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Large-view single-texture active projection module and 3D camera

A projection module and large field of view technology, applied in the field of 3D vision, can solve problems such as complex optical path design, expensive cost, etc., achieve high resolution, energy concentration, and improve use efficiency

Active Publication Date: 2021-05-04
SEIZET TECH SHEN ZHEN CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Although this solution can achieve large field of view measurement, it requires complex optical path design and expensive cost to achieve high resolution requirements

Method used

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  • Large-view single-texture active projection module and 3D camera
  • Large-view single-texture active projection module and 3D camera
  • Large-view single-texture active projection module and 3D camera

Examples

Experimental program
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Effect test

Embodiment 1

[0044] Such as figure 1 As shown, the present invention discloses a large-view single-texture active projection module (hereinafter referred to as the active projection module), which includes a coaxially arranged high-brightness LED light source 1, a lens module, and a mask plate 4 in sequence.

[0045] The LED light source 1 is used to provide detection light;

[0046] After the detection light is collected, converged, collimated, and shaped by the lens module, a modulated light beam with a cross-sectional shape consistent with the mask and a cross-sectional size slightly larger than the mask is formed and irradiated to the mask. The mask plate 4; the mask plate 4 is provided with a mask pattern with an aperture of micron level, and the mask pattern includes transparent features for transmitting the modulated light beam and opaque features for blocking the modulated light beam feature.

[0047] The active projection module of a single texture with a large field of view sho...

Embodiment 2

[0067] The present invention also discloses a 3D camera, including a large field of view single texture active projection module 10 as described in Embodiment 1 and two industrial cameras 20, the two industrial cameras 20 are located in the projection module The two sides of the group, and the projection range of the projection module 10 is within the respective image collection ranges of the two industrial cameras 20 .

[0068] Such as figure 2 As shown, a 3D camera shown in the present invention is based on the principle of binocular parallax, and the left and right industrial cameras 20 simultaneously shoot the object to be measured with a projection pattern, and take the left camera as a reference, and aim at each pixel point in the epipolar direction Traverse the right camera image and calculate the correlation point by point. If the correlation matching condition is met, triangulation is performed and the spatial information is output. By sequentially traversing each f...

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Abstract

The invention discloses a large-view single-texture active projection module. The large-view single-texture active projection module comprises a high-brightness LED light source, a lens module and a mask plate which are coaxially arranged in sequence; the LED light source is used for providing detection light; the detection light is subjected to light collection, convergence, collimation and shaping treatment by the lens module to form a modulated light beam of which the section shape is consistent with that of the mask plate and the section size is slightly larger than that of the mask plate, and the modulated light beam is irradiated to the mask plate; and the mask plate is provided with a mask pattern with a micron-level aperture, and the mask pattern comprises a transparent feature used for transmitting the modulated light beam and a non-transparent feature used for blocking the modulated light beam. Therefore, the active projection module disclosed by the invention has the advantages of large visual field, high resolution, good texture pattern specificity and high subsequent calculation speed.

Description

technical field [0001] The invention belongs to the technical field of three-dimensional vision, and more specifically relates to a large-view single-texture active projection module and a 3D camera. Background technique [0002] In recent years, with the rapid development of 3D machine vision technology and the continuous improvement of image acquisition equipment, 3D vision technology and 3D cameras have been more and more used in the field of industry and logistics, providing visual perception. Among them, the 3D camera includes a camera module for projecting texture patterns on the surface of the measured object and a binocular industrial camera for collecting modulated texture patterns on the surface of the measured object. 3D vision robot grasping is the main application scenario of 3D cameras in industrial manufacturing and logistics industry automation. It can be used for parts grasping, logistics sorting, and depalletizing and palletizing. [0003] When using 3D c...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01B11/24G02B27/09G02B27/48G03B15/02
CPCG01B11/2433G02B27/0961G02B27/48G03B15/02
Inventor 高磊刘鉴霆
Owner SEIZET TECH SHEN ZHEN CO LTD
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