CN105179894A - Binocular vision cradle head - Google Patents

Binocular vision cradle head Download PDF

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Publication number
CN105179894A
CN105179894A CN201510251185.8A CN201510251185A CN105179894A CN 105179894 A CN105179894 A CN 105179894A CN 201510251185 A CN201510251185 A CN 201510251185A CN 105179894 A CN105179894 A CN 105179894A
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China
Prior art keywords
stepper motor
gear
fixed
support
camera
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CN201510251185.8A
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CN105179894B (en
Inventor
姜伟
裘信国
周见行
季行健
王国龙
周鑫卓
贾中楠
夏中楠
金国杰
梁飞飞
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Zhejiang University of Technology ZJUT
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Zhejiang University of Technology ZJUT
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Priority to CN201510251185.8A priority Critical patent/CN105179894B/en
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Abstract

The invention provides a binocular vision cradle head. The binocular vision cradle head comprises a rotating device, an elevation device and a camera centering device. Cameras are installed on the camera centering device. The camera centering device is installed on the elevation device. The elevation device is installed on the rotating device. The rotating device comprises a cradle head base, a rotating bearing, a box bottom, a first stepping motor and a gear. The inner ring of the rotating bearing is fixedly connected with the cradle head base. The outer ring of the rotating bearing is fixedly connected with the box bottom of the cradle head. The stepping motor is fixed to the box bottom of the cradle head. The gear is installed on a motor shaft of the stepping motor. The gear is engaged with gear teeth on the inner ring of the rotating bearing. The binocular vision cradle head is moderate in size and flexible in motion.

Description

A kind of binocular vision The Cloud Terrace
Technical field
The present invention relates to a kind of binocular vision The Cloud Terrace.
Background technique
Vision Table in reality is single camera mostly, cannot realize the function of three-dimensional imaging, and this binocular vision The Cloud Terrace has two cameras, and two cameras observe same object of observation simultaneously, can realize the function of three-dimensional imaging.
Traditional design proposal adopts the shortcomings such as gear transmission or turbine and worm transmission realize the rotation of The Cloud Terrace, the motion of pitching, and this design cannot overcome Heavy Weight, and volume is large, complex structure, dumb.
Summary of the invention
In order to overcome the deficiency that volume is larger, dumb, weight is larger of existing binocular vision The Cloud Terrace, the invention provides that a kind of volume is moderate, move binocular vision The Cloud Terrace flexibly.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of binocular vision The Cloud Terrace, comprise whirligig, elevation mount and camera centralising device, described camera is arranged on described camera centralising device, and described camera centralising device is arranged on elevation mount, and described elevation mount is installed on the spinning device,
Described whirligig comprises at the bottom of The Cloud Terrace base, swivel bearing, case, the first stepper motor and gear, described swivel bearing inner ring is fixedly connected with described The Cloud Terrace base, described swivel bearing outer ring is fixedly connected with at the bottom of The Cloud Terrace case, described stepper motor is fixed at the bottom of The Cloud Terrace case, described gear is installed on the motor shaft of described stepper motor, the gear teeth meshing on described gear and swivel bearing inner ring;
Described elevation mount comprises side box body, dead axle, link, second stepper motor, screw rod, push rod, connecting rod, fixed pole, movement rod and V-type support, both sides fixed installation side box body at the bottom of described The Cloud Terrace case, the two ends of described dead axle are connected with described side box body respectively and stretch out outside described side box body, described link is sleeved on the middle part of described dead axle rotationally, overhanging section of described dead axle is sleeved on described V-type support rotationally, described second stepper motor is fixed on described link, the rotating shaft of described screw rod and described second stepper motor is connected, the middle part of described push rod can be placed on described screw rod up and down, the two ends of described fixed pole are fixed on described side box body, the two ends of described movement rod are fixed on described V-type support through described side box body, described side box body has the arching trajectory groove swung for described movement rod, the two ends of described push rod connect connecting rod respectively, wherein a connecting rod upper end can be rotated around described fixed pole, the upper end of another root connecting rod can be rotated around described movement rod,
Described camera centralising device comprises the first support, first flange, dunnage, first gear, first small gear, 3rd stepper motor, second support, second flange, second largest gear, second small gear and the 4th stepper motor, the upper end of two V-type supports is connected with described dunnage, first camera is fixed on described first support, described first support rotates in described dunnage substantially horizontal by described first flange, described first gear and described first support are connected, described 3rd stepper motor is fixed in described dunnage, described first small gear is installed in the rotating shaft of described 3rd stepper motor, second camera is fixed on described second support, described second support rotates in described dunnage substantially horizontal by described second flange, described second largest gear and described second support are connected, described 4th stepper motor is fixed in described dunnage, and described second small gear is installed in the rotating shaft of described 4th stepper motor.
Further, cube structure is surrounded at the bottom of described dunnage, two side box bodies and case.Certainly, also can be other shapes.
Beneficial effect of the present invention is mainly manifested in: lighter weight, volume are little, structure is simple, and motion flexibly, is applicable to different occasions.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of binocular vision The Cloud Terrace.
Fig. 2 is the schematic diagram of elevation mount.
Fig. 3 is the schematic diagram of camera centralising device.
Fig. 4 is the schematic diagram of whirligig.
Embodiment
Below in conjunction with accompanying drawing, the invention will be further described.
With reference to Fig. 1 ~ Fig. 4, a kind of binocular vision The Cloud Terrace, comprises whirligig 2, elevation mount 3, camera centralising device 4, and described binocular vision The Cloud Terrace volume is moderate, and lighter in weight, comparatively close to cube structure.
Described whirligig 2 comprises The Cloud Terrace base 21, swivel bearing 22, at the bottom of case 23, first stepper motor 24, gear 25, described swivel bearing 22 inner ring and described The Cloud Terrace base 23 are bolted, at the bottom of described swivel bearing 22 outer ring and The Cloud Terrace case, 23 are bolted, described first stepper motor 24 to be fixed at the bottom of case 23, and described gear 25 is installed on described first stepper motor 24 motor shaft, and with the gear teeth meshing on swivel bearing 22 inner ring.By the revolving property of control step motor, thus realize the spinfunction of The Cloud Terrace.
Described elevation mount 3 comprises side box body 31, dead axle 32, link 33, second stepper motor 34, screw rod 35, push rod 36, connecting rod 37, fixed pole 38, movement rod 39, V-type support 301, described dead axle 32 is connected with described side box body 31, described link 33 and described V-type support 301 can rotate around described dead axle 32, described second stepper motor 34 is fixed in the plane of described link 33, described screw rod 35 is connected with the rotating shaft of described second stepper motor 34, described push rod 36 can be placed on described screw rod 35 up and down, described fixed pole 38 is fixed on described side box body 31, described movement rod 39 is fixed on described V-type support 301, the two ends of described push rod are respectively equipped with connecting rod, wherein the upper end of a connecting rod 37 can be rotated around described fixed pole 38, the upper end of another root connecting rod can be rotated around described movement rod 39.
Described camera centralising device 4 comprises the first camera 411, first support 412, first flange 413, dunnage 414, first gear 415, first small gear 416, 3rd stepper motor 417, second camera 421, second support 422, second flange 423, second largest gear 424, second small gear 425, 4th stepper motor 426, described first camera 411 is fixed on described first support 412, described first support 412 rotates in described dunnage 414 substantially horizontal by described first flange 413, described first gear 415 is connected with described first support 416, described 3rd stepper motor 417 is fixed in described dunnage 414, described first small gear 416 is driven to rotate.Described second camera 421 is fixed on described second support 422, described second support 422 rotates in described dunnage 414 substantially horizontal by described second flange 423, described second largest gear 424 is connected with described second support 422, described 4th stepper motor 426 is fixed in described dunnage 414, drives described second small gear 425 to rotate.
The first described motor, the second motor, the 3rd motor and the 4th motor connect with the controller being connected power supply.
The working procedure of the present embodiment: controller controls the stepper motor of whirligig, pinion rotation on stepper motor drive motor axle, because the inner ring of swivel bearing at gear teeth place that engages with small gear and the base of The Cloud Terrace are connected, base maintains static, so the casing fixing with stepper motor starts to rotate, from the 360 degree of rotary motions realizing binocular vision The Cloud Terrace.Controller controls the stepper motor of elevation mount, and because dead axle and side box body are connected, link and V-type support can around fixed-axis rotations, and stepper motor is fixed in the plane of link, drives bolt rotary, promotes the push rod be placed on screw rod and moves.Fixed pole is fixed on side box body, and movement rod is fixed on V-type support, and connecting rod one end can be rotated around fixed pole, and one end can be rotated around movement rod.Thus promote the rotation of V-type support, drive dunnage to rotate, realize the pitching movement of binocular vision The Cloud Terrace.Controller controls two stepper motors of camera centralising device, corresponding stepper motor rotates, drive the pinion rotation be connected with step motor shaft, the bull gear drive engaged with small gear, and gearwheel and corresponding camera supporting frame are connected, thus drive the rotation of camera, realize the centering of two cameras.By The Cloud Terrace rotating machinery, The Cloud Terrace luffing mechanism, the camera centering body of The Cloud Terrace, completes the pitching of The Cloud Terrace, and rotate, the action of sight line centering, realizes the complete information gathering to measurand.
Content described in this specification embodiment is only enumerating the way of realization of inventive concept; protection scope of the present invention should not be regarded as being only limitted to the concrete form that embodiment states, protection scope of the present invention also comprises those skilled in the art and conceives the equivalent technologies means that can expect according to the present invention.

Claims (2)

1. a binocular vision The Cloud Terrace, it is characterized in that: comprise whirligig, elevation mount and camera centralising device, described camera is arranged on described camera centralising device, and described camera centralising device is arranged on elevation mount, described elevation mount is installed on the spinning device
Described whirligig comprises at the bottom of The Cloud Terrace base, swivel bearing, case, the first stepper motor and gear, described swivel bearing inner ring is fixedly connected with described The Cloud Terrace base, described swivel bearing outer ring is fixedly connected with at the bottom of The Cloud Terrace case, described stepper motor is fixed at the bottom of The Cloud Terrace case, described gear is installed on the motor shaft of described stepper motor, the gear teeth meshing on described gear and swivel bearing inner ring;
Described elevation mount comprises side box body, dead axle, link, second stepper motor, screw rod, push rod, connecting rod, fixed pole, movement rod and V-type support, both sides fixed installation side box body at the bottom of described The Cloud Terrace case, the two ends of described dead axle are connected with described side box body respectively and stretch out outside described side box body, described link is sleeved on the middle part of described dead axle rotationally, overhanging section of described dead axle is sleeved on described V-type support rotationally, described second stepper motor is fixed on described link, the rotating shaft of described screw rod and described second stepper motor is connected, the middle part of described push rod can be placed on described screw rod up and down, the two ends of described fixed pole are fixed on described side box body, the two ends of described movement rod are fixed on described V-type support through described side box body, described side box body has the arching trajectory groove swung for described movement rod, the two ends of described push rod connect connecting rod respectively, wherein a connecting rod upper end can be rotated around described fixed pole, the upper end of another root connecting rod can be rotated around described movement rod,
Described camera centralising device comprises the first support, first flange, dunnage, first gear, first small gear, 3rd stepper motor, second support, second flange, second largest gear, second small gear and the 4th stepper motor, the upper end of two V-type supports is connected with described dunnage, first camera is fixed on described first support, described first support rotates in described dunnage substantially horizontal by described first flange, described first gear and described first support are connected, described 3rd stepper motor is fixed in described dunnage, described first small gear is installed in the rotating shaft of described 3rd stepper motor, second camera is fixed on described second support, described second support rotates in described dunnage substantially horizontal by described second flange, described second largest gear and described second support are connected, described 4th stepper motor is fixed in described dunnage, and described second small gear is installed in the rotating shaft of described 4th stepper motor.
2. binocular vision The Cloud Terrace as claimed in claim 1, is characterized in that: surround cube structure at the bottom of described dunnage, two side box bodies and case.
CN201510251185.8A 2015-05-15 2015-05-15 A kind of binocular vision head Active CN105179894B (en)

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CN105179894B CN105179894B (en) 2017-08-25

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CN105516688A (en) * 2016-01-20 2016-04-20 北京航空航天大学 Resolution-transforming type eagle eye-mimic visual imaging device and imaging method thereof
WO2018064831A1 (en) * 2016-10-09 2018-04-12 深圳市道通智能航空技术有限公司 Tripod head, unmanned aerial vehicle and control method therefor
WO2018145261A1 (en) * 2017-02-08 2018-08-16 深圳市大疆创新科技有限公司 Multifunctional camera and control method therefor, wearable device, pan-tilt, and aerial vehicle
CN108647637A (en) * 2018-05-09 2018-10-12 广州飞宇智能科技有限公司 A kind of video acquisition analytical equipment and method based on crowd recognition
CN109544596A (en) * 2018-10-30 2019-03-29 浙江理工大学 A kind of artificial intelligence binocular vision tracking mechanism of view-based access control model feedback
CN112722302A (en) * 2021-01-25 2021-04-30 廊坊市天星测绘有限公司 Unmanned aerial vehicle carries cloud platform

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CN109099287B (en) * 2018-08-07 2020-12-15 上海大学 Visual observation holder applied to ground mobile robot

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CN203661165U (en) * 2013-12-10 2014-06-18 吉林大学 Multi freedom degree binocular stereo vision device
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US20050243170A1 (en) * 2004-04-14 2005-11-03 Chang Pao C Speed dome
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JP2006090377A (en) * 2004-09-22 2006-04-06 Kyoto Sangyo Univ Pan tilt mechanism for image picking up device
CN200965609Y (en) * 2006-08-15 2007-10-24 孟金光 Stepping motor positioned automatic and continuous shooting pan/tilt head
CN201221664Y (en) * 2008-05-27 2009-04-15 常州新区赛恩机电设备有限公司 Angle-adjustable TV set rack
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Publication number Priority date Publication date Assignee Title
CN105516688A (en) * 2016-01-20 2016-04-20 北京航空航天大学 Resolution-transforming type eagle eye-mimic visual imaging device and imaging method thereof
WO2018064831A1 (en) * 2016-10-09 2018-04-12 深圳市道通智能航空技术有限公司 Tripod head, unmanned aerial vehicle and control method therefor
CN108235702A (en) * 2016-10-09 2018-06-29 深圳市道通智能航空技术有限公司 A kind of holder, unmanned plane and its control method
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CN108647637A (en) * 2018-05-09 2018-10-12 广州飞宇智能科技有限公司 A kind of video acquisition analytical equipment and method based on crowd recognition
CN108647637B (en) * 2018-05-09 2020-06-30 广州飞宇智能科技有限公司 Video acquisition and analysis device and method based on crowd identification
CN109544596A (en) * 2018-10-30 2019-03-29 浙江理工大学 A kind of artificial intelligence binocular vision tracking mechanism of view-based access control model feedback
CN109544596B (en) * 2018-10-30 2020-12-22 浙江理工大学 Artificial intelligence binocular vision tracking mechanism based on visual feedback
CN112722302A (en) * 2021-01-25 2021-04-30 廊坊市天星测绘有限公司 Unmanned aerial vehicle carries cloud platform

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