Three-dimensional camera and laser combined device

Abstract

The utility model discloses a three-dimensional camera and laser combination device, which comprises a three-dimensional camera (2), a laser mounting rack (3) and at least two lasers, wherein the three-dimensional camera (2), the laser mounting rack (3) and the lasers 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] The utility model relates to a camera device, in particular to a device combining a three-dimensional camera head and a laser. Background Art

[0002] At present, the devices used for 3D photography on the market are usually single-use 3D stereo cameras or single-use lasers. When a single 3D stereo camera is used, the viewing angle is large, and the 3D data is not as accurate as a laser; when a single laser is used, although the accuracy is high, it can only be scanned into a 2D image, and an RGB camera is required for use. Utility Model Content

[0003] In order to solve the above problems, the utility model provides a three-dimensional camera and laser combination device with high precision and relatively small viewing angle.

[0004] The technical solution adopted by the utility model is as follows: a three-dimensional stereo camera and laser combination device, including a three-dimensional stereo camera mounted on a bracket, and also including a laser mounting frame and at least two lasers;

[0005] The three-dimensional stereo camera is rotatably mounted on the bracket via a first multi-angle indexing table, the laser mounting frame is rotatably mounted on the bracket via a second multi-angle indexing table, and the laser is rotatably mounted on the laser mounting frame via a multi-angle rotating table;

[0006] The multi-angle rotating table is used to adjust the light of all lasers to converge at one point, the first multi-angle dividing table is used to adjust the three-dimensional stereo camera to a desired angle, and the second multi-angle dividing table is used to adjust the intersection point of all lasers to be within the visible range of the three-dimensional stereo camera.

[0007] There are two lasers, which are respectively installed on the left and right sides in front of the three-dimensional camera, one of which is a straight laser and the other is a cross laser.

[0008] A dimming lamp is installed on the laser mounting frame.

[0009] The bracket includes a vertical rod and a horizontal rod extending forward from the upper part of the vertical rod; the three-dimensional stereo camera is installed at the bottom of the vertical rod, the middle part of the laser mounting frame is installed at the front end of the horizontal rod, and the straight laser and the cross laser are respectively installed on the left and right sides of the laser mounting frame.

[0010] The first multi-angle indexing table and the second multi-angle indexing table can adjust the angle up and down along the longitudinal plane where the vertical rod and the transverse rod are located, and the multi-angle rotating table can adjust the angle left and right along the transverse plane perpendicular to the longitudinal plane.

[0011] Compared with the prior art, the three-dimensional camera and laser combination device of the utility model adopts laser-assisted guidance of the three-dimensional camera, which not only achieves three-dimensional imaging, but also can calculate parameters such as three-dimensional data within the visual range, and can more accurately detect or calibrate the required objects, achieve high precision and a relatively small viewing angle, and also subtract the RGB camera when using the laser alone, which is conducive to reducing costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic diagram of the three-dimensional camera and laser combination device of the utility model viewed from the front;

[0013] Figure 2 It is a schematic diagram of the three-dimensional camera and laser combination device of the utility model viewed from the back;

[0014] Figure 3 It is a schematic diagram of the three-dimensional camera and laser combination device of the utility model when working. DETAILED DESCRIPTION

[0015] The utility model is further described in detail below with reference to the accompanying drawings and embodiments.

[0016] like Figure 1 and Figure 2 As shown, the three-dimensional camera and laser combination device of the utility model mainly includes: a bracket 1, a three-dimensional camera 2, a laser mounting frame 3 and at least two lasers. The three-dimensional camera 2 is rotatably mounted on the bracket 1 via a first multi-angle indexing table 5, and can identify and measure the distance of the observed object and map the three-dimensional image of the observed object. The laser mounting frame 3 is rotatably mounted on the bracket 1 via a second multi-angle indexing table 6, and the laser is rotatably mounted on the laser mounting frame 3 via a multi-angle rotating table 7. Figure 3 As shown, the multi-angle rotating table 7 can be used to adjust the light from all lasers to converge at one point, the first multi-angle dividing table 5 can be used to adjust the three-dimensional stereo camera 2 to a desired angle, and the second multi-angle dividing table 6 can be used to adjust the intersection point of all lasers to be within the visible range of the three-dimensional stereo camera 2.

[0017] In principle, three straight lasers are required, which are emitted from three directions that are not along the normal of the three-dimensional stereo camera 2, so that at a certain fixed height and angle, the three laser lines will intersect at a point, otherwise they will not intersect and converge into a focus. In this embodiment, two of the straight lasers are replaced with a cross laser. In general, the three lasers are simplified into two, one of which is a straight laser 41 and the other is a cross laser 42, which can achieve the same effect. This not only achieves the optimal combination, but also optimizes the structural design and minimizes the cost.

[0018] In this embodiment, the bracket 1 includes a vertical rod 11 and a transverse rod 12 extending forward from the upper part of the vertical rod 11; the three-dimensional stereo camera 2 is installed at the bottom of the vertical rod 11, the middle part of the laser mounting frame 3 is installed at the front end of the transverse rod 12, and the straight laser 41 and the cross laser 42 are respectively installed on the left and right sides of the laser mounting frame 3.

[0019] In this embodiment, the first multi-angle dividing table 5 can adjust the angle of the three-dimensional stereo camera 2 up and down along the longitudinal plane where the vertical rod 11 and the transverse rod 12 are located, the second multi-angle dividing 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 a transverse plane perpendicular to the longitudinal plane.

[0020] In this embodiment, a dimming lamp 8 is also installed on the laser mounting frame 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 setting of the programming program of the controller, and will automatically change the intensity of its own light according to the intensity of the ambient light.

[0021] The use and adjustment process of the three-dimensional camera and laser combination device of the utility model is as follows:

[0022] 1. The light beams of the corresponding single-word laser 41 and cross laser 42 are crossed by the multi-angle rotating table 7 on the two sets of laser installation positions, wherein the light beam of the single-word laser 41 passes through the center of the light beam of the cross laser 42;

[0023] 2. Adjust the three-dimensional camera 2 to the required angle through the first multi-angle indexing table 5;

[0024] 3. Adjust the two groups of intersecting laser points to the visible range of the three-dimensional camera 2 through the second multi-angle indexing table 6;

[0025] 4. When the distance of an object needs to be detected or calibrated, the two sets of lasers are turned on and the intersection point of the two sets of lasers is aligned with the object to be detected or calibrated;

[0026] 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: computer, industrial computer, PLC and other equipment);

[0027] 6. After receiving the data from the three-dimensional camera 2, the host computer starts to analyze the data, and then processes the data, and then obtains the three-dimensional data of the corresponding position of the object to be detected or calibrated, and if necessary, it can also automatically draw a three-dimensional stereoscopic figure of the detected object based on the data;

[0028] 7. The analysis results of the host computer will be automatically compared with the standard data in the host computer library. Finally, it will be determined whether the object is qualified or whether the next process can be carried out based on the comparison results.

[0029] It can be seen that the combined device of the utility model combines the three-dimensional camera, the cross laser and the straight laser to more accurately detect or calibrate the required object.

[0030] This combined device is equivalent to an eye with distance measurement, which can be used not only for detection and calibration; if the device is installed on other equipment, such as a six-axis collaborative robot, it is equivalent to realizing the visualization of the robot, and can be used and analyzed, which can greatly increase the flexibility of the six-axis collaborative robot, not just limited to fixed program settings. It can make corresponding actions according to different scenarios.

[0031] If an AI learning system is added to the host computer of the device, after use in different scenarios, the AI ​​system can automatically learn and accumulate data and set parameters for each usage scenario. Through continuous analysis and learning, other equipment installed with the device can be made more intelligent and work more quickly and accurately.

[0032] When the combined device of the utility model is used in applicable scenarios, it will reduce the utilization rate of labor and indirectly reduce labor costs. At the same time, the work is faster and more accurate, and other additional costs caused by unnecessary actions are eliminated. For example: in the field of welding, when the welding is completed and the quality of the weld needs to be tested, the device can be used to detect whether the weld has arc pits, pores, cracks and many other unqualified problems, without having to ask professional welding quality inspectors to use their eyes or hand tools to test the quality; even personnel who are not in the welding field can test the quality of welds. The above only lists one example of a field, and the scope of application of the combined device is not limited to the listed fields.

[0033] The present invention has been described above in conjunction with preferred embodiments, but these embodiments are only exemplary and serve only as an illustration. On this basis, the present invention may be subjected to a variety of substitutions and improvements, all of which fall within the scope of protection of the present invention.

Claims

1. A three-dimensional camera and laser combination device, comprising a three-dimensional camera (2) mounted on a bracket (1), characterized in that: Also includes a laser mounting frame (3) and at least two lasers; The three-dimensional camera (2) is rotatably mounted on the bracket (1) via a first multi-angle indexing table (5), the laser mounting frame (3) is rotatably mounted on the bracket (1) via a second multi-angle indexing table (6), and the laser is rotatably mounted on the laser mounting frame (3) via a multi-angle rotating table (7); The multi-angle rotating table (7) is used to adjust the light beams of all lasers to converge at one point, the first multi-angle indexing table (5) is used to adjust the three-dimensional stereo camera (2) to a desired angle, and the second multi-angle indexing table (6) is used to adjust the intersection point of all lasers to be within the visual range of the three-dimensional stereo camera (2).

2. The three-dimensional camera and laser combination device according to claim 1, characterized in that: Two lasers are provided, which are respectively installed on the left and right sides in front of the three-dimensional camera (2), one of which is a straight 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 frame (3).

4. The three-dimensional camera and laser combination device according to claim 2, characterized in that: The bracket (1) comprises a vertical rod (11) and a transverse rod (12) extending forward from the upper part of the vertical rod (11); the three-dimensional camera (2) is mounted at the bottom of the vertical rod (11); the middle part of the laser mounting frame (3) is mounted at the front end of the transverse rod (12); and the straight laser (41) and the cross laser (42) are respectively mounted on the left and right sides of the laser mounting frame (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 adjust their angles up and down along a longitudinal plane where the vertical rod (11) and the transverse rod (12) are located, and the multi-angle rotating table (7) can adjust its angle left and right along a transverse plane perpendicular to the longitudinal plane.

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