A high-precision three-dimensional vision measurement device and its measurement system

Abstract

The present invention relates to the technical field of three-dimensional vision measurement devices, and discloses a high-precision three-dimensional vision measurement device and its measurement system, including a three-dimensional vision measurement device. The three-dimensional vision measurement device includes a monitoring tabletop. Lighting devices are installed on the four sides of the upper surface of the monitoring tabletop. A three-dimensional vision measurement auxiliary device is installed on the side of the upper surface of the monitoring tabletop. A dust cleaning structure is installed at a position away from the monitoring tabletop for the three-dimensional vision measurement auxiliary device. A limiting device is installed at the middle position of the upper surface of the monitoring tabletop; a measurement system is provided inside the three-dimensional vision measurement auxiliary device. By providing a lighting device and a measurement system, the present invention is beneficial for the measurement system to control the lighting device to perform automatic cleaning operations on the protective glass. By providing a dust cleaning structure and a measurement system, the present invention is beneficial for the measurement system to judge that there is a certain amount of dust remaining on the surface of the mirror protection glass of the lens, and control the dust cleaning structure to clean the dust on the cleaning lens.

Description

Technical Field

[0001] The present invention relates to the technical field of three-dimensional vision measurement devices, and more particularly to a high-precision three-dimensional vision measurement device and its measurement system. Background Art

[0002] A high-precision three-dimensional vision measurement device is a high-precision measuring instrument that uses optical imaging technology, computer processing, and analysis technology to measure three-dimensional objects. Among them, common high-precision three-dimensional vision measurement devices mainly consist of a projection light irradiation mechanism, an image acquisition mechanism, an image analysis system, three-dimensional reconstruction, and a measurement analysis system, etc.;

[0003] The specific working principle of the high-precision three-dimensional vision measurement device is as follows: First, the projection light irradiation mechanism: The projector emits a special light source and irradiates the light onto the surface of the object to be measured; Second, the image acquisition mechanism: The camera images the light projected on the surface of the object and converts the image data into a black-and-white dot matrix image or a grayscale image; Third, the image analysis system: The computer software analyzes and processes the obtained dot matrix image or grayscale image, and establishes the three-dimensional coordinate data of the object surface by calculating information such as the brightness of each pixel point; Fourth, the three-dimensional reconstruction system: According to the three-dimensional shape of the object to be measured calculated from the measurement sphere and the measurement data, through the three-dimensional reconstruction algorithm, the three-dimensional coordinate data is connected into a three-dimensional point cloud model, and finally a three-dimensional visualization model of the object to be measured is generated; Fifth, the measurement analysis system: Analyze and measure the three-dimensional visualization model through computer software to obtain important parameters such as the true size, surface topography, and accuracy of the object to be measured;

[0004] Existing high-precision three-dimensional vision measurement devices are mainly applied in non-closed environments. Therefore, a certain amount of dust adheres to the surface of the data acquisition camera. The presence of dust will change the propagation path and reflection characteristics of light, resulting in problems such as noise, blurring, or distortion in the images captured by the camera. These problems will further affect the analysis and processing of subsequent dot matrix images or grayscale images, thereby reducing the accuracy and reliability of the measurement results. When a certain amount of dust remains on the camera surface, it is mainly solved by manual observation and self-maintenance, resulting in a certain waste of manpower. Summary of the Invention

[0005] In order to overcome the above-mentioned defects of the prior art, the present invention provides a high-precision three-dimensional vision measurement device and its measurement system to solve the problems existing in the above background art.

[0006] The present invention provides the following technical solution: A high-precision three-dimensional vision measurement device, including a three-dimensional vision measurement device. The three-dimensional vision measurement device includes a monitoring tabletop. Lighting devices are installed on the four sides of the upper surface of the monitoring tabletop. A three-dimensional vision measurement auxiliary device is installed on the side of the upper surface of the monitoring tabletop. A dust cleaning structure is installed at a position away from the monitoring tabletop. A limiting device is installed at the middle position of the upper surface of the monitoring tabletop;

[0007] A measurement system is provided inside the three-dimensional vision measurement auxiliary device. The measurement system is applied to the three-dimensional vision measurement device, lighting device, and dust cleaning structure for monitoring operations. A storage cylinder is installed at the bottom of the monitoring tabletop. A wind power device is installed at the bottom of the storage cylinder for generating adsorbed wind energy. A filter screen is installed at the connection between the storage cylinder and the wind power device to prevent dust from entering the interior of the wind power device. The inner walls on both sides of the storage cylinder are fixedly connected through the first U-shaped tube. The back of the storage cylinder is fixedly connected through the second U-shaped tube. An auxiliary U-shaped tube is installed at the top of the second U-shaped tube;

[0008] Electromagnetic valves are installed on the inner walls of both the first U-shaped tube and the second U-shaped tube.

[0009] Furthermore, the lighting device includes a frame. Lighting tubes are installed on the inner wall of the frame in a uniformly arranged manner from top to bottom in sequence. A protective glass is installed on the side of the frame near the lighting tubes. Two groups of chutes are opened on the inner wall of the frame near the protective glass. Sliders are movably sleeved on the inner walls of the two groups of chutes.

[0010] Furthermore, a transmission lead screw is threadedly connected to the inner wall of the slider. The bottom of the transmission lead screw is installed on the output shaft of a micro motor. The micro motor inputs current to drive the transmission lead screw to rotate. The rotating transmission lead screw is threadedly connected to the inner wall of the slider through a movable connection, driving the slider to move on the surface of the transmission lead screw.

[0011] Furthermore, a first telescopic tube is installed on the side of the slider. The bottom of the first telescopic tube is fixedly connected through the first telescopic tube. A hollow plate is movably sleeved on the inner wall of the first telescopic tube. First springs are installed on both sides of the first telescopic tube. A scraping plate is installed on the side of the first telescopic tube. A card slot is opened on the inner wall of the hollow plate near the scraping plate. Adsorption holes are installed on the outer wall of the hollow plate near the card slot.

[0012] Furthermore, the dust cleaning structure includes a three-dimensional vision measurement mechanism. A lens is installed at the bottom of the three-dimensional vision measurement mechanism. The three-dimensional vision measurement mechanism controls the three-dimensional vision measurement mechanism to collect the pixel value R, chromaticity value F, and light intensity data U of the outside. The three-dimensional vision measurement mechanism transmits the collected pixel value R, chromaticity value F, and light intensity data U to the measurement system for monitoring operations.

[0013] Further, a connecting support plate is installed on the outer wall at the bottom of the three-dimensional vision measurement mechanism. An electric lifting column is installed on the side of the connecting support plate. The bottom of the electric lifting column is installed with an annular frame. Two groups of transmission grooves are opened on the inner wall of the annular frame. A second telescopic tube is installed on the outer wall of one group of transmission grooves. A filter screen is installed inside the other group of transmission grooves. A micro lifting column is installed on the inner wall of the annular frame near the filter screen. A hollow support plate is installed on the side of the micro lifting column. A lifting plate is movably sleeved inside the inner wall of the hollow support plate. A scraping support plate is installed on the top of the lifting plate. A second spring is installed on the bottom of the scraping support plate. A telescopic plate is installed at the bottom of the side of the hollow support plate.

[0014] A high-precision three-dimensional vision measurement system is applied to any one of the high-precision three-dimensional vision measurement devices as claimed in the claims. The measurement system includes an image processing unit, an execution unit, and a processor. The processor provides data operation support to the image processing unit and the execution unit.

[0015] The real-time pixel value R, real-time chromaticity value F, and real-time light intensity data U collected by the three-dimensional vision measurement mechanism are transmitted to the image processing unit.

[0016] The image processing unit further includes a data simulation library and an analysis module. The data simulation library simulates the simulated pixel value Rn and simulated chromaticity value Fn collected by the three-dimensional vision measurement mechanism when the lens surface is in a dust-free state, and integrates the simulated pixel value Rn and the simulated chromaticity value Fn to form a first data simulation range. The analysis module compares the real-time pixel value R and the real-time chromaticity value F with the first data simulation range. When the real-time pixel value R and the real-time chromaticity value F are not within the first data simulation range, the analysis module determines that the dust-proof glass on the lens surface is adhered with a dust amount exceeding the rated value, and the image processing unit issues a first execution command to the execution unit.

[0017] The data simulation library simulates the simulated light intensity data U collected by the three-dimensional vision measurement mechanism when the surface of the protective glass is in a dust-free state, and integrates the simulated light intensity data U to form a second data simulation range. The analysis module compares the real-time light intensity data U with the second data simulation range. When the real-time light intensity data U is not within the second data simulation range, it can be determined that the surface of the protective glass is adhered with a dust amount exceeding the rated value, and the image processing unit issues a second execution command to the execution unit.

[0018] The execution unit receives the second execution command to control the lighting device to input a quantitative current to clean the surface of the protective glass. The execution unit receives the first execution command to control the dust cleaning structure to input a quantitative current to clean the dust-proof glass of the lens.

[0019] Further, the image processing unit removes noise from the real-time pixel value R using the neighborhood averaging method and performs data edge processing using the Laplacian operator. The calculation formula of the neighborhood averaging method is where f(i,j) is the data signal, h(i,j) is the noise signal, N is the total number of data points, s is the number of noise points, i is the current value of the data signal, and j is the current time of the data signal.

[0020] The technical effects and advantages of the present invention are as follows:

[0021] 1. By providing an illumination device and a measurement system, it is beneficial for the measurement system to determine that when there is a certain amount of dust remaining on the surface of the frame, a quantitative current is input to the micro motor. The input current of the micro motor drives the transmission lead screw to rotate. The rotating transmission lead screw is connected to the inner wall of the slider through a movable thread, driving the slider to move on the surface of the transmission lead screw. The moving slider drives the hollow plate and the scraping plate to scrape on the surface of the protective glass. During the scraping process of the scraping plate, the wind power device inputs current to generate an adsorption force, which is delivered to the surface of the protective glass through the first U-shaped tube, the first telescopic tube, and the adsorption holes, so as to adsorb the dust generated by scraping and clean the protective glass.

[0022] 2. By providing a dust cleaning structure and a measurement system, it is beneficial for the measurement system to determine that there is a certain amount of dust remaining on the surface of the mirror protection glass of the lens. The electric lifting column inputs current to drive the annular frame to move to the bottom of the lens. The micro lifting column inputs current to drive the hollow support plate to move towards the position of the electric lifting column. During the movement of the hollow support plate, the second spring drives the lifting plate and the scraping support plate to contact the dust-proof glass surface of the lens, and under the drive of the micro lifting column, the dust on the dust-proof glass surface of the lens is scraped and cleaned. During the scraping process, the wind power device generates adsorbed air and delivers it to the inner wall of the annular frame through the second U-shaped tube, the auxiliary U-shaped tube, the second telescopic tube, and a set of transmission grooves to recycle the dust inside the annular frame, so as to achieve the effect of automatically cleaning the dust on the dust-proof glass surface of the lens. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a front view schematic diagram of the overall structure of the present invention.

[0024] Figure 2 It is a rear view schematic diagram of the overall structure of the present invention.

[0025] Figure 3 It is a schematic diagram of the overall structure of the illumination device of the present invention.

[0026] Figure 4 It is a schematic diagram of the overall structure of the hollow plate of the present invention.

[0027] Figure 5Schematic cross-sectional view of the overall structure of the hollow plate of the present invention.

[0028] Figure 6 Schematic view of the overall structure of the dust cleaning structure of the present invention.

[0029] Figure 7 Schematic view of the overall structure of the annular frame of the present invention.

[0030] Figure 8 Schematic cross-sectional view of the overall structure of the annular frame of the present invention.

[0031] Figure 9 Schematic cross-sectional view of the overall structure of the hollow support plate of the present invention.

[0032] Figure 10 Schematic view of the overall process of the monitoring system of the present invention.

[0033] Reference numerals are: 1, three-dimensional vision measurement device; 101, monitoring table; 102, storage cylinder; 103, wind power device; 104, first U-shaped tube; 105, limiting device; 106, three-dimensional vision measurement auxiliary device; 107, second U-shaped tube; 108, auxiliary U-shaped tube; 2, lighting device; 201, frame; 202, protective glass; 203, lighting tube; 204, hollow plate; 205, first telescopic tube; 206, transmission lead screw; 207, slider; 208, micro motor; 209, scraping plate; 210, adsorption hole; 211, first spring; 3, dust cleaning structure; 301, three-dimensional vision measurement mechanism; 302, lens; 303, annular frame; 304, second telescopic tube; 305, electric lifting column; 306, connecting support plate; 307, transmission groove; 308, micro lifting column; 309, hollow support plate; 310, filter screen; 311, second spring; 312, lifting plate; 313, scraping support plate; 314, telescopic plate; 4, measurement system; 401, image processing unit; 402, execution unit. Detailed implementation manners

[0034] Next, the technical solutions in the present invention will be clearly and completely described in conjunction with the accompanying drawings in the present invention. In addition, the forms of each structure described in the following embodiments are merely examples. A high-precision three-dimensional vision measurement device and its measurement system according to the present invention are not limited to the structures described in the following embodiments. All other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

[0035] Refer to Figures 1 to 2 and Figure 10As shown in the figure, the present invention provides a high-precision three-dimensional vision measurement device, including a three-dimensional vision measurement device 1. The three-dimensional vision measurement device 1 includes a monitoring desktop 101. Lighting devices 2 are installed on the four sides of the upper surface of the monitoring desktop 101. A three-dimensional vision measurement auxiliary device 106 is installed on the side surface of the upper surface of the monitoring desktop 101. A dust cleaning structure 3 is installed at a position far from the monitoring desktop 101 on the three-dimensional vision measurement auxiliary device 106. A limiting device 105 is installed at the middle position of the upper surface of the monitoring desktop 101;

[0036] A measurement system 4 is provided inside the three-dimensional vision measurement auxiliary device 106. The measurement system 4 is used for monitoring operations in the three-dimensional vision measurement device 1, the lighting device 2, and the dust cleaning structure 3. A storage cylinder 102 is installed at the bottom of the monitoring desktop 101. A wind power device 103 is installed at the bottom of the storage cylinder 102 for generating adsorbed wind energy. A filter screen is installed at the connection between the storage cylinder 102 and the wind power device 103 to prevent dust from entering the interior of the wind power device 103. First U-shaped tubes 104 are fixedly connected through the inner walls on both sides of the storage cylinder 102. A second U-shaped tube 107 is fixedly connected through the back of the storage cylinder 102. An auxiliary U-shaped tube 108 is installed at the top of the second U-shaped tube 107.

[0037] Electromagnetic valves are installed on the inner walls of the first U-shaped tube 104 and the second U-shaped tube 107 to control the adsorption of air into the first U-shaped tube 104 and the second U-shaped tube 107.

[0038] In the embodiment of the present application, the specific working process of this part of the application embodiment is as follows: The item to be measured is placed on the surface of the limiting device 105 for limiting operation. After the limiting is completed, the three-dimensional vision measurement auxiliary device 106 controls the dust cleaning structure 3 to collect the three-dimensional data of the item to be measured. During the collection process, the lighting device 2 inputs a fixed amount of current to perform a supplementary lighting operation on the item to be measured.

[0039] Refer to Figures 1 to 5 As shown in the figure, the present invention provides a high-precision three-dimensional vision measurement device, including a lighting device 2. The lighting device 2 includes a frame 201. Lighting tubes 203 are installed on the inner wall of the frame 201 in a uniformly arranged manner from top to bottom in sequence. A protective glass 202 is installed on the side of the frame 201 near the lighting tubes 203. Two groups of sliding grooves are opened on the inner wall of the frame 201 near the protective glass 202. Sliders 207 are movably sleeved on the inner walls of the two groups of sliding grooves;

[0040] The inner wall of the slider 207 is threadedly connected with a transmission lead screw 206. The bottom of the transmission lead screw 206 is installed on the output shaft of a micro motor 208. The micro motor 208 inputs current to drive the transmission lead screw 206 to perform a rotation operation. The rotating transmission lead screw 206 is movably threadedly connected to the inner wall of the slider 207, driving the slider 207 to move on the surface of the transmission lead screw 206;

[0041] A first telescopic tube 205 is installed on the side of the slider 207. The bottom of the first telescopic tube 205 penetrates and is fixedly connected. A 212 is movably sleeved on the inner wall of the hollow plate 204. First springs 211 are installed on both sides of the 212. A scraping plate 209 is installed on the side of the 212. A card slot is formed in the inner wall of the hollow plate 204 near the scraping plate 209. An adsorption hole 210 is installed on the outer wall of the hollow plate 204 near the card slot.

[0042] In the embodiment of the present application, the first telescopic tube 205 and the first U-shaped tube 104 are in a fixed connection state. The width of the card slot formed in the inner wall of the hollow plate 204 is greater than the width of the scraping plate 209, which is beneficial to the dust on the surface of the protective glass 202 being adsorbed into the interior of the hollow plate 204 under the driving of the adsorption force inside the first U-shaped tube 104 and the first telescopic tube 205.

[0043] In the embodiment of the present application, the specific working process of this part of the embodiment is as follows: When the measurement system 4 determines that there is a certain amount of dust remaining on the surface of the frame 201, the micro motor 208 inputs a fixed amount of current. The micro motor 208 inputs current to drive the transmission lead screw 206 to perform a rotation operation. The rotating transmission lead screw 206 is movably threadedly connected to the inner wall of the slider 207, driving the slider 207 to move on the surface of the transmission lead screw 206. The moving slider 207 drives the hollow plate 204 and the scraping plate 209 to perform a scraping operation on the surface of the protective glass 202. During the scraping process of the scraping plate 209, the wind power device 103 inputs current to generate an adsorption force, which is transmitted to the surface of the protective glass 202 through the first U-shaped tube 104, the first telescopic tube 205, and the adsorption hole 210, so as to perform an adsorption operation on the dust generated by scraping and clean the protective glass 202.

[0044] Refer to Figure 1 and Figures 6 to 9As shown, the present invention provides a high-precision three-dimensional vision measurement device, including a dust cleaning structure 3. The dust cleaning structure 3 includes a three-dimensional vision measurement mechanism 301. A lens 302 is installed at the bottom of the three-dimensional vision measurement mechanism 301. The three-dimensional vision measurement mechanism 301 controls the three-dimensional vision measurement mechanism 301 to collect the pixel value R, chromaticity value F, and light intensity data U of the outside. The three-dimensional vision measurement mechanism 301 transports the collected pixel value R, chromaticity value F, and light intensity data U to the measurement system 4 for monitoring operations.

[0045] A connecting support plate 306 is installed on the outer wall at the bottom of the three-dimensional vision measurement mechanism 301. An electric lifting column 305 is installed on the side of the connecting support plate 306. A ring frame 303 is installed at the bottom of the electric lifting column 305. Two groups of transmission grooves 307 are opened on the inner wall of the ring frame 303. A second telescopic tube 304 is installed on the outer wall of one group of transmission grooves 307. A filter screen 310 is installed inside the other group of transmission grooves 307. A micro-lifting column 308 is installed on the inner wall of the ring frame 303 near the filter screen 310. A hollow support plate 309 is installed on the side of the micro-lifting column 308. A lifting plate 312 is movably sleeved inside the inner wall of the hollow support plate 309. A scraping support plate 313 is installed at the top of the lifting plate 312. A second spring 311 is installed at the bottom of the scraping support plate 313. A telescopic plate 314 is installed at the bottom of the side of the hollow support plate 309.

[0046] In the embodiment of the present application, a card-type groove is opened on the inner wall of the ring frame 303. The hollow support plate 309 moves inside the card-type groove. The number of the lifting plates 312 and scraping support plates 313 inside the hollow support plate 309 is multiple groups. The multiple groups of lifting plates 312 and scraping support plates 313 are all in a movable sleeved relationship. Adsorption holes are opened on the inner wall at the bottom of the scraping support plate 313 for the transportation operation of adsorbing air.

[0047] In the embodiment of the present application, the specific working process of this part of the embodiment of the application is as follows: The measurement system 4 determines that there is a certain amount of dust on the surface of the mirror protection glass of the lens 302. The electric lifting column 305 inputs current to drive the ring frame 303 to move to the bottom of the lens 302. The micro-lifting column 308 inputs current to drive the hollow support plate 309 to move towards the position of the electric lifting column 305. During the movement of the hollow support plate 309, the second spring 311 drives the lifting plate 312 and the scraping support plate 313 to contact the dust-proof glass surface of the lens 302, and the dust on the dust-proof glass surface of the lens 302 is scraped and cleaned under the drive of the micro-lifting column 308. During the scraping process, the wind power device 103 generates adsorbed air and transports it to the inner wall of the ring frame 303 through the second U-shaped tube 107, the auxiliary U-shaped tube 108, the second telescopic tube 304, and a group of transmission grooves 307 to recycle the dust inside the ring frame 303, so as to achieve the effect of automatically cleaning the dust on the dust-proof glass surface of the lens 302.

[0048] Referring to Figure 10 as shown, the present invention provides a high-precision three-dimensional vision measurement device, including a measurement system 4, where the measurement system 4 includes an image processing unit 401, an execution unit 402, and a processor, and the processor provides data operation support for the image processing unit 401 and the execution unit 402;

[0049] The real-time pixel value R, real-time chromaticity value F, and real-time light intensity data U collected by the three-dimensional vision measurement mechanism 301 are transmitted to the image processing unit 401;

[0050] The image processing unit 401 further includes a data simulation library and an analysis module. The data simulation library simulates the simulated pixel value Rn and simulated chromaticity value Fn collected by the three-dimensional vision measurement mechanism 301 when the surface of the lens 302 is in a dust-free state, and integrates the simulated pixel value Rn and the simulated chromaticity value Fn to form a first data simulation range. The analysis module compares the real-time pixel value R and the real-time chromaticity value F with the first data simulation range. When the real-time pixel value R and the real-time chromaticity value F are not within the first data simulation range, the analysis module determines that the dustproof glass on the surface of the lens 302 adheres to a dust amount exceeding the rated value, and the image processing unit 401 issues a first execution command to the execution unit 402;

[0051] The data simulation library simulates the simulated light intensity data U collected by the three-dimensional vision measurement mechanism 301 when the surface of the protective glass 202 is in a dust-free state, and integrates the simulated light intensity data U to form a second data simulation range. The analysis module compares the real-time light intensity data U with the second data simulation range. When the real-time light intensity data U is not within the second data simulation range, it can be determined that the surface of the protective glass 202 adheres to a dust amount exceeding the rated value, and the image processing unit 401 issues a second execution command to the execution unit 402;

[0052] The execution unit 402 receives the second execution command to control the lighting device 2 to input a quantitative current to clean the surface of the protective glass 202, and the execution unit 402 receives the first execution command to control the dust cleaning structure 3 to input a quantitative current to clean the dustproof glass of the lens 302.

[0053] In the embodiment of the present application, after the execution unit 402 executes the first execution command or the second execution command, the three-dimensional vision measurement mechanism 301 performs secondary acquisition on the real-time pixel value R, the real-time chromaticity value F, and the real-time illumination intensity data U on the surface of the article and transmits them to the image processing unit 401 for secondary analysis. When the image processing unit 401 generates the first execution command or the second execution command again, the image processing unit 401 issues a third execution command to the execution unit 402. The third execution command controls the communication device provided inside the three-dimensional vision measurement device 1 to send a warning signal to the staff to remind the staff to arrive at the scene for inspection;

[0054] The image processing unit 401 performs denoising on the real-time pixel value R by the neighborhood averaging method and performs data edge processing using the Laplacian operator. The calculation formula of the neighborhood averaging method is In the formula, f(i,j) is the data signal, h(i,j) is the noise signal, N is the total number of data points, s is the number of noise points, i is the current value of the data signal, and j is the current time of the data signal.

[0055] The specific working process of the present invention is as follows:

[0056] Step 1: The article to be measured is placed on the surface of the limiting device 105 for limiting operation. After the limiting is completed, the three-dimensional vision measurement auxiliary device 106 controls the dust cleaning structure 3 to collect the three-dimensional data of the article to be measured. During the collection process, the lighting device 2 inputs a fixed amount of current to perform supplementary lighting operation on the article to be measured;

[0057] Step 2: When the measurement system 4 determines that there is a certain amount of dust remaining on the surface of the frame 201, the micro motor 208 inputs a fixed amount of current. The micro motor 208 inputs current to drive the transmission lead screw 206 to perform a rotation operation. The rotating transmission lead screw 206 is connected to the inner wall of the slider 207 through a movable thread, driving the slider 207 to move on the surface of the transmission lead screw 206. The moving slider 207 drives the hollow plate 204 and the scraping plate 209 to perform scraping operation on the surface of the protective glass 202. During the scraping process of the scraping plate 209, the wind power device 103 inputs current to generate an adsorption force, which is transmitted to the surface of the protective glass 202 through the first U-shaped tube 104, the first telescopic tube 205, and the adsorption holes 210, so as to adsorb the dust generated by the scraping and perform cleaning operation on the protective glass 202;

[0058] Step 3: The measurement system 4 determines that there is a certain amount of dust remaining on the surface of the protective glass of the lens 302. The electric lifting column 305 inputs current to drive the annular frame 303 to move to the bottom of the lens 302. The micro-lifting column 308 inputs current to drive the hollow support plate 309 to move towards the position of the electric lifting column 305. During the movement of the hollow support plate 309, the second spring 311 drives the lifting plate 312 and the scraping support plate 313 to contact the dust-proof glass surface of the lens 302, and under the drive of the micro-lifting column 308, the dust on the dust-proof glass surface of the lens 302 is scraped and cleaned. During the scraping process, the wind power device 103 generates adsorbed air and conveys it to the inner wall of the annular frame 303 through the second U-shaped tube 107, the auxiliary U-shaped tube 108, the second telescopic tube 304, and a set of transmission grooves 307, and the dust inside the annular frame 303 is recycled, so as to achieve the function of automatically cleaning the dust on the dust-proof glass surface of the lens 302.

[0059] Finally, several points should be noted: First, in the description of the present application, it should be noted that unless otherwise specified and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense, which can be mechanical connection or electrical connection, and can also be the communication inside two components. It can be directly connected. "Up", "down", "left", "right", etc. are only used to represent the relative position relationship. When the absolute position of the object being described changes, the relative position relationship may change;

[0060] Second: In the drawings of the disclosed embodiments of the present invention, only the structures related to the disclosed embodiments of the present disclosure are involved. Other structures can refer to the general design. Without conflict, the same embodiment and different embodiments of the present invention can be combined with each other;

[0061] Finally: The above are only the preferred embodiments of the present invention and are not used to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A high-precision three-dimensional vision measurement device, comprising a three-dimensional vision measurement device (1), characterized in that: The three-dimensional vision measurement device (1) includes a monitoring tabletop (101). Lighting devices (2) are installed on the four sides of the upper surface of the monitoring tabletop (101). A three-dimensional vision measurement auxiliary device (106) is installed on the side of the upper surface of the monitoring tabletop (101). A dust cleaning structure (3) is installed at a position away from the monitoring tabletop (101) of the three-dimensional vision measurement auxiliary device (106). A limiting device (105) is installed at the middle position of the upper surface of the monitoring tabletop (101). A measurement system (4) is provided inside the three-dimensional vision measurement auxiliary device (106). The measurement system (4) is applied to perform monitoring operations in the three-dimensional vision measurement device (1), the lighting device (2), and the dust cleaning structure (3). A storage cylinder (102) is installed at the bottom of the monitoring tabletop (101). A wind power device (103) is installed at the bottom of the storage cylinder (102) to generate adsorbed wind energy. A filter screen is installed at the connection between the storage cylinder (102) and the wind power device (103) to isolate dust from entering the interior of the wind power device (103). The inner walls on both sides of the storage cylinder (102) are fixedly connected through the first U-shaped tube (104). The second U-shaped tube (107) is fixedly connected through the back of the storage cylinder (102). An auxiliary U-shaped tube (108) is installed at the top of the second U-shaped tube (107). Solenoid valves are installed on the inner walls of both the first U-shaped tube (104) and the second U-shaped tube (107). The lighting device (2) includes a frame (201). Lighting tubes (203) are installed on the inner wall of the frame (201) in a uniformly arranged manner from top to bottom in sequence. A protective glass (202) is installed on the side of the frame (201) near the lighting tube (203). Two groups of sliding grooves are opened on the inner wall of the frame (201) near the protective glass (202). Sliders (207) are movably sleeved on the inner walls of the two groups of sliding grooves. A transmission lead screw (206) is threadedly connected to the inner wall of the slider (207). The bottom of the transmission lead screw (206) is installed on the output shaft of a micro motor (208). The input current of the micro motor (208) drives the transmission lead screw (206) to perform a rotation operation. The rotating transmission lead screw (206) is threadedly connected to the inner wall of the slider (207) through movement, driving the slider (207) to move on the surface of the transmission lead screw (206). A first telescopic tube (205) is installed on the side of the slider (207). The bottom of the first telescopic tube (205) is fixedly connected through the first telescopic tube (205). A (212) is movably sleeved on the inner wall of the hollow plate (204). First springs (211) are installed on both sides of the (212). A scraping plate (209) is installed on the side of the (212). A card slot is opened on the inner wall of the hollow plate (204) near the scraping plate (209). Adsorption holes (210) are installed on the outer wall of the hollow plate (204) near the card slot. The dust cleaning structure (3) includes a three-dimensional vision measurement mechanism (301). A lens (302) is installed at the bottom of the three-dimensional vision measurement mechanism (301). The three-dimensional vision measurement mechanism (301) controls the three-dimensional vision measurement mechanism (301) to collect the pixel value R, chromaticity value F, and light intensity data U of the outside. The three-dimensional vision measurement mechanism (301) transports the collected pixel value R, chromaticity value F, and light intensity data U to the measurement system (4) for monitoring operations; A connecting support plate (306) is installed on the outer wall at the bottom of the three-dimensional vision measurement mechanism (301). An electric lifting column (305) is installed on the side of the connecting support plate (306). A ring frame (303) is installed at the bottom of the electric lifting column (305). Two groups of transmission grooves (307) are opened on the inner wall of the ring frame (303). A second telescopic tube (304) is installed on the outer wall of one group of transmission grooves (307). A filter screen (310) is installed inside the other group of transmission grooves (307). A micro lifting column (308) is installed on the inner wall of the ring frame (303) near the filter screen (310). A hollow support plate (309) is installed on the side of the micro lifting column (308). A lifting plate (312) is movably sleeved inside the inner wall of the hollow support plate (309). A scraping support plate (313) is installed at the top of the lifting plate (312). A second spring (311) is installed at the bottom of the scraping support plate (313). A telescopic plate (314) is installed at the bottom of the side of the hollow support plate (309).

2. A high-precision three-dimensional vision measurement system, characterized in that, Applied to a high-precision three-dimensional vision measurement device described in claim 1, the measurement system (4) includes an image processing unit (401), an execution unit (402), and a processor. The processor provides data operation support to the image processing unit (401) and the execution unit (402); The real-time pixel value R, real-time chromaticity value F, and real-time light intensity data U collected by the three-dimensional vision measurement mechanism (301) are transported to the image processing unit (401); The image processing unit (401) further includes a data simulation library and an analysis module. The data simulation library simulates the simulated pixel value Rn and simulated chromaticity value Fn collected by the three-dimensional vision measurement mechanism (301) when the surface of the lens (302) is in a dust-free state, and integrates the simulated pixel value Rn and the simulated chromaticity value Fn to form a first data simulation range. The analysis module compares the real-time pixel value R and the real-time chromaticity value F with the first data simulation range. When the real-time pixel value R and the real-time chromaticity value F are not within the first data simulation range, the analysis module determines that the dust-proof glass on the surface of the lens (302) is adhered with a dust amount exceeding the rated value, and the image processing unit (401) issues a first execution command to the execution unit (402); The data simulation library simulates the analog light intensity data U collected by the three-dimensional vision measurement mechanism (301) when the surface of the protective glass (202) is in a dust-free state, and integrates the analog light intensity data U to form a second data simulation range. The analysis module compares the real-time light intensity data U with the second data simulation range. When the real-time light intensity data U is not within the second data simulation range, it can be determined that the surface of the protective glass (202) is adhered with more than the rated amount of dust, and the image processing unit (401) sends a second execution command to the execution unit (402); The execution unit (402) receives the second execution command to control the lighting device (2) to input a quantitative current to clean the surface of the protective glass (202). The execution unit (402) receives the first execution command to control the dust cleaning structure (3) to input a quantitative current to clean the dust-proof glass of the lens (302).

3. The high-precision three-dimensional vision measurement system according to claim 2, wherein: The image processing unit (401) performs denoising on the real-time pixel value R using the neighborhood averaging method, and performs data edge processing using the Laplacian operator. The calculation formula of the neighborhood averaging method is In the formula, f(i,j) is the data signal, h(i,j) is the noise signal, N is the total number of data points, s is the number of noise points, i is the current value of the data signal, and j is the current time of the data signal.

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