CN108131533A - For obtaining the binocular camera pose adjusting bracket of best visual field - Google Patents
For obtaining the binocular camera pose adjusting bracket of best visual field Download PDFInfo
- Publication number
- CN108131533A CN108131533A CN201711344583.XA CN201711344583A CN108131533A CN 108131533 A CN108131533 A CN 108131533A CN 201711344583 A CN201711344583 A CN 201711344583A CN 108131533 A CN108131533 A CN 108131533A
- Authority
- CN
- China
- Prior art keywords
- sliding block
- slider
- locating shaft
- nut slider
- visual field
- 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.)
- Granted
Links
- 230000000007 visual effect Effects 0.000 title claims abstract description 21
- 210000003734 kidney Anatomy 0.000 claims abstract description 6
- 230000004438 eyesight Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000052 comparative effect Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000002222 downregulating effect Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000016776 visual perception 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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
Landscapes
- 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 kind of binocular camera pose adjusting bracket for being used to obtain best visual field, including left camera and right camera, the stent further includes horizontal position and adjusts part and angular adjustment part；The horizontal position adjustment portion point include left nut slider, right nut slider with for the level(l)ing mechanism of left nut slider, the slip of right nut slider level to be driven to connect；The angle adjustment point includes left slider, right sliding block, locating shaft and the angle adjusting mechanism for locating shaft to be driven to move up and down, the left slider is connected with left nut slider and can independently rotate, the right sliding block is connected with right nut slider and can independently rotate, the left slider and right sliding block are provided with kidney slot, the left slider sets the locating shaft with the right sliding block place of intersecting, the locating shaft is each passed through the kidney slot of the left slider and right sliding block, the locating shaft is fixed on vertical sliding block, and the vertical sliding block is connect with angle adjusting mechanism.The present invention is easy to adjust fast, precision is higher.
Description
Technical field
The invention belongs to binocular camera fields, are related to a kind of binocular camera pose adjusting bracket.
Background technology
Scientific and technological development so that robot is more and more intelligent in recent years, however this proposes existing robot technology
Higher, more intelligent requirement, it would be desirable to further realize that robot has stronger adaptability, more smart to more circumstances not knowns
True sensing capability and more intelligent decision-making capability, this also allows for present robot and must be equipped with miscellaneous sensing
Device or sensing device.In order to preferably solve this key technology difficulty, we start to be equipped with such as power feel for robot, touch
Feel, smell or vision etc. can preferably sensing external environment various kinds of sensors or inductor；This is but also to robot skill
The research of art becomes more to enrich, is more significant.
Robot vision is that robot is instigated to have the function of the system of visual perception, is the important portion of robot system composition
/ mono-.Vision system can obtain the two dimensional image of environment by visual sensor, and pass through processor and carry out analysis reconciliation
It releases, and then is converted to symbol, allow robot that can recognize object, and determine its position.In practical applications, robot vision system
System number difference of video camera according to used in its system is divided into single camera vision system, binocular vision system and more mesh
Vision system etc.；Wherein, binocular vision system or multi-vision visual system are generally also collectively referred to as stereo visual system.
Current Robot Binocular Vision System comparative maturity, but be the absence of convenient and efficient and higher precision tune
Calibrating installation is saved, to obtain the best camera pose for adapting to target location.
Invention content
In order to overcome the shortcomings of that the adjusting of existing binocular vision system is inconvenient, precision is relatively low, the present invention provides one
The kind binocular camera pose adjusting bracket for being used to obtain best visual field quick, precision is higher easy to adjust.
The technical solution adopted by the present invention to solve the technical problems is：
A kind of binocular camera pose adjusting bracket for being used to obtain best visual field, including left camera and right camera, the branch
Frame further includes horizontal position and adjusts part and angular adjustment part；The horizontal position adjustment portion point includes left nut slider, the right side
Nut slider with for drive left nut slider, right nut slider level slide level(l)ing mechanism connect；
The angle adjustment point includes left slider, right sliding block, locating shaft and the angle for locating shaft to be driven to move up and down
Regulating mechanism is spent, the left slider is connected with left nut slider and can independently rotate, and the right sliding block is connected with right nut slider
And can independently rotate, the left slider and right sliding block are provided with kidney slot, and the left slider is set with the right sliding block place of intersecting
The locating shaft, the locating shaft are each passed through the kidney slot of the left slider and right sliding block, and the locating shaft is fixed on vertically
On sliding block, the vertical sliding block is connect with angle adjusting mechanism.
Further, the angle adjusting mechanism includes vertical leading screw, is vertically directed axis and angle demodulator, the vertical cunning
Block is mounted on the vertical leading screw, and the angle demodulator and the vertical lead screw linkage, the vertical screw is rotationally
It is sleeved on stent, the vertical sliding block is sleeved on simultaneously on the vertical guiding axis.
Preferably, the angle demodulator is angular adjustment handle.
Further, the level(l)ing mechanism includes positive and negative tooth leading screw, horizontally-guided axis and level governor, the left side
Nut slider, right nut slider are attached separately on the left-hand portion and right-hand portion of positive and negative tooth leading screw, the level governor with
Positive and negative tooth lead screw linkage, the positive and negative tooth leading screw are rotatably mounted around on stent, and the left nut slider, right nut slider are same
When be sleeved on horizontally-guided axis.
The level governor is levelling control lever.
The present invention technical concept be：The symmetrical line for controlling two cameras by the rotation of positive and negative tooth leading screw moves；If
Two swivel plates with sliding slot have been counted to control the reverse rotation motion of camera.By adjusting two cameras according to realistic objective
Pose, so as to obtain the best visual field of two cameras.
Beneficial effects of the present invention are mainly manifested in：It is easy to adjust it is quick, precision is higher, obtain and adapt to target location
Best camera pose.
Description of the drawings
Fig. 1 is the main structure chart for obtaining the binocular camera pose adjusting bracket of best visual field.
Fig. 2 is for obtaining schematic diagram before the adjusting of the binocular camera pose adjusting bracket of best visual field.
Fig. 3 is to adjust schematic diagram for obtaining the horizontal position of the binocular camera pose adjusting bracket of best visual field.
Fig. 4 is the angular adjustment schematic diagram for obtaining the binocular camera pose adjusting bracket of best visual field.
Fig. 5 is shown for obtaining the horizontal position of the binocular camera pose adjusting bracket of best visual field and being adjusted simultaneously with angle
It is intended to.
1. left camera in figure, 2. right cameras, 3. positive and negative tooth leading screws, 4. horizontally-guided axis, 5. levelling control levers, 6. left cunnings
Block, 7. right sliding blocks, 8. locating shaft leading screws, 9. leading screws, 10. are vertically directed axis, 11. angular adjustment handles, 12. left camera optical axis,
13. right camera optical axis.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.
It is a kind of for obtaining the binocular camera pose adjusting bracket of best visual field with reference to Fig. 1~Fig. 5, including left camera 1,
Right camera 2, horizontal position adjust part and angular adjustment part, and the horizontal position adjusts part and angle adjustment split-phase connects
It connects；The horizontal position adjustment portion point includes left nut slider 14, right nut slider 15, positive and negative tooth leading screw 3, horizontally-guided axis 4,
Levelling control lever 5；Wherein left nut slider 14, right nut slider 15 are attached separately to left-hand portion and the right side of positive and negative tooth leading screw 3
It revolves on part, levelling control lever 5 is connected and can rotate simultaneously with positive and negative tooth leading screw 3；With reference to Fig. 2 and figure when independent horizontal is adjusted
3。
The angle adjustment point includes left slider 6, right sliding block 7, locating shaft 8, leading screw 9, is vertically directed axis 10, angle tune
Save handle 11；Wherein left slider 6, right sliding block 7 are connected and can independently rotate with left nut slider 14 with right nut slider 15 respectively,
Vertical regulation handle 11 is connected with leading screw 9 and can rotate simultaneously；With reference to Fig. 2 and Fig. 4 when independent-angle is adjusted.
The left camera 1, right camera 2 are separately fixed at left slider 6, on right sliding block 7, rotate and rotate with sliding block.It is horizontal
It is adjusted simultaneously with angle with reference to Fig. 2 and Fig. 5.
In the present embodiment, change left camera 1, right camera 2 by adjusting levelling control lever 5 with vertical regulation handle 11
Position and posture, so as to achieve the purpose that change the common visual field and optical axis direction of camera, target location is adapted to obtain
Best camera pose.
Claims (5)
1. a kind of for obtaining the binocular camera pose adjusting bracket of best visual field, including left camera and right camera, feature exists
In：The stent further includes horizontal position and adjusts part and angular adjustment part；The horizontal position adjustment portion point includes left spiral shell
Female sliding block, right nut slider with for drive left nut slider, right nut slider level slide level(l)ing mechanism connect；
The angle adjustment point includes left slider, right sliding block, locating shaft and the angle tune for locating shaft to be driven to move up and down
Mechanism is saved, the left slider is connected with left nut slider and can independently rotate, and the right sliding block is connected with right nut slider and can
Independent rotation, the left slider and right sliding block are provided with kidney slot, described in the left slider and the right sliding block place of intersecting are set
Locating shaft, the locating shaft are each passed through the kidney slot of the left slider and right sliding block, and the locating shaft is fixed on vertical sliding block
On, the vertical sliding block is connect with angle adjusting mechanism.
2. the binocular camera pose adjusting bracket as described in claim 1 for being used to obtain best visual field, it is characterised in that：It is described
Angle adjusting mechanism includes vertical leading screw, is vertically directed axis and angle demodulator, and the vertical sliding block is mounted on the vertical silk
On thick stick, the angle demodulator and the vertical lead screw linkage, the vertical screw are rotatably mounted around on stent, described perpendicular
It is sleeved on simultaneously to sliding block on the vertical guiding axis.
3. the binocular camera pose adjusting bracket as claimed in claim 2 for being used to obtain best visual field, it is characterised in that：It is described
Angle demodulator is angular adjustment handle.
4. the binocular camera pose adjusting bracket for being used to obtain best visual field as described in one of claims 1 to 3, feature exist
In：The level(l)ing mechanism includes positive and negative tooth leading screw, horizontally-guided axis and level governor, the left nut slider, right spiral shell
Female sliding block is attached separately on the left-hand portion and right-hand portion of positive and negative tooth leading screw, and the level governor joins with positive and negative tooth leading screw
Dynamic, the positive and negative tooth leading screw is rotatably mounted around on stent, and the left nut slider, right nut slider are sleeved on level simultaneously
On guiding axis.
5. the binocular camera pose adjusting bracket as claimed in claim 4 for being used to obtain best visual field, it is characterised in that：It is described
Level governor is levelling control lever.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711344583.XA CN108131533B (en) | 2017-12-15 | 2017-12-15 | Binocular camera pose adjusting bracket for obtaining optimal view field |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711344583.XA CN108131533B (en) | 2017-12-15 | 2017-12-15 | Binocular camera pose adjusting bracket for obtaining optimal view field |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108131533A true CN108131533A (en) | 2018-06-08 |
| CN108131533B CN108131533B (en) | 2023-09-08 |
Family
ID=62389498
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711344583.XA Active CN108131533B (en) | 2017-12-15 | 2017-12-15 | Binocular camera pose adjusting bracket for obtaining optimal view field |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108131533B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109579783A (en) * | 2018-12-07 | 2019-04-05 | 长沙捕光新能源科技有限公司 | It is a kind of for promoting the device of binocular camera range accuracy |
| CN111520581A (en) * | 2020-04-28 | 2020-08-11 | 深圳市苓贯科技有限公司 | LED screen capable of being displayed in multiple directions and being adjusted in height up and down |
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 CN201711344583.XA patent/CN108131533B/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 |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109579783A (en) * | 2018-12-07 | 2019-04-05 | 长沙捕光新能源科技有限公司 | It is a kind of for promoting the device of binocular camera range accuracy |
| CN111520581A (en) * | 2020-04-28 | 2020-08-11 | 深圳市苓贯科技有限公司 | LED screen capable of being displayed in multiple directions and being adjusted in height up and down |
| CN111520581B (en) * | 2020-04-28 | 2021-10-22 | 深圳市苓贯科技有限公司 | LED screen capable of being displayed in multiple directions and being adjusted in height up and down |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108131533B (en) | 2023-09-08 |
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