CN219318086U - Stereoscopic vision shooting device - Google Patents
Stereoscopic vision shooting device Download PDFInfo
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- CN219318086U CN219318086U CN202320850850.5U CN202320850850U CN219318086U CN 219318086 U CN219318086 U CN 219318086U CN 202320850850 U CN202320850850 U CN 202320850850U CN 219318086 U CN219318086 U CN 219318086U
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- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
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Abstract
The utility model discloses a stereoscopic vision shooting device, which belongs to the technical field of machine vision and comprises a frame, wherein the frame is provided with: the camera comprises a shooting platform, two fixing seats, two sliding seats, a camera component and two linkage belts, wherein a first sliding rod penetrates through the shooting platform, the first sliding rod is vertically and fixedly connected in a frame, and a lifting component is further installed on the frame and drives the shooting platform to move up and down along the first sliding rod; the fixing seat is fixedly connected with a second sliding rod, the second sliding rod is horizontally arranged, and the two second sliding rods are arranged in parallel. According to the stereoscopic vision shooting device, the positions and the number of pictures shot by the cameras can be changed randomly in a mode of utilizing multi-axis displacement of a single camera, and three-dimensional information is obtained by collecting images of the same object at two or more different positions. Compared with the stereoscopic binocular shooting camera in the prior art, the scheme realizes the function of the multi-camera through the single camera, and the cost is greatly reduced.
Description
Technical Field
The utility model belongs to the technical field of machine vision, and particularly relates to a stereoscopic vision shooting device.
Background
Currently, a known stereo vision measurement device usually shoots the same scene by two or more common cameras, or shoots by using a stereo camera.
When using multiple cameras, all cameras need to be on the same level and parameters inside the cameras have to be exactly the same, similar to how the human eye observes the world. When the photographed objects are different, the object placement positions are required to be adjusted, and the number and parameters of all cameras are adjusted, so that the operation is complicated.
As for the stereoscopic camera, currently, the mainstream stereoscopic camera is mainly binocular, and if shooting is to be performed by using a multi-camera, shooting is required by using a plurality of stereoscopic cameras. Compared with a common camera, the stereo camera is expensive.
For this reason, we propose a stereoscopic photographing apparatus to solve the above-mentioned problems.
Disclosure of Invention
The utility model provides a stereoscopic shooting device, which aims to solve the problems that the number of cameras cannot be flexibly changed, parameters cannot be quickly set and the cost is high in the existing stereoscopic shooting platform.
In order to achieve the above purpose, the present utility model adopts the following technical scheme:
the utility model provides a stereoscopic vision shooting device, includes the frame, be equipped with on the frame:
the shooting platform is provided with a first sliding rod in a penetrating manner, the first sliding rod is vertically and fixedly connected in the frame, the frame is also provided with a lifting assembly, and the lifting assembly drives the shooting platform to move up and down along the first sliding rod;
the two fixing seats are fixedly connected with second sliding rods, the second sliding rods are horizontally arranged, and the two second sliding rods are arranged in parallel;
the two sliding seats are respectively arranged on the two second sliding rods in a sliding way, a third sliding rod is fixedly connected between the two sliding seats, and the third sliding rod is vertical to the first sliding rod and the second sliding rod at the same time;
the camera component is arranged on the third sliding rod in a sliding way;
one end of the linkage belt is fixedly connected to one side of the camera assembly, and the other end of the linkage belt sequentially bypasses the fixing seats and the sliding seats and is fixedly connected to the other side of the camera assembly;
and two groups of driving motors are further arranged on the frame and respectively drive the two linkage belts to move so as to drive the camera assembly to move in the horizontal plane.
Preferably, the lifting assembly comprises a threaded rod and a lifting motor for driving the threaded rod to rotate, the threaded rod is vertically arranged, a thread sleeve is fixedly connected to the shooting platform, and the threaded rod is in threaded connection with the thread sleeve.
Preferably, the number of the first sliding rods is four, and four first sliding rods are distributed on two sides of the shooting platform in a pairwise equidistant mode.
Preferably, the camera assembly comprises a camera sliding block and a camera, the camera is vertically arranged on the side wall of the camera sliding block, a camera sliding sleeve is fixedly connected in the camera sliding block, and the camera sliding sleeve is sleeved outside the third sliding rod in a sliding manner.
Preferably, the number of the third sliding bars is two, and two third sliding bars are arranged one above the other.
Preferably, the output end of the driving motor is fixedly connected with a driving wheel, and the linkage belt is sleeved outside the driving wheel.
Preferably, the first guide wheel is rotatably installed on the fixed seat, the second guide wheel is rotatably installed on the sliding seat, and the linkage belt is sleeved outside the first guide wheel and the second guide wheel.
Preferably, the camera further comprises a photographing light source fixedly installed at the inner top of the frame.
In summary, the technical effects and advantages of the present utility model are: according to the stereoscopic vision shooting device, the positions and the number of pictures shot by the cameras can be changed randomly in a mode of utilizing multi-axis displacement of a single camera, and three-dimensional information is obtained by collecting images of the same object at two or more different positions. Compared with the shooting mode of a stereoscopic camera or a plurality of common cameras in the prior art, the scheme realizes the function of the multi-camera through the single-camera, greatly reduces the cost, does not need to frequently adjust the number and parameters of the cameras in the shooting process, and reduces the operation difficulty.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present utility model;
FIG. 2 is an enlarged schematic view of the structure of FIG. 1 at A;
FIG. 3 is an enlarged schematic view of the structure at B in FIG. 1;
FIG. 4 is an enlarged schematic view of the structure at C in FIG. 1;
FIG. 5 is a schematic diagram of the front structure of the present utility model;
FIG. 6 is a schematic top view of the present utility model;
FIG. 7 is a schematic illustration of the connection of the linked belt of the present utility model.
In the figure: 1. a frame;
2. a shooting platform; 21. a lifting assembly; 211. a lifting motor; 212. a threaded rod; 213. a thread sleeve; 22. a first slide bar;
3. a fixing seat; 31. a second slide bar; 32. the first guide wheel; 321. anti-slip teeth;
4. a sliding seat; 41. a third slide bar; 42. the second guide wheel;
5. a camera assembly; 51. a camera slider; 52. a camera;
6. a linkage belt; 6a, a first linkage belt; 6b, a second linkage belt;
7. a driving motor; 7a, a first driving motor; 7b, a second driving motor; 71. a driving wheel;
8. and shooting a light source.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments.
Examples
As shown in fig. 1, 2, 3, and 4, a stereoscopic photographing apparatus includes a frame 1, wherein the frame 1 has a rectangular parallelepiped structure, and is assembled by a plurality of bar-shaped steel members, and the frame 1 is provided with: a shooting platform 2, two fixing seats 3, two sliding seats 4, a camera component 5 and two linkage belts 6. The shooting platform 2 is arranged in the frame 1, the shooting platform 2 can move up and down in the frame 1, and when shooting, a shot object can be placed on the shooting platform 2, and the shooting platform 2 drives the shot object to move up and down. The two fixing bases 3 are respectively and fixedly arranged at the back side of the top of the frame 1, and the two sliding bases 4 are connected to the front sides of the two fixing bases 3 in a sliding manner and can move back and forth along the y-axis direction. The camera component 5 is slidably arranged between the two sliding seats 4, can move back and forth along the x-axis direction, and can also move back and forth along the y-axis direction along the sliding seats 4, so that the camera component 5 can move in multiple directions in a horizontal plane.
The shooting platform 2 is provided with a first slide bar 22 in a penetrating manner, the first slide bar 22 is vertically and fixedly connected in the frame 1, the frame 1 is further provided with a lifting assembly 21, the shooting platform 2 is driven to move up and down along the first slide bar 22 through the lifting assembly 21, the first slide bar 22 is arranged along the z-axis direction, the shooting platform 2 can move back and forth along the z-axis direction, and the camera assembly 5 can move up and down relative to a shot object on the shooting platform 2.
In order to improve the stability of the shooting platform 2, the number of the first sliding rods 22 is four, and four first sliding rods 22 are distributed on two sides of the shooting platform 2 in a pairwise equidistant manner, so that the stability of the shooting platform 2 during movement is greatly improved.
Specifically, as shown in fig. 5, the lifting assembly 21 includes a threaded rod 212 and a lifting motor 211 for driving the threaded rod 212 to rotate, the threaded rod 212 is vertically disposed, a threaded sleeve 213 is fixedly connected to the photographing platform 2, and the threaded rod 212 is in threaded connection with the threaded sleeve 213.
When the lifting motor 211 works, the threaded rod 212 is driven to rotate, and since the threaded rod 212 is in threaded connection with the threaded sleeve 213, but the threaded sleeve 213 is fixedly installed in the shooting platform 2, the threaded rod 212 drives the shooting platform 2 to move along the vertical direction, and the moving direction of the shooting platform 2 is related to the rotating direction of the lifting motor 211, that is, the lifting of the shooting platform 2 can be controlled by changing the rotating direction of the lifting motor 211.
As shown in fig. 6, the second slide bars 31 are fixedly connected to the fixing base 3, the second slide bars 31 are horizontally disposed, and the two second slide bars 31 are disposed in parallel, that is, the two second slide bars 31 are disposed along the y-axis direction.
As shown in fig. 6, the two sliding seats 4 are respectively slidably disposed on the two second sliding bars 31, and a third sliding bar 41 is fixedly connected between the two sliding seats 4, and the third sliding bar 41 is perpendicular to the first sliding bar 22 and the second sliding bar 31 at the same time, that is, the third sliding bar 41 is disposed along the x-axis direction.
The camera assembly 5 is slidably disposed on the third slide bar 41.
Specifically, as shown in fig. 2, the camera assembly 5 includes a camera slider 51 and a camera 52, the camera 52 is a common single camera, the camera 52 is vertically mounted on a side wall of the camera slider 51, so that a lens of the camera 52 is vertically downward, so as to be convenient for shooting an object to be shot on the shooting platform 2, a camera sliding sleeve is fixedly connected in the camera slider 51, and the camera sliding sleeve is slidably sleeved outside the third sliding rod 41.
Further, as shown in fig. 5 and 6, the device further comprises a shooting light source 8, wherein the shooting light source 8 is fixedly arranged at the inner top of the frame 1, and meanwhile, the shape of the light source can be approximately divided into a ring shape, a strip shape and the like, and the light source can be replaced according to specific requirements. By arranging the shooting light source 8, the effect of light supplementing can be achieved on the object shot in the belt, and the shooting quality is improved.
It should be noted that, in order to improve the stability of the camera slider 51, to avoid shaking during shooting, the number of the third slide bars 41 is two, and the two third slide bars 41 are arranged one above the other, so that the camera 52 slides on the two third slide bars 41 at the same time, so as to achieve stable shooting.
One end of the linkage belt 6 is fixedly connected to one side of the camera assembly 5, namely, fixedly connected to the side wall of the camera sliding block 51, and the other end of the linkage belt 6 sequentially bypasses the fixed seats 3 and the sliding seat 4 and is fixedly connected to the other side of the camera assembly 5.
Specifically, as shown in fig. 7, the linkage belt 6 is provided with two sets of first linkage belt 6a and second linkage belt 6b, respectively, and the connection arrangement manner of the first linkage belt 6a and the second linkage belt 6b is symmetrical with respect to the camera assembly 5, taking the specific connection of the first linkage belt 6a as an example:
one end of the first linkage belt 6a is fixedly connected to the right side of the camera slider 51, and the other end sequentially bypasses the right sliding seat 4, the right fixed seat 3 and the left fixed seat 3, then penetrates through the left sliding seat 4 and is connected to the left side of the camera slider 51, so that the first linkage belt 6a is closed.
As shown in fig. 3 and 4, in order to make the linkage belt 6 run more smoothly, the first guide wheel 32 is rotatably mounted in the fixing seat 3, the second guide wheel 42 is rotatably mounted in the sliding seat 4, and the linkage belt 6 is sleeved outside the first guide wheel 32 and the second guide wheel 42.
Meanwhile, in order to improve friction force and reduce slipping, anti-slip teeth 321 matched with the linkage belt 6 are arranged outside the first guide wheels 32, meanwhile, the number of the second guide wheels 42 is two, and anti-slip teeth 321 are also arranged outside at least one group of second guide wheels 42 in the two groups of second guide wheels 42.
Two groups of driving motors 7 are also installed on the frame 1, and the two groups of driving motors 7 respectively drive the two linkage belts 6 to move so as to drive the camera assembly 5 to move in the horizontal plane.
As shown in fig. 7, the two sets of driving motors 7 are a first driving motor 7a and a second driving motor 7b, respectively, the rotation speeds of the first driving motor 7a and the second driving motor 7b at the time of operation are kept synchronous, wherein the first driving motor 7a is used for driving the first linkage belt 6a, and the second driving motor 7b is used for driving the second linkage belt 6b.
Specifically, the output end of the driving motor 7 is fixedly connected with a driving wheel 71, and the linkage belt 6 is respectively sleeved outside the driving wheel 71.
The manner in which the first drive motor 7a and the second drive motor 7b drive the camera slider 51 to move includes the following cases:
1. when the first driving motor 7a moves counterclockwise and the second driving motor 7b stops, the camera slider 51 moves toward the rear side and the right side simultaneously;
2. when the first driving motor 7a moves clockwise and the second driving motor 7b stops, the camera slider 51 moves toward the front side and the left side simultaneously;
3. when the first driving motor 7a is stopped and the second driving motor 7b moves counterclockwise, the camera slider 51 moves toward the front side and the right side simultaneously;
4. when the first driving motor 7a is stopped and the second driving motor 7b is moved clockwise, the camera slider 51 is moved toward the rear side and the left side simultaneously;
5. when the first driving motor 7a moves counterclockwise and the second driving motor 7b moves counterclockwise, the camera slider 51 moves toward the right;
6. when the first driving motor 7a moves clockwise and the second driving motor 7b moves clockwise, the camera slider 51 moves toward the left side;
7. when the first driving motor 7a moves counterclockwise and the second driving motor 7b moves clockwise, the camera slider 51 moves toward the rear side;
8. when the first drive motor 7a moves clockwise and the second drive motor 7b moves counterclockwise, the camera slider 51 moves toward the front side.
So that an arbitrary movement of the camera assembly 5 in x, y, z-axis directions with respect to the photographing platform 2 can be achieved by controlling the first driving motor 7a, the second driving motor 7b, and the elevation motor 211.
The working principle is as follows: in use, the device takes a picture at position 1 first, then the camera assembly 5 is displaced a distance in a fixed direction to position 2 to take a second picture, and the device completes taking the picture. At this time, the method is equivalent to taking two pictures once by a binocular camera.
And the multi-time movement is performed on the basis of double purposes to obtain a plurality of pictures, and the effect is equivalent to the effect of shooting once by a multi-view camera. After parallax is obtained by utilizing the change of the picture, three-dimensional information of the picture can be determined by combining camera parameters obtained by calibration, such as a base line distance and a camera focal length, so that a stereoscopic shooting function is realized, a multi-camera function is realized by utilizing a single camera, and the cost is greatly reduced.
What needs to be stated is: the device acquires images of the same object at two or more different positions, and obtains three-dimensional information of the images through function calculation, and the specific method for calculating the three-dimensional information is as follows (taking halcon as an example)
Step 1: correcting stereo graph pair
Distortion that may occur in the monocular camera image may also cause inconsistency in the two image levels due to fine deviations in the fixation of the stereoscopic platform. Therefore, after calibration, the stereoscopic image pair needs to be corrected so that the corresponding feature points in the two images are located at the same horizontal position.
Since the internal and external parameters of the camera are already obtained during calibration, this information can be used to correct the stereo image pair. Correction of stereoscopic image pairs can be achieved in Halcon using the gen_bipolarar_reconstruction_map and map_image operators.
Step 2: obtaining disparity maps
In order to obtain depth information of a measurement object, a disparity map of a stereoscopic image pair needs to be obtained first, which requires stereoscopic matching of the corrected image pair. The principle of stereo matching is to find a feature point of one graph and search for the point in the corresponding other graph, thereby obtaining the corresponding coordinates and gray scale of the point. In Halcon, a disparity operator may be used for stereo matching and generating a disparity map.
Step 3: calculating three-dimensional information
After the parallax image is obtained, if three-dimensional reconstruction is to be performed, three-dimensional coordinates thereof may be calculated using some operators. The disparity_to_point_3d operator can be used to calculate the three-dimensional labels of the points in the selected disparity map, or the disparity_image_to_xyz operator can be used to convert the entire disparity image into a 3D point map.
The present utility model is not limited to the above-mentioned embodiments, and any person skilled in the art, based on the technical solution of the present utility model and the inventive concept thereof, can be replaced or changed within the scope of the present utility model.
Claims (8)
1. The stereoscopic photographing device comprises a frame (1), and is characterized in that the frame (1) is provided with:
the shooting platform (2) is penetrated and provided with a first sliding rod (22), the first sliding rod (22) is vertically and fixedly connected in the frame (1), the frame (1) is also provided with a lifting assembly (21), and the lifting assembly (21) drives the shooting platform (2) to move up and down along the first sliding rod (22);
the two fixing seats (3), wherein the fixing seats (3) are fixedly connected with second sliding rods (31), the second sliding rods (31) are horizontally arranged, and the two second sliding rods (31) are arranged in parallel;
the two sliding seats (4) are respectively arranged on the two second sliding rods (31) in a sliding way, a third sliding rod (41) is fixedly connected between the two sliding seats (4), and the third sliding rod (41) is vertical to the first sliding rod (22) and the second sliding rod (31) at the same time;
a camera assembly (5), the camera assembly (5) being slidably arranged on the third slide bar (41);
one end of the linkage belt (6) is fixedly connected to one side of the camera assembly (5), and the other end of the linkage belt (6) sequentially bypasses the fixing seats (3) and the sliding seat (4) and is fixedly connected to the other side of the camera assembly (5);
two groups of driving motors (7) are further arranged on the frame (1), and the two groups of driving motors (7) respectively drive the two linkage belts (6) to move so as to drive the camera assembly (5) to move in the horizontal plane.
2. The stereoscopic photographing device according to claim 1, wherein the lifting assembly (21) comprises a threaded rod (212) and a lifting motor (211) for driving the threaded rod (212) to rotate, the threaded rod (212) is vertically arranged, a threaded sleeve (213) is fixedly connected to the photographing platform (2), and the threaded rod (212) is in threaded connection with the threaded sleeve (213).
3. A stereoscopic camera device according to claim 2, wherein the number of the first sliding bars (22) is four, and four first sliding bars (22) are equally spaced on two sides of the photographing platform (2).
4. The stereoscopic photographing device according to claim 1, wherein the camera assembly (5) comprises a camera sliding block (51) and a camera (52), the camera (52) is vertically installed on the side wall of the camera sliding block (51), a camera sliding sleeve is fixedly connected in the camera sliding block (51), and the camera sliding sleeve is sleeved outside the third sliding rod (41) in a sliding mode.
5. The stereoscopic camera device according to claim 4, wherein the number of the third sliding bars (41) is two, and two of the third sliding bars (41) are disposed one above the other.
6. The stereoscopic photographing device according to claim 1, wherein the output end of the driving motor (7) is fixedly connected with a driving wheel (71), and the linkage belt (6) is sleeved outside the driving wheel (71).
7. The stereoscopic photographing device according to claim 1, wherein the fixing seat (3) is rotatably provided with a first guide wheel (32), the sliding seat (4) is rotatably provided with a second guide wheel (42), and the linkage belt (6) is sleeved outside the first guide wheel (32) and the second guide wheel (42).
8. A stereoscopic camera device according to claim 1, further comprising a camera light source (8), the camera light source (8) being fixedly mounted on the inner top of the frame (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320850850.5U CN219318086U (en) | 2023-04-17 | 2023-04-17 | Stereoscopic vision shooting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320850850.5U CN219318086U (en) | 2023-04-17 | 2023-04-17 | Stereoscopic vision shooting device |
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| Publication Number | Publication Date |
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| CN219318086U true CN219318086U (en) | 2023-07-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202320850850.5U Active CN219318086U (en) | 2023-04-17 | 2023-04-17 | Stereoscopic vision shooting device |
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| CN (1) | CN219318086U (en) |
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- 2023-04-17 CN CN202320850850.5U patent/CN219318086U/en active Active
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