A customizable multi-eye vision 3D close-range photography device

Abstract

The present invention relates to a multi-eye vision three-dimensional close-range photography device that can be customized independently, including a dark box, a light-emitting device with adjustable light intensity is installed on the top of the dark box, a support seat is installed on the bottom of the dark box, a controllable rotating device is provided on the top of the support seat, a target object is placed on the controllable rotating device, three fixed-focus cameras are respectively provided above, on the same horizontal plane and below the target object, the three fixed-focus cameras are all connected to a shutter linkage device, the focal lengths and image specifications of the three fixed-focus cameras are consistent, the shutter linkage device is connected to the controllable rotating device, and the controllable rotating device outputs a signal to the shutter linkage device to control the working state of the shutter linkage device, thereby controlling the photographing action of the three fixed-focus cameras. Compared with the prior art, the present invention can autonomously drive the target object to rotate, and when the rotation stops, the three fixed-focus cameras are synchronized and automatically photographed, thereby improving work efficiency and photo quality, reducing photo data redundancy, and alleviating human labor.

Description

Technical Field

[0001] The invention relates to the technical field of close-range photogrammetry, and in particular to an autonomously customizable multi-eye vision three-dimensional close-range photography device. Background Art

[0002] Photogrammetry uses the binocular parallax of the human eye to restore and analyze the external spatial shape of the object by taking photos of the object at different positions, or uses the differences in the object's significant feature points in different images to calculate the parameters of the camera lens, position, etc. when the object was photographed, and solve the geometric position information of the image pixels.

[0003] As a major application field of close-range photogrammetry, digital close-range photogrammetry is an important technical means of using images to measure three-dimensional space by using close-range photogrammetry systems to truly reproduce the spatial posture of objects that cannot be approached or cannot be measured directly. Ultra-close-range photogrammetry refers to the photogrammetry of targets with a distance of 0.1 to 0.01 meters, and is often used to process small cultural relics, mechanical parts with complex shapes, and deformation measurement of small objects.

[0004] Traditional ultra-close photogrammetry instruments mostly use a multiplexer, using the multiplexer's projector as a camera. However, the multiplexer has limitations on the length, width, and height of objects, and the working conditions are poor. People need to work in a darkroom for a long time. The work procedures are cumbersome and time-consuming, and the projector has a low resolution, which makes it impossible to build a realistic three-dimensional model later.

[0005] In addition, the existing technology also uses a camera and arranges control points on the target to be measured. With the object to be photographed as the center of the circle, three circles are made around the object to be photographed from the top, middle and bottom respectively. 15-30 photos are taken in each circle, so that there is a large coverage rate between adjacent photos. By controlling the appropriate radius, the tripod is moved to shoot, and then a digital model of the target object is obtained based on the photos. In the actual shooting process, in order to improve the modeling accuracy and reduce the workload in the later stage of the three-dimensional modeling process, it is necessary to ensure that the object to be photographed is under sufficient and uniform lighting, and the moving angle and moving radius of the tripod are basically unchanged each time. Press the shutter to shoot. The whole process is time-consuming, labor-intensive and inefficient. When there are too many photos, data redundancy will be caused, the data volume is large, and the modeling time is long; when there are too few photos, there will be fewer points with the same name between adjacent photos, and an accurate three-dimensional model cannot be constructed. Summary of the invention

[0006] The purpose of the present invention is to overcome the defects of the above-mentioned prior art and to provide a customizable multi-eye vision three-dimensional close-range photography device, which can realize multi-camera synchronous automatic photo shooting of the target object under sufficient and uniform light, and can independently control the number of photos taken and the shooting angle.

[0007] The objective of the present invention can be achieved through the following technical scheme: a self-customizable multi-eye vision three-dimensional close-range photography device, comprising a dark box, a light-emitting device with adjustable light intensity is installed on the top of the dark box, a support seat is installed on the bottom of the dark box, a controllable rotating device is provided on the top of the support seat, a target object is placed on the controllable rotating device, three fixed-focus cameras are respectively arranged above, on the same horizontal plane and below the target object, the three fixed-focus cameras are all connected to a shutter linkage device, the focal lengths and image specifications of the three fixed-focus cameras are all consistent, the shutter linkage device is connected to the controllable rotating device, and the controllable rotating device outputs a signal to the shutter linkage device to control the working state of the shutter linkage device, thereby controlling the shooting action of the three fixed-focus cameras.

[0008] Furthermore, the three fixed-focus cameras are respectively connected to the top of the dark box via telescopic rods with adjustable lengths.

[0009] Furthermore, the controllable rotating device includes a rotating platform for placing a target object, the rotating platform is fixedly mounted on the top of the support frame, the rotating platform is connected to a first motor, the input end of the first motor is connected to a proximity switch for sensing a rotating plate, the rotating plate is mounted on a control panel, the proximity switch is placed on one side of the control panel, the control panel is connected to a second motor, the second motor drives the control panel to rotate, and drives the rotating plate to rotate. When the proximity switch senses the rotating plate, the proximity switch is closed and the first motor drives the rotating platform to rotate. When the proximity switch cannot sense the rotating plate, the proximity switch is disconnected, the first motor stops driving, and the rotating platform stops rotating.

[0010] Furthermore, the first motor is installed at the center of the rotating platform, and the second motor is installed at the center of the control panel.

[0011] Furthermore, the number of rotations of the rotating platform for a 360° rotation is n:

[0012]

[0013]

[0014]

[0015]

[0016] Where θ is the rotation angle of the rotating platform once, D x is the vertical interval of the fixed-focus camera, R is the horizontal straight-line distance between the fixed-focus camera and the target located on the same horizontal plane as the target, and P x % is the vertical overlap of the photos of the fixed-focus camera, fov xis the horizontal field of view of the fixed-focus camera, x is the horizontal size of the image of the fixed-focus camera, and f is the focal length of the fixed-focus camera.

[0017] Furthermore, the shutter linkage device includes a relay, an electromagnet and a shutter connected in sequence, the relay is connected to a proximity switch, and the shutter is respectively connected to three fixed-focus cameras. When the proximity switch cannot sense the rotating plate, it outputs a signal to the relay, the relay is closed, and the electromagnet moves, driving the shutter to move, so that the three fixed-focus cameras can complete the photo-taking action at the same time.

[0018] Furthermore, the vertical distance between the fixed-focus camera located above the target and the target is d, and the shooting angle of the fixed-focus camera is the angle α between the fixed-focus camera and the horizontal plane. The vertical distance between the fixed-focus camera located below the target and the target is also d, and the shooting angle of the fixed-focus camera is the angle (90°-α) between the fixed-focus camera and the vertical plane. The angle α between the fixed-focus camera located above the target and the horizontal plane is specifically:

[0019]

[0020] d≤D y

[0021]

[0022]

[0023] Where d is the vertical distance between the fixed-focus camera located above the target and the target, R is the horizontal straight-line distance between the fixed-focus camera located on the same horizontal plane as the target and the target, and D y is the lateral distance of the fixed-focus camera, P y % is the lateral overlap of the photos taken by the fixed-focus camera, fov y is the vertical field of view of the fixed-focus camera, and y is the vertical size of the image of the fixed-focus camera.

[0024] Furthermore, the dark box is specifically a cylindrical structure, and the radius of the dark box is greater than the horizontal distance between the fixed-focus camera and the target object, which are located on the same horizontal plane as the target object.

[0025] Furthermore, the dark box is specifically a rectangular parallelepiped structure, and the width of the dark box is greater than twice the horizontal distance between the fixed-focus camera and the target object located on the same horizontal plane as the target object.

[0026] Furthermore, the light emitting device is specifically a ring-shaped uniform light lamp.

[0027] Compared with the prior art, the present invention has the following advantages:

[0028] 1. The present invention sets a controllable rotating device so that the target object can automatically complete a rotation according to a preset number of rotations and rotation angles, and respectively sets three fixed-focus cameras above, on the same horizontal plane, and below the target object, and the shooting actions of the three fixed-focus cameras are all controlled by a shutter linkage device to complete automatic photography. Compared with the traditional method of using cameras to surround the target object from the top, middle, and bottom to take pictures of the target object, the present invention can achieve the purpose of synchronously and automatically taking pictures of the target object with multiple cameras, and has the advantages of high efficiency and controllable shooting.

[0029] 2. The present invention provides a closed dark box and installs a light-emitting device with adjustable light intensity on the top of the dark box. The size of the dark box is designed according to the horizontal distance between a fixed-focus camera located on the same horizontal plane as the target and the target, thereby ensuring a good shooting environment and thus ensuring the shooting quality of the photos.

[0030] 3. The present invention can calculate and adjust the shooting angle of the fixed-focus camera based on the focal length and image specification data of the fixed-focus camera itself. Based on the number of photos required to be taken, it can calculate and adjust the installation positions of the three fixed-focus cameras relative to the target object and design a controllable rotating device, so as to achieve the autonomous controllability of the device of the present invention. It has the characteristics of being customizable and can be well adapted to the shooting requirements of different targets. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a perspective structural schematic diagram of the present invention;

[0032] Figure 2 It is a structural schematic diagram of a controllable rotating device;

[0033] Figure 3 It is a schematic diagram of the longitudinal overlap and lateral overlap of the photographs taken;

[0034] Figure 4 A schematic diagram of adjacent intervals for taking photos;

[0035] Figure 5 It is a schematic diagram of the structure of the dark box from the right side of the present invention;

[0036] Explanation of the marks in the figure: 1. fixed-focus camera, 2. rotating platform, 3. virtual external ball of target object, 4. relay, 5. electromagnet, 6. shutter, 7. support frame, 8. target object, 9. light-emitting device, 10. telescopic rod, 11. dark box, 12. connecting wire, 13. proximity switch, 14. rotating plate, 15. control panel, 16. first motor, 17. second motor. DETAILED DESCRIPTION

[0037] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0038] Example

[0039] like Figure 1 As shown, a self-customizable multi-eye vision three-dimensional close-range photography device includes a dark box 11, a light-emitting device 9 is installed on the top of the dark box 11, and the light intensity of the light-emitting device 9 can be adjusted to ensure good shooting light. Three telescopic rods 10 are also installed on the top of the dark box 11. The angle between the three telescopic rods 10 is 120°. The ends of the three telescopic rods 10 are respectively connected to three fixed-focus cameras 1, and the three fixed-focus cameras 1 are connected to the shutter 6 through the connecting line 12. The shutter 6 is connected to the electromagnet 5 and the relay 4 in turn. The relay 4 is connected to the proximity switch 13, and the proximity switch 13 is located on one side of the control panel 15. A support frame 7 is provided at the bottom of the dark box 11, and a rotating platform 2 is installed on the top of the support frame 7. The target object 8 is placed on the rotating platform 2, and the rotating platform 2 is also connected to the proximity switch 13. Figure 1 A virtual circumscribed sphere 3 of the target object 8 is also given, and three fixed-focus cameras 1 are respectively located above, on the same horizontal plane, and below the target object 8 .

[0040] Specifically, Figure 2 As shown, a first motor 16 is installed at the center of the rotating platform 2, and the first motor 16 is connected to the proximity switch 13. A second motor 17 is installed at the center of the control panel 15. A rotating plate 14 is also installed on the control panel 15. The second motor 17 moves at a set speed to drive the rotating plate 14 on the control panel 15 to rotate. When the proximity switch 13 senses the rotating plate 14, the proximity switch 13 is closed, and the first motor 16 drives the rotating platform 2 to rotate, so that the target object 8 rotates; when the proximity switch 13 cannot sense the rotating plate 14, the proximity switch 13 is disconnected, the first motor 16 stops running, and the target object 8 stops at the current position; when the proximity switch 13 cannot sense the rotating plate 14, the signal is output to the relay 4, and the relay 4 controls the movement of the electromagnet 5 to drive the shutter 6 to move, so that the three fixed-focus cameras 1 complete synchronous photography. In this embodiment, both the first motor 16 and the second motor 17 are servo motors.

[0041] In practical applications, taking the dark box 11 as an example of a cylindrical structure, the specific process of constructing the device of the present invention is as follows:

[0042] Step 1: Considering that the target object is small in ultra-close photogrammetry, it is necessary to obtain the radius r of the virtual circumscribed sphere of the target object and the longitudinal overlap P of the photos. x % and photo lateral overlap P y %, usually longitudinal overlap P x %≥60%, lateral overlap P y % ≥ 30%, such as Figure 3 As shown, the relationship between photo 1 and photo 2 is two adjacent photos taken by the same camera, and the vertical overlap is Px %, Photo 1 and Photo 3 are photos taken by two cameras in the same vertical direction, and the lateral overlap is P y %.

[0043] Step 2: Get the focal length f of the fixed-focus camera lens and the image size x(mm)(horizontal)*y(mm)(vertical) to calculate the camera's horizontal field of view fov x Vertical field of view fov y :

[0044]

[0045]

[0046] Then according to the camera's horizontal field of view fov x Vertical field of view fov y , calculate the lateral and longitudinal intervals of the photos, such as Figure 4 As shown, the calculation formula for the longitudinal interval is:

[0047]

[0048] The calculation formula of lateral spacing is:

[0049]

[0050] Wherein, R is the horizontal straight-line distance between the fixed-focus camera located on the same horizontal plane as the target and the target.

[0051] Step 3: The three fixed-focus cameras are named A, B, and C from top to bottom. They are located above the target, B is on the same horizontal plane as the target, and C is below the target. The horizontal straight-line distance between B and the target is R. The length calculation formula of R is:

[0052]

[0053] That is, the minimum length of R is

[0054] Step 4: Figure 5 As shown, the vertical distances of A and B relative to the target are both d. Taking the center of the virtual circumscribed sphere of the target as the origin and vertically downward as the positive direction to establish a one-dimensional coordinate system, the camera field of view range can be obtained. Let the coordinates of the intersection of the field of view of B and the top of the target be y1, and the coordinates of the intersection of the field of view and the bottom of the target be y2:

[0055]

[0056]

[0057] Δy=y2-y1

[0058] Step 5. Assume that the angle between the direction of A and the horizontal direction is α, the coordinates of the intersection of the field of view angle and the top of the target object are y3, and the coordinates of the intersection of the field of view angle and the bottom of the target object are y4:

[0059] y3=y2-Δy*P y %

[0060]

[0061]

[0062] Step 6. C is similar to A and is distributed symmetrically along the horizontal plane. The angle between C and the horizontal direction is α.

[0063] Step 7. In this solution, while ensuring the feasibility of modeling, the fewer photos taken by the camera, the higher the modeling efficiency. The total number of times the target object needs to rotate 360° is n, and the angle of each rotation is θ:

[0064]

[0065]

[0066] After completing the above steps, you can set the speed of the first motor and the second motor and install the specific positions of the three fixed-focus cameras. In addition, the radius of the dark box also needs to be set to be greater than R. If the dark box adopts a rectangular structure, the width of the dark box needs to be set to be greater than 2*R.

[0067] In this embodiment, the light emitting device 9 uses a ring-shaped uniform light, and the fixed-focus camera uses a standard lens 50mm fixed-focus full-frame camera, whose image size is 36mm*24mm. The vertical overlap fov x =40%, after calculation, n=21.74, to make n a factor of 360°, take n=24:

[0068] The rotation speed of the rotating platform 2 and the control disk 15 is set to 2.5r / min, and it takes 1 second for each rotation of 15°. They are driven by the first motor 16 and the second motor 18 respectively. The rotating platform 2 rotates 15° each time. At the same time, a rotating plate 14 with an angle of 15° is installed on the control disk 15 at intervals of 60°. The proximity switch 13 is triggered when it senses the rotating plate 14, driving the rotating platform 2 to start rotating. The rotating platform 2 rotates 15° each time, and it takes 1 second for each rotation; the proximity switch 13 is closed when the rotating plate 14 is not sensed, and the rotating platform 2 stops rotating. It takes 4 seconds to stop once, so that the target object 8 is in a stationary state during shooting.

[0069] When the proximity switch 13 cannot sense the rotating plate 14, a signal is sent to the relay 4, and the relay 4 controls the movement of the electromagnet 5, thereby driving the shutter 6 to open, and the three fixed-focus cameras 1 take pictures synchronously. After the picture is taken, the rotating platform 2 continues to rotate. It takes a total of 120 seconds to complete the data collection of a target object, and a total of 72 photos are taken.

[0070] Finally, after exporting the photos, use 3D modeling software to perform batch automatic modeling to obtain high-precision 3D models.

[0071] In summary, the multi-eye vision three-dimensional close-range photography device proposed in the present invention provides a shooting environment, which includes a shooting unit, a controllable rotating device and a shutter linkage device, wherein the shooting environment is composed of a light-emitting device and a dark box, the shooting unit is composed of three fixed-focus cameras and corresponding telescopic rods located above, on the same horizontal plane and below the target object, the controllable rotating device is composed of a rotating platform, a first motor, a proximity switch, a control panel, a second motor and a rotating plate, and the shutter linkage device is composed of a relay, an electromagnet and a shutter. The present invention can adjust and set the number of photos taken and the camera azimuth angle through autonomous calculation, so that multiple cameras can synchronously and automatically take photos of smaller targets under sufficient and uniform light, which can not only effectively improve efficiency and reduce photo data redundancy, but also ensure the quality of the photos taken.

Claims

1. A customizable multi-eye vision three-dimensional close-range photography device, characterized in that: The invention comprises a dark box (11), wherein a light emitting device (9) with adjustable light intensity is installed on the top of the dark box (11), a support seat is installed on the bottom of the dark box (11), a controllable rotating device is provided on the top of the support seat, a target object (8) is placed on the controllable rotating device, and three fixed-focus cameras (1) are respectively arranged above, on the same horizontal plane and below the target object (8), the three fixed-focus cameras (1) are all connected to a shutter (6) linkage device, the focal lengths and image specifications and sizes of the three fixed-focus cameras (1) are all consistent, the shutter (6) linkage device is connected to the controllable rotating device, and the controllable rotating device outputs a signal to the shutter (6) linkage device to control the working state of the shutter (6) linkage device, thereby controlling the photographing action of the three fixed-focus cameras (1); The controllable rotating device comprises a rotating platform (2) for placing a target object (8), the rotating platform (2) being fixedly mounted on the top of a supporting frame (7), the rotating platform (2) being connected to a first motor (16), the input end of the first motor (16) being connected to a proximity switch (13) for sensing a rotating plate (14), the rotating plate (14) being mounted on a control panel (15), the proximity switch (13) being placed on one side of the control panel (15), the control panel (15) being connected to a second motor (17), the second motor (17) driving the control panel (15) to rotate, driving the rotating plate (14) to rotate, when the proximity switch (13) senses the rotating plate (14), the proximity switch (13) is closed, the first motor (16) drives the rotating platform (2) to rotate, when the proximity switch (13) fails to sense the rotating plate (14), the proximity switch (13) is disconnected, the first motor (16) stops driving, and the rotating platform (2) stops rotating; The number of rotations of the rotating platform (2) for a rotation of 360° is n: Where θ is the rotation angle of the rotating platform (2) once, D x is the vertical interval of the fixed-focus camera (1) for taking photos, R is the horizontal straight-line distance between the fixed-focus camera (1) and the target (8) located on the same horizontal plane as the target (8), and P x % is the vertical overlap of the photos taken by the fixed-focus camera (1), fov x is the horizontal field angle of the fixed-focus camera (1), x is the horizontal size of the image of the fixed-focus camera (1), and f is the focal length of the fixed-focus camera (1); The shutter (6) linkage device comprises a relay (4), an electromagnet (5) and a shutter (6) connected in sequence, wherein the relay (4) is connected to a proximity switch (13), and the shutter (6) is respectively connected to three fixed-focus cameras (1). When the proximity switch (13) cannot sense the rotating plate (14), a signal is output to the relay (4), the relay (4) is closed, the electromagnet (5) moves, and the shutter (6) is driven to move, so that the three fixed-focus cameras (1) complete the photo-taking action at the same time; The vertical distance between the fixed-focus camera (1) located above the target (8) and the target (8) is d, and the shooting angle of the fixed-focus camera (1) is the angle α between the fixed-focus camera (1) and the horizontal plane. The vertical distance between the fixed-focus camera (1) located below the target (8) and the target (8) is also d, and the shooting angle of the fixed-focus camera (1) is the angle (90°-α) between the fixed-focus camera (1) and the vertical plane. The angle α between the fixed-focus camera (1) located above the target (8) and the horizontal plane is specifically: d≤D y Wherein, d is the vertical distance between the fixed-focus camera (1) located above the target (8) and the target (8), R is the horizontal straight-line distance between the fixed-focus camera (1) located on the same horizontal plane as the target (8) and the target (8), and D y is the lateral distance of the fixed-focus camera (1), P y % is the lateral overlap of the photos taken by the fixed-focus camera (1), fov y is the vertical field angle of the fixed-focus camera (1), and y is the vertical size of the image of the fixed-focus camera (1); The three fixed-focus cameras (1) are named A, B, and C from top to bottom, and are located above, middle, and below the target (8). A is located above the target (8), B is on the same horizontal plane as the target (8), and C is located below the target (8). The horizontal straight-line distance between B and the target (8) is R, and the length calculation formula of R is: That is, the minimum length of R is 2. The self-customizable multi-eye vision three-dimensional close-range photography device according to claim 1, characterized in that: The three fixed-focus cameras (1) are respectively connected to the top of the dark box (11) via telescopic rods (10) with adjustable lengths.

3. The self-customizable multi-eye vision 3D close-range photography device according to claim 1, characterized in that: The first motor (16) is installed at the center of the rotating platform (2), and the second motor (17) is installed at the center of the control panel (15).

4. The self-customizable multi-eye vision three-dimensional close-range photography device according to claim 1, characterized in that: The dark box (11) is specifically a cylindrical structure, and the radius of the dark box (11) is greater than the horizontal distance between the fixed-focus camera (1) and the target object (8) located on the same horizontal plane as the target object (8).

5. The self-customizable multi-eye vision 3D close-range photography device according to claim 1, characterized in that: The dark box (11) is specifically a rectangular parallelepiped structure, and the width of the dark box (11) is greater than twice the horizontal distance between the fixed-focus camera (1) and the target object (8) located on the same horizontal plane as the target object (8).

6. The self-customizable multi-eye vision three-dimensional close-range photography device according to claim 1, characterized in that: The light emitting device (9) is specifically a ring-shaped uniform light lamp.

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