Three-dimensional camera and laser combined device

Abstract

The invention discloses a three-dimensional camera and laser device combined device which comprises a three-dimensional camera (2), a laser device mounting rack (3) and at least two laser devices which are mounted on a bracket (1), the three-dimensional camera (2) is rotatably mounted on the support (1) through a first multi-angle indexing table (5), the laser mounting rack (3) is rotatably mounted on the support (1) through a second multi-angle indexing table (6), and the laser is rotatably mounted on the laser mounting rack (3) through a multi-angle rotating table (7). The combined device of the three-dimensional camera and the laser can detect or calibrate a required object more accurately, not only can realize three-dimensional imaging, but also can calculate parameters such as three-dimensional data in a visual range, and is suitable for various scenes.

Description

Technical Field

[0001] This invention relates to a camera device, specifically a device combining a three-dimensional camera and a laser. Background Technology

[0002] Currently, devices used for 3D imaging on the market are usually standalone 3D stereo cameras or standalone lasers. When using a standalone 3D stereo camera, the field of view is wide, but the 3D data is not as accurate as that of a laser; while when using a standalone laser, although the accuracy is high, it can only scan into 2D images and requires an RGB camera in conjunction. Summary of the Invention

[0003] To address the aforementioned problems, this invention provides a high-precision, narrow-angle three-dimensional camera and laser combination device.

[0004] The technical solution adopted in this invention is as follows: a three-dimensional stereo camera and laser combination device, including a three-dimensional stereo camera mounted on a bracket, a laser mounting bracket, and at least two lasers; The three-dimensional camera is rotatably mounted on the bracket via a first multi-angle indexing table, the laser mounting bracket is rotatably mounted on the bracket via a second multi-angle indexing table, and the laser is rotatably mounted on the laser mounting bracket via a multi-angle rotary table. The laser beams from all the lasers are adjusted to converge at a single point using the multi-angle rotating platform. The three-dimensional camera is then adjusted to the desired angle using the first multi-angle indexing platform. Finally, the convergence point of all the lasers is adjusted to be within the field of view of the three-dimensional camera using the second multi-angle indexing platform.

[0005] The laser is provided in two parts, which are respectively installed on the left and right sides in front of the three-dimensional camera. One part is a line laser and the other part is a cross laser.

[0006] A dimming lamp is installed on the laser mounting bracket.

[0007] The bracket includes a vertical rod and a horizontal rod extending forward from the upper part of the vertical rod; the three-dimensional camera is installed at the bottom of the vertical rod, the laser mounting bracket is installed at the front end of the horizontal rod in the middle, and the line laser and the cross laser are respectively installed on the left and right sides of the laser mounting bracket.

[0008] The first and second multi-angle indexing tables can be adjusted up and down along the longitudinal plane containing the vertical and horizontal rods, and the multi-angle rotary table can be adjusted left and right along the horizontal plane perpendicular to the longitudinal plane.

[0009] Compared with the prior art, the three-dimensional stereo camera and laser combination device of the present invention uses laser-assisted guidance of the three-dimensional stereo camera, which not only achieves three-dimensional imaging, but also calculates three-dimensional stereo data and other parameters within the visual range. It can more accurately detect or calibrate the required object, achieve high precision and a relatively small viewing angle, and also eliminate the need for an RGB camera when using a laser alone, which helps to reduce costs. Attached Figure Description

[0010] Figure 1 This is a schematic diagram of the three-dimensional stereo camera and laser combination device of the present invention from the front view; Figure 2 This is a schematic diagram of the three-dimensional stereo camera and laser combination device of the present invention viewed from the rear. Figure 3 This is a schematic diagram of the three-dimensional stereo camera and laser combination device of the present invention in operation. Detailed Implementation

[0011] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0012] like Figure 1 and Figure 2 As shown, the three-dimensional stereo camera and laser combination device of the present invention mainly includes: a bracket 1, a three-dimensional stereo camera 2, a laser mounting bracket 3, and at least two lasers. The three-dimensional stereo camera 2 is rotatably mounted on the bracket 1 via a first multi-angle indexing stage 5, and can identify and measure the distance to the observed object and map a three-dimensional image of the observed object. The laser mounting bracket 3 is rotatably mounted on the bracket 1 via a second multi-angle indexing stage 6, and the lasers are rotatably mounted on the laser mounting bracket 3 via a multi-angle rotating stage 7. Figure 3 As shown, the multi-angle rotating stage 7 can be used to adjust the light beams of all lasers to converge at a single point, the first multi-angle indexing stage 5 can be used to adjust the three-dimensional camera 2 to the desired angle, and the second multi-angle indexing stage 6 can be used to adjust the convergence point of all lasers to be within the field of view of the three-dimensional camera 2.

[0013] In principle, three linear lasers are needed, emitting light from three directions not along the normal to the 3D camera 2. This ensures that the three laser lines intersect at a fixed height and angle; otherwise, they cannot converge into a single focal point. In this embodiment, two of the linear lasers are replaced with a cross laser, effectively simplifying the system from three lasers to two: one linear laser 41 and the other cross laser 42, achieving the same effect. This not only achieves the optimal combination but also optimizes the structural design and minimizes costs.

[0014] In this embodiment, the bracket 1 includes a vertical rod 11 and a horizontal rod 12 extending forward from the upper part of the vertical rod 11; the three-dimensional camera 2 is installed at the bottom of the vertical rod 11, the laser mounting bracket 3 is installed at the front end of the horizontal rod 12 in the middle, and the line laser 41 and the cross laser 42 are respectively installed on the left and right sides of the laser mounting bracket 3.

[0015] In this embodiment, the first multi-angle indexing table 5 can adjust the angle of the three-dimensional camera 2 up and down along the longitudinal plane where the vertical rod 11 and the horizontal rod 12 are located, the second multi-angle indexing table 6 can adjust the angle of the laser mounting bracket 3 up and down along the longitudinal plane, and the multi-angle rotating table 7 can adjust the angle of the laser left and right along the horizontal plane perpendicular to the longitudinal plane.

[0016] In this embodiment, a dimming lamp 8 is also installed on the laser mounting bracket 3. When the ambient light cannot meet the visual requirements of the three-dimensional camera 2, the dimming lamp 8 will automatically turn on or off according to the settings of the controller's programming program, and will automatically change the intensity of its own light according to the intensity of the ambient light.

[0017] The adjustment procedure for using the three-dimensional stereo camera and laser combination device of the present invention is as follows: 1. The beams of the corresponding line laser 41 and cross laser 42 are crossed by the multi-angle rotating stage 7 at the two laser mounting positions, wherein the beam of the line laser 41 passes through the center of the beam of the cross laser 42. 2. Adjust the 3D stereo camera 2 to the required angle using the first multi-angle indexing table 5; 3. The two sets of intersecting laser points are adjusted into the field of view of the 3D stereo camera 2 using the second multi-angle indexing table 6; 4. When it is necessary to detect or calibrate the distance of an object, turn on two sets of lasers and align the intersection of the two sets of lasers with the object to be detected or calibrated; 5. The 3D camera 2 reads the position of the laser and calculates the distance and surrounding 3D data, and then transmits the data to the host computer (such as a computer, industrial control computer, PLC, etc.). 6. After receiving the data from the 3D camera 2, the host computer starts to analyze the data, then processes the data, and then obtains the 3D data of the corresponding position of the detected or calibrated object. If necessary, it can also automatically draw the 3D model of the detected object based on the data. 7. The results analyzed by the host computer will be automatically compared with the standard data in the host computer's database. Finally, the results of the comparison will determine whether the object is qualified or whether it can proceed to the next process.

[0018] As can be seen, the combined device of the present invention combines a three-dimensional stereo camera, a cross laser, and a line laser, which can more accurately detect or calibrate the required object.

[0019] This combined device is like an eye with a range measuring function, not only for detection and calibration; if installed on other equipment, such as a six-axis collaborative robot, it enables robot visualization and on-demand analysis, greatly increasing the flexibility of the six-axis collaborative robot and moving beyond fixed program settings. It can perform corresponding actions according to different scenarios.

[0020] If an AI learning system is added to the host computer of this device, the AI ​​system can automatically learn and accumulate data and set parameters for each usage scenario after use in different scenarios. Through continuous analysis and learning, other devices installed with this device can become more intelligent and work faster and more accurately.

[0021] The combined device of this invention, when used in applicable scenarios, reduces the need for manual labor, indirectly lowering labor costs. Simultaneously, it makes work faster and more accurate, eliminating unnecessary actions and other additional costs. For example, in the welding field, after welding is completed and the weld quality needs to be inspected, this device can detect many defects such as arc craters, porosity, and cracks, eliminating the need for professional welding quality inspectors to visually inspect or use tools. Even those not in the welding field can inspect the quality of welded parts. The above is just one example in one field; the applicability of this combined device is not limited to the listed fields.

[0022] The present invention has been described above with reference to preferred embodiments; however, these embodiments are merely exemplary and illustrative. Various substitutions and modifications can be made to the present invention based on these embodiments, all of which fall within the scope of protection of the present invention.

Claims

1. A combination device of a three-dimensional stereo camera and a laser, comprising a three-dimensional stereo camera (2) mounted on a bracket (1), characterized in that: It also includes a laser mounting bracket (3) and at least two lasers; The three-dimensional camera (2) is rotatably mounted on the bracket (1) via the first multi-angle indexing table (5), the laser mounting bracket (3) is rotatably mounted on the bracket (1) via the second multi-angle indexing table (6), and the laser is rotatably mounted on the laser mounting bracket (3) via the multi-angle rotating table (7). The light rays of all lasers are adjusted to converge at a point by the multi-angle rotating stage (7), the three-dimensional camera (2) is adjusted to the required angle by the first multi-angle indexing stage (5), and the convergence point of all lasers is adjusted to be within the field of view of the three-dimensional camera (2) by the second multi-angle indexing stage (6).

2. The three-dimensional camera and laser combination device according to claim 1, characterized in that: Two lasers are provided, which are installed on the left and right sides in front of the three-dimensional camera (2), one of which is a line laser (41) and the other is a cross laser (42).

3. The three-dimensional camera and laser combination device according to claim 1, characterized in that: A dimming lamp (8) is installed on the laser mounting bracket (3).

4. The three-dimensional camera and laser combination device according to claim 2, characterized in that: The bracket (1) includes a vertical rod (11) and a horizontal rod (12) extending forward from the upper part of the vertical rod (11); the three-dimensional camera (2) is installed at the bottom of the vertical rod (11), the laser mounting bracket (3) is installed at the front end of the horizontal rod (12) in the middle, and the single-line laser (41) and the cross laser (42) are respectively installed on the left and right sides of the laser mounting bracket (3).

5. The three-dimensional camera and laser combination device according to claim 4, characterized in that: The first multi-angle indexing table (5) and the second multi-angle indexing table (6) can be adjusted up and down along the longitudinal plane where the vertical rod (11) and the horizontal rod (12) are located, and the multi-angle rotary table (7) can be adjusted left and right along the horizontal plane perpendicular to the longitudinal plane.

Images