CN110113594B - Robot is with two mesh cameras that have cloud platform structure - Google Patents
Robot is with two mesh cameras that have cloud platform structure Download PDFInfo
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- CN110113594B CN110113594B CN201910442615.2A CN201910442615A CN110113594B CN 110113594 B CN110113594 B CN 110113594B CN 201910442615 A CN201910442615 A CN 201910442615A CN 110113594 B CN110113594 B CN 110113594B
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- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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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
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- 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 binocular camera with a tripod head structure for a robot, which relates to the field of binocular cameras and comprises a binocular camera main body, wherein the middle part of the bottom end of the binocular camera main body is fixedly connected with a connecting rod, the bottom end of the connecting rod is fixedly connected with a movable plate, a fixed plate is arranged below the movable plate, one side of the lower surface of the fixed plate is fixedly connected with a first connecting plate, the other side of the lower surface of the fixed plate is fixedly connected with a second connecting plate, a supporting plate is arranged between the first connecting plate and the second connecting plate, and the bottom end of the supporting plate. According to the invention, the movable plate and the fixed plate are arranged below the binocular camera main body, so that the angle of the binocular camera main body in the horizontal direction can be adjusted, the polygonal movable rod and the pull plate are arranged at one end of the limiting plate, and the polygonal movable rod and the pull plate can be fixed with the limiting of the release connecting shaft, so that the binocular camera main body can conveniently adjust the vertical angle.
Description
Technical Field
The invention relates to the field of binocular cameras, in particular to a binocular camera with a holder structure for a robot.
Background
Machine vision technology is now being used more and more extensively in industry, and is playing an increasingly important role as a substitute for humans. Binocular vision is a technology for solving the stereoscopic vision problem by using two cameras, and is widely applied to the fields of distance measurement, surface 3D reconstruction, reverse engineering and the like.
A binocular vision system is established, and position adjustment and camera calibration of a camera are required. Only if the two cameras have good relative positions, a common view field with a large cross area can be obtained, and subsequent target point matching is facilitated; the calibration aims at obtaining internal and external parameters of the camera, wherein the internal parameters are used for expressing the focal length and the distortion of a lens and are conversion from a plane to pixels; the extrinsic parameters reflect the mutual positional relationship of the two cameras. The calculation of its external parameters should be recalibrated each time the mutual position of the cameras changes. In actual use of the binocular vision system, if the distance between a target object and the camera changes, the camera needs to perform corresponding pose adjustment, the whole view field is adapted to the distance change, and the change of external parameters is fed back in real time. The development of binocular vision technology is increasingly demanding more accurate and convenient adjustment devices to cooperate with it.
The existing binocular camera is not provided with a holder structure, is inconvenient to adjust the horizontal and vertical angles, and is difficult to well meet the requirements of object imaging and calibration. Therefore, it is necessary to invent a binocular camera having a pan/tilt head structure for a robot to solve the above problems.
Disclosure of Invention
The invention aims to provide a binocular camera with a tripod head structure for a robot, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: a robot uses the binocular camera with cloud terrace structure, including the binocular camera body, the bottom middle part of the said binocular camera body fixedly connects with the brace rod, the bottom of the said brace rod fixedly connects with the fly leaf, there is a dead plate below the said fly leaf, one side of lower surface of the said dead plate fixedly connects with the first connecting plate, another side of lower surface of the said dead plate fixedly connects with the second connecting plate, there are backup pads between second connecting plate and the said first connecting plate, the said backup pad connects first connecting plate and second connecting plate separately through the connecting axle, the bottom of the said backup pad is fixedly connected with the bottom plate;
the bottom middle part fixedly connected with support column of fly leaf, the bottom fixedly connected with circular slab of support column, the spacing groove has been seted up at the upper surface middle part of fixed plate, the circular slab is located the spacing inslot, the thread groove has all been seted up at the lower surface both ends of fly leaf, be provided with the threaded rod in the thread groove, the top fixedly connected with knob of threaded rod, the knob is located the top of fly leaf.
Preferably, the lower surface of the movable plate is provided with a ball groove, and a ball is arranged in the ball groove.
Preferably, a plurality of ball grooves are formed in the movable plate, and the plurality of ball grooves are distributed on the edge of the lower surface of the movable plate in an annular array.
Preferably, one end of the connecting shaft is movably connected with the first connecting plate through a bearing, the other end of the connecting shaft is movably connected with the second connecting plate through a bearing, a gear strip is fixedly connected to the outer side of the other end of the connecting shaft, the gear strip is located in an empty groove, and the empty groove is formed in the second connecting plate.
Preferably, a limiting plate is arranged in the empty groove, an internal gear is arranged at the edge of one side of the limiting plate, and the internal gear is meshed with the gear rack.
Preferably, the opposite side middle part fixedly connected with polygon movable rod of limiting plate, the one end that the limiting plate was kept away from to the polygon movable rod run through the lateral wall of dead slot and with one side middle part fixed connection of arm-tie, the arm-tie is located the outside of second connecting plate, one side edge of arm-tie passes through reset spring and is connected with the second connecting plate.
The invention has the technical effects and advantages that:
according to the invention, the movable plate and the fixed plate are arranged below the binocular camera body, so that the angle of the binocular camera body in the horizontal direction can be adjusted, the movable plate is provided with the balls, the balls can reduce the friction force between the circular plate and the limiting groove, the movable plate can rotate rapidly, and the purpose of rapid adjustment is achieved, the movable plate is provided with the threaded rod, and the threaded rod is in contact with the fixed plate to limit and fix the movable plate; the limiting plate is arranged in the second connecting plate, an inner gear on the limiting plate is matched with a gear strip on the connecting shaft, the connecting shaft can be limited and fixed, the polygonal movable rod and the pull plate are arranged at one end of the limiting plate, the polygonal movable rod and the pull plate can be limited and fixed with the connecting shaft, and the binocular camera main body can be adjusted conveniently in vertical angle.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention.
FIG. 2 is a schematic cross-sectional view of a movable plate structure according to the present invention.
FIG. 3 is a cross-sectional view of a second connecting plate structure according to the present invention.
Fig. 4 is a schematic view of the gear rack structure of the present invention.
In the figure: 1. a binocular camera body; 2. a connecting rod; 3. a movable plate; 4. a fixing plate; 5. a first connecting plate; 6. a second connecting plate; 7. a support plate; 8. a connecting shaft; 9. a base plate; 10. a support pillar; 11. a circular plate; 12. a limiting groove; 13. a ball groove; 14. a ball bearing; 15. a thread groove; 16. a threaded rod; 17. a knob; 18. a gear rack; 19. an empty groove; 20. a limiting plate; 21. an internal gear; 22. a polygonal movable rod; 23. pulling a plate; 24. a return spring.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides a binocular camera with a tripod head structure for a robot as shown in figures 1-4, which comprises a binocular camera body 1 as shown in figure 1, wherein the middle part of the bottom end of the binocular camera body 1 is fixedly connected with a connecting rod 2, the bottom end of the connecting rod 2 is fixedly connected with a movable plate 3, a fixed plate 4 is arranged below the movable plate 3, one side of the lower surface of the fixed plate 4 is fixedly connected with a first connecting plate 5, the other side of the lower surface of the fixed plate 4 is fixedly connected with a second connecting plate 6, a supporting plate 7 is arranged between the first connecting plate 5 and the second connecting plate 6, the supporting plate 7 is respectively connected with the first connecting plate 5 and the second connecting plate 6 through a connecting shaft 8, the bottom end of the supporting plate 7 is fixedly connected with a bottom plate.
As shown in fig. 2, a supporting column 10 is fixedly connected to the middle of the bottom end of the movable plate 3, a circular plate 11 is fixedly connected to the bottom end of the supporting column 10, a limiting groove 12 is formed in the middle of the upper surface of the fixed plate 4, the circular plate 11 is located in the limiting groove 12, the circular plate 11 and the limiting groove 12 are arranged to prevent the movable plate 3 from being separated from the fixed plate 4 and enable the movable plate 3 to horizontally rotate, a ball groove 13 is formed in the lower surface of the movable plate 3, balls 14 are arranged in the ball groove 13, a plurality of ball grooves 13 are formed, the plurality of ball grooves 13 are distributed on the edge of the lower surface of the movable plate 3 in an annular array, the balls 14 are arranged to reduce the friction force between the circular plate 11 and the limiting groove 12 when the movable plate 3 rotates, thread grooves 15 are formed at both ends of the lower surface of the movable plate 3, the knob 17 is positioned above the movable plate 3, and the threaded rod 16 is in contact with the fixed plate 4 to limit and fix the movable plate 3.
As shown in fig. 3 and 4, one end of a connecting shaft 8 is movably connected with a first connecting plate 5 through a bearing, the other end of the connecting shaft 8 is movably connected with a second connecting plate 6 through a bearing, a gear rack 18 is fixedly connected with the outer side of the other end of the connecting shaft 8, the gear rack 18 is positioned in a hollow groove 19, the hollow groove 19 is arranged in the second connecting plate 6, a limiting plate 20 is arranged in the hollow groove 19, an internal gear 21 is arranged at one side edge of the limiting plate 20, the internal gear 21 is meshed and connected with the gear rack 18, the internal gear 21 is matched with the gear rack 18 to limit and fix the connecting shaft 8, a polygonal movable rod 22 is fixedly connected with the middle part of the other side of the limiting plate 20, one end of the polygonal movable rod 22 far away from the limiting plate 20 penetrates through the side wall of the hollow groove 19 and is fixedly connected with the middle part of one side of a pulling plate 23, the pulling plate 23 is, the polygonal movable rod 22 and the pulling plate 23 are arranged so that the internal gear 21 can be separated from the gear rack 18, and the limit of the connecting shaft 8 is released.
This practical theory of operation:
when the device works, the horizontal angle of the binocular camera body 1 is adjusted according to needs, the knob 17 is screwed at the moment, the knob 17 drives the threaded rod 16 to rotate in the threaded groove 15, so that the threaded rod 16 is separated from the fixed plate 4, the movable plate 3 can be rotated at the moment, the horizontal angle of the binocular camera body 1 is adjusted, and after the horizontal angle adjustment is completed, the knob 17 is screwed, so that the threaded rod 16 is in contact with the fixed plate 4, the movable plate 3 is limited and fixed, and the binocular camera body 1 is limited and fixed;
then adjust the vertical angle of binocular camera main part 1 as required, pulling arm-tie 23 this moment, arm-tie 23 drives limiting plate 20 through polygon movable rod 22 and removes, make internal gear 21 and the separation of gear rack 18 on the limiting plate 20, then rotate binocular camera main part 1 from vertical direction, adjust the vertical angle of binocular camera main part 1 with this, after vertical angle adjustment is accomplished, loosen arm-tie 23, arm-tie 23 resets under reset spring 24's effect, make internal gear 21 and the meshing of gear rack 18 on the limiting plate 20, with connecting axle 8 spacing fixed, make binocular camera main part 1 keep vertical angle motionless, the stability of binocular camera main part 1 has been guaranteed.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.
Claims (4)
1. The utility model provides a robot is with binocular camera that has cloud platform structure, includes binocular camera main part (1), its characterized in that: the binocular camera comprises a binocular camera body (1), and is characterized in that a connecting rod (2) is fixedly connected to the middle of the bottom end of the binocular camera body (1), a movable plate (3) is fixedly connected to the bottom end of the connecting rod (2), a fixed plate (4) is arranged below the movable plate (3), a first connecting plate (5) is fixedly connected to one side of the lower surface of the fixed plate (4), a second connecting plate (6) is fixedly connected to the other side of the lower surface of the fixed plate (4), a supporting plate (7) is arranged between the first connecting plate (5) and the second connecting plate (6), the supporting plate (7) is respectively connected with the first connecting plate (5) and the second connecting plate (6) through connecting shafts (8), and a bottom plate;
the bottom middle part of the movable plate (3) is fixedly connected with a support column (10), the bottom of the support column (10) is fixedly connected with a circular plate (11), the middle part of the upper surface of the fixed plate (4) is provided with a limit groove (12), the circular plate (11) is positioned in the limit groove (12), both ends of the lower surface of the movable plate (3) are provided with thread grooves (15), a threaded rod (16) is arranged in each thread groove (15), the top end of the threaded rod (16) is fixedly connected with a knob (17), the knob (17) is positioned above the movable plate (3), one end of the connecting shaft (8) is movably connected with the first connecting plate (5) through a bearing, the other end of the connecting shaft (8) is movably connected with the second connecting plate (6) through a bearing, and the outer side of the other end of the connecting shaft (8) is fixedly connected, the gear rack (18) is located the dead slot (19), the inside of second connecting plate (6) is seted up in dead slot (19), be provided with limiting plate (20) in dead slot (19), a side edge of limiting plate (20) is provided with internal gear (21), internal gear (21) are connected with gear rack (18) meshing.
2. The binocular camera with the pan-tilt structure for the robot according to claim 1, wherein: the lower surface of the movable plate (3) is provided with a ball groove (13), and balls (14) are arranged in the ball groove (13).
3. The binocular camera with the pan-tilt structure for the robot according to claim 2, wherein: the ball grooves (13) are formed in a plurality of numbers, and the ball grooves (13) are distributed on the edge of the lower surface of the movable plate (3) in an annular array mode.
4. The binocular camera with the pan-tilt structure for the robot according to claim 1, wherein: the opposite side middle part fixedly connected with polygon movable rod (22) of limiting plate (20), the one end that limiting plate (20) were kept away from in polygon movable rod (22) run through the lateral wall of dead slot (19) and with one side middle part fixed connection of arm-tie (23), arm-tie (23) are located the outside of second connecting plate (6), one side edge of arm-tie (23) passes through reset spring (24) and is connected with 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 |
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| CN201910442615.2A CN110113594B (en) | 2019-05-25 | 2019-05-25 | Robot is with two mesh cameras that have cloud platform structure |
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| CN110113594A CN110113594A (en) | 2019-08-09 |
| CN110113594B true CN110113594B (en) | 2021-03-05 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| CN113021337A (en) * | 2021-03-02 | 2021-06-25 | 王法容 | Gesture recognition robot and recognition method thereof |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4648210B2 (en) * | 2006-02-03 | 2011-03-09 | Ｈｏｙａ株式会社 | Image blur correction device |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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