Design And Research Of Embedded Software For 3D Camera Based On Line Laser

The traditional two-dimensional industrial camera obviously has great limitations in some scenes,but the use of a three-dimensional profile measurement system can obtain the depth information of the measured object and make the measurement information more comprehensive.Therefore,this paper designs a 3D camera embedded software based on the principle of line laser triangulation,which is mainly used in the measurement of the surface profile of parts in industrial production lines.As the core of the line laser 3D contour detection system,the 3D camera completes the functions of image acquisition,light strip centerline extraction,3D coordinate conversion and contour data transmission.Based on the existing 3D camera hardware,this paper designs an embedded software that meets the requirements based on demand analysis.The main contents are as follows:(1)Research the key technology of 3D camera software design.The conversion relationship between the two-dimensional pixel coordinates and the three-dimensional point cloud coordinate data is analyzed,so that the camera software has the function of outputting the height profile.Aiming at the problem of excessively high load caused by the frequent interruption of the CPU when the 3D camera scans the object at high speed,a scheme of the combination of contour numbers is proposed.In addition,according to the requirements of the line laser scanning principle for uniform data collection,the method of contour number combination and Gig E Vision message channel is used to achieve "producer-consumer" speed matching to ensure complete data transmission and provide guarantee for subsequent processing.(2)Modify the driver program to increase the interface related to 3D function control and the function of selecting the image acquisition area.Based on the V4L2 framework,the control functions related to the 3D camera in this project have been added as required.In addition,the selectable function and switching logic of the image sensor acquisition area are added,and the problem of data buffer size conflicts after the camera channel is switched is solved.(3)The application software of the camera is designed based on multi-threading technology.Modularized design of application software based on demand analysis,which is mainly divided into data acquisition and processing module,data transmission module,parameter configuration module and system management module.Among them,the data acquisition and processing module and the data transmission module are related to the shared data buffer.This article uses a mutual exclusion lock to achieve thread synchronization.The effectiveness and reliability of the design of the driver and embedded application software are verified through module function testing and system joint debugging.Through functional testing,the data acquisition and processing module and its channel switching function,data transmission function,camera parameter configuration and IP modification were verified through functional tests.Finally,three sets of experimental data were used to verify the function of profile combination and message channel to achieve complete data transmission.When the test system performs stable operation of centerline data transmission,it can meet the requirements of object reconstruction.