CN107085391A - Position image collecting device - Google Patents
Position image collecting device Download PDFInfo
- Publication number
- CN107085391A CN107085391A CN201710386626.4A CN201710386626A CN107085391A CN 107085391 A CN107085391 A CN 107085391A CN 201710386626 A CN201710386626 A CN 201710386626A CN 107085391 A CN107085391 A CN 107085391A
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- CN
- China
- Prior art keywords
- module
- mechanical arm
- collecting device
- image collecting
- postbrachium
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
Image collecting device is positioned the invention discloses one kind, including：Photographing module；Mechanical arm transmission module, for driving photographing module to carry out IMAQ, the mechanical arm transmission module includes forearm and postbrachium, and the postbrachium is connected with the photographing module；Drive module, the drive module is connected with the mechanical arm transmission module, the drive module includes the longitudinal rotary drive motor of transverse rotation motor, forearm and the longitudinal rotary drive motor of postbrachium, for driving the mechanical arm transmission module to carry out three-degree-of-freedom motion；Controller, the controller is connected with the drive module, for controlling the drive module to realize positioning IMAQ.The present invention drives the space orientation of mechanical arm progress camera by three motors, to realize the image sampling under the different angles of diverse location.The present invention has light compact portable function, in addition, the present invention has prominent contribution meaning in academic research, industry mapping and the collection of VR scenes.
Description
Technical field
The present invention relates to sterically defined image sampling technical field, more particularly to a kind of positioning image collecting device.
Background technology
Mechanical arm is with imitation human arm function and can complete the automatic control equipment of various operations, this robot
System can have multi-joint to link and allow to be moved or moved using linear displacement in plane or three-dimensional space.Current industry
Used robot mostly based on the pattern of mechanical arm, mechanical arm again with variously-shaped different with size,
The linear arm of common pattern, scara arm, joint multi-axis mechanical arm etc..
The content of the invention
It is contemplated that at least solving one of technical problem in above-mentioned correlation technique to a certain extent.
Therefore, it is an object of the present invention to propose a kind of positioning image collecting device.The positioning image collecting device
The space orientation of mechanical arm progress camera is driven by three motors, to realize the image under the different angles of diverse location
Sampling.The present invention has light compact portable function, in addition, the present invention is in academic research, industry mapping and VR scenes
There is prominent contribution meaning in collection.
To achieve these goals, a kind of positioning image collecting device of disclosure of the invention, including：Photographing module；Machine
Tool arm transmission module, for driving photographing module to carry out IMAQ, the mechanical arm transmission module includes forearm and postbrachium, institute
Postbrachium is stated with the photographing module to be connected；Drive module, the drive module is connected with the mechanical arm transmission module, described to drive
Dynamic model block includes the longitudinal rotary drive motor of transverse rotation motor, forearm and the longitudinal rotary drive motor of postbrachium, for band
The dynamic mechanical arm transmission module carries out three-degree-of-freedom motion；Controller, the controller is connected with the drive module, is used for
The drive module is controlled to realize positioning IMAQ.
According to the positioning image collecting device of the present invention, the sky of mechanical arm progress camera is driven by three motors
Between position, to realize the image sampling under the different angle of diverse location.The present invention has light compact portable function, separately
Outside, the present invention has prominent contribution meaning in academic research, industry mapping and the collection of VR scenes.
In addition, positioning image collecting device according to the above embodiment of the present invention can also have technology additional as follows special
Levy：
Further, the controller includes multiple control chips, and it is described that the multiple control chip is respectively used to control
The longitudinal rotary drive motor of transverse rotation motor, forearm and the longitudinal rotary drive motor of postbrachium.
Further, the controller includes multiple motor connecting line delivery outlets.
Further, the controller includes：Control signal coffret and/direct-current charging interface.
Further, the photographing module includes：Camera and/external wide-angle lens.
Further, the photographing module also includes：Data transmission interface.
Further, the controller is controller of digital controlled machine tool.
The additional aspect and advantage of the present invention will be set forth in part in the description, and will partly become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Brief description of the drawings
The above-mentioned and/or additional aspect and advantage of the present invention will become from description of the accompanying drawings below to embodiment is combined
Substantially and be readily appreciated that, wherein：
Fig. 1 is the structure chart of positioning image collecting device according to an embodiment of the invention；
Fig. 2 is the structural representation of controller according to an embodiment of the invention；
Fig. 3 is the structure chart of drive module according to an embodiment of the invention and mechanical arm transmission module；And
Fig. 4 is the actual picture schematic diagram of positioning image collecting device according to an embodiment of the invention.
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, is only used for explaining the present invention, and is not considered as limiting the invention.
Positioning image collecting device according to embodiments of the present invention is described below in conjunction with accompanying drawing.
Fig. 1 is the structure chart of positioning image collecting device according to an embodiment of the invention.
As shown in figure 1, positioning image collecting device according to an embodiment of the invention, including：Photographing module 110, machine
Tool arm transmission module 120, drive module 130 and controller 140.
Wherein, mechanical arm transmission module 120 is used to drive photographing module 110 to carry out IMAQ, mechanical arm transmission module
120 include forearm 121 and postbrachium 122, and postbrachium 122 is connected by connection member 200 with photographing module 110.Drive module 130 with
Mechanical arm transmission module 120 is connected, and drive module 130 includes the longitudinal rotary drive motor of transverse rotation motor 131, forearm
132 and the longitudinal rotary drive motor 133 of postbrachium, carry out three-degree-of-freedom motion for driving mechanical arm transmission module 120.Controller
140 are connected with drive module 130, for controlling drive module 130 to realize positioning IMAQ.
Wherein, controller 140 uses controller of digital controlled machine tool.It refers to that the precise instructions of pre-edit can be passed through
Automatically the control model processed, current most CNC Digit Control Machine Tools are computer numerical control lathe (CNC), by counting
Calculation machine plays the part of the role of integral traffic control.After the internal memory that programmed instruction is inputted to digital control system, compile and calculate via computer, pass through
Displacement control system, reaches driver to drive click by instruction.
According to the positioning image collecting device of the present invention, the sky of mechanical arm progress camera is driven by three motors
Between position, to realize the image sampling under the different angle of diverse location.The present invention has light compact portable function, separately
Outside, the present invention has prominent contribution meaning in academic research, industry mapping and the collection of VR scenes.
With reference to shown in Fig. 2, controller 140 includes multiple control chips 141, and multiple control chips 141 are respectively used to control
The longitudinal rotary drive motor 132 of the transverse rotation motor 131, forearm and the longitudinal rotary drive motor 133 of postbrachium.Separately
Outside, in addition to a standby motor output.Further, controller 140 includes multiple motor connecting line delivery outlets 142.
Wherein, control chip is A4988 stepper motor driver chips, and motor connecting line delivery outlet connects for the line stepper motor of two-phase four
Wiring delivery outlet, includes respectively：The longitudinal electric rotating machine connecting line delivery outlet of transverse rotation motor connecting wire delivery outlet 1421, forearm
1422nd, the longitudinal electric rotating machine connecting line delivery outlet 1423 of postbrachium and standby motor connecting wire delivery outlet 1424.
In conjunction with shown in Fig. 2, in addition to：Design of Stepper Motor Subdivision control button 143, so that experimenter can be in outside more
The longitudinal rotary drive motor 132 of control transverse rotation motor 131, forearm and the longitudinal rotary drive motor of postbrachium of refinement
133。
With reference to shown in Fig. 1 and 2, controller 140 includes：Control signal coffret 144.Controller 140 is believed by controlling
Number output interface 144 is connected with PC ends, to controller 140 can send instruction by the software at PC ends, realize the motion of mechanical arm,
So as to the position of positioning shooting head in space.Further, control signal coffret 144 can be connected for one with PC ends
USB control signals transmission mouth.
With reference to shown in Fig. 2, when controlling its 140 upper computer software to be run at common PC ends, controller 140 also includes：
Direct-current charging interface 145.Direct-current charging interface 145 can be 12V direct current supply mouthful, wherein, the present embodiment is carried out indoors
During sampling work, AC220V~DC12V power supply adaptor can be connected；When carrying out sampling work out of doors, it can connect
DC12V direct-flow storage battery is used as energy reserves.
With reference to shown in Fig. 3 and Fig. 4, photographing module 110 includes：Camera and/external wide-angle lens.Camera can be general
Logical computer network camera or the camera of specialty.External wide-angle lens can be used for carrying out what 360 ° of scenes were represented
IMAQ.Further, photographing module 110 also includes：Data transmission interface.The data transmission interface of photographing module 110 with
The USB interface at PC ends is connected, and PC ends obtain the video that camera is transmitted through coming.
In addition, term " first ", " second " are only used for describing purpose, and it is not intended that indicating or implying relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can express or
Implicitly include at least one this feature.In the description of the invention, " multiple " are meant that at least two, such as two, three
It is individual etc., unless otherwise specifically defined.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integrally；Can be that machinery connects
Connect or electrically connect；Can be joined directly together, can also be indirectly connected to by intermediary, can be in two elements
The connection in portion or the interaction relationship of two elements, unless otherwise clear and definite restriction.For one of ordinary skill in the art
For, the concrete meaning of above-mentioned term in the present invention can be understood as the case may be.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means to combine specific features, structure, material or the spy that the embodiment or example are described
Point is contained at least one embodiment of the present invention or example.In this manual, to the schematic representation of above-mentioned term not
Identical embodiment or example must be directed to.Moreover, specific features, structure, material or the feature of description can be with office
Combined in an appropriate manner in one or more embodiments or example.In addition, in the case of not conflicting, the skill of this area
Art personnel can be tied the not be the same as Example or the feature of example and non-be the same as Example or example described in this specification
Close and combine.
Although embodiments of the invention have been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to limitation of the present invention is interpreted as, one of ordinary skill in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, changed, replacing and modification.
Claims (7)
1. one kind positioning image collecting device, it is characterised in that including：
Photographing module；
Mechanical arm transmission module, for drive photographing module carry out IMAQ, the mechanical arm transmission module include forearm and
Postbrachium, the postbrachium is connected with the photographing module；
Drive module, the drive module is connected with the mechanical arm transmission module, and the drive module is driven including transverse rotation
The longitudinal rotary drive motor of dynamic motor, forearm and the longitudinal rotary drive motor of postbrachium, for driving the mechanical arm transmission module
Carry out three-degree-of-freedom motion；
Controller, the controller is connected with the drive module, for controlling the drive module with realize positioning image adopt
Collection.
2. positioning image collecting device according to claim 1, it is characterised in that
The controller includes multiple control chips, and the multiple control chip is respectively used to control the transverse rotation driving electricity
The longitudinal rotary drive motor of machine, forearm and the longitudinal rotary drive motor of postbrachium.
3. positioning image collecting device according to claim 2, it is characterised in that the controller includes multiple driving electricity
Machine connecting line delivery outlet.
4. positioning image collecting device according to claim 1, it is characterised in that the controller includes：Control signal
Coffret and/direct-current charging interface.
5. positioning image collecting device according to claim 1, it is characterised in that the photographing module includes：Camera
With/external wide-angle lens.
6. positioning image collecting device according to claim 5, it is characterised in that the photographing module also includes：Data
Coffret.
7. positioning image collecting device according to claim 1, it is characterised in that the controller controls for Digit Control Machine Tool
Device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710386626.4A CN107085391A (en) | 2017-05-26 | 2017-05-26 | Position image collecting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710386626.4A CN107085391A (en) | 2017-05-26 | 2017-05-26 | Position image collecting device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107085391A true CN107085391A (en) | 2017-08-22 |
Family
ID=59608899
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710386626.4A Pending CN107085391A (en) | 2017-05-26 | 2017-05-26 | Position image collecting device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107085391A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107414803A (en) * | 2017-09-22 | 2017-12-01 | 成都易维控科技有限公司 | Visual spatial attention robot for streamline |
| CN114488664A (en) * | 2022-03-21 | 2022-05-13 | 厦门大学 | Electronic information engineering image acquisition processing apparatus |
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| US20050104547A1 (en) * | 2003-11-18 | 2005-05-19 | Yulun Wang | Robot with a manipulator arm |
| CN201107639Y (en) * | 2007-11-30 | 2008-08-27 | 华南理工大学 | Large-sized producing workpiece geometric measuring apparatus using machine vision |
| JP2010152664A (en) * | 2008-12-25 | 2010-07-08 | Nissei Corp | Sensorless motor-driven robot using image |
| CN103616846A (en) * | 2013-11-29 | 2014-03-05 | 阎文 | Tire full-automatic code reading machine and code reading method thereof |
| CN203588036U (en) * | 2013-11-29 | 2014-05-07 | 阎文 | Automatic code reader of tire |
| CN105847655A (en) * | 2015-01-15 | 2016-08-10 | 中兴通讯股份有限公司 | Terminal equipment provided with image pick-up device |
| CN205506092U (en) * | 2015-12-14 | 2016-08-24 | 国网北京市电力公司 | Check out test set of electric power pipeline |
| CN106695879A (en) * | 2016-08-09 | 2017-05-24 | 北京动力京工科技有限公司 | Ultra-elastic alloy slice mechanical arm |
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2017
- 2017-05-26 CN CN201710386626.4A patent/CN107085391A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050104547A1 (en) * | 2003-11-18 | 2005-05-19 | Yulun Wang | Robot with a manipulator arm |
| CN201107639Y (en) * | 2007-11-30 | 2008-08-27 | 华南理工大学 | Large-sized producing workpiece geometric measuring apparatus using machine vision |
| JP2010152664A (en) * | 2008-12-25 | 2010-07-08 | Nissei Corp | Sensorless motor-driven robot using image |
| CN103616846A (en) * | 2013-11-29 | 2014-03-05 | 阎文 | Tire full-automatic code reading machine and code reading method thereof |
| CN203588036U (en) * | 2013-11-29 | 2014-05-07 | 阎文 | Automatic code reader of tire |
| CN105847655A (en) * | 2015-01-15 | 2016-08-10 | 中兴通讯股份有限公司 | Terminal equipment provided with image pick-up device |
| CN205506092U (en) * | 2015-12-14 | 2016-08-24 | 国网北京市电力公司 | Check out test set of electric power pipeline |
| CN106695879A (en) * | 2016-08-09 | 2017-05-24 | 北京动力京工科技有限公司 | Ultra-elastic alloy slice mechanical arm |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107414803A (en) * | 2017-09-22 | 2017-12-01 | 成都易维控科技有限公司 | Visual spatial attention robot for streamline |
| CN114488664A (en) * | 2022-03-21 | 2022-05-13 | 厦门大学 | Electronic information engineering image acquisition processing apparatus |
| CN114488664B (en) * | 2022-03-21 | 2023-12-29 | 厦门大学 | Electronic information engineering image acquisition processing device |
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| PB01 | Publication | ||
| PB01 | Publication | ||
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| RJ01 | Rejection of invention patent application after publication | ||
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Application publication date: 20170822 |