Light sensing head and visual system

Abstract

The invention discloses a light sensing head and a visual system, in the light sensing head, a light machine, a first camera and a second camera are arranged on a mounting seat at the same time, and the optical axes of the light machine, the first camera and the second camera intersect in the same arrangement; therefore, the optical machine, the first camera and the second camera can obtain the visual information of the target from different angles, and the visual module can obtain the three-dimensional information of the target. Due to the fact that the first driving assembly can drive the installation base to rotate around the vertical axis, and the second driving assembly can drive the installation base to rotate around the horizontal axis, the visual module can fully obtain visual information of the surrounding environment. Therefore, the light sensing head can obtain three-dimensional visual information of a specific environment more easily.

Description

Technical Field

[0001] This invention relates to the field of visual inspection technology, and in particular to a photosensitive head and a vision system. Background Technology

[0002] With the development of technology, visual inspection technology is being used more and more widely. In the traditional field of visual inspection, cameras are usually used to photograph specific targets to obtain their visual information. However, the visual information obtained after the camera photographs the target is two-dimensional, making it difficult to obtain the target's three-dimensional coordinates. This makes it difficult to obtain three-dimensional visual information of a specific environment, and thus makes three-dimensional imaging of that environment quite challenging. Summary of the Invention

[0003] The purpose of this invention is to at least solve one of the technical problems existing in the prior art. A first aspect of this invention provides a photosensitive head, which can more easily acquire three-dimensional visual information of a specific environment. A second aspect of this invention also provides a vision system.

[0004] According to a first aspect of the present invention, a photosensitive head includes a vision module and a driving module. The vision module includes a mounting base, an optical engine, a first camera, and a second camera. The optical engine, the first camera, and the second camera are all disposed on the mounting base, and the optical axes of the optical engine, the first camera, and the second camera intersect at the same point. The driving module is drivenly connected to the mounting base. The driving module includes a first driving component and a second driving component connected to each other. The first driving component is used to drive the mounting base to rotate about a vertical axis, and the second driving component is used to drive the mounting base to rotate about a horizontal axis.

[0005] The photosensitive head described in this invention has at least the following beneficial effects: In the photosensitive head of this application, by simultaneously arranging an optical engine, a first camera, and a second camera on the mounting base, and with the optical axes of the optical engine, the first camera, and the second camera intersecting at the same location, the optical engine, the first camera, and the second camera can acquire visual information of the target from different angles, thereby enabling the vision module to acquire three-dimensional information of the target; since the first driving component can drive the mounting base to rotate around the vertical axis, and the second driving component can drive the mounting base to rotate around the horizontal axis, the vision module can fully acquire visual information of the surrounding environment. Therefore, the photosensitive head of this application can more easily acquire three-dimensional visual information of a specific environment.

[0006] According to the first aspect of the present invention, the photosensitive head further includes a base, and the first driving assembly includes a mounting bracket and a first driver. The mounting bracket is rotatably disposed on the base about a vertical axis, and the first driver is disposed on the mounting bracket and drivenly connected to the base. Under the drive of the first driver, the mounting bracket can rotate relative to the base about a vertical axis. The mounting seat is rotatably disposed on the mounting bracket about a horizontal axis, and the second driving assembly is disposed on the mounting bracket and drivenly connected to the mounting seat.

[0007] According to the first aspect of the present invention, the photosensitive head further includes a radar module, the radar module including a connecting plate and a lidar, the connecting plate being disposed on a mounting bracket, and the lidar being disposed on the connecting plate.

[0008] According to the first aspect of the present invention, the photosensitive head mounting frame includes a base frame and two upright frames. The lower end of the upright frames is connected to the base frame. The horizontally opposite ends of the mounting base are rotatably connected to the upper ends of the two upright frames respectively. The base frame is rotatably mounted on the base about a vertical axis. A first driver is mounted on the base frame. An accommodating area is formed between the mounting base and the base frame. The radar module is disposed in the accommodating area, and the opposite ends of the connecting plate are connected to the two upright frames respectively.

[0009] According to the first aspect of the present invention, the portion of the photosensitive head located between the mounting base and the base frame is recessed inward to form a constricted structure.

[0010] According to the first aspect of the present invention, the mounting frame of the photosensitive head further includes a first cover and a second cover. The first cover is disposed on the upright and together with the upright defines a first receiving cavity. The second cover is disposed on the base and together with the base defines a second receiving cavity. The first driver is disposed in the second receiving cavity. The upright is provided with a first through hole and a second through hole communicating with the first receiving cavity. The axis of the first through hole is collinear with the rotation axis of the mounting base. The second through hole communicates with the second receiving cavity. The wires of the optical engine, the first camera, and the second camera can be routed through the first through hole, the first receiving cavity, the second through hole, and the second receiving cavity.

[0011] According to the first aspect of the present invention, the second driving assembly includes a second driver and a transmission belt. The second driver is disposed on a mounting bracket and is connected to the mounting base via the transmission belt.

[0012] According to the photosensitive head of the first aspect of the present invention, the second driving assembly further includes a reduction gear structure, the second driver is connected to the input end of the reduction gear structure via a transmission belt, and the output end of the reduction gear structure is connected to the mounting base.

[0013] According to the photosensitive head of the first aspect of the present invention, the second driving assembly further includes a mounting plate, the second driver is disposed on the mounting plate, and the mounting plate is adjustablely disposed on the mounting bracket.

[0014] The vision system provided according to a second aspect embodiment of the present invention includes the photosensitive head provided in the first aspect embodiment of the present invention. The vision system further includes a processor, which is electrically connected to an optical engine, a first camera, and a second camera, respectively. The processor is capable of performing three-dimensional modeling based on the visual information of the optical engine, the first camera, and the second camera.

[0015] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0016] The present invention will be further described below with reference to the accompanying drawings and embodiments; Figure 1 This is a schematic diagram of the structure of a photosensitive head according to an embodiment of the present invention; Figure 2 for Figure 1 The diagram shows the structure of the photosensitive head after it is hidden by the first, second, and third covers. Figure 3 for Figure 2 A magnified view of the structure at point A of the photosensitive head shown.

[0017] Figure label: Vision module 100; Mounting base 110; Optical engine 120; First camera 130; Second camera 140; Third housing 150; Drive module 200; first drive assembly 210; mounting bracket 211; base frame 211a; upright frame 211b; constriction structure 211c; first cover 211d; second cover 211e; auxiliary wheel 211f; first driver 212; second drive assembly 220; second driver 221; transmission belt 222; reduction structure 223; mounting plate 224; elongated hole 224a; Base 300; Radar module 400; Connector board 410; LiDAR 420. Detailed Implementation

[0018] This section will describe in detail specific embodiments of the present invention. Preferred embodiments of the present invention are shown in the accompanying drawings. The purpose of the drawings is to supplement the textual description with graphics, so that people can intuitively and vividly understand each technical feature and overall technical solution of the present invention, but they should not be construed as limiting the scope of protection of the present invention.

[0019] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0020] In the description of this invention, "several" means one or more, "more than" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0021] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0022] The following is for reference. Figures 1 to 3 The photosensitive head of the first aspect of this application will be described in detail.

[0023] refer to Figure 1 and Figure 2 According to a first aspect embodiment of the present invention, a photosensitive head includes a vision module 100 and a driving module 200. The vision module 100 includes a mounting base 110, an optical engine 120, a first camera 130, and a second camera 140. The optical engine 120, the first camera 130, and the second camera 140 are all disposed on the mounting base 110, and the optical axes of the three cameras intersect at the same point. The driving module 200 is drivenly connected to the mounting base 110. The driving module 200 includes a first driving component 210 and a second driving component 220 connected to each other. The first driving component 210 is used to drive the mounting base 110 to rotate about a vertical axis, and the second driving component 220 is used to drive the mounting base 110 to rotate about a horizontal axis.

[0024] It should be noted that after a camera takes a picture of a specific target, it can only obtain a two-dimensional image of the target. Based on this, it is difficult to obtain the spatial location information of the target, which makes it difficult to perform three-dimensional modeling of the specific environment.

[0025] It is understood that in the photosensitive head of this application, the vision module 100 includes an optical engine 120, a first camera 130 and a second camera 140 mounted on the same mounting base 110, and the optical axes of the optical engine 120, the first camera 130 and the second camera 140 intersect at the same point. Thus, when acquiring image information of a specific target, the optical engine 120, the first camera 130 and the second camera 140 can take pictures of the specific target from different angles. Based on the image information acquired by the optical engine 120, the first camera 130 and the second camera 140 from different angles, the three-dimensional spatial coordinates of the specific target can be obtained.

[0026] Understandably, by setting the first driving component 210 and the second driving component 220, the entire vision module 100 can rotate around the vertical axis under the drive of the first driving component 210, and can rotate around the horizontal axis under the drive of the second driving component 220. Thus, under the drive of the driving module 200, the posture of the vision module 100 can be adjusted so that the vision module 100 can acquire the three-dimensional spatial coordinates of various targets in a specific environment, so as to facilitate subsequent three-dimensional modeling of the specific environment.

[0027] Specifically, the first camera 130 and the second camera 140 are respectively located on opposite horizontal sides of the optical engine 120.

[0028] In some embodiments of the present invention, reference is made to Figure 1 and Figure 2 The photosensitive head also includes a base 300. The first driving assembly 210 includes a mounting bracket 211 and a first driver 212. The mounting bracket 211 is rotatably mounted on the base 300 about a vertical axis. The first driver 212 is mounted on the mounting bracket 211 and is driven to the base 300. Under the drive of the first driver 212, the mounting bracket 211 can rotate relative to the base 300 about a vertical axis. The mounting seat 110 is rotatably mounted on the mounting bracket 211 about a horizontal axis. The second driving assembly 220 is mounted on the mounting bracket 211 and is driven to the mounting seat 110.

[0029] Understandably, under the drive of the first driver 212, the mounting bracket 211 can rotate relative to the base 300 around the vertical axis, thereby driving the vision module 100 to rotate around the vertical axis. Since the mounting seat 110 is rotatably mounted on the mounting bracket 211 around the horizontal axis, and the second drive assembly 220 is mounted on the mounting bracket 211 and drivenly connected to the mounting seat 110, the mounting seat 110 can rotate around the horizontal axis under the drive of the second drive assembly 220, thereby enabling the entire vision module 100 to rotate around the horizontal axis. Furthermore, under the drive of the drive module 200, the vision module 100 can rotate around the vertical or horizontal axis to achieve posture adjustment of the vision module 100.

[0030] In some embodiments of the present invention, reference is made to Figure 1 and Figure 2 The photosensitive head also includes a radar module 400, which includes a connecting plate 410 and a lidar 420. The connecting plate 410 is mounted on the mounting bracket 211, and the lidar 420 is mounted on the connecting plate 410.

[0031] It is understandable that by setting up the LiDAR 420, the LiDAR 420 can acquire information about the surrounding environment, enabling the photosensitive head of this application to be applied to multimodal perception fields such as 3D environmental modeling, dynamic obstacle recognition, and autonomous path planning, thereby enhancing the comprehensive application capability of the photosensitive head of this application.

[0032] In some embodiments of the present invention, reference is made to Figure 2 The mounting frame 211 includes a base frame 211a and two upright frames 211b. The lower end of the upright frames 211b is connected to the base frame 211a. The horizontal opposite ends of the mounting base 110 are rotatably connected to the upper ends of the two upright frames 211b respectively. The base frame 211a is rotatably mounted on the base 300 around the vertical axis. The first driver 212 is mounted on the base frame 211a. An accommodating area is formed between the mounting base 110 and the base frame 211a. The radar module 400 is located in the accommodating area, and the opposite ends of the connecting plate 410 are connected to the two upright frames 211b respectively.

[0033] Understandably, by placing the radar module 400 within the housing area, the space below the vision module 100 can be utilized, and the vision module 100 can be kept at a higher position to ensure that the vision module 100 can better acquire visual information from the surroundings.

[0034] It should be noted that a certain clearance is left between the connecting plate 410 and the mounting base 110 so that the mounting base 110 can rotate normally around the horizontal axis.

[0035] In some embodiments of the present invention, reference is made to Figure 2 The portion of the upright 211b located between the mounting base 110 and the base frame 211a tapers inward to form a constricted structure 211c.

[0036] It should be noted that since the radar module 400 is located between the two supports 211b, the supports 211b will affect the radar module 400's detection of the surrounding environment.

[0037] It is understandable that by setting a narrowing structure 211c on the support frame 211b, the horizontal cross-sectional dimension of the narrowing structure 211c is smaller, thereby reducing the impact of the support frame 211b on the operation of the radar module 400 and improving the detection effect of the radar module 400 on the surrounding environment.

[0038] In some embodiments of the present invention, reference is made to Figure 1 and Figure 2 The mounting frame 211 also includes a first cover 211d and a second cover 211e. The first cover 211d is disposed on the upright frame 211b and together with the upright frame 211b, defines a first receiving cavity. The second cover 211e is disposed on the base frame 211a and together with the base frame 211a, defines a second receiving cavity. The first driver 212 is disposed in the second receiving cavity. The upright frame 211b is provided with a first through hole and a second through hole that connect to the first receiving cavity. The axis of the first through hole is collinear with the rotation axis of the mounting base 110. The second through hole is connected to the second receiving cavity. The wires of the optical engine 120, the first camera 130 and the second camera 140 can be routed through the first through hole, the first receiving cavity, the second through hole and the second receiving cavity.

[0039] It is understandable that by setting a first through hole, and setting the axis of the first through hole to be collinear with the rotation axis of the mounting base 110, the wires of the optical engine 120, the first camera 130 and the second camera 140 can be routed through the first through hole, and even if the mounting base 110 rotates around the horizontal axis, the problem of wire entanglement can still be prevented.

[0040] It is understood that by setting a second cover 211e, and the second cover 211e and the base frame 211a jointly defining a second receiving cavity, the first driver 212 can be placed in the second receiving cavity to achieve protection of the first driver 212.

[0041] Understandably, by setting up the first cover 211d, a first receiving cavity can be formed between the first cover 211d and the stand 211b. The wires of the optical engine 120, the first camera 130, and the second camera 140 can sequentially pass through the first through hole, the first receiving cavity, and the second through hole before entering the second receiving cavity. At this time, the wires of the optical engine 120, the first camera 130, the second camera 140, and the first driver 212 can converge in the first receiving cavity to facilitate subsequent unified wiring. At the same time, the setting of the first receiving cavity allows the first cover 211d to work with the stand 211b to protect the wires.

[0042] In some embodiments of the present invention, the second drive assembly 220 includes a second driver 221 and a transmission belt 222. The second driver 221 is disposed on the mounting bracket 211 and is connected to the mounting base 110 via the transmission belt 222.

[0043] For example, such as Figure 2As shown, the second drive assembly 220 includes a second driver 221 and a transmission belt 222. The second driver 221 is disposed in the second receiving cavity, and the transmission belt 222 is disposed in the second receiving cavity. The output end of the second driver 221 is connected to the mounting base 110 through the transmission belt 222.

[0044] Understandably, the arrangement of the drive belt 222 allows the second driver 221 to be positioned away from the vision module 100, thereby reducing the impact of the second driver 221 on the vision module 100.

[0045] It is understandable that by placing the second driver 221 in the second receiving cavity, the second driver 221 can be placed adjacent to the first driver 212, which facilitates the unified routing of the first driver 212 and the second driver 221 in the future.

[0046] It is understandable that by placing the transmission belt 222 inside the first receiving cavity, the first cover 211d can protect the transmission belt 222, thereby improving the service life of the transmission belt 222.

[0047] In some embodiments of the present invention, reference is made to Figure 2 The second drive assembly 220 also includes a reduction structure 223. The second driver 221 is connected to the input end of the reduction structure 223 via a transmission belt 222, and the output end of the reduction structure 223 is connected to the mounting base 110.

[0048] It is understandable that by setting the reduction structure 223, under the premise that the output power of the second driver 221 is constant, the reduction structure 223 can apply a greater torque to the mounting base 110, so that the mounting base 110 can rotate smoothly around the horizontal axis.

[0049] In a further embodiment of the present invention, the reduction structure 223 is a reduction gear set, wherein the reduction gear set includes meshing planetary gears and a sun gear, and the axis of the sun gear and the axis of the first through hole are arranged collinearly.

[0050] In some embodiments of the present invention, reference is made to Figure 2 The second drive assembly 220 also includes a mounting plate 224, a second driver 221 is disposed on the mounting plate 224, and the mounting plate 224 is disposed on the mounting bracket 211 in an adjustable position.

[0051] It is understandable that, since the mounting plate 224 is adjustable on the mounting bracket 211 and the second driver 221 is mounted on the mounting plate 224, when the transmission belt 222 is slack, the operator can adjust the position of the second driver 221 by adjusting the position of the mounting plate 224, thereby achieving tensioning of the transmission belt 222.

[0052] In an advanced embodiment of the invention, reference is made to... Figure 2 and Figure 3 The mounting plate 224 is provided with a vertically extending elongated hole 224a, and a threaded locking element is slidably inserted in the elongated hole 224a. The threaded locking element is threadedly connected to the mounting bracket 211.

[0053] Understandably, by loosening the threaded locking parts, the operator can smoothly drive the mounting plate 224 to move vertically, thereby tensioning the transmission belt 222. After the position of the mounting plate 224 is adjusted, the operator can tighten the threaded locking parts to fix the position of the mounting plate 224.

[0054] It should be noted that, since the upright 211b is provided with a constriction structure 211c, and the horizontal cross-sectional dimension of the constriction structure 211c is small, in some embodiments of the present invention, referring to the figure, the upright 211b is provided with two horizontally distributed auxiliary wheels 211f, and the transmission belt 222 passes between the two auxiliary wheels 211f, so that the two auxiliary wheels 211f can cooperate to limit the transmission belt 222 and reduce the installation area of ​​the transmission belt 222 in the horizontal direction.

[0055] In some embodiments of the present invention, reference is made to Figure 1 The visual module 100 also includes a third cover 150, which is disposed on the mounting base 110, and the third cover 150 and the mounting base 110 together define a third receiving cavity. The optical engine 120, the first camera 130 and the second camera 140 are all disposed in the third receiving cavity, and the third cover 150 is partially made of transparent material.

[0056] Understandably, by setting up the third cover 150, the third cover 150 can work with the mounting base 110 to protect the optical engine 120, the first camera 130 and the second camera 140.

[0057] The vision system provided according to a second aspect of the present invention includes a photosensitive head provided according to a first aspect of the present invention. The vision system further includes a processor, which is electrically connected to an optical engine 120, a first camera 130, and a second camera 140, respectively. The processor is capable of performing three-dimensional modeling based on the visual information of the optical engine 120, the first camera 130, and the second camera 140.

[0058] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A photosensitive head, characterized in that, include: The vision module includes a mounting base, an optical engine, a first camera, and a second camera. The optical engine, the first camera, and the second camera are all mounted on the mounting base, and the optical axes of the optical engine, the first camera, and the second camera intersect at the same point. A drive module is driven to be connected to the mounting base. The drive module includes a first drive component and a second drive component connected to each other. The first drive component is used to drive the mounting base to rotate about a vertical axis, and the second drive component is used to drive the mounting base to rotate about a horizontal axis.

2. A photosensitive head according to claim 1, characterized in that, It also includes a base. The first drive assembly includes a mounting bracket and a first driver. The mounting bracket is rotatably mounted on the base about a vertical axis. The first driver is mounted on the mounting bracket and drivenly connected to the base. Under the drive of the first driver, the mounting bracket can rotate relative to the base about a vertical axis. The mounting seat is rotatably mounted on the mounting bracket about a horizontal axis. The second drive assembly is mounted on the mounting bracket and drivenly connected to the mounting seat.

3. A photosensitive head according to claim 2, characterized in that, It also includes a radar module, which includes a connecting plate and a lidar. The connecting plate is mounted on the mounting bracket, and the lidar is mounted on the connecting plate.

4. A photosensitive head according to claim 3, characterized in that, The mounting frame includes a base frame and two upright frames. The lower end of the upright frames is connected to the base frame. The horizontal opposite ends of the mounting base are rotatably connected to the upper ends of the two upright frames respectively. The base frame is rotatably mounted on the base about a vertical axis. The first driver is mounted on the base frame. An accommodating area is formed between the mounting base and the base frame. The radar module is located in the accommodating area, and the opposite ends of the connecting plate are connected to the two upright frames respectively.

5. A photosensitive head according to claim 4, characterized in that, The portion of the upright frame located between the mounting base and the base frame tapers inward to form a constricted structure.

6. A photosensitive head according to claim 5, characterized in that, The mounting frame further includes a first cover and a second cover. The first cover is disposed on the upright and together with the upright defines a first receiving cavity. The second cover is disposed on the base and together with the base defines a second receiving cavity. The first driver is disposed in the second receiving cavity. The upright is provided with a first through hole and a second through hole communicating with the first receiving cavity. The axis of the first through hole is collinear with the rotation axis of the mounting base. The second through hole communicates with the second receiving cavity. The wires of the optical engine, the first camera, and the second camera can be routed through the first through hole, the first receiving cavity, the second through hole, and the second receiving cavity.

7. A photosensitive head according to claim 2, characterized in that, The second drive assembly includes a second driver and a drive belt. The second driver is disposed on the mounting bracket and is drively connected to the mounting base via the drive belt.

8. A photosensitive head according to claim 7, characterized in that, The second drive assembly further includes a reduction gear structure. The second driver is connected to the input end of the reduction gear structure via the transmission belt, and the output end of the reduction gear structure is connected to the mounting base.

9. A photosensitive head according to claim 8, characterized in that, The second drive assembly further includes a mounting plate, on which the second driver is disposed, and the mounting plate is positionably disposed on the mounting bracket.

10. A vision system, characterized in that, The vision system includes a photosensitive head as described in any one of claims 1 to 9, and further includes a processor electrically connected to the optical engine, the first camera, and the second camera, respectively, and the processor is capable of performing three-dimensional modeling based on the visual information of the optical engine, the first camera, and the second camera.

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