WO2022082896A1

WO2022082896A1 - Apparatus for line structured light three-dimensional measurement

Info

Publication number: WO2022082896A1
Application number: PCT/CN2020/128089
Authority: WO
Inventors: 张志平; 殳峰; 王宁; 张文华
Original assignee: 光华临港工程应用技术研发(上海)有限公司
Priority date: 2020-10-22
Filing date: 2020-11-11
Publication date: 2022-04-28
Also published as: CN112414301B; CN112414301A

Abstract

An apparatus for line structured light three-dimensional measurement. The apparatus comprises an outer frame (1), wherein a left end and a right end of a front side wall face of the outer frame (1) are both provided with photographic holes (2), and a middle position on the front side wall face of the outer frame (1) is provided with a projection hole (3); a round hole is provided on a rear side of a top wall face of the outer frame (1); a first bearing (4) is arranged at the top of the outer frame (1), and a side wall of the first bearing (4) is fixedly connected to a wall surface of a corresponding position on the round hole in the outer frame (1); and cameras (5) are arranged in the outer frame (1). According to the apparatus for line structured light three-dimensional measurement, three-dimensional features of a photographed object are obtained according to a triangulation measurement principle. Two storage rods (7) rotate by means of rotating a rotating plate (14), and the two storage rods (7) rotate, such that the densities of black pigments on a film (8) between two rollers (10) are different. The greater the densities, the more black shadows are photographed by the two cameras (5), and the more parts with the same shadow there are, the more accurately calculated three-dimensional features of an object will be, such that the effect of conveniently replacing a Gray code picture is achieved.

Description

A device for three-dimensional measurement of line structured light

technical field

The invention relates to the field of carton packaging, in particular to a device for three-dimensional measurement of line structured light.

Background technique

3D measurement, as the name implies, is to measure the measured object in all directions to determine the three-dimensional coordinate measurement data of the measured object. The measurement principle is divided into four aspects: ranging, angular displacement, scanning, and orientation. The instruments developed according to the principle of 3D technology include three types of measuring instruments: photographic (structured light) 3D scanner, laser 3D scanner and CMM.

technical problem

At present, there are three-dimensional measurements on the market. Through the light on the gray code picture, the object to be measured will appear shadows. Take two cameras to shoot the object from different places, find the same place in the photo, and measure it by triangulation. The principle obtains the three-dimensional characteristics of the photographed items, but when photographing, it is necessary to frequently replace the gray code images of different densities, which reduces the work efficiency. To this end, we propose a device for 3D measurement of line structured light.

technical solutions

[0004] The present invention mainly solves the technical problems existing in the above-mentioned prior art, and provides a device for three-dimensional measurement of line structured light.

In order to achieve the above purpose, the present invention adopts the following technical solutions: a device for three-dimensional measurement of linear structured light, comprising an outer frame, the left and right ends of the front side wall of the outer frame are provided with camera holes, and the front side wall of the outer frame is provided with camera holes. A projection hole is provided in the middle, a circular hole is provided on the rear side of the top wall of the outer frame, a first bearing is arranged on the top of the outer frame, and the side wall of the first bearing is fixedly connected to the wall at the corresponding position of the circular hole on the outer frame, and the outer The inside of the frame is provided with cameras. There are two sets of cameras. The two sets of cameras are located on the left and right sides of the outer frame. The output ends of the two sets of cameras correspond to the two sets of camera holes. Both ends are provided with two sets of limit plates, the top walls of the four sets of limit plates are all provided with circular holes, two sets of storage rods are arranged inside the outer frame, and the side walls of the two sets of storage rods are respectively connected to the left and right inside the outer frame The walls at the corresponding positions of the circular holes on the two sets of limit plates on both sides are fixedly connected, the inner bottom wall of the outer frame is provided with two sets of circular holes, and the two sets of circular holes inside the outer frame are fixedly installed on the walls at the corresponding positions. A bearing, the bottom ends of the side walls of the two sets of storage rods are respectively fixedly connected to the wall surfaces at the corresponding positions of the upper holes of the two sets of first bearings inside the outer frame, and the interior of the outer frame is provided with a film, and the rear side walls of the film are coated with black paint. The part that is painted black on the left side is denser and thinner, the left and right ends of the film are respectively wrapped around the side walls of the two sets of storage rods, and the left and right ends of the front side of the inner bottom wall of the outer frame are fixedly installed with fixing rods. A roller is set on the side wall of the fixing rod, the rear side wall surface of the upper corresponding position of the film and the corresponding position of the side wall of the roller are attached to each other, and the front side wall surface of the part of the film that is attached to the front end of the side walls of the two sets of rollers is attached to each other and the projection hole. Corresponding to each other, the interior of the outer frame is provided with an illuminating lamp, the bottom wall of the illuminating lamp is fixedly connected with the inner bottom wall of the outer frame, a concave lens is arranged inside the outer frame, the bottom wall of the concave lens is fixedly connected with the inner bottom wall of the outer frame, and the rear of the concave lens is fixedly connected. The side wall surface and the output end of the lighting lamp correspond to each other, the front side wall surface of the concave lens corresponds to the gap between the two groups of rollers, the outer frame is provided with a first connecting rod, and the bottom end of the first connecting rod passes through the top wall surface of the outer frame. The upper circular hole extends to the inside of the outer frame, the side wall of the first connecting rod is fixedly connected with the wall surface at the corresponding position of the upper hole of the first bearing on the top wall surface of the outer frame, and the top wall surface of the first connecting rod is fixedly installed with a turning plate, and the turning plate The side wall is provided with convex marks, the inside of the outer frame is provided with a first gear, the wall surface at the corresponding position of the upper hole of the first gear is fixedly connected with the bottom end of the side wall of the first connecting rod, and the top of the two sets of limit plates near the top A second connecting rod is fixedly installed on the wall surfaces, and two sets of second bearings are arranged inside the outer frame. Two sets of second gears are arranged inside the two sets of second gears, the wall surfaces corresponding to the upper holes of the two sets of second gears are respectively fixedly connected to the upper side walls of the two sets of second bearings, a third gear is arranged between the two sets of second gears, and the third gear A second bearing is fixedly installed on the wall at the corresponding position of the hole, a second connecting rod is fixedly installed on the wall at the corresponding position of the hole on the second bearing, and the top walls of the three sets of second connecting rods are divided into The two sets of second gears mesh with the left and right ends of the third gear, the first connecting rod meshes with the front end of the third gear, and the bottom wall of the outer frame is provided with a circle. A third bearing is fixedly installed on the wall at the corresponding position of the circular through hole on the outer frame, a rotating rod is fixedly installed on the wall at the corresponding position of the upper hole of the third bearing, and a supporting plate is fixedly installed on the bottom wall of the rotating rod. The bottom wall is provided with three sets of limit grooves, and the three sets of limit grooves are all trapezoidal. The three sets of limit grooves are provided with turning holes on one side wall surface close to the center point and one side wall surface away from the center point. A fourth bearing is fixedly installed on the wall surface of the corresponding position on the rotating hole inside the groove, and three groups of support rods are arranged at the bottom of the support plate.

Preferably, the left and right ends of the tops of the side walls of the three groups of the support rods are fixedly installed with limit rods, and the side walls of the two sets of limit rods on the three groups of support rods correspond to the upper holes of the two sets of fourth bearings inside the limit grooves respectively. Position wall fixed connection.

Preferably, limit frames are respectively set on the side walls of the three groups of the support rods, round rods are fixedly installed on the side walls of the three groups of limit frames, and the three groups of round rods are fixedly connected to the three groups of limit frames. A plurality of groups of circular holes are provided on the inner wall surface of the group limit frame.

Preferably, there are multiple sets of top plates inside the three sets of limit frames, and the multiple sets of top plates inside the three sets of limit frames correspond to the circular holes inside the three sets of limit frames, respectively. Springs are arranged inside the plurality of groups of circular holes.

Preferably, the two ends of the springs inside the three sets of limit frames are respectively fixed to a side wall surface of the top plate inside the three sets of limit frames away from the center point and a side wall surface of the circular holes inside the three sets of limit frames away from the center connect.

beneficial effect

[0005] The present invention provides a device for three-dimensional measurement of line structured light. Has the following beneficial effects:

(1) The equipment used for three-dimensional measurement of line structured light, align the two sets of camera holes at the items to be photographed, turn on the lighting, and the light emitted by the lighting illuminates the film, and the items to be photographed will appear black. The two groups of cameras shoot the picture, the photos taken by the two groups of cameras have black shadows, find the places with the same black shadows in the two photos, and then use the principle of triangulation to obtain the photographed object. Three-dimensional feature, by rotating the rotary plate, the two groups of storage rods are rotated, and the two groups of storage rods are rotated, so that the density of the black pigment on the film between the two groups of rollers is different. The more there are, the more parts of the same shadow, the more accurate the calculation of the three-dimensional features of the item, and the effect of convenient replacement of Gray code images.

(2) The equipment used for 3D measurement of linear structured light has two sets of rollers inside the outer frame. Both sets of rollers are sleeved on the side wall of the fixed rod. The rear side wall of the film and the side wall of the roller are attached to each other. Combined, the film is presented more flatly, and the roller is cylindrical, which prevents the side wall of the film from being bent.

(3) The equipment used for three-dimensional measurement of line structured light has a concave lens inside the outer frame. The concave lens diffuses the light emitted by the illuminating lamp, and then irradiates it through the projection hole, which improves the illumination range of the illuminating lamp and makes the film. The rear side wall surface of the device will be illuminated by the lighting lamp, which reduces the energy consumption of the lighting lamp and achieves the effect of improving the one-time use time of the device.

(4) In this equipment for three-dimensional measurement of linear structured light, the rotating rod is fixedly installed on the third bearing, and the bottom of the rotating rod is fixedly installed with a support plate, so the outer frame can be freely rotated on the top of the support plate. The support rods are located inside the three sets of limit slots, and the two sets of limit rods pass through the two sets of limit rods at both ends of the side walls of the three sets of support rods, so that the support rods are fixed inside the limit slots, because the three sets of limit slots are all ladders. Therefore, the three groups of support rods have enough rotation space inside the limiting groove, and the range that the three groups of support rods can support is larger, which achieves the effect of convenient use.

(5) In this device for three-dimensional measurement of linear structured light, the side walls of the three groups of support rods are all covered with limit frames, and the three groups of limit frames are connected to each other through three groups of round rods, and the three groups of limit frames can limit three The range of movement of the set of support rods. There are multiple sets of top plates inside the three sets of limit frames. The ends of the multiple sets of top plates away from the center are fixedly connected with springs, so the top plates can be tilted with the position of the limit frame. The contact area with the support rod achieves the effect of improving the stability of the support of the three groups of support rods.

Description of drawings

Fig . 1 is the equipment front view of the three-dimensional measurement of line structured light of the present invention;

Fig. 2 is the internal schematic diagram of the outer frame of the present invention;

Fig. 3 is the internal sectional view of the outer frame of the present invention;

Fig. 4 is the top view of the support plate of the present invention;

5 is a cross-sectional view of a support plate of the present invention;

Fig. 6 is the front view of the limit frame of the present invention;

FIG. 7 is a cross-sectional view of the limiting frame of the present invention.

illustration:

1 frame, 2 camera hole, 3 projection hole, 4 first bearing, 5 camera, 6 limit plate, 7 storage rod, 8 film, 9 fixed rod, 10 roller, 11 light, 12 concave lens, 13 first connection Rod, 14 turning plate, 15 first gear, 16 second connecting rod, 17 second bearing, 18 second gear, 19 third gear, 20 third bearing, 21 turning rod, 22 supporting plate, 23 limit slot, 24 turning holes, 25 fourth bearings, 26 support rods, 27 limit rods, 28 limit frames, 29 round rods, 30 top plates, 31 springs.

BEST MODE FOR CARRYING OUT THE INVENTION

[0007] The technical solutions of the present invention will be further described in detail below through the examples and in conjunction with the accompanying drawings.

Example: As shown in Figures 1-7, a device for three-dimensional measurement of linear structured light includes an outer frame 1, the outer frame 1 is in the shape of a hollow rectangle, and the left and right ends of the front side wall of the outer frame 1 are opened. There is a camera hole 2, the two groups of camera holes 2 are in a circular shape, a projection hole 3 is opened in the middle of the front side wall of the outer frame 1, the projection hole 3 is rectangular, and a circular hole is opened on the rear side of the top wall of the outer frame 1 , the top of the outer frame 1 is provided with a first bearing 4, the side wall of the first bearing 4 is fixedly connected to the wall surface at the corresponding position of the circular hole on the outer frame 1, and a camera 5 is arranged inside the outer frame 1, and the camera 5 is an open technology There are two groups of cameras 5. The two groups of cameras 5 are located on the left and right sides of the outer frame 1, respectively. The output ends of the two groups of cameras 5 correspond to the two groups of camera holes 2. The inner middle of the outer frame 1 Two sets of limit plates 6 are arranged at the left and right ends located close to the rear side. The top walls of the four sets of limit plates 6 are all provided with circular holes. The side walls of the rod 7 are respectively fixedly connected to the wall surfaces of the corresponding positions of the circular holes on the two sets of limit plates 6 on the left and right sides of the outer frame 1. The inner bottom wall of the outer frame 1 is provided with two sets of circular holes. The first bearings 4 are fixedly installed on the walls at the corresponding positions of the inner two groups of circular holes. The inside of the frame 1 is provided with a film 8. The film 8 is a public technology and will not be repeated here. The rear side wall of the film 8 is coated with black paint. To make the film 8 achieve the effect of a gray code picture, the left and right ends of the film 8 are respectively wound on the side walls of the two sets of storage rods 7, and the left and right ends of the front side of the inner bottom wall of the outer frame 1 are fixedly installed with fixing rods 9. A roller 10 is sleeved on the side wall of the rod 9, the rear side wall surface of the upper corresponding position of the film 8 and the corresponding position of the side wall of the roller 10 are attached to each other. The side wall surface and the projection hole 3 correspond to each other, and the interior of the outer frame 1 is provided with an illuminating lamp 11. The illuminating lamp 11 is a public technology, which will not be repeated here. The bottom wall surface of the illuminating lamp 11 is fixedly connected to the inner bottom wall surface of the outer frame 1. The inside of the outer frame 1 is provided with a concave lens 12. The concave lens 12 is a public technology and will not be repeated here. The bottom wall surface of the concave lens 12 is fixedly connected to the inner bottom wall surface of the outer frame 1, and the rear side wall surface of the concave lens 12 is connected with the output end of the lighting lamp 11. Corresponding to each other, the front side wall surface of the concave lens 12 corresponds to the gap between the two groups of rollers 10. The outer frame 1 is provided with a first connecting rod 13, and the bottom end of the first connecting rod 13 passes through the top wall surface of the outer frame 1. The shaped hole extends to the inside of the outer frame 1, the side wall of the first connecting rod 13 is fixedly connected with the wall surface at the corresponding position of the hole on the first bearing 4 on the top wall surface of the outer frame 1, and the top wall surface of the first connecting rod 13 is fixedly installed with a turning plate 14. The side wall of the turning plate 14 is provided with a convex mark, the inside of the outer frame 1 is provided with a first gear 15, and the wall surface at the corresponding position of the upper hole of the first gear 15 is fixedly connected with the bottom end of the side wall of the first connecting rod 13, The second connecting rods 16 are fixedly installed on the top walls of the two sets of limit plates 6 near the top, and two sets of second bearings 17 are arranged inside the outer frame 1. The upper side walls of the two sets of second connecting rods 16 are fixedly connected at corresponding positions, and two sets of second gears 18 are arranged inside the outer frame 1 . The walls are fixedly connected, a third gear 19 is arranged between the two sets of second gears 18, a second bearing 17 is fixedly installed on the wall at the corresponding position of the hole on the third gear 19, and the wall at the corresponding position of the hole on the second bearing 17 is fixedly installed on the wall. For the second connecting rod 16, the top wall surfaces of the three sets of second connecting rods 16 are respectively fixedly connected to the corresponding positions of the top wall surface of the outer frame 1, and the two sets of second gears 18 mesh with the left and right ends of the third gear 19. The first The connecting rod 13 meshes with the front end of the third gear 19, the bottom wall of the outer frame 1 is provided with a circular through hole, and a third bearing 20 is fixedly installed on the wall at the corresponding position of the circular through hole on the outer frame 1. The third bearing 20 A rotating rod 21 is fixedly installed on the wall at the corresponding position of the upper hole, a support plate 22 is fixedly installed on the bottom wall of the rotating rod 21, and three sets of limit slots 23 are formed on the bottom wall of the support plate 22. The three sets of limit slots 23 are provided with rotating holes 24 on one side wall surface close to the center point and one side wall surface away from the center point. The bearing 25, the bottom of the support plate 22 is provided with three groups of support rods 26, the top left and right ends of the side walls of the three groups of support rods 26 are fixedly installed with limit rods 27, and the side walls of the two groups of limit rods 27 on the three groups of support rods 26 are respectively They are fixedly connected to the wall surfaces at the corresponding positions of the upper holes of the two groups of fourth bearings 25 inside the limit groove 23 , the limit frames 28 are respectively sleeved on the side walls of the three groups of support rods 26 , and the side walls of the three groups of limit frames 28 are fixedly installed. There are round rods 29, three groups of round rods 29 fixedly connect the three groups of limit frames 28, the inner wall surfaces of the three groups of limit frames 28 are provided with multiple groups of circular holes, and the three groups of limit frames 28 are provided with multiple groups. A set of top plates 30, the multiple sets of top plates 30 inside the three sets of limit frames 28 correspond to the circular holes inside the three sets of limit frames 28, respectively, and the multiple sets of circular holes inside the three sets of limit frames 28 are provided with springs. 31. The two ends of the springs 31 inside the three sets of limit frames 28 are respectively connected with one side wall surface of the top plate 30 inside the three sets of limit frames 28 away from the center point and the side of the circular holes in the three sets of limit frames 28 away from the center. Wall fixed connection.

The working principle of the present invention:

When in use, align the two sets of camera holes 2 with the objects to be photographed, turn on the lighting lamps 11, the light emitted by the lighting lamps 11 illuminates the film 8, and the objects to be photographed will have black shadows, and the two sets of cameras 5 The picture is taken, the photos taken by the two sets of cameras 5 have black shadows, find the places with the same black shadows in the two photos, and then obtain the three-dimensional characteristics of the photographed objects through the principle of triangulation, and rotate The rotating plate 14 rotates the two sets of storage rods 7, and the two sets of storage rods 7 rotate, so that the density of the black pigment on the film 8 between the two sets of rollers 10 is different. The more there are, the more parts with the same shadow, and the more accurate the calculation of the three-dimensional features of the item will be, which achieves the effect of convenient replacement of Gray code images.

Two sets of rollers 10 are arranged inside the outer frame 1. Both sets of rollers 10 are sleeved on the side wall of the fixing rod 9. The rear side wall surface of the film 8 and the side wall of the roller 10 are attached to each other, so that the film 8 is more flat. It is shown that the roller 10 is cylindrical, which prevents the side wall of the film 8 from being bent.

The inside of the outer frame 1 is provided with a concave lens 12. The concave lens 12 diffuses the light emitted by the lighting lamp 11, and then irradiates it through the projection hole 3, which improves the irradiation range of the lighting lamp 11, so that the rear side wall of the film 8 will be illuminated by the lighting lamp. 11, the energy consumption of the lighting lamp 11 is reduced, and the effect of increasing the one-time use time of the device is achieved.

The rotating rod 21 is fixedly installed on the third bearing 20, and the bottom of the rotating rod 21 is fixedly installed with a support plate 22, so the outer frame 1 can rotate freely on the top of the support plate 22, and the three groups of support rods 26 are respectively in the three groups of limits Inside the position slot 23, two sets of limit rods 27 pass through the two sets of limit rods 27 at both ends of the side walls respectively, so that the support rod 26 is fixed inside the limit slot 23, because the three sets of limit slots 23 are all trapezoidal. Therefore, the three groups of support rods 26 have enough rotation space inside the limiting groove 23, and the range that the three groups of support rods 26 can support is also larger, which achieves the effect of convenient use.

The side walls of the three groups of support rods 26 are all covered with limit frames 28. The three groups of limit frames 28 are connected to each other by three groups of round rods 29. The three groups of limit frames 28 can limit the range of movement of the three groups of support rods 26. There are multiple sets of top plates 30 inside the limiting frame 28 , and the ends of the multiple sets of top plates 30 away from the center are fixedly connected with a spring 31 , so the top plate 30 can be inclined as the position of the limiting frame 28 moves, improving the position of the limiting frame 28 and the support. The contact area between the rods 26 achieves the effect of improving the stability of the support of the three groups of support rods 26 .

Finally, it should be pointed out that the above embodiments are only representative examples of the present invention. Obviously, the present invention is not limited to the above-mentioned embodiments, and many modifications are possible. Any simple modifications, equivalent changes and modifications made to the above embodiments according to the technical essence of the present invention shall be considered to belong to the protection scope of the present invention.

Claims

A device for three-dimensional measurement of linear structured light, comprising an outer frame (1), characterized in that: the left and right ends of the front side wall of the outer frame (1) are provided with camera holes (2), and the outer frame (1) ) is provided with a projection hole (3) in the middle of the front side wall surface, a circular hole is provided on the rear side of the top wall surface of the outer frame (1), a first bearing (4) is arranged on the top of the outer frame (1), and the outer frame ( 1) A camera (5) is arranged inside, two sets of limit plates (6) are arranged on the left and right ends of the inner middle position of the outer frame (1) close to the rear side, and the top wall surfaces of the four sets of limit plates (6) Both are provided with circular holes, two sets of storage rods (7) are arranged inside the outer frame (1), a film (8) is arranged inside the outer frame (1), and an illuminating lamp ( 11), the outer frame (1) is provided with a first connecting rod (13), and the bottom end of the first connecting rod (13) extends to the outer frame (1) through the circular hole on the top wall of the outer frame (1). Internally, the side wall of the first connecting rod (13) is fixedly connected to the wall at the corresponding position of the hole on the first bearing (4) on the top wall of the outer frame (1), and the top wall of the first connecting rod (13) is fixedly installed with a turning plate (14), the side wall of the turning plate (14) is provided with convex marks, the inside of the outer frame (1) is provided with a first gear (15), and the upper hole of the first gear (15) corresponds to the wall surface and the first connecting rod ( 13) The bottom end of the side wall is fixedly connected, the top wall surfaces of the two sets of limit plates (6) near the top are fixedly installed with second connecting rods (16), and the inside of the outer frame (1) is provided with two sets of second connecting rods (16). Bearings (17), the wall surfaces at the corresponding positions of the upper holes of the two sets of second bearings (17) are respectively fixedly connected with the corresponding positions of the upper side walls of the two sets of second connecting rods (16), and the inside of the outer frame (1) is provided with two sets of second Gears (18), the wall surfaces at the corresponding positions of the upper holes of the two sets of second gears (18) are respectively fixedly connected to the upper side walls of the two sets of second bearings (17), and a third gear ( 19), a second bearing (17) is fixedly installed on the wall at the corresponding position of the upper hole of the third gear (19), and a second connecting rod (16) is fixedly installed on the wall at the corresponding position of the upper hole of the second bearing (17). The top wall surface of the second connecting rod (16) is fixedly connected with the corresponding position of the inner top wall surface of the outer frame (1). The connecting rod (13) meshes with the front end of the third gear (19), the bottom wall of the outer frame (1) is provided with a circular through hole, and the outer frame (1) is fixedly mounted on the wall at the corresponding position of the circular through hole. Three bearings (20), a rotating rod (21) is fixedly installed on the wall at the corresponding position of the upper hole of the third bearing (20), and a support plate (22) is fixedly installed on the bottom wall of the rotating rod (21).
A device for three-dimensional measurement of linear structured light according to claim 1, characterized in that: the left and right ends of the front side of the inner bottom wall of the outer frame (1) are fixedly installed with fixing rods (9), which are fixed A roller (10) is sleeved on the side wall of the rod (9), the rear side wall surface of the upper corresponding position of the film (8) and the corresponding position of the side wall of the roller (10) are attached to each other, and the film (8) is connected with two sets of rollers ( 10) The front side wall surface of the part where the front ends of the side walls are abutted with each other corresponds to the projection hole (3).
A device for three-dimensional measurement of linear structured light according to claim 1, characterized in that: the bottom wall of the lighting lamp (11) is fixedly connected to the inner bottom wall of the outer frame (1), and the outer frame (1) A concave lens (12) is arranged inside the concave lens (12), the bottom wall surface of the concave lens (12) is fixedly connected with the inner bottom wall surface of the outer frame (1), the rear side wall surface of the concave lens (12) corresponds to the output end of the lighting lamp (11), and the concave lens ( The front side wall surface of 12) corresponds to the gap between the two groups of rollers (10).
A device for three-dimensional measurement of line structured light according to claim 1, characterized in that: the bottom wall of the support plate (22) is provided with three sets of limit grooves (23), and three sets of limit grooves (23) ) are trapezoidal in shape, and the three sets of limit grooves (23) are provided with turning holes (24) on one side wall surface close to the center point and one side wall surface away from the center point. A fourth bearing (25) is fixedly installed on the wall surface of the corresponding position on the hole (24), and three groups of support rods (26) are arranged at the bottom of the support plate (22).
A device for three-dimensional measurement of linear structured light according to claim 1, characterized in that: limit frames (28) are respectively set on the side walls of the three groups of the support rods (26), and the three groups of limit frames Round rods (29) are fixedly installed on the side walls of (28), three groups of round rods (29) are fixedly connected to the three groups of limit frames (28), and the inner walls of the three groups of limit frames (28) are all open. There are multiple sets of circular holes, and multiple sets of top plates (30) are arranged inside the three sets of limit frames (28). 28) The circular holes inside correspond to each other.
A device for three-dimensional measurement of linear structured light according to claim 1, characterized in that: the side wall of the first bearing (4) is fixedly connected to the wall surface at the corresponding position of the circular hole on the outer frame (1), There are two groups of cameras (5), the two groups of cameras (5) are respectively located on the left and right sides inside the outer frame (1), and the output ends of the two groups of cameras (5) correspond to the two groups of camera holes (2) respectively.
A device for three-dimensional measurement of linear structured light according to claim 1, characterized in that: the side walls of the two sets of storage rods (7) are respectively connected to the two sets of limits on the left and right sides inside the outer frame (1). The wall surfaces at the corresponding positions of the circular holes on the position plate (6) are fixedly connected, the inner bottom wall of the outer frame (1) is provided with two sets of circular holes, and the two sets of circular holes inside the outer frame (1) are fixed on the walls at the corresponding positions. A first bearing (4) is installed, and the bottom ends of the side walls of the two sets of storage rods (7) are respectively fixedly connected to the wall surfaces at the corresponding positions of the upper holes of the two sets of first bearings (4) inside the outer frame (1).
A device for three-dimensional measurement of line structured light according to claim 1, characterized in that: the rear side wall of the film (8) is coated with black pigment, and the closer to the left part the part coated with black is, the more The denser and thinner, the left and right ends of the film (8) are respectively wound on the side walls of the two sets of storage rods (7).
A device for three-dimensional measurement of linear structured light according to claim 4, characterized in that: limit rods (27) are fixedly installed on the top left and right ends of the tops of the side walls of the three groups of the support rods (26). The side walls of the two sets of limit rods (27) on the set of support rods (26) are respectively fixedly connected to the wall surfaces of the corresponding positions of the upper holes of the two sets of fourth bearings (25) inside the limit groove (23).
A device for three-dimensional measurement of line structured light according to claim 5, characterized in that: springs (31) are arranged inside the multiple groups of circular holes in the three groups of the limiting frames (28), and three The two ends of the spring (31) inside the set limit frame (28) are respectively connected with a side wall surface of the top plate (30) inside the three sets of limit frames (28) away from the center point and the inner circle of the three sets of limit frames (28). A side wall of the shaped hole away from the center is fixedly connected.