CN212034250U

CN212034250U - Three-dimensional information acquisition device based on binocular vision and laser scanning

Info

Publication number: CN212034250U
Application number: CN202020545341.8U
Authority: CN
Inventors: 刘俊涛; 崔鹏刚
Original assignee: Shaanxi Vihero Robot Technology Co ltd
Current assignee: Shaanxi Vihero Robot Technology Co ltd
Priority date: 2020-04-14
Filing date: 2020-04-14
Publication date: 2020-11-27
Anticipated expiration: 2030-04-14

Abstract

The utility model discloses a three-dimensional information acquisition device based on binocular vision and laser scanning, which comprises a fixed frame, wherein the fixed frame is provided with a left camera and a right camera, and a reflective laser scanning mechanism is arranged between the left camera and the right camera; the fixed frame is provided with a vision processing module; the visual processing module is electrically connected with the left camera, the right camera and the reflective laser scanning mechanism; the left camera and the right camera are used for collecting laser images, and the vision processing module is used for controlling the left camera and the right camera to be started and analyzing and processing the obtained laser images to obtain three-dimensional information of a target object. The utility model discloses technical scheme's three-dimensional information acquisition device based on binocular vision and laser scanning for prior art, have that laser output is stable, the whole size of mechanism is little, the scanning range is big, laser control precision advantage such as high.

Description

Three-dimensional information acquisition device based on binocular vision and laser scanning

Technical Field

The utility model relates to a laser scanning field, concretely relates to three-dimensional information acquisition device based on binocular vision and laser scanning.

Background

The rapid development of the robot technology expands the application of the robot from traditional fixed target high-precision repeated operation to flexible operation with variable operation objects and variable operation object positions, and the robot urgently needs the cooperation of machine vision to obtain the three-dimensional information of the operation objects.

In the prior art, a device for acquiring three-dimensional information of an object by using a laser and a camera is either fixed or movable. The three-dimensional information device or the object which moves relatively has an error in movement, and the generated image also has an error, which affects the detection accuracy. In addition, the current binocular stereo vision cannot reliably and stably extract the three-dimensional information of the target for objects without textures or objects with weak textures and fuzzy boundaries.

The existing object three-dimensional information acquisition device has the following defects: firstly, the laser swings in the operation process, so that the outgoing line at the back of the laser is easily damaged, and the stability of laser output is influenced; secondly, in order to enlarge the scanning range, the scanning mechanism is too large in size and cannot be installed inside the binocular vision system.

Disclosure of Invention

For solving above technical problem, the utility model aims at providing a three-dimensional information acquisition device based on two mesh vision and laser scanning adopts the laser instrument fixed, utilizes the laser reflection subassembly to reflect the laser line, can solve among the prior art laser instrument rotation scheme problem that the afterbody wiring is easy not hard up, laser signal is unstable, the laser instrument size is too big, control accuracy is low.

In order to achieve the above purpose, the present invention adopts the following technical solution.

A three-dimensional information acquisition device based on binocular vision and laser scanning comprises: the device comprises a fixed frame, a left camera and a right camera are arranged on the fixed frame, and a reflective laser scanning mechanism is arranged between the left camera and the right camera; the fixed frame is provided with a vision processing module; the vision processing module is electrically connected with the left camera, the right camera and the reflective laser scanning mechanism.

Further, the vision processing module controls the left camera and the right camera to be started and analyzes and processes the obtained laser image to obtain the three-dimensional information of the target object.

Furthermore, the reflective laser scanning mechanism comprises a fixed plate, and a laser is arranged on the fixed plate; a laser reflection assembly is arranged in the laser emission direction of the laser; the laser reflection assembly comprises a reflector supporting plate, and a reflector is arranged on one side of the reflector supporting plate, which is close to the laser;

a rotary driving assembly is arranged on the fixed plate and drives the reflector supporting plate to rotate so as to drive the reflector to rotate;

an absolute value encoder is arranged on the fixed plate and used for acquiring the angular speed of the output shaft of the rotary driving assembly;

be provided with the control panel on the fixed plate, absolute value encoder, laser instrument, rotary drive subassembly all are connected with the control panel electricity, and the control panel is connected with vision processing module electricity, and the control panel acquires the signal that the encoder gathered and control rotary drive subassembly and starts or stop.

Furthermore, the laser is a linear laser, and a laser emitting port of the linear laser is parallel to an output shaft of the rotary driving component.

Furthermore, the laser emitting direction of the laser is the positive direction of the X axis, and the rotating range of the reflecting mirror is-63.75 degrees to-26.25 degrees.

Furthermore, the laser of the laser passes through the central axis of the output shaft of the rotary driving component, and the reflecting surface of the reflector passes through the central axis of the output shaft of the rotary driving component.

Further, the rotary driving component comprises a gear reducer and a stepping motor; the gear reducer is fixed on the fixing plate, an output shaft of the stepping motor is connected with an input shaft of the reducer, and an output shaft of the gear reducer is connected with the reflector supporting plate.

Furthermore, the reflective laser scanning mechanism further comprises a laser seat, the laser seat is fixedly connected to the fixing plate, a laser mounting hole and a fastening screw hole are formed in the laser seat, and the laser penetrates through the laser mounting hole and is fastened through a fastening screw.

Furthermore, reflective laser scanning mechanism still includes the protective housing, is provided with transparent window on the protective housing.

The utility model discloses technical scheme's reflective laser scanning mechanism has advantages such as laser output is stable, the whole size of mechanism is little, the scanning range is big, laser control accuracy is high for prior art.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

Fig. 1 is a schematic perspective view of an embodiment of the three-dimensional information acquisition device based on binocular vision and laser scanning according to the present invention;

fig. 2 is a three-dimensional decomposition schematic diagram of an embodiment of the three-dimensional information acquisition device based on binocular vision and laser scanning of the present invention;

FIG. 3 is a schematic perspective view of one embodiment of a reflective laser scanning mechanism;

FIG. 4 is an exploded view of the reflective laser scanning mechanism of FIG. 3 with the protective shell removed;

FIG. 5 is a diagram of the laser reflection path with the mirror in the end position of left rotation;

FIG. 6 is a laser reflection path with reflected rays directed vertically downward;

fig. 7 is a laser reflection optical path diagram when the reflector is at the right-hand end position.

In the above figures:

1, fixing a frame; 2, a left camera; 3, a right camera;

4 reflective laser scanning mechanism; 401 fixing the plate; a 402 laser; 403 mirror mount; 404 a mirror; 405 an absolute value encoder; 406 a control panel; 407 a stepper motor; 408 a gear reducer; 409 laser seat; 4010 a protective shell; 4011 a transparent window; and 5, a vision processing module.

Detailed Description

In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments accompanied with figures are described in detail below.

In the following description, specific details are set forth in order to provide a thorough understanding of the present invention. The invention can be implemented in a number of ways different from those described herein and similar generalizations can be made by those skilled in the art without departing from the spirit of the invention. The invention is therefore not limited to the specific embodiments disclosed below.

In the prior art, a laser scanning device mostly adopts laser rotation scanning, the wiring at the tail part of the laser scanning device is easy to loosen, so that a scanning signal is unstable, and in addition, the rotation angle of the laser is equal to the scanning angle in the rotation scanning process of the laser, so that the rotation range of the laser is large if a large angle range is to be scanned, the laser occupies a large space, and the laser scanning device cannot be applied to places with high requirements on space dimensions.

Referring to fig. 1 and 2, a binocular vision and laser scanning based three-dimensional information acquisition apparatus includes: the device comprises a fixed frame 1, wherein a left camera 2 and a right camera 3 are arranged on the fixed frame 1, and a reflective laser scanning mechanism 4 is arranged between the left camera 2 and the right camera 3; the fixed frame 1 is provided with a vision processing module 5; and the vision processing module 5 is electrically connected with the left camera 2, the right camera 3 and the reflective laser scanning mechanism 4.

In the above embodiment, the reflective laser scanning mechanism 4 is provided in the middle of the left camera 2 and the right camera 3. The reflective laser scanning mechanism 4 employs the principle that the laser 402 is fixed and the mirror 404 rotates to reflect the laser. The left camera 2 and the right camera 3 are used for collecting laser images, and the vision processing module 5 is used for analyzing and processing the obtained laser images and obtaining three-dimensional information of a target object. The reflective laser scanning mechanism 4 has the advantages that firstly, the laser 402 is fixed, the tail part of the laser is connected with a stable wire, and stable laser can be output; secondly, according to the law of reflection of light, the incident light ray is kept unchanged, the plane mirror rotates by A degrees, and the reflected light ray rotates by 2 degrees in the same direction. Therefore, the reflective laser scanning mechanism 4 is used at the same scanning angle, and the rotation angle of the rotation mechanism is half of the rotation angle of the original laser 402. Therefore, the reflective laser scanning mechanism 4 is smaller in size and wider in scanning range.

The working principle of the three-dimensional information acquisition device based on binocular vision and laser scanning is as follows: the vision processing system controls the reflective laser scanning mechanism 4 to scan a plurality of laser lines on a target object, and simultaneously controls the left camera 2 and the right camera 3 to collect coordinates of each point on each laser line projected on the target object, the left camera 2 and the right camera 3 convert the collected data and transmit the converted data to the vision processing system for difference value calculation and processing, and three-dimensional coordinate data of the target object are output to form a three-dimensional graph of the target object.

Further, the vision processing module 5 controls the left camera 2 and the right camera 3 to start and analyzes and processes the acquired laser image to obtain the three-dimensional information of the target object.

Further, the reflective laser scanning mechanism 4 includes a fixing plate 401, and a laser 402 is disposed on the fixing plate 401; a laser reflection assembly is arranged in the laser emission direction of the laser 402; the laser reflection assembly comprises a reflector supporting plate 403, and a reflector 404 is installed on one side of the reflector supporting plate 403 close to the laser 402; a rotary driving assembly is arranged on the fixing plate 401, and drives the reflector supporting plate 403 to rotate so as to drive the reflector 404 to rotate; an absolute value encoder 405 is arranged on the fixing plate 401, and the absolute value encoder 405 is used for acquiring the angular speed of the output shaft of the rotary driving component; the fixed plate 401 is provided with a control board 406, the absolute value encoder 405, the laser 402 and the rotary driving component are all electrically connected with the control board 406, the control board 406 is electrically connected with the vision processing module 5, and the control board 406 acquires signals acquired by the encoder and controls the rotary driving component to start or stop.

An absolute encoder determines the code from mechanical position without the need for memory, the need for finding a reference point, and without counting all the time, when it is needed to know the position, and when to read its position. The encoder has high anti-interference characteristic and high data reliability.

Further, the laser 402 is a line laser 402, and a laser emitting port of the line laser 402 is parallel to the output shaft of the rotation driving component. The above embodiment is preferably a line laser 402, and in practice, the laser may be in other forms according to actual requirements.

Further, in this embodiment, specifically, taking a plane coordinate system as an example, the laser emitting direction of the laser 402 is the positive direction of the X axis, and the rotation range of the mirror 404 is-63.75 ° to-127.5 °.

Referring to fig. 5, when the mirror 4 is at-63.75 °, the reflected ray is-127.5 °.

Referring to fig. 6, when the mirror 4 is at-45 °, the reflected light is-90 °.

Referring to fig. 7, when the mirror 4 is at-26.25 °, the reflected ray is-52.5 °.

The range of rotation of the mirror 4 is 37.5 °, and the range of reflected ray scanning is 75 °.

Further, referring to fig. 5, 6 and 7, the laser beam of the laser 402 passes through the central axis of the output shaft of the rotation driving assembly, and the reflecting surface of the reflector 404 passes through the central axis of the output shaft of the rotation driving assembly.

In the above embodiments, the preferred scheme is: the laser line passes through the central axis of the output shaft of the rotational drive assembly and the reflecting surface of the mirror 404 passes through the central axis of the output shaft of the rotational drive assembly. The scheme has simple structure and most convenient operation.

Further, the rotary driving assembly comprises a gear reducer 408 and a stepping motor 407; the gear reducer 408 is fixed on the fixing plate 401, an output shaft of the stepping motor 407 is connected to an input shaft of the reducer, and an output shaft of the gear reducer 408 is connected to the reflector supporting plate 403.

In the above embodiment, the gear reducer 408 and the stepping motor 407 are preferable. The stepping motor 407 is an open-loop control motor that converts an electrical pulse signal into an angular displacement or a linear displacement, is a main execution element in a digital program control system, and is widely applied. In the case of non-overload, the rotation speed and stop position of the stepping motor are only dependent on the frequency and pulse number of the pulse signal, and are not influenced by the load change, when the stepping driver receives a pulse signal, the stepping driver drives the stepping motor 407 to rotate by a fixed angle in a set direction, and the stepping motor rotates by one step at the fixed angle. The angular displacement can be controlled by controlling the number of pulses, so that the aim of accurate positioning is fulfilled; meanwhile, the rotating speed and the rotating acceleration of the motor can be controlled by controlling the pulse frequency, so that the aim of speed regulation is fulfilled.

Further, the reflective laser scanning mechanism 4 further includes a laser seat 409, the laser seat 409 is fixedly connected to the fixing plate 401, a laser mounting hole and a fastening screw hole are formed in the laser seat 409, and the laser 402 penetrates through the laser mounting hole and is fastened through a fastening screw.

The laser seat 409 is made of a material with good heat conduction and heat dissipation performance, so that the laser 402 is fixed on one hand, and heat generated by the laser 402 is dissipated in time on the other hand.

Further, reflective laser scanning mechanism 4 still includes protective housing 4010, be provided with transparent window 4011 on protective housing 4010, transparent window 4011 is used for the laser of transmission reflection.

Although the invention has been described in detail in this specification with reference to specific embodiments and illustrative embodiments, it will be apparent to those skilled in the art that certain changes and modifications can be made therein without departing from the scope of the invention. Accordingly, such modifications and improvements are intended to be within the scope of this invention as claimed.

Claims

1. A three-dimensional information acquisition device based on binocular vision and laser scanning is characterized by comprising: the device comprises a fixed frame (1), wherein a left camera (2) and a right camera (3) are arranged on the fixed frame (1), and a reflective laser scanning mechanism (4) is arranged between the left camera (2) and the right camera (3); the fixed frame (1) is provided with a visual processing module (5); the vision processing module (5) is electrically connected with the left camera (2), the right camera (3) and the reflective laser scanning mechanism (4).

2. The binocular vision and laser scanning based three-dimensional information acquisition device according to claim 1, wherein the vision processing module (5) controls the left camera (2) and the right camera (3) to be started and analyzes and processes the acquired laser images to obtain the three-dimensional information of the target object.

3. The binocular vision and laser scanning based three-dimensional information acquisition apparatus according to claim 1, wherein the reflex laser scanning mechanism (4) includes a fixed plate (401), the fixed plate (401) having a laser (402) disposed thereon; a laser reflection assembly is arranged in the laser emission direction of the laser (402); the laser reflection assembly comprises a reflector supporting plate (403), and a reflector (404) is installed on one side, close to the laser (402), of the reflector supporting plate (403);

a rotary driving assembly is arranged on the fixing plate (401), and drives the reflector supporting plate (403) to rotate so as to drive the reflector (404) to rotate;

an absolute value encoder (405) is arranged on the fixing plate (401), and the absolute value encoder (405) is used for acquiring the angular speed of an output shaft of the rotary driving component;

the fixed plate (401) is provided with a control plate (406), the absolute value encoder (405), the laser (402) and the rotary driving assembly are electrically connected with the control plate (406), the control plate (406) is electrically connected with the vision processing module (5), and the control plate (406) acquires signals acquired by the encoder and controls the rotary driving assembly to start or stop.

4. The binocular vision and laser scanning based three-dimensional information acquisition apparatus according to claim 3, wherein the laser (402) is a line laser (402), and a laser emitting port of the line laser (402) is parallel to an output shaft of the rotation driving assembly.

5. The binocular vision and laser scanning based three-dimensional information acquisition apparatus according to claim 3, wherein the laser emitting direction of the laser (402) is a positive X-axis direction, and the rotation range of the mirror (404) is-63.75 ° to-26.25 °.

6. The binocular vision and laser scanning based three-dimensional information acquisition apparatus according to claim 3, wherein the laser light of the laser (402) passes through a central axis of the output shaft of the rotation driving assembly, and the reflection surface of the reflection mirror (404) passes through the central axis of the output shaft of the rotation driving assembly.

7. The binocular vision and laser scanning based three-dimensional information acquisition apparatus according to claim 3, wherein the rotary driving assembly includes a gear reducer (408) and a stepping motor (407); the gear speed reducer (408) is fixed on the fixing plate (401), an output shaft of the stepping motor (407) is connected with an input shaft of the speed reducer, and an output shaft of the gear speed reducer (408) is connected with the reflector supporting plate (403).

8. The binocular vision and laser scanning based three-dimensional information acquisition device according to claim 3, wherein the reflective laser scanning mechanism (4) further comprises a laser seat (409), the laser seat (409) is fixedly connected to the fixing plate (401), a laser mounting hole and a fastening screw hole are formed in the laser seat (409), and the laser (402) penetrates through the laser mounting hole and is fastened through a fastening screw.

9. The binocular vision and laser scanning based three-dimensional information acquisition apparatus according to claim 3, wherein the reflective laser scanning mechanism (4) further comprises a protective shell (4010), and a transparent window (4011) is provided on the protective shell (4010).