阅读说明：本技术 3d相机 (3D camera ) 是由 王艳超 李庆 李鹏飞 丁有爽 邵天兰 于 2021-08-09 设计创作，主要内容包括：本申请提供了一种3D相机,其包括壳体以及设置在壳体中的支撑架、光学投影仪和光学2D相机；支撑架包括支撑板和支撑块,支撑块设置在支撑板的底面上,支撑板与支撑块一体成型或固定连接在一起；光学投影仪和光学2D相机固定连接在支撑板上,光学投影仪用于投影设定图案的图像,光学2D相机用于拍摄二维图像；自支撑块的底面向支撑板的方向,在支撑块的底面上开设有凹槽,凹槽将支撑块的下端分割为两个支腿；支腿与壳体固定连接；壳体上开设有与光学投影仪相对应的投影仪窗口以及与光学2D相机相对应的相机窗口,投影仪窗口和相机窗口均位于壳体的同一侧面上。本申请提供的3D相机能够有效降低壳体遭受到碰撞的情况下对成像质量的影响。(The application provides a 3D camera, which comprises a shell, a support frame, an optical projector and an optical 2D camera, wherein the support frame, the optical projector and the optical 2D camera are arranged in the shell; the supporting frame comprises a supporting plate and a supporting block, the supporting block is arranged on the bottom surface of the supporting plate, and the supporting plate and the supporting block are integrally formed or fixedly connected together; the optical projector and the optical 2D camera are fixedly connected to the supporting plate, the optical projector is used for projecting an image of a set pattern, and the optical 2D camera is used for shooting a two-dimensional image; a groove is formed in the bottom surface of the supporting block in the direction from the bottom surface of the supporting block to the supporting plate, and the groove divides the lower end of the supporting block into two supporting legs; the supporting legs are fixedly connected with the shell; set up the corresponding projecting apparatus window of projecting apparatus and the corresponding camera window of 2D camera with optics on the casing, projecting apparatus window and camera window all are located the same side of casing. The 3D camera provided by the application can effectively reduce the influence on the imaging quality under the condition that the shell is collided.)

1. A3D camera, comprising a housing, and a support, an optical projector, and an optical 2D camera disposed in the housing;

the supporting frame comprises a supporting plate and a supporting block, the supporting block is arranged on the bottom surface of the supporting plate, and the supporting plate and the supporting block are integrally formed or fixedly connected together;

the optical projector and the optical 2D camera are fixedly connected to the supporting plate;

a groove is formed in the bottom surface of the supporting block in the direction from the bottom surface of the supporting block to the supporting plate, and the groove divides the lower end of the supporting block into two supporting legs; the supporting legs are fixedly connected with the shell.

2. The 3D camera according to claim 1, wherein the housing comprises a top cover and a bottom case, a top of the bottom case being closed by the top cover; the supporting legs are fixedly connected with a bottom plate in the bottom box;

the supporting frame is arranged in the bottom box and corresponds to the supporting legs, a fixed corner piece is further arranged on the outer side face of the bottom plate in the bottom box and comprises a first fixed area, a screw hole is formed in the first fixed area, and the supporting frame, the bottom box and the fixed corner piece are fixed together through screws and the screw hole.

3. The 3D camera of claim 2, wherein the fixed corner fitting further comprises a second fixed region having a through hole formed therein.

4. A 3D camera according to any of claims 1 to 3, wherein the optical projector is provided in two, and the optical 2D camera is provided in one;

the optical projectors are symmetrically arranged on two side faces of the supporting plate, the optical 2D cameras are arranged on the supporting plate between the two optical projectors, and the distances between the two optical projectors and the optical 2D cameras are equal.

5. The 3D camera as claimed in claim 4, wherein the bottom surface of the supporting plate is provided with two supporting blocks, the supporting blocks are positioned at the outer sides of the two supporting blocks, the two side surfaces of the supporting plate are symmetrically provided with mounting plates, and the mounting plates and the supporting plate are integrally formed or fixedly connected together; the optical projector is fixedly connected to the mounting plate.

6. A3D camera according to claim 5, wherein the planes in which the two mounting plates lie are intersecting planes.

7. The 3D camera as claimed in claim 5, wherein a fixing groove is formed on a top surface of the supporting plate between the two supporting blocks, and the optical 2D camera is fixedly disposed in the fixing groove.

8. The 3D camera according to claim 7, wherein a cushion is further provided in the fixing groove.

9. The 3D camera of claim 5, wherein the support block further has a through hole formed therein along a direction parallel to the groove in the support block.

10. The 3D camera according to any of claims 1 to 3, wherein the housing is provided with a projector window corresponding to the optical projector and a camera window corresponding to the optical 2D camera, and the projector window and the camera window are both located on the same side of the housing.

Technical Field

The application belongs to the technical field of optical cameras, and particularly relates to a 3D camera.

Background

Some image capturing apparatuses including a plurality of optical modules, such as a high-precision 3D camera, may include an optical 2D camera, an optical projector, and a housing, and capture a three-dimensional point cloud image corresponding to a target area through the optical 2D camera and the optical projector, and the 3D camera may be used to identify, model, and the like a target object in the target area.

In the production process of the 3D camera, in order to fix the optical 2D camera and the optical projector in the housing, the optical 2D camera is generally fixed by a camera fixing base, and the optical projector is fixed by a projector fixing base. However, in practical application scenarios, for example, in the industrial field, a high-precision 3D camera is required to capture a three-dimensional point cloud image of a target area, and the way of fixing the optical 2D camera and the optical projector in the prior art often easily causes the situation that the optical 2D camera and the optical projector shake due to touching the housing, thereby affecting the imaging quality.

Disclosure of Invention

To overcome, at least to some extent, the problems in the related art, the present application provides a 3D camera.

According to an embodiment of the present application, there is provided a 3D camera including a housing, and a support frame, an optical projector, and an optical 2D camera disposed in the housing;

the supporting frame comprises a supporting plate and a supporting block, the supporting block is arranged on the bottom surface of the supporting plate, and the supporting plate and the supporting block are integrally formed or fixedly connected together;

the optical projector and the optical 2D camera are fixedly connected to the supporting plate, the optical projector is used for projecting an image of a set pattern, and the optical 2D camera is used for shooting a two-dimensional image;

a groove is formed in the bottom surface of the supporting block in the direction from the bottom surface of the supporting block to the supporting plate, and the groove divides the lower end of the supporting block into two supporting legs; the supporting legs are fixedly connected with the shell.

In the above 3D camera, the housing is provided with a projector window corresponding to the optical projector and a camera window corresponding to the optical 2D camera, and the projector window and the camera window are both located on the same side of the housing.

In the 3D camera, the housing includes a top cover and a bottom case, and the top of the bottom case is sealed by the top cover; the supporting legs are fixedly connected with a bottom plate in the bottom box;

the supporting frame is arranged in the bottom box and corresponds to the supporting legs, a fixed corner piece is further arranged on the outer side face of the bottom plate in the bottom box and comprises a first fixed area, a screw hole is formed in the first fixed area, and the supporting frame, the bottom box and the fixed corner piece are fixed together through screws and the screw hole.

Furthermore, the fixed corner fitting further comprises a second fixed area, and a through hole is formed in the second fixed area.

In the 3D camera, two optical projectors are provided, and one optical 2D camera is provided;

the optical projectors are symmetrically arranged on two side faces of the supporting plate, the optical 2D camera is arranged on the supporting plate between the two optical projectors, and the distances between the two optical projectors and the optical 2D camera are equal.

Furthermore, the bottom surface of the supporting plate is provided with two supporting blocks which are positioned outside the two supporting blocks, mounting plates are symmetrically arranged on two side surfaces of the supporting plate, and the mounting plates and the supporting plate are integrally formed or fixedly connected together; the optical projector is fixedly connected to the mounting plate.

Furthermore, the planes of the two mounting plates are intersecting planes.

Furthermore, a fixing groove is formed on the top surface of the supporting plate and is located between the two supporting blocks, and the optical 2D camera is fixedly arranged in the fixing groove.

Further, a buffer pad is further disposed in the fixing groove.

Furthermore, through holes are formed in the supporting block along the direction parallel to the grooves in the supporting block.

According to the above embodiments of the present application, at least the following advantages are obtained: in the 3D camera that this application provided, optical projector and optics 2D camera are not direct and the casing contact, and optical projector and optics 2D camera are fixed to be set up on the support frame, and the support frame has less area of contact through landing leg wherein and casing, can effectively reduce the casing and suffer from the influence to 3D camera imaging quality under the condition of collision.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the scope of the invention, as claimed.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of the specification of the application, illustrate embodiments of the application and together with the description, serve to explain the principles of the application.

Fig. 1 is a schematic structural diagram of a 3D camera provided in an embodiment of the present application after a top cover is removed.

Fig. 2 is a schematic structural diagram of a support frame in a 3D camera according to an embodiment of the present disclosure.

Fig. 3 is a schematic structural diagram of a fixed corner fitting in a 3D camera according to an embodiment of the present application.

Description of reference numerals:

1. a housing; 11. a bottom case;

2. a support frame; 21. a support plate; 211. mounting a plate; 212. fixing grooves; 213. a cushion pad; 214. a through hole; 22. a support block; 221. a groove; 222. a support leg;

3. an optical projector; 31. a projector window;

4. an optical 2D camera; 41. a camera window;

5. fixing the corner fitting; 51. a first fixing region; 511. a screw hole; 52. a second fixing region; 521. and a through hole.

Detailed Description

For the purpose of promoting a clear understanding of the objects, aspects and advantages of the embodiments of the present application, reference will now be made to the accompanying drawings and detailed description, wherein like reference numerals refer to like elements throughout.

The illustrative embodiments and descriptions of the present application are provided to explain the present application and not to limit the present application. Additionally, the same or similar numbered elements/components used in the drawings and the embodiments are used to represent the same or similar parts.

As used herein, "first," "second," …, etc., are not specifically intended to mean in a sequential or chronological order, nor are they intended to limit the application, but merely to distinguish between elements or operations described in the same technical language.

With respect to directional terminology used herein, for example: up, down, left, right, front or rear, etc., are simply directions with reference to the drawings. Accordingly, the directional terminology used is intended to be illustrative and is not intended to be limiting of the present teachings.

As used herein, the terms "comprising," "including," "having," "containing," and the like are open-ended terms that mean including, but not limited to.

As used herein, "and/or" includes any and all combinations of the described items.

References to "plurality" herein include "two" and "more than two"; reference to "multiple sets" herein includes "two sets" and "more than two sets".

Certain words used to describe the present application are discussed below or elsewhere in this specification to provide additional guidance to those skilled in the art in describing the present application.

The 3D camera provided in this embodiment of the present application may specifically refer to an industrial camera, and specifically may include an optical projector and an optical 2D camera, for example, may include one optical projector and one optical 2D camera, may also include one optical projector and two optical 2D cameras, or may further include a plurality of optical projectors and one optical 2D camera, where the optical projector may be an optical machine or a laser projector, and fig. 1 is a schematic structural diagram of the 3D camera provided in this embodiment of the present application with a top cover removed.

As shown in fig. 1, a 3D camera provided in an embodiment of the present application includes a housing 1, and a support frame 2, an optical projector 3, and an optical 2D camera 4 disposed in the housing 1. The housing 1 includes a top cover (not shown in the figure) and a bottom case 11, the top cover is disposed to match with an opening at the top of the bottom case 11, and the top of the bottom case 11 is sealed by the top cover.

Fig. 2 is a schematic structural diagram of a support frame in a 3D camera according to an embodiment of the present disclosure. As shown in fig. 2, in particular, the supporting frame 2 includes a supporting plate 21 and a supporting block 22, the supporting block 22 is disposed on a bottom surface of the supporting plate 21, and the supporting plate 21 and the supporting block 22 are integrally formed or fixedly connected together. The optical projector 3 and the optical 2D camera 4 are fixedly attached to the support plate 21. The optical projector 3 is used to project an image of a set pattern, and the optical 2D camera 4 is used to capture a two-dimensional image.

A groove 221 is formed in the bottom surface of the supporting block 22 in a direction from the bottom surface of the supporting block 22 toward the supporting plate 21, and the groove 221 divides the lower end of the supporting block 22 into two legs 222. The legs 222 are fixedly connected to the bottom plate in the bottom case 11.

It should be noted that, except for the supporting block 22, other parts of the supporting frame 2 are not in contact with the housing 1.

The side plate of the bottom box 11 is provided with a projector window 31 corresponding to the optical projector 3 and a camera window 41 corresponding to the optical 2D camera 4, and both the projector window 31 and the camera window 41 are located on the same side plate of the bottom box 11.

In the 3D camera provided by the embodiment of the application, the optical projector 3 and the optical 2D camera 4 are not directly contacted with the housing 1, and the supporting legs 222 in the supporting frame 2 have a smaller contact area with the housing 1, so that the shaking degree of the optical projector 3 and the optical 2D camera 4 under the condition that the housing 1 is collided can be effectively reduced, and the influence on the imaging quality of the 3D camera is reduced.

In some embodiments, as shown in fig. 3, corresponding to the supporting frame 2 disposed in the bottom case 11, a fixing angle 5 is further disposed on an outer side surface of the bottom plate in the bottom case 11, the fixing angle 5 includes a first fixing region 51, a screw hole 511 is formed in the first fixing region 51, and the supporting frame 2, the bottom case 11 and the fixing angle 5 can be fixed together under the cooperation of the screw and the screw hole 511.

The fixing corner fitting 5 further comprises a second fixing area 52, and a through hole 521 is formed in the second fixing area 52. The 3D camera may be integrally fixed to a predetermined position through the through hole 521, for example, may be fixed to a robot arm, or may be fixed to a camera support.

Specifically, the fixing corner fitting 5 may adopt an inverted L-shaped structure, in which a vertical portion is a first fixing region 51 and a horizontal portion is a second fixing region 52.

In a specific embodiment, two optical projectors 3 are provided, and one optical 2D camera 4 is provided, and specifically, the optical projector 3 may be an optical machine for projecting a set stripe pattern to a set area, and the optical 2D camera 4 may be a 2D camera for capturing a color image corresponding to the set area.

In view of reducing the contact area of the optical projector 3 and the optical 2D camera 4 with the camera housing 1, the optical projector 3 and the optical 2D camera 4 may be fixed by the support plate 21, an area for fixing the optical projector 3 and the optical 2D camera 4 may be provided on the support plate 21, specifically, a functional area of the support plate 21, and a specific shape and structure of the support plate 21 may be provided according to the number and structure of the optical projectors 3 and the optical 2D cameras 4 included in the 3D camera.

In an embodiment, taking a case that the 3D camera includes two optical projectors 3 and one optical 2D camera 4, and the 3D camera needs to dispose the two optical projectors 3 on two sides of the optical 2D camera 4 during use as an example, two supporting blocks 22 are disposed on a bottom surface of the supporting plate 21, the supporting blocks 22 are located outside the two supporting blocks 22, the mounting plates 211 are symmetrically disposed on two side surfaces of the supporting plate 21, and the mounting plates 211 and the supporting plate 21 are integrally formed or fixedly connected together. The optical projector 3 is fixedly attached to the mounting plate 211. The planes in which the two mounting plates 211 are located are intersecting planes.

Illustratively, the mounting board 211 is used to fix the optical projectors 3, and considering that the two optical projectors 3 need to have a certain area of overlapping area in the field of view at a set distance from the optical 2D camera 4 during use, the plane where the mounting board 211 is located may not be perpendicular to the plane where the projector window 31 is located. As shown in fig. 1, this arrangement makes it possible to make the pattern regions projected by the two optical projectors 3 have an overlapping region that satisfies the requirements within the range of view from the optical 2D camera 4 by a set distance. Specifically, the angle between the plane of the two mounting plates 211 and the perpendicular line of the plane of the projector window 31 may be determined according to experiments in advance, and is not specifically described herein.

Preferably, a cushion pad (not shown) may be further provided on the mounting plate 211, and the optical projector 3 may be provided on the cushion pad, and the cushion pad may absorb the shock of the optical projector 3 when the camera housing 1 vibrates.

Illustratively, the fixing angle 5 is used for fixing the supporting block 22 on the one hand and the 3D camera on the other hand, and therefore corresponds to the supporting block 22, the number of the fixing angle 5 is not limited to two, and may be set according to actual requirements, for example, for a 3D camera including only one optical projector 3 and one optical 2D camera 4, in the case that one supporting block 22 can support the supporting plate 21 and the optical projector 3 and the optical 2D camera 4 fixed on the supporting plate 21, the supporting block 22 may include one, and the embodiment of the present disclosure takes the case of including two supporting blocks 22 as an example, the number of the fixing angle 5 is also two.

And a fixing groove 212 is formed between the two support blocks 22 and on the top surface of the support plate 21, and the optical 2D camera 4 is placed in the fixing groove 212. The distance between the optical 2D camera 4 and the correspondingly connected optical projectors 3 on the two mounting plates 211 is equal.

In 3D cameras with other structures, the structure of the support frame 2 may also be adapted, for example, for a 3D camera comprising at least one optical projector 3 and two optical 2D cameras 4, and in a case where the at least one optical projector 3 is located between the two optical 2D cameras 4, the area of the support plate 21 for fixing the at least one optical projector 3 and the optical 2D camera 4 may be adapted according to the shape and structure of the at least one optical projector 3 and the optical 2D camera 4.

Preferably, a buffer pad 213 may be further provided in the fixing groove 212, and the optical 2D camera 4 may be disposed on the buffer pad 213 to absorb shock to the optical 2D camera 4.

Along the direction parallel with recess 221 in supporting shoe 22, still seted up through-hole 214 in the supporting shoe 22, the setting of through-hole 214 is convenient for losing weight to supporting shoe 22.

In the 3D camera that this application provided, optical projector 3 and optics 2D camera 4 are all fixed to be set up on support frame 2, and support frame 2 is through landing leg 222 and casing 1 fixed connection wherein, equipment or easy dismounting.

The included angle between the central axis of the optical projector 3 and the central axis of the optical 2D camera 4 disposed on both sides of the supporting plate 21 is equal. The central axis can be understood as the direction in which the light emerges.

After the 3D camera is assembled, a specific imaging angle and precision can be realized, and the three-dimensional imaging detection system is suitable for imaging detection of various surface structures of various parts.

The foregoing is merely an illustrative embodiment of the present application, and any equivalent changes and modifications made by those skilled in the art without departing from the spirit and principles of the present application shall fall within the protection scope of the present application.