CN107917318B - Support for adjusting pose of binocular camera - Google Patents
Support for adjusting pose of binocular camera Download PDFInfo
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- CN107917318B CN107917318B CN201711344593.3A CN201711344593A CN107917318B CN 107917318 B CN107917318 B CN 107917318B CN 201711344593 A CN201711344593 A CN 201711344593A CN 107917318 B CN107917318 B CN 107917318B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/043—Allowing translations
- F16M11/045—Allowing translations adapted to left-right translation movement
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
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Abstract
一种双目相机调节位姿的支架，包括左相机、右相机和水平位置调节部分；所述水平位置调节部分包括左水平调节滑块、右水平调节滑块、左相机固定板、右相机固定板、左连杆、右连杆、传动滑块和水平调节电机，所述左水平调节滑块、右水平调节滑块分别装在与水平调节电机相连的正反牙丝杠的两半上，所述左水平调节滑块与所述左相机固定板连接，所述右水平调节滑块与所述右相机固定板连接，所述左相机固定板与左连杆的下端铰接，所述左连杆的上端与传动滑块的左侧铰接，所述右相机固定板与所述右连杆的下端铰接，所述右连杆的上端与所述传动滑块的右侧铰接，所述传动滑块可滑动地套装在竖向导轨上。本发明简化结构和操作、精准度较高。
A bracket for adjusting the posture of a binocular camera, including a left camera, a right camera and a horizontal position adjustment part; the horizontal position adjustment part includes a left horizontal adjustment slider, a right horizontal adjustment slider, a left camera fixing plate, a right camera fixation plate, left connecting rod, right connecting rod, transmission slider and leveling motor. The left and right leveling sliders are respectively installed on the two halves of the positive and negative thread screws connected to the leveling motor. The left horizontal adjustment slider is connected to the left camera fixed plate, the right horizontal adjustment slider is connected to the right camera fixed plate, the left camera fixed plate is hinged to the lower end of the left connecting rod, and the left connecting rod The upper end of the rod is hinged to the left side of the transmission slider, the right camera fixing plate is hinged to the lower end of the right connecting rod, the upper end of the right connecting rod is hinged to the right side of the transmission slider, and the transmission slider is hinged to the lower end of the right connecting rod. The blocks are slidably mounted on vertical rails. The invention simplifies the structure and operation and has high accuracy.
Description
技术领域Technical field
本发明属于双目相机，涉及一种双目相机调节位姿的支架。The invention belongs to a binocular camera and relates to a bracket for adjusting the pose of the binocular camera.
背景技术Background technique
机器视觉技术在当下工业中的应用越来越广泛,正在替代人发挥着日益重要的作用。双目视觉是其中一种使用两台摄相机的用于解决立体视觉问题的技术，被广泛应用于测距、表面3D重建、逆向工程等领域。Machine vision technology is increasingly used in today's industries and is playing an increasingly important role instead of humans. Binocular vision is one of the technologies that uses two cameras to solve stereo vision problems. It is widely used in fields such as ranging, surface 3D reconstruction, and reverse engineering.
建立一个双目视觉系统，需要进行相机的位置调节和相机标定。只有两台相机具有了良好的相对位置，才能获得一个交叉区域面积大的共同视场，才有利于后续的目标点匹配；而标定的目的是为了得到相机的内外参数，内参数用于表示镜头焦距、镜头畸变，它是一个从平面到像素的转换；外参数反映的是两台相机的相互位置关系。每当相机的相互位置改变，就应重新标定计算其外参。Establishing a binocular vision system requires camera position adjustment and camera calibration. Only when the two cameras have a good relative position can they obtain a common field of view with a large intersection area, which is conducive to subsequent target point matching; the purpose of calibration is to obtain the internal and external parameters of the camera, and the internal parameters are used to represent the lens Focal length and lens distortion are a conversion from plane to pixel; the external parameters reflect the mutual positional relationship between the two cameras. Whenever the mutual positions of the cameras change, their external parameters should be recalibrated and calculated.
而双目视觉系统在实际使用中，如果目标物体相对相机的距离发生变化，则需要相机也做相应的位姿调整，整体视场应适应该距离变化，同时外参的改变也应实时反馈。双目视觉技术的发展日趋要求更高精准和便捷的调节装置与之配合，目前在此方面的调节位姿装置不多，难以很好的满足物体成像和标定的要求。In actual use of the binocular vision system, if the distance of the target object relative to the camera changes, the camera needs to make corresponding posture adjustments. The overall field of view should adapt to the distance change, and changes in external parameters should also be fed back in real time. The development of binocular vision technology increasingly requires more precise and convenient adjustment devices to coordinate with it. Currently, there are not many posture adjustment devices in this area, which cannot well meet the requirements of object imaging and calibration.
发明内容Contents of the invention
为了克服已有双目相机的调节方式的结构较为复杂、操作麻烦、精准度较低的不足，本发明提供了一种简化结构和操作、精准度较高的双目相机调节位姿的支架。In order to overcome the shortcomings of the existing adjustment methods of binocular cameras, which are complicated in structure, cumbersome to operate, and low in accuracy, the present invention provides a bracket for adjusting posture of a binocular camera with simplified structure and operation and high accuracy.
本发明解决其技术问题所采用的技术方案是：The technical solutions adopted by the present invention to solve the technical problems are:
一种双目相机调节位姿的支架，包括左相机和右相机，所述支架还包括水平位置调节部分；所述水平位置调节部分包括左水平调节滑块、右水平调节滑块、左相机固定板、右相机固定板、左连杆、右连杆、传动滑块和水平调节电机，所述左水平调节滑块、右水平调节滑块分别装在与水平调节电机相连的正反牙丝杠的两半上，所述左水平调节滑块与所述左相机固定板连接，所述右水平调节滑块与所述右相机固定板连接，所述左相机固定板与左连杆的下端铰接，所述左连杆的上端与传动滑块的左侧铰接，所述右相机固定板与所述右连杆的下端铰接，所述右连杆的上端与所述传动滑块的右侧铰接，所述传动滑块可滑动地套装在竖向导轨上。A bracket for adjusting the posture of a binocular camera, including a left camera and a right camera. The bracket also includes a horizontal position adjustment part; the horizontal position adjustment part includes a left horizontal adjustment slider, a right horizontal adjustment slider, and a left camera fixed plate, right camera fixed plate, left connecting rod, right connecting rod, transmission slider and horizontal adjustment motor. The left horizontal adjustment slider and right horizontal adjustment slider are respectively installed on the positive and negative thread screws connected to the horizontal adjustment motor. On the two halves of the camera, the left horizontal adjustment slider is connected to the left camera fixed plate, the right horizontal adjustment slider is connected to the right camera fixed plate, and the left camera fixed plate is hinged to the lower end of the left connecting rod. , the upper end of the left connecting rod is hinged to the left side of the transmission slider, the right camera fixing plate is hinged to the lower end of the right connecting rod, and the upper end of the right connecting rod is hinged to the right side of the transmission slider. , the transmission slider is slidably mounted on the vertical guide rail.
进一步，所述支架还包括角度调节部分，所述角度调节部分包括左同步带、右同步带和驱动齿轮；所述左相机固定板与左下同步带轮联动，所述左下同步带轮安装在左水平调节滑块上，所述左同步带套装在左下同步带轮和左上同步带轮上，所述左上同步带轮安装在所述传动滑块的左侧，所述左上同步带轮与左传动齿轮同轴；所述右相机固定板与右下同步带轮联动，所述右下同步带轮安装在右水平调节滑块上，所述右同步带套装在所述右下同步带轮和右上同步带轮上，所述右上同步带轮安装在传动滑块的右侧，所述右上同步带轮与右传动齿轮同轴；所述左传动齿轮与所述右传动齿轮啮合，所述驱动齿轮与所述左传动齿轮或右传动齿轮啮合，所述驱动齿轮与带动驱动齿轮转动的驱动机构连接。Further, the bracket also includes an angle adjustment part, which includes a left synchronous belt, a right synchronous belt and a driving gear; the left camera fixed plate is linked with the lower left synchronous pulley, and the lower left synchronous pulley is installed on the left On the horizontal adjustment slider, the left synchronous belt is set on the lower left synchronous pulley and the upper left synchronous pulley. The upper left synchronous pulley is installed on the left side of the transmission slider. The upper left synchronous pulley is connected with the left transmission The gears are coaxial; the right camera fixed plate is linked with the lower right synchronous pulley, the lower right synchronous pulley is installed on the right horizontal adjustment slider, and the right synchronous belt is sleeved on the lower right synchronous pulley and the upper right synchronous pulley. On the synchronous pulley, the upper right synchronous pulley is installed on the right side of the transmission slider, and the upper right synchronous pulley is coaxial with the right transmission gear; the left transmission gear meshes with the right transmission gear, and the driving gear It meshes with the left transmission gear or the right transmission gear, and the driving gear is connected to a driving mechanism that drives the driving gear to rotate.
优选的，所述驱动机构为角度调节电机，所述角度调节电机为步进电机。Preferably, the driving mechanism is an angle adjustment motor, and the angle adjustment motor is a stepper motor.
本发明的技术构思为：通过连杆机构控制两个相机的对称直线运动；设计了两个带有滑槽的旋转板来控制相机的反向旋转运动。通过根据实际目标调节两台相机的位姿，从而获得两台相机的最佳视场；并在相机改变位姿后，由电机反馈相机相对位置关系。The technical concept of the present invention is to control the symmetrical linear motion of two cameras through a linkage mechanism; two rotating plates with chute are designed to control the reverse rotational motion of the camera. By adjusting the poses of the two cameras according to the actual target, the best fields of view of the two cameras are obtained; and after the cameras change their poses, the relative position of the cameras is fed back by the motor.
本发明的有益效果主要表现在：简化结构和操作、精准度较高。The beneficial effects of the present invention are mainly reflected in: simplified structure and operation, and high accuracy.
附图说明Description of drawings
图1是双目相机调节位姿的支架的主体结构图Figure 1 is the main structure diagram of the bracket for adjusting the posture of the binocular camera.
图2是双目相机调节位姿的支架的调节前示意图Figure 2 is a schematic diagram of the bracket for adjusting the posture of the binocular camera before adjustment.
图3是双目相机调节位姿的支架的水平位置调节示意图Figure 3 is a schematic diagram of the horizontal position adjustment of the bracket for adjusting the posture of the binocular camera.
图4是双目相机调节位姿的支架的角度调节示意图Figure 4 is a schematic diagram of the angle adjustment of the bracket for adjusting the posture of the binocular camera.
图5是双目相机调节位姿的支架的水平位置与角度同时调节示意图Figure 5 is a schematic diagram of the simultaneous adjustment of the horizontal position and angle of the bracket for adjusting the posture of the binocular camera.
图中1.左水平调节滑块，2.右水平调节滑块，3.左相机固定板，4.右相机固定板，5.左连杆，6.右连杆，7.传动滑块，8.左同步带，9.右同步带，10.齿轮，11.水平调节电机，12.角度调节电机，13.左相机，14.右相机，15.左相机光轴，16.右相机光轴，17.驱动齿轮。In the picture, 1. Left horizontal adjustment slider, 2. Right horizontal adjustment slider, 3. Left camera fixed plate, 4. Right camera fixed plate, 5. Left connecting rod, 6. Right connecting rod, 7. Transmission slider, 8. Left timing belt, 9. Right timing belt, 10. Gear, 11. Horizontal adjustment motor, 12. Angle adjustment motor, 13. Left camera, 14. Right camera, 15. Left camera optical axis, 16. Right camera light Shaft, 17. Drive gear.
具体实施方式Detailed ways
下面结合附图对本发明作进一步描述。The present invention will be further described below in conjunction with the accompanying drawings.
参照图1～图5，一种用于双目相机调节位姿的支架，包括左相机13、右相机14、水平位置调节部分和角度调节部分；Referring to Figures 1 to 5, a bracket for adjusting the posture of a binocular camera includes a left camera 13, a right camera 14, a horizontal position adjustment part and an angle adjustment part;
所述水平位置调节部分包括左水平调节滑块、右水平调节滑块、左相机固定板、右相机固定板、左连杆、右连杆、传动滑块和水平调节电机，所述左水平调节滑块、右水平调节滑块分别装在与水平调节电机相连的正反牙丝杠的两半上，所述左水平调节滑块与所述左相机固定板连接，所述右水平调节滑块与所述右相机固定板连接，所述左相机固定板与左连杆的下端铰接，所述左连杆的上端与传动滑块的左侧铰接，所述右相机固定板与所述右连杆的下端铰接，所述右连杆的上端与所述传动滑块的右侧铰接，所述传动滑块可滑动地套装在竖向导轨上。The horizontal position adjustment part includes a left horizontal adjustment slider, a right horizontal adjustment slider, a left camera fixed plate, a right camera fixed plate, a left link, a right link, a transmission slider and a horizontal adjustment motor. The left horizontal adjustment The slide block and the right horizontal adjustment slide block are respectively installed on the two halves of the front and back thread screws connected to the horizontal adjustment motor. The left horizontal adjustment slide block is connected to the left camera fixed plate, and the right horizontal adjustment slide block It is connected to the right camera fixing plate, the left camera fixing plate is hinged to the lower end of the left connecting rod, the upper end of the left connecting rod is hinged to the left side of the transmission slider, and the right camera fixing plate is hinged to the right connecting rod. The lower end of the rod is hinged, and the upper end of the right connecting rod is hinged with the right side of the transmission slider. The transmission slider is slidably mounted on the vertical guide rail.
进一步，所述支架还包括角度调节部分，所述角度调节部分包括左同步带、右同步带和驱动齿轮；所述左相机固定板与左下同步带轮联动，所述左下同步带轮安装在左水平调节滑块上，所述左同步带套装在左下同步带轮和左上同步带轮上，所述左上同步带轮安装在所述传动滑块的左侧，所述左上同步带轮与左传动齿轮同轴；所述右相机固定板与右下同步带轮联动，所述右下同步带轮安装在右水平调节滑块上，所述右同步带套装在所述右下同步带轮和右上同步带轮上，所述右上同步带轮安装在传动滑块的右侧，所述右上同步带轮与右传动齿轮同轴；所述左传动齿轮与所述右传动齿轮啮合，所述驱动齿轮与所述左传动齿轮或右传动齿轮啮合，所述驱动齿轮与带动驱动齿轮转动的驱动机构连接。Further, the bracket also includes an angle adjustment part, which includes a left synchronous belt, a right synchronous belt and a driving gear; the left camera fixed plate is linked with the lower left synchronous pulley, and the lower left synchronous pulley is installed on the left On the horizontal adjustment slider, the left synchronous belt is set on the lower left synchronous pulley and the upper left synchronous pulley. The upper left synchronous pulley is installed on the left side of the transmission slider. The upper left synchronous pulley is connected with the left transmission The gears are coaxial; the right camera fixed plate is linked with the lower right synchronous pulley, the lower right synchronous pulley is installed on the right horizontal adjustment slider, and the right synchronous belt is sleeved on the lower right synchronous pulley and the upper right synchronous pulley. On the synchronous pulley, the upper right synchronous pulley is installed on the right side of the transmission slider, and the upper right synchronous pulley is coaxial with the right transmission gear; the left transmission gear meshes with the right transmission gear, and the driving gear It meshes with the left transmission gear or the right transmission gear, and the driving gear is connected to a driving mechanism that drives the driving gear to rotate.
优选的，所述驱动机构为角度调节电机，所述角度调节电机为步进电机。Preferably, the driving mechanism is an angle adjustment motor, and the angle adjustment motor is a stepper motor.
所述水平位置调节部分包括左水平调节滑块1、右水平调节滑块2、左相机固定板3、右相机固定板4、左连杆5、右连杆6、传动滑块7和水平调节电机11；所述左水平调节滑块1、右水平调节滑块2装在与水平调节电机11相连的丝杠上，可在水平方向上滑动；The horizontal position adjustment part includes a left horizontal adjustment slider 1, a right horizontal adjustment slider 2, a left camera fixing plate 3, a right camera fixing plate 4, a left connecting rod 5, a right connecting rod 6, a transmission slider 7 and a horizontal adjustment part. Motor 11; the left horizontal adjustment slider 1 and the right horizontal adjustment slider 2 are mounted on the screw connected to the horizontal adjustment motor 11 and can slide in the horizontal direction;
所述左水平调节滑块1、右水平调节滑块2分别装有左相机固定板3与右相机固定板4，左相机固定板3与右相机固定板4分别装有左连杆5与右连杆6，左连杆5与右连杆6均为球头铰接，并装在传动滑块7上；左水平调节滑块1与右水平调节滑块2可在电机转动时作对称的相向运动。独立水平调节时参照图2与图3。The left horizontal adjustment slider 1 and the right horizontal adjustment slider 2 are respectively equipped with a left camera fixing plate 3 and a right camera fixing plate 4. The left camera fixing plate 3 and the right camera fixing plate 4 are respectively equipped with a left connecting rod 5 and a right camera fixing plate 4. The connecting rod 6, the left connecting rod 5 and the right connecting rod 6 are all ball-jointed and mounted on the transmission slider 7; the left horizontal adjustment slider 1 and the right horizontal adjustment slider 2 can face each other symmetrically when the motor rotates. sports. Refer to Figure 2 and Figure 3 for independent level adjustment.
所述角度调节部分包括左相机固定板3、右相机固定板4、左连杆5、右连杆6、传动滑块7、左同步带8、右同步带9和驱动齿轮10；其中，所述相机固定板绕着左水平调节滑块1上左连杆5的铰接点作旋转运动；所述相机固定板与同步带轮同步旋转；所述左右同步带在驱动齿轮10处传动并反向运动；所述相机固定板可作对称的旋转运动。独立角度调节时参照图2与图4。The angle adjustment part includes a left camera fixed plate 3, a right camera fixed plate 4, a left connecting rod 5, a right connecting rod 6, a transmission slider 7, a left timing belt 8, a right timing belt 9 and a driving gear 10; wherein, The camera fixed plate rotates around the hinge point of the left link 5 on the left horizontal adjustment slider 1; the camera fixed plate rotates synchronously with the synchronous pulley; the left and right synchronous belts are driven and reversed at the drive gear 10 Movement; the camera fixing plate can perform symmetrical rotational movement. Refer to Figure 2 and Figure 4 for independent angle adjustment.
所述左相机13、右相机14分别固定在左相机固定板3、右相机固定板4上，随水平调节电机旋转而移动、角度调节电机旋转而旋转。水平与角度同时调节参照图2与图5。The left camera 13 and the right camera 14 are fixed on the left camera fixing plate 3 and the right camera fixing plate 4 respectively, and move with the rotation of the horizontal adjustment motor and rotate with the rotation of the angle adjustment motor. For simultaneous horizontal and angle adjustment, refer to Figure 2 and Figure 5.
本实施例中，通过电机运动来同时改变左相机1、右相机2的位置与姿态，从而达到改变相机的共同视场与光轴方向的目的，以获得适应目标位置的最佳相机位姿。In this embodiment, the positions and postures of the left camera 1 and the right camera 2 are simultaneously changed through motor movement, thereby achieving the purpose of changing the common field of view and optical axis direction of the cameras to obtain the best camera posture adapted to the target position.
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| CN110213561A (en) * | 2019-05-06 | 2019-09-06 | 深圳市华芯技研科技有限公司 | A kind of binocular camera installation outline border that can position adjusting binocular spacing |
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