CN217237786U - 2D and 3D fused 6S detection and measurement optical device - Google Patents
2D and 3D fused 6S detection and measurement optical device Download PDFInfo
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Abstract
The utility model provides a 2D and 3D fused 6S detection and measurement optical device, which comprises a front camera detection module, a plurality of angle inclination camera detection modules, a projection module and a back camera detection module; the front camera detection module is positioned right above the product, and the angle inclined camera detection modules are uniformly and symmetrically arranged above the product at intervals; the projection module is positioned above the product; the back camera detection module is positioned below the product, and a plane light source device is arranged between the back camera detection module and the product; the back camera detection module comprises a first camera and a first telecentric lens, the first camera is connected with the first telecentric lens, and the first telecentric lens is close to the product. The utility model discloses directly satisfy the detection of 6 faces of product, and possess the detection and the measuring ability of 2D vision and 3D vision.
Description
Technical Field
The utility model relates to a machine vision detects technical field, concretely relates to fuse 2D and 3D' S6S and detect measuring optical device.
Background
With the development of industries such as semiconductors, precision machining, microelectronics and the like, the content of detection for product appearance is gradually increased, and automatic detection can be realized by machine vision detection instead of manual detection at present.
In the visual inspection, 2D visual inspection and 3D visual inspection are included. The 2D visual inspection technology mainly captures a surface image through an industrial camera, analyzes the surface image through a computer and related algorithms such as machine visual image analysis and the like, automatically identifies the position of a defect and achieves the purpose of detecting the surface quality of an object. At present, the 2D visual inspection technology is developed basically and mature, is widely applied and has good adaptability, various defects can be identified theoretically, but the precision is not good, and the method is suitable for products with low inspection requirements.
The 3D visual detection technology is mainly used by integrating a 3D camera, has high precision and is mainly applied to partial high-added-value product lines, the 3D visual detection technology generally focuses on height measurement in the Z direction, and the measurement precision in the X/Y direction is lower, namely, aiming at the 3D visual detection technology, the detection is generally a defect with depth information, and the defect without or without obvious depth information is difficult to detect.
The utility model discloses a patent application number is 202120444698.1's utility model discloses an optical device that multi-angle 2D 3D detected, it combines 2D visual detection device and 3D visual detection device, shoots five faces of product simultaneously, and can fuse the 2D and the 3D imaging technology of high frame rate, realizes that the multi-angle detects, detects comprehensively.
The optical device for multi-angle 2D/3D detection realizes detection of five surfaces of a product, but cannot realize detection of six surfaces of the product.
SUMMERY OF THE UTILITY MODEL
The utility model provides a fuse 2D and 3D' S6S and detect measuring optical device to solve above-mentioned technical problem.
The technical scheme of the utility model is realized like this:
A6S detection measurement optical device integrating 2D and 3D comprises a front camera detection module, a plurality of angle tilt camera detection modules, a projection module and a back camera detection module; the front camera detection module is positioned right above the product, and the angle inclined camera detection modules are uniformly and symmetrically arranged above the product at intervals; the projection module is positioned above the product; the back camera detection module is positioned below the product, and a plane light source device is arranged between the back camera detection module and the product; the back camera detection module comprises a first camera and a first telecentric lens, the first camera is connected with the first telecentric lens, and the first telecentric lens is close to the product.
In some embodiments, the front camera detection module includes a second camera and a second telecentric lens, the second camera is connected to the second telecentric lens, and the second telecentric lens is disposed near the product.
In some embodiments, an annular light source device is disposed around the second telecentric lens and is located above the product.
In some embodiments, the projection module includes a beam splitter, a projection device for vertically emitting projection light toward the beam splitter.
In some embodiments, the beam splitter is disposed within the second telecentric lens, or the beam splitter is disposed around the second telecentric lens, or the beam splitter is disposed directly below the second telecentric lens.
In some embodiments, the angle tilt camera detection module includes a third camera, a three-dimensional laser scanning device, and a third telecentric lens, the three-dimensional laser scanning device is connected between the third camera and the third telecentric lens, and the three-dimensional laser scanning device is based on the schemer's law hinge principle, and the third telecentric lens is disposed close to the product.
In some embodiments, the planar light source device includes a light guide plate and lamp beads disposed on a peripheral wall of the light guide plate.
In some embodiments, the back camera detection module includes a first camera, a first telecentric lens, the first camera coupled to the first telecentric lens, and the first telecentric lens disposed proximate to the product.
The beneficial effect that technical scheme that this application provided brought includes: the utility model has the advantages that the utility model directly meets the detection of 6 surfaces of the product, has more comprehensive detection, has the detection and measurement capabilities of 2D vision and 3D vision, can truly restore the three-dimensional appearance and the surface detail information of the detected product, and is superior to a single detection mode; secondly, the projection device of the utility model is matched with four angle inclined camera detection modules for shooting, so that multi-angle shooting of products is realized, a shooting blind zone is avoided, the 3D point cloud quality is better, and the detection efficiency is higher; thirdly, the three-dimensional laser scanning device of the utility model achieves the purposes of correcting the perspective deformation of the shot object and realizing the whole-area focusing of the shot object through the inclination and the rotation of the front-end lens under the condition that the third camera body around keeps still based on the law of the Schlemm hinge, can change the angle of the optical axis to realize the clear imaging in the inclination angle visual field, and avoids the partial defocusing phenomenon in the visual field range; the design of the plane light source device of the utility model can not only meet the measurement and detection of the upper 5 cameras, but also meet the measurement and detection requirements of the lower camera, the whole space is compact and the cost is greatly saved; the utility model has the advantages that all the shooting lenses of the utility model use telecentric lenses, and compared with a 3D camera, the measurement with higher precision in X \ Y \ Z three coordinate directions of the shooting surface can be realized, so that not only the precision is improved, but also the difficulty of algorithm calibration can be reduced; (VI) the utility model discloses can change relative configuration according to the demand of different products, device such as camera, camera lens, projection replacement is convenient, and is stronger and do benefit to production line deployment to detection ring border adaptability.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings 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 these drawings without creative efforts.
FIG. 1 is a schematic front view of the present invention;
FIG. 2 is a schematic top view of the present invention;
FIG. 3 is a schematic view of the spectroscope of the present invention disposed in the second telecentric lens;
FIG. 4 is a schematic structural view of the spectroscope of the present invention disposed right under the second telecentric lens;
FIG. 5 is a schematic view of the spectroscope of the present invention disposed around the second telecentric lens;
fig. 6 is a schematic structural diagram of the planar light source device of the present invention.
In the figure: 1. a front camera detection module; 101. a second camera; 102. a second telecentric lens; 2. an angle tilt camera detection module; 201. a third camera; 202. a three-dimensional laser scanning device; 203. a third telecentric lens; 3. a projection module; 301. a beam splitter; 302. a projection device; 4. a back camera detection module; 401. a first camera; 402. a first telecentric lens; 5. a product; 6. a planar light source device; 601. a light guide plate; 602. a lamp bead; 7. an annular light source device.
Detailed Description
The technical solution of the present invention will be described clearly and completely with reference to the embodiments of the present invention, and obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts all belong to the protection scope of the present invention.
Referring to fig. 1, fig. 2, fig. 3, fig. 4, fig. 5 and fig. 6, the present embodiment provides a 2D and 3D integrated 6S detection and measurement optical device, which includes a front camera detection module 1, an angle tilt camera detection module 2, a projection module 3 and a back camera detection module 4. The front camera detection module 1 is positioned right above the product 5, and the angle inclined camera detection modules 2 are uniformly and symmetrically arranged above the product 5 at intervals; the projection module 3 is positioned above the product 5; the back camera detection module 4 is positioned below the product 5, and a planar light source device 6 is arranged between the back camera detection module 4 and the product 5; the back camera detection module 4 comprises a first camera 401 and a first telecentric lens 402, wherein the first camera 401 is connected with the first telecentric lens 402, and the first telecentric lens 402 is arranged close to the product 5. The front camera detection module 1 is mainly used for shooting the front of a product 5. The plurality of angle tilt camera detection modules 2 are installed in the tilt axis direction, and mainly photograph the front and four sides of the product 5. The projection module 3 provides Moire fringe illumination for 3D imaging to match the front camera detection module 1 to shoot a plurality of fringe images, and a 3D point cloud picture is synthesized by using a phase method. The back camera detection module 4 can perform appearance detection on the back of the product 5 through the planar light source device 6. In addition, the plane light source device 6 can cooperate with the front camera detection module 1 to present a backlight effect, and measure the plane of the product 5; the planar light source device 6 can also present a backlight effect to the angular tilt camera detection module 2 to measure the size of the side surface of the product 5. In this embodiment, the number of the angle tilt camera detection modules 2 is four, the four angle tilt camera detection modules 2 are calibrated with each other, the three-dimensional point location of the product 5 can be calculated through a multi-view stereo, and the projection module 3 provides an accurate point location for calibrating the angle tilt camera detection modules 2.
The utility model discloses directly satisfy the detection of 6 faces of product 5, and possess the detection and the measuring ability of 2D vision and 3D vision, covered a plurality of dimensions and full angle detection demand. Furthermore, the utility model discloses still can change the configuration that corresponds according to the actual detection demand, also can carry out the split installation, be fit for producing the high-speed high accuracy detection demand of line.
The front camera detection module 1 comprises a second camera 101 and a second telecentric lens 102, wherein the second camera 101 is connected with the second telecentric lens 102, and the second telecentric lens 102 is arranged close to the product 5. The second camera 101 in the present embodiment is a high-resolution camera. The second camera 101 is mainly used for measuring and detecting the front of the product 5. The telecentric lens can eliminate the difference of magnification caused by the distance inconsistency of the product 5 from the second camera 101, so that the result is more accurate.
In some embodiments, an annular light source device 7 is disposed around the second telecentric lens 102, and the annular light source device 7 is located above the product 5. The annular light source device 7 is mainly used for illumination. In this embodiment, an included angle between a light beam irradiated by the annular light source device 7 and a horizontal plane is not less than 45 °, and a light source irradiated by the annular light source device 7 is a high-angle annular light source.
In some embodiments, the projection module 3 includes a beam splitter 301 and a projection device 302, and the projection device 302 is configured to vertically emit projection light to the beam splitter 301. The projection device 302 in the projection module 3 uniformly projects the projection fringes onto the product 5 through the spectroscope 301, so as to provide moire fringe illumination for 3D imaging.
In some embodiments, as shown in fig. 3, the beam splitter 301 may be disposed in the second telecentric lens 102, and an inner coaxial projection manner is adopted, and the second telecentric lens 102 adds a special design to the beam splitter 301, so that the overall design is more compact and versatile, and the system can support both shooting by the second camera 101 and vertical projection by the projection module 3, and the projected image is more uniform and has less distortion. As shown in fig. 4, the beam splitter 301 is disposed right below the second telecentric lens 102, and adopts outer coaxial projection. Above-mentioned two kinds of modes are middle projection design, can avoid the dead zone problem that traditional 3D camera oblique projection brought, and four angles degree slope camera detection module 2 mark each other, and the device of contrast binocular or double projection can realize the shooting at all-round no dead angle, and the product 5 scopes of adaptation are wider, and point cloud quality is also higher. As shown in fig. 5, the beam splitter 301 may be disposed around the second telecentric lens 102 and adopts an oblique projection manner.
In some embodiments, the angle tilt camera detection module 2 includes a third camera 201, a three-dimensional laser scanning device 202, and a third telecentric lens 203, the three-dimensional laser scanning device 202 is connected between the third camera 201 and the third telecentric lens 203, and the three-dimensional laser scanning device 202 is based on the schemer's law hinge principle, and the third telecentric lens 203 is disposed close to the product 5. The three-dimensional laser scanning device 202 based on the schemer's law hinge principle can create a proper perspective and depth-of-field relationship by a shaft-moving method in cooperation with the third camera 201
In some embodiments, the planar light source device 6 includes a light guide plate 601 and light beads 602, and the light beads 602 are disposed on a peripheral wall of the light guide plate 601. The lamp beads 602 illuminate through the middle light guide plate 601, so that light rays are upward irradiated. In some embodiments, the beads 602 are uniformly disposed on the peripheral wall of the light guide plate 601, which enables illumination to be more uniform and brightness to be higher. When the planar light source device 6 flashes, 4 sides of the product 5 can be shot together, and the front camera detection module 1 and the back camera detection module 4 can be shot together, so that the detection efficiency is higher. The design of the plane light source device 6 can realize the effect of parallel backlight and the effect of parallel coaxial light, and the thickness of the plane light source device 6 is thinner, the whole space is saved, and the illumination is more uniform.
The utility model discloses a second camera 101 is the high resolution camera, and cooperation second telecentric mirror head 102 and annular light source device 7 can realize the positive 2D's of product 5 detection. The second camera 101 can realize the plane measurement of the product 5 by matching with the telecentric lens and the plane light source device 6. The projection device 302 projects the point cloud through the spectroscope 301 by the telecentric lens, and the point cloud can be reproduced in an all-around manner by matching with 4 axis-movable third cameras 201. The third camera 201 is installed and shot in the oblique axis direction of the product 5, and the three-dimensional laser scanning device 202 and the third telecentric lens 203 based on the schemer's law hinge principle are matched to clearly shoot 5 surfaces of the product 5. The third camera 201 is installed and shot in the oblique axis direction of the product 5, and can detect plane defects by matching with the annular light source device 7. The third camera 201 is installed and shot in the oblique axis direction of the product 5, and measurement and appearance detection of 4 side surfaces can be realized by matching with the plane light source device 6. The four third cameras 201 are calibrated with each other, and can realize multi-view visual 3D measurement by matching with the annular light source device 7. The first camera 401, in cooperation with the first telecentric lens 402 and the planar light source device 6, can perform measurement and appearance inspection of the back surface of the product 5. The utility model discloses total six cameras, a projection and a positive light and a constitution of being shaded can switch the configuration that corresponds according to 5 detection demands of product.
The second camera 101 is mainly used for measuring and detecting the front surface of the product 5, wherein the image effect of parallel backlight is realized by matching with the planar light source device 6, the measurement processing of sub-pixels can also be supported, and the detection precision can be further improved by improving the resolution of the camera.
The projection module 3 is used for splitting light through the spectroscope 301, the light is uniformly projected on the product 5 through the first telecentric lens 402, the 4 shaft-movable third cameras 201 are used for shooting various projection images for phase calculation, the projection images are spliced with one another to realize multi-angle point cloud reconstruction, and the product 5 is guaranteed to have no field blind area. The light path of the third telecentric lens 203 is redesigned according to the Schlemm angle, so that the focusing of the shift angle is clear, and the MTF value completely meets the design requirement.
The first camera 401 mainly realizes the measurement and detection of the back surface of the product 5 through the planar light source device 6, wherein the light emitting path of the planar light source device 6 is designed to satisfy the effects of parallel backlight and coaxial light.
The utility model relates to an use 3D measurement and the demand of detecting that realizes product 5 based on the projected 3D technique of structured light and the 3D technique of many meshes vision, wherein the camera of the 6 angles of ring sum lower light fit realizes the detection of 6 faces of product 5.
The utility model discloses a can directly satisfy the detection of 6 faces, and possess 2D and 3D's detection and measuring ability, contrast other 3D camera and optical device, this utility model has covered a plurality of dimensions and full angle detection demand. The utility model discloses well same light source strobe frequency can support the shooting of a plurality of cameras, also can support the camera of higher frame rate, has greatly promoted the efficiency that detects. All use telecentric lens for the shooting of 6 faces, compare 3D camera or other detection device, detect and measurement accuracy can be higher, and mark the degree of difficulty and reduce, more be fit for producing the requirement of line quick deployment.
The invention is not limited solely to that described in the specification and the embodiments, and additional advantages and modifications will readily occur to those skilled in the art, and it is not intended to be limited to the specific details, representative apparatus, and examples shown and described herein, without departing from the spirit and scope of the general concept as defined by the appended claims and their equivalents.
Claims (8)
1. A6S detection and measurement optical device integrating 2D and 3D is characterized by comprising a front camera detection module (1), an angle tilt camera detection module (2), a projection module (3) and a back camera detection module (4); the front camera detection module (1) is positioned right above the product (5), and the angle inclined camera detection modules (2) are uniformly and symmetrically arranged above the product (5) at intervals; the projection module (3) is positioned above the product (5); the back camera detection module (4) is located below the product (5), and a planar light source device (6) is arranged between the back camera detection module (4) and the product (5).
2. The fused 2D and 3D 6S inspection measurement optics of claim 1 wherein the front camera inspection module (1) comprises a second camera (101), a second telecentric lens (102), the second camera (101) being connected to the second telecentric lens (102), and the second telecentric lens (102) being disposed proximate to the product (5).
3. 2D and 3D fused 6S inspection measurement optics according to claim 2 characterized by the fact that a ring light source device (7) is placed around the second telecentric lens (102), the ring light source device (7) being located above the product (5).
4. The fused 2D and 3D 6S detection measurement optical device according to claim 2, wherein the projection module (3) comprises a beam splitter (301), a projection device (302), the projection device (302) being configured to vertically emit projection light to the beam splitter (301).
5. The fused 2D and 3D 6S inspection measurement optical device of claim 4, wherein the beam splitter (301) is disposed within the second telecentric lens (102), or the beam splitter (301) is disposed around the second telecentric lens (102), or the beam splitter (301) is disposed directly below the second telecentric lens (102).
6. The fused 2D and 3D 6S inspection measurement optics of claim 1, wherein the angular tilt camera inspection module (2) comprises a third camera (201), a three-dimensional laser scanning device (202), a third telecentric lens (203), the three-dimensional laser scanning device (202) is connected between the third camera (201) and the third telecentric lens (203), and the three-dimensional laser scanning device (202) is based on the schemer' S law hinge principle, the third telecentric lens (203) is located close to the product (5).
7. The 2D and 3D fused 6S detection measurement optical device according to claim 1, wherein the planar light source device (6) comprises a light guide plate (601) and a lamp bead (602), and the lamp bead (602) is arranged on the peripheral wall of the light guide plate (601).
8. The fused 2D and 3D 6S inspection measurement optics of claim 1 wherein the backside camera inspection module (4) comprises a first camera (401), a first telecentric lens (402), the first camera (401) being connected to the first telecentric lens (402), and the first telecentric lens (402) being disposed proximate to the product (5).
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116380911A (en) * | 2023-03-27 | 2023-07-04 | 深圳市华拓半导体技术有限公司 | Optical imaging system and method based on 3D machine vision |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116380911A (en) * | 2023-03-27 | 2023-07-04 | 深圳市华拓半导体技术有限公司 | Optical imaging system and method based on 3D machine vision |
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