CN108131533B - Binocular camera pose adjusting bracket for obtaining optimal view field - Google Patents
Binocular camera pose adjusting bracket for obtaining optimal view field Download PDFInfo
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- CN108131533B CN108131533B CN201711344583.XA CN201711344583A CN108131533B CN 108131533 B CN108131533 B CN 108131533B CN 201711344583 A CN201711344583 A CN 201711344583A CN 108131533 B CN108131533 B CN 108131533B
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- sliding block
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- nut
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- 210000003734 kidney Anatomy 0.000 claims abstract description 6
- 230000003287 optical effect Effects 0.000 claims description 4
- 230000000007 visual effect Effects 0.000 claims description 3
- 230000001105 regulatory effect Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect 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
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Accessories Of Cameras (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
A binocular camera pose adjusting bracket for obtaining an optimal view field, comprising a left camera and a right camera, and further comprising a horizontal position adjusting part and an angle adjusting part; the horizontal position adjusting part comprises a left nut sliding block and a right nut sliding block which are connected with a horizontal adjusting mechanism for driving the left nut sliding block and the right nut sliding block to horizontally slide; the angle adjusting part comprises a left sliding block, a right sliding block, a positioning shaft and an angle adjusting mechanism for driving the positioning shaft to move up and down, wherein the left sliding block is connected with a left nut sliding block and can rotate independently, the right sliding block is connected with a right nut sliding block and can rotate independently, the left sliding block and the right sliding block are both provided with kidney grooves, the intersection of the left sliding block and the right sliding block is provided with the positioning shaft, the positioning shaft penetrates through the kidney grooves of the left sliding block and the right sliding block respectively, the positioning shaft is fixed on a vertical sliding block, and the vertical sliding block is connected with the angle adjusting mechanism. The invention has the advantages of convenient and quick adjustment and higher accuracy.
Description
Technical Field
The invention belongs to the field of binocular cameras, and relates to a pose adjusting bracket of a binocular camera.
Background
In recent years, the development of technology makes robots more and more intelligent, however, this puts higher and more intelligent demands on the existing robot technology, and it is hoped to further realize that robots have stronger adaptability, more accurate perceptibility and more intelligent decision-making capability to more unknown environments, which makes it necessary to equip the existing robots with various sensors or sensing devices. In order to better solve the key technical problem, the robot is provided with various sensors or inductors such as force sense, touch sense, smell sense or vision sense which can better sense the external environment; this also makes the research on robotics richer and more meaningful.
Robot vision refers to a system for enabling a robot to have a vision sensing function, and is one of important parts of a robot system. The vision system can acquire a two-dimensional image of the environment through the vision sensor, and the two-dimensional image is analyzed and interpreted through the processor, so that the two-dimensional image is converted into a symbol, and the robot can identify an object and determine the position of the object. In practical application, the robot vision system can be divided into a monocular vision system, a binocular vision system, a multi-vision system and the like according to the number difference of cameras used in the system; among them, binocular vision systems or multiview vision systems are also commonly referred to as stereoscopic vision systems.
The existing binocular vision system of the robot is mature, but lacks a convenient, quick and high-precision adjusting and calibrating device to obtain the optimal camera pose suitable for the target position.
Disclosure of Invention
In order to overcome the defects of inconvenient adjustment and low accuracy of the existing binocular vision system, the invention provides the binocular camera pose adjustment bracket for obtaining the optimal visual field, which is convenient and quick to adjust and has high accuracy.
The technical scheme adopted for solving the technical problems is as follows:
a binocular camera pose adjusting bracket for obtaining an optimal view field, comprising a left camera and a right camera, and further comprising a horizontal position adjusting part and an angle adjusting part; the horizontal position adjusting part comprises a left nut sliding block and a right nut sliding block which are connected with a horizontal adjusting mechanism for driving the left nut sliding block and the right nut sliding block to horizontally slide;
the angle adjusting part comprises a left sliding block, a right sliding block, a positioning shaft and an angle adjusting mechanism for driving the positioning shaft to move up and down, wherein the left sliding block is connected with a left nut sliding block and can rotate independently, the right sliding block is connected with a right nut sliding block and can rotate independently, the left sliding block and the right sliding block are both provided with kidney grooves, the intersection of the left sliding block and the right sliding block is provided with the positioning shaft, the positioning shaft penetrates through the kidney grooves of the left sliding block and the right sliding block respectively, the positioning shaft is fixed on a vertical sliding block, and the vertical sliding block is connected with the angle adjusting mechanism.
Further, angle adjustment mechanism includes vertical lead screw, vertical guiding axle and angle regulator, vertical slider is installed on the vertical lead screw, the angle regulator with vertical lead screw linkage, vertical lead screw rotationally suit is on the support, vertical slider suit is in simultaneously on the vertical guiding axle.
Preferably, the angle adjuster is an angle adjusting handle.
Still further, horizontal adjustment mechanism includes positive and negative tooth lead screw, horizontal guiding axle and horizontal regulator, left side nut slider, right side nut slider are adorned respectively on the left-hand part and the right-hand part of positive and negative tooth lead screw, horizontal regulator and positive and negative tooth lead screw linkage, positive and negative tooth lead screw rotationally suit is on the support, left side nut slider, right side nut slider suit is on horizontal guiding axle simultaneously.
The level adjuster is a level adjusting handle.
The technical conception of the invention is as follows: the symmetrical linear motion of the two cameras is controlled by the rotation of the front and back tooth screw rods; two rotating plates with sliding grooves are designed to control the reverse rotation movement of the camera. The optimal visual fields of the two cameras are obtained by adjusting the pose of the two cameras according to the actual targets.
The beneficial effects of the invention are mainly shown in the following steps: the adjustment is convenient and quick, the accuracy is high, and the optimal camera pose adapting to the target position is obtained.
Drawings
Fig. 1 is a main body structure diagram of a binocular camera pose adjustment bracket for obtaining an optimal field of view.
Fig. 2 is a schematic diagram before adjustment of a binocular camera pose adjustment carriage for obtaining an optimal field of view.
Fig. 3 is a schematic view of the horizontal position adjustment of the binocular camera pose adjustment brackets for obtaining the optimal field of view.
Fig. 4 is a schematic view of the angular adjustment of the binocular camera pose adjustment brackets for obtaining the optimal field of view.
Fig. 5 is a schematic view of the simultaneous adjustment of the horizontal position and angle of the pose adjustment bracket of the binocular camera for obtaining the optimal field of view.
In the figure, a left camera 1, a right camera 2, a positive and negative screw rod 3, a horizontal guide shaft 4, a horizontal adjusting handle 5, a left sliding block 6, a right sliding block 7, and 8, positioning shaft lead screws, 9, lead screws, 10, a vertical guide shaft, 11, an angle adjusting handle, 12, a left camera optical axis and 13, a right camera optical axis.
Description of the embodiments
The invention is further described below with reference to the accompanying drawings.
Referring to fig. 1 to 5, a binocular camera pose adjusting bracket for obtaining an optimal field of view includes a left camera 1, a right camera 2, a horizontal position adjusting part and an angle adjusting part, the horizontal position adjusting part and the angle adjusting part being connected; the horizontal position adjusting part comprises a left nut sliding block 14, a right nut sliding block 15, a positive and negative screw rod 3, a horizontal guide shaft 4 and a horizontal adjusting handle 5; the left nut sliding block 14 and the right nut sliding block 15 are respectively arranged on the left-handed part and the right-handed part of the positive and negative screw 3, and the horizontal adjusting handle 5 is connected with the positive and negative screw 3 and can rotate simultaneously; reference is made to fig. 2 and 3 for independent horizontal adjustment.
The angle adjusting part comprises a left sliding block 6, a right sliding block 7, a positioning shaft 8, a lead screw 9, a vertical guide shaft 10 and an angle adjusting handle 11; wherein the left slide block 6 and the right slide block 7 are respectively connected with the left nut slide block 14 and the right nut slide block 15 and can rotate independently, and the angle adjusting handle 11 is connected with the screw rod 9 and can rotate simultaneously; independent angular adjustment is described with reference to fig. 2 and 4.
The left camera 1 and the right camera 2 are respectively fixed on the left sliding block 6 and the right sliding block 7 and rotate along with the rotation of the sliding blocks. The adjustment of the level and angle is performed simultaneously with reference to fig. 2 and 5.
In this embodiment, the position and the posture of the left camera 1 and the right camera 2 are changed by adjusting the horizontal adjusting handle 5 and the angle adjusting handle 11, so as to achieve the purpose of changing the common view field and the optical axis direction of the cameras, and obtain the best camera pose suitable for the target position.
Claims (3)
1. A binocular camera pose adjusts support for obtaining best visual field, includes left camera and right camera, its characterized in that: the bracket also comprises a horizontal position adjusting part and an angle adjusting part; the horizontal position adjusting part comprises a left nut sliding block and a right nut sliding block which are connected with a horizontal adjusting mechanism for driving the left nut sliding block and the right nut sliding block to horizontally slide;
the angle adjusting part comprises a left sliding block, a right sliding block, a positioning shaft and an angle adjusting mechanism for driving the positioning shaft to move up and down, wherein the left sliding block is connected with a left nut sliding block and can rotate independently, the right sliding block is connected with a right nut sliding block and can rotate independently, the left sliding block and the right sliding block are both provided with kidney grooves, the intersection of the left sliding block and the right sliding block is provided with the positioning shaft, the positioning shaft respectively penetrates through the kidney grooves of the left sliding block and the right sliding block, the positioning shaft is fixed on a vertical sliding block, and the vertical sliding block is connected with the angle adjusting mechanism;
the angle adjusting mechanism comprises a vertical screw rod, a vertical guide shaft and an angle adjuster, the vertical sliding block is mounted on the vertical screw rod, the angle adjuster is linked with the vertical screw rod, the vertical screw rod is rotatably sleeved on the bracket, and the vertical sliding block is simultaneously sleeved on the vertical guide shaft;
the horizontal adjusting mechanism comprises a positive and negative screw rod, a horizontal guide shaft and a horizontal adjuster, wherein the left nut sliding block and the right nut sliding block are respectively arranged on a left rotating part and a right rotating part of the positive and negative screw rod, the horizontal adjuster is linked with the positive and negative screw rod, the positive and negative screw rod is rotatably sleeved on the bracket, and the left nut sliding block and the right nut sliding block are simultaneously sleeved on the horizontal guide shaft;
the left camera and the right camera are respectively fixed at the end parts of the left sliding block and the right sliding block and rotate along with the rotation of the sliding blocks; the position and the gesture of the left camera and the right camera are changed by adjusting the horizontal regulator and the angle regulator, so that the aim of changing the common view field and the optical axis direction of the cameras is fulfilled, and the optimal camera gesture adapting to the target position is obtained.
2. The binocular camera pose adjustment bracket for obtaining the optimal field of view of claim 1, wherein: the angle regulator is an angle regulating handle.
3. The binocular camera pose adjustment bracket for obtaining the optimal field of view of claim 1, wherein: the level adjuster is a level adjusting handle.
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 CN108131533A (en) | 2018-06-08 |
| CN108131533B true CN108131533B (en) | 2023-09-08 |
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| 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 |
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| CN (1) | CN108131533B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109579783B (en) * | 2018-12-07 | 2021-11-16 | 长沙捕光新能源科技有限公司 | Device for improving range finding precision of binocular camera |
| 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 |
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 |
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| CN108131533A (en) | 2018-06-08 |
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