CN110113594A - A kind of binocular camera of the robot with cradle head structure - Google Patents
A kind of binocular camera of the robot with cradle head structure Download PDFInfo
- Publication number
- CN110113594A CN110113594A CN201910442615.2A CN201910442615A CN110113594A CN 110113594 A CN110113594 A CN 110113594A CN 201910442615 A CN201910442615 A CN 201910442615A CN 110113594 A CN110113594 A CN 110113594A
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- plate
- fixedly connected
- binocular camera
- head structure
- cradle head
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- 238000003491 array Methods 0.000 claims description 2
- 238000005096 rolling process Methods 0.000 claims 1
- 230000000694 effects Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 241000208340 Araliaceae Species 0.000 description 2
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 2
- 235000003140 Panax quinquefolius Nutrition 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 235000008434 ginseng Nutrition 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 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
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/08—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a vertical axis, e.g. panoramic heads
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/20—Undercarriages with or without wheels
- F16M11/22—Undercarriages with or without wheels with approximately constant height, e.g. with constant length of column or of legs
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/239—Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Accessories Of Cameras (AREA)
Abstract
The invention discloses a kind of binocular camera of robot with cradle head structure, it is related to binocular camera field, including binocular camera main body, the center bottom of the binocular camera main body is fixedly connected with connecting rod, the bottom end of connecting rod is fixedly connected with movable plate, fixed plate is provided with below movable plate, the lower surface side of fixed plate is fixedly connected with the first connecting plate, the lower surface other side of fixed plate is fixedly connected with the second connecting plate, support plate is provided between first connecting plate and the second connecting plate, the bottom end of the support plate is fixedly connected with bottom plate.The present invention is by being provided with movable plate and fixed plate below binocular camera main body, so that the angle that can adjust horizontal direction of binocular camera main body, one end of limit plate is provided with polygon motion bar and pulling plate, the setting of polygon motion bar and pulling plate can be fixed with the limit for releasing connecting shaft, so that binocular camera main body is convenient for the adjusting of vertical angles.
Description
Technical field
The present invention relates to binocular camera field, in particular to binocular camera of a kind of robot with cradle head structure.
Background technique
Machine vision technique in the industry instantly using more and more extensive, substituting human hair and waving and becoming more and more important
Effect.Binocular vision is one of technology for being used to solve the problems, such as stereoscopic vision using two cameras, is widely used
In fields such as ranging, surface 3D reconstruction, reverse-engineerings.
A binocular vision system is established, the position for needing to carry out camera adjusts and camera calibration.Only two phase equipments
There is good relative position, the big common visual field of a cross sectional area could be obtained, be just conducive to subsequent target point
Matching；And the purpose demarcated is the inside and outside parameter of camera in order to obtain, intrinsic parameter is used to indicate lens focus, lens distortion, it
It is a conversion from plane to pixel；What outer parameter reflected is the mutual alignment relation of two cameras.It is mutual whenever camera
Position change should just re-scale its outer ginseng of calculating.And binocular vision system is in actual use, if target object is with respect to phase
The distance of machine changes, then camera is needed also to do corresponding pose adjustment, and whole visual field should adapt to the distance change, while outer
Real-time Feedback is also answered in the change of ginseng.The development of binocular vision technology requires higher accurate and convenient and fast regulating device to match therewith increasingly
It closes.
Existing binocular camera is not provided with cradle head structure, it has not been convenient to carry out the adjusting of horizontal and vertical angle, it is difficult to very
The good requirement for meeting image objects and calibration.Therefore, a kind of robot is invented with the binocular camera with cradle head structure to solve
Certainly the above problem is necessary.
Summary of the invention
The purpose of the present invention is to provide a kind of binocular camera of robot with cradle head structure, to solve above-mentioned background
The problem of being proposed in technology.
To achieve the above object, the invention provides the following technical scheme: a kind of binocular of robot with cradle head structure
Camera, including binocular camera main body, the center bottom of the binocular camera main body are fixedly connected with connecting rod, the connecting rod
Bottom end is fixedly connected with movable plate, and fixed plate is provided with below the movable plate, and the lower surface side of the fixed plate is fixed
It is connected with the first connecting plate, the lower surface other side of the fixed plate is fixedly connected with the second connecting plate, first connecting plate
Support plate is provided between the second connecting plate, the support plate is separately connected the first connecting plate by connecting shaft and connect with second
The bottom end of plate, the support plate is fixedly connected with bottom plate；
The center bottom of the movable plate is fixedly connected with support column, and the bottom end of the support column is fixedly connected with circular slab, institute
The upper surface middle part for stating fixed plate offers limiting slot, and the circular slab is located in limiting slot, the lower surface two of the movable plate
End offers thread groove, threaded rod is provided in the thread groove, the top of the threaded rod is fixedly connected with knob, described
Knob is located at the top of movable plate.
Preferably, the lower surface of the movable plate offers ball grooves, is provided with ball in the ball grooves.
Preferably, the ball grooves offer multiple, and multiple ball grooves circular arrays are distributed in the lower surface of movable plate
Edge.
Preferably, one end of the connecting shaft is flexibly connected by bearing with the first connecting plate, the connecting shaft it is another
End is flexibly connected by bearing with the second connecting plate, is fixedly connected with gear bar, the tooth on the outside of the other end of the connecting shaft
Wheel item is located in empty slot, and the empty slot is opened in the inside of the second connecting plate.
Preferably, limit plate is provided in the empty slot, the one side edge of the limit plate is provided with internal gear, described interior
Gear engages connection with gear bar.
Preferably, polygon motion bar, the polygon motion bar are fixedly connected in the middle part of the other side of the limit plate
One end far from limit plate is run through the side wall of empty slot and is fixedly connected with a middle side part of pulling plate, and the pulling plate is located at the second connection
The one side edge in the outside of plate, the pulling plate is connect by reset spring with the second connecting plate.
Technical effect and advantage of the invention:
The present invention by being provided with movable plate and fixed plate below binocular camera main body so that binocular camera main body can
The angle for adjusting horizontal direction, is provided with ball, ball can reduce the friction between circular slab and limiting slot on movable plate
Power, enables movable plate quick rotation, achievees the purpose that quickly to adjust, and is provided with threaded rod on movable plate, threaded rod with
Movable plate can be limited and be fixed by fixed plate contact；Internal tooth in the limit plate that is internally provided with of the second connecting plate, on limit plate
Wheel cooperates with the gear bar in connecting shaft, can limit connecting shaft and fix, one end of limit plate is provided with polygon
The setting of motion bar and pulling plate, polygon motion bar and pulling plate can be fixed with the limit for releasing connecting shaft, so that binocular camera
Main body is convenient for the adjusting of vertical angles.
Detailed description of the invention
Fig. 1 is the schematic diagram of structure of the invention.
Fig. 2 is the diagrammatic cross-section of movable plate structure of the present invention.
Fig. 3 is the diagrammatic cross-section of the second connecting board structure of the invention.
Fig. 4 is the schematic diagram of gear bar structure of the present invention.
In figure: 1, binocular camera main body；2, connecting rod；3, movable plate；4, fixed plate；5, the first connecting plate；6, second connects
Fishplate bar；7, support plate；8, connecting shaft；9, bottom plate；10, support column；11, circular slab；12, limiting slot；13, ball grooves；14, it rolls
Pearl；15, thread groove；16, threaded rod；17, knob；18, gear bar；19, empty slot；20, limit plate；21, internal gear；22, polygon
Shape motion bar；23, pulling plate；24, reset spring.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The present invention provides a kind of binocular camera of robot as shown in Figs 1-4 with cradle head structure, by Fig. 1 institute
Show, including binocular camera main body 1, the center bottom of binocular camera main body 1 is fixedly connected with connecting rod 2, and the bottom end of connecting rod 2 is solid
Surely it is connected with movable plate 3, the lower section of movable plate 3 is provided with fixed plate 4, and the lower surface side of fixed plate 4 is fixedly connected with first
Connecting plate 5, the lower surface other side of fixed plate 4 are fixedly connected with the second connecting plate 6, the first connecting plate 5 and the second connecting plate 6 it
Between be provided with support plate 7, support plate 7 is separately connected the first connecting plate 5 and the second connecting plate 6 by connecting shaft 8, support plate 7
Bottom end is fixedly connected with bottom plate 9, and bottom plate 9 plays supporting role to whole device.
As shown in Figure 2, the center bottom of movable plate 3 is fixedly connected with support column 10, and the bottom end of support column 10 is fixedly connected
There is circular slab 11, the upper surface middle part of fixed plate 4 offers limiting slot 12, and circular slab 11 is located in limiting slot 12, circular slab 11
With the setting of limiting slot 12, movable plate 3 is on the one hand avoided to separate with fixed plate 4, on the other hand enables movable plate 3 is horizontal to turn
Dynamic, the lower surface of movable plate 3 offers ball grooves 13, is provided with ball 14 in ball grooves 13, ball grooves 13 offer it is multiple, it is more
A 13 circular array of ball grooves is distributed in the lower surface edge of movable plate 3, and the setting of ball 14 can reduce the rotation of movable plate 3
When circular slab 11 and limiting slot 12 frictional force, the lower surface both ends of movable plate 3 offer thread groove 15, set in thread groove 15
It is equipped with threaded rod 16, the top of threaded rod 16 is fixedly connected with knob 17, and knob 17 is located at the top of movable plate 3, threaded rod 16
It contacts movable plate 3 can be limited with fixed plate 4 and fix.
As shown in Fig. 3 and Fig. 4, one end of connecting shaft 8 is flexibly connected by bearing with the first connecting plate 5, connecting shaft 8 it is another
One end is flexibly connected by bearing with the second connecting plate 6, is fixedly connected with gear bar 18, gear on the outside of the other end of connecting shaft 8
Item 18 is located in empty slot 19, and empty slot 19 is opened in the inside of the second connecting plate 6, is provided with limit plate 20, limit plate in empty slot 19
20 one side edge is provided with internal gear 21, and internal gear 21 engages connection with gear bar 18, and internal gear 21 and gear bar 18 cooperate,
Connecting shaft 8 can be limited and be fixed, polygon motion bar 22, polygon activity are fixedly connected in the middle part of the other side of limit plate 20
Bar 22 runs through the side wall of empty slot 19 far from one end of limit plate 20 and is fixedly connected with a middle side part of pulling plate 23, and pulling plate 23 is located at
The one side edge in the outside of the second connecting plate 6, pulling plate 23 is connect by reset spring 24 with the second connecting plate 6, polygon activity
The setting of bar 22 and pulling plate 23 enables internal gear 21 to separate with gear bar 18, releases the limit of connecting shaft 8.
This practical working principle:
The present apparatus at work, adjusts the level angle of binocular camera main body 1 as needed first, turns knob 17 at this time, revolves
Button 17 drives threaded rod 16 to rotate in thread groove 15, so that threaded rod 16 is separated with fixed plate 4, rotatable movable plate 3 at this time,
The level angle that binocular camera main body 1 is adjusted with this turns knob 17, so that threaded rod after the completion of level angle adjusting
16 contact with fixed plate 4, and movable plate 3 is limited and is fixed, and then binocular camera main body 1 is limited and is fixed；
Then the vertical angles for adjusting binocular camera main body 1 as needed, pull pulling plate 23 at this time, and pulling plate 23 is living by polygon
Lever 22 drives limit plate 20 mobile, so that the internal gear 21 on limit plate 20 is separated with gear bar 18, then from vertical direction
Binocular camera main body 1 is rotated, the vertical angles of binocular camera main body 1 are adjusted with this, after the completion of vertical angles adjusting, is unclamped
Pulling plate 23, pulling plate 23 reset under the action of reset spring 24, so that the internal gear 21 on limit plate 20 is engaged with gear bar 18,
Connecting shaft 8 is limited and is fixed, so that binocular camera main body 1 keeps vertical angles motionless, ensure that the stabilization of binocular camera main body 1
Property.
Finally, it should be noted that the foregoing is only a preferred embodiment of the present invention, it is not intended to restrict the invention,
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art, still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features,
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (6)
1. a kind of robot binocular camera with cradle head structure, including binocular camera main body (1), it is characterised in that: described
The center bottom of binocular camera main body (1) is fixedly connected with connecting rod (2), and the bottom end of the connecting rod (2) is fixedly connected with work
Movable plate (3) is provided with fixed plate (4) below the movable plate (3), and the lower surface side of the fixed plate (4) is fixedly connected
Have the first connecting plate (5), the lower surface other side of the fixed plate (4) is fixedly connected with the second connecting plate (6), and described first connects
It is provided between fishplate bar (5) and the second connecting plate (6) support plate (7), the support plate (7) is separately connected by connecting shaft (8)
First connecting plate (5) and the second connecting plate (6), the bottom end of the support plate (7) is fixedly connected with bottom plate (9)；
The center bottom of the movable plate (3) is fixedly connected with support column (10), and the bottom end of the support column (10) is fixedly connected
Have circular slab (11), the upper surface middle part of the fixed plate (4) offers limiting slot (12), and the circular slab (11) is located at limit
In slot (12), the lower surface both ends of the movable plate (3) are offered thread groove (15), are provided with spiral shell in the thread groove (15)
The top of rasp bar (16), the threaded rod (16) is fixedly connected with knob (17), and the knob (17) is located at the upper of movable plate (3)
Side.
2. a kind of binocular camera of the robot according to claim 1 with cradle head structure, it is characterised in that: the work
The lower surface of movable plate (3) offers ball grooves (13), is provided with ball (14) in the ball grooves (13).
3. a kind of binocular camera of the robot according to claim 2 with cradle head structure, it is characterised in that: the rolling
Pearl slot (13) offers multiple, and multiple ball grooves (13) circular arrays are distributed in the lower surface edge of movable plate (3).
4. a kind of binocular camera of the robot according to claim 1 with cradle head structure, it is characterised in that: the company
One end of spindle (8) is flexibly connected by bearing with the first connecting plate (5), the other end of the connecting shaft (8) pass through bearing and
Second connecting plate (6) is flexibly connected, and is fixedly connected with gear bar (18), the gear on the outside of the other end of the connecting shaft (8)
Item (18) is located in empty slot (19), and the empty slot (19) is opened in the inside of the second connecting plate (6).
5. a kind of binocular camera of the robot according to claim 4 with cradle head structure, it is characterised in that: the sky
It is provided with limit plate (20) in slot (19), the one side edge of the limit plate (20) is provided with internal gear (21), the internal gear
(21) connection is engaged with gear bar (18).
6. a kind of binocular camera of the robot according to claim 5 with cradle head structure, it is characterised in that: the limit
It is fixedly connected with polygon motion bar (22) in the middle part of the other side of position plate (20), the polygon motion bar (22) is far from limit plate
(20) one end through empty slot (19) side wall and be fixedly connected with a middle side part of pulling plate (23), the pulling plate (23) is located at the
The one side edge in the outside of two connecting plates (6), the pulling plate (23) is connect by reset spring (24) with the second connecting plate (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910442615.2A CN110113594B (en) | 2019-05-25 | 2019-05-25 | Robot is with two mesh cameras that have cloud platform structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910442615.2A CN110113594B (en) | 2019-05-25 | 2019-05-25 | Robot is with two mesh cameras that have cloud platform structure |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110113594A true CN110113594A (en) | 2019-08-09 |
| CN110113594B CN110113594B (en) | 2021-03-05 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910442615.2A Active CN110113594B (en) | 2019-05-25 | 2019-05-25 | Robot is with two mesh cameras that have cloud platform structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110113594B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111256001A (en) * | 2020-04-03 | 2020-06-09 | 南阳理工学院 | Rotating device for large screen of movie and television in market |
| CN112197121A (en) * | 2020-10-15 | 2021-01-08 | 广东公诗智能科技有限公司 | Intelligent parking management system for automobile aftermarket |
| CN113021337A (en) * | 2021-03-02 | 2021-06-25 | 王法容 | Gesture recognition robot and recognition method thereof |
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| US20070182824A1 (en) * | 2006-02-03 | 2007-08-09 | Pentax Corporation | Image stabilizer |
| CN105262946A (en) * | 2015-09-23 | 2016-01-20 | 上海大学 | Three-dimensional binocular camera platform experimental device |
| CN105611121A (en) * | 2015-12-17 | 2016-05-25 | 天津中安视通科技有限公司 | Novel binocular pan-tilt camera |
| CN207864914U (en) * | 2017-09-20 | 2018-09-14 | 中国测绘科学研究院 | A kind of cradle head device measuring camera attitude angle |
-
2019
- 2019-05-25 CN CN201910442615.2A patent/CN110113594B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070182824A1 (en) * | 2006-02-03 | 2007-08-09 | Pentax Corporation | Image stabilizer |
| CN105262946A (en) * | 2015-09-23 | 2016-01-20 | 上海大学 | Three-dimensional binocular camera platform experimental device |
| CN105611121A (en) * | 2015-12-17 | 2016-05-25 | 天津中安视通科技有限公司 | Novel binocular pan-tilt camera |
| CN207864914U (en) * | 2017-09-20 | 2018-09-14 | 中国测绘科学研究院 | A kind of cradle head device measuring camera attitude angle |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111256001A (en) * | 2020-04-03 | 2020-06-09 | 南阳理工学院 | Rotating device for large screen of movie and television in market |
| CN111256001B (en) * | 2020-04-03 | 2021-06-22 | 南阳理工学院 | Rotating device for large screen of movie and television in market |
| CN112197121A (en) * | 2020-10-15 | 2021-01-08 | 广东公诗智能科技有限公司 | Intelligent parking management system for automobile aftermarket |
| CN113021337A (en) * | 2021-03-02 | 2021-06-25 | 王法容 | Gesture recognition robot and recognition method thereof |
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| Publication number | Publication date |
|---|---|
| CN110113594B (en) | 2021-03-05 |
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