second type of angle adjustment assembly respectively comprise a fixed chute and a Adjusting blocks are used to adjust the deflection angles of the camera assembly and the projector assembly respectively by horizontal rotation; The end face is provided with an arc-shaped groove; one end face of the adjustment block is fixedly connected with the camera assembly or the projector assembly, and the other end face of the adjustment block is provided with an arc-shaped boss, and the arc-shaped The boss can rotate concentrically in the arc-shaped groove, and after the arc-shaped boss is snap-connected to the arc-shaped groove, it is fixed by screw connection. 5.根据权利要求1所述的双投射器双目3D相机,其特征在于:所述相机组件还包括一中空设置的第一安装块,所述第一安装块的内部尺寸对应所述相机外部轮廓设置,所述相机插入第一安装块中后经由底部的螺纹紧固连接。5 . The dual-projector binocular 3D camera according to claim 1 , wherein the camera assembly further comprises a hollow first mounting block, and the inner size of the first mounting block corresponds to the outside of the camera. 6 . Contour setting, after the camera is inserted into the first mounting block, it is fastened and connected via the screw at the bottom. 6.根据权利要求1所述的双投射器双目3D相机,其特征在于:所述投射器组件还包括中空设置的第二安装块、上盖板以及下盖板,所述第二安装块的内部尺寸对应所述投射器外部轮廓设置;所述下盖板位于所述第二安装块下方,所述下盖板上设有供所述投射器穿过的通孔以及与所述投射器上内螺纹对应的沉头孔,所述投射器穿过所述下盖板并与所述下盖板固定连接后整体插入所述第二安装块中;所述上盖板所述位于所述第二安装块上方,所述上盖板上设有用于所述投射器与3D相机的主电路板之间的电连接的通信接口。6 . The dual-projector binocular 3D camera according to claim 1 , wherein the projector assembly further comprises a hollow second mounting block, an upper cover plate and a lower cover plate, the second mounting block The internal size of the projector corresponds to the outer contour of the projector; the lower cover plate is located under the second mounting block, and the lower cover plate is provided with a through hole for the projector to pass through and a connection with the projector. a countersunk hole corresponding to the upper internal thread, the projector penetrates the lower cover plate and is fixedly connected with the lower cover plate and then is integrally inserted into the second installation block; the upper cover plate is located in the Above the second mounting block, the upper cover is provided with a communication interface for electrical connection between the projector and the main circuit board of the 3D camera. 7.根据权利要求6所述的双投射器双目3D相机,其特征在于:所述投射器与所述第二安装块内表面之间还连接有至少一组散热铜块,所述散热铜块为L型,所述散热铜块一端与所述投射器的上端面固定连接、所述散热铜块的另一端与所述第二安装块内表面固定连接,以经由所述散热铜块将所述投射器产生的热量导到所述第二安装块外表面。7 . The dual-projector binocular 3D camera according to claim 6 , wherein at least one set of heat-dissipating copper blocks is further connected between the projector and the inner surface of the second mounting block. 8 . The block is L-shaped, one end of the heat-dissipating copper block is fixedly connected to the upper end surface of the projector, and the other end of the heat-dissipating copper block is fixedly connected to the inner surface of the second mounting block, so that the heat-dissipating copper block is The heat generated by the projector is directed to the outer surface of the second mounting block. 8.根据权利要求1所述的双投射器双目3D相机,其特征在于:所述相机组件和/或所述投射器组件还分别包括一镜头保护壳组件,所述镜头保护壳组件设于所述相机组件和/或所述投射器组件下方,其包括中空设置的镜头保护壳、保护玻璃以及压圈,所述镜头保护壳罩设于所述相机镜头和/或3D相机的投影头上,所述镜头保护壳所述相机组件和/或所述投射器组件相连接的一端设有方形凸台,所述方形凸台上面开有通孔以与所述相机组件和/或所述投射器组件的螺纹孔螺钉连接,所述镜头保护壳另一端设有圆形台阶面以及内螺纹,所述保护玻璃放置于所述圆形台阶面上,所述压圈设于所述保护玻璃上方以用于所述保护玻璃的压紧固定。8 . The dual-projector binocular 3D camera according to claim 1 , wherein the camera assembly and/or the projector assembly further comprises a lens protection shell assembly, and the lens protection shell assembly is provided on the Below the camera assembly and/or the projector assembly, it includes a hollow lens protective shell, a protective glass and a pressure ring, the lens protective shell cover is provided on the camera lens and/or the projection head of the 3D camera , the lens protective shell is provided with a square boss at one end connected to the camera assembly and/or the projector assembly, and a through hole is formed on the square boss to connect with the camera assembly and/or the projector The other end of the lens protection case is provided with a circular stepped surface and an inner thread, the protective glass is placed on the circular stepped surface, and the pressure ring is provided above the protective glass It is used for pressing and fixing of the protective glass. 9.根据权利要求1所述的双投射器双目3D相机,其特征在于:还包括成对设置的横臂,每组所述横臂位于所述中间壳体组件与所述投射器组件和/或所述相机组件之间,所述横臂一端与所述中间壳体固定连接、另一端与所述投射器组件和/或所述相机组件固定连接,以用于所述中间壳体组件与所述投射器组件和/或所述相机组件之间的连接固定以及间距调整。9 . The dual-projector binocular 3D camera according to claim 1 , further comprising a pair of cross arms, and each group of the cross arms is located between the intermediate housing assembly and the projector assembly and the projector assembly. 10 . Between the camera assemblies, one end of the cross arm is fixedly connected with the intermediate housing, and the other end is fixedly connected with the projector assembly and/or the camera assembly, so as to be used in the intermediate housing assembly The connection with the projector assembly and/or the camera assembly is fixed and the spacing is adjusted. 10.根据权利要求1所述的双投射器双目3D相机,其特征在于:还包括至少一组安装板,所述安装板一端固定在中间壳体的外侧面,另一端固定在外部结构件上,以用于所述双投射器双目3D相机的安装。10 . The dual-projector binocular 3D camera according to claim 1 , further comprising at least one set of mounting plates, one end of the mounting plate is fixed on the outer side of the intermediate housing, and the other end is fixed on the external structural member. 11 . on, for the installation of the dual-projector binocular 3D camera.
CN202020513506.3U 2020-04-10 2020-04-10 Double-projector binocular 3D camera Expired - Fee Related CN211606687U (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021203770A1 (en) * 2020-04-10 2021-10-14 熵智科技(深圳)有限公司 Binocular stereo matching method and apparatus based on double projectors, and medium and device

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021203770A1 (en) * 2020-04-10 2021-10-14 熵智科技(深圳)有限公司 Binocular stereo matching method and apparatus based on double projectors, and medium and device

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