Adjustable double eye visual sensing device and method

Abstract

The invention discloses an adjustable double eye visual sensing device and method. The device comprises a sensor shell, which is composed of a bottom plate, a left plate, a right plate, and a shell cover; two cameras with a lens; a manually operated displacement platform for adjusting the baseline length; two manually operated rotary platforms for adjusting the angles of optic axes of cameras; an angle position platform, which is installed on the sensor shell and is used for adjusting the pitch angle; an organic glass plate for light transmittance; camera bases for fixing the cameras, and cooling fins for cooling the cameras. The provided device can make a shooting object always stay in the field range by adjusting the baseline length, the angles of optic axes, and sensor installation pitch angle, according to the different shooting objects, and good image information can be collected therefore. Moreover, the cameras can be changed according to actual needs only by replacing corresponding camera bases. The device has the advantages of compact structure and convenience in adjustment, and can be applied to fields such as robot visual positioning, target tracing, three dimensional reconstruction, and the like.

Description

technical field [0001] The present invention relates to a vision sensing device, in particular to an adjustable binocular vision sensing device and method; it is used for the baseline length, convergence angle and pitch angle of the binocular vision sensing device. Background technique [0002] At present, environmental three-dimensional information acquisition technology has been more and more widely used in robot navigation, automobile automatic driving, automatic production and other fields. Stereo vision sensor has become a One of the main ways to obtain three-dimensional information of the environment. Binocular vision is a common type of stereo vision sensor. At present, there are many kinds of binocular vision sensors applied to robots, such as the Bumblebee2 binocular vision stereo camera of Canadian Gray Point Company (PointGrey Research Inc). [0003] Most of the existing binocular vision sensors are composed of two cameras placed parallel and symmetrically in a d...

AI Technical Summary

Problems solved by technology

The optical axes of the two cameras of this fixed-structure binocular vision sensor are parallel to each other, and the common field of view of the cameras is fixed, unable to adapt to different ranges of measurement from far to near, and it is difficult to keep the measurement target always in the field of view during the measurement process central

Once the binocular vision sensor with a fixed structure is installed, its position and field of view are fixed, which brings certain difficulties to the measurement of targets in different ranges

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