3D vision dual-camera structured light device

Abstract

The utility model relates to 3D vision measurement technical field discloses 3D vision dual -camera structure light device, including base, edge protection, structure light projector and camera, the fixed mechanism for accurate positioning of camera is fixed in base top, the fixed mechanism includes bottom plate, fixed edge and the limiting component that is composed of long lever and short lever, the camera is connected through bottom lug and fixed edge sliding, the long lever of limiting component straddles fixed edge top, the short lever straddles long lever top and carries out the limiting to camera, the second screw is used for locking camera position to be connected with on short lever screw, structure light projector bottom side fixed scale board, the utility model discloses through the cooperation of sliding guide rail and scale pointer system, has realized the quick physical calibration and accurate positioning of camera position, and through the magnetic attraction telescopic light shield has effectively blocked the environmental stray light, has improved the measurement accuracy and environmental adaptability of device.

Description

Technical Field

[0001] This utility model relates to the field of 3D vision measurement technology, and in particular to a 3D vision dual-camera structured light device. Background Technology

[0002] With the development of industrial automation and artificial intelligence vision technology, 3D vision measurement has the characteristics of high precision and non-contact operation, and has been widely used in fields such as object recognition, defect detection, and reverse engineering. Among them, active 3D reconstruction systems, represented by structured light technology, can provide dense point cloud data and have become one of the mainstream technologies.

[0003] A typical dual-camera structured light device usually consists of a structured light projector and at least two cameras. Spatial coordinates are calculated using the principle of triangulation. The relative position between the camera and the projector, i.e., the baseline distance, is a key parameter that determines the measurement accuracy. Current technologies often use traditional bolt fixing or manual adjustment methods when integrating and installing such devices. This makes it difficult to keep the optical axes of the camera and the projector in a precise parallel or coplanar state. Furthermore, after adjusting the baseline distance to adapt to different working distances, it is difficult to perform quick and accurate physical reset and locking. Once the equipment is subjected to vibration during transportation or operation, it will produce a small relative displacement, which will seriously affect the system calibration parameters and the final 3D reconstruction accuracy. This brings inconvenience to the stable operation of the equipment and on-site maintenance.

[0004] Furthermore, structured light technology relies on feature matching based on the pattern of light spots projected onto the surface of an object. Stray light in the environment, especially background light or reflected light from surrounding light sources, will interfere with the projected structured light pattern, resulting in a decrease in the contrast of the image captured by the camera and blurring of the pattern edges. This makes it difficult for the system to extract accurate feature points, especially in industrial environments with high reflectivity or complex ambient light. In existing technologies, simple fixed light shields are used, but the light shielding length is not adjustable, which cannot flexibly adapt to the needs of different working distances and focal length lenses. It is impossible to achieve a balance between versatility and optimal light shielding effect. Moreover, the installation and removal of fixed light shields are often cumbersome, which is not conducive to equipment maintenance and cleaning.

[0005] Therefore, this invention proposes a 3D vision dual-camera structured light device to address the shortcomings of existing technologies. Utility Model Content

[0006] In view of the problems existing in the 3D vision dual-camera structured light device, such as the difficulty in accurately positioning and locking the relative position of the camera and the structured light projector, and the impact of ambient light interference on the imaging accuracy, this utility model aims to provide a 3D vision dual-camera structured light device with an improved structure that can effectively solve the above problems.

[0007] This utility model provides a 3D vision dual-camera structured light device, including: a base, a protective edge, a structured light projector, a camera, a fixing mechanism for accurately positioning the camera, and a light-blocking mechanism for blocking ambient light.

[0008] The fixing mechanism includes a base plate fixed to the top of the base and fixing edges fixed to the two sides of the base plate. The bottom sides of the camera are provided with protrusions that are slidably connected to the fixing edges, and a limit component is provided above the fixing edges.

[0009] Furthermore, the limiting component includes a long rod that spans and is fixedly connected above the two fixed sides, and a short rod that spans and is fixedly connected above the two long rods. The camera is located below the short rod and its position is limited by the short rod. The base, the guard edge, and the fixing mechanism are combined by sliding connection and fixed connection, which realizes the precise adjustment and locking of the camera position.

[0010] Preferably, a second screw is threaded onto the short rod, the bottom end of the second screw passing through the short rod and pressing against the top of the camera, thereby locking the position of the camera on the base plate and keeping the relative position of the camera and the structured light projector fixed.

[0011] Preferably, a scale plate is fixedly connected to the bottom side of the structured light projector, and a pointer is provided on the top of the scale plate. The front end of the pointer is fixed to the rear side of the short rod, and the pointer points to the scale line on the scale plate to indicate the baseline distance of the camera relative to the structured light projector, thereby realizing rapid calibration of the relative position.

[0012] Preferably, the light-shielding mechanism includes a groove formed on the edge and surrounding the position of the structured light projector lens, wherein a first magnetic ring is fixedly embedded in the inner wall of the groove, and the first magnetic ring is used to provide magnetic attraction force.

[0013] Preferably, the light-shielding mechanism further includes a connecting ring inserted into the groove, and a second magnetic ring corresponding to the position of the first magnetic ring is fixedly connected to the inner wall of the connecting ring. The connecting ring is fixed to the edge by the magnetic connection between the second magnetic ring and the first magnetic ring.

[0014] Preferably, a corrugated light shield is fixedly connected to the side of the connecting ring away from the edge. The corrugated light shield is an axially expandable corrugated tube structure used to adjust the light shielding length according to the usage scenario to block ambient light.

[0015] Preferably, the bottom of the structured light projector is fixed to the base by a first screw threaded connection. The first screw passes through the base and is screwed into the mounting hole of the structured light projector, which enhances the installation stability of the structured light projector.

[0016] Preferably, the edge guard is provided with a first through hole for inserting the structured light projector and a second through hole for inserting the two cameras. The lens ends of the structured light projector and the cameras are exposed to the outside through the edge guard, ensuring the smooth operation of light projection and image acquisition.

[0017] This utility model has the following beneficial effects: 1. This utility model solves the problem of precise alignment and locking of the relative position between the camera and the structured light projector in the prior art by setting a sliding guide rail composed of a base plate and a fixed edge, in conjunction with a limiting component composed of long rods and short rods, as well as a scale plate and pointer system. It achieves rapid physical calibration and precise positioning between the camera and the projector, ensures the baseline accuracy of 3D vision measurement, and improves the measurement accuracy and installation efficiency of the device.

[0018] 2. This utility model solves the problem that the imaging quality of 3D vision devices is affected by ambient light interference in the prior art by setting a groove with a first magnetic ring on the edge, and setting a second magnetic ring on the connecting ring and a retractable waveform light shield. It achieves the rapid adsorption, installation and disassembly of the light shielding mechanism, and effectively blocks ambient stray light through the length adjustment function of the waveform light shield, ensuring the clarity of the structured light pattern and the effect of image acquisition quality.

[0019] 3. This utility model solves the problem of insufficient camera installation stability in the prior art by connecting the bottom protrusion of the camera to the fixed side slide rail and using a second screw to tighten and lock the top of the camera. It achieves the goal of limiting the camera to move only in a predetermined direction and reliably locking the position, preventing relative displacement of the equipment due to vibration during operation, thereby continuously ensuring the accuracy of 3D reconstruction. Attached Figure Description

[0020] Figure 1 This is a perspective view of the 3D vision dual-camera structured light device proposed in this utility model; Figure 2 This is a cross-sectional view of the edge of the 3D vision dual-camera structured light device proposed in this utility model; Figure 3 for Figure 2 Enlarged view of point A in the middle; Figure 4 This is a cross-sectional view of the base plate of the 3D vision dual-camera structured light device proposed in this utility model; Figure 5 for Figure 4 Enlarged view of point B in the middle; Figure 6 This is a cross-sectional view of the connecting ring of the 3D vision dual-camera structured light device proposed in this utility model; Figure 7 for Figure 6 Enlarged view of point C in the middle.

[0021] Legend: 1. Base; 2. Edge protector; 3. Structured light projector; 4. First screw; 5. Camera; 6. Fixing mechanism; 601. Base plate; 602. Fixing edge; 603. Limiting component; 6031. Long rod; 6032. Short rod; 6033. Second screw; 604. Scale plate; 605. Pointer; 7. Light shielding mechanism; 701. Groove; 702. First magnetic ring; 703. Connecting ring; 704. Second magnetic ring; 705. Waveform light shield. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions in the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are within the scope of protection of this utility model.

[0023] Example: Please refer to Figures 1 to 7 This utility model provides a 3D vision dual-camera structured light device, which aims to solve the structural defects in the prior art, such as the difficulty in accurately positioning and locking the relative position of the camera 5 and the structured light projector 3, and the susceptibility of imaging accuracy to interference from ambient light.

[0024] Please refer to Figure 1 and Figure 2The 3D vision dual-camera structured light device includes a base 1 and a protective edge 2 fixedly connected to the top of the base 1. The base 1 serves as the mounting base for the entire device, while the protective edge 2 provides a basic mounting interface and protection for the structured light projector 3 and the camera 5. The structured light projector 3 passes through the central through-hole of the protective edge 2 and is located above the base 1. Two cameras 5 are symmetrically distributed on both sides of the structured light projector 3 and are inserted through the second through-hole on the protective edge 2. The camera 5 is used to acquire images, and the structured light projector 3 is used to project structured light patterns onto the object being measured. A fixing mechanism 6 for precisely positioning the camera 5 is fixedly connected to the top of the base 1. The fixing mechanism 6 includes a base plate 601 fixedly connected to the top of the base 1, and fixing edges 602 fixedly connected to the two side edges of the base plate 601. The base plate 601 and the fixing edges 602 together form the sliding guide rail for the camera 5. The bottom sides of the head 5 are provided with protrusions that are slidably connected to the fixed edge 602. This sliding connection restricts the camera 5 to move only in a predetermined direction, ensuring that the camera 5 and the optical axis of the structured light projector 3 remain parallel. The fixing mechanism 6 is also provided with a limiting component 603. The limiting component 603 moves synchronously with the camera 5 and limits and fixes the camera 5. The limiting component 603 includes a long rod 6031 that spans and is fixedly connected above the two fixed edges 602, and a short rod 6032 that spans and is fixedly connected above the two long rods 6031. The camera 5 is located below the short rod 6032. The movement range of the camera 5 is limited by the enclosure of the long rod 6031 and the short rod 6032. When it is necessary to adjust the position of the camera 5, it is only necessary to loosen the locking structure of the limiting component 603 and push the camera 5 to slide along the fixed edge 602.

[0025] Please refer to Figure 1 , Figure 2 and Figure 3 A scale plate 604 is fixedly connected to the bottom side of the structured light projector 3. A pointer 605 is set on the top of the scale plate 604. The front end of the pointer 605 is fixed to the rear side of the short rod 6032. When the camera 5 is pushed to slide, the limiting component 603 and the pointer 605 move synchronously. The operator can accurately determine the baseline distance of the camera 5 relative to the structured light projector 3 by observing the indication of the pointer 605 on the scale plate 604, thereby realizing the rapid physical calibration of the camera 5 and the structured light projector 3. After the position of the camera 5 is adjusted, the second screw 6033 threaded on the short rod 6032 can be tightened to pass through the short rod 6032 and press against the top of the camera 5, firmly locking the camera 5 in a precise position on the base plate 601, preventing relative displacement caused by vibration during operation and affecting the accuracy of 3D imaging.

[0026] Please refer to Figure 4 , Figure 6 and Figure 7The 3D vision dual-camera structured light device also includes a light-shielding mechanism 7. A groove 701 is provided on the edge of the through-hole corresponding to the mounting position of the structured light projector 3 lens on the edge guard 2. A first magnetic ring 702 is fixedly embedded in the inner wall of the groove 701. The first magnetic ring 702 has magnetic attraction. The light-shielding mechanism 7 also includes a connecting ring 703. A second magnetic ring 704 is fixedly connected to the inner wall of the connecting ring 703. The magnetic poles of the second magnetic ring 704 are arranged opposite to those of the first magnetic ring 702. In the assembled state, the connecting ring 703 is inserted along the groove 701. The second magnetic ring 704, relying on the magnetic attraction between itself and the first magnetic ring 702, quickly and firmly attracts and fixes the connecting ring 703 to the edge guard 2. This magnetic connection method ensures the ease of installation and disassembly of the light-shielding mechanism 7. A wave-shaped light shield 705 is fixedly connected to the side of the connecting ring 703 away from the edge 2. The wave-shaped light shield 705 adopts an axially telescopic corrugated tube structure. The function of the wave-shaped light shield 705 is that the user can freely adjust the length of the wave-shaped light shield 705 by stretching or compressing it according to the light intensity and working distance of the actual use scenario to achieve the best light shielding effect. It effectively blocks ambient stray light from entering from the side, thereby ensuring that the structured light pattern projected by the structured light projector 3 is clear and improving the image quality captured by the camera 5. The structured light projector 3 is fixed to the base 1 by a threaded connection of the first screw 4. The first screw 4 passes through the base 1 and is screwed into the mounting hole of the structured light projector 3, ensuring the installation stability and reliability of the structured light projector 3 as a light source.

[0027] In a preferred embodiment, in order to achieve position locking and precise positioning of the camera 5, a second screw 6033 is threaded onto the short rod 6032. The second screw 6033 passes through the short rod 6032 and abuts against the top of the camera 5. By rotating the second screw 6033, the camera 5 can be firmly locked in the designated position on the base plate 601, thereby preventing relative displacement between the camera 5 and the structured light projector 3 during equipment operation and ensuring the accuracy of the measurement.

[0028] As another preferred embodiment, in order to facilitate users to quickly set and reset the relative distance between the camera 5 and the structured light projector 3, a scale plate 604 is fixedly connected to the bottom side of the structured light projector 3. A pointer 605 is fixedly connected to the short rod 6032 on the side of the limiting component 603 near the scale plate 604. When the camera 5 slides along the fixed edge 602, the pointer 605 moves synchronously on the scale line of the scale plate 604. The operator can accurately determine the baseline distance between the camera 5 and the structured light projector 3 by reading the scale value of the pointer 605, and quickly complete the physical calibration under different working scenarios.

[0029] In another preferred embodiment, in order to ensure that the connection between the light-shielding mechanism 7 and the edge protector 2 is quick and reliable, a first magnetic ring 702 is fixedly embedded in the inner wall of the groove 701. The light-shielding mechanism 7 also includes a connecting ring 703 inserted inside the groove 701. A second magnetic ring 704 is fixedly connected to the inner wall of the connecting ring 703. The connecting ring 703 relies on the magnetic attraction between the second magnetic ring 704 and the first magnetic ring 702 to realize the convenient installation and removal of the connecting ring 703 and the edge protector 2.

[0030] As another preferred embodiment, in order to achieve a flexible and variable light-shielding effect, a wave-shaped light-shielding cover 705 is fixedly connected to the side of the connecting ring 703 away from the edge 2. The wave-shaped light-shielding cover 705 adopts an axially telescopic corrugated tube structure. Users can adjust the telescopic length of the wave-shaped light-shielding cover 705 to adapt to different lighting conditions and working distances, so as to achieve the best light-shielding effect.

[0031] As another preferred embodiment, in order to ensure the installation stability of the structured light projector 3, the bottom of the structured light projector 3 is fixed to the base 1 by a first screw 4. The first screw 4 passes through the base 1 and is screwed into the mounting hole of the structured light projector 3, so as to firmly fix the structured light projector 3 on the base 1.

[0032] In another preferred embodiment, the edge protector 2 is provided with a first through hole for inserting a structured light projector 3 and a second through hole for inserting two cameras 5. The lens ends of the structured light projector 3 and the cameras 5 are exposed to the outside through the edge protector 2 to facilitate light projection and image acquisition.

[0033] Working principle: Before use, insert the structured light projector 3 into the through hole on the guard 2, and fix the structured light projector 3 to the base 1 by threading the first screw 4 through the bottom surface of the base 1 to ensure the stable installation of the structured light projector 3. Then insert the two cameras 5 into the second through hole of the guard 2. The bottom protrusion of the camera 5 slides into the fixing edge 602 of the fixing mechanism 6. Place the camera 5 on the base plate 601. At this time, the movement direction of the camera 5 is strictly limited by the fixing edge 602, ensuring that the optical axis of the camera 5 and the structured light projector 3 remain parallel, laying the geometric foundation required for subsequent accurate measurement. When adjusting the relative position of camera 5 and structured light projector 3, camera 5 is pushed to slide along the slide rail of fixed edge 602. The long rod 6031 and short rod 6032 in the limiting component 603 move synchronously. The operator observes the pointer 605 on short rod 6032 on the scale plate 604 on the bottom side of structured light projector 3 to accurately determine the baseline distance of camera 5 relative to structured light projector 3 and quickly complete the physical calibration. When the preset baseline distance requirement is reached, the second screw 6033 on short rod 6032 is tightened. The second screw 6033 passes down through short rod 6032 and abuts against the top of camera 5, firmly locking camera 5 in the precise position on base plate 601. This achieves quick installation, precise positioning and reliable locking between camera 5 and structured light projector 3, effectively preventing relative offset during operation. To prevent ambient light from affecting the projection effect of the structured light projector 3, a light-blocking mechanism 7 is used to block ambient light. A connecting ring 703 with a wave-shaped light-blocking cover 705 is inserted along the groove 701 on the guard edge 2. The second magnetic ring 704 on the inner wall of the connecting ring 703 quickly attracts and fixes the connecting ring 703 to the guard edge 2 by relying on the magnetic attraction between it and the first magnetic ring 702 on the inner wall of the groove 701. According to the lighting conditions of the usage scenario, the length of the wave-shaped light-blocking cover 705 is adjusted by stretching or compressing the corrugated tube structure of the wave-shaped light-blocking cover 705 to achieve a suitable light-blocking effect, reduce the damage of ambient light to the structured light projection effect, ensure that the structured light pattern projected by the structured light projector 3 is clear, and enable the camera 5 to capture high-quality images. After the device is started, the structured light projector 3 projects a known structured light pattern onto the surface of the object being measured. Two cameras 5 simultaneously acquire image information of the object's surface. The system uses the precise feature points provided by the structured light pattern, along with the baseline distance that has been precisely locked between the camera 5 and the structured light projector 3, to calculate the spatial coordinates of each point in the image through the principle of triangulation, and finally generates a precise point cloud model.

Claims

1. A 3D vision dual-camera structured light device, including a base (1), a guard (2) fixed to the top of the base (1), a structured light projector (3) passing through the guard (2) and located above the base (1), and two cameras (5) symmetrically distributed on both sides of the structured light projector (3). characterized in that The top of the base (1) is fixed with a fixing mechanism (6) for precisely positioning the camera (5). The fixing mechanism (6) includes a base plate (601) fixed to the top of the base (1) and fixing edges (602) fixed to the two sides of the base plate (601). The bottom sides of the camera (5) are provided with protrusions that are slidably connected to the fixing edges (602). A limiting component (603) is provided above the fixing edge (602). The limiting component (603) includes a long rod (6031) spanning and fixed above the two fixing edges (602) and a short rod (6032) spanning and fixed above the two long rods (6031). The camera (5) is located below the short rod (6032) and its position is limited by the short rod (6032). The guard edge (2) is also provided with a light-shielding mechanism (7) at the installation position of the structured light projector (3).

2. The 3D vision dual-camera structured light apparatus of claim 1, wherein, A second screw (6033) is threaded onto the short rod (6032). The bottom end of the second screw (6033) passes through the short rod (6032) and abuts against the top of the camera (5), thereby locking the position of the camera (5) on the base plate (601) and keeping the relative position of the camera (5) and the structured light projector (3) fixed.

3. The 3D vision dual-camera structured light apparatus of claim 1, wherein, A scale plate (604) is fixed to the bottom side of the structured light projector (3). A pointer (605) is provided on the top of the scale plate (604). The front end of the pointer (605) is fixed to the rear side of the short rod (6032). The pointer (605) points to the scale line on the scale plate (604) to indicate the baseline distance of the camera (5) relative to the structured light projector (3).

4. The 3D vision dual-camera structured light apparatus of claim 1, wherein, The light-shielding mechanism (7) includes a groove (701) formed on the edge guard (2) and surrounding the lens position of the structured light projector (3). A first magnetic ring (702) is fixedly embedded in the inner wall of the groove (701) to provide magnetic attraction.

5. The 3D vision dual-camera structured light apparatus of claim 4, wherein, The light-shielding mechanism (7) further includes a connecting ring (703) inserted into the groove (701). The inner wall of the connecting ring (703) is fixed with a second magnetic ring (704) corresponding to the position of the first magnetic ring (702). The connecting ring (703) is fixed to the edge guard (2) through the magnetic connection between the second magnetic ring (704) and the first magnetic ring (702).

6. The 3D vision dual-camera structured light apparatus of claim 5, wherein, A wave-shaped light shield (705) is fixedly connected to the side of the connecting ring (703) away from the edge guard (2). The wave-shaped light shield (705) is an axially expandable corrugated tube structure used to adjust the light shielding length according to the usage scenario to block ambient light.

7. The 3D vision dual-camera structured light apparatus of claim 1, wherein, The bottom of the structured light projector (3) is fixed to the base (1) by a first screw (4), which passes through the base (1) and is screwed into the mounting hole of the structured light projector (3).

8. The 3D vision dual-camera structured light apparatus of claim 1, wherein, The edge guard (2) is provided with a first through hole for inserting the structured light projector (3) and a second through hole for inserting the two cameras (5). The lens ends of the structured light projector (3) and the cameras (5) are exposed to the outside through the edge guard (2).

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