Binocular structured light three-dimensional camera and production equipment

Abstract

The utility model is suitable for the technical field of cameras, and provides a binocular structured light three-dimensional camera and production equipment, and the binocular structured light three-dimensional camera comprises an optical machine projector module; one camera module is located on the left side of the ray machine projector module, and the other camera module is located on the right side of the ray machine projector module; each camera module comprises a camera assembly and a rotating table assembly, and the camera assembly is arranged on the rotating table assembly; the rotary table assembly comprises a first rotary table, a fine adjustment rotary table and a base, the first rotary table is rotatably arranged on the fine adjustment rotary table, the fine adjustment rotary table is rotatably arranged on the base, and the camera assembly is arranged on the first rotary table. The binocular structured light three-dimensional camera provided by the embodiment of the utility model can be used for imaging objects with complex and changeable shapes.

Description

Technical Field

[0001] The present application belongs to the field of camera technology, and more specifically, relates to a binocular structured light three-dimensional camera and production equipment. Background Art

[0002] Binocular structured light 3D cameras (also known as binocular structured light 3D cameras) have broad application prospects in industry, medicine, scientific research, and other fields. Binocular structured light 3D cameras consist of an optical projector module, a left camera module, and a right camera module. Current binocular structured light 3D cameras have fixed angles between the left and right camera modules. In real-world applications, the shapes of objects being inspected and tested in the same scene are complex and varied. Fixed-angle camera modules can only image objects with fixed shapes. Utility Model Content

[0003] The embodiments of the present application provide a binocular structured light 3D camera and production equipment that can image objects with complex and changeable shapes.

[0004] In a first aspect, embodiments of the present application provide a binocular structured light 3D camera, comprising:

[0005] Optical projector module;

[0006] Two camera modules, one of which is located on the left side of the optical projector module, and the other of which is located on the right side of the optical projector module;

[0007] Each of the camera modules includes a camera assembly and a rotating stage assembly, and the camera assembly is arranged on the rotating stage assembly;

[0008] The rotating stage assembly includes a first rotating stage, a fine-tuning rotating stage and a base. The first rotating stage is rotatably arranged on the fine-tuning rotating stage, the fine-tuning rotating stage is rotatably arranged on the base, and the camera assembly is arranged on the first rotating stage.

[0009] In some possible implementations of the first aspect, the rotating stage assembly further includes:

[0010] The fine-tuning rotating handle is rotatably arranged on the base to push the fine-tuning rotating platform to rotate relative to the base through a spiral motion.

[0011] In some possible implementations of the first aspect, the fine-tuning rotary stage includes:

[0012] A fine-tuning rotating body is rotatably arranged on the base;

[0013] an adjusting head connected to the fine-tuning rotating body;

[0014] The fine-tuning rotating handle pushes the adjusting head through a spiral motion so that the fine-tuning rotating table rotates relative to the base.

[0015] In some possible implementations of the first aspect, the rotating stage assembly further includes:

[0016] A mounting seat, arranged on the base and provided with a movable opening;

[0017] The regulating head is located at the movable opening;

[0018] The fine-tuning rotating handle is rotatably arranged on the mounting seat.

[0019] In some possible implementations of the first aspect, the rotating stage assembly further includes:

[0020] A push rod, disposed on the mounting seat and abutting against the adjusting head;

[0021] The fine-tuning rotating handle is located on one side of the adjusting head, and the push rod is located on the other side of the adjusting head;

[0022] The push rod is an elastic component, or the push rod is movably arranged on the mounting seat.

[0023] In some possible implementations of the first aspect, the rotating stage assembly further includes:

[0024] The rotating handle is arranged on the first rotating platform.

[0025] In some possible implementations of the first aspect, each of the camera modules further includes:

[0026] The moving platform assembly is connected to the rotating platform assembly to drive the rotating platform assembly to move relative to the optical projector module.

[0027] In some possible implementations of the first aspect, the mobile station component includes:

[0028] A transfer component connected to the rotating table assembly;

[0029] The moving platform is connected to the adapter component to drive the adapter component installation component to move.

[0030] In some possible implementations of the first aspect, the binocular structured light 3D camera further includes:

[0031] The optical projector module and the camera modules are arranged in the shell.

[0032] In a second aspect, an embodiment of the present application provides a production device comprising a binocular structured light 3D camera as described in any one of the above items.

[0033] The beneficial effects of the embodiments of the present application are:

[0034] Each camera module includes a camera assembly and a rotating stage assembly. The camera assembly is arranged on the first rotating stage of the rotating stage assembly. The first rotating stage is arranged on the fine-tuning rotating stage and can rotate relative to the fine-tuning rotating stage. The fine-tuning rotating stage is arranged on the base and can rotate relative to the base. The camera assembly is adjusted in layers through the first rotating stage and the fine-tuning rotating stage of the rotating stage assembly. The first rotating stage realizes coarse adjustment of the angle of the camera assembly, and the fine-tuning rotating stage realizes fine adjustment of the angle of the camera assembly. The angle of the camera assembly can be quickly and accurately adjusted, thereby changing the angle between the two camera assemblies, and the working distance of the binocular structured light three-dimensional camera can be changed. It can adapt to objects with complex and changeable shapes and can image objects with complex and changeable shapes. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0036] Figure 1 An orthographic projection view of a binocular structured light 3D camera provided in one embodiment of the present application;

[0037] Figure 2 Another orthographic projection view of the binocular structured light 3D camera provided in one embodiment of the present application;

[0038] Figure 3 A stereoscopic diagram of a portion of the structure of a binocular structured light 3D camera provided in one embodiment of the present application;

[0039] Figure 4 This is an exploded view of the camera module of a binocular structured light 3D camera provided in one embodiment of the present application;

[0040] Figure 5 This is another orthographic projection view of the binocular structured light 3D camera provided in an embodiment of the present application. DETAILED DESCRIPTION

[0041] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application clearer, the following Figures 1 to 5 It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application.

[0042] It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0043] 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 this application 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 this application.

[0044] It should be understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0045] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0046] Figure 1 This is an orthographic projection view of a binocular structured light 3D camera provided in one embodiment of the present application. Figure 2 This is another orthographic projection view of the binocular structured light 3D camera provided in one embodiment of the present application. Figure 3 A three-dimensional diagram of a portion of the structure of a binocular structured light 3D camera provided in one embodiment of the present application. Figures 1 to 3 The binocular structured light 3D camera provided in the embodiment of the present application includes an optical projector module 1, a camera module 2 and a shell 3.

[0047] The optical projector module 1 is used to project images.

[0048] The camera module 2 is used to photograph objects. There are two camera modules 2. One camera module 2 is located on the left side of the optical projector module 1, and the other camera module 2 is located on the right side of the optical projector module 1. Each camera module 2 is connected to the optical projector module 1 to transmit data to the optical projector module 1.

[0049] Figure 4 This is a structural exploded view of the camera module of a binocular structured light 3D camera provided in one embodiment of the present application. Figures 2 to 4 Each camera module 2 includes a camera assembly 21 and a rotating stage assembly 22 .

[0050] The camera assembly 21 is disposed on the rotating stage assembly 22 .

[0051] The rotating stage assembly 22 can drive the camera assembly 21 to rotate relative to the optical projector module 1. The rotating stage assembly 22 can be a cross roller bearing type rotating slide or a running-in installation type rotating slide.

[0052] refer to Figure 3 The rotating stage assembly 22 includes a first rotating stage 221 , a fine-tuning rotating stage 222 and a base 223 .

[0053] The first rotating platform 221 is rotatably disposed on the fine-adjusting rotating platform 222 . That is, the first rotating platform 221 is disposed on the fine-adjusting rotating platform 222 and can rotate relative to the fine-adjusting rotating platform 222 .

[0054] The fine-tuning rotating platform 222 is rotatably disposed on the base 223 . That is, the fine-tuning rotating platform 222 is disposed on the base 223 and can rotate relative to the base 223 , thereby driving the first rotating platform 221 to rotate relative to the base 223 .

[0055] The first rotating stage 221 and the fine-adjusting rotating stage 222 may be provided with rotation angle scales to indicate the rotation angles.

[0056] The camera assembly 21 is disposed on the first rotating platform 221 and can rotate relative to the base 223 along with the first rotating platform 221 .

[0057] The optical projector module 1 and the camera modules 2 are arranged in a housing 3 .

[0058] It should be understood that the housing 3 is optional, and the optical projector module 1 and the camera module 2 can be set on the ground or in the housing of an external device.

[0059] According to the above content, each camera module 2 includes a camera assembly 21 and a rotating stage assembly 22. The camera assembly 21 is arranged on the first rotating stage 221 of the rotating stage assembly 22. The first rotating stage 221 is arranged on the fine-tuning rotating stage 222 and can rotate relative to the fine-tuning rotating stage 222. The fine-tuning rotating stage 222 is arranged on the base 223 and can rotate relative to the base 223. The camera assembly 21 is layered adjusted by the first rotating stage 221 and the fine-tuning rotating stage 222 of the rotating stage assembly 22. The first rotating stage 221 realizes coarse adjustment of the angle of the camera assembly 21, and the fine-tuning rotating stage 222 realizes fine adjustment of the angle of the camera assembly 21. The angle of the camera assembly 21 can be quickly and accurately adjusted, thereby changing the angle α between the two camera assemblies 21, and can change the working distance D of the binocular structured light three-dimensional camera. It can adapt to objects with complex and changeable shapes and can image objects with complex and changeable shapes.

[0060] refer to Figure 3 , each camera module 2 may further include a moving platform component 20 .

[0061] The moving stage assembly 20 is connected to the rotating stage assembly 22 to drive the rotating stage assembly 22 to move relative to the optical projector module 1 along a movement direction S, thereby moving the camera assembly 21. This changes the distance between the two camera assemblies 21, that is, changes the baseline length between the two camera assemblies 21, thereby changing the field of view of the binocular structured light 3D camera to adapt to different shooting scenarios. The aforementioned movement direction S can be the length direction or width direction of the binocular structured light 3D camera.

[0062] By adjusting the baseline length and the angle between the two camera assemblies 21, the field of view and working distance of the binocular structured light 3D camera can be changed according to scene requirements, and various objects can be detected and tested.

[0063] The movable platform assembly 20 can be a manual slide or an electric slide. Specifically, the movable platform assembly 4 can be a linear rack and pinion slide, a linear ball guide slide, or a lead screw guide slide.

[0064] refer to Figure 4 The above-mentioned moving platform assembly 20 may include a transition component 201, a moving platform 202 and a guide rail 203.

[0065] The adapter component 201 is connected to the rotating stage assembly 202 .

[0066] The moving platform 202 is movably disposed on the guide rail 203 and connected to the adapter 201 to drive the adapter 201 to move.

[0067] Specifically, the guide rail 203 is disposed at the bottom of the housing 3 , the rotating stage assembly 202 is disposed on the moving stage 202 via the adapter component 201 , and the camera assembly 21 is disposed on the rotating stage assembly 22 .

[0068] It should be understood that the specifications and dimensions of the movable stage assembly 20 of the two camera modules 2 can be the same or different; the specifications and dimensions of the rotating stage assembly 22 of the two camera modules 2 can be the same or different; and the surface treatment colors of the movable stage assembly 20 and the rotating stage assembly 22 can be one or more colors.

[0069] refer to Figure 4 The mobile station component 20 may further include a knob 204 .

[0070] The knob 204 is disposed on the movable platform 202. Turning the knob 204 can move the movable platform 202 along the guide rail 203.

[0071] refer to Figure 4The camera assembly 21 may include a camera 211 , a lens 212 and a fixing component 213 .

[0072] The camera 211 is mounted on the fixing component 213 . The fixing component 213 is mounted on the rotating stage assembly 22 . The lens 212 is mounted on the camera 211 .

[0073] It should be understood that the lens 212 and the fixing component 213 are optional, and the camera 211 is directly disposed on the rotating stage assembly 22 .

[0074] refer to Figure 3 and Figure 4 The above-mentioned rotating stage assembly 22 may further include a fine-tuning rotating handle 224.

[0075] The fine-tuning rotary handle 224 is rotatably disposed on the base 223 to push the fine-tuning rotary table 222 to rotate relative to the base 223 through a spiral motion, thereby facilitating fine-tuning of the fine-tuning rotary table 222 .

[0076] For example, the base 223 is provided with a threaded through hole; the fine-tuning rotating handle 224 is threadedly connected to the threaded through hole of the base 223, and the fine-tuning rotating handle 224 makes a spiral motion relative to the base 223 when it rotates.

[0077] refer to Figure 4 The above-mentioned fine-tuning rotating platform 222 may include a fine-tuning rotating body 2221 and an adjusting head 2222 .

[0078] The fine-adjusting rotating body 2221 is rotatably disposed on the base 223 , that is, the fine-adjusting rotating body 2221 is disposed on the base 223 and can rotate relative to the base 223 .

[0079] The adjusting head 2222 is connected to the fine-tuning rotating body 2221. The adjusting head 2222 can be a protrusion or a fastener provided on the fine-tuning rotating body 2221.

[0080] The fine-tuning rotating handle 224 pushes the adjusting head 2222 through a spiral motion so that the fine-tuning rotating platform 222 rotates relative to the base 223 .

[0081] refer to Figure 3 and Figure 4 The above-mentioned rotating platform assembly 22 may further include a mounting seat 225.

[0082] The mounting base 225 is disposed on the base 223 and defines a movable opening 2251 .

[0083] The adjusting head 2222 is located in the movable opening 2251 and can move within the movable opening 2251 .

[0084] The fine-tuning rotating handle 224 is rotatably disposed on the mounting seat 225 , that is, the fine-tuning rotating handle 224 is disposed on the base 223 through the mounting seat 225 and can rotate relative to the mounting seat 225 .

[0085] The fine-tuning rotating handle 224 pushes the adjusting head 2222 to move in the movable opening 2251 through a spiral motion, and the adjusting head 2222 drives the fine-tuning rotating platform 222 to rotate relative to the base 223, thereby achieving accurate and rapid fine-tuning of the fine-tuning rotating platform 222.

[0086] Figure 5 This is another orthographic projection view of the binocular structured light 3D camera provided in one embodiment of the present application. Figure 4 and Figure 5 The above-mentioned rotating table assembly 22 may further include a push rod 226.

[0087] The push rod 226 is disposed on the mounting seat 225 and is supported by the adjusting head 2222 .

[0088] The fine-tuning rotating handle 224 is located on one side of the adjusting head 2222 . The push rod 226 is located on the other side of the adjusting head 2222 .

[0089] The push rod 226 is an elastic component, or the push rod 226 is movably disposed on the mounting seat 225 .

[0090] The fine-tuning rotating handle 224 pushes the adjusting head 2222 on one side of the adjusting head 2222 through a spiral motion, and the push rod 226 pushes the adjusting head 2222 on the other side of the push rod 226. Since the push rod 226 is an elastic component or is movably arranged on the mounting seat 225, under the push of the fine-tuning rotating handle 224, the adjusting head 2222 will compress the push rod 226 or push the push rod 226 to move relative to the mounting seat 225, so that the adjusting head 2222 is always located between the fine-tuning rotating handle 224 and the push rod 226, thereby realizing the positioning of the adjusting head 2222, preventing the adjusting head 2222 from continuing to move after moving into position and causing errors, and improving the adjustment accuracy.

[0091] refer to Figure 4 The rotating table assembly 22 may further include a rotating handle 227 .

[0092] The rotating handle 227 is disposed on the first rotating platform 221 and is used to rotate the first rotating platform 221 .

[0093] The working principle of the binocular structured light 3D camera provided in the embodiments of the present application is as follows:

[0094] When it is necessary to shoot objects with complex and changeable shapes, the adjustment knob 204 can make the movable stage 202 move left and right in a straight line on the guide rail 203. The guide rail 203 has a movement data scale. After the movable stage 202 reaches a predetermined distance, the movable stage 202 can be fixed to the guide rail 203 by fasteners (such as screws) to adjust the baseline length between the two camera assemblies 21; by adjusting the rotating handle 227, the camera assembly 21 can rotate following the first rotating stage 221; by adjusting the fine-tuning rotating handle 224, the fine-tuning rotating stage 222 can be rotated relative to the base 223, thereby rotating the first rotating stage 221 set on the fine-tuning rotating stage 222 to adjust the angle between the two camera assemblies 21; in this way, the field of view and working distance of the binocular structured light 3D camera can be changed, and objects with complex and changeable shapes can be shot.

[0095] The binocular structured light 3D camera provided in the embodiment of the present application is a binocular structured light industrial 3D camera with adjustable angle and baseline length, which can shoot objects with complex and changeable shapes, facilitates adjustment of shooting angles and enables precise adjustment.

[0096] An embodiment of the present application further provides a production device, which includes the binocular structured light 3D camera provided in any of the above embodiments. The production device can be a robot, loading and unloading equipment, or a production line.

[0097] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A binocular structured light 3D camera, characterized in that: include: Optical projector module; Two camera modules, one of which is located on the left side of the optical projector module, and the other of which is located on the right side of the optical projector module; Each of the camera modules includes a camera assembly and a rotating stage assembly, and the camera assembly is arranged on the rotating stage assembly; The rotating stage assembly includes a first rotating stage, a fine-tuning rotating stage and a base. The first rotating stage is rotatably arranged on the fine-tuning rotating stage, the fine-tuning rotating stage is rotatably arranged on the base, and the camera assembly is arranged on the first rotating stage.

2. The binocular structured light 3D camera according to claim 1, wherein: The rotating stage assembly further comprises: The fine-tuning rotating handle is rotatably arranged on the base to push the fine-tuning rotating platform to rotate relative to the base through a spiral motion.

3. The binocular structured light 3D camera according to claim 2, wherein: The fine-tuning rotary stage comprises: A fine-tuning rotating body is rotatably arranged on the base; an adjusting head connected to the fine-tuning rotating body; The fine-tuning rotating handle pushes the adjusting head through a spiral motion so that the fine-tuning rotating table rotates relative to the base.

4. The binocular structured light 3D camera according to claim 3, wherein: The rotating stage assembly further comprises: A mounting seat, arranged on the base and provided with a movable opening; The regulating head is located at the movable opening; The fine-tuning rotating handle is rotatably arranged on the mounting seat.

5. The binocular structured light 3D camera according to claim 4, wherein: The rotating stage assembly further comprises: A push rod, disposed on the mounting seat and abutting against the adjusting head; The fine-tuning rotating handle is located on one side of the adjusting head, and the push rod is located on the other side of the adjusting head; The push rod is an elastic component, or the push rod is movably arranged on the mounting seat.

6. The binocular structured light 3D camera according to claim 1, wherein: The rotating stage assembly further comprises: The rotating handle is arranged on the first rotating platform.

7. The binocular structured light 3D camera according to claim 1, wherein: Each of the camera modules further includes: The moving platform assembly is connected to the rotating platform assembly to drive the rotating platform assembly to move relative to the optical projector module.

8. The binocular structured light 3D camera according to claim 7, wherein: The mobile station components include: A transfer component connected to the rotating table assembly; The moving platform is connected to the adapter component to drive the adapter component installation component to move.

9. The binocular structured light 3D camera according to any one of claims 1 to 8, wherein: The binocular structured light 3D camera also includes: The optical projector module and the camera modules are arranged in the shell.

10. A production equipment, characterized in that, It comprises the binocular structured light 3D camera as described in any one of claims 1 to 9.

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