CN105179894B - A kind of binocular vision head - Google Patents
A kind of binocular vision head Download PDFInfo
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- CN105179894B CN105179894B CN201510251185.8A CN201510251185A CN105179894B CN 105179894 B CN105179894 B CN 105179894B CN 201510251185 A CN201510251185 A CN 201510251185A CN 105179894 B CN105179894 B CN 105179894B
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- stepper motor
- fixed
- head
- support
- gear
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Abstract
A kind of binocular vision head, including rotating device, elevation mount and camera centralising device, the camera is arranged on the camera centralising device, the camera centralising device is arranged on elevation mount, the elevation mount is installed on the spinning device, the rotating device includes head base, swivel bearing, bottom, first stepper motor and gear, the swivel bearing inner ring is fixedly connected with the head base, the swivel bearing outer ring is fixedly connected with head bottom, the stepper motor is fixed on head bottom, the gear is installed on the motor shaft of the stepper motor, the gear and the gear teeth meshing on swivel bearing inner ring；A kind of volume of present invention offer is moderate, move flexible binocular vision head.
Description
Technical field
The present invention relates to a kind of binocular vision head.
Background technology
Vision Table in reality is single camera mostly, it is impossible to realize the function of three-dimensional imaging, and the binocular vision
Head has two cameras, and two cameras observe same object of observation simultaneously, it is possible to achieve the function of three-dimensional imaging.
Traditional design realizes the motion of rotation, the pitching of head using gear drive or turbine and worm transmission, this
Weight weight can not be overcome by planting design, and volume is big, complicated, the shortcomings of dumb.
The content of the invention
In order to which the volume for overcoming the shortcomings of existing binocular vision head is larger, dumb, weight is larger, the present invention provides one
Kind volume is moderate, move flexible binocular vision head.
The technical solution adopted for the present invention to solve the technical problems is：
A kind of binocular vision head, including rotating device, elevation mount and camera centralising device, the camera are installed
On the camera centralising device, the camera centralising device is arranged on elevation mount, and the elevation mount is arranged on
On rotating device,
The rotating device includes head base, swivel bearing, bottom, the first stepper motor and gear, the rotary shaft
Hold inner ring to be fixedly connected with the head base, the swivel bearing outer ring is fixedly connected with head bottom, the stepper motor
Head bottom is fixed on, the gear is installed on the motor shaft of the stepper motor, on the gear and swivel bearing inner ring
Gear teeth meshing；
The elevation mount includes side box body, dead axle, connector, the second stepper motor, screw rod, push rod, connecting rod, fixed
Bar, mobile bar and V-type support, the both sides of the head bottom are fixedly mounted side box body, the two ends of the dead axle respectively with it is described
Side box body is connected and stretched out on the outside of the side box body, and the connector is rotatably mounted around the middle part of the dead axle, described fixed
Overhanging section of axle is rotatably mounted around on the V-type support, and second stepper motor is fixed on the connector, described
The rotating shaft of screw rod and second stepper motor is connected, and the middle part of the push rod can be placed on the screw rod up and down, institute
The two ends for stating fixed pole are fixed on the side box body, and the V-type branch is fixed in the two ends of the mobile bar through the side box body
On frame, the arching trajectory groove swung for the mobile bar is provided with the side box body, the two ends of the push rod are connected respectively
Bar, wherein a connecting rod upper end can be rotated around the fixed pole, the upper end of another connecting rod can be rotated around the mobile bar；
The camera centralising device include first support, first flange, supporting plate, the first gear wheel, the first little gear,
3rd stepper motor, second support, second flange, the second gear wheel, the second little gear and the 4th stepper motor, two V-type branch
The upper end of frame is connected with the supporting plate, and the first camera is fixed in the first support, and the first support can pass through institute
State first flange to rotate in the supporting plate horizontal direction, first gear wheel and the first support are connected, described the
Three stepper motors are fixed in the supporting plate, and first little gear is installed in the rotating shaft of the 3rd stepper motor；Second
Camera is fixed in the second support, and the second support can be by the second flange in the supporting plate horizontal direction
Upper to rotate, second gear wheel is connected with the second support, and the 4th stepper motor is fixed in the supporting plate, institute
Second little gear is installed in the rotating shaft for stating the 4th stepper motor.
Further, the supporting plate, two side box bodies and bottom surround cube structure.It is of course also possible to be other shapes
Shape.
Beneficial effects of the present invention are mainly manifested in：Lighter weight, small volume, simple in construction, motion is flexible, it is adaptable to no
Same occasion.
Brief description of the drawings
Fig. 1 is the schematic diagram of binocular vision head.
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 rotating device.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings.
1~Fig. 4 of reference picture, a kind of binocular vision head, including rotating device 2, elevation mount 3, camera centralising device
4, the binocular vision head volume is moderate, and lighter in weight is closer to cube structure.
The rotating device 2 include head base 21, swivel bearing 22, bottom 23, the first stepper motor 24, gear 25,
The inner ring of swivel bearing 22 is bolted with the head base 23, the outer ring of swivel bearing 22 and head bottom 23
It is bolted, first stepper motor 24 is fixed on bottom 23, the gear 25 is installed on first stepper motor
On 24 motor shafts, and with the gear teeth meshing on the inner ring of swivel bearing 22.By controlling the revolving property of stepper motor, so that real
The spinfunction of existing head.
The elevation mount 3 includes side box body 31, dead axle 32, connector 33, the second stepper motor 34, screw rod 35, push rod
36, connecting rod 37, fixed pole 38, mobile bar 39, V-type support 301, the dead axle 32 is connected with the side box body 31, the connection
Part 33 and the V-type support 301 can be rotated around the dead axle 32, and second stepper motor 34 is fixed on the connector 33
Plane on, the rotating shaft of the screw rod 35 and second stepper motor 34 is connected, and the push rod 36 can be placed on up and down
On the screw rod 35, the fixed pole 38 is fixed on the side box body 31, and the mobile bar 39 is fixed on the V-type support 301
On, the two ends of the push rod are respectively equipped with connecting rod, wherein the upper end of a connecting rod 37 can be rotated around the fixed pole 38, it is another
The upper end of root connecting rod can be rotated around the mobile bar 39.
The camera centralising device 4 includes the first camera 411, first support 412, first flange 413, supporting plate
414th, the first gear wheel 415, the first little gear 416, the 3rd stepper motor 417, second camera 421, second support 422,
Two flanges 423, the second gear wheel 424, the second little gear 425, the 4th stepper motor 426, first camera 411 are fixed on
In the first support 412, the first support 412 can be by the first flange 413 in the horizontal direction of supporting plate 414
Upper to rotate, first gear wheel 415 is connected with the first support 416, and the 3rd stepper motor 417 is fixed on the branch
On fagging 414, first little gear 416 is driven to rotate.The second camera 421 is fixed in the second support 422,
The second support 422 can be rotated by the second flange 423 in the horizontal direction of supporting plate 414, described second largest
Gear 424 is connected with the second support 422, and the 4th stepper motor 426 is fixed in the supporting plate 414, drives institute
The second little gear 425 is stated to rotate.
Described the first motor, the second motor, the 3rd motor and the 4th motor is connected with being connected the controller of power supply.
The course of work of the present embodiment：Controller is controlled on the stepper motor of rotating device, stepper motor drive motor axle
Pinion rotation, because the inner ring of the swivel bearing where the gear teeth that are engaged with little gear and the base of head are connected, base
It is fixed, so the casing fixed with stepper motor starts to rotate, from 360 degree of rotary motions for realizing binocular vision head.
Controller controls the stepper motor of elevation mount, and because dead axle and side box body are connected, connector and V-type support can be around dead axles
Rotate, stepper motor is fixed in the plane of connector, drive screw rod to rotate, promote the push rod movement being placed on screw rod.Fixed pole
It is fixed on side box body, mobile bar is fixed on V-type support, connecting rod one end can be rotated around fixed pole, one end can turn around mobile bar
It is dynamic.So as to promote the rotation of V-type support, drive supporting plate to rotate, realize the elevating movement of binocular vision head.Controller is controlled
Two stepper motors of camera centralising device, corresponding stepper motor is rotated, and drives the little gear being connected with step motor shaft
Rotate, the bull gear drive engaged with little gear, and gear wheel is connected with corresponding shooting head support, so as to drive camera
Rotation, realize the centering of two cameras.Pass through head rotating mechanism, head luffing mechanism, the camera transducer of head
Structure, completes the pitching of head, and the complete information gathering to measurand is realized in rotation, the action of sight centering.
Content described in this specification embodiment is only enumerating to the way of realization of inventive concept, protection of the invention
Scope is not construed as being only limitted to the concrete form that embodiment is stated, protection scope of the present invention also includes art technology
Personnel according to present inventive concept it is conceivable that equivalent technologies mean.
Claims (2)
1. a kind of binocular vision head, it is characterised in that：It is described including rotating device, elevation mount and camera centralising device
Camera is arranged on the camera centralising device, and the camera centralising device is arranged on elevation mount, the pitching
Device is installed on the spinning device,
The rotating device includes head base, swivel bearing, head bottom, the first stepper motor and gear, the rotary shaft
Hold inner ring to be fixedly connected with the head base, the swivel bearing outer ring is fixedly connected with head bottom, first stepping
Motor is fixed on head bottom, and the gear is installed on the motor shaft of the stepper motor, in the gear and swivel bearing
Gear teeth meshing on circle；
The elevation mount includes side box body, dead axle, connector, the second stepper motor, screw rod, push rod, connecting rod, fixed pole, shifting
Lever and V-type support, the both sides of the head bottom are fixedly mounted side box body, the two ends of the dead axle respectively with the side box body
Connect and stretch out on the outside of the side box body, the connector is rotatably mounted around outside the middle part of the dead axle, the dead axle
Stretch section to be rotatably mounted around on the V-type support, second stepper motor is fixed on the connector, the screw rod with
The rotating shaft of second stepper motor is connected, and the middle part of the push rod can be placed on the screw rod up and down, the fixed pole
Two ends be fixed on the side box body, the two ends of the mobile bar are fixed on the V-type support through the side box body, institute
The arching trajectory groove for being provided with and being swung for the mobile bar on side box body is stated, the two ends of the push rod connect connecting rod respectively, wherein
A piece connecting rod upper end can be rotated around the fixed pole, and the upper end of another connecting rod can be rotated around the mobile bar；
The camera centralising device includes first support, first flange, supporting plate, the first gear wheel, the first little gear, the 3rd
Stepper motor, second support, second flange, the second gear wheel, the second little gear and the 4th stepper motor, two V-type supports
Upper end is connected with the supporting plate, and the first camera is fixed in the first support, and the first support can pass through described
One flange is rotated in the supporting plate horizontal direction, and first gear wheel is connected with the first support, the 3rd step
Stepper motor is fixed in the supporting plate, and first little gear is installed in the rotating shaft of the 3rd stepper motor；Second shooting
Head is fixed in the second support, and the second support can be turned by the second flange in the supporting plate horizontal direction
Dynamic, second gear wheel is connected with the second support, and the 4th stepper motor is fixed in the supporting plate, and described the
Second little gear is installed in the rotating shaft of four stepper motors.
2. binocular vision head as claimed in claim 1, it is characterised in that：The supporting plate, two side box bodies and head case
Bottom surrounds cube structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510251185.8A CN105179894B (en) | 2015-05-15 | 2015-05-15 | A kind of binocular vision head |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510251185.8A CN105179894B (en) | 2015-05-15 | 2015-05-15 | A kind of binocular vision head |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105179894A CN105179894A (en) | 2015-12-23 |
| CN105179894B true CN105179894B (en) | 2017-08-25 |
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ID=54902178
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510251185.8A Active CN105179894B (en) | 2015-05-15 | 2015-05-15 | A kind of binocular vision head |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109099287A (en) * | 2018-08-07 | 2018-12-28 | 上海大学 | A kind of visual observation holder applied to ground mobile robot |
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| CN105516688B (en) * | 2016-01-20 | 2017-04-26 | 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 |
| CN108282649B (en) * | 2018-03-23 | 2023-09-05 | 天津商业大学 | Binocular vision experiment holder with freely adjustable baseline position |
| 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 |
| CN109544596B (en) * | 2018-10-30 | 2020-12-22 | 浙江理工大学 | Artificial intelligence binocular vision tracking mechanism based on visual feedback |
| CN109559627A (en) * | 2018-11-15 | 2019-04-02 | 华南师范大学 | A kind of easy binocular vision teaching platform |
| CN109519666A (en) * | 2018-12-17 | 2019-03-26 | 西安羚控电子科技有限公司 | A kind of holder support device |
| CN109854906B (en) * | 2018-12-29 | 2024-03-26 | 北京旷视科技有限公司 | Multi-dimensional adjusting rack, image recognition testing system and testing method for multi-dimensional adjusting rack |
| 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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| KR200316914Y1 (en) * | 2003-03-25 | 2003-06-18 | 황의남 | Speed dome camera module |
| US20050243170A1 (en) * | 2004-04-14 | 2005-11-03 | Chang Pao C | Speed dome |
| JP2005297168A (en) * | 2004-04-16 | 2005-10-27 | Fujinon Corp | Remote control robot |
| 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 |
| CN101403461B (en) * | 2008-09-26 | 2010-12-08 | 耿乐 | Support bracket of display device |
| CN201627215U (en) * | 2010-04-15 | 2010-11-10 | 中国科学院武汉岩土力学研究所 | Testing device for measuring scoured deformation of side slope |
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| CN102829302A (en) * | 2012-09-18 | 2012-12-19 | 天津市东荣电子有限公司 | Pan-tilt vertical transmission structure |
| CN203661165U (en) * | 2013-12-10 | 2014-06-18 | 吉林大学 | Multi freedom degree binocular stereo vision device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109099287A (en) * | 2018-08-07 | 2018-12-28 | 上海大学 | A kind of visual observation holder applied to ground mobile robot |
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| CN105179894A (en) | 2015-12-23 |
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