CN108965812A - Robot panoramic view data acquisition layer structure - Google Patents
Robot panoramic view data acquisition layer structure Download PDFInfo
- Publication number
- CN108965812A CN108965812A CN201810823030.0A CN201810823030A CN108965812A CN 108965812 A CN108965812 A CN 108965812A CN 201810823030 A CN201810823030 A CN 201810823030A CN 108965812 A CN108965812 A CN 108965812A
- Authority
- CN
- China
- Prior art keywords
- robot
- camera
- kinect
- view data
- data acquisition
- 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.)
- Pending
Links
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
-
- 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
- F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
- F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
-
- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B17/00—Details of cameras or camera bodies; Accessories therefor
- G03B17/56—Accessories
- G03B17/561—Support related camera accessories
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/51—Housings
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
Abstract
The present invention discloses a kind of robot panoramic view data acquisition layer structure, and supporting table is mounted on the trunk frame top of robot, and Kinect and IP Camera group are successively removably fixed in supporting table from bottom to top；The shell bottom face part outwardly convex of Kinect is formed with two guide posts, and supporting table top, which is formed with, matches guide groove with guide post；IP Camera group includes two IP Cameras, and there are two ring-shaped slide slots for the formation of Kinect housing top end face；IP Camera is horizontally disposed and middle part is formed with rotation axis straight down, is rotatably connected on the shell of Kinect；The side movable end of IP Camera is formed with sliding bar straight down, and bottom end can be slidably embedded in ring-shaped slide slot.Sliding bar is the scalable and fixed body of rod, and by the flexible angle that can be adjusted between IP Camera and horizontal plane of sliding bar, rotation axis is scalable and fixed axis body.Its assembling is compact, acquisition angles adjusting is efficient and convenient, and flexibility is high, further improves acquisition covering surface.
Description
Technical field
The present invention relates to robot fields, and in particular, to a kind of robot panoramic view data acquisition layer structure.
Background technique
With the development of industrial automation, machine intelligence is received more and more attention, and wherein intelligent robot is even more quilt
It is known as following mainstream development direction.
And robot will once move, just inevitably involve understanding to environment, path planning, autonomous positioning,
Avoidance and anticollision etc., and the understanding and robot autonomous localization to environment be other function basis and primary research
Direction.
Existing researcher and application device realize robot autonomous localization using GPS, known using being manually entered
Environmental map and fabric structure figure replace robot autonomous study and building map, but it has following defect: firstly,
GPS positioning is only applicable to outdoor environment, is not suitable for indoor scene；Secondly, civilian GPS location precision is inadequate, machine is not achieved
The operating accuracy requirement of device people；Then, the mode that map is manually entered is not suitable for the scene that environment can change, such as: road envelope
Stifled, someone or article account for, original road is disconnected etc. by digging；Then, the mode that map is manually entered limits the work model of robot
It encloses, robot can only work in portion in the range that map determines, often changing a working environment, to require an accurate map defeated
Enter；Finally, the mode that map is manually entered causes robot that can not work in the environment and scene of no electronics shelves map.
Between above-mentioned various problem, the robot autonomous localization and environmental map of view-based access control model are constructed so that intelligent machine
The one important problem to be solved in device human hair exhibition road.Therefore, it is necessary to pass through visible image capturing head, binocular camera, laser thunder
Up to the information of the sensors such as rangefinder acquisition local environment, machine learning, mathematical modeling, image procossing and pattern-recognition etc. are used
Technology automatically analyzes and understands the environment that robot is presently in, it is established that environmental map, and make robot at any time can be
The current location of oneself is determined in the map.Moreover, the map established is also provided to other equipment or personnel use,
It will work in the present context use for robot future.As it can be seen that the mobility of robot panoramic view data acquisition layer structure and flexibly
Property is just particularly significant.
Summary of the invention
The object of the present invention is to provide a kind of robot panoramic view data acquisition layer structure, the robot panoramic view data acquisition layers
Structure assembling is compact, acquisition angles adjusting is efficient and convenient, and flexibility is high, further improves acquisition covering surface.
To achieve the goals above, the present invention provides a kind of robot panoramic view data acquisition layer structure, including supporting table,
Kinect and IP Camera group；
Supporting table is mounted on the trunk frame top of robot, and Kinect and IP Camera group are successively removable from bottom to top
It is fixed in supporting table with unloading；
The shell bottom face part outwardly convex of Kinect is formed at least two guide posts, supporting table top end face part to
Sunken inside is formed with the guide groove matched with guide post；
IP Camera group includes at least two IP Cameras, and the housing top end face part of Kinect is recessed inwardly to be formed
There are at least two ring-shaped slide slots；
IP Camera is horizontally disposed and middle part is formed with rotation axis straight down, and rotation the tip of the axis is rotatably coupled
On the shell of Kinect；The side movable end of IP Camera is formed with sliding bar straight down, and sliding bar bottom end is slidably
Ground is embedded in ring-shaped slide slot and can be fastened by locating part and positioned；Wherein,
Sliding bar is the scalable and fixed body of rod, by sliding bar it is flexible can adjust IP Camera and horizontal plane it
Between angle, also, rotation axis is scalable and fixed axis body.
Preferably, two mutual poses of IP Camera are constant, and binocular vision sensing is constituted after calibration and is set
It is standby.
Preferably, the data of Kinect turn the USB3.0 that USB adapter is directly connected on the processor of robot by L and connect
Mouthful, for directly acquiring color video, deep video and infrared video.
Preferably, IP Camera accesses the router of robot interior by twisted pair, and processor is accessed from router
It accesses IP Camera and carries out video acquisition.
Preferably, one of guide post is round guide post, and corresponding guide groove is provided in round guide groove；Separately
One guide post is diamond shape guide post, and corresponding guide groove is set as diamond shape guide groove.
Preferably, the shell bottom face of Kinect is laid with one layer of buffer layer.
Preferably, buffer layer is spongy layer.
Preferably, rotation the tip of the axis is formed with universal ball end, is formed on the shell of Kinect and universal ball end activity
The universal ball-and-socket being embedded.
According to the above technical scheme, supporting table is mounted on to the trunk frame top of robot, Kinect and network shooting
Head group is successively removably fixed in supporting table from bottom to top；In this way, can individually be dismantled between each component repair and
Cleaning.And the shell bottom face part outwardly convex of Kinect is formed at least two guide posts, supporting table top end face part to
Sunken inside is formed with the guide groove matched with guide post.In this way, between Kinect and supporting table assembling be will not be because of direction
Mistake is adjusted repeatedly and is wasted time, and the stability when assembling positioning is mobile followed by robot is higher, will not occur
Dislocation.IP Camera group includes at least two IP Cameras, and the housing top end face part of Kinect, which is recessed inwardly, to be formed with
At least two ring-shaped slide slots；IP Camera is horizontally disposed and middle part is formed with rotation axis straight down, rotates the tip of the axis
It is rotatably connected on the shell of Kinect；The side movable end of IP Camera is formed with sliding bar straight down, sliding
Bar bottom end can be slidably embedded in ring-shaped slide slot and can be fastened by locating part and positioned.It can be according to need using the design
Unclamp locating part, driving sliding bar is slided along ring-shaped slide slot, pre- to drive IP Camera one end to turn to around rotation axis
It, then can fixed network camera direction using locating part repositioning if position.In adjustment process, two cameras
Not only the synchronous acquisition of same direction may be implemented, but also the synchronous acquisition and aggregation process of different directions may be implemented, significantly
Whole capture acquisition range is expanded, so that the data obtained after processing are more accurate.
Meanwhile sliding bar is the scalable and fixed body of rod, can adjust IP Camera and water by the way that sliding bar is flexible
Angle between plane, also, rotation axis is scalable and fixed axis body.In this way, when sliding bar extends, IP Camera
Head is lifted up, so that the angle between IP Camera and horizontal plane increases, can be acquired above robot with the elevation angle at this time
Image；When sliding bar shortens, the head of IP Camera is pushed downwards, so that the folder between IP Camera and horizontal plane
Angle reduces, and can overlook the image below acquisition robot at this time.Further, at the same by rotation axis it is synchronous with sliding bar increase
Or adjustment IP Camera acquisition elevation of water may be implemented in synchronous reduce, and is adjusting network from higher elevation of water
Camera pushes the region that can collect the bigger angle of depression, and raises up and can acquire from lower elevation of water adjustment IP Camera
To the region of more big-elevation；Also, rotation axis and sliding bar are adjusted separately, one of them elongation, another one shortening will be more
Add the change for rapidly obtaining angle, it is time saving and energy saving.Make the acquisition covering surface of robot further by above-mentioned regulative mode
Expand, realizes the effect of panorama acquisition data.
Other features and advantages of the present invention will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
The drawings are intended to provide a further understanding of the invention, and constitutes part of specification, with following tool
Body embodiment is used to explain the present invention together, but is not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is that the structure of the robot panoramic view data acquisition layer structure in a kind of embodiment provided according to the present invention is shown
It is intended to.
Description of symbols
1- supporting table 2-Kinect
3- IP Camera 4- ring-shaped slide slot
5- rotation axis 6- sliding bar
Specific embodiment
Below in conjunction with attached drawing, detailed description of the preferred embodiments.It should be understood that this place is retouched
The specific embodiment stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
In the present invention, in the absence of explanation to the contrary, the noun of locality that " upper and lower, forward and backward " etc. is included in the term
Only represent orientation of the term under normal service condition, or be those skilled in the art understand that be commonly called as, and be not construed as pair
The limitation of the term.
Referring to Fig. 1, the present invention provides a kind of robot panoramic view data acquisition layer structure, including supporting table 1, Kinect2 and
IP Camera group；
Supporting table 1 is mounted on the trunk frame top of robot, and Kinect2 and IP Camera group successively may be used from bottom to top
It is releasably fixed in supporting table 1；
The shell bottom face part outwardly convex of Kinect2 is formed at least two guide posts, 1 top end face part of supporting table
Be recessed inwardly the guide groove for being formed with and matching with guide post；
IP Camera group includes at least two IP Cameras 3, and the housing top end face part of Kinect2 is recessed inwardly shape
At there is at least two ring-shaped slide slots 4；
IP Camera 3 is horizontally disposed and middle part is formed with rotation axis 5 straight down, and the end of rotation axis 5 is rotationally
It is connected on the shell of Kinect2；The side movable end of IP Camera 3 is formed with sliding bar 6,6 bottom of sliding bar straight down
End can be slidably embedded in ring-shaped slide slot 4 and can be fastened by locating part and positioned；Wherein,
Sliding bar 6 is the scalable and fixed body of rod, can adjust IP Camera 3 and level by the way that sliding bar 6 is flexible
Angle between face, also, rotation axis 5 is scalable and fixed axis body.
Through the above technical solutions, supporting table 1 to be mounted on to the trunk frame top of robot, Kinect2 and network are taken the photograph
It is successively removably fixed in supporting table 1 from bottom to top as first 3 groups；It is tieed up in this way, can individually be dismantled between each component
It repairs and clears up.And the shell bottom face part outwardly convex of Kinect2 is formed at least two guide posts, 1 top end face of supporting table
Partially be recessed inwardly the guide groove for being formed with and matching with guide post.In this way, between Kinect2 and supporting table 1 assembling be will not
It wastes time because anisotropy adjusts repeatedly, and the stability when assembling positioning is mobile followed by robot is higher,
It will not misplace.3 groups of IP Camera include at least two IP Cameras 3, and the housing top end face part of Kinect2 is inside
Recess is formed at least two ring-shaped slide slots 4；IP Camera 3 is horizontally disposed and middle part is formed with rotation axis 5 straight down,
The end of rotation axis 5 is rotatably connected on the shell of Kinect2；The side movable end of IP Camera 3 shape straight down
At there is sliding bar 6,6 bottom end of sliding bar can be slidably embedded in ring-shaped slide slot 4 and can be fastened by locating part and positioned.It adopts
It can according to need release locating part with the design, driving sliding bar 6 is slided along ring-shaped slide slot 4, to drive IP Camera 3
One end turns to predeterminated position around rotation axis 5, then can 3 direction of fixed network camera using locating part repositioning.
In adjustment process, the synchronous acquisition of same direction had not only been may be implemented in two cameras, but also different directions may be implemented
Synchronous acquisition and aggregation process, expand whole capture acquisition range significantly, so that the data obtained after processing are more accurate.
Meanwhile sliding bar 6 is the scalable and fixed body of rod, by sliding bar 6 it is flexible can adjust IP Camera 3 with
Angle between horizontal plane, also, rotation axis 5 is scalable and fixed axis body.In this way, when sliding bar 6 extends, network shooting
First 3 head is lifted up, so that the angle between IP Camera 3 and horizontal plane increases, can acquire machine at this time with the elevation angle
Image above people；When sliding bar 6 shortens, the head of IP Camera 3 is pushed downwards, so that IP Camera 3 and level
Angle between face reduces, and can overlook the image below acquisition robot at this time.Further, it while by rotation axis 5 and sliding
Lever 6 is synchronous to be increased or synchronous reduce may be implemented adjustment IP Camera 3 and acquire elevation of water, from higher level
Height adjustment IP Camera 3 in face pushes the region that can collect the bigger angle of depression, and adjusts network from lower elevation of water
Camera 3, which raises up, can collect the region of more big-elevation；Also, rotation axis 5 and sliding bar 6 are adjusted separately, one of them is stretched
Long, another one shortens the change that angle will be obtained much faster, time saving and energy saving.Make robot by above-mentioned regulative mode
Acquisition covering surface further expansion, realize panorama acquisition data effect.
In the present embodiment, in order to enable the capture collection effect of IP Camera 3 is more preferable, it is preferable that two networks
The mutual pose of camera 3 is constant, and binocular vision sensing equipment is constituted after calibration.
It is directly connected on the processor of robot further, it is preferable to which the data of Kinect2 turn USB adapter by L
USB3.0 interface, for directly acquiring color video, deep video and infrared video.
IP Camera 3 accesses the router of robot interior by twisted pair, and processor is from router access net
Network camera 3 carries out video acquisition.
In addition, in order to play the limit effect mutually formed between guide post and guide groove as much as possible, it is preferable that wherein
One guide post is round guide post, and corresponding guide groove is provided in round guide groove；Another guide post is led for diamond shape
Xiang Zhu, corresponding guide groove are set as diamond shape guide groove.
When the robot panoramic view data acquisition layer structure is squeezed or jolted by external force in assembling or use process
When, it can collide with adjacent contact surface, both in order to prevent impaired deformation occurs is unfavorable for subsequent assembly use, preferably
Ground, the shell bottom face of Kinect2 are laid with one layer of buffer layer.
Above-mentioned buffer layer can be any flexible material common in this field and be made, but from convenient for materials and drop
From the point of view of low use replacement cost, it is preferable that buffer layer is spongy layer.
In addition, in order to enable the bigger wider model of the acquisition angles of the robot panoramic view data acquisition layer structure, further
Flexibility during optimizing regulation angle, it is preferable that the end of rotation axis 5 is formed with universal ball end, on the shell of Kinect2
It is formed with the universal ball-and-socket being embedded with universal ball end activity.
It is described the prefered embodiments of the present invention in detail above in conjunction with attached drawing, still, the present invention is not limited to above-mentioned realities
The detail in mode is applied, within the scope of the technical concept of the present invention, a variety of letters can be carried out to technical solution of the present invention
Monotropic type, these simple variants all belong to the scope of protection of the present invention.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case where shield, can be combined in any appropriate way, in order to avoid unnecessary repetition, the present invention to it is various can
No further explanation will be given for the combination of energy.
In addition, various embodiments of the present invention can be combined randomly, as long as it is without prejudice to originally
The thought of invention, it should also be regarded as the disclosure of the present invention.
Claims (8)
1. a kind of robot panoramic view data acquisition layer structure, which is characterized in that taken the photograph including supporting table (1), Kinect (2) and network
As head group；
The supporting table (1) is mounted on the trunk frame top of the robot, the Kinect (2) and the IP Camera
Group is successively removably fixed on the supporting table (1) from bottom to top；
The shell bottom face part outwardly convex of the Kinect (2) is formed at least two guide posts, supporting table (1) top
End face part is recessed inwardly the guide groove for being formed with and matching with the guide post；
The IP Camera group includes at least two IP Cameras (3), the housing top end face part of the Kinect (2) to
Sunken inside is formed at least two ring-shaped slide slots (4)；
The IP Camera (3) is horizontally disposed and middle part is formed with rotation axis (5) straight down, the end of the rotation axis (5)
End is rotatably connected on the shell of (2) the Kinect；The side movable end of the IP Camera (3) shape straight down
At having sliding bar (6), sliding bar (6) bottom end can be slidably embedded in the ring-shaped slide slot (4) and can pass through limit
Position part fastening positioning；Wherein,
The sliding bar (6) is the scalable and fixed body of rod, and the network can be adjusted by, which being stretched by the sliding bar (6), takes the photograph
As the angle between head (3) and horizontal plane, also, the rotation axis (5) is scalable and fixed axis body.
2. robot panoramic view data acquisition layer structure according to claim 1, which is characterized in that two network shootings
The mutual pose of head (3) is constant, and binocular vision sensing equipment is constituted after calibration.
3. robot panoramic view data acquisition layer structure according to claim 1, which is characterized in that the Kinect (2)
Data turn the USB3.0 interface that USB adapter is directly connected on the processor of the robot by L, for directly acquiring colour
Video, deep video and infrared video.
4. robot panoramic view data acquisition layer structure according to claim 3, which is characterized in that the IP Camera
(3) router of the robot interior is accessed by twisted pair, the processor is from net described in the router access
Network camera (3) carries out video acquisition.
5. robot panoramic view data acquisition layer structure according to claim 1, which is characterized in that one of them described guiding
Column is round guide post, and the corresponding guide groove is provided in round guide groove；Another described guide post is led for diamond shape
Xiang Zhu, the corresponding guide groove are set as diamond shape guide groove.
6. robot panoramic view data acquisition layer structure according to claim 1, which is characterized in that the Kinect (2)
Shell bottom face is laid with one layer of buffer layer.
7. robot panoramic view data acquisition layer structure according to claim 6, which is characterized in that the buffer layer is sponge
Layer.
8. robot panoramic view data acquisition layer structure according to claim 1, which is characterized in that the rotation axis (5)
End is formed with universal ball end, is formed with the multi-directional ball being embedded with the universal ball end activity on the shell of the Kinect (2)
Nest.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810823030.0A CN108965812A (en) | 2018-07-25 | 2018-07-25 | Robot panoramic view data acquisition layer structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810823030.0A CN108965812A (en) | 2018-07-25 | 2018-07-25 | Robot panoramic view data acquisition layer structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108965812A true CN108965812A (en) | 2018-12-07 |
Family
ID=64464474
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810823030.0A Pending CN108965812A (en) | 2018-07-25 | 2018-07-25 | Robot panoramic view data acquisition layer structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108965812A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111491094A (en) * | 2019-01-28 | 2020-08-04 | 北京小米移动软件有限公司 | Camera module and terminal |
| CN111590549A (en) * | 2020-06-04 | 2020-08-28 | 邱鹏鸿 | Transaction type robot based on block chain |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202582585U (en) * | 2012-03-07 | 2012-12-05 | 陶重犇 | Indoor multipurpose experimental platform for mobile robot |
| CN104536445A (en) * | 2014-12-19 | 2015-04-22 | 深圳先进技术研究院 | Mobile navigation method and system |
| KR20150097049A (en) * | 2014-02-17 | 2015-08-26 | 경북대학교 산학협력단 | self-serving robot system using of natural UI |
| CN106652026A (en) * | 2016-12-23 | 2017-05-10 | 安徽工程大学机电学院 | Three-dimensional space automatic calibration method based on multi-sensor fusion |
| CN206389477U (en) * | 2017-01-20 | 2017-08-08 | 深圳市中保国安实业有限公司 | Camera adjusts fixing device and video monitoring system |
| CN207117823U (en) * | 2017-06-23 | 2018-03-16 | 福建鸿耀同创软件科技有限公司 | A kind of security device of self power generation |
-
2018
- 2018-07-25 CN CN201810823030.0A patent/CN108965812A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202582585U (en) * | 2012-03-07 | 2012-12-05 | 陶重犇 | Indoor multipurpose experimental platform for mobile robot |
| KR20150097049A (en) * | 2014-02-17 | 2015-08-26 | 경북대학교 산학협력단 | self-serving robot system using of natural UI |
| CN104536445A (en) * | 2014-12-19 | 2015-04-22 | 深圳先进技术研究院 | Mobile navigation method and system |
| CN106652026A (en) * | 2016-12-23 | 2017-05-10 | 安徽工程大学机电学院 | Three-dimensional space automatic calibration method based on multi-sensor fusion |
| CN206389477U (en) * | 2017-01-20 | 2017-08-08 | 深圳市中保国安实业有限公司 | Camera adjusts fixing device and video monitoring system |
| CN207117823U (en) * | 2017-06-23 | 2018-03-16 | 福建鸿耀同创软件科技有限公司 | A kind of security device of self power generation |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111491094A (en) * | 2019-01-28 | 2020-08-04 | 北京小米移动软件有限公司 | Camera module and terminal |
| CN111491094B (en) * | 2019-01-28 | 2021-08-31 | 北京小米移动软件有限公司 | Camera module and terminal |
| CN111590549A (en) * | 2020-06-04 | 2020-08-28 | 邱鹏鸿 | Transaction type robot based on block chain |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11649052B2 (en) | System and method for providing autonomous photography and videography | |
| US11914370B2 (en) | System and method for providing easy-to-use release and auto-positioning for drone applications | |
| CN105744163B (en) | A kind of video camera and image capture method based on depth information tracking focusing | |
| EP2977844A1 (en) | Method for cleaning or processing a room using an automatically moved device | |
| CN105090698B (en) | 360 degree of panoramas gather robot device | |
| CN108885459A (en) | Air navigation aid, navigation system, mobile control system and mobile robot | |
| CN109644233A (en) | More head assemblies | |
| Walter et al. | On training datasets for machine learning-based visual relative localization of micro-scale UAVs | |
| CN105242685A (en) | Unmanned plane flight accompanying aerial photographing system and method | |
| JP2023509137A (en) | Systems and methods for capturing and generating panoramic 3D images | |
| Hyams et al. | Cooperative navigation of micro-rovers using color segmentation | |
| CN108965812A (en) | Robot panoramic view data acquisition layer structure | |
| CN106210533A (en) | Double camera five visual angle oblique photograph implementation method and oblique photograph device | |
| CN206100245U (en) | 360 camera is taken photograph to degree panorama degree of depth | |
| CN105915772A (en) | Indoor panoramic data collection trolley | |
| CN210414522U (en) | Photography robot and control system thereof | |
| CN206399422U (en) | Multifunctional vision sensor and mobile robot | |
| CN205792907U (en) | A kind of indoor panoramic view data gathers dolly | |
| CN106671101A (en) | Intelligent shooting robot | |
| CN109079855A (en) | Robot data collection layer | |
| CN110445982B (en) | Tracking shooting method based on six-degree-of-freedom equipment | |
| CN108875716A (en) | A kind of human body motion track trace detection camera system | |
| CN108838998A (en) | Novel robot data collection layer structure | |
| ES2895461T3 (en) | Object recognition procedure and system by analyzing digital image signals of a scene | |
| CN109176605A (en) | Robot data collection layer structure |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181207 |
|
| RJ01 | Rejection of invention patent application after publication |