CN214481023U

CN214481023U - Split type stereoscopic vision sensor

Info

Publication number: CN214481023U
Application number: CN202120485180.2U
Authority: CN
Inventors: 刘武能; 刘丽龙
Original assignee: Diqing Power Supply Bureau of Yunnan Power Grid Co Ltd
Current assignee: Diqing Power Supply Bureau of Yunnan Power Grid Co Ltd
Priority date: 2021-03-08
Filing date: 2021-03-08
Publication date: 2021-10-22
Anticipated expiration: 2031-03-08

Abstract

The application provides a split type stereoscopic vision sensor, includes: two CCD cameras placed in opposite directions, two the level crossing of angularly adjustable has been placed respectively before CCD camera's the camera, the CCD camera is connected with the socket through the wire electricity, CCD camera, level crossing and socket all are fixed in on the base, be provided with on the socket with socket assorted plug, the plug is connected with the circuit board through the wire electricity, the circuit board is connected with lighting device through the wire electricity, lighting device is used for doing the CCD camera provides the illumination of arbitrary angle. By adopting the device, the angle of the plane mirror is adjustable, the actual base line distance B is increased, the detection precision of the stereoscopic vision sensor is improved, the lighting device provides lighting at any angle for the CCD camera, the detection applicability of the stereoscopic vision sensor is improved, the circuit board can be disassembled for independent repair, and the maintenance difficulty of the stereoscopic vision sensor is reduced.

Description

Split type stereoscopic vision sensor

Technical Field

The application relates to the technical field of vision sensors, in particular to a split type stereoscopic vision sensor.

Background

With the continuous development of computer vision technology, vision sensors are more and more widely applied, and in particular, stereoscopic vision sensors have the advantages of intuitive principle, simple structure, convenience in use, high measurement precision, high measurement speed and the like, and are widely applied to various fields such as industrial detection, target recognition, workpiece positioning, robot guidance and the like. The working mechanism of the stereoscopic vision sensor is similar to that of human eyes, and the stereoscopic vision sensor is a core unit of a computer vision detection system, directly acquires the information of a detected object and transmits signals to a data processing unit and a graphic analysis system, so that the quality of the performance of the stereoscopic vision sensor is very important for the computer vision detection system.

At present, the traditional stereoscopic vision sensor mainly comprises five parts, namely two CCD cameras, a circuit board integrated with a driving circuit, an illuminating device and a base. As shown in fig. 1, two CCD cameras are obliquely disposed on the base, a circuit board is disposed between the two CCD cameras, and an illumination device is disposed in the front portion of the middle portion between the two CCD cameras.

However, such conventional designs have some unreasonable areas: the base line distance B is the distance between the centers of the two CCD camera lenses, so the actual base line distance B is much smaller than the transverse width L of the stereoscopic vision sensor, and the detection precision of the stereoscopic vision sensor is low easily; the lighting device is fixed and is not suitable for some detection objects (such as shallow blind holes); the circuit board is fixed on the base through screws, the CCD camera and the lighting device need to be detached together when the circuit board is maintained, the maintained CCD camera needs to be calibrated again, and the maintenance difficulty is increased.

SUMMERY OF THE UTILITY MODEL

The application provides a split type stereoscopic vision sensor to detect among the solution prior art precision decline, to some measuring object not be suitable for and need pull down CCD camera and lighting device together when maintaining the circuit board, the CCD camera after the maintenance need mark again, has increased the problem of the maintenance degree of difficulty.

The application provides a split type stereoscopic vision sensor, includes: two CCD cameras placed in opposite directions, two the level crossing of angularly adjustable has been placed respectively before CCD camera's the camera, the CCD camera is connected with the socket through the wire electricity, CCD camera, level crossing and socket all are fixed in on the base, be provided with on the socket with socket assorted plug, the plug is connected with the circuit board through the wire electricity, the circuit board is connected with lighting device through the wire electricity, lighting device is used for doing the CCD camera provides the illumination of arbitrary angle.

Optionally, the plane mirror is fixedly connected with a first horizontal rotation motor and a first pitch angle swing motor.

Optionally, the lighting device is fixedly connected with a second horizontal rotation motor and a second pitch angle swing motor.

Optionally, a connecting device is arranged on the plug, and the connecting device is movably clamped on the socket.

Optionally, a sealing ring is arranged on the socket, and the sealing ring is used for sealing a contact portion between the plug and the socket when the plug is plugged into the socket.

Optionally, the circuit board is integrated with a controller, and the controller is configured to calculate rotation angles of the first horizontal rotation motor, the first pitch angle swing motor, the second horizontal rotation motor, and the second pitch angle swing motor.

Optionally, the controller is further configured to send pulse signals to the first horizontal rotation motor, the first pitch angle swing motor, the second horizontal rotation motor, and the second pitch angle swing motor, respectively, so as to control the first horizontal rotation motor, the first pitch angle swing motor, the second horizontal rotation motor, and the second pitch angle swing motor to rotate to the calculated angle.

Drawings

In order to more clearly explain the technical solution of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious to those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic diagram of a conventional stereo vision sensor;

fig. 2 is a schematic structural diagram of a split-type stereo vision sensor disclosed in an embodiment of the present application;

fig. 3 is a schematic diagram illustrating a structural comparison between a split type stereo vision sensor and a conventional stereo vision sensor disclosed in an embodiment of the present application.

The device comprises a CCD camera 1, a plane mirror 2, a socket 3, a base 4, a plug 5, a circuit board 6, a lighting device 7, a sealing ring 31, a connecting device 51 and a controller 61.

Detailed Description

The technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

As described in the background of the present application, the structure of the stereo vision sensor in the prior art mainly includes five parts, namely, two CCD cameras 1, a circuit board 6 with an integrated driving circuit, an illumination device 7, and a base 4. As shown in fig. 1, two CCD cameras 1 are obliquely arranged on a base 4, a circuit board 6 is arranged between the two CCD cameras 1, and an illumination device 7 is arranged in front of the middle between the two CCD cameras 1.

However, since the base line distance B is the distance between the centers of the two CCD cameras, the actual base line distance B is much smaller than the lateral width L of the stereoscopic vision sensor, which easily results in low detection accuracy of the stereoscopic vision sensor; the lighting device 7 is fixed and is not suitable for some detection objects (such as shallow blind holes); the circuit board 6 is fixed on the base 4 by screws, the CCD camera 1 and the lighting device 7 need to be detached together when the circuit board 6 is maintained, and the maintained CCD camera 1 needs to be calibrated again, so that the maintenance difficulty is increased.

Therefore, in order to solve the above-mentioned problem, this application embodiment provides a split type stereoscopic vision sensor, see fig. 2, split type stereoscopic vision sensor includes two CCD camera 1 that place in the opposite direction, two the level crossing 2 of angularly adjustable has been placed respectively before CCD camera 1's the camera, CCD camera 1 is connected with socket 3 through the wire electricity, CCD camera 1, level crossing 2 and socket 3 all are fixed in on base 4, be provided with on socket 3 with socket 3 assorted plug 5, plug 5 is connected with circuit board 6 through the wire electricity, circuit board 6 is connected with lighting device 7 through the wire electricity, lighting device 7 is used for CCD camera 1 provides the illumination of arbitrary angle.

Adopt above-mentioned device, level crossing 2's angularly adjustable can increase actual baseline apart from B, improves stereoscopic vision sensor's detection precision, lighting device 7 does CCD camera 1 provides the illumination of arbitrary angle, improves the suitability that stereoscopic vision sensor detected, circuit board 6 can be dismantled and repaired alone, reduces the stereoscopic vision sensor maintenance degree of difficulty.

The plane mirror 2 is fixedly connected with a first horizontal rotation motor and a first pitch angle swing motor. The first horizontal rotation motor and the first pitch angle swing motor jointly adjust the angle of the plane mirror 2 relative to the CCD camera 1, so that the base line distance B is increased, and the detection accuracy of the stereoscopic vision sensor is improved.

The lighting device 7 is fixedly connected with a second horizontal rotation motor and a second pitch angle swing motor. The second horizontal rotation motor and the second pitch angle swing motor jointly adjust the lighting device 7 to meet the brightness requirement detected by the CCD camera 1.

The plug 5 is provided with a connecting device 51, and the connecting device 51 can be movably clamped on the socket 3. The connecting means 51 improves the stability of the connection of the socket 3 and the plug 5.

The socket 3 is provided with a sealing ring 31, and the sealing ring 31 is used for sealing a contact part of the plug 5 and the socket 3 when the plug 5 is plugged in the socket 3. When the socket 3 is connected with the plug 5, the sealing ring 31 can prevent rainwater from entering the plug 5 and the socket 3, so that short circuit is avoided.

The circuit board 6 is integrated with a controller 61, and the controller 61 is configured to calculate rotation angles of the first horizontal rotation motor, the first pitch angle swing motor, the second horizontal rotation motor, and the second pitch angle swing motor.

The controller 61 is further configured to send pulse signals to the first horizontal rotation motor, the first pitch angle swing motor, the second horizontal rotation motor, and the second pitch angle swing motor, respectively, so as to control the first horizontal rotation motor, the first pitch angle swing motor, the second horizontal rotation motor, and the second pitch angle swing motor to rotate to the calculated angle. The controller 61 realizes automatic adjustment of the plane mirror 2 and the lighting device 7, and improves the detection efficiency of the stereoscopic vision sensor.

Referring to fig. 3, the present application provides a split-type stereo vision sensor, under the condition of the same baseline distance B, and compared with the layout of the CCD cameras 1 of the conventional stereo vision sensor (dashed lines in the figure), the distance between two CCD cameras 1 in the split-type stereo vision sensor disclosed in the embodiments of the present application is smaller, which is beneficial to reducing the volume of the stereo vision sensor.

The application provides a split type stereoscopic vision sensor, includes: two CCD camera 1 of placing in the opposite direction, two placed angle adjustable level crossing 2 before CCD camera 1's the camera respectively, CCD camera 1 is connected with socket 3 through the wire electricity, CCD camera 1, level crossing 2 and socket 3 all are fixed in on base 4, be provided with on the socket 3 with 3 assorted plug 5 of socket, plug 5 is connected with circuit board 6 through the wire electricity, circuit board 6 is connected with lighting device 7 through the wire electricity, lighting device 7 is used for doing CCD camera 1 provides the illumination of arbitrary angle. By adopting the device, the angle of the plane mirror 2 is adjustable, the actual base line distance B can be increased, the detection precision of the stereoscopic vision sensor is improved, the lighting device 7 provides lighting at any angle for the CCD camera 1, the detection applicability of the stereoscopic vision sensor is improved, the circuit board 6 can be disassembled for independent repair, and the maintenance difficulty of the stereoscopic vision sensor is reduced.

The present application has been described in detail with reference to specific embodiments and illustrative examples, but the description is not intended to limit the application. Those skilled in the art will appreciate that various equivalent substitutions, modifications or improvements may be made to the presently disclosed embodiments and implementations thereof without departing from the spirit and scope of the present disclosure, and these fall within the scope of the present disclosure. The protection scope of this application is subject to the appended claims.

Claims

1. A split-type stereo vision sensor, comprising: two CCD camera (1) of placing in the opposite direction, two place angle adjustable level crossing (2) before the camera of CCD camera (1) respectively, CCD camera (1) is connected with socket (3) through the wire electricity, CCD camera (1), level crossing (2) and socket (3) all are fixed in on base (4), be provided with on socket (3) with socket (3) assorted plug (5), plug (5) are connected with circuit board (6) through the wire electricity, circuit board (6) are connected with lighting device (7) through the wire electricity, lighting device (7) are used for doing CCD camera (1) provides the illumination of arbitrary angle.

2. The split stereo vision sensor according to claim 1, wherein a first horizontal rotation motor and a first pitch angle swing motor are fixedly connected to the plane mirror (2).

3. The split-type stereo vision sensor according to claim 2, wherein a second horizontal rotation motor and a second pitch motor are fixedly connected to the illumination device (7).

4. The split stereo vision sensor of claim 1, wherein the plug (5) is provided with a connecting device (51), and the connecting device (51) is movably clamped on the socket (3).

5. The split-type stereo vision sensor according to claim 1, wherein a seal ring (31) is provided on the socket (3), and the seal ring (31) is used for sealing a contact portion between the plug (5) and the socket (3) when the plug (5) is plugged in the socket (3).