CN114070984B - Stepping panoramic imaging equipment, method and system - Google Patents
Stepping panoramic imaging equipment, method and system Download PDFInfo
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- CN114070984B CN114070984B CN202111354595.7A CN202111354595A CN114070984B CN 114070984 B CN114070984 B CN 114070984B CN 202111354595 A CN202111354595 A CN 202111354595A CN 114070984 B CN114070984 B CN 114070984B
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- 238000003384 imaging method Methods 0.000 title claims abstract description 87
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- 238000012545 processing Methods 0.000 claims description 15
- 238000006073 displacement reaction Methods 0.000 claims description 7
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- 238000007789 sealing Methods 0.000 claims description 5
- 230000000670 limiting effect Effects 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 17
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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
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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 the 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 the debugging are convenient.
Description
Technical Field
The invention relates to the technical field of panoramic imaging, in particular to stepping panoramic imaging equipment. 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 utilized to image at different directions simultaneously, and then the panoramic images are spliced, but the panoramic images are limited by the fact that the price of the detectors is high and the production cost is high; secondly, large-angle imaging is realized by utilizing a plurality of optical lenses, but the imaging range is not 360-degree panoramic, a field blind area exists, and the optical debugging is needed for a plurality of times, so that the mass production is inconvenient.
In summary, how to provide a panoramic imaging apparatus with convenient production and low cost is a problem to be solved by those skilled in the art.
Disclosure of Invention
Therefore, the invention aims to provide the stepping panoramic imaging equipment, which directly drives the detector to rotate by the stepping motor and collects the image information when the detector is static, thereby ensuring the imaging quality, and has simple structure, lower cost and convenient 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 object, the present invention provides the following technical solutions:
The stepping panoramic imaging equipment comprises a detector, a stepping motor and a control device, wherein the stepping motor is used for being connected with the detector to drive the detector to rotate, and a motor driving plate of the stepping motor and the detector are connected with the control device through signals;
the control device is used for outputting a stepping pulse signal to the motor driving plate, outputting an external synchronous signal 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, a movement fixing frame, a movement base, at least one fixing seat and at least one adjusting seat, wherein the load disc is used for being connected with an output shaft of the stepping motor, the movement base is used for being matched with the movement fixing frame to fix the detector, and the fixing seat and the adjusting seat are 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 disc by adjusting the connecting position of the core base and the adjusting seat;
And the same sides of the fixed seat and the adjusting seat are provided with cushion blocks so as to adjust the included angle between the core base and the plane where the load disc is located.
Preferably, the detector is packaged in a circumferential window assembly, the stepper motor and the control device are arranged in a base assembly, the annular window assembly is sequentially provided with a light shielding plate, an upper window support, an annular window and a lower window support used for being connected with the base assembly from top to bottom, the light shielding plate 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 connected between the upper window support and the lower window support in a sealing manner;
the lower end face of the window upper support and the upper end face of the window lower support are respectively provided with a positioning groove, the annular window is clamped in the positioning grooves through the fixed rubber rings, and rubber ring clamping rings used for limiting the axial displacement of the fixed rubber rings are arranged in the positioning grooves.
Preferably, the support columns are uniformly distributed in the circumferential direction of the lower support of the window, and the distance between the support columns and the detector is smaller than the minimum imaging distance of the detector.
Preferably, the detector is connected with the control device through a detector connecting wire, and the load disc is provided with a wiring groove for fixing the detector connecting wire.
Preferably, a wire harness sleeve for accommodating the detector connecting wire is arranged in the base assembly, a jackscrew fixing piece is sleeved outside the output shaft of the stepping motor, and the wire harness sleeve is connected with the jackscrew fixing piece.
Preferably, the control device comprises a motion control module and an image processing module, the motor driving plate and the detector are connected with the motion control module in a signal mode, and the detector is connected with the image processing module in a signal mode.
A stepped panoramic imaging system comprising a stepped panoramic imaging device as defined in any one of the above and a PC end in signal connection with said stepped imaging device.
A stepped panoramic imaging method applied to any one of the above stepped panoramic imaging devices, comprising:
controlling a stepping motor to drive the detector to step by a preset stepping angle from the initial angle;
When the stepping motor finishes the rotation of the preset stepping angle and the detector is static, controlling the detector 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 stepper motor to reversely rotate to the initial angle includes:
controlling the stepping motor to reversely rotate by the preset stepping angle;
When the stepping motor finishes the rotation of the preset stepping angle and the detector is static, controlling the detector to image;
And if the stepping motor does not rotate to the initial angle, controlling the stepping motor to continue to rotate reversely, 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 a stepping pulse signal to the motor driving plate to control the stepping motor to rotate so as to drive the detector to step, and the control device outputs an external synchronous signal to the detector to control the detector to shoot and image during the process of two steps when the detector is stationary (namely, the speed and the acceleration of the detector are 0), and receives and processes the image information shot by the detector.
The stepping motor directly drives the detector to rotate, and the image acquisition is carried out when the detector is stationary by adopting a stepping staring method, so that 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 panoramic imaging equipment is simple in structure and convenient to produce and debug, and the production cost of the stepping 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 that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a specific embodiment of a step panoramic imaging apparatus provided by the present invention;
FIG. 2 is a schematic diagram of the structure of FIG. 1;
FIG. 3 is a schematic view of the structure of an annular window assembly;
FIG. 4 is a schematic view of the turntable 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 diagram of an assembly of a stepper motor and encoder;
FIG. 8 is a graph showing the relationship between the angle θ and the angular velocity ω when the stepper motor steps;
FIG. 9 is a graph showing the relationship between time t and angle θ when a stepper motor steps;
FIG. 10 is a graph I of time t versus angle θ for multiple steps of a stepper motor;
FIG. 11 is a second graph of time t versus angle θ for multiple steps of the stepper motor;
Fig. 12 is a schematic diagram showing the correspondence between the t- θ relationship diagram of the stepper motor and the t-V relationship diagram of the external synchronization signal.
In fig. 1-12:
The device comprises an annular window assembly 1, a shading plate 11, an upper window support 12, an annular window 13, a lower window support 14, a supporting column 15, a fixed rubber ring 16, a rubber ring collar 17, a rotary table assembly 2, a machine core fixing frame 21, a machine core 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-holding device 41, a jackscrew fixing piece 42, a wiring harness sleeve 43, an encoder 5 and a detector 6.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The core of the invention is to provide a stepping panoramic imaging device, wherein 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 a simple structure, low cost and convenient mass production.
In addition, the invention also provides a stepping panoramic imaging system comprising the stepping panoramic imaging device and a stepping panoramic imaging system for the stepping panoramic imaging device.
Please refer to fig. 1-12.
It should be noted that panoramic imaging mentioned in the present document includes, but is not limited to, 360 ° imaging, and any angle sector scanning such as stepping 90 ° and 180 ° may be provided.
Referring to fig. 1 and 2, the stepping panoramic imaging apparatus provided by the present invention includes a detector 6, a stepping motor 4 connected to the detector 6 to drive the detector 6 to rotate, and a control device, wherein a motor driving board 31 of the stepping motor 4 and the detector 6 are both connected to the control device by signals; the control device is used for outputting a stepping pulse signal to the motor driving plate 31, outputting an external synchronization signal to the detector 6 when the detector 6 is stationary, and receiving and processing image information photographed by the detector 6.
The control device is connected with the stepping motor 4 and the detector 6 in a signal way, and is used for controlling the rotation of the stepping motor 4 and the imaging of the detector 6 and processing the 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 connected with the motion control module 32 in a signal manner, and the detector 6 is connected with the image processing module 33 in a signal manner.
The motion control module 32 is connected with the motor driving plate 31 through a driving plate connecting wire, the motion control module 32 is connected with the detector 6 through a detector connecting wire, and in order to reduce wire harness friction, the motion control module 32 is provided with a wire harness end block 34 and a wire harness pressing block 35 for fixing the detector connecting wire. In addition, referring to fig. 6, the motion control module 32 communicates with an electrical connector as an external communication interface.
The image processing module 33 and the PC end may be connected through a network cable transmission connection, or may be connected through a wireless transmission mode.
The motion control module 32 and the image processing module 33 respectively process motion control of the stepper motor 4 and the detector 6, and work of image acquisition, compression, processing and transmission is beneficial to improving the processing efficiency of the control device.
Referring to fig. 8 and 9, fig. 8 is a graph of angle θ versus angular velocity ω when the stepper motor steps, and fig. 9 is a graph of time t versus angle θ when the stepper motor steps. Wherein T1 is an acceleration stage of the stepper motor 4, T2 is a constant speed stage of the stepper motor 4, T3 is a deceleration stage of the stepper motor 4, T4 is an integral residence stage (imaging stage of the detector 6), and T1 and T2 … … Tn are the first and second … … nth stepping processes of the stepper motor 4 respectively.
In order to facilitate adjustment of the axial position of the detector 6 and to avoid wobble of the detector 6 relative to the stepper motor 4 during rotation, the detector 6 is typically mounted to the turntable assembly 2. The axle holder 41 of step motor 4 is connected with the revolving stage subassembly 2 of installing detector 6, drives detector 6 circumference rotation, compares in prior art hold-in range transmission, direct current brushless motor direct drive, 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.
Because the images are acquired in the rotation process, the image blurring caused by the tailing phenomenon generated by insufficient imaging time is limited. To ensure imaging quality, the acquisition of images is chosen while the detector 6 is stationary, i.e. at stage t 4. At this time, the speed and the acceleration of the stepper motor 4 are both 0, that is, the speed and the acceleration of the detector 6 are both 0, the tailing phenomenon is avoided, the 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 to set the stepping angle of the detector 6 to be the same every time imaging is turned. For example, when a 640×512 detector is equipped with a 19mm lens, the field angle is 22.9 °, 15.7 images are required for stitching 360 ° panoramic images, and since there is no decimal fraction of the actual number of shots, the panoramic images are acquired by stitching 16 images, and the stepping angle of the detector 6 is 22.5 °.
When the detector 6 is in operation, the control device outputs a stepping pulse signal to the motor driving plate 31 to control the stepping motor 4 to rotate, so as to drive the detector 6 connected with the stepping motor 4 to step, and outputs an external synchronous signal to the detector 6 to control the detector 6 to shoot and image during the process of two steps when the detector 6 is stationary (namely, the speed and the acceleration of the detector 6 are 0), and receives and processes the image information shot by the detector 6.
With the initial orientation of the stepper motor 4 being 0 °, the detector 6 rotates one revolution when the stepper motor 4 rotates to 360 °, at which time the stepper motor 4 may be back-driven to step from 360 ° to 0 ° as shown in fig. 10, or may be rapidly reversed to 0 ° as shown in fig. 11. Therefore, the turntable assembly 2 does not continuously rotate in the same direction, and the detector connecting wire of the detector 6 does not need to be connected with the control device through the conductive slip ring, so that the reliability of the equipment is enhanced, and the service life of the equipment is prolonged.
Preferably, the stepper motor 4 may be configured to drive the detector 6 to rotate from a 0 ° step to 360 ° step, and the stepper motor 4 may be configured to drive the detector 6 to rotate from a 360 ° reverse step to 0 ° step, so that the detector 6 can image both in forward and reverse rotation.
In the embodiment, the stepping motor 4 directly drives the detector 6 to rotate, and the image acquisition is carried out when the detector 6 is static by adopting a stepping staring method, so that the image blurring caused by the rotation of the detector 6 is avoided, and the imaging quality is ensured; only one detector 6 is adopted, an optical reflection or refraction system is not required, the stepping panoramic imaging device is simple in structure and convenient to produce and debug, and the production cost of the stepping panoramic device 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 the actual production requirements and is not determined here.
In consideration of the problems of different friction forces, current fluctuation and the like of the stepping motor 4 in all directions, the stepping time of the stepping motor 4 in place is not fixed each time, so that the external synchronous signals sent to the detector 6 by the control device are uneven, and the problem of flickering of images is caused.
Preferably, referring to fig. 12, an output shaft of the stepper motor 4 is sleeved with an encoder 5, the encoder 5 is connected with a control device in a signal manner, and when the encoder 5 shows that the stepper motor 4 steps in place, the control device outputs an external synchronization signal to the detector 6. The encoder 5 can ensure that the detector 6 is in a static state when the external synchronous signal is output, so that the problem of image flickering is avoided, and the problem of uniformity of the external synchronous signal is solved.
On the basis of the above embodiment, referring to fig. 3, the detector 6 is encapsulated in the annular window assembly 1, the stepper motor 4 and the control device are arranged in the base assembly 3, the annular window assembly 1 is sequentially provided with a light shielding plate 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 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 annular window 13 is connected between the upper window support 12 and the lower window support 14 in a sealing manner; 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 the fixed rubber ring 16, and a rubber ring clamping ring 17 for limiting the axial displacement of the fixed rubber ring 16 is arranged in the positioning grooves.
Referring to fig. 1, an annular window assembly 1 and a base assembly 3 together form a housing of the stepping panoramic apparatus, wherein the annular window assembly 1 is mainly used for shielding an external light source to weaken the influence of radiation on the temperature of internal elements such as a detector 6 and the like, and transmitting wave band light required by imaging of the detector 6; the base assembly 3 is used primarily to mount and support the stepper motor 4 and turntable assembly 2.
The annular window 13 can be set to be film-shaped so as to ensure good light transmission performance, and the annular window 13 is clamped in the positioning groove by utilizing the fixed rubber ring 16, so that 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 assembly process.
The fixed rubber ring 16 and the rubber ring clamping ring 17 are respectively arranged at the bottom and the top of the positioning groove, so that the fixed rubber ring 16 is prevented from axial displacement to loosen the annular window 13, and the waterproof sealing effect of the annular window assembly 1 is further affected.
Considering 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 and the size of the fixed rubber ring 16 in actual production.
The support column 15 connects the window upper support 12 and the window lower support 14, and supports the window upper support 12 and the light shielding plate 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 a detachable connection mode such as bolt connection, pin connection, clamping connection and the like or an undetachable connection mode such as welding, bonding and the like.
Preferably, referring to fig. 3, a positioning hole is provided on the lower end surface of the window upper support 12, a pin hole is provided on the upper end surface of the window lower support 14, a limiting column for being engaged with the positioning hole is provided on the upper end surface of the supporting column 15, and the lower end surface of the supporting column 15 is connected with the window lower support 14 through a pin, so that the structure is simple and the manufacturing and the assembly are convenient.
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 clamping ring 17, so that the sealing connection between the annular window 13 and the window upper support 12 and the window lower support 14 is realized.
Preferably, the support columns 15 may be arranged to be uniformly distributed in the circumferential direction of the window lower support 14, and the distance from the support columns 15 to the detector 6 is smaller than the minimum imaging distance of the detector 6, so as to prevent the support columns 15 from interfering with panoramic image imaging.
The number, material, shape, size, distribution position, etc. of the support columns 15 are determined according to the actual production requirements, and will not be described herein.
On the basis of the above embodiment, referring 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 stepper motor 4, a movement holder 21, a movement base 22 for cooperating with the movement holder 21 to fix the detector 6, at least one fixing base 23 and at least one adjusting base 24, and both the fixing base 23 and the adjusting base 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, and the included angle between the axis of the detector 6 and the width direction of the load disc 25 is 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 plane of the movement base 22 and the plane of the load disc 25.
It should be noted that, when the same side includes both the fixed seat 23 and the adjusting seat 24, the two are located at the same side of the axis of the detector 6; also included are a plurality of holders 23 and a plurality of adjustment holders 24, the holders 23 and the adjustment holders 24 being located on the same side of the axis of the detector 6.
The structure, shape, material and size of the deck mount 21, deck base 22 and load disc 25 are determined according to factors such as the size of the base assembly 3 and the detector 6 in actual production, and will not be described again here.
The fixing seat 23 and the adjusting seat 24 are connected with the movement base 22, and the connection modes of the fixing seat 23 and the adjusting seat and the movement base 22 can be the same or different. To facilitate the assembly and adjustment of the turret assembly 2, it is preferable to provide a fixed seat 23 and an adjustment seat 24 both bolted to the movement base 22.
The number of the fixing seats 23 and the number of the adjusting seats 24 can be the same or different, and the number and the distribution of the fixing seats 23 and the adjusting seats 24 are determined according to the design adjusting range requirement. Specifically, the fixed seat 23 and the adjusting seat 24 may be provided as one; it is also possible to provide two fixing seats 23 and two adjusting seats 24 as shown in fig. 5; it is also possible to set the number of fixing seats 23 to one and the number of adjusting seats 24 to two.
Referring to fig. 4 and 5, the vertical direction is taken as the X axis, the longitudinal 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 core base 22 and the circular connecting hole is fixed, namely, the height of the connecting point of the core base 22 and the fixing seat 23 on the X axis is fixed, so that the connecting position of the core base 22 and the waist-shaped connecting hole is adjusted, the height of the connecting point of the core base 22 and the adjusting seat 24 on the X axis can be changed, and then the included angle between the core base 22 and the YOZ plane is changed, namely, the axis of the detector 6 rotates around the Z axis.
Taking a single fixing seat 23 and a single adjusting seat 24 as examples, a cushion block is arranged on one side of the two, so that the movement base 22 is no longer parallel to the YOZ plane, and the included angle between the movement base 22 and the YOZ plane can be changed by changing the height of the cushion block, so that the axial direction of the detector 6 rotates around the Y axis.
In this embodiment, the connection position of the movement base 22 and the adjustment seat 24 can be adjusted to adjust the included angle between the axis of the detector 6 and the width direction of the load disc 25, and the included angle between the movement base 22 and the plane of the load disc 25 can be adjusted by placing the cushion blocks on the same side of the fixing seat 23 and the adjustment seat 24, so that the adjustment automation is high, and the adjustment is simple and convenient, and the operation is convenient.
Preferably, referring to fig. 5, the detector 6 is connected to the control device through a detector connection wire, the load board 25 is provided with a wiring groove 251 for fixing the detector connection wire, and friction between the detector connection wire and the metal element is reduced and the service life of the cable is prolonged by fixing the position of the detector connection wire.
In order to better limit the movement of the probe connection wire, preferably, referring to fig. 5, the load board 25 is provided with a wire harness fixing seat 26 for pressing the probe connection wire in the wire harness groove 251, and the shape, size, setting position of the wire harness fixing seat 26 and the connection mode of the wire harness fixing seat 26 and the load board 25 are determined according to the actual production requirement with reference to the prior art, and are not described herein.
Referring to fig. 7, on the basis of the above embodiment, a harness sleeve 43 for accommodating the connection wire of the detector is disposed in the base assembly 3, a jackscrew fixing member 42 is sleeved on the output shaft of the stepper motor 4, and the harness sleeve 43 is connected with the jackscrew fixing member 42.
Therefore, the detector connecting wire penetrates into the wire harness sleeve 43 after penetrating out of the wiring groove 251 and is connected with the control device after penetrating out of the wire harness sleeve 43, so that contact between the detector connecting wire and the 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 disposed on the load disc 25, and a proximity switch matched with the electric limit sensing block is disposed on the base assembly 3, so that abnormal operation of the control device is prevented through electric limit.
The invention also provides a step-by-step panoramic imaging system comprising the step-by-step panoramic imaging device disclosed by the embodiment, which comprises the step-by-step panoramic imaging device disclosed by the embodiment and a PC end connected with the step-by-step imaging device through signals, wherein the structure of the PC end refers to the prior art, and the description is omitted.
In addition to the above-described stepped panoramic imaging apparatus and stepped imaging system, the present invention also provides a stepped panoramic imaging method for the stepped panoramic imaging apparatus disclosed in the above-described embodiments, including,
Step S1: the stepping motor 4 is controlled 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, the detector 6 is controlled to image;
step S3: if the stepping motor 4 rotates to the scanning boundary angle, controlling the stepping motor 4 to reversely rotate to the initial angle; otherwise, the stepping motor 4 is controlled to continue to rotate, i.e. the process advances to step S1.
It should be noted that, in step S1, the initial angle is selected to be 0 °, and the step motor 4 scans and images the sector area between 0 ° and the scanning boundary angle, where the scanning boundary angle may be set to 360 °, 180 °, 90 ° or any other angle according to the actual production requirement; the preset stepping angle is the angle through which the stepping motor 4 rotates once, and is related to the size of the scanning boundary angle and the angle of the field of view of the detector 6 in actual production.
It is necessary to explain step S3 that after the stepper motor 4 rotates to the scanning boundary angle, it does not rotate to the original direction any more, but rotates to the opposite direction instead, so as to avoid the continuous rotation motion of the detector 6 to the same direction, so that the signal transmission between the detector 6 and the control device is realized without conductive slip rings, increasing the reliability and service life of the device, and being beneficial to simplifying the structure of the device and reducing the cost.
Preferably, the step S3 of controlling the stepping motor 4 to reversely rotate to the initial angle includes:
step S31: controlling the stepping motor 4 to reversely rotate 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, the detector 6 is controlled to image;
Step S33: if the stepper motor 4 does not rotate to the initial angle, the stepper motor 4 is controlled to continue to rotate reversely, namely, the step S31 is performed; otherwise, the stepping motor 4 is controlled to rotate in the original direction, that is, the process advances to step S1.
In this embodiment, the stepper motor 4 is used to reversely step to the initial angle, so that compared with the stepper motor 4 which is used to quickly drive the detector 6 to reversely rotate to the initial angle, the detector 6 can still image during the reverse rotation, which is more beneficial to meeting the imaging requirement of the panoramic imaging device.
Of course, if a faster imaging speed is sought, step S32 may be omitted, or the stepping motor 4 may be directly controlled to rapidly rotate from the scanning boundary angle to the start angle.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.
The stepping panoramic imaging equipment, the stepping panoramic imaging method and the stepping panoramic imaging system provided by the invention are described in detail above. The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to facilitate an understanding of the method of the present invention and its core ideas. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the invention can be made without departing from the principles of the invention and these modifications and adaptations are intended to be within the scope of the invention as defined in the following claims.
Claims (8)
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 used for being connected with the detector (6) to drive the detector (6) to rotate, and a motor driving plate (31) of the stepping motor (4) and the detector (6) are connected with the control device through signals;
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 comprises a motion control module (32) and an image processing module (33), wherein the motor driving plate (31) is connected with the motion control module (32) through a driving plate connecting wire, the detector (6) is connected with the motion control module (32) through a detector connecting wire, and the detector (6) is in signal connection with the image processing module (33);
A stepped panoramic imaging method applied to the stepped panoramic imaging apparatus, comprising,
Controlling a stepping motor (4) to drive a detector (6) to step by a preset stepping angle from the 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, wherein the scanning boundary angle alpha meets 0< alpha less than or equal to 360 degrees.
2. A step panoramic imaging apparatus according to claim 1, wherein the detector (6) is mounted to a turntable assembly (2), the turntable assembly (2) comprising a load disc (25) for connection with an output shaft of the step motor (4), a movement holder (21), a movement base (22) for cooperation with the movement holder (21) for fixing the detector (6), at least one fixing seat (23) and at least one adjustment seat (24), the fixing seat (23) and the adjustment seat (24) being each 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 as to adjust the included angle between the axis of the detector (6) and the width direction of the load disc (25) by adjusting the connecting position of the movement base (22) and the adjusting seat (24);
and cushion blocks are arranged on the same sides of the fixed seat (23) and the adjusting seat (24) so as to adjust the included angle between the core base (22) and the plane where the load disc (25) is located.
3. The stepping panoramic imaging apparatus according to claim 2, wherein the detector (6) is encapsulated in an annular window assembly (1), the stepping motor (4) and the control device are arranged in a base assembly (3), the annular window assembly (1) is sequentially provided with a light shielding plate (11), an upper window support (12), an annular window (13) and a lower window support (14) for being 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 annular window (13) is connected between the upper window support (12) and the lower window support (14) in a sealing manner;
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 the fixed rubber rings (16), and rubber ring clamping rings (17) used for limiting the axial displacement of the fixed rubber rings (16) are arranged in the positioning grooves.
4. A stepped panoramic imaging apparatus according to claim 3, wherein said support columns (15) are evenly distributed in the circumferential direction of said under-window support (14), the distance of said support columns (15) from said detector (6) being smaller than the minimum imaging distance of said detector (6).
5. The stepped panoramic imaging apparatus of any one of claims 2-4, wherein said detector (6) and said control device are connected by a detector connection wire, said load tray (25) being provided with a wiring slot (251) for fixing said detector connection wire.
6. The stepping panoramic imaging apparatus according to claim 5, wherein a harness sleeve (43) for accommodating the detector connecting wire is arranged 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 with the jackscrew fixing member (42).
7. A stepped panoramic imaging system comprising a stepped panoramic imaging apparatus of any one of claims 1-6 and a PC terminal in signal communication with said stepped imaging apparatus.
8. A stepping panoramic imaging method applied to the stepping panoramic imaging apparatus of any one of claims 1-6, wherein said controlling said stepping motor to reversely rotate to said start angle comprises:
Controlling the stepping motor (4) to reversely rotate 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 reversely, otherwise, controlling the stepping motor (4) to rotate in the original direction.
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