Binocular industrial camera and laser radar combined three-dimensional measurement system

Abstract

The utility model discloses a binocular industrial camera and laser radar combined three-dimensional measurement system, which relates to the technical field of three-dimensional measurement and comprises a sensing module and a miniature industrial personal computer. Wherein the sensing module comprises a binocular industrial camera and a laser radar; the laser radar is arranged at the top of the miniature industrial personal computer, the fixing support is arranged at the top of the laser radar, and the binocular industrial cameras are arranged at two ends of the fixing support; the binocular industrial camera and the laser radar are both in communication connection with the miniature industrial personal computer, and the miniature industrial personal computer is in communication connection with the target carrying platform. The technical problems that in the prior art, the structure is complex, cost is high, and adaptability is poor are solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to three -dimensional measurement technical field, concretely is a kind of three-dimensional measurement system combined with binocular industrial camera and laser radar. BACKGROUND

[0002] Three-dimensional measurement system is a kind of system for rapidly collecting three-dimensional data of ground surface and surrounding objects. At present, with the gradual maturity and development of computer vision and photogrammetry technology, three-dimensional measurement system is commonly used in high-precision maps and topographic mapping, but because of its huge cost, complex structure and poor adaptability, it is often loaded on large platforms such as cars, which cannot meet the needs of various three-dimensional measurement scenes and various platforms.

[0003] In short, the existing three-dimensional measurement system mainly has the following defects:

[0004] For example, the three-dimensional measurement system using multi-line laser radar, multiple cameras and millimeter wave radar has huge cost and is difficult to mass-produce. At the same time, its structure is extremely complex, and installation and calibration are extremely difficult, requiring high professional level and a lot of time, which cannot penetrate the mass market. Further, the volume of such devices is huge, and can only be installed on large platforms such as cars and large unmanned aerial vehicles, which has poor adaptability and cannot be applied to various use scenarios. UTILITY MODEL CONTENT

[0005] The purpose of the utility model is to solve at least one of the above technical problems by providing a three-dimensional measurement system combined with binocular industrial camera and laser radar.

[0006] The utility model embodiment provides a three-dimensional measurement system combined with binocular industrial camera and laser radar, comprising: a sensing module and a micro industrial computer; wherein the sensing module comprises a binocular industrial camera and a laser radar; the laser radar is arranged on the top of the micro industrial computer, a fixed support is arranged on the top of the laser radar, and the binocular industrial camera is arranged on both ends of the fixed support; the binocular industrial camera and the laser radar are in communication connection with the micro industrial computer, and the micro industrial computer is in communication connection with a target platform.

[0007] Further, the laser radar is fixed on the top of the micro industrial computer by M2 screw.

[0008] Further, the binocular industrial camera is fixed on both ends of the fixed support by M2 screw respectively.

[0009] Further, the fixed support is fixed on the top of the laser radar by a fixed base.

[0010] Further, the fixed base is fixed on the top of the laser radar by M2.5 screw.

[0011] Further, the binocular industrial camera is connected with the micro industrial computer through an industrial camera USB communication cable, and the laser radar is connected with the micro industrial computer through a laser radar USB communication cable.

[0012] The utility model provides a kind of three-dimensional measurement system of binocular industrial camera and laser radar combination, binocular industrial camera and laser radar are combined, to support to realize the three-dimensional detection of the object to be measured, improve detection real-time and accuracy;The utility model simple structure, low in cost, different carrying platform can be connected by micro industrial computer, high adaptability, can be applied to various scenes, alleviate the technical problems of complex structure, high cost and poor adaptability of prior art. BRIEF DESCRIPTION OF DRAWINGS

[0013] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the specific embodiments or prior art description will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0014] Figure 1 The utility model provides a kind of three-dimensional measurement system of binocular industrial camera and laser radar combination for the architecture schematic diagram of the utility model embodiment;

[0015] Figure 2 The utility model provides a kind of three-dimensional measurement system of binocular industrial camera and laser radar combination for the first perspective three-dimensional schematic diagram of the utility model embodiment;

[0016] Figure 3 The utility model provides a kind of three-dimensional measurement system of binocular industrial camera and laser radar combination for the second perspective three-dimensional schematic diagram of the utility model embodiment;

[0017] Figure 4 The utility model provides a kind of three-dimensional measurement system of binocular industrial camera and laser radar combination for the electrical connection schematic diagram of the utility model embodiment.

[0018] In the drawing: 1, binocular industrial camera, 2, laser radar, 3, fixed support, 4, fixed base, 5, micro industrial computer, 6, industrial camera USB communication cable, 7, laser radar USB communication cable, 10, sensing module, 20, target carrying platform. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the drawings in the embodiments of the present utility model. Obviously, the described embodiments are only part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of the present utility model.

[0020] Figure 1 is a framework schematic diagram of a binocular industrial camera and laser radar combined three-dimensional measurement system according to the embodiments of the present utility model. As shown in the figure, Figure 1 the system comprises: a sensing module 10 and a micro industrial computer 5; wherein the sensing module 10 comprises a binocular industrial camera 1 and a laser radar 2.

[0021] Figure 2 is a first perspective schematic diagram of a binocular industrial camera and laser radar combined three-dimensional measurement system according to the embodiments of the present utility model, Figure 3 is a second perspective schematic diagram of a binocular industrial camera and laser radar combined three-dimensional measurement system according to the embodiments of the present utility model. As shown in the figure, Figure 2 and Figure 3 the laser radar 2 is arranged on the top of the micro industrial computer 5, a fixed support 3 is arranged on the top of the laser radar 2, and the binocular industrial camera 1 is arranged at both ends of the fixed support 3; the binocular industrial camera 1 and the laser radar 2 are in communication connection with the micro industrial computer 5, and the micro industrial computer 5 is in communication connection with a target carrying platform 20.

[0022] Specifically, the micro industrial computer 5 has a port capable of being in communication connection with the target carrying platform 20.

[0023] Specifically, the binocular industrial camera 1 is used for collecting three-dimensional image information of a measured object in a scene;

[0024] the laser radar 2 is used for collecting laser point cloud information of the measured object in the scene;

[0025] the micro industrial computer 5 is used for issuing a measurement instruction to the sensing module 10, and acquiring the three-dimensional image information and the laser point cloud information of the measured object, and issuing a moving instruction to the target carrying platform 20.

[0026] Optionally, the micro industrial computer 5 is further used for processing and storing the received data, and receiving the instruction issued by the target carrying platform 20.

[0027] In application, the binocular industrial camera 1 and the laser radar 2 can respectively collect plane coordinates, relative angle information and spatial information of the surrounding environment in the state that the optical axes are parallel to each other, and transmit to the micro industrial computer 5. Specifically, the data received by the micro industrial computer 5 comprises:

[0028] The plane coordinate and relative angle information of the object to be measured in the scene detected by the binocular industrial camera 1;

[0029] The relative spatial coordinate and reflection value information of the object to be measured in the scene detected by the laser radar 2.

[0030] Specifically, as shown in Figure 2 and Figure 3 The fixed support 3 is fixed on the top of the laser radar 2 through the fixed base 4. Preferably, the fixed support 3 comprises a horizontal rod.

[0031] Specifically, the binocular industrial camera 1 is connected with the micro industrial computer 5 through an industrial camera USB communication cable 6; the laser radar 2 is connected with the micro industrial computer 5 through a laser radar USB communication cable 7.

[0032] Figure 4 An electrical connection schematic diagram of a three-dimensional measurement system combined with a binocular industrial camera and a laser radar provided by the embodiment of the utility model. As shown in Figure 4 The 16-line laser radar and the two cameras of the binocular industrial camera 1 are both connected with the pc end of the micro industrial computer 5 through a network port tcp.

[0033] Optionally, the laser radar 2 is fixed on the top of the micro industrial computer 5 through M2 screws.

[0034] Optionally, the binocular industrial camera 1 is fixed on the two ends of the fixed support 3 through M2 screws respectively.

[0035] Optionally, the fixed base 4 is fixed on the top of the laser radar 2 through M2.5 screws.

[0036] The three-dimensional measurement system combined with a binocular industrial camera and a laser radar provided by the embodiment of the utility model utilizes the combination of the binocular industrial camera and the laser radar to simultaneously acquire two-dimensional image information and laser point cloud information of the surrounding environment, and then performs three-dimensional measurement on the surrounding environment, thereby improving the real-time performance and accuracy of detection. The utility model has simple structure and low cost, can be connected with different mounting platforms through the micro industrial computer, has high adaptability, can be applied to various scenes, and solves the technical problems of complex structure, high cost and poor adaptability existing in the prior art.

[0037] It is apparent for a person skilled in the art that the present application is not limited to the details of the above-described exemplary embodiments, but that it can be implemented in other concrete forms without departing from the spirit or the essential characteristics of the present application. Therefore, the embodiments should be considered as exemplary and non-limiting, the scope of the present application being defined by the claims appended hereto rather than by the above description, and all the changes which fall within the meaning and the scope of the equivalent elements of the claims are intended to be embraced therein. Any reference signs in the claims should not be construed as limiting the claims to the figures in which the reference signs are used.

[0038] Furthermore, it should be understood that although the present specification is described in terms of embodiments, not every embodiment according to the present specification needs to exhibit each and every characteristic specified in the present specification. The specification can also be described in terms of a single preferred embodiment, it being understood that this single preferred embodiment can exhibit not every aspect or feature of the present specification. The specification can also be described in terms of a generic statement that the disclosure can include one, some, or all of a list of features. It is further understood that the specification is to be considered as a whole and not with reference to a single feature or design element alone.

Claims

1. A binocular industrial camera combined with a laser radar three-dimensional measurement system, characterized in that, The utility model relates to a kind of industrial intelligent vehicle system, including: Sensing module and micro industrial computer;Wherein, the sensing module includes binocular industrial camera and laser radar;The laser radar is set on the top of the micro industrial computer, a fixed support is arranged on the top of the laser radar, and the binocular industrial camera is arranged at the two ends of the fixed support;The binocular industrial camera and the laser radar are both in communication connection with the micro industrial computer, and the micro industrial computer is in communication connection with target platform.

2. The binocular industrial camera and lidar combined three-dimensional measurement system of claim 1, wherein: The laser radar is fixed on the top of the micro industrial computer by M2 screw.

3. The binocular industrial camera and lidar combined three-dimensional measurement system of claim 1, wherein: The binocular industrial camera is fixed on the two ends of the fixed support by M2 screw respectively.

4. The binocular industrial camera and lidar combined three-dimensional measurement system of claim 1, wherein: The fixed support is fixed on the top of the laser radar by fixed base.

5. The binocular industrial camera and lidar combined three-dimensional measurement system of claim 4, wherein: The fixed base is fixed on the top of the laser radar by M2.5 screw.

6. The binocular industrial camera and lidar combined three-dimensional measurement system of claim 1, wherein: The binocular industrial camera is connected with the micro industrial computer by industrial camera USB communication cable;The laser radar is connected with the micro industrial computer by laser radar USB communication cable.

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