CN108953905A - A kind of binocular vision camera support structure and its pose method of adjustment - Google Patents
A kind of binocular vision camera support structure and its pose method of adjustment Download PDFInfo
- Publication number
- CN108953905A CN108953905A CN201811111989.8A CN201811111989A CN108953905A CN 108953905 A CN108953905 A CN 108953905A CN 201811111989 A CN201811111989 A CN 201811111989A CN 108953905 A CN108953905 A CN 108953905A
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- Prior art keywords
- bracket
- camera
- slide unit
- binocular vision
- adjustment
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000005096 rolling process Methods 0.000 claims description 8
- 230000002146 bilateral effect Effects 0.000 claims description 3
- 238000010276 construction Methods 0.000 abstract description 3
- 238000006073 displacement reaction Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
Classifications
-
- 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
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
-
- 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)
- Microscoopes, Condenser (AREA)
Abstract
The invention discloses a kind of binocular vision camera support structure and its pose methods of adjustment, it is rolled and is connected by cylindrical surface including support base and slide unit bracket I, slide unit bracket I, slide unit bracket II are connected with slide unit bracket III by roller screw, and roller screw is connected to motor by axle sleeve.Camera clamp bracket is connected with motor of the inner sleeve in slide unit bracket III.Camera is connected with camera clamp bracket, and motor adjusts the hole on bracket by camera and connects with camera clamp bracket.Open binocular vision camera pose method of adjustment simultaneously, binocular vision camera may be implemented in the displacement in three directions of x, y, z in the support construction, and the rotation around y and z-axis, realize that the pose of binocular vision camera adjusts by the control to motor, present invention can apply to the robot automtion operations based on machine vision.
Description
Technical field
The invention belongs to technical field of machine vision, specially a kind of binocular vision camera support apparatus structure and its pose
Method of adjustment.
Background technique
With the development of artificial intelligence, the requirement in terms of field of machine vision for object shooting is higher and higher, existing
Binocular camera is only able to achieve the fine tuning of focal length and the shooting of fixed viewpoint, can not achieve independent control, big model between binocular
The shooting and the control of camera real time kinematics at visual angle are enclosed, the degree of automation is low, does not adapt to quick scene changes.
The present invention solves the deficiencies in the prior art, provides that a kind of high degree of automation, positioning accuracy are high, save space, is big
A kind of binocular vision camera support structure of range shooting, the pose tune of structure is supported by corresponding pose method of adjustment
It is whole, the adjustment of the object of independent control, the camera distance detection to be identified between binocular camera is realized, for answering for machine vision
With providing efficient, quick, stable structures and methods.
Summary of the invention
The present invention proposes a kind of binocular vision camera support structure and its pose method of adjustment for Binocular visual field.It is real
Show the coarse adjustment of the distance between binocular vision camera and fine tuning, and has realized that large-scale image obtains by pitch angle, activity
Camera adjustment bracket can be adapted for the cameras of all kinds of models, solve regular camera shooting distance and fix, coverage has
The problem of limit.Motor combination control binocular vision camera can achieve higher precision, and the invention is compact-sized, light-weight, no
The confined space is occupied, may be implemented to be mounted on fixed bracket and mobile machine arm, meets movement steadily and control performance is excellent
Good requirement.Can be widely applied to binocular vision camera object identification and tracking, robotic vision navigation and
The fields such as mechanical arm carry an object in industrial production.
The present invention uses following scheme:
A kind of binocular vision camera support structure and its pose method of adjustment, it is characterised in that: including support base (1) and slide unit
Bracket I(2) it is connected by cylindrical surface rolling；The slide unit bracket I(2) connected with slide unit bracket II(3) by roller screw ii(7)
Connect, slide unit bracket II(3) and slide unit bracket III(10) by roller screw i(6) connection, the roller screw i(6) pass through axis
Set i(5) connect with motor i(4) shaft, the roller screw ii(7) connect by axle sleeve ii(8) with motor ii(9) shaft；Phase
Machine adjust bracket A(12), camera adjust bracket B(13) and inner sleeve in slide unit bracket III(10) in motor iii(11) shaft company
It connects；Camera (16) by camera clamp bracket (15) clamp, motor iv(14) shaft by camera adjust bracket B(13) on hole with
Camera clamp bracket (15) connection；Binocular vision camera support structure of the invention is bilateral symmetry, therefore structure
In description, right half part is only described, left-half is identical as right half part structure.
Preferably, the support base (1) and slide unit bracket I(2) it is connected by cylindrical surface rolling, and use magnetic control
Limiter carries out position restriction.
Preferably, the camera clamp bracket B(13) it is connected with the shaft of motor iii(11)；Camera adjusts bracket A
(12) bracket B(13 is adjusted with the camera) it is connected by two rod pieces.
Preferably, the binocular vision camera support structure pose set-up procedure is as follows:
Step I: support base (1) and slide unit bracket I(2) it is connected by cylindrical surface rolling, use magnetic control limiter to carry out position
It limits, realizes rotating around y-axis for binocular vision camera support structure, carry out the coarse adjustment of binocular vision camera pitch angle；
Step II: roller bearing screw rod i(6 is passed through by motor iv(4)) control slide unit bracket III(10) it translates along the x-axis direction, motor
Ii(9) pass through roller bearing screw rod ii(7) control slide unit bracket II(3) it translates along the y-axis direction；Adjust slide unit bracket I(2), slide unit branch
Frame II(3) and slide unit bracket III(10) between relative position, carry out binocular vision camera between distance and binocular vision phase
Adjustment of the machine to object distance；
Step III: by inner sleeve in slide unit bracket III(10) in motor iii(11) adjustment camera adjust bracket A(12), phase
Machine adjusts bracket B(13) around the rotation of camera z-axis, realize z-axis angle between binocular vision camera (16) and examined object
Adjustment；
Step IV: motor iv(14) pitch angle for realizing binocular vision camera (16) is adjusted by adjusting camera clamp bracket (15)
It adjusts.
The beneficial effects of the present invention are:
1. the present invention may be implemented binocular vision camera and carry out the displacement in three directions of x, y, z and the rotation around y and z-axis, phase
Than in simple mechanical formula binocular camera support construction, it can be achieved that the independent control of automation control and single camera pose, structure
Simply, movement is more flexible, is suitable for more operative scenarios；
2. slide unit bracket A of the invention and slide unit bracket B is rolled by cylindrical surface and connected, and application magnetic control limiter carries out
Position restriction realizes rotating around y-axis for binocular industry camera support construction, the adjustment of larger pitch angle may be implemented；
3. present invention reduces the difficulty of camera and the adjustment of object relative pose.It is mechanical strong compared to common sliding rail structure
Du Genggao, more compact structure, job stability are stronger；
4. the clamp bracket of video camera of the invention can be adapted for more camera models, versatility is had more.
Detailed description of the invention
Fig. 1 is the structural decomposition diagram of a kind of binocular vision camera support structure and its pose method of adjustment.
Fig. 2 is the overall structure diagram of a kind of binocular vision camera support structure and its pose method of adjustment.
In order to make the objectives, technical solutions and advantages of the present invention clearer, below by shown in the accompanying drawings specific
Embodiment describes the present invention.However, it should be understood that these descriptions are merely illustrative, and it is not intended to limit model of the invention
It encloses.In addition, in the following description, descriptions of well-known structures and technologies are omitted, it is of the invention to avoid unnecessarily obscuring
Concept.
The following is further explained with reference to the attached drawings specific structure and embodiment of the invention.
Structure composition of the invention is as shown in Figure 1, Figure 2.
The present invention uses following scheme:
Embodiment 1:
A kind of binocular vision camera support structure and its pose method of adjustment, it is characterised in that: including support base (1) and slide unit
Bracket I(2) it is connected by cylindrical surface rolling；The slide unit bracket I(2) connected with slide unit bracket II(3) by roller screw ii(7)
Connect, slide unit bracket II(3) and slide unit bracket III(10) by roller screw i(6) connection, the roller screw i(6) pass through axis
Set i(5) connect with motor i(4) shaft, the roller screw ii(7) connect by axle sleeve ii(8) with motor ii(9) shaft；Phase
Machine adjust bracket A(12), camera adjust bracket B(13) and inner sleeve in slide unit bracket III(10) in motor iii(11) shaft company
It connects；Camera (16) by camera clamp bracket (15) clamp, motor iv(14) shaft by camera adjust bracket B(13) on hole with
Camera clamp bracket (15) connection；Binocular vision camera support structure of the invention is bilateral symmetry, therefore structure
In description, right half part is only described, left-half is identical as right half part structure.
The support base (1) and slide unit bracket I(2) rolled and connect by cylindrical surface, and use magnetic control limiter into
Row position restriction.
The camera clamp bracket B(13) it is connected with the shaft of motor iii(11)；Camera adjusts bracket A(12) and it is described
Camera adjusts bracket B(13) pass through two rod piece connections.
Embodiment 2: in the present invention, binocular vision camera support structure pose set-up procedure is as follows:
Step I: support base (1) and slide unit bracket I(2) it is connected by cylindrical surface rolling, use magnetic control limiter to carry out position
It limits, realizes rotating around y-axis for binocular vision camera support structure, carry out the coarse adjustment of binocular vision camera pitch angle；
Step II: roller bearing screw rod i(6 is passed through by motor iv(4)) control slide unit bracket III(10) it translates along the x-axis direction, motor
Ii(9) pass through roller bearing screw rod ii(7) control slide unit bracket II(3) it translates along the y-axis direction；Adjust slide unit bracket I(2), slide unit branch
Frame II(3) and slide unit bracket III(10) between relative position, carry out binocular vision camera between distance and binocular vision phase
Adjustment of the machine to object distance；
Step III: by inner sleeve in slide unit bracket III(10) in motor iii(11) adjustment camera adjust bracket A(12), phase
Machine adjusts bracket B(13) around the rotation of camera z-axis, realize z-axis angle between binocular vision camera (16) and examined object
Adjustment；
Step IV: motor iv(14) pitch angle for realizing binocular vision camera (16) is adjusted by adjusting camera clamp bracket (15)
It adjusts.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (4)
1. a kind of binocular vision camera support structure and its pose method of adjustment, it is characterised in that: including support base (1) and sliding
Platform bracket I(2) it is connected by cylindrical surface rolling；The slide unit bracket I(2) and slide unit bracket II(3) pass through roller screw ii(7)
Connection, slide unit bracket II(3) and slide unit bracket III(10) pass through roller screw i(6) connection, the roller screw i(6) pass through
Axle sleeve i(5) connect with motor i(4) shaft, the roller screw ii(7) connect by axle sleeve ii(8) with motor ii(9) shaft；
Camera adjust bracket A(12), camera adjust bracket B(13) and inner sleeve in slide unit bracket III(10) in motor iii(11) shaft
Connection；Camera (16) by camera clamp bracket (15) clamp, motor iv(14) shaft by camera adjustment bracket B(13) on hole
It is connected with the camera clamp bracket (15)；Binocular vision camera support structure of the invention is bilateral symmetry, therefore is tied
In structure description, right half part is only described, left-half is identical as right half part structure.
2. a kind of binocular vision camera support structure according to claim 1 and its pose method of adjustment, it is characterised in that:
Including support base (1) and slide unit bracket I(2) it is connected by cylindrical surface rolling, and position limit is carried out using magnetic control limiter
It is fixed.
3. according to a kind of binocular vision camera support structure described in claim 1 and its pose method of adjustment, it is characterised in that: phase
Machine clamp bracket B(13) it is connected with the shaft of motor iii(11)；Camera adjusts bracket A(12) and camera adjustment bracket B
(13) pass through two rod piece connections.
4. a kind of binocular vision camera support structure and its pose method of adjustment, it is characterised in that: binocular vision camera support knot
Structure pose set-up procedure is as follows:
Step I: support base (1) and slide unit bracket I(2) it is connected by cylindrical surface rolling, use magnetic control limiter to carry out position
It limits, realizes rotating around y-axis for binocular vision camera support structure, carry out the coarse adjustment of binocular vision camera pitch angle；
Step II: roller bearing screw rod i(6 is passed through by motor iv(4)) control slide unit bracket III(10) it translates along the x-axis direction, motor
Ii(9) pass through roller bearing screw rod ii(7) control slide unit bracket II(3) it translates along the y-axis direction；Adjust slide unit bracket I(2), slide unit branch
Frame II(3) and slide unit bracket III(10) between relative position, carry out binocular vision camera between distance and binocular vision phase
Adjustment of the machine to object distance；
Step III: by inner sleeve in slide unit bracket III(10) in motor iii(11) adjustment camera adjust bracket A(12), phase
Machine adjusts bracket B(13) around the rotation of camera z-axis, realize z-axis angle between binocular vision camera (16) and examined object
Adjustment；
Step IV: motor iv(14) pitch angle for realizing binocular vision camera (16) is adjusted by adjusting camera clamp bracket (15)
It adjusts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811111989.8A CN108953905A (en) | 2018-09-25 | 2018-09-25 | A kind of binocular vision camera support structure and its pose method of adjustment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811111989.8A CN108953905A (en) | 2018-09-25 | 2018-09-25 | A kind of binocular vision camera support structure and its pose method of adjustment |
Publications (1)
| Publication Number | Publication Date |
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| CN108953905A true CN108953905A (en) | 2018-12-07 |
Family
ID=64471723
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811111989.8A Pending CN108953905A (en) | 2018-09-25 | 2018-09-25 | A kind of binocular vision camera support structure and its pose method of adjustment |
Country Status (1)
| Country | Link |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109544596A (en) * | 2018-10-30 | 2019-03-29 | 浙江理工大学 | A kind of artificial intelligence binocular vision tracking mechanism of view-based access control model feedback |
| CN109812677A (en) * | 2019-04-02 | 2019-05-28 | 哈尔滨理工大学 | A kind of portable binocular camera bracket and its attitude adjusting method |
| CN109854885A (en) * | 2018-12-27 | 2019-06-07 | 南京工程学院 | A kind of mechanism adjusting binocular camera pose |
| CN110566772A (en) * | 2019-09-20 | 2019-12-13 | 哈尔滨理工大学 | Camera supporting structure based on binocular stereoscopic vision technology |
| CN113160335A (en) * | 2021-04-28 | 2021-07-23 | 哈尔滨理工大学 | Model point cloud and three-dimensional surface reconstruction method based on binocular vision |
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| US6701081B1 (en) * | 2000-06-06 | 2004-03-02 | Air Controls, Inc. | Dual camera mount for stereo imaging |
| CN102996984A (en) * | 2011-09-09 | 2013-03-27 | 深圳市大疆创新科技有限公司 | Gyro-type dynamic self-balancing pan-tilt |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109544596A (en) * | 2018-10-30 | 2019-03-29 | 浙江理工大学 | A kind of artificial intelligence binocular vision tracking mechanism of view-based access control model feedback |
| CN109854885A (en) * | 2018-12-27 | 2019-06-07 | 南京工程学院 | A kind of mechanism adjusting binocular camera pose |
| CN109812677A (en) * | 2019-04-02 | 2019-05-28 | 哈尔滨理工大学 | A kind of portable binocular camera bracket and its attitude adjusting method |
| CN110566772A (en) * | 2019-09-20 | 2019-12-13 | 哈尔滨理工大学 | Camera supporting structure based on binocular stereoscopic vision technology |
| CN113160335A (en) * | 2021-04-28 | 2021-07-23 | 哈尔滨理工大学 | Model point cloud and three-dimensional surface reconstruction method based on binocular vision |
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Application publication date: 20181207 |