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

Abstract

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.

Description

A dual-projector binocular 3D camera

technical field

The utility model belongs to the technical field of industrial 3D cameras, and more particularly relates to a dual-projector binocular 3D camera.

Background technique

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.

Utility model content

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.

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;

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;

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.

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;

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.

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;

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.

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.

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.

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.

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.

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.

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.

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.

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.

Description of drawings

Figure 1 is a reflective picture of the measured object obtained by an active binocular stereo camera;

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;

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

Fig. 4 is an exploded view of the embodiment shown in Fig. 3;

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 .

Detailed ways

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.

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.

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.

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.

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.

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.

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 ;

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;

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 .

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.

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.

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.

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 .

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 .

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.

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.

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 .

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.

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.

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.

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 .

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.

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.

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.

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.

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.

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.

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. 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; 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; 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 . 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; 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 . 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; 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. 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 . 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 . 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 . 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 . 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 . 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 . 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.

Images