CN107917318B - Support for adjusting pose of binocular camera - Google Patents
Support for adjusting pose of binocular camera Download PDFInfo
- Publication number
- 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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- slide block
- fixing plate
- connecting rod
- synchronous pulley
- horizontal adjusting
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- 230000005540 biological transmission Effects 0.000 claims abstract description 28
- 230000001360 synchronised effect Effects 0.000 claims description 56
- 230000033001 locomotion Effects 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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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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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Accessories Of Cameras (AREA)
Abstract
A support for adjusting the pose of a binocular camera comprises a left camera, a right camera and a horizontal position adjusting part; the horizontal position adjusting part comprises a left horizontal adjusting slide block, a right horizontal adjusting slide block, a left camera fixing plate, a right camera fixing plate, a left connecting rod, a right connecting rod, a transmission slide block and a horizontal adjusting motor, wherein the left horizontal adjusting slide block and the right horizontal adjusting slide block are respectively arranged on two halves of a positive and negative tooth screw rod connected with the horizontal adjusting motor, the left horizontal adjusting slide block is connected with the left camera fixing plate, the right horizontal adjusting slide block is connected with the right camera fixing plate, the left camera fixing plate is hinged with the lower end of the left connecting rod, the upper end of the left connecting rod is hinged with the left side of the transmission slide block, the right camera fixing plate is hinged with the lower end of the right connecting rod, and the transmission slide block is slidably sleeved on a vertical guide rail. The invention has the advantages of simplified structure and operation and higher accuracy.
Description
Technical Field
The invention belongs to binocular cameras, and relates to a support for adjusting pose of a binocular camera.
Background
Machine vision technology is becoming more and more widely used in the current industry and is playing an increasingly important role as a substitute for humans. Binocular vision is one of techniques for solving stereoscopic vision problems using two cameras, and is widely used in the fields of ranging, surface 3D reconstruction, reverse engineering, and the like.
A binocular vision system is established, and camera position adjustment and camera calibration are required. Only if the two cameras have good relative positions, a common view field with a large cross area can be obtained, and the subsequent target point matching is facilitated; the calibration aims at obtaining the internal and external parameters of the camera, wherein the internal parameters are used for representing the focal length and distortion of the lens, and the internal parameters are a conversion from a plane to pixels; the external parameters reflect the mutual positional relationship of the two cameras. The parameters should be calculated recalibrated each time the mutual position of the cameras changes.
In practical use, if the distance between the target object and the camera changes, the camera is required to adjust the pose correspondingly, the whole visual field is adapted to the change of the distance, and the change of the external parameters is fed back in real time. The development of binocular vision technology increasingly requires a more accurate and convenient adjusting device to be matched with, and the pose adjusting device in the aspect is not more at present, so that the requirements of object imaging and calibration are difficult to well meet.
Disclosure of Invention
In order to overcome the defects of complex structure, troublesome operation and lower accuracy of the existing binocular camera adjusting mode, the invention provides the support for adjusting the pose of the binocular camera, which simplifies the structure and operation and has higher accuracy.
The technical scheme adopted for solving the technical problems is as follows:
the bracket for adjusting the pose of the binocular camera comprises a left camera and a right camera, and further comprises a horizontal position adjusting part; the horizontal position adjusting part comprises a left horizontal adjusting slide block, a right horizontal adjusting slide block, a left camera fixing plate, a right camera fixing plate, a left connecting rod, a right connecting rod, a transmission slide block and a horizontal adjusting motor, wherein the left horizontal adjusting slide block and the right horizontal adjusting slide block are respectively arranged on two halves of a positive and negative tooth screw rod connected with the horizontal adjusting motor, the left horizontal adjusting slide block is connected with the left camera fixing plate, the right horizontal adjusting slide block is connected with the right camera fixing plate, the left camera fixing plate is hinged with the lower end of the left connecting rod, the upper end of the left connecting rod is hinged with the left side of the transmission slide block, the right camera fixing plate is hinged with the lower end of the right connecting rod, and the transmission slide block is slidably sleeved on a vertical guide rail.
Further, the bracket further comprises an angle adjusting part, wherein the angle adjusting part comprises a left synchronous belt, a right synchronous belt and a driving gear; the left camera fixing plate is linked with a left lower synchronous pulley, the left lower synchronous pulley is arranged on a left horizontal adjusting slide block, the left synchronous belt is sleeved on the left lower synchronous pulley and a left upper synchronous pulley, the left upper synchronous pulley is arranged on the left side of the driving slide block, and the left upper synchronous pulley is coaxial with a left driving gear; the right camera fixing plate is linked with a right lower synchronous pulley, the right lower synchronous pulley is arranged on a right horizontal adjusting slide block, the right synchronous belt is sleeved on the right lower synchronous pulley and a right upper synchronous pulley, the right upper synchronous pulley is arranged on the right side of the driving slide block, and the right upper synchronous pulley is coaxial with a right driving gear; the left transmission gear is meshed with the right transmission gear, the driving gear is meshed with the left transmission gear or the right transmission gear, and the driving gear is connected with a driving mechanism for driving the driving gear to rotate.
Preferably, the driving mechanism is an angle adjusting motor, and the angle adjusting motor is a stepping motor.
The technical conception of the invention is as follows: controlling symmetrical linear motion of the two cameras through a connecting rod mechanism; two rotating plates with sliding grooves are designed to control the reverse rotation movement of the camera. The pose of the two cameras is adjusted according to the actual target, so that the optimal view fields of the two cameras are obtained; and after the camera changes the pose, the relative position relationship of the camera is fed back by a motor.
The beneficial effects of the invention are mainly shown in the following steps: the structure and operation are simplified, and the accuracy is higher.
Drawings
Fig. 1 is a main body structure diagram of a stand for adjusting a pose of a binocular camera
FIG. 2 is a schematic view of a support for adjusting the pose of a binocular camera before adjustment
FIG. 3 is a schematic view of the horizontal position adjustment of the support for the binocular camera in adjusting pose
FIG. 4 is a schematic view of the angular adjustment of the stand for adjusting the pose of the binocular camera
FIG. 5 is a schematic view of simultaneous adjustment of the horizontal position and angle of a stand for adjusting the pose of a binocular camera
The left horizontal adjusting slide block, the right horizontal adjusting slide block, the left camera fixing plate, the right camera fixing plate, the left connecting rod, the right connecting rod, the driving slide block, the left synchronous belt, the right synchronous belt, the gear, the horizontal adjusting motor, the angle adjusting motor, the left camera, the right camera, the left camera optical axis, the right camera optical axis and the driving gear are respectively arranged in the left horizontal adjusting slide block, the right horizontal adjusting slide block, the left camera fixing plate, the right camera fixing plate, the left connecting rod, the right connecting rod, the driving slide block, the left synchronous belt, the right synchronous belt and the driving gear.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Referring to fig. 1 to 5, a stand for adjusting a pose of a binocular camera includes a left camera 13, a right camera 14, a horizontal position adjusting part, and an angle adjusting part;
the horizontal position adjusting part comprises a left horizontal adjusting slide block, a right horizontal adjusting slide block, a left camera fixing plate, a right camera fixing plate, a left connecting rod, a right connecting rod, a transmission slide block and a horizontal adjusting motor, wherein the left horizontal adjusting slide block and the right horizontal adjusting slide block are respectively arranged on two halves of a positive and negative tooth screw rod connected with the horizontal adjusting motor, the left horizontal adjusting slide block is connected with the left camera fixing plate, the right horizontal adjusting slide block is connected with the right camera fixing plate, the left camera fixing plate is hinged with the lower end of the left connecting rod, the upper end of the left connecting rod is hinged with the left side of the transmission slide block, the right camera fixing plate is hinged with the lower end of the right connecting rod, and the transmission slide block is slidably sleeved on a vertical guide rail.
Further, the bracket further comprises an angle adjusting part, wherein the angle adjusting part comprises a left synchronous belt, a right synchronous belt and a driving gear; the left camera fixing plate is linked with a left lower synchronous pulley, the left lower synchronous pulley is arranged on a left horizontal adjusting slide block, the left synchronous belt is sleeved on the left lower synchronous pulley and a left upper synchronous pulley, the left upper synchronous pulley is arranged on the left side of the driving slide block, and the left upper synchronous pulley is coaxial with a left driving gear; the right camera fixing plate is linked with a right lower synchronous pulley, the right lower synchronous pulley is arranged on a right horizontal adjusting slide block, the right synchronous belt is sleeved on the right lower synchronous pulley and a right upper synchronous pulley, the right upper synchronous pulley is arranged on the right side of the driving slide block, and the right upper synchronous pulley is coaxial with a right driving gear; the left transmission gear is meshed with the right transmission gear, the driving gear is meshed with the left transmission gear or the right transmission gear, and the driving gear is connected with a driving mechanism for driving the driving gear to rotate.
Preferably, the driving mechanism is an angle adjusting motor, and the angle adjusting motor is a stepping motor.
The horizontal position adjusting part comprises a left horizontal adjusting slide block 1, a right horizontal adjusting slide block 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 slide block 7 and a horizontal adjusting motor 11; the left horizontal adjusting slide block 1 and the right horizontal adjusting slide block 2 are arranged on a screw rod connected with a horizontal adjusting motor 11 and can slide in the horizontal direction;
the left horizontal adjusting slide block 1 and the right horizontal adjusting slide block 2 are respectively provided 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 provided with a left connecting rod 5 and a right connecting rod 6, and the left connecting rod 5 and the right connecting rod 6 are all in ball joint and are arranged on the transmission slide block 7; the left horizontal adjusting slide block 1 and the right horizontal adjusting slide block 2 can symmetrically and oppositely move when the motor rotates. Reference is made to fig. 2 and 3 for independent horizontal adjustment.
The angle adjusting part comprises a left camera fixing plate 3, a right camera fixing plate 4, a left connecting rod 5, a right connecting rod 6, a transmission sliding block 7, a left synchronous belt 8, a right synchronous belt 9 and a driving gear 10; wherein the camera fixing plate rotates around the hinge point of the left connecting rod 5 on the left horizontal adjusting slide block 1; the camera fixing plate and the synchronous belt wheel synchronously rotate; the left and right synchronous belts are driven at the driving gear 10 and move reversely; the camera fixing plate can perform symmetrical rotation movement. Independent angular adjustment is described with reference to fig. 2 and 4.
The left camera 13 and the right camera 14 are respectively fixed on the left camera fixing plate 3 and the right camera fixing plate 4, and move along with the rotation of the horizontal adjusting motor and rotate along with the rotation of the angle adjusting motor. The adjustment of the level and angle is performed simultaneously with reference to fig. 2 and 5.
In this embodiment, the positions and the attitudes of the left camera 1 and the right camera 2 are changed simultaneously by the motor movement, so as to achieve the purpose of changing the common view field and the optical axis direction of the cameras, and obtain the optimal camera pose suitable for the target position.
Claims (2)
1. The utility model provides a support of binocular camera adjustment position appearance, includes left camera and right camera, its characterized in that: the bracket further comprises a horizontal position adjusting part; the horizontal position adjusting part comprises a left horizontal adjusting slide block, a right horizontal adjusting slide block, a left camera fixing plate, a right camera fixing plate, a left connecting rod, a right connecting rod, a transmission slide block and a horizontal adjusting motor, wherein the left horizontal adjusting slide block and the right horizontal adjusting slide block are respectively arranged on two halves of a positive and negative tooth screw rod connected with the horizontal adjusting motor, the left horizontal adjusting slide block is connected with the left camera fixing plate, the right horizontal adjusting slide block is connected with the right camera fixing plate, the left camera fixing plate is hinged with the lower end of the left connecting rod, the upper end of the left connecting rod is hinged with the left side of the transmission slide block, the right camera fixing plate is hinged with the lower end of the right connecting rod, the upper end of the right connecting rod is hinged with the right side of the transmission slide block, the transmission slide block is slidably sleeved on a vertical guide rail, and the left connecting rod is hinged with the right connecting rod through a ball head;
the bracket also comprises an angle adjusting part, wherein the angle adjusting part comprises a left synchronous belt, a right synchronous belt and a driving gear; the left camera fixing plate is linked with a left lower synchronous pulley, the left lower synchronous pulley is arranged on a left horizontal adjusting slide block, the left synchronous belt is sleeved on the left lower synchronous pulley and a left upper synchronous pulley, the left upper synchronous pulley is arranged on the left side of the driving slide block, and the left upper synchronous pulley is coaxial with a left driving gear; the right camera fixing plate is linked with a right lower synchronous pulley, the right lower synchronous pulley is arranged on a right horizontal adjusting slide block, the right synchronous belt is sleeved on the right lower synchronous pulley and a right upper synchronous pulley, the right upper synchronous pulley is arranged on the right side of the driving slide block, and the right upper synchronous pulley is coaxial with a right driving gear; the left transmission gear is meshed with the right transmission gear, the driving gear is meshed with the left transmission gear or the right transmission gear, and the driving gear is connected with a driving mechanism for driving the driving gear to rotate.
2. The binocular camera pose adjustment bracket of claim 1, wherein: the driving mechanism is an angle adjusting motor, and the angle adjusting motor is a stepping motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711344593.3A CN107917318B (en) | 2017-12-15 | 2017-12-15 | Support for adjusting pose of binocular camera |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711344593.3A CN107917318B (en) | 2017-12-15 | 2017-12-15 | Support for adjusting pose of binocular camera |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107917318A CN107917318A (en) | 2018-04-17 |
| CN107917318B true CN107917318B (en) | 2023-09-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711344593.3A Active CN107917318B (en) | 2017-12-15 | 2017-12-15 | Support for adjusting pose of binocular camera |
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| CN (1) | CN107917318B (en) |
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| CN110077349B (en) * | 2019-04-23 | 2021-07-30 | 西南交通大学 | Intelligent early warning device and early warning method for vehicle collision avoidance |
| 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 |
| CN110702035A (en) * | 2019-10-25 | 2020-01-17 | 四川大学青岛研究院 | Household appliance spraying quality detection system and method based on surface structured light |
| CN112728342B (en) * | 2021-01-05 | 2022-03-08 | 东南大学 | But automatic angle regulation's polyphaser shooting device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE382403C (en) * | 1922-04-25 | 1923-10-02 | Georges Jean Poivilliers | Device for the automatic recording of maps after two measurement images |
| JPH08317424A (en) * | 1995-05-19 | 1996-11-29 | Olympus Optical Co Ltd | Stereoscopic photographing device |
| CN202600337U (en) * | 2012-06-07 | 2012-12-12 | 北京奥博迪光电技术有限公司 | Multi-dimensional adjusting stereoscopic shooting dual-position device |
| CN203688969U (en) * | 2014-01-15 | 2014-07-02 | 北京新兴东方航空装备股份有限公司 | Dual-camera bionic support of three-dimensional visual processing system |
| CN205101804U (en) * | 2015-10-28 | 2016-03-23 | 苏州临点三维科技有限公司 | Camera adjusting device of many breadths 3D scanning survey appearance |
| TWM521202U (en) * | 2015-08-10 | 2016-05-01 | dong-yuan Ni | Imaging rotation calibration device with linear and rotating synchronous linkage |
-
2017
- 2017-12-15 CN CN201711344593.3A patent/CN107917318B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE382403C (en) * | 1922-04-25 | 1923-10-02 | Georges Jean Poivilliers | Device for the automatic recording of maps after two measurement images |
| JPH08317424A (en) * | 1995-05-19 | 1996-11-29 | Olympus Optical Co Ltd | Stereoscopic photographing device |
| CN202600337U (en) * | 2012-06-07 | 2012-12-12 | 北京奥博迪光电技术有限公司 | Multi-dimensional adjusting stereoscopic shooting dual-position device |
| CN203688969U (en) * | 2014-01-15 | 2014-07-02 | 北京新兴东方航空装备股份有限公司 | Dual-camera bionic support of three-dimensional visual processing system |
| TWM521202U (en) * | 2015-08-10 | 2016-05-01 | dong-yuan Ni | Imaging rotation calibration device with linear and rotating synchronous linkage |
| CN205101804U (en) * | 2015-10-28 | 2016-03-23 | 苏州临点三维科技有限公司 | Camera adjusting device of many breadths 3D scanning survey appearance |
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| Publication number | Publication date |
|---|---|
| CN107917318A (en) | 2018-04-17 |
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