CN220250941U - Following type three-dimensional imaging device - Google Patents

Abstract

The utility model provides a follow-up type three-dimensional imaging device which comprises an imaging assembly with a scene imaging module and a local imaging module, and a follow-up assembly with a moving module and a control module. And the local imaging module is connected to the moving module in the following assembly, and the control module moves the local imaging module to the corresponding position according to the target position obtained by the scene imaging module to perform high-precision imaging. The following three-dimensional imaging device provided by the utility model can realize high-precision imaging coverage of all detection ranges in a large-range and large-depth field only through one set of low-precision large-range imaging scene imaging device and one set of local imaging device with high-precision imaging in a local range, thereby reducing the number of required equipment and lowering the cost of data acquisition.

Description

Following type three-dimensional imaging device

Technical Field

The utility model relates to the technical field of three-dimensional imaging, in particular to a follow-up three-dimensional imaging device.

Background

The laser three-dimensional imaging is an imaging technology which utilizes the height difference of an object to be measured, and laser lines shot by a camera are modulated by the object and displayed at different positions of the camera, so that the three-dimensional space position corresponding to the object irradiated by the laser lines can be deduced according to the different positions of the laser lines in the camera, thereby realizing three-dimensional data acquisition at the irradiation position of the laser lines.

At present, three-dimensional imaging technology is used for carrying out three-dimensional imaging on certain specific scenes so as to achieve the purpose of specific monitoring, for example, for railway contact net abrasion detection, the three-dimensional imaging technology can be used for facilitating operation and maintenance personnel to more accurately know the state of the contact net. However, in the case where the whole measurement range is large, the depth of field is large, the measurement accuracy is required to be high, but the local measurement range is small, the range of the measurement point to be imaged at a specific moment in the three-dimensional imaging is small, and therefore, a high-accuracy three-dimensional imaging device is required to perform imaging. However, the imaging range of the high-precision three-dimensional measurement device is usually narrow, and when the scene is faced, a plurality of high-precision three-dimensional imaging modules are arranged side by side in a manner as shown in fig. 1 so as to cover the whole measurement range. Therefore, there is a problem that a high-precision imaging module is required for the imaging scene having a large depth of field and requiring high precision.

Disclosure of Invention

The utility model provides a follow-up three-dimensional imaging device which is used for solving the technical problem that a large number of high-precision three-dimensional imaging modules are needed when high-precision three-dimensional imaging is carried out in a large range.

The utility model provides a following three-dimensional imaging device, comprising:

the imaging assembly comprises a scene imaging module for three-dimensionally imaging the whole detection range and a local imaging module for three-dimensionally imaging the local range in the detection range; the scene imaging module is fixedly arranged, and the local imaging module is movably arranged relative to the scene imaging module;

the following assembly comprises a moving module which is fixedly connected with the local imaging module and used for driving the local imaging module to move;

and the control module is electrically connected with the scene imaging module and used for controlling the displacement of the mobile module according to the acquired information of the scene imaging module.

In one possible implementation, the moving module includes a moving track and a sliding component, the sliding component is slidably connected with the moving track, the local imaging module is disposed on the sliding component, and the sliding component is electrically connected with the control module.

In a possible implementation, the sliding component comprises a moving member and a driving member, and the moving member is slidingly connected with the moving track; the driving piece is connected with the moving piece through a transmission piece and drives the moving piece to linearly move on the moving track.

In one possible implementation, the transmission member includes a transmission screw disposed parallel to the moving rail, and a screw nut connected to the transmission screw, and the moving member is fixedly connected to the screw nut.

In one possible implementation manner, the driving piece comprises a servo motor, an output end of the servo motor is connected with the transmission piece, and the control module is electrically connected with the servo motor to control the working state of the servo motor.

In one possible implementation manner, the moving member includes a moving slide block slidingly connected to the moving track and a bearing base fixed on the moving slide block, and the local imaging module is fixedly arranged on the bearing base.

In one possible implementation, the control module includes:

the receiving and transmitting unit is electrically connected with the scene imaging module to receive the position parameters of the detected target generated by the scene imaging module;

the calculation unit is connected with the receiving and transmitting unit so as to receive the position parameter of the measured object sent by the receiving and transmitting unit, and the calculation module is also used for converting the position parameter into a displacement parameter corresponding to the mobile module;

the processing unit is electrically connected with the computing unit and the receiving and transmitting unit so as to receive the displacement parameter sent by the computing unit, and the processing module is also used for generating an operation instruction aiming at the mobile module according to the displacement parameter and sending the operation instruction to the receiving and transmitting unit;

the receiving and transmitting unit is also electrically connected with the mobile module and sends an operation instruction to the mobile module; and the moving module moves the local imaging module to a corresponding position according to the operation instruction, and the local imaging module performs local three-dimensional imaging on the target to be detected.

In one possible implementation, the scene imaging module includes a scene laser light source and a scene three-dimensional camera, the local imaging module includes a local laser light source and a local three-dimensional camera, the imaging precision of the scene three-dimensional camera is lower than that of the local three-dimensional camera, and the imaging range of the scene three-dimensional camera is larger than that of the local three-dimensional camera.

In a possible implementation manner, the mobile device further comprises a shell assembly, the shell assembly comprises a mounting substrate and a protective shell, the mobile module is arranged on the mounting substrate, a containing cavity is formed by surrounding the mounting substrate and the protective shell, and the imaging assembly is located in the containing cavity.

In one possible implementation manner, the protective casing has a front panel, and the front panel is provided with a first transmission hole facing the scene imaging module and a second transmission hole arranged along the motion path of the local imaging module, and the first transmission hole and the second transmission hole are both embedded with light-transmitting glass.

According to the following three-dimensional imaging device provided by the utility model, the local imaging module is connected to the moving module in the following assembly, and the control module moves the local imaging module to the corresponding position according to the target position obtained by the scene imaging module to perform high-precision imaging. The high-precision imaging coverage of all detection ranges in a large-range and large-depth field can be realized by only using a set of low-precision and large-range imaging scene imaging device and a set of local-range and high-precision imaging local imaging device, so that the number of required devices is reduced, and the cost for collecting data is reduced.

Drawings

FIG. 1 is a schematic diagram of an imaging principle of a prior art measurement system;

fig. 2 is a schematic representation of a three-dimensional imaging of a railroad contact line;

FIG. 3 is an external overall schematic of a follow-up three-dimensional imaging device;

FIG. 4 is a schematic diagram of the internal structure of a follow-up three-dimensional imaging device;

fig. 5 is a schematic diagram of a control module architecture.

Reference numerals illustrate:

100. an imaging assembly; 200. a follower assembly; 300. a housing assembly;

101. a scene imaging module; 102. a local imaging module;

101a, a scene laser light source; 101b, a scene three-dimensional camera; 102a, a local laser light source; 102b, a local three-dimensional camera;

201. a moving track; 202. a sliding member; 203. a control module;

202a, moving parts; 202b, a driving member;

202a-1, a moving slide; 202a-2, a load bearing base; 202b-1, a servo motor;

203a, a transceiver unit; 203b, a calculation unit; 203c, a processing unit;

301. a mounting substrate; 302. a protective housing;

302a, a front end panel; 302a-1, first transmission holes; 302a-2, second transmission holes.

Detailed Description

In order that those skilled in the art will better understand the technical solutions of the present utility model, the technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are only some embodiments of the present utility model, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present utility model without making any inventive effort, shall fall within the scope of the present utility model.

In the design stage, if there is an object with a large change in the detection range, a plurality of three-dimensional imaging devices must be used to realize a large-scale detection without reducing the measurement accuracy. For certain specific imaging scenes, the overall measurement range is larger, but the local measurement range is smaller, for example, the situation is met in the contact line abrasion detection of a high-speed railway. As shown in fig. 2, in order to extend the life of the pantograph of the train, the contact line is reciprocally inclined to the railway advancing direction, and the width range of the contact line due to the inclined arrangement may reach ±0.6m. And in the train traveling process, a three-dimensional imaging device is arranged on the train to carry out continuous three-dimensional imaging on the contact line so as to detect the state of the contact line. However, at a specific point in time, the contact line is imaged in a range of only 0.2m to cover the contact line. In addition, the contact line is changed into a slowly-changing state left and right in the extending process along the railway, and at the moment, in order to meet the local close-up of each contact line in the width changing range of 1.2m, as shown in fig. 1, a plurality of high-precision three-dimensional imaging devices are arranged in the existing detection process, so that the whole detection range is covered. However, as the contact line position is always changing, only one high-precision imaging device is used for imaging at each moment in measuring points, so that the problem of excessive imaging equipment is caused.

Example 1

FIG. 3 is an external overall schematic of a follow-up three-dimensional imaging device; FIG. 4 is a schematic diagram of the internal structure of a follow-up three-dimensional imaging device; referring to fig. 3 and 4, the present embodiment provides a follow-up three-dimensional imaging device including: an imaging assembly 100 and a follower assembly 200.

Wherein the imaging component 100 is configured to three-dimensionally image a scene, and includes a scene imaging module 101 configured to three-dimensionally image an entire detection range, and a local imaging module 102 configured to three-dimensionally image a local range within the detection range; the imaging range of the scene imaging module 101 is larger, and full-range imaging can be performed on a scene with a large range and a large depth of field, so that the scene imaging module 101 is fixedly arranged. The imaging range of the local imaging module 102 is smaller, but the imaging precision is higher, so that the local imaging module 102 is movably arranged relative to the scene imaging module 101, and the effect that the imaging range of the local imaging module 102 is movable in the whole detection range is achieved.

The following component 200 is used for driving the local imaging module 102 to move and moving the local imaging module 102 to a position corresponding to the target, so as to perform high-precision imaging on the target to be detected. The following assembly 200 comprises a moving module fixedly connected with the local imaging module 102 and a control module 203 for controlling the working state of the moving module, wherein the control module 203 is electrically connected with the scene imaging module 101.

After the scene imaging module 101 images the whole detection range, the position parameter of the object to be detected in the scene can be detected, the control module 203 obtains the position parameter and then obtains the displacement parameter of the moving module through conversion, so as to control the moving module to move the local imaging module 102 to the corresponding position and perform high-precision three-dimensional imaging on the object to be detected.

The local imaging module 102 is connected to the moving module in the following assembly 200, and the control module 203 moves the local imaging module 102 to a corresponding position for high-precision imaging according to the target position obtained by the scene imaging module 101. The high-precision imaging coverage of all detection ranges in a large-range and large-depth field can be realized by only using a set of low-precision and large-range imaging scene imaging device and a set of local-range and high-precision imaging local imaging device, so that the number of required devices is reduced, and the cost for collecting data is reduced.

Example 2

The embodiment provides a follow-up three-dimensional imaging device, which comprises an imaging assembly 100, wherein the imaging assembly comprises a scene imaging module 101 and a local imaging module 102, the scene imaging module 101 is fixedly arranged, and the local imaging module 102 is movably arranged at one side of the scene imaging module 101; the following assembly 200 comprises a moving module fixedly connected with the local imaging module 102 and a control module 203 for controlling the working state of the moving module, wherein the control module 203 is electrically connected with the scene imaging module 101.

As shown in fig. 4, the moving module includes a moving rail 201 and a sliding member 202, the sliding member 202 is slidably connected to the moving rail 201, the partial imaging module 102 is disposed on the sliding member 202, and the sliding member 202 is electrically connected to the control module 203.

The moving track 201 in this embodiment is preferably a linear guide rail, and may be disposed in parallel along the distribution position of the object to be measured within the detection range, and is optionally disposed along the horizontal direction in this embodiment. After the partial imaging module 102 is disposed on the skid member 202, the narrower imaging range of the partial imaging module 102 can be moved over the entire detection range to achieve full coverage of the detection range. The sliding component 202 can define the motion path of the local imaging module 102 as a straight line and provide a basis for parameterized control of the position of the local imaging module 102.

As shown in fig. 4, the sliding member 202 in the present embodiment includes a moving member 202a and a driving member 202b, the moving member 202a being slidably connected to the moving rail 201; the mover 202a is coupled to the local imaging module 102 and can provide a moving carrier for the local imaging module 102. The driving member 202b is connected to the moving member 202a through a transmission member (not shown in the drawing) to drive the moving member 202a to move linearly on the moving rail 201. The driving piece 202b is electrically connected with the control module 203, so that the working state of the driving piece 202b is controlled, the displacement of the moving piece 202a is controlled, and a foundation is provided for controlling the position of the local imaging device.

As shown in fig. 4, the driving member 202b in the present embodiment includes a servo motor 202b-1, an output end of the servo motor 202b-1 is connected to the driving member, and a control module 203 is electrically connected to the servo motor 202b-1 to control an operation state of the servo motor 202 b-1. The servo motor 202b-1 is convenient for parameterization control, and the servo motor 202b-1 is connected with a programmable logic controller, so that the rotation speed, the number of turns, the direction and the like of the servo motor can be controlled, and the displacement of the local imaging module 102 is controlled.

Preferably, the transmission member in this embodiment includes a transmission screw disposed in parallel with the moving rail 201, and a screw nut connected to the transmission screw, and the moving member 202a is fixedly connected to the screw nut.

The rotation motion can be converted into a linear motion by a screw-nut mechanism, and the rotation of the output end of the servo motor 202b-1 is converted into a linear motion of the moving member 202a by the screw-nut mechanism. The screw-nut mechanism has high transmission precision. The moving distance of the screw nut can be controlled by controlling the rotation number of the transmission screw rod.

As an alternative embodiment, the transmission member can also be a synchronous pulley and synchronous belt mechanism, which has the characteristic of high transmission precision, and has simpler structure, and can also meet the positioning requirement of the imaging assembly 100.

As shown in fig. 4, the moving member 202a includes a moving slider 202a-1 slidably connected to the moving rail 201 and a carrying base 202a-2 fixed to the moving slider 202a-1, and the local imaging module 102 is fixedly disposed on the carrying base 202 a-2.

As shown in fig. 5, the control module 203 in the present embodiment includes a transceiver unit 203a, a computing unit 203b, and a processing unit 203c, where the transceiver unit 203a is electrically connected to the scene imaging module 101 to receive the position parameter of the measured object generated by the scene imaging module 101; the calculating unit 203b is connected with the receiving and transmitting unit 203a to receive the position parameter of the measured object sent by the receiving and transmitting unit 203a, and the calculating module is further used for converting the position parameter into a displacement parameter of the corresponding mobile module; the processing unit 203c is electrically connected with the calculating unit 203b and the transceiver unit 203a, so as to receive the displacement parameter sent by the calculating unit 203b, and the processing module is further configured to generate an operation instruction for the mobile module according to the displacement parameter, and send the operation instruction to the transceiver unit 203a; in addition, the transceiver unit 203a is electrically connected with the mobile module and sends an operation instruction to the mobile module; the moving module moves the local imaging module 102 to a corresponding position according to the operation instruction, and the local imaging module 102 performs local three-dimensional imaging on the target to be detected.

Specifically, the workflow of the control module 203 is as follows:

the scene imaging module 101 acquires a three-dimensional image of a scene to obtain a position parameter of a measured object therein, and because the moving module in the embodiment is arranged along the horizontal direction, the scene imaging module 101 extracts the position parameter of the measured object, namely an x-coordinate value of the measured object in a scene coordinate system, from the acquired three-dimensional image;

the position parameter x coordinate value is transmitted into the calculating unit 203b through the transmitting and receiving unit 203a, and the calculating unit 203b converts the position parameter x coordinate into a displacement parameter of the mobile module, namely a motion coordinate x1 according to the coordinate conversion relation;

the displacement parameter motion coordinate x1 is sent to the processing unit 203c, the processing unit 203c generates an operation instruction for the moving module according to the displacement parameter x1, the transceiver unit 203a sends the operation instruction to the driving part 202b in the moving module, the servo motor 202b-1 is controlled by the operation instruction, after working for a specific time and a specific number of turns according to a specified direction, the moving part 202a is moved to a position corresponding to the displacement parameter x1, and the local imaging module 102 connected with the moving part 202a reaches a position where the detection range is opposite to the measured target, so as to perform local high-precision three-dimensional imaging on the measured target.

The scene imaging module 101 in the present embodiment includes a scene laser light source 101a and a scene three-dimensional camera 101b, and the partial imaging module 102 includes a partial laser light source 102a and a partial three-dimensional camera 102b. The imaging precision of the scene three-dimensional camera 101b is lower than that of the local three-dimensional camera 102b, and the imaging range of the scene three-dimensional camera 101b is larger than that of the local three-dimensional camera 102b, so that the imaging range of the scene three-dimensional camera 101b covers the whole detection range, can be positioned to the position of a measured object in the scene, and the imaging range of the local imaging camera is narrower, so that the imaging device is used for imaging a specific measured object in a local small range with high precision.

The emission direction of the scene laser light source 101a forms a certain included angle with the imaging reference line of the scene three-dimensional camera 101b, and thus the scene laser light source 101a is disposed obliquely to the scene three-dimensional camera 101 b. Similarly, the local laser light source 102a in the local imaging module 102 is also disposed obliquely to the local three-dimensional camera 102b.

As shown in fig. 3 and 4, the imaging device further comprises a housing assembly 300, the housing assembly 300 comprises a mounting substrate 301 and a protective housing 302, the mobile module is arranged on the mounting substrate 301, the mounting substrate 301 and the protective housing 302 are surrounded to form a containing cavity, and the imaging assembly 100 is located in the containing cavity. The housing assembly 300 provides space for installation of the imaging assembly 100 and the follower assembly 200 therein and provides protection.

Specifically, as shown in fig. 3, the protective housing 302 has a front panel 302a, and the front panel 302a is provided with a first transmission hole 302a-1 facing the scene imaging module 101, and a second transmission hole 302a-2 disposed along the motion path of the local imaging module 102, where the first transmission hole 302a-1 and the second transmission hole 302a-2 are embedded with light-transmitting glass. Since the scene laser light source 101a and the scene three-dimensional camera 101b in the scene imaging module 101 are respectively disposed on two sides of the middle of the moving track 201, and the motion track of the local imaging module 102 is a straight line, the first transmission holes 302a-1 are two square holes distributed in the middle of the front panel 302a, and the second transmission holes 302a-2 are two elongated holes opened along the horizontal direction. The light-transmitting glass is preferably high-transmittance optical glass.

It is to be understood that, based on the several embodiments provided in the present utility model, those skilled in the art may combine, split, reorganize, etc. the embodiments of the present utility model to obtain other embodiments, which all do not exceed the protection scope of the present utility model.

The foregoing detailed description of the utility model has been presented for purposes of illustration and description, and it should be understood that the foregoing is by way of illustration and description only, and is not intended to limit the scope of the utility model.

Claims (9)

1. A follow-up three-dimensional imaging apparatus, comprising:

an imaging assembly (100) comprising a scene imaging module (101) for three-dimensionally imaging the entire detection range, and a local imaging module (102) for three-dimensionally imaging a local range within the detection range; the scene imaging module (101) is fixedly arranged, and the local imaging module (102) is movably arranged relative to the scene imaging module (101);

the following assembly (200) comprises a moving module which is fixedly connected with the local imaging module (102) and is used for driving the local imaging module (102) to move; and a control module (203) electrically connected with the scene imaging module (101) and used for controlling the displacement of the mobile module according to the information acquired by the scene imaging module (101).

2. The follow-up three-dimensional imaging device according to claim 1, wherein the moving module comprises a moving track (201) and a sliding component (202), the sliding component (202) is slidably connected with the moving track (201), the local imaging module (102) is arranged on the sliding component (202), and the sliding component (202) is electrically connected with the control module (203).

3. The follow-up three-dimensional imaging device according to claim 2, wherein the sliding member (202) comprises a moving member (202 a) and a driving member (202 b), the moving member (202 a) being slidably connected with the moving rail (201); the driving piece (202 b) is connected with the moving piece (202 a) through a transmission piece, and drives the moving piece (202 a) to linearly move on the moving track (201).

4. A follow-up three-dimensional imaging device according to claim 3, characterized in that the transmission member comprises a transmission screw arranged in parallel to the movement track (201), and a screw nut connected to the transmission screw, the movement member (202 a) being fixedly connected to the screw nut.

5. A follow-up three-dimensional imaging device according to claim 3, wherein the driving member (202 b) comprises a servo motor (202 b-1), an output end of the servo motor (202 b-1) is connected with the driving member, and the control module (203) is electrically connected with the servo motor (202 b-1) to control an operating state of the servo motor (202 b-1).

6. A follow-up three-dimensional imaging device according to claim 3, wherein the moving member (202 a) comprises a moving slide (202 a-1) slidably connected to the moving rail (201) and a carrying base (202 a-2) fixed to the moving slide (202 a-1), and the local imaging module (102) is fixedly arranged on the carrying base (202 a-2).

7. The follow-up three-dimensional imaging device according to claim 1, wherein the scene imaging module (101) comprises a scene laser light source (101 a) and a scene three-dimensional camera (101 b), the local imaging module (102) comprises a local laser light source (102 a) and a local three-dimensional camera (102 b), the imaging precision of the scene three-dimensional camera (101 b) is lower than that of the local three-dimensional camera (102 b), and the imaging range of the scene three-dimensional camera (101 b) is larger than that of the local three-dimensional camera (102 b).

8. The follow-up three-dimensional imaging device according to claim 1, further comprising a housing assembly (300), wherein the housing assembly (300) comprises a mounting substrate (301) and a protective housing (302), the moving module is arranged on the mounting substrate (301), the mounting substrate (301) and the protective housing (302) form a containing cavity in a surrounding manner, and the imaging assembly (100) is located in the containing cavity.

9. The follow-up three-dimensional imaging device according to claim 8, wherein the protective housing (302) has a front panel (302 a), a first transmission hole (302 a-1) facing the scene imaging module (101) and a second transmission hole (302 a-2) disposed along the movement path of the partial imaging module (102) are formed on the front panel (302 a), and the first transmission hole (302 a-1) and the second transmission hole (302 a-2) are embedded with light-transmitting glass.