WO2022082896A1 - Appareil de mesure tridimensionnelle de lumière à structure linéaire - Google Patents

Appareil de mesure tridimensionnelle de lumière à structure linéaire Download PDF

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Publication number
WO2022082896A1
WO2022082896A1 PCT/CN2020/128089 CN2020128089W WO2022082896A1 WO 2022082896 A1 WO2022082896 A1 WO 2022082896A1 CN 2020128089 W CN2020128089 W CN 2020128089W WO 2022082896 A1 WO2022082896 A1 WO 2022082896A1
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WO
WIPO (PCT)
Prior art keywords
outer frame
sets
groups
side wall
limit
Prior art date
Application number
PCT/CN2020/128089
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English (en)
Chinese (zh)
Inventor
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 (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 光华临港工程应用技术研发(上海)有限公司 filed Critical 光华临港工程应用技术研发(上海)有限公司
Publication of WO2022082896A1 publication Critical patent/WO2022082896A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/08—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a vertical axis, e.g. panoramic heads

Definitions

  • the invention relates to the field of carton packaging, in particular to a device for three-dimensional measurement of line structured light.
  • 3D measurement 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.
  • 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.
  • 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
  • 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.
  • 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
  • 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
  • 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
  • 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
  • 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.
  • 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 is
  • 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.
  • 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.
  • 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.
  • the present invention provides a device for three-dimensional measurement of line structured light. Has the following beneficial effects:
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the contact area with the support rod achieves the effect of improving the stability of the support of the three groups of support rods.
  • 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.
  • FIG. 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.
  • 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
  • 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.
  • 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.
  • 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 .
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 .

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

L'invention concerne un appareil de mesure tridimensionnelle de lumière à structure linéaire. L'appareil comprend un cadre externe (1), une extrémité gauche et une extrémité droite d'une face avant de paroi latérale du cadre externe (1) étant toutes deux pourvues de trous photographiques (2), et une position intermédiaire sur la face avant de paroi latérale du cadre externe (1) étant pourvue d'un trou de projection (3) ; un trou rond est ménagé sur un côté arrière d'une face de paroi supérieure du cadre externe (1) ; un premier support (4) est disposé au niveau de la partie supérieure du cadre externe (1), et une paroi latérale du premier support (4) est reliée de manière fixe à une surface de paroi d'une position correspondante sur le trou rond dans le cadre externe (1) ; et des caméras (5) sont disposées dans le cadre externe (1). Selon l'appareil de mesure tridimensionnelle de lumière à structure linéaire, des caractéristiques tridimensionnelles d'un objet photographié sont obtenues selon un principe de mesure par triangulation. Deux tiges de stockage (7) tournent sous la rotation d'une plaque rotative (14), et les deux tiges de stockage (7) tournent, de sorte que les densités de pigments noirs sur un film (8) entre deux rouleaux (10) sont différentes. Plus les densités sont importantes, plus les ombres noires sont photographiées par les deux caméras (5), et plus il existe de parties avec la même ombre, plus il y aura de caractéristiques tridimensionnelles calculées précises d'un objet, de façon à obtenir l'effet de remplacement pratique d'une image de code Gray.
PCT/CN2020/128089 2020-10-22 2020-11-11 Appareil de mesure tridimensionnelle de lumière à structure linéaire WO2022082896A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202011138787.XA CN112414301B (zh) 2020-10-22 2020-10-22 一种用于线结构光三维测量的设备
CN202011138787.X 2020-10-22

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WO2022082896A1 true WO2022082896A1 (fr) 2022-04-28

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WO (1) WO2022082896A1 (fr)

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WO2005010825A2 (fr) * 2003-07-24 2005-02-03 Cognitens Ltd. Procede et systeme de reconstruction de surface tridimensionnelle d'un objet
CN102878925A (zh) * 2012-09-18 2013-01-16 天津工业大学 双目摄像机和单个投影光源同步标定方法
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CN117570946A (zh) * 2023-12-06 2024-02-20 山东数源地理信息技术有限公司 一种市政工程地形测绘用测绘标杆

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