阅读说明：本技术 用于单目视觉三维重建的装置及设备 (Device and equipment for monocular vision three-dimensional reconstruction ) 是由 邹玉静 王栋 于 2020-06-01 设计创作，主要内容包括：本申请涉及机械的技术领域,公开一种用于单目视觉三维重建的装置。用于单目视觉三维重建的装置包括：用于承载样品的工作台；底座,设有容纳腔；直线滑动部,设置于所述容纳腔内,用于驱动所述工作台往复移动；旋转部,与所述直线滑动部连接,被配置为驱动所述工作台转动；其中,所述直线滑动部驱动所述旋转部往复移动。通过直线滑动部实现工作台在平面的X方向和Y方向的水平移动,通过旋转部实现工作台在空间中的360°旋转,便于用户对工作台上的样品进行多视角采集,实现样品的三维采集。本申请还公开了一种设备。(The application relates to the technical field of machinery and discloses a device for monocular vision three-dimensional reconstruction. An apparatus for monocular visual three-dimensional reconstruction comprising: a stage for carrying a sample; the base is provided with an accommodating cavity; the linear sliding part is arranged in the accommodating cavity and used for driving the workbench to reciprocate; a rotating part connected with the linear sliding part and configured to drive the workbench to rotate; wherein the linear sliding portion drives the rotating portion to reciprocate. Realize the horizontal migration of workstation in planar X direction and Y direction through sharp sliding part, realize 360 rotations of workstation in the space through the rotating part, the user of being convenient for carries out the collection of many visual angles to the sample on the workstation, realizes the three-dimensional collection of sample. The application also discloses an apparatus.)

1. Apparatus for monocular visual three-dimensional reconstruction, comprising a stage for carrying a sample, characterized in that it further comprises:

the base is provided with an accommodating cavity;

the linear sliding part is arranged in the accommodating cavity and used for driving the workbench to reciprocate;

a rotating part connected with the linear sliding part and configured to drive the workbench to rotate;

wherein the linear sliding portion drives the rotating portion to reciprocate.

2. The device of claim 1, wherein the linear slide comprises:

the first sliding assembly is arranged on the first side wall of the accommodating cavity;

one end of the second sliding component is connected to the second side wall of the accommodating cavity in a sliding mode, and the other end of the second sliding component is connected to the first sliding component in a sliding mode;

wherein, hold the first lateral wall in chamber with hold the second lateral wall in chamber and set up relatively.

3. The device of claim 2, wherein the rotating portion is disposed at an upper portion of the second sliding assembly.

4. The apparatus of claim 2, wherein the rotating portion comprises:

the first rotating assembly is arranged at the upper part of the second sliding assembly;

the second rotating assembly is arranged on the upper portion of the first rotating assembly and comprises a supporting rod, the first end of the supporting rod is connected with the first rotating assembly in a rotating mode, and the second end of the supporting rod is connected with the workbench.

5. The apparatus of claim 4, wherein the rotating portion further comprises:

and the third rotating assembly is arranged at the upper part of the second rotating assembly and is rotatably connected with the second end of the supporting rod.

6. The apparatus of claim 5, wherein the third rotating assembly comprises:

the first adjusting component is rotatably connected to the second end of the supporting rod and is configured to adjust the inclination angle of the workbench in a first direction, wherein the first direction is parallel to the swinging direction of the second rotating assembly;

the second adjusting component is rotatably connected to the top of the first adjusting component, fixedly connected with the bottom of the workbench and configured to adjust the inclination angle of the workbench in the second direction;

wherein the second direction is perpendicular to the first direction.

7. The apparatus of any one of claims 1 to 6, further comprising:

a support arm slidably connected to an outer sidewall of the base and configured to mount a light source or an acquisition module.

8. The apparatus of claim 7, wherein the base comprises:

the slide rail is arranged along the circumferential direction of the outer side wall of the base and is in sliding connection with the supporting arm.

9. The apparatus of claim 8, wherein the support arm comprises:

the first end of the first telescopic arm is connected with the sliding rail in a sliding mode and can rotate around the sliding rail;

the first rotating arm comprises a first cylinder and a second cylinder which are coaxially arranged; the bottom of the first cylinder is rotatably connected with the second end of the first telescopic arm, and the top of the first cylinder is relatively rotated with the bottom of the second cylinder;

a second telescopic arm, the first end of which is rotatably connected with the top of the second cylinder, and the second end of which is configured to mount a light source or an acquisition module.

10. An apparatus comprising a device for monocular visual three-dimensional reconstruction according to any one of claims 1 to 9.

Technical Field

The present application relates to the field of machinery, and for example, to an apparatus and a home appliance for monocular visual three-dimensional reconstruction.

Background

Stereoscopic vision is an important content in the field of computer vision, and requires that imaging equipment is used for acquiring a plurality of images of a measured object from different angles, and corresponding algorithms are combined to acquire surface information of the measured object, so as to finally realize reconstruction of three-dimensional geometric information, but no special test bed for three-dimensional reconstruction exists at present.

In the process of implementing the embodiments of the present disclosure, it is found that at least the following problems exist in the related art: three-dimensional reconstruction cannot be achieved by monocular acquisition.

Disclosure of Invention

The following presents a simplified summary in order to provide a basic understanding of some aspects of the disclosed embodiments. This summary is not an extensive overview nor is intended to identify key/critical elements or to delineate the scope of such embodiments but rather as a prelude to the more detailed description that is presented later.

The embodiment of the disclosure provides a device and equipment for monocular vision three-dimensional reconstruction, so as to solve the technical problem that the three-dimensional reconstruction cannot be realized through monocular acquisition.

In some embodiments, the apparatus for monocular visual three-dimensional reconstruction comprises: a stage for carrying a sample; the base is provided with an accommodating cavity; the linear sliding part is arranged in the accommodating cavity and used for driving the workbench to reciprocate; a rotating part connected with the linear sliding part and configured to drive the workbench to rotate; wherein the linear sliding portion drives the rotating portion to reciprocate.

Optionally, the linear sliding portion includes: the first sliding assembly is arranged on the first side wall of the accommodating cavity; one end of the second sliding component is connected to the second side wall of the accommodating cavity in a sliding mode, and the other end of the second sliding component is connected to the first sliding component in a sliding mode; wherein, hold the first lateral wall in chamber with hold the second lateral wall in chamber and set up relatively.

Optionally, the rotating part is disposed at an upper portion of the second sliding assembly.

Optionally, the rotating portion comprises: the first rotating assembly is arranged at the upper part of the second sliding assembly and is configured to drive the workbench to rotate by 360 degrees; the second rotating assembly is arranged at the upper part of the first rotating assembly and comprises a supporting rod, the first end of the supporting rod is rotatably connected with the first rotating assembly, and the second end of the supporting rod is connected with the workbench; the second rotating assembly is configured to adjust a height of the table.

Optionally, the rotating portion further comprises: and the third rotating assembly is arranged at the upper part of the second rotating assembly, is rotatably connected with the second end of the supporting rod and is configured to adjust the inclination angle of the workbench.

Optionally, the third rotating assembly comprises: the first adjusting component is rotatably connected to the second end of the supporting rod and is configured to adjust the inclination angle of the workbench in a first direction, wherein the first direction is parallel to the swinging direction of the second rotating assembly; the second adjusting component is rotatably connected to the top of the first adjusting component, fixedly connected with the bottom of the workbench and configured to adjust the inclination angle of the workbench in the second direction; wherein the second direction is perpendicular to the first direction.

Optionally, the apparatus further comprises: a support arm slidably connected to an outer sidewall of the base and configured to mount a light source or an acquisition module.

Optionally, the base comprises: the slide rail is arranged along the circumferential direction of the outer side wall of the base and is in sliding connection with the supporting arm.

Optionally, the support arm comprises: the first end of the first telescopic arm is connected with the sliding rail in a sliding mode and can rotate around the sliding rail; the first rotating arm comprises a first cylinder and a second cylinder which are coaxially arranged; the bottom of the first cylinder is rotatably connected with the second end of the first telescopic arm, and the top of the first cylinder is relatively rotated with the bottom of the second cylinder; a second telescopic arm, the first end of which is rotatably connected with the top of the second cylinder, and the second end of which is configured to mount a light source or an acquisition module.

The embodiment of the present disclosure further provides an apparatus including the device for monocular visual three-dimensional reconstruction provided in any one of the foregoing embodiments.

The device and the equipment for monocular vision three-dimensional reconstruction provided by the embodiment of the disclosure can realize the following technical effects:

realize the horizontal migration of workstation in planar X direction and Y direction through sharp sliding part, realize 360 rotations of workstation in the space through the rotating part, the user of being convenient for carries out the multiple visual angles to the sample on the workstation and gathers, realizes the three-dimensional collection and the rebuilding of sample.

The foregoing general description and the following description are exemplary and explanatory only and are not restrictive of the application.

Drawings

One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the accompanying drawings and not in limitation thereof, in which elements having the same reference numeral designations are shown as like elements and not in limitation thereof, and wherein:

fig. 1 is a schematic structural diagram of an apparatus for monocular visual three-dimensional reconstruction provided in an embodiment of the present disclosure.

Reference numerals:

10: a work table; 20: a base; 201: an accommodating chamber; 202: a first side wall; 203: a second side wall; 301: a first slide assembly; 302: a second slide assembly; 401: a first rotating assembly; 402: a second rotating assembly; 4021: a support bar; 4022: a first motor; 403: a third rotating assembly; 4031: a first adjustment member; 4032: a second motor; 4033: a second adjustment member; 4034: a third motor; 50: a support arm; 501: a first telescopic arm; 5021: a first cylinder; 5022: a second cylinder; 503: a second telescopic arm; 60: a slide rail; 70: a light source; 80: and an acquisition module.

Detailed Description

So that the manner in which the features and elements of the disclosed embodiments can be understood in detail, a more particular description of the disclosed embodiments, briefly summarized above, may be had by reference to the embodiments, some of which are illustrated in the appended drawings. In the following description of the technology, for purposes of explanation, numerous details are set forth in order to provide a thorough understanding of the disclosed embodiments. However, one or more embodiments may be practiced without these details. In other instances, well-known structures and devices may be shown in simplified form in order to simplify the drawing.

The terms "first," "second," and the like in the description and in the claims, and the above-described drawings of embodiments of the present disclosure, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the present disclosure described herein may be made. Furthermore, the terms "comprising" and "having," as well as any variations thereof, are intended to cover non-exclusive inclusions.

In the embodiments of the present disclosure, the terms "upper", "lower", "inner", "middle", "outer", "front", "rear", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the disclosed embodiments and their examples and are not intended to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation. Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meanings of these terms in the embodiments of the present disclosure can be understood by those of ordinary skill in the art as appropriate.

In addition, the terms "disposed," "connected," and "secured" are to be construed broadly. For example, "connected" may be a fixed connection, a detachable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. Specific meanings of the above terms in the embodiments of the present disclosure can be understood by those of ordinary skill in the art according to specific situations.

The term "plurality" means two or more unless otherwise specified.

It should be noted that, in the case of no conflict, the embodiments and features in the embodiments of the present disclosure may be combined with each other.

Referring to fig. 1, an apparatus for monocular visual three-dimensional reconstruction provided by an embodiment of the present disclosure includes: a stage 10 for carrying a sample; a base 20 provided with an accommodating chamber 201; a linear sliding part arranged in the accommodating cavity 201 and used for driving the workbench 10 to reciprocate; a rotating part connected to the linear sliding part and configured to drive the table 10 to rotate; wherein, the linear sliding part drives the rotating part to reciprocate.

By adopting the embodiment, the workbench can horizontally move in the X direction and the Y direction of the plane through the linear sliding part, and the workbench can rotate 360 degrees in the space through the rotating part, so that a user can conveniently acquire samples on the workbench in multiple visual angles, and the three-dimensional acquisition of the samples can be realized; meanwhile, under the condition of monocular acquisition, the worktable and the monocular acquisition module are driven to move relatively and move to another virtual target acquisition position, so that the effect of binocular acquisition is realized. The rotating part is located the top of sharp sliding part, not only plays drive workstation pivoted purpose, still plays the effect of supporting the workstation.

Optionally, the linear sliding portion includes: a first sliding component 301 arranged on the first side wall 202 of the accommodating cavity 201; a second sliding member 302 having one end slidably connected to the second sidewall 203 of the accommodating chamber 201 and the other end slidably connected to the first sliding member 301; wherein the first side wall 202 of the receiving cavity is arranged opposite to the second side wall 203 of the receiving cavity. Thus, the linear sliding part is beneficial to realizing the horizontal movement of the workbench in the X direction and the Y direction of the plane. The first sliding assembly is fixedly connected to the first side wall of the accommodating cavity, and a sliding track generated by the first sliding assembly is parallel to the first side wall of the accommodating cavity. Optionally, the first sliding assembly employs an electric sliding table. Alternatively, the second slide assembly may employ a motorized slide. The sliding track generated by the second sliding assembly is perpendicular to the sliding track generated by the first sliding assembly.

Optionally, the second side wall of the accommodating cavity is provided with a sliding groove, and one end of the second sliding assembly is slidably connected in the sliding groove. The second sliding assembly is fixed through the sliding groove and the first sliding assembly, and the second sliding assembly reciprocates through the driving of the first sliding assembly.

Alternatively, the rotating part is disposed at an upper portion of the second sliding assembly 302. Therefore, the reciprocating movement of the rotating part in the plane X direction is realized through the second sliding assembly, and the reciprocating movement of the rotating part in the plane Y direction is realized through driving the second sliding assembly through the first sliding assembly. Optionally, the bottom of the rotating portion is fixedly connected to the sliding table of the second sliding assembly. Optionally, the rotating portion is fixedly connected to the second sliding assembly by a fastener. Optionally, the rotating portion is welded to the second sliding assembly. Optionally, the rotating part comprises: a first rotating assembly 401 disposed at an upper portion of the second sliding assembly 302 and configured to drive the table 10360 ° to rotate; the second rotating assembly 402 is arranged at the upper part of the first rotating assembly 401 and comprises a supporting rod 4021, the first end of the supporting rod 4021 is rotatably connected with the first rotating assembly 401, and the second end of the supporting rod 4021 is connected with the workbench 10; the second rotating assembly 402 is configured to adjust the height of the table 10. Thus, the 360-degree rotation of the workbench is realized through the first rotating assembly, and the height adjustment of the workbench is realized through the second rotating assembly. Wherein, the second rotating assembly realizes 360 rotations with the workstation under first rotating assembly's drive to realize that the workstation keeps highly unchangeable at 360 rotatory in-process, be favorable to gathering work.

Alternatively, the first rotating assembly may be a swivel slide. Wherein, the bottom of gyration slip table and the top looks rigid coupling of second slip subassembly or detachable connection. Under the circumstances that the bottom of gyration slip table can be dismantled with the top of second slip subassembly and be connected, help the dismouting between gyration slip table and the second slip subassembly, be convenient for change.

Alternatively, the support bar 4021 may be driven to rotate by the first motor 4022. Optionally, the first motor includes a motor output shaft, and the support rod is sleeved and fixedly connected to the motor output shaft. The support rod is vertically arranged. Therefore, the motor output shaft of the first motor rotates to drive the supporting rod to swing by taking the axis of the motor output shaft as a circle center, so that the second end of the supporting rod drives the workbench to swing, and the purpose of adjusting the height of the workbench is achieved. Optionally, the rotating portion further comprises: the third rotating member 403 is disposed on the second rotating member 402, rotatably connected to the second end of the supporting rod 4021, and configured to adjust the tilt angle of the table 10. Like this, realize the workstation to the different inclination of equidirectional through third rotating assembly, satisfy user's collection demand. Optionally, the third rotating assembly can adjust at least two direction inclination angles of the workbench. Wherein, the range of inclination angle is 0 ~ 60. Optionally, the third rotating assembly comprises: a first adjusting member 4031 rotatably connected to the second end of the supporting rod 4021 and configured to adjust the tilt angle of the table 10 in a first direction, wherein the first direction is parallel to the swing direction of the second rotating assembly 402; a second adjusting member 4033 rotatably connected to the top of the first adjusting member 4031, fixedly connected to the bottom of the table 10, and configured to adjust the tilt angle of the table 10 in the second direction; wherein the second direction is perpendicular to the first direction. The inclination angles of the workbench in the first direction and the second direction are adjusted through the first adjusting component and the second adjusting component, and the acquisition requirements of users in different directions are met. Through first direction and second direction looks vertically, be favorable to improving the stability of workstation adjusting position in-process.

Optionally, the first adjustment member 4031 is driven by a second motor 4032. The second motor comprises a motor output shaft, wherein the motor output shaft penetrates through the second end of the supporting rod and is fixedly connected or detachably connected with the first adjusting component. The first adjusting member is driven by the second motor to incline at different angles in the first direction. Optionally, the first adjustment member comprises a first adjustment base plate. The first adjusting bottom plate is fixedly connected or detachably connected with the output shaft of the motor.

Optionally, the second adjustment member 4033 is driven by a third motor 4034. The third motor includes a motor output shaft. The motor output shaft penetrates through the top of the first adjusting component and rotates relative to the first adjusting component. The second adjusting component is fixedly connected or detachably connected with the output shaft of the motor. The second adjusting member is driven by the third motor to incline at different angles in the second direction. Optionally, the second adjusting member includes a second adjusting base plate, and the second adjusting base plate is fixedly connected or detachably connected with the output shaft of the motor. Wherein, the top of the second adjusting bottom plate is fixedly connected or detachably connected with the workbench.

Optionally, the apparatus for monocular visual three-dimensional reconstruction further comprises: a support arm 50, slidably connected to an outer sidewall of the base 20, configured to mount the light source 70 or the collection module 80. Therefore, the supporting arm is favorable for mounting the light source or the acquisition module, and the stability of the light source or the acquisition module in the acquisition process is improved. Optionally, the height of the support arm is higher than the height of the table. In this way, acquisition is facilitated.

Alternatively, the support arm 50 may be plural, and the plural support arms may be arranged around the table 10. In this way, acquisition and illumination is facilitated. In practical application, a sample on the workbench is spatially collected through one collection module or two independent collection modules, collected data are collected, and three-dimensional reconstruction is achieved.

Optionally, the base 20 comprises: and the sliding rail 60 is arranged along the circumferential direction of the outer side wall of the base 20 and is connected with the supporting arm 50 in a sliding manner. Like this, support arm sliding connection is in the slide rail, helps the diversified different spatial position information and the state of the sample on the workstation of gathering of light source or collection module.

Optionally, the support arm 50 comprises: a first end of the first telescopic arm 501 is slidably connected to the slide rail 60 and can rotate around the slide rail 60; the first rotating arm comprises a first cylinder 5021 and a second cylinder 5022 which are coaxially arranged; the bottom of the first cylinder 5021 is rotatably connected with the second end of the first telescopic arm 501, and the top of the first cylinder 5021 and the bottom of the second cylinder 5022 are relatively rotated; a second telescoping arm 503 having a first end pivotally connected to the top of the second barrel 5022 and a second end configured to mount the light source 708 or collection module 80. Like this, can realize the altitude mixture control of support arm, reach and the workstation between the distance adjust, just be favorable to the sample on the different angle collection workstation more, realize three-dimensional reconstruction, improved the degree of accuracy of three-dimensional reconstruction back sample.

Referring to fig. 1, the first telescopic arm rotates up and down. The light source or the acquisition module carried by the support arm can rotate for 360 degrees through the first cylinder and the second cylinder. The height of the light source or the acquisition module carried by the support arm is adjusted through the first telescopic arm and the second telescopic arm. Optionally, the length of the first telescopic arm is adjustable. Optionally, the length of the second telescopic arm is adjustable.

The embodiment of the disclosure also provides a device, which comprises the device for monocular vision three-dimensional reconstruction provided by the embodiment. The equipment comprising the device for monocular vision three-dimensional reconstruction can realize three-dimensional collection of samples, and the accuracy is improved.

The above description and drawings sufficiently illustrate embodiments of the disclosure to enable those skilled in the art to practice them. Other embodiments may include structural and other changes. The examples merely typify possible variations. Individual components and functions are optional unless explicitly required, and the sequence of operations may vary. Portions and features of some embodiments may be included in or substituted for those of others. The embodiments of the present disclosure are not limited to the structures that have been described above and shown in the drawings, and various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.