Depth camera and mobile loading and unloading vehicle

Abstract

The utility model provides a depth camera and a mobile loading and unloading vehicle, and the depth camera comprises a housing which comprises a front panel, and an accommodation space is formed in the housing; the front panel is provided with a plurality of light holes which are arranged in sequence; a first infrared camera module, a speckle projector module, an RGB camera module, a light source module and a second infrared camera module are arranged in the accommodating space; the first infrared camera module, the speckle projector module, the RGB camera module, the light source module and the second infrared camera module respectively correspond to one light hole so as to project light rays or receive light rays through the light holes. The light source module is arranged between the RGB camera module and the second infrared camera module, the light source module is integrated into the depth camera, the depth camera can be conveniently applied to a scene with poor illumination, overall installation of the depth camera is also facilitated, the light shielding plate is arranged between the RGB camera module and the light source module, and the light shielding plate is arranged between the RGB camera module and the light source module. The light source module is prevented from directly entering the RGB camera module, and the imaging effect of the depth camera is improved.

Description

Technical Field

[0001] The utility model relates to a 3D camera, in particular to a depth camera and a mobile loading and unloading vehicle. Background Art

[0002] In recent years, with the continuous development of the electronics industry, 3D cameras with depth sensing functions have been increasingly valued by the industry and consumer electronics community. Currently, the more mature depth measurement method is the structured light solution, which projects a specific structured light pattern on an object and then calculates the depth of different positions of the object through the deformation or displacement of the pattern.

[0003] Three-dimensional imaging based on structured light requires actively projecting structured light onto the object to be measured, and determining the size parameters of the object to be measured by the deformation of the structured light, so it is called active three-dimensional measurement. There are many types of structured light, including point structured light, line structured light, surface structured light, and coded optical patterns. After the structured light is projected onto the surface of the object to be measured, the object to be measured is highly modulated. The modulated structured light is collected by the camera system and transmitted to the computer for analysis and calculation to obtain the three-dimensional surface data of the object to be measured.

[0004] Structured light is often used in some industrial grasping application scenarios. In these scenarios, accurate imaging of the object to be grasped is required. However, industrial application scenarios are diverse. How to expand the application scenarios of depth cameras and miniaturize depth cameras for easy installation has become an urgent problem to be solved. Utility Model Content

[0005] In view of the defects in the prior art, the purpose of the utility model is to provide a depth camera and a mobile loading and unloading vehicle.

[0006] The depth camera provided by the utility model includes:

[0007] The housing comprises a front panel, wherein a receiving space is formed in the housing; and a plurality of light-transmitting holes arranged in sequence are formed on the front panel;

[0008] The accommodation space is provided with a first infrared camera module, a speckle projector module, an RGB camera module, a light source module and a second infrared camera module;

[0009] The first infrared camera module, the speckle projector module, the RGB camera module, the light source module and the second infrared camera module respectively correspond to a light-transmitting hole to project light or receive light through the light-transmitting hole.

[0010] Preferably, a speckle projector module, an RGB camera module and a light source module are sequentially arranged between the first infrared camera module and the second infrared camera module.

[0011] Preferably, the front panel is provided with a first light-transmitting hole, a second light-transmitting hole, a third light-transmitting hole, a fourth light-transmitting hole and a fifth light-transmitting hole in sequence;

[0012] The first infrared camera module corresponds to the first light-transmitting hole;

[0013] The speckle projector module corresponds to the second light-transmitting hole;

[0014] The RGB camera module corresponds to the third light-transmitting hole;

[0015] The light source module corresponds to the fourth light-transmitting hole;

[0016] The second infrared camera module corresponds to the fifth light transmission hole.

[0017] Preferably, the first infrared camera module, the second infrared camera module, the speckle projector module and the RGB camera module are detachably mounted on the bottom plate of the housing via a mounting bracket.

[0018] Preferably, the first infrared camera module, the second infrared camera module, the speckle projector module, the RGB camera module and the light source module can be adjusted in angle through the mounting bracket.

[0019] Preferably, it also includes a processing control module;

[0020] The processing control module is arranged in the accommodating space;

[0021] The first infrared camera module, the second infrared camera module, the speckle projector module, the RGB camera module and the light source module are all electrically connected to the processing control module.

[0022] Preferably, the processing control module includes a main control board and a PCB board;

[0023] The main control board is arranged on one side of the PCB board and faces the rear panel of the housing; a plurality of interfaces are arranged on the other side of the PCB board.

[0024] The first infrared camera module, the speckle projector module, the RGB camera module, the light source module and the second infrared camera module are electrically connected to corresponding interfaces respectively.

[0025] Preferably, a shading plate is provided on the inner side of the front panel;

[0026] The shading plate is arranged between the RGB camera module and the light source module, and is used for shielding the light emitted by the light source module.

[0027] Preferably, the housing comprises a bottom plate; a plurality of screw holes are arranged on the bottom plate;

[0028] The screw hole is used to fix the depth camera to the fixture to be installed.

[0029] The mobile loading and unloading vehicle provided by the utility model includes the depth camera described above, and also includes:

[0030] A mobile base, used to move to any position or pause at any position and determine the orientation angle according to the received control command;

[0031] A robotic arm is arranged on the mobile base, and is used to move a target box transported by a conveyor belt to a target position, or to move a target box on a discharge position to the conveyor belt; a suction cup clamp is arranged at the end of the robotic arm, and a mounting port is arranged on the suction cup clamp, and the depth camera is arranged at the mounting port.

[0032] Compared with the prior art, the utility model has the following beneficial effects:

[0033] In the present invention, a light source module is provided between the RGB camera module and the second infrared camera module. The light source module is integrated into the depth camera, which not only facilitates the application of the depth camera to scenes with poor lighting, but also facilitates the overall installation of the depth camera. A light shield is provided between the RGB camera module and the light source module, thereby preventing the light source module from directly entering the RGB camera module, thereby improving the imaging effect of the depth camera.

[0034] In the utility model, the first infrared camera module, the second infrared camera module, the speckle projector module, the RGB camera module and the light source module are detachably mounted on the bottom plate of the host through a mounting bracket, respectively. Therefore, the first infrared camera module, the second infrared camera module, the speckle projector module, the RGB camera module and the light source module can be replaced or the orientation angles of the first infrared camera module, the second infrared camera module, the speckle projector module, the RGB camera module and the light source module can be adjusted according to the application scenario, thereby expanding the application scenario of the utility model. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without creative work. By reading the detailed description of the non-limiting embodiments with reference to the following drawings, other features, purposes and advantages of the utility model will become more obvious:

[0036] Figure 1 This is a schematic diagram of the structure of a depth camera in an embodiment of the present utility model;

[0037] Figure 2 This is a schematic diagram of the structure of a depth camera in one direction in an embodiment of the present utility model;

[0038] Figure 3 This is a schematic diagram of the structure of the other direction of the inner side of the depth camera in the embodiment of the utility model;

[0039] Figure 4 Schematic diagram of the bottom and side of the depth camera in the embodiment of the utility model;

[0040] Figure 5 This is a schematic diagram of the internal structure of a depth camera in an embodiment of the present utility model;

[0041] Figure 6 This is a structural diagram of a processing control module in an embodiment of the utility model;

[0042] Figure 7 This is a schematic diagram of an explosion of an external projector in an embodiment of the utility model;

[0043] Figure 8 A schematic diagram of the coordinated installation of a depth camera and a fixture in an embodiment of the utility model; and

[0044] Fig. 9 It is a structural schematic diagram of a mobile loading and unloading vehicle in an embodiment of the utility model.

[0045] In the figure:

[0046] 1 is a housing; 101 is a front panel; 102 is a shading plate; 103 is a rear panel; 104 is a bottom plate; 2 is a first infrared camera module; 3 is a speckle projector module; 4 is an RGB camera module; 5 is a light source module; 6 is a second infrared camera module; 7 is a processing control module; 701 is a speckle projector module interface; 702 is a PCB board; 703 is a main control board; 8 is a network interface; 9 is a power interface; 10 is a screw hole; 11 is a target object;

[0047] 100 is a depth camera; 200 is a suction cup fixture; 300 is a robotic arm; and 400 is a mobile base. DETAILED DESCRIPTION

[0048] The utility model is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the utility model, but do not limit the utility model in any form. It should be pointed out that for those of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the utility model. These all fall within the scope of protection of the utility model.

[0049] It should be noted that when a component is referred to as being "fixed to" or "disposed on" another component, it can be directly on the other component or indirectly on the other component. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element. In addition, connection can be used for fixing or for circuit connection.

[0050] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the utility model.

[0051] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present utility model, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0052] The utility model provides a depth camera, comprising:

[0053] The housing comprises a front panel, wherein a receiving space is formed in the housing; and a plurality of light-transmitting holes arranged in sequence are formed on the front panel;

[0054] The accommodation space is provided with a first infrared camera module, a speckle projector module, an RGB camera module, a light source module and a second infrared camera module;

[0055] The first infrared camera module, the speckle projector module, the RGB camera module, the light source module and the second infrared camera module respectively correspond to a light-transmitting hole to project light or receive light through the light-transmitting hole.

[0056] In the utility model, a light source module is arranged between the RGB camera module and the second infrared camera module. The light source module is integrated into the depth camera, which not only facilitates the application of the depth camera to scenes with poor lighting, but also facilitates the overall installation of the depth camera. A shading plate is arranged between the RGB camera module and the light source module to avoid the light source module directly entering the RGB camera module, thereby improving the imaging effect of the depth camera.

[0057] The above is the core idea of ​​the utility model. In order to make the above-mentioned purposes, features and advantages of the utility model more obvious and easy to understand, the technical solutions in the embodiments of the utility model will be clearly and completely described below in combination with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of them. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0058] Figure 1 Schematic diagram of the structure of the depth camera in the embodiment of the utility model. Figure 1 As shown, the depth camera provided by the utility model includes:

[0059] The housing 1 comprises a front panel 101, wherein a receiving space is formed in the housing 1; the front panel 101 is provided with a plurality of light-transmitting holes arranged in sequence;

[0060] The accommodation space is provided with a first infrared camera module 2, a speckle projector module 3, an RGB camera module 4, a light source module 5 and a second infrared camera module 6;

[0061] The first infrared camera module 2, the speckle projector module 3, the RGB camera module 4, the light source module 5 and the second infrared camera module 6 respectively correspond to a light-transmitting hole to project light or receive light through the light-transmitting hole.

[0062] In the embodiment of the present invention, an optical glass plate is provided on the front panel 101, and the light entrances of the first infrared camera module 2, the RGB camera module 4 and the second infrared camera module 6 and the light exits of the speckle projector module 3 and the light source module 5 face the optical glass plate.

[0063] In one embodiment of the present invention, the base line is 100 mm and the outer shell is 150 mm×50 mm×60 mm.

[0064] Figure 2 Schematic diagram of the structure of the depth camera in one direction in the embodiment of the present invention. Figure 2 As shown, a speckle projector module 3, an RGB camera module 4 and a light source module 5 are sequentially arranged between the first infrared camera module 2 and the second infrared camera module 6.

[0065] In the embodiment of the utility model, a light shielding plate 102 is provided on the inner side of the front panel 101;

[0066] The shading plate 102 is disposed between the RGB camera module 4 and the light source module 5 , and is used to shield the light emitted by the light source module 5 .

[0067] Figure 3 FIG. 1 is a schematic diagram of the structure of the depth camera in another direction in an embodiment of the present invention. Figure 3 As shown, the front panel 101 is provided with a first light-transmitting hole, a second light-transmitting hole, a third light-transmitting hole, a fourth light-transmitting hole and a fifth light-transmitting hole in sequence;

[0068] The first infrared camera module 2 corresponds to the first light-transmitting hole;

[0069] The speckle projector module 3 corresponds to the second light-transmitting hole;

[0070] The RGB camera module 4 corresponds to the third light-transmitting hole;

[0071] The light source module 5 corresponds to the fourth light transmission hole;

[0072] The second infrared camera module 6 corresponds to the fifth light-transmitting hole.

[0073] In the embodiment of the present invention, the centers of the first light-transmitting hole, the second light-transmitting hole, the third light-transmitting hole, the fourth light-transmitting hole and the fifth light-transmitting hole are on the same straight line;

[0074] Figure 5 FIG. 1 is a schematic diagram of the internal structure of a depth camera in an embodiment of the present utility model. Figure 5 As shown, the first infrared camera module, the second infrared camera module, the speckle projector module 3, the RGB camera module 4 and the light source module 5 are detachably mounted on the bottom plate 104 of the housing 1 via a mounting bracket.

[0075] In the embodiment of the utility model, the first infrared camera module 2, the second infrared camera module 6, the speckle projector module 3, the RGB camera module 4 and the light source module 5 can be adjusted in angle through the mounting bracket.

[0076] The bottom plate 104 is provided with fixing holes arranged along an arc line, and the angle can be adjusted by fixing the mounting bracket to different fixing holes.

[0077] Therefore, the first infrared camera module 2, the second infrared camera module 6, the light source module 5, the speckle projector module 3 and the RGB camera module 4 can be replaced or the orientation angles of the first infrared camera module 2, the second infrared camera module 6, the light source module 5, the speckle projector module 3 and the RGB camera module 4 can be adjusted according to the application scenario, thereby expanding the application scenarios of the present invention.

[0078] Figure 6 Schematic diagram of the structure of the processing control module in the embodiment of the utility model. Figure 6 As shown, the depth camera provided by the present utility model further includes a processing control module 7;

[0079] The processing control module 7 is arranged in the accommodating space;

[0080] The first infrared camera module 2 , the second infrared camera module 6 , the speckle projector module 3 , the RGB camera module 4 , and the light source module 5 are all electrically connected to the processing control module 7 .

[0081] In the embodiment of the utility model, the processing control module 7 includes a main control board 703 and a PCB board 702;

[0082] The main control board 703 is arranged on one side of the PCB board 702 and faces the rear panel 104 of the housing 1; a plurality of interfaces are arranged on the other side of the PCB board 702.

[0083] The first infrared camera module 2, the speckle projector module 3, the RGB camera module 4, the light source module 5 and the second infrared camera module 6 are electrically connected to corresponding interfaces respectively. Figure 3 As shown, the speckle projector module 3 is electrically connected to the speckle projector module interface 701 .

[0084] Convert the Micro-B of the RGB camera module 4 to an FPC and connect it to the FPC socket of the PCB board 702. The light source module 5 uses a white light fill light, which is connected to the PCB board 702 via a 4Pin-ZH1.5 terminal line.

[0085] Figure 4 Schematic diagram of the bottom and side of the depth camera in the embodiment of the utility model, as shown in Figure 4 As shown, the housing 1 includes a bottom plate 104; a plurality of screw holes 10 are provided on the bottom plate 104;

[0086] The screw hole 10 is used to fix the depth camera 100 to a fixture to be installed.

[0087] In the embodiment of the utility model, the number of the screw holes 10 is 3, and the 3 screw holes 10 are arranged in a triangle.

[0088] Figure 8 Schematic diagram of the module of the depth camera in the embodiment of the present utility model. Figure 8 As shown, the first infrared camera module 2, the second infrared camera module 6, the speckle projector module 3, the RGB camera module 4 and the light source module 5 are all electrically connected to the processing control module 7;

[0089] The processing control module 7 is provided with a power interface 9 and a network interface 8. In a modified example of the present utility model, the power interface 9 can be omitted and power is supplied through the network interface 8.

[0090] The speckle projector module 3 is used to project structured light to the target object 11, the first infrared camera module 2 is used to receive the structured light reflected by the target object 11 to generate a first structured light image, the second infrared camera module 6 is used to receive the structured light reflected by the target object 11 to generate a second structured light image, and the processing control module 7 is used to generate a depth image or a 3D image according to the parallax between the first structured light image and the second structured light image. The structured light includes dot structured light, stripe structured light or coded structured light.

[0091] The RGB camera module 4 is used to collect the RGB image of the target object 11 ; the light source module 5 is used to improve the lighting when the RGB camera module 4 collects the image.

[0092] Figure 8 This is a schematic diagram of the coordinated installation of the depth camera and the fixture in the embodiment of the utility model. Fig. 9 The structure diagram of the mobile loading and unloading vehicle in the embodiment of the utility model is as follows: Figure 8 , Fig. 9 As shown, the utility model provides a mobile loading and unloading vehicle, including the depth camera, and also includes:

[0093] A mobile base 400 is used to move to any position or pause at any position and determine a direction angle according to a received control instruction;

[0094] The mechanical arm 300 is arranged on the mobile base 400, and is used to move the target box conveyed by the conveyor belt to a target position, or to move the target box on a discharge position to the conveyor belt;

[0095] A suction cup fixture 200 is disposed at the end of the robotic arm 300 . The suction cup fixture 200 is provided with a mounting opening, and the depth camera 100 is disposed at the mounting opening.

[0096] In the embodiment of the present invention, the suction cup fixture 200 includes a power supply, and the power supply interface 9 is electrically connected to the power supply.

[0097] In the present invention, a light source module is provided between the RGB camera module and the second infrared camera module. The light source module is integrated into the depth camera, which not only facilitates the application of the depth camera to scenes with poor lighting, but also facilitates the overall installation of the depth camera. A light shield is provided between the RGB camera module and the light source module, thereby preventing the light source module from directly entering the RGB camera module, thereby improving the imaging effect of the depth camera.

[0098] In the utility model, the first infrared camera module, the second infrared camera module, the speckle projector module, the RGB camera module and the light source module are detachably mounted on the bottom plate of the host through a mounting bracket, respectively. Therefore, the first infrared camera module, the second infrared camera module, the speckle projector module, the RGB camera module and the light source module can be replaced or the orientation angles of the first infrared camera module, the second infrared camera module, the speckle projector module, the RGB camera module and the light source module can be adjusted according to the application scenario, thereby expanding the application scenario of the utility model.

[0099] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same and similar parts between the embodiments can be referred to each other. The above description of the disclosed embodiments enables professionals and technicians in this field to implement or use the utility model. Various modifications to these embodiments will be obvious to professionals and technicians in this field, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the utility model. Therefore, the utility model will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features disclosed herein.

[0100] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various modifications or variations within the scope of the claims, which does not affect the essence of the present invention.

Claims

1. A depth camera, characterized in that: include: The housing comprises a front panel, wherein a receiving space is formed in the housing; and a plurality of light-transmitting holes arranged in sequence are formed on the front panel; The accommodation space is provided with a first infrared camera module, a speckle projector module, an RGB camera module, a light source module and a second infrared camera module; The first infrared camera module, the speckle projector module, the RGB camera module, the light source module and the second infrared camera module respectively correspond to a light-transmitting hole to project light or receive light through the light-transmitting hole.

2. The depth camera according to claim 1, characterized in that A speckle projector module, an RGB camera module and a light source module are sequentially arranged between the first infrared camera module and the second infrared camera module.

3. The depth camera according to claim 1, characterized in that: The front panel is provided with a first light-transmitting hole, a second light-transmitting hole, a third light-transmitting hole, a fourth light-transmitting hole and a fifth light-transmitting hole in sequence; The first infrared camera module corresponds to the first light-transmitting hole; The speckle projector module corresponds to the second light-transmitting hole; The RGB camera module corresponds to the third light-transmitting hole; The light source module corresponds to the fourth light-transmitting hole; The second infrared camera module corresponds to the fifth light transmission hole.

4. The depth camera according to claim 3, characterized in that The first infrared camera module, the second infrared camera module, the speckle projector module, the RGB camera module and the light source module are detachably mounted on the bottom plate of the housing via a mounting bracket.

5. The depth camera according to claim 4, characterized in that: The first infrared camera module, the second infrared camera module, the speckle projector module, the RGB camera module and the light source module can be adjusted in angle through the mounting bracket.

6. The depth camera according to claim 1, characterized in that: Also included is a processing control module; The processing control module is arranged in the accommodating space; The first infrared camera module, the second infrared camera module, the speckle projector module, the RGB camera module and the light source module are all electrically connected to the processing control module.

7. The depth camera according to claim 6, characterized in that: The processing control module includes a main control board and a PCB board; The main control board is arranged on one side of the PCB board and faces the rear panel of the housing; a plurality of interfaces are arranged on the other side of the PCB board. The first infrared camera module, the speckle projector module, the RGB camera module, the light source module and the second infrared camera module are electrically connected to corresponding interfaces respectively.

8. The depth camera according to claim 1, characterized in that: The inner side surface of the front panel is provided with a shading plate; The shading plate is arranged between the RGB camera module and the light source module, and is used for shielding the light emitted by the light source module.

9. The depth camera according to claim 6, characterized in that: The housing comprises a bottom plate; a plurality of screw holes are arranged on the bottom plate; The screw hole is used to fix the depth camera to the fixture to be installed.

10. A mobile loading and unloading vehicle, characterized in that: The depth camera according to any one of claims 1 to 9, further comprising: A mobile base, used to move to any position or pause at any position and determine the orientation angle according to the received control command; A mechanical arm, arranged on the mobile base, for moving a target box conveyed by the conveyor belt to a target position, or moving a target box on a discharge position to the conveyor belt; A suction cup clamp is arranged at the end of the robotic arm, a mounting opening is arranged on the suction cup clamp, and the depth camera is arranged at the mounting opening.

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