CN114070984A - Stepping type panoramic imaging device, method and system - Google Patents
Stepping type panoramic imaging device, method and system Download PDFInfo
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- CN114070984A CN114070984A CN202111354595.7A CN202111354595A CN114070984A CN 114070984 A CN114070984 A CN 114070984A CN 202111354595 A CN202111354595 A CN 202111354595A CN 114070984 A CN114070984 A CN 114070984A
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- 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
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- 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
- G03B37/00—Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe
- G03B37/02—Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe with scanning movement of lens or cameras
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/58—Means for changing the camera field of view without moving the camera body, e.g. nutating or panning of optics or image sensors
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- 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 invention discloses a stepping panoramic imaging device, a stepping panoramic imaging method and a stepping panoramic imaging system. The stepping motor directly drives the detector to rotate, and a stepping staring method is adopted to collect images when the detector is static, so that the imaging quality is ensured; only one detector is adopted, so that the production cost is low, and the production and debugging are convenient.
Description
Technical Field
The invention relates to the technical field of panoramic imaging, in particular to a stepping panoramic imaging device. In addition, the invention also relates to a stepping panoramic imaging system comprising the stepping panoramic imaging device and a stepping panoramic imaging method for the stepping panoramic imaging device.
Background
At present, there are two main ways to realize 360 ° panoramic monitoring: firstly, a plurality of detectors are used for imaging at different directions simultaneously and then spliced into a panoramic image, but the detectors are limited to be expensive and the production cost is high; and secondly, large-angle imaging is realized by utilizing a plurality of optical lenses, but the imaging range is not 360-degree panoramic, a view blind area exists, multiple times of optical debugging are needed, and batch production is inconvenient.
In summary, how to provide a panoramic imaging apparatus with convenient production and low cost is a problem to be urgently solved by those skilled in the art.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a step-by-step panoramic imaging apparatus, in which a step motor directly drives a detector to rotate, and image information is collected when the detector is stationary, so as to ensure imaging quality, and the apparatus has a simple structure, is low in cost, and is convenient for mass production.
In addition, the invention also provides a stepping panoramic imaging system comprising the stepping panoramic imaging device and a stepping panoramic imaging method for the stepping panoramic imaging device.
In order to achieve the above purpose, the invention provides the following technical scheme:
a stepping panoramic imaging device comprises a detector, a stepping motor and a control device, wherein the stepping motor is connected with the detector to drive the detector to rotate, and a motor driving plate of the stepping motor and the detector are in signal connection with the control device;
the control device is used for outputting stepping pulse signals to the motor driving plate, outputting external synchronous signals to the detector when the detector is static, and receiving and processing image information shot by the detector.
Preferably, the detector is mounted on a turntable assembly, the turntable assembly comprises a load disc connected with an output shaft of the stepping motor, a movement fixing frame, a movement base matched with the movement fixing frame to fix the detector, at least one fixing seat and at least one adjusting seat, and the fixing seat and the adjusting seat are both connected with the load disc;
the fixed seat is provided with a circular connecting hole, and the adjusting seat is provided with a waist-shaped connecting hole so as to adjust the included angle between the axis of the detector and the width direction of the load disk by adjusting the connecting position of the movement base and the adjusting seat;
cushion blocks are arranged on the same side of the fixed seat and the adjusting seat so as to adjust the included angle between the machine core base and the plane where the load disc is located.
Preferably, the detector is packaged in an annular window assembly, the stepping motor and the control device are arranged in a base assembly, the annular window assembly is sequentially provided with a light screen, an upper window support, an annular window and a lower window support which is used for being connected with the base assembly from top to bottom, the light screen is connected with the upper window support, the upper window support is connected with the lower window support through a support column, and the annular window is hermetically connected between the upper window support and the lower window support;
the window is characterized in that the lower end face of the upper support of the window and the upper end face of the lower support of the window are respectively provided with a positioning groove, the annular window is clamped in the positioning grooves through a fixed rubber ring, and a rubber ring clamping ring used for limiting the axial displacement of the fixed rubber ring is arranged in each positioning groove.
Preferably, the support columns are uniformly distributed in the circumferential direction of the support under the window, and the distance from the support columns to the detector is smaller than the minimum imaging distance of the detector.
Preferably, the detector and the control device are connected through a detector connecting wire, and the load disk is provided with a wiring groove for fixing the detector connecting wire.
Preferably, the base assembly is internally provided with a wire harness sleeve for accommodating the connecting wire of the detector, the output shaft of the stepping motor is externally sleeved with a jackscrew fixing part, and the wire harness sleeve is connected with the jackscrew fixing part.
Preferably, the control device comprises a motion control module and an image processing module, the motor driving board and the detector are in signal connection with the motion control module, and the detector is in signal connection with the image processing module.
A stepping panoramic imaging system comprises any one of the stepping panoramic imaging devices and a PC (personal computer) end in signal connection with the stepping panoramic imaging device.
A stepping panoramic imaging method is applied to any one of the stepping panoramic imaging devices, and comprises the following steps:
controlling a stepping motor to drive a detector to step by a preset stepping angle from an initial angle;
when the stepping motor finishes the rotation of the preset stepping angle and the detector is static, the detector is controlled to image;
and if the stepping motor rotates to the scanning boundary angle, controlling the stepping motor to reversely rotate to the initial angle, otherwise, controlling the stepping motor to continuously rotate.
Preferably, the controlling the stepping motor to rotate reversely to the starting angle includes:
controlling the stepping motor to rotate reversely by the preset stepping angle;
when the stepping motor finishes the rotation of the preset stepping angle and the detector is static, the detector is controlled to image;
and if the stepping motor does not rotate to the initial angle, controlling the stepping motor to continue to rotate in the reverse direction, otherwise, controlling the stepping motor to rotate in the original direction.
When the stepping panoramic imaging equipment provided by the invention works, the control device outputs stepping pulse signals to the motor drive plate to control the stepping motor to rotate so as to drive the detector to step, and the control device outputs external synchronous signals to the detector to control the detector to shoot and image when the detector is static (namely the speed and the acceleration of the detector are both 0) between two stepping processes, and receives and processes image information shot by the detector.
Because the stepping motor directly drives the detector to rotate and adopts the stepping staring method to collect images when the detector is static, the image blurring caused by the rotation of the detector is avoided and the imaging quality is ensured; only one detector is adopted, an optical reflection or refraction system is not required to be arranged, the stepping type panoramic imaging equipment is simple in structure and convenient to produce and debug, and the production cost of the stepping type panoramic equipment is effectively reduced.
In addition, the invention also provides a stepping panoramic imaging system comprising the stepping panoramic imaging device and a stepping panoramic imaging method for the stepping panoramic imaging device.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an embodiment of a step-by-step panoramic imaging apparatus provided in the present invention;
FIG. 2 is a schematic view of the structure of FIG. 1;
FIG. 3 is a schematic view of the construction of the annular window assembly;
FIG. 4 is a schematic view of the construction of the turret assembly;
FIG. 5 is an exploded view of FIG. 4;
FIG. 6 is a schematic structural view of a base assembly;
FIG. 7 is a schematic view of the assembly of the stepper motor and encoder;
FIG. 8 is a graph showing the relationship between the angle θ and the angular velocity ω when the stepping motor is stepping;
FIG. 9 is a graph of time t versus angle θ for stepping of the stepping motor;
FIG. 10 is a first graph of the relationship between time t and angle θ for a plurality of steps of the stepping motor;
FIG. 11 is a second graph of the relationship between time t and angle θ for a plurality of steps of the stepping motor;
FIG. 12 is a diagram illustrating a t- θ relationship of a stepping motor and a t-V relationship of an external synchronizing signal.
In fig. 1-12:
the device comprises an annular window assembly 1, a shading plate 11, a window upper support 12, an annular window 13, a window lower support 14, a support column 15, a fixed rubber ring 16, a rubber ring clamping ring 17, a turntable assembly 2, a movement fixing frame 21, a movement base 22, a fixing base 23, an adjusting base 24, a load disc 25, a wiring groove 251, a wiring harness fixing base 26, a base assembly 3, a motor driving plate 31, a motion control module 32, an image processing module 33, a wiring harness end block 34, a wiring harness pressing block 35, a stepping motor 4, a shaft embracing device 41, a top wire fixing piece 42, a wiring harness sleeve 43, an encoder 5 and a detector 6.
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 core of the invention is to provide a stepping panoramic imaging device, a stepping motor directly drives a detector to rotate, and image information is collected when the detector is static, so that the imaging quality is ensured, and the stepping panoramic imaging device has the advantages of simple structure, lower cost and convenience for batch production.
In addition, the invention also provides a stepping panoramic imaging system comprising the stepping panoramic imaging device and a stepping panoramic imaging system used for the stepping panoramic imaging device.
Please refer to fig. 1-12.
It should be noted that the panoramic imaging mentioned in this document includes, but is not limited to, 360 ° imaging, and any angular sector scan such as 90 ° step, 180 ° step may be provided.
Referring to fig. 1 and fig. 2, the step-by-step panoramic imaging apparatus provided by the present invention includes a detector 6, a step motor 4 connected to the detector 6 for driving the detector 6 to rotate, and a control device, wherein a motor driving board 31 of the step motor 4 and the detector 6 are both in signal connection with the control device; the control device is used for outputting a stepping pulse signal to the motor driving plate 31, outputting an external synchronous signal to the detector 6 when the detector 6 is static, and receiving and processing image information shot by the detector 6.
The control device is in signal connection with the stepping motor 4 and the detector 6 and is used for controlling the rotation of the stepping motor 4 and the imaging of the detector 6 and processing image information.
Preferably, referring to fig. 6, the control device includes a motion control module 32 and an image processing module 33, the motor driving board 31 and the detector 6 are both in signal connection with the motion control module 32, and the detector 6 is in signal connection with the image processing module 33.
The motion control module 32 is connected with the motor drive plate 31 through a drive plate connecting line, the motion control module 32 is connected with the detector 6 through a detector connecting line, and in order to reduce the friction of a wiring harness, the motion control module 32 is provided with a wiring harness end block 34 and a wiring harness pressing block 35 which are used for fixing the detector connecting line. In addition, referring to fig. 6, the motion control module 32 is in communication with an electrical connector as an external communication interface.
The image processing module 33 and the PC terminal may be connected by network cable transmission or wireless transmission.
The motion control module 32 and the image processing module 33 respectively process the motion control, image acquisition, compression, processing and transmission work of the stepping motor 4 and the detector 6, which is beneficial to improving the processing efficiency of the control device.
Referring to fig. 8 and 9, fig. 8 is a graph of the relationship between the angle θ and the angular velocity ω when the stepping motor steps, and fig. 9 is a graph of the relationship between the time t and the angle θ when the stepping motor steps. Wherein T1 is an acceleration stage of the stepping motor 4, T2 is a constant speed stage of the stepping motor 4, T3 is a deceleration stage of the stepping motor 4, T4 is an integration dwell stage (imaging stage of the detector 6), and T1 and T2 … … Tn are the first and second … … nth stepping processes of the stepping motor 4, respectively.
To facilitate adjustment of the axial position of the detector 6 and to avoid wobbling of the detector 6 relative to the stepper motor 4 during rotation, the detector 6 is typically mounted on the turntable assembly 2. Shaft embracing device 41 of step motor 4 is connected with the revolving stage subassembly 2 of installing detector 6, drives detector 6 circumferential motion, compares synchronous belt drive, direct current brushless motor among the prior art and directly drives, and step motor 4's acceleration and deceleration is very fast, can realize step motor 4 and detector 6's quick start-stop, as shown in fig. 9.
Due to the fact that images are collected in the rotating process, the image blurring caused by the trailing phenomenon can be caused due to the fact that imaging time is insufficient. To ensure the imaging quality, it is selected to acquire the image when the detector 6 is stationary, i.e. at stage t 4. At the moment, the speed and the acceleration of the stepping motor 4 are both 0, namely the speed and the acceleration of the detector 6 are both 0, no trailing phenomenon exists, imaging is clear, and the panoramic imaging quality can be ensured.
In order to further improve the image quality of panoramic imaging, it is preferable that the detector 6 rotates by the same step angle in each imaging. For example, when a 640 × 512 detector is equipped with a 19mm lens, the view field angle is 22.9 °, 15.7 images are required for stitching a 360 ° panoramic image, and since there is no decimal number in the actual shooting number, the panoramic image is obtained by cutting and stitching 16 images, and the stepping angle of the detector 6 is 22.5 °.
When the stepping type image capturing device works, the control device outputs stepping pulse signals to the motor drive plate 31 to control the stepping motor 4 to rotate, so that the detector 6 connected with the stepping motor 4 is driven to step, and the control device outputs external synchronous signals to the detector 6 to control the detector 6 to shoot images and receive and process image information shot by the detector 6 when the detector 6 is static (namely the speed and the acceleration of the detector 6 are both 0) in the two-step process.
With the initial orientation of the stepping motor 4 being 0 °, the detector 6 rotates once when the stepping motor 4 rotates to 360 °, and at this time, the stepping motor 4 can reversely drive the stepping motor 4 to step from 360 ° to 0 ° as shown in fig. 10, or can rapidly reverse to 0 ° as shown in fig. 11. Therefore, the rotary table component 2 does not have continuous rotary motion towards the same direction, and a detector connecting wire of the detector 6 is not required to be connected with a control device through a conductive sliding ring, so that the reliability of the equipment is enhanced, and the service life of the equipment is prolonged.
Preferably, when the stepping motor 4 drives the detector 6 to rotate from 0 ° to 360 °, the stepping motor 4 drives the detector 6 to step from 360 ° to 0 ° in the reverse direction, so that the detector 6 can image in both forward rotation and reverse rotation.
In the embodiment, the stepping motor 4 directly drives the detector 6 to rotate, and the stepping staring method is adopted to collect images when the detector 6 is static, so that image blurring caused by rotation of the detector 6 is avoided, and imaging quality is ensured; only one detector 6 is adopted, an optical reflection or refraction system is not required to be arranged, the stepping type panoramic imaging equipment is simple in structure and convenient to produce and debug, and the production cost of the stepping type panoramic equipment is effectively reduced.
Preferably, the detector 6 comprises a visible light detector, a short wave infrared imaging detector, a medium wave infrared imaging detector or a long wave infrared imaging detector. The specific type and model of the detector 6 is determined according to actual production needs and is not determined here.
In consideration of the problems of different friction forces, current fluctuation and the like in all directions of the stepping motor 4, the time for stepping the stepping motor 4 to reach the position each time is not fixed, so that an external synchronous signal sent to the detector 6 by the control device is not uniform, and the image flickers.
Preferably, referring to fig. 12, an encoder 5 is sleeved outside an output shaft of the stepping motor 4, the encoder 5 is in signal connection with the control device, and when the encoder 5 displays that the stepping motor 4 is stepping in place, the control device outputs an external synchronizing signal to the detector 6. The encoder 5 can ensure that the detector 6 is in a static state when the external synchronizing signal is output, so that the problem of image flicker is avoided, and the problem of uniformity of the external synchronizing signal is solved.
On the basis of the above embodiment, please refer to fig. 3, the detector 6 is packaged in the annular window assembly 1, the stepping motor 4 and the control device are disposed in the base assembly 3, the annular window assembly 1 is sequentially provided with a light screen 11, an upper window support 12, an annular window 13 and a lower window support 14 for connecting with the base assembly 3 from top to bottom, the light screen 11 is connected with the upper window support 12, the upper window support 12 is connected with the lower window support 14 through a support column 15, and the annular window 13 is hermetically connected between the upper window support 12 and the lower window support 14; the lower terminal surface of support 12 on the window and the up end of window under bracing 14 all are equipped with the constant head tank, and annular window 13 is equipped with the rubber circle rand 17 that is used for restricting the axial displacement of fixed rubber circle 16 in the constant head tank through the joint of fixed rubber circle 16 in the constant head tank.
Referring to fig. 1, an annular window assembly 1 and a base assembly 3 jointly form a housing of the step-type panoramic apparatus, wherein the annular window assembly 1 is mainly used for shielding an external light source to reduce the influence of radiation on the temperature of internal elements such as a detector 6 and transmitting band light required by imaging of the detector 6; the base assembly 3 is primarily used to mount and support the stepper motor 4 and the turntable assembly 2.
The annular window 13 can be arranged into a film shape to ensure good light transmission performance, the annular window 13 is clamped in the positioning groove by utilizing the fixed rubber ring 16, on one hand, the displacement of the annular window 13 can be limited, the annular window component 1 is sealed, and on the other hand, the annular window 13 is prevented from being damaged in the assembling process.
In consideration of the extrusion deformation of the fixed rubber ring 16, a certain assembly gap exists between the fixed rubber ring 16 and the rubber ring clamping ring 17, and the specific size of the assembly gap is determined according to the material, the size and other factors of the fixed rubber ring 16 in actual production.
The support column 15 is connected with the window upper support 12 and the window lower support 14, and supports the window upper support 12 and the light screen 11, and the connection modes between the window upper support 12 and the support column 15 and between the support column 15 and the window lower support 14 can be the same or different; the two can be connected by detachable connection modes such as bolt connection, pin connection, clamping connection and the like or non-detachable connection modes such as welding, bonding and the like.
Preferably, referring to fig. 3, the lower end surface of the window upper support 12 is provided with a positioning hole, the upper end surface of the window lower support 14 is provided with a pin hole, the upper end surface of the support column 15 is provided with a limiting column which is in clamping fit with the positioning hole, and the lower end surface of the support column 15 is connected with the window lower support 14 through a pin, so that the window lower support is simple in structure and convenient to manufacture and assemble.
In the embodiment, the circumferential displacement of the annular window 13 is limited by the fixed rubber ring 16, and the axial displacement of the fixed rubber ring 16 is limited by the rubber ring retainer ring 17, so that the annular window 13 is hermetically connected with the upper window support 12 and the lower window support 14.
Preferably, the supporting columns 15 are uniformly distributed in the circumferential direction of the under-window support 14, and the distance from the supporting columns 15 to the detector 6 is smaller than the minimum imaging distance of the detector 6, so as to prevent the supporting columns 15 from interfering with the imaging of the panoramic image.
The number, material, shape, size, distribution position and the like of the supporting columns 15 are determined according to the actual production requirements, and are not described in detail herein.
On the basis of the above embodiment, please refer to fig. 4 and 5, the detector 6 is mounted on the turntable assembly 2, the turntable assembly 2 includes a load disc 25 for connecting with the output shaft of the stepping motor 4, a movement fixing frame 21, a movement base 22 for cooperating with the movement fixing frame 21 to fix the detector 6, at least one fixing seat 23 and at least one adjusting seat 24, and both the fixing seat 23 and the adjusting seat 24 are connected with the load disc 25; the fixed seat 23 is provided with a circular connecting hole, the adjusting seat 24 is provided with a waist-shaped connecting hole, so that the included angle between the axis of the detector 6 and the width direction of the load disk 25 can be adjusted by adjusting the connecting position of the movement base 22 and the adjusting seat 24; the same side of the fixed seat 23 and the adjusting seat 24 can be provided with a cushion block so as to adjust the included angle between the machine core seat 22 and the plane of the load disk 25.
It should be noted that, when the same side includes both the fixed seat 23 and the adjusting seat 24, they are located on the same side of the axis of the detector 6; also included are the fixed seats 23 and the adjustment seats 24, which are located on the same side of the axis of the probe 6, when there are a plurality of fixed seats 23 and a plurality of adjustment seats 24.
The structure, shape, material and size of the movement fixing frame 21, the movement base 22 and the load disc 25 are determined according to the size of the base assembly 3 and the detector 6 in actual production and other factors, and are not described in detail herein.
The fixed seat 23 and the adjusting seat 24 are both connected with the movement base 22, and the connection modes of the fixed seat 23 and the adjusting seat 24 and the movement base 22 can be the same or different. To facilitate the assembly and adjustment of the turntable assembly 2, preferably, the fixed seat 23 and the adjusting seat 24 may be both bolted to the movement base 22.
The number of the fixed seats 23 and the number of the adjusting seats 24 can be the same or different, and the number and distribution of the fixed seats 23 and the adjusting seats 24 are determined according to the requirement of the design adjusting range. Specifically, the fixed seat 23 and the adjusting seat 24 can be both arranged as one; as shown in fig. 5, the fixed seat 23 and the adjusting seat 24 may be provided in two; it is also possible to set the number of the fixed seats 23 to one and the number of the adjusting seats 24 to two.
Referring to fig. 4 and 5, the vertical direction is taken as the X axis, the length direction of the load tray 25 is taken as the Y axis, and the width direction of the load tray 25 is taken as the Z axis.
The fixing seat 23 is provided with a circular connecting hole, the connecting position of the movement base 22 and the circular connecting hole is fixed, namely, the height of the connecting point of the movement base 22 and the fixing seat 23 on the X axis is fixed, so that the connecting position of the movement base 22 and the waist-shaped connecting hole is adjusted, the height of the connecting point of the movement base 22 and the adjusting seat 24 on the X axis can be changed, the included angle between the movement base 22 and the YOZ plane is further changed, and the axis of the detector 6 rotates around the Z axis.
Taking a single fixed seat 23 and a single adjusting seat 24 as an example, arranging a cushion block on one side of the two can make the movement base 22 no longer parallel to the YOZ plane, changing the height of the cushion block can change the included angle between the movement base 22 and the YOZ plane, and make the axial direction of the detector 6 rotate around the Y axis.
In this embodiment, the connecting position of the core base 22 and the adjusting seat 24 can be adjusted, the included angle between the axis of the detector 6 and the width direction of the load disk 25 can be adjusted, the included angle between the core base 22 and the plane of the load disk 25 can be adjusted by placing the cushion blocks on the same side of the fixing seat 23 and the adjusting seat 24, the adjustment automation degree is high, and the adjustment is simple and convenient, and the operation is convenient.
Preferably, referring to fig. 5, the probe 6 and the control device are connected by a probe connecting wire, and the load tray 25 is provided with a wiring groove 251 for fixing the probe connecting wire, so that the friction between the probe connecting wire and the metal element is reduced and the service life of the cable is prolonged by fixing the position of the probe connecting wire.
In order to better limit the movement of the probe connecting wires, preferably, referring to fig. 5, the load tray 25 is provided with a wire harness fixing seat 26 for pressing the probe connecting wires in the wiring groove 251, and the shape, size, and arrangement position of the wire harness fixing seat 26 and the connection mode of the wire harness fixing seat 26 and the load tray 25 are determined according to actual production needs by referring to the prior art, and are not described herein again.
Referring to fig. 7, on the basis of the above embodiment, a harness sleeve 43 for accommodating a connecting wire of the detector is disposed in the base assembly 3, a jackscrew fixing member 42 is sleeved outside an output shaft of the stepping motor 4, and the harness sleeve 43 is connected to the jackscrew fixing member 42.
Therefore, the detector connecting wire penetrates through the wiring groove 251 and then penetrates into the wire harness sleeve 43, and is connected with the control device after penetrating through the wire harness sleeve 43, so that the contact between the detector connecting wire and a metal element is reduced, and the service life of the detector connecting wire is prolonged.
In order to improve the stability and safety of the system, it is preferable that an electric limit sensing block is provided on the load tray 25, and a proximity switch cooperating with the electric limit sensing block is provided on the base assembly 3, so that the abnormal operation of the control device is prevented by the electric limit.
The invention further provides a step-by-step panoramic imaging system including the step-by-step panoramic imaging device disclosed in the above embodiment, the step-by-step panoramic imaging system includes the step-by-step panoramic imaging device disclosed in the above embodiment and a PC terminal in signal connection with the step-by-step imaging device, and the structure of the PC terminal refers to the prior art and is not described herein again.
In addition to the step-by-step panoramic imaging apparatus and the step-by-step imaging system described above, the present invention also provides a step-by-step panoramic imaging method for the step-by-step panoramic imaging apparatus disclosed in the above embodiments, comprising,
step S1: controlling the stepping motor 4 to drive the detector 6 to rotate by a preset stepping angle from the initial angle;
step S2: when the stepping motor 4 finishes the rotation of a preset stepping angle and the detector 6 is static, controlling the detector 6 to image;
step S3: if the stepping motor 4 rotates to the scanning boundary angle, controlling the stepping motor 4 to rotate reversely to the initial angle; otherwise, the stepping motor 4 is controlled to continue to rotate, i.e., the step S1 is performed.
It should be noted that in step S1, the starting angle is selected to be 0 °, the stepping motor 4 scans and images a sector area between 0 ° and the scanning boundary angle, and the scanning boundary angle may be set to 360 °, 180 °, 90 ° or any other angle according to actual production requirements; the preset stepping angle is the angle of single rotation of the stepping motor 4, and is related to the size of the scanning boundary angle and the view angle of the detector 6 in actual production.
It should be noted that in step S3, after the stepping motor 4 rotates to the scanning boundary angle, it does not rotate in the original direction, but rotates in the opposite direction, so as to prevent the detector 6 from continuously rotating in the same direction, and therefore, the signal transmission between the detector 6 and the control device is implemented without a conductive slip ring, thereby increasing the reliability and the service life of the device, and facilitating to simplify the structure of the device and reduce the cost.
Preferably, the step S3 of controlling the stepping motor 4 to rotate reversely to the starting angle includes:
step S31: controlling the stepping motor 4 to rotate reversely by a preset stepping angle;
step S32: when the stepping motor 4 finishes the rotation of a preset stepping angle and the detector 6 is static, controlling the detector 6 to image;
step S33: if the stepping motor 4 does not rotate to the initial angle, controlling the stepping motor 4 to continue to rotate reversely, i.e. entering step S31; otherwise, the stepping motor 4 is controlled to rotate in the original direction, i.e., the step S1 is performed.
In this embodiment, step-by-step to the initial angle through step motor 4 backward, compare in step motor 4 and drive 6 antiport of detector to initial angle fast, detector 6 still can form images during the reversal, more is favorable to satisfying panoramic imaging equipment's the formation of image requirement.
Of course, if a faster imaging speed is desired, step S32 may be eliminated, or the stepping motor 4 may be directly controlled to rapidly rotate from the scanning boundary angle to the initial angle.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The stepping panoramic imaging device, method and system provided by the invention are described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (10)
1. The stepping panoramic imaging equipment is characterized by comprising a detector (6), a stepping motor (4) and a control device, wherein the stepping motor (4) is connected with the detector (6) to drive the detector (6) to rotate, and a motor drive plate (31) of the stepping motor (4) and the detector (6) are in signal connection with the control device;
the control device is used for outputting a stepping pulse signal to the motor driving plate (31) and outputting an external synchronous signal to the detector (6) when the detector (6) is static and receiving and processing image information shot by the detector (6).
2. The step panoramic imaging device according to claim 1, characterized in that the detector (6) is mounted to a turntable assembly (2), the turntable assembly (2) comprises a load plate (25) for connecting with the output shaft of the stepping motor (4), a movement mount (21), a movement base (22) for cooperating with the movement mount (21) to fix the detector (6), at least one fixed seat (23) and at least one adjusting seat (24), the fixed seat (23) and the adjusting seat (24) are both connected with the load plate (25);
the fixed seat (23) is provided with a circular connecting hole, the adjusting seat (24) is provided with a waist-shaped connecting hole, so that the included angle between the axis of the detector (6) and the width direction of the load disc (25) can be adjusted by adjusting the connecting position of the movement base (22) and the adjusting seat (24);
cushion blocks are arranged on the same side of the fixed seat (23) and the adjusting seat (24) so as to adjust the included angle between the machine core base (22) and the plane where the load disc (25) is located.
3. The step-by-step panoramic imaging device according to claim 2, wherein the detector (6) is packaged in a circular window assembly (1), the stepping motor (4) and the control device are arranged in a base assembly (3), the circular window assembly (1) is sequentially provided with a light shielding plate (11), an upper window support (12), a circular window (13) and a lower window support (14) connected with the base assembly (3) from top to bottom, the light shielding plate (11) is connected with the upper window support (12), the upper window support (12) is connected with the lower window support (14) through a support column (15), and the circular window (13) is hermetically connected between the upper window support (12) and the lower window support (14);
the window is characterized in that the lower end face of the window upper support (12) and the upper end face of the window lower support (14) are respectively provided with a positioning groove, the annular window (13) is clamped in the positioning grooves through a fixed rubber ring (16), and a rubber ring clamping ring (17) used for limiting the axial displacement of the fixed rubber ring (16) is arranged in the positioning grooves.
4. The stepped panoramic imaging apparatus according to claim 3, characterized in that the support columns (15) are evenly distributed in the circumferential direction of the under-window support (14), the distance of the support columns (15) to the detector (6) being smaller than the minimum imaging distance of the detector (6).
5. The step-by-step panoramic imaging apparatus according to any one of claims 2-4, characterized in that the detector (6) and the control device are connected by a detector connection line, and the load tray (25) is provided with a wiring groove (251) for fixing the detector connection line.
6. The step-by-step panoramic imaging device according to claim 5, characterized in that a harness sleeve (43) for accommodating the detector connecting wire is arranged in the base assembly (3), a jackscrew fixing piece (42) is sleeved outside an output shaft of the step motor (4), and the harness sleeve (43) is connected with the jackscrew fixing piece (42).
7. The step-by-step panoramic imaging device according to any one of claims 1 to 4, characterized in that the control means comprises a motion control module (32) and an image processing module (33), the motor driving board (31) and the detector (6) are in signal connection with the motion control module (32), and the detector (6) is in signal connection with the image processing module (33).
8. A step-by-step panoramic imaging system, comprising the step-by-step panoramic imaging device of any one of claims 1 to 7 and a PC terminal in signal connection with the step-by-step panoramic imaging device.
9. A step-by-step panoramic imaging method applied to the step-by-step panoramic imaging apparatus according to any one of claims 1 to 7, comprising:
controlling a stepping motor (4) to drive a detector (6) to step by a preset stepping angle from an initial angle;
when the stepping motor (4) finishes the rotation of the preset stepping angle and the detector (6) is static, the detector (6) is controlled to image;
and if the stepping motor (4) rotates to a scanning boundary angle, controlling the stepping motor (4) to reversely rotate to the initial angle, otherwise, controlling the stepping motor (4) to continuously rotate.
10. The step panoramic imaging method of claim 9, wherein the controlling the stepper motor to rotate in reverse to the starting angle comprises:
controlling the stepping motor (4) to rotate reversely by the preset stepping angle;
when the stepping motor (4) finishes the rotation of the preset stepping angle and the detector (6) is static, the detector (6) is controlled to image;
and if the stepping motor (4) does not rotate to the initial angle, controlling the stepping motor (4) to continue to rotate in the reverse direction, otherwise, controlling the stepping motor (4) to rotate in the original direction.
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