Data acquisition device

Abstract

The invention provides a data acquisition device, and the device comprises a camera shooting unit, the camera shooting end of the camera shooting unit faces an object model, and the camera shooting unit comprises a first coordinate surface; the calibration unit is arranged on one side of the camera shooting unit, and the calibration unit comprises a second coordinate surface; the laser emitting unit is arranged on one side of the object model, and the emitting end of the laser emitting unit is opposite to the second coordinate surface; wherein the coordinate offset of the laser emission unit and the object model is equal to the coordinate offset of the first coordinate surface and the second coordinate surface. According to the data acquisition device disclosed by the invention, the space coordinates of the object model can be accurately and conveniently obtained by integrally utilizing coordinate conversion of the calibration unit and the laser emission unit, so that accurate training verification data is provided for the acquisition model; and thus, the acquisition model still has relatively high accuracy when acquiring coordinates of an object which is difficult to fix.

Description

Technical Field

[0001] The present disclosure relates to the technical field of data acquisition, and in particular to a data acquisition device. Background Art

[0002] Data collection is of great significance to data processing. For example, the collected data can be used to train the corresponding model, or the collected data can be used as a verification data set to verify the accuracy of the model, or the collected data can be analyzed and processed to complete or improve the corresponding business scenarios.

[0003] Although the current acquisition model can perform relatively accurate coordinate acquisition for fixed objects, it is difficult to acquire the coordinates of some objects that are difficult to fix, resulting in low accuracy of the acquisition model and failure to meet usage requirements. Therefore, the present disclosure provides a data acquisition device to provide training and verification data for the acquisition model, thereby improving the accuracy of the acquisition model. Summary of the invention

[0004] The present disclosure aims to solve one of the technical problems in the related art at least to some extent.

[0005] To this end, an object of the present disclosure is to provide a data acquisition device.

[0006] To achieve the above-mentioned purpose, the first aspect of the present disclosure provides a data acquisition device, comprising: a camera unit, a camera end of the camera unit is arranged along a third direction and facing an object model, and the camera unit comprises: a first coordinate plane, the first coordinate plane is distributed along a first direction and a second direction, and the first direction, the second direction and the third direction are perpendicular to each other; a calibration unit, the calibration unit is arranged on one side of the camera unit, and the calibration unit comprises: a second coordinate plane, the second coordinate plane is distributed along the first direction and the second direction; a laser emitting unit, the laser emitting unit is arranged on one side of the object model, and the emitting end of the laser emitting unit is arranged along the third direction and opposite to the second coordinate plane; wherein the coordinate offset between the laser emitting unit and the object model is equal to the coordinate offset between the first coordinate plane and the second coordinate plane.

[0007] Optionally, the data acquisition device also includes: a three-axis gimbal, the three-axis gimbal including: a first rotating seat rotating around the first direction, a second rotating seat rotating around the second direction and a third rotating seat rotating around the third direction; a first slide, the first slide is slidably set on the first rotating seat, the second rotating seat or the third rotating seat, and the camera unit is set on the first slide.

[0008] Optionally, the data acquisition device also includes: a supporting frame, the first rotating seat is rotatably set on the supporting frame, the second rotating seat is rotatably set on the first rotating seat, the third rotating seat is rotatably set on the second rotating seat, and the first slide is slidably set on the third rotating seat; the three-axis gimbal also includes: a first drive assembly, a second drive assembly, a third drive assembly and a fourth drive assembly, the first drive assembly is set on the supporting frame, the first drive assembly is transmission-connected to the first rotating seat, the second drive assembly is set on the first rotating seat, the second drive assembly is transmission-connected to the second rotating seat, the third drive assembly is set on the second rotating seat, the third drive assembly is transmission-connected to the third rotating seat, the fourth drive assembly is set on the third rotating seat, and the fourth drive assembly is transmission-connected to the first slide.

[0009] Optionally, the three-axis gimbal also includes: a first scale, which is arranged on one side of the first rotating seat and is arranged around the first direction; a second scale, which is arranged on one side of the second rotating seat and is arranged around the second direction; a third scale, which is arranged on one side of the third rotating seat and is arranged around the third direction; and a fourth scale, which is arranged on one side of the first sliding seat and is arranged along the sliding direction of the first sliding seat.

[0010] Optionally, the data acquisition device also includes: a three-axis gantry, the three-axis gantry including: a second slide sliding along the first direction, a third slide sliding along the second direction and a fourth slide sliding along the third direction, the laser emitting unit and the object model are arranged on the second slide, the third slide or the fourth slide.

[0011] Optionally, the data acquisition device also includes: a support seat, the fourth slide is slidably set on the support seat, the third slide is slidably set on the fourth slide, the second slide is slidably set on the third slide, and the laser emitting unit and the object model are set on the second slide; the three-axis gimbal also includes: a fifth drive assembly, a sixth drive assembly and a seventh drive assembly, the fifth drive assembly is set on the support seat, the fifth drive assembly is transmission-connected to the fourth slide, the sixth drive assembly is set on the fourth slide, the sixth drive assembly is transmission-connected to the third slide, the seventh drive assembly is set on the third slide, and the seventh drive assembly is transmission-connected to the second slide.

[0012] Optionally, the three-axis gantry also includes: a fifth scale, which is arranged on one side of the second slide and is arranged along the first direction; a sixth scale, which is arranged on one side of the third slide and is arranged along the second direction; and a seventh scale, which is arranged on one side of the fourth slide and is arranged along the third direction.

[0013] Optionally, the camera unit includes: a binocular camera, the camera end of the binocular camera is arranged along the third direction and facing the object model, the binocular camera includes: the first coordinate plane, the baseline of the binocular camera is located in the first coordinate plane, and the baseline of the binocular camera is perpendicular to the second direction.

[0014] Optionally, the calibration unit includes: a calibration plate, which is arranged on one side of the camera unit and is arranged opposite to the emitting end of the laser emitting unit, and the calibration plate includes: a plurality of first coordinate lines arranged along the first direction and a plurality of second coordinate lines arranged along the second direction, the plurality of first coordinate lines and the plurality of second coordinate lines are staggered to form the second coordinate plane, and the second coordinate plane and the first coordinate plane are located in the same plane.

[0015] Optionally, the object model includes: a first key point and multiple second key points; the laser emitting unit includes: an optical center; the coordinate offset between the optical center and the first key point is equal to the coordinate offset between the origin of the first coordinate plane and the origin of the second coordinate plane.

[0016] The technical solution provided by the present disclosure may have the following beneficial effects:

[0017] Since the coordinate offset of the laser emitting unit and the object model is equal to the coordinate offset of the first coordinate plane and the second coordinate plane, when the laser at the emitting end of the laser emitting unit irradiates the second coordinate plane, the two-dimensional coordinates of the object model on the first coordinate plane can be calculated based on the two-dimensional coordinates of the laser emitting unit on the second coordinate plane. At the same time, the spatial coordinates of the object model can be obtained by combining the distance between the object model and the first coordinate plane. Therefore, the coordinate conversion of the calibration unit and the laser emitting unit can be used as a whole to accurately and conveniently obtain the spatial coordinates of the object model, thereby providing accurate training and verification data for the acquisition model, so that the acquisition model still has high accuracy when acquiring coordinates of objects that are difficult to fix.

[0018] Additional aspects and advantages of the present disclosure will be given in part in the following description and in part will be obvious from the following description or learned through practice of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and / or additional aspects and advantages of the present disclosure will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0020] Figure 1 is a structural schematic diagram of a data acquisition device proposed in an embodiment of the present disclosure;

[0021] Figure 2 is a structural schematic diagram of an object model in a data acquisition device proposed in an embodiment of the present disclosure;

[0022] Figure 3 It is a structural schematic diagram of a three-axis gimbal in a data acquisition device proposed in an embodiment of the present disclosure;

[0023] Figure 4 It is a structural schematic diagram of a three-axis stand in a data acquisition device proposed in an embodiment of the present disclosure;

[0024] As shown in the figure: 1, camera unit, 11, binocular camera, 111, first coordinate plane;

[0025] 2. Calibration unit;

[0026] 21, second coordinate plane, 211, first coordinate line, 212, second coordinate line;

[0027] 22. Calibration plate;

[0028] 3. Laser emitting unit, 31. Optical center;

[0029] 4. Three-axis gimbal, 401. first rotating seat, 402. second rotating seat, 403. third rotating seat, 404. first driving assembly, 405. second driving assembly, 406. third driving assembly, 407. fourth driving assembly, 408. first scale, 409. second scale, 410. third scale, 411. fourth scale;

[0030] 5. first slide seat, 6. support frame;

[0031] 7. Three-axis gantry, 701. second slide, 702. third slide, 703. fourth slide, 704. fifth drive assembly, 705. sixth drive assembly, 706. seventh drive assembly, 707. fifth scale, 708. sixth scale, 709. seventh scale;

[0032] 8. Support seat;

[0033] 9. Object model, 91. First key point, 92. Second key point. DETAILED DESCRIPTION

[0034] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0035] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0036] like Figure 1 and Figure 2 As shown, an embodiment of the present disclosure proposes a data acquisition device, including a camera unit 1, a calibration unit 2 and a laser emitting unit 3, the camera end of the camera unit 1 is arranged along a third direction and facing the object model 9, and the camera unit 1 includes a first coordinate plane 111, the first coordinate plane 111 is distributed along a first direction and a second direction, the first direction, the second direction and the third direction are perpendicular to each other, the calibration unit 2 is arranged on one side of the camera unit 1, and the calibration unit 2 includes a second coordinate plane 21, the second coordinate plane 21 is distributed along the first direction and the second direction, the laser emitting unit 3 is arranged on one side of the object model 9, and the emitting end of the laser emitting unit 3 is arranged along the third direction and opposite to the second coordinate plane 21, wherein the coordinate offset of the laser emitting unit 3 and the object model 9 is equal to the coordinate offset of the first coordinate plane 111 and the second coordinate plane 21.

[0037] It can be understood that since the coordinate offset of the laser emitting unit 3 and the object model 9 is equal to the coordinate offset of the first coordinate plane 111 and the second coordinate plane 21, when the laser at the emitting end of the laser emitting unit 3 is irradiated on the second coordinate plane 21, the two-dimensional coordinates of the object model 9 on the first coordinate plane 111 can be calculated based on the two-dimensional coordinates of the laser emitting unit 3 on the second coordinate plane 21. At the same time, the spatial coordinates of the object model 9 can be obtained by combining the distance between the object model 9 and the first coordinate plane 111. Therefore, the coordinate transformation of the calibration unit 2 and the laser emitting unit 3 can be used as a whole to accurately and conveniently obtain the spatial coordinates of the object model 9, thereby providing accurate training and verification data for the acquisition model, thereby enabling the acquisition model to still have high accuracy when acquiring coordinates of objects that are difficult to fix.

[0038] It should be noted that the object model 9 refers to the model of the object whose spatial coordinates need to be collected. The specific type of the object model 9 can be set according to actual needs and is not limited to this. For example, the object model 9 can be a human body model, such as a human hand model.

[0039] The camera unit 1 is used to capture images. Since the camera end of the camera unit 1 faces the object model 9, the camera unit 1 can capture the image of the object model 9, and then combine the spatial coordinates of the object model 9 and the image of the object model 9 to train the acquisition model, verify the accuracy of the acquisition model, complete or improve the corresponding business scenario, etc. The specific type of the camera unit 1 can be set according to actual needs and is not limited to this.

[0040] The calibration unit 2 is used to provide a second coordinate plane 21 for calibrating the first coordinate plane 111, so as to calculate the two-dimensional coordinates of the object model 9 on the first coordinate plane 111 by utilizing the coordinate offset between the laser sensor and the object model 9 and the coordinate offset between the first coordinate plane 111 and the second coordinate plane 21. The specific type of the calibration unit 2 can be set according to actual needs and is not limited to this.

[0041] The laser emitting unit 3 is used to emit laser so as to determine the two-dimensional coordinates of the laser emitting unit 3 on the first coordinate plane 111 by utilizing the irradiation point of the laser on the second coordinate plane 21. The specific type of the laser emitting unit 3 can be set according to actual needs and is not limited to this. For example, the laser emitting unit 3 can be a laser emitter.

[0042] The first direction, the second direction and the third direction are three mutually perpendicular directions. The specific types of the first direction, the second direction and the third direction can be set according to actual needs and are not limited to this. For example, the first direction, the second direction and the third direction can be the x-axis direction, the y-axis direction and the z-axis direction in the coordinate system, respectively.

[0043] Among them, when the coordinates of the laser emitting unit 3 and the coordinates of the object model 9 only have offsets in the first direction and the second direction, the coordinates of the first coordinate plane 111 and the coordinates of the second coordinate plane 21 also only have offsets in the first direction and the second direction, that is, the first coordinate plane 111 and the second coordinate plane 21 are located in the same plane; when the coordinates of the laser emitting unit 3 and the coordinates of the object model 9 have offsets in the first direction, the second direction and the third direction, the coordinates of the first coordinate plane 111 and the coordinates of the second coordinate plane 21 may have offsets in the first direction, the second direction and the third direction, or may only have offsets in the first direction and the second direction, and at the same time, the offset of the coordinates of the laser emitting unit 3 and the coordinates of the object model 9 in the third direction is compensated to the spatial coordinates of the object model 9.

[0044] The method for obtaining the coordinate offset of the laser emitting unit 3 and the object model 9 can be set according to actual needs and is not limited to this. For example, the acquisition of the coordinate offset of the laser emitting unit 3 and the object model 9 can be achieved by manual measurement.

[0045] like Figure 3 As shown, in some embodiments, the data acquisition device also includes a three-axis pan-tilt head 4 and a first slide 5, the three-axis pan-tilt head 4 includes a first rotating seat 401 rotating around a first direction, a second rotating seat 402 rotating around a second direction, and a third rotating seat 403 rotating around a third direction, the first slide 5 is slidably set on the first rotating seat 401, the second rotating seat 402 or the third rotating seat 403, and the camera unit 1 is set on the first slide 5.

[0046] It can be understood that since the camera unit 1 is arranged on the first slide 5, the overall angle and position of the camera unit 1 can be adjusted by utilizing the rotation of the first rotating seat 401, the second rotating seat 402 and the third rotating seat 403 and the sliding of the first slide 5, so that the overall spatial coordinates of the object model 9 under different working conditions of the camera unit 1 can be obtained, thereby improving the overall measurement accuracy of the spatial coordinates of the object model 9.

[0047] It should be noted that the adjustment of the angle and position of the camera unit 1 can be set according to the specific type of the camera unit 1. For example, when the camera unit 1 is a binocular camera 11, the baseline of the camera unit 1 can be adjusted by rotating the first rotating seat 401, the second rotating seat 402 and the third rotating seat 403 and sliding the first slide 5. The angle between the optical axis of the camera unit 1 and the plane where the first direction and the third direction are located can be adjusted by rotating the first rotating seat 401, the second rotating seat 402 and the third rotating seat 403 and sliding the first slide 5.

[0048] The arrangement of the first rotating seat 401, the second rotating seat 402 and the third rotating seat 403 can be arranged according to actual needs, and there is no limitation to this. For example, the first rotating seat 401 is provided with a first rotating shaft arranged along the first direction, and the first rotating seat 401 rotates around the first direction by the cooperation of the first rotating shaft and the first bearing; the second rotating seat 402 is provided with a second rotating shaft arranged along the second direction, and the second rotating seat 402 rotates around the second direction by the cooperation of the second rotating shaft and the second bearing; the third rotating seat 403 is provided with a third rotating shaft arranged along the third direction, and the third rotating seat 403 rotates around the third direction by the cooperation of the third rotating shaft and the third bearing.

[0049] The setting method of the first slide 5 can be set according to actual needs and is not limited to this. For example, the first slide 5 is provided with a first rail groove, and the first rotating seat 401, the second rotating seat 402 or the third rotating seat 403 is provided with a first guide rail, and the first guide rail is slidably matched with the first rail groove to realize the sliding setting of the first slide 5.

[0050] Among them, the sliding direction of the first slide 5 can be set according to actual needs, and there is no limitation on this. For example, the sliding direction of the first slide 5 can be the first direction, the second direction, the third direction, etc., or it can be other directions except the first direction, the second direction and the third direction.

[0051] like Figure 3 As shown, in some embodiments, the data acquisition device also includes a support frame 6, a first rotating seat 401 is rotatably set on the support frame 6, a second rotating seat 402 is rotatably set on the first rotating seat 401, a third rotating seat 403 is rotatably set on the second rotating seat 402, a first slide 5 is slidably set on the third rotating seat 403, and the three-axis gimbal 4 also includes a first drive assembly 404, a second drive assembly 405, a third drive assembly 406 and a fourth drive assembly 407, the first drive assembly 404 is set on the support frame 6, the first drive assembly 404 is transmission-connected to the first rotating seat 401, the second drive assembly 405 is set on the first rotating seat 401, the second drive assembly 405 is transmission-connected to the second rotating seat 402, the third drive assembly 406 is set on the second rotating seat 402, the third drive assembly 406 is transmission-connected to the third rotating seat 403, the fourth drive assembly 407 is set on the third rotating seat 403, and the fourth drive assembly 407 is transmission-connected to the first slide 5.

[0052] It can be understood that since the first rotating seat 401 is rotatably set on the support frame 6, the second rotating seat 402 is rotatably set on the first rotating seat 401, the third rotating seat 403 is rotatably set on the second rotating seat 402, and the first slide 5 is slidably set on the third rotating seat 403, the overall body can utilize the rotation of the first rotating seat 401 around the first direction, the rotation of the second rotating seat 402 around the second direction, the rotation of the third rotating seat 403 around the third direction and the movement of the first slide 5 to achieve the adjustment of the angle and position of the camera unit 1, so that the overall body can obtain the spatial coordinates of the object model 9 under different working conditions of the camera unit 1, thereby improving the overall measurement accuracy of the spatial coordinates of the object model 9.

[0053] Moreover, since the first driving component 404 is arranged on the supporting frame 6 and the first driving component 404 is transmission-connected to the first rotating seat 401, the first driving component 404 can be used as the whole to realize automatic and precise rotation of the first rotating seat 401; since the second driving component 405 is arranged on the first rotating seat 401 and the second driving component 405 is transmission-connected to the second rotating seat 402, the second driving component 405 can be used as the whole to realize automatic and precise rotation of the second rotating seat 402; since the third driving component 406 is arranged on the second rotating seat 402 and the third driving component 406 is transmission-connected to the third rotating seat 403, the third driving component 406 can be used as the whole to realize automatic and precise rotation of the third rotating seat 403; since the fourth driving component 407 is arranged on the third rotating seat 403 and the fourth driving component 407 is transmission-connected to the first slide 5, the fourth driving component 407 can be used as the whole to realize automatic and precise movement of the first slide 5, thereby making the angle and position adjustment of the camera unit 1 more convenient and accurate.

[0054] It should be noted that the first drive component 404 is used to drive the rotation of the first rotating seat 401. The specific type of the first drive component 404 can be set according to actual needs and is not limited to this. For example, the first drive component 404 may include a first motor, and the first motor is arranged on the support frame 6. The output shaft of the first motor is coaxially connected to the first rotating shaft of the first rotating seat 401 through a coupling.

[0055] The second driving assembly 405 is used to drive the rotation of the second rotating seat 402. The specific type of the second driving assembly 405 can be set according to actual needs and is not limited to this. For example, the second driving assembly 405 may include a second motor, which is arranged on the first rotating seat 401. The output shaft of the second motor is coaxially connected to the second rotating shaft of the second rotating seat 402 through a coupling.

[0056] The third driving assembly 406 is used to drive the rotation of the third rotating seat 403. The specific type of the third driving assembly 406 can be set according to actual needs and is not limited to this. For example, the third driving assembly 406 may include a third motor, which is arranged on the second rotating seat 402. The output shaft of the third motor is coaxially connected to the third rotating shaft of the third rotating seat 403 through a coupling.

[0057] The fourth drive assembly 407 is used to drive the movement of the first slide 5. The specific type of the fourth drive assembly 407 can be set according to actual needs and is not limited to this. By way of example, the fourth drive assembly 407 may include a fourth motor and a first screw rod. The fourth motor is arranged on the third rotating seat 403, and the first screw rod is rotatably arranged on the third rotating seat 403. The first screw rod is threadedly connected to the first slide 5, and the output shaft of the third motor is coaxially connected to one end of the first screw rod through a coupling.

[0058] The support frame 6 is used to support the first rotating seat 401, the second rotating seat 402, the third rotating seat 403, the first slide seat 5, the camera unit 1, etc. The specific type of the support frame 6 can be set according to actual needs and is not limited to this. For example, the support frame 6 can be a tripod.

[0059] like Figure 3 As shown, in some embodiments, the three-axis gimbal 4 also includes a first scale 408, a second scale 409, a third scale 410 and a fourth scale 411. The first scale 408 is arranged on one side of the first rotating seat 401, and the first scale 408 is arranged around the first direction. The second scale 409 is arranged on one side of the second rotating seat 402, and the second scale 409 is arranged around the second direction. The third scale 410 is arranged on one side of the third rotating seat 403, and the third scale 410 is arranged around the third direction. The fourth scale 411 is arranged on one side of the first slide seat 5, and the fourth scale 411 is arranged along the sliding direction of the first slide seat 5.

[0060] It can be understood that, since the first scale 408 is arranged on one side of the first rotating seat 401 and the first scale 408 is arranged around the first direction, the first scale 408 can be used as a whole to obtain the rotation angle of the first rotating seat 401, since the second scale 409 is arranged on one side of the second rotating seat 402 and the second scale 409 is arranged around the second direction, the second scale 409 can be used as a whole to obtain the rotation angle of the second rotating seat 402, since the third scale 410 is arranged on one side of the third rotating seat 403 and the third scale 410 is arranged around the third direction, The third scale 410 can be used as a whole to obtain the rotation angle of the third rotating seat 403. Since the fourth scale 411 is set on one side of the first slide 5 and the fourth scale 411 is set along the sliding direction of the first slide 5, the fourth scale 411 can be used as a whole to obtain the moving distance of the first slide 5. Therefore, the first scale 408, the second scale 409, the third scale 410 and the fourth scale 411 can be used to accurately obtain the adjusted angle and position of the camera unit 1, thereby improving the overall measurement accuracy of the spatial coordinates of the object model 9.

[0061] It should be noted that the setting method of the first scale 408, the second scale 409, the third scale 410 and the fourth scale 411 can be set according to actual needs and is not limited to this. For example, the first scale 408 can be set on the support frame 6, and the first scale 408 is distributed along the circumference of the first rotating axis, the second scale 409 can be set on the first rotating seat 401, and the second scale 409 is distributed along the circumference of the second rotating axis, the third scale 410 can be set on the second rotating seat 402, and the third scale 410 is distributed along the circumference of the third rotating axis, and the fourth scale 411 can be set on the first guide rail, and the fourth scale 411 is distributed along the length direction of the first guide rail.

[0062] Among them, the first scale 408, the second scale 409, the third scale 410 and the fourth scale 411 can be scales in a detection device, such as a scale in a grating ruler. The first scale 408, the second scale 409, the third scale 410 and the fourth scale 411 can also be multiple scale lines processed by physical processes, and there is no limitation to this.

[0063] like Figure 4 As shown, in some embodiments, the data acquisition device also includes a three-axis stage 7, the three-axis stage 7 includes a second slide 701 sliding along a first direction, a third slide 702 sliding along a second direction, and a fourth slide 703 sliding along a third direction, and the laser emitting unit 3 and the object model 9 are arranged on the second slide 701, the third slide 702 or the fourth slide 703.

[0064] It can be understood that since the laser emitting unit 3 and the object model 9 are arranged on the second slide 701, the third slide 702 or the fourth slide 703, the overall position of the laser emitting unit 3 and the object model 9 can be adjusted by sliding the second slide 701, the third slide 702 and the fourth slide 703, so that the overall spatial coordinates of the object model 9 at different positions can be obtained, thereby improving the overall measurement accuracy of the spatial coordinates of the object model 9.

[0065] It should be noted that when the second slide 701 moves, the coordinates of the object model 9 in the first direction can be adjusted, when the third slide 702 moves, the coordinates of the object model 9 in the second direction can be adjusted, and when the fourth slide 703 moves, the coordinates of the object model 9 in the third direction can be adjusted.

[0066] The second slide 701, the third slide 702 and the fourth slide 703 can be set according to actual needs without limitation. For example, the second slide 701 is provided with a second rail groove set along the first direction, and the second rail groove is slidably matched with the second guide rail set along the first direction to realize the sliding setting of the second slide 701; the third slide 702 is provided with a third rail groove set along the second direction, and the third rail groove is slidably matched with the third guide rail set along the second direction to realize the sliding setting of the third slide 702; the fourth slide 703 is provided with a fourth rail groove set along the third direction, and the fourth rail groove is slidably matched with the fourth guide rail set along the third direction to realize the sliding setting of the fourth slide 703.

[0067] like Figure 4 As shown, in some embodiments, the data acquisition device also includes a support seat 8, a fourth slide 703 is slidably set on the support seat 8, a third slide 702 is slidably set on the fourth slide 703, a second slide 701 is slidably set on the third slide 702, a laser emitting unit 3 and an object model 9 are set on the second slide 701, and the three-axis gimbal 4 also includes a fifth drive assembly 704, a sixth drive assembly 705 and a seventh drive assembly 706, the fifth drive assembly 704 is set on the support seat 8, the fifth drive assembly 704 is transmission-connected to the fourth slide 703, the sixth drive assembly 705 is set on the fourth slide 703, the sixth drive assembly 705 is transmission-connected to the third slide 702, the seventh drive assembly 706 is set on the third slide 702, and the seventh drive assembly 706 is transmission-connected to the second slide 701.

[0068] It can be understood that since the fourth slide 703 is slidably set on the support seat 8, the third slide 702 is slidably set on the fourth slide 703, and the second slide 701 is slidably set on the third slide 702, the overall can utilize the movement of the second slide 701 along the first direction, the movement of the third slide 702 along the second direction, and the movement of the fourth slide 703 along the third direction to adjust the position of the object model 9, so that the overall can obtain the spatial coordinates of the object model 9 at different positions, thereby improving the overall measurement accuracy of the spatial coordinates of the object model 9.

[0069] Moreover, since the fifth drive component 704 is arranged on the support seat 8 and the fifth drive component 704 is transmission-connected to the fourth slide 703, the fifth drive component 704 can be used as the whole to realize automatic and precise movement of the fourth slide 703; since the sixth drive component 705 is arranged on the fourth slide 703 and the sixth drive component 705 is transmission-connected to the third slide 702, the sixth drive component 705 can be used as the whole to realize automatic and precise movement of the third slide 702; since the seventh drive component 706 is arranged on the third slide 702 and the seventh drive component 706 is transmission-connected to the second slide 701, the seventh drive component 706 can be used as the whole to realize automatic and precise movement of the second slide 701, thereby making the position adjustment of the object model 9 more convenient and accurate.

[0070] It should be noted that the fifth drive assembly 704 is used to drive the movement of the fourth slide 703. The specific type of the fifth drive assembly 704 can be set according to actual needs and is not limited to this. By way of example, the fifth drive assembly 704 may include a fifth motor and a second screw rod. The fifth motor is arranged on the support seat 8, and the second screw rod is rotatably arranged on the support seat 8. The second screw rod is threadedly connected to the fourth slide 703, and the output shaft of the fifth motor is coaxially connected to one end of the second screw rod through a coupling.

[0071] The sixth drive assembly 705 is used to drive the movement of the third slide 702. The specific type of the sixth drive assembly 705 can be set according to actual needs and is not limited to this. By way of example, the sixth drive assembly 705 may include a sixth motor and a third screw rod. The sixth motor is arranged on the fourth slide 703, and the third screw rod is rotatably arranged on the fourth slide 703. The third screw rod is threadedly connected to the third slide 702, and the output shaft of the sixth motor is coaxially connected to one end of the third screw rod through a coupling.

[0072] The seventh drive assembly 706 is used to drive the movement of the second slide 701. The specific type of the seventh drive assembly 706 can be set according to actual needs and is not limited to this. By way of example, the seventh drive assembly 706 may include a seventh motor and a fourth screw rod. The seventh motor is arranged on the third slide 702, and the fourth screw rod is rotatably arranged on the third slide 702. The fourth screw rod is threadedly connected to the second slide 701, and the output shaft of the seventh motor is coaxially connected to one end of the fourth screw rod through a coupling.

[0073] The support seat 8 is used to support the second slide 701, the third slide 702, the fourth slide 703, the object model 9, etc. The specific type of the support seat 8 can be set according to actual needs and is not limited to this.

[0074] like Figure 4As shown, in some embodiments, the three-axis stand 7 also includes a fifth scale 707, a sixth scale 708 and a seventh scale 709, the fifth scale 707 is arranged on one side of the second slide 701, and the fifth scale 707 is arranged along the first direction, the sixth scale 708 is arranged on one side of the third slide 702, and the sixth scale 708 is arranged along the second direction, the seventh scale 709 is arranged on one side of the fourth slide 703, and the seventh scale 709 is arranged along the third direction.

[0075] It can be understood that since the fifth scale 707 is set on one side of the second slide 701 and the fifth scale 707 is set along the first direction, the fifth scale 707 can be used as a whole to obtain the moving distance of the second slide 701. Since the sixth scale 708 is set on one side of the third slide 702 and the sixth scale 708 is set along the second direction, the sixth scale 708 can be used as a whole to obtain the moving distance of the third slide 702. Since the seventh scale 709 is set on one side of the fourth slide 703 and the seventh scale 709 is set along the third direction, the seventh scale 709 can be used as a whole to obtain the moving distance of the fourth slide 703. Therefore, by using the fifth scale 707, the sixth scale 708 and the seventh scale 709, the adjusted position of the object model 9 can be accurately obtained, thereby improving the overall measurement accuracy of the spatial coordinates of the object model 9.

[0076] It should be noted that the setting method of the fifth scale 707, the sixth scale 708 and the seventh scale 709 can be set according to actual needs and is not limited to this. For example, the fifth scale 707 can be set on the second guide rail, and the fifth scale 707 is distributed along the length direction of the second guide rail; the sixth scale 708 can be set on the third guide rail, and the sixth scale 708 is distributed along the length direction of the third guide rail; the seventh scale 709 can be set on the fourth guide rail, and the seventh scale 709 is distributed along the length direction of the fourth guide rail.

[0077] Among them, the fifth scale 707, the sixth scale 708 and the seventh scale 709 can be scales in the detection device, such as the scales in the grating ruler. The fifth scale 707, the sixth scale 708 and the seventh scale 709 can also be multiple scale lines processed by physical technology, and there is no limitation to this.

[0078] like Figure 1 As shown, in some embodiments, the camera unit 1 includes a binocular camera 11, the camera end of the binocular camera 11 is arranged along a third direction and facing the object model 9, the binocular camera 11 includes a first coordinate plane 111, the baseline of the binocular camera 11 is located in the first coordinate plane 111, and the baseline of the binocular camera 11 is perpendicular to the second direction.

[0079] It can be understood that since the camera end of the binocular camera 11 is arranged along the third direction and facing the object model 9, the binocular camera 11 can capture the image of the object model 9. At the same time, since the baseline of the binocular camera 11 is located in the first coordinate plane 111 and the baseline of the binocular camera 11 is perpendicular to the second direction, the binocular camera 11 can capture the image of the object model 9 based on the first coordinate plane 111, so that the overall image captured by the binocular camera 11 and the spatial coordinates of the object model 9 can be used to train the corresponding model, verify the accuracy of the model, complete or improve the corresponding business scenario, etc. while accurately measuring the spatial coordinates of the object model 9.

[0080] It should be noted that the main principle of the binocular camera 11 is to use the distance between the two cameras to capture different perspectives of an object, wherein, while ensuring that the baseline of the binocular camera 11 is located in the first coordinate plane 111 and the baseline of the binocular camera 11 is perpendicular to the second direction, the image planes of the two cameras of the binocular camera 11 should also be in the same plane.

[0081] The specific type of the binocular camera 11 can be set according to actual needs and is not limited thereto.

[0082] like Figure 1 As shown, in some embodiments, the calibration unit 2 includes a calibration plate 22, which is arranged on one side of the camera unit 1, and the calibration plate 22 is arranged opposite to the emitting end of the laser emitting unit 3, and the calibration plate 22 includes a plurality of first coordinate lines 211 arranged along the first direction and a plurality of second coordinate lines 212 arranged along the second direction, and the plurality of first coordinate lines 211 and the plurality of second coordinate lines 212 are staggered to form a second coordinate plane 21, and the second coordinate plane 21 and the first coordinate plane 111 are located in the same plane.

[0083] It can be understood that due to the staggered distribution of multiple first coordinate lines 211 and multiple second coordinate lines 212, a grid-shaped second coordinate plane 21 is formed on the calibration plate 22. When the laser at the emitting end of the laser emitting unit 3 irradiates the first coordinate line 211 and the second coordinate line 212 on the second coordinate plane 21, the two-dimensional coordinates of the laser emitting unit 3 on the second coordinate plane 21 can be obtained based on the coordinates in the first direction represented by the first coordinate line 211 and the coordinates in the second direction represented by the second coordinate line 212, and then combined with the distance between the object model 9 and the first coordinate plane 111, the spatial coordinates of the object model 9 can be obtained.

[0084] It should be noted that the number of the first coordinate lines 211 and the second coordinate lines 212 and the intervals between adjacent first coordinate lines 211 and the intervals between adjacent second coordinate lines 212 can be set according to actual needs and are not limited thereto.

[0085] The first coordinate line 211 and the second coordinate line 212 may be arranged on the calibration plate 22 according to actual needs, and there is no limitation to this. For example, the first coordinate line 211 and the second coordinate line 212 may be arranged on the rectangular calibration plate 22 by engraving, painting, etc.

[0086] like Figure 2 As shown, in some embodiments, the object model 9 includes a first key point 91 and multiple second key points 92, the laser emitting unit 3 includes an optical center 31, and the coordinate offset between the optical center 31 and the first key point 91 is equal to the coordinate offset between the origin of the first coordinate plane 111 and the origin of the second coordinate plane 21.

[0087] It can be understood that since the coordinate offset between the optical center 31 of the laser emitting unit 3 and the first key point 91 of the object model 9 is equal to the coordinate offset between the origin of the first coordinate plane 111 and the origin of the second coordinate plane 21, the two-dimensional coordinates of the first key point 91 on the first coordinate plane 111 can be accurately calculated based on the two-dimensional coordinates of the laser emitting unit 3 on the second coordinate plane 21, and the spatial coordinates of the first key point 91 are obtained by combining the distance between the first key point 91 and the first coordinate plane 111, and then the spatial coordinates of multiple second key points 92 are calculated using the coordinate offset between the second key point 92 and the first key point 91, thereby achieving accurate measurement of the spatial coordinates of the object model 9.

[0088] It should be noted that the positions of the first key point 91 and the second key point 92 can be set according to actual needs without limitation. For example, the first key point 91 can be the metacarpophalangeal joint at the bottom of the middle finger in the finger model, and the second key point 92 can be other positions in the finger model.

[0089] Among them, Figure 2 As shown, the offset of the optical center 31 and the first key point 91 in the first direction can be calculated as Δx, the offset of the optical center 31 and the first key point 91 in the second direction can be calculated as Δy, the two-dimensional coordinates of the laser emitting unit 3 on the second coordinate plane 21 are calculated as (x, y), and the two-dimensional coordinates of the first key point 91 on the first coordinate plane 111 are (x+Δx, y+Δy). If the distance between the first key point 91 and the first coordinate plane 111 is calculated as z, the spatial coordinates of the first key point 91 are (x+Δx, y+Δy, z).

[0090] In this article, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the term "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

Claims

1. A data acquisition device, characterized in that: include: A camera unit, wherein the camera end of the camera unit is arranged along a third direction and faces the object model, and the camera unit comprises: a first coordinate plane, the first coordinate plane is distributed along a first direction and a second direction, and the first direction, the second direction and the third direction are perpendicular to each other; A calibration unit, the calibration unit is arranged at one side of the camera unit, and the calibration unit comprises: a second coordinate plane, the second coordinate plane is distributed along the first direction and the second direction; a laser emitting unit, wherein the laser emitting unit is disposed on one side of the object model, and an emitting end of the laser emitting unit is disposed along the third direction and opposite to the second coordinate plane; The coordinate offset between the laser emitting unit and the object model is equal to the coordinate offset between the first coordinate plane and the second coordinate plane.

2. The data acquisition device according to claim 1, characterized in that: The data acquisition device also includes: A three-axis gimbal, the three-axis gimbal comprising: a first rotating seat rotating around the first direction, a second rotating seat rotating around the second direction, and a third rotating seat rotating around the third direction; A first slide seat, wherein the first slide seat is slidably disposed on the first rotating seat, the second rotating seat or the third rotating seat, and the camera unit is disposed on the first slide seat.

3. The data acquisition device according to claim 2, characterized in that: The data acquisition device further comprises: a support frame, the first rotating seat is rotatably arranged on the support frame, the second rotating seat is rotatably arranged on the first rotating seat, the third rotating seat is rotatably arranged on the second rotating seat, and the first sliding seat is slidably arranged on the third rotating seat; The three-axis gimbal also includes: a first drive component, a second drive component, a third drive component and a fourth drive component, the first drive component is arranged on the support frame, the first drive component is connected to the first rotating seat in a transmission manner, the second drive component is arranged on the first rotating seat, the second drive component is connected to the second rotating seat in a transmission manner, the third drive component is arranged on the second rotating seat, the third drive component is connected to the third rotating seat in a transmission manner, the fourth drive component is arranged on the third rotating seat, and the fourth drive component is connected to the first slide seat in a transmission manner.

4. The data acquisition device according to claim 2, characterized in that: The three-axis gimbal also includes: a first scale, the first scale being arranged on one side of the first rotating seat, and the first scale being arranged around the first direction; a second scale, the second scale being arranged on one side of the second rotating seat, and the second scale being arranged around the second direction; A third scale, the third scale is arranged on one side of the third rotating seat, and the third scale is arranged around the third direction; A fourth scale, wherein the fourth scale is arranged on one side of the first slide seat, and the fourth scale is arranged along the sliding direction of the first slide seat.

5. The data acquisition device according to claim 1, characterized in that: The data acquisition device also includes: A three-axis gantry comprises: a second slide seat sliding along the first direction, a third slide seat sliding along the second direction and a fourth slide seat sliding along the third direction, the laser emitting unit and the object model are arranged on the second slide seat, the third slide seat or the fourth slide seat.

6. The data acquisition device according to claim 5, characterized in that: The data acquisition device further comprises: a support seat, the fourth slide seat is slidably arranged on the support seat, the third slide seat is slidably arranged on the fourth slide seat, the second slide seat is slidably arranged on the third slide seat, and the laser emitting unit and the object model are arranged on the second slide seat; The three-axis gimbal also includes: a fifth drive assembly, a sixth drive assembly and a seventh drive assembly, the fifth drive assembly is arranged on the support seat, the fifth drive assembly is connected to the fourth slide in a transmission manner, the sixth drive assembly is arranged on the fourth slide, the sixth drive assembly is connected to the third slide in a transmission manner, the seventh drive assembly is arranged on the third slide, and the seventh drive assembly is connected to the second slide in a transmission manner.

7. The data acquisition device according to claim 5, characterized in that: The three-axis gantry also includes: a fifth scale, the fifth scale being arranged on one side of the second slide seat and being arranged along the first direction; a sixth scale, the sixth scale being arranged on one side of the third slide seat, and the sixth scale being arranged along the second direction; A seventh scale, wherein the seventh scale is arranged on one side of the fourth slide seat, and the seventh scale is arranged along the third direction.

8. The data acquisition device according to claim 1, characterized in that: The camera unit comprises: A binocular camera, wherein the imaging end of the binocular camera is arranged along the third direction and faces the object model, and the binocular camera comprises: the first coordinate plane, the baseline of the binocular camera is located in the first coordinate plane, and the baseline of the binocular camera is perpendicular to the second direction.

9. The data acquisition device according to claim 1, characterized in that: The calibration unit comprises: A calibration plate, wherein the calibration plate is arranged on one side of the camera unit and is arranged opposite to the emitting end of the laser emitting unit, and the calibration plate comprises: a plurality of first coordinate lines arranged along the first direction and a plurality of second coordinate lines arranged along the second direction, the plurality of first coordinate lines and the plurality of second coordinate lines are staggered to form the second coordinate plane, and the second coordinate plane and the first coordinate plane are located in the same plane.

10. The data acquisition device according to claim 1, characterized in that: The object model includes: a first key point and a plurality of second key points; The laser emitting unit comprises: an optical center; The coordinate offset between the optical center and the first key point is equal to the coordinate offset between the origin of the first coordinate plane and the origin of the second coordinate plane.

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