CN2445344Y - Machine visual integral sensing device - Google Patents
Machine visual integral sensing device Download PDFInfo
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- CN2445344Y CN2445344Y CN00249314U CN00249314U CN2445344Y CN 2445344 Y CN2445344 Y CN 2445344Y CN 00249314 U CN00249314 U CN 00249314U CN 00249314 U CN00249314 U CN 00249314U CN 2445344 Y CN2445344 Y CN 2445344Y
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- utility
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- semiconductor laser
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Abstract
The utility model provides a machine visual integral sensing device which ensures the enforcement of hierarchical modular models for robot's visual sense and ensures the feasibility and reliability of the utility model. The utility model is integrated together by a camera 2, a formed image of a three-dimensional surface of close distance, and distance measuring imaging of laser radars of long distance. The utility model realizes the informational complementation of various images on the aspects of operating distance, distance accuracy, and spatial resolution. The utility model can quickly, accurately, and fully sense scene information facing application and behavior. The utility model has the characteristics of being suitable for far fields and near fields and overcomes the problems which exist in the existing sensor in the practical process. The utility model increases the reliability of sensing data by making use of the consistency that each image data is on time and space coordinates.
Description
The utility model relates to the integrated sensing device of a kind of machine vision, and particularly a kind of assurance hierarchical modular model for robot's visual sense (number of patent application is 001252925) is implemented, and guarantees the integrated sensing device of machine vision of its reliability and feasibility.The utility model belongs to the robot vision field.
Since the early 1980's, also there are many disputes in computer vision research when obtaining many considerable progress.Think with the three-dimensional reconstruction school headed by the Marr, vision is an information process of asking the external world to describe, promptly from single width or two-dimensional images, recover three-dimensional scenic from characteristics of image (as marginal point, profile, straight line, curve, texture, gray scale, color etc.), again to three-dimensional scenic discern, location and motion analysis.In fact, often, some ill-posed problems the scene separate or instability from this inverse process of image recovery scene because of causing Horn optical flow field equation of constraint not have, many work also launch around this just, but also do not have a kind of real successful utility system to come out up to now.
Occurred towards behavior the beginning of the nineties at the end of the eighties, application oriented purpose doctrine school, think that vision should be not a purpose to pursue the information processing of describing in the external world, and should more effectively obtain and use information to be purpose, the three dimensional depth mapping techniques has appearred, representational have " spot scan range of triangle " to reach " laser radar " visual sensing system, U.S. Sandia National Laboratory, environmental protection institute of Michigan (ERIM), Germany Fraunhofer research institute, Finland Oulu university, and domestic Fudan University, Zhejiang University, the Shanghai Communications University, go up the big achievement in research of all having reported them that waits.It seems the performance of these sensors at present,, caused their qualifications use occasion and object as speed, precision, reach, spatial resolution etc.
The purpose of this utility model provides a kind of integrated sensing device of machine vision that guarantees hierarchical modular model for robot's visual sense reliability and feasibility, be a kind of application-oriented, towards the vision sensing equipment of behavior, it can be fast, accurately, perception scene information all sidedly, have the advantages that to adapt to far field and near field, overcome the problem that existing sensor exists in practicality.
The purpose of this utility model is achieved in that by video camera, closely 3 d shape imaging and long distance laser radar range finding imaging integrate, realize the message complementary sense of various images aspect operating distance, range accuracy, spatial resolution, by the consistance of each view data on time and volume coordinate, improve the reliability of sensing data.
Concrete enforcement of the present utility model is provided by following examples and accompanying drawing.
Fig. 1 is the theory structure synoptic diagram according to the integrated sensing device of machine vision that the utility model proposes.
Describe concrete structure and working condition in detail below in conjunction with Fig. 1 according to the integrated sensing device of machine vision that the utility model proposes.
Among Fig. 1, the extreme light beam of line that horizontal semiconductor laser 3 sends is collimated into a branch of very thin parallel beam, its polarization direction is consistent with surface level, and the extreme light beam of the line that vertical semiconductor laser instrument 4 sends also is collimated into a branch of very thin parallel beam, and its polarization direction is vertical with surface level.This two-beam is coupled through polarizing coupler 5, shine on the scanning mirror 6 of two sides plating transmitting film, reflection ray is on frontal plane catoptron 13 reflexes to jobbie 1 in the scene, reflected light on the object 1 is behind another reflecting surface of back plane catoptron 7 and scanning mirror 6, be separated again after entering polarization spectroscope 10, wherein the horizontal direction linearly polarized light is received by Position-Sensitive Detector 9 after seeing through; Enter avalanche photodetector 8 after the reflection of vertical direction linearly polarized light.What horizontal semiconductor laser 3 sent is a branch of dc laser bundle, shines back, object 1 surface and is received by Position-Sensitive Detector 9, concern that according to range of triangle hot spot drops on position on the Position-Sensitive Detector 9 and can determine surperficial that the distance value of object 1; Vertical semiconductor laser instrument 4 is injected into the formula current-modulation, and light intensity is sine amplitude and changes, after the reflected light on object 1 surface is received by avalanche photodetector 8, and according to the ranging phase method principle, that the distance value of object 1 surface of reentrying.o
3o
3' axle 11 is fixed on the base plate 16, scanning mirror 6 is fixed on o
3o
3' on the axle 11, and can be around o
3o
3' axle 11 horizontally rotates, they are fixed on the base plate 16 with horizontal semiconductor laser 3, vertical semiconductor laser instrument 4, polarizing coupler 5, avalanche photodetector 8, Position-Sensitive Detector 9, polarization spectroscope 10, frontal plane catoptron 13, back plane catoptron 7, and base plate 16 can be around o
1o
1' axle 14 makes vertical oscillation, obtains grating track scanning line on object 1 surface like this.The every bit range data has constituted closely spot scan 3 d shape image on the object plane that Position-Sensitive Detector 9 obtains; From the range data that avalanche photodetector 8 obtains, obtain the laser radar range images of whole scene, both are in full accord on time and space.Video camera 2 is fixed on the top in base plate 16 outsides, obtains two dimensional image in the scene, and 1 shape image of object and laser radar range images have been set up the coordinate corresponding relation in this two dimensional image and the scene that obtained.The two dimensional image that obtains from video camera 2 comprises the information that scene brightness, color, literal and figure, light stream change; 3 d shape data from the spot scan triangle measurement method obtains have higher range accuracy and spatial resolution, are used for closely machine vision to the identification of simple geometry body; From the scene 3-D view that position phase method laser ranging obtains, be used for distance, orientation, motion analysis, prediction and the path planning of machine vision to scene target or obstacle.Embodiment of the present utility model provides 1 meter of the operating distance of spot scan range of triangle elementary area, pixel resolution: horizontal direction 1024, vertical direction 512; 10 meters of the operating distances of laser radar range images unit, pixel resolution: horizontal direction 256, vertical direction 128.Scanning field of view scope: 30 ° of horizontal directions, 15 ° of vertical direction, frame frequency 0.5Hz.Base plate 16 can be around o
2o
2' axle 15 swing θ angles, around o
4o
4' axle 12 turns over the ω angle, to enlarge vertical and horizontal field of view.o
1o
1' axle 14 and o
2o
2' axle 15 coaxial, o
3o
3' axle 11 and o
4o
4' axle is 12 coaxial.
Claims (1)
1. one kind by video camera 2, horizontal semiconductor laser 3, vertical semiconductor laser instrument 4, polarizing coupler 5, scanning mirror 6, frontal plane catoptron 13, back plane catoptron 7, avalanche photodetector 8, Position-Sensitive Detector 9, polarization spectroscope 10, o
1o
1' axle 14, o
2o
2' axle 15, o
3o
3' axle 11, o
4o
4' axle 12 and the integrated sensing device of machine vision formed of base plate 16, it is characterized in that:
A.o
1o
1' axle 14 and o
2o
2' axle 15 coaxial, o
3o
3' axle 11 and o
4o
4' axle is 12 coaxial;
B. base plate 16 can be around o
2o
2' axle 15 swing θ angles, around o
4o
4' axle 12 turns over the ω angle;
C.o
3o
3' axle 11 is fixed on the base plate 16, scanning mirror 6 is fixed on o
3o
3' on the axle 11, and can be around o
3o
3' axle 11 horizontally rotates, base plate 16 is around o
1o
1' axle 14 makes vertical oscillation;
D. level and vertical polarization laser beam that horizontal semiconductor laser 3 and vertical semiconductor laser instrument 4 send are coupled by polarizing coupler 5, behind another reflecting surface of a reflecting surface of scanning mirror 6, frontal plane catoptron 13, back plane catoptron 7, scanning mirror 6, polarization spectroscope 10, its horizontal direction linearly polarized light is received by Position-Sensitive Detector 9, and the linearly polarized light of vertical direction is received by avalanche photodetector 8;
E. video camera 2 is fixed on the top in base plate 16 outsides, obtains two dimensional image in the scene, and object Shape ' and laser radar range image have been set up the coordinate corresponding relation in this two dimensional image and the scene that obtained.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN00249314U CN2445344Y (en) | 2000-09-21 | 2000-09-21 | Machine visual integral sensing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN00249314U CN2445344Y (en) | 2000-09-21 | 2000-09-21 | Machine visual integral sensing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2445344Y true CN2445344Y (en) | 2001-08-29 |
Family
ID=33607779
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN00249314U Expired - Fee Related CN2445344Y (en) | 2000-09-21 | 2000-09-21 | Machine visual integral sensing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2445344Y (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1306582C (en) * | 2004-05-20 | 2007-03-21 | 上海交通大学 | Ball-grating array semiconductor device quality detecting system based on dual-eye machine vision |
| CN101493325B (en) * | 2009-03-09 | 2010-11-10 | 清华大学 | Laser mapping system |
| CN103294057A (en) * | 2012-02-24 | 2013-09-11 | 三星电子株式会社 | Sensor assembly and robot cleaner having the same |
| CN106017329A (en) * | 2016-04-04 | 2016-10-12 | 上海大学 | Miniature laser synchronous scanning triangulation ranging system |
-
2000
- 2000-09-21 CN CN00249314U patent/CN2445344Y/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1306582C (en) * | 2004-05-20 | 2007-03-21 | 上海交通大学 | Ball-grating array semiconductor device quality detecting system based on dual-eye machine vision |
| CN101493325B (en) * | 2009-03-09 | 2010-11-10 | 清华大学 | Laser mapping system |
| CN103294057A (en) * | 2012-02-24 | 2013-09-11 | 三星电子株式会社 | Sensor assembly and robot cleaner having the same |
| CN103294057B (en) * | 2012-02-24 | 2017-05-31 | 三星电子株式会社 | Sensor cluster and the robot cleaner with the sensor cluster |
| CN106017329A (en) * | 2016-04-04 | 2016-10-12 | 上海大学 | Miniature laser synchronous scanning triangulation ranging system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |