CN114087510A - Article model identification device and method based on binocular vision - Google Patents
Article model identification device and method based on binocular vision Download PDFInfo
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- CN114087510A CN114087510A CN202111269296.3A CN202111269296A CN114087510A CN 114087510 A CN114087510 A CN 114087510A CN 202111269296 A CN202111269296 A CN 202111269296A CN 114087510 A CN114087510 A CN 114087510A
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- binocular camera
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- 230000006835 compression Effects 0.000 claims description 25
- 238000007906 compression Methods 0.000 claims description 25
- 239000007787 solid Substances 0.000 claims description 19
- 230000000712 assembly Effects 0.000 claims 1
- 238000000429 assembly Methods 0.000 claims 1
- 238000009434 installation Methods 0.000 abstract 6
- 238000010586 diagram Methods 0.000 description 5
- 238000001514 detection method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 101150038956 cup-4 gene Proteins 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 230000008447 perception Effects 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
- F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
- F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
- F16M13/022—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle repositionable
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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
- F16M11/043—Allowing translations
- F16M11/046—Allowing translations adapted to upward-downward translation movement
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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
- F16M11/02—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
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
- F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
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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
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
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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
- G03B17/00—Details of cameras or camera bodies; Accessories therefor
- G03B17/56—Accessories
- G03B17/561—Support related camera accessories
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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
- F16M2200/00—Details of stands or supports
- F16M2200/02—Locking means
- F16M2200/021—Locking means for rotational movement
- F16M2200/024—Locking means for rotational movement by positive interaction, e.g. male-female connections
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Accessories Of Cameras (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses an article model identification device and method based on binocular vision, and the device comprises a binocular camera body, wherein a support plate is arranged below the binocular camera body, an installation plate is arranged below the support plate, a plurality of suckers are arranged at the bottom of the installation plate, a first fixed shaft is arranged above the installation plate, the top of the first fixed shaft is fixedly connected with the bottom of the support plate, the bottom end of the first fixed shaft is connected with the top of the installation plate through a first bearing, a worm wheel is sleeved outside the first fixed shaft, a worm is arranged on one side of the worm wheel, the worm is connected with the installation plate through a rotating unit, and a fixing component matched with the worm is arranged on the installation plate. The invention discloses an article model identification device and method based on binocular vision, belongs to the technical field of binocular vision, and aims to change the orientation of a supporting plate and a binocular camera body, adjust the height of a lifting block and the height of the binocular camera body, facilitate the change of the inclination angle of the binocular camera body and facilitate practical use.
Description
Technical Field
The invention relates to the technical field of binocular vision, in particular to an article model identification device and method based on binocular vision.
Background
Binocular vision is an important branch of computer vision, can simulate human eyes and the process of human stereoscopic vision perception, and is one of the core subjects of computer vision research. In recent years, a binocular vision technology is widely applied to the fields of obstacle detection, target object detection and the like, the object model is identified through mutual verification of left and right cameras of a binocular camera and three-dimensional modeling, and the existing binocular camera is inconvenient to adjust the observation direction in multiple angles according to actual requirements and actual operation.
Disclosure of Invention
The invention mainly aims to provide an article model identification device and method based on binocular vision, which can effectively solve the problems that the existing binocular camera in the background technology is inconvenient to adjust the observation direction in multiple angles according to the actual requirement and is inconvenient to operate practically.
In order to achieve the purpose, the invention adopts the technical scheme that:
an article model recognition device based on binocular vision comprises a binocular camera body, a support plate is arranged below the binocular camera body, a mounting plate is arranged below the support plate, a plurality of suckers are arranged at the bottom of the mounting plate, a first fixing shaft is arranged above the mounting plate, the top of the first fixing shaft is fixedly connected with the bottom of the support plate, the bottom end of the first fixing shaft is connected with the top of the mounting plate through a first bearing, a worm wheel is sleeved outside the first fixing shaft, a worm is arranged on one side of the worm wheel and connected with the mounting plate through a rotating unit, a fixing component matched with the worm is arranged on the mounting plate, lifting blocks are arranged on two sides of the binocular camera body and connected with the support plate through lifting units, a second fixing shaft is fixedly connected with two sides of the binocular camera body, one end of the second fixing shaft is connected with the lifting blocks through a second bearing, the outside cover of second fixed axle is equipped with first solid fixed ring, first solid fixed ring and second fixed axle fixed connection, and first solid fixed ring passes through spacing subassembly with the elevator and is connected.
Preferably, the limiting assembly comprises a pressing ring sleeved outside the second fixed shaft, a pressing plate is arranged on one side of the lifting block, one side of the pressing plate is connected with one side of the lifting block through a plurality of compression springs, the pressing plate and the pressing ring are connected through two connecting rods, and the connecting rods penetrate through the lifting block.
Preferably, the pressing ring is located on one side, close to the binocular camera body, of the first fixing ring, and the pressing ring is in contact with the first fixing ring.
Preferably, the lifting unit is including setting up in the fixed disk of lifting block top, and the bottom fixedly connected with screw thread post of fixed disk, screw thread post run through the lifting block, and the connected mode of screw thread post and lifting block is threaded connection, and the bottom of screw thread post is passed through the third bearing with the top of backup pad and is connected.
Preferably, the rotating unit comprises fixing plates symmetrically arranged on two sides of the worm, the bottom of each fixing plate is fixedly connected with the top of the mounting plate, two ends of the worm are respectively connected with the two fixing plates through fourth bearings, and the worm is provided with a handle.
Preferably, the fixing assembly comprises a second fixing ring sleeved outside the worm, the second fixing ring is fixedly connected with the worm, a movable plate is arranged above the second fixing ring, a first groove is formed in the movable plate, inner walls of two sides of the first groove are communicated with two sides of the movable plate, an anti-slip mat is arranged on the inner wall of the first groove and is in contact with the second fixing ring, and the movable plate is connected with the mounting plate through an elastic unit.
Preferably, the elastic unit comprises two support columns arranged below the movable plate, the bottom of each support column is fixedly connected with the top of the mounting plate, a second groove is formed in the top of each support column, a movable column is arranged in each second groove, the top of each movable column is fixedly connected with the bottom of the corresponding movable plate, the bottom of each movable column is connected with the inner wall of the bottom of each second groove through a tension spring, and a pull ring is arranged at the top of each movable plate.
An article model identification method based on binocular vision comprises the following steps:
s1, adsorbing the mounting plate on the workbench through the sucker, holding the pull ring, driving the movable plate to move upwards, enabling the anti-skid pad not to be in contact with the second fixing ring any more, enabling the extension spring to be in an extension state at the moment, releasing the pressing on the second fixing ring, further releasing the fixing on the position of the worm, and enabling the worm to rotate;
s2, the worm is driven to rotate, and the first fixing shaft is enabled to rotate through the matching of the worm and the worm wheel, so that the orientation of the supporting plate and the binocular camera body is changed;
s3, after the orientation of the binocular camera body and the supporting plate is adjusted, the pull ring is loosened, the extension spring drives the movable column to move downwards, the movable plate and the non-slip mat move downwards, the non-slip mat is contacted with the second fixing ring again, the extension spring is still in a stretching state at the moment, the non-slip mat elastically presses the second fixing ring, the second fixing ring is fixed relative to the movable plate, and the possibility that the worm rotates due to non-human factors is reduced;
s4, the fixed disc is driven to rotate, so that the lifting block moves up and down, and the heights of the lifting block and the binocular camera body are adjusted;
s5, the two pressing plates are driven to move close to each other, so that the connecting rod drives the two pressing rings to move close to each other, the pressing rings are further not in contact with the first fixing ring any more, the compression spring is in a compression state at the moment, the position limitation of the first fixing ring and the position limitation of the second fixing shaft are removed, and the second fixing shaft can rotate;
s6, through the rotation of drive binocular camera body, change the inclination of binocular camera body, after the regulation finishes, loosen and press the clamp plate, and then compression spring drive presses clamp plate and connecting rod removal, make pressing ring and first solid fixed ring contact, and compression spring still is in compression state this moment, and then compression spring exerts pressure to pressing the clamp plate, make pressing ring exert pressure to first solid fixed ring, and then make pressing ring and first solid fixed ring hug closely, the position of spacing first solid fixed ring and second fixed axle, and then the position of spacing binocular camera body this moment.
Compared with the prior art, the invention has the following beneficial effects: the utility model provides an article model recognition device and method based on binocular vision, rotates through the drive worm, and then through the cooperation of worm and worm wheel for first fixed axle rotates, changes the orientation of backup pad and binocular camera body, rotates through the drive fixed disk, and then makes the elevator reciprocate, adjusts the height of elevator and binocular camera body to and be convenient for change the inclination of binocular camera body, make things convenient for in-service use.
Drawings
FIG. 1 is a schematic overall structure diagram of an article model identification device based on binocular vision according to the present invention;
FIG. 2 is a schematic structural diagram of a fixing component of the binocular vision-based article model identification device of the present invention;
FIG. 3 is a schematic structural diagram of an elastic unit of the binocular vision-based article model recognition device according to the present invention;
FIG. 4 is a schematic structural diagram of a binocular camera body of the binocular vision-based article model recognition device of the present invention;
fig. 5 is a schematic diagram of a lifting block structure of the binocular vision-based article model recognition device of the present invention.
In the figure: 1. a binocular camera body; 2. a support plate; 3. mounting a plate; 4. a suction cup; 5. a first fixed shaft; 6. a first bearing; 7. a worm gear; 8. a worm; 9. a lifting block; 10. a second fixed shaft; 11. a second bearing; 12. a first retaining ring; 13. a pressing plate; 14. a connecting rod; 15. a compression spring; 16. a threaded post; 17. a third bearing; 18. fixing the disc; 19. a fixing plate; 20. a fourth bearing; 21. a movable plate; 22. a second retaining ring; 23. a first groove; 24. a non-slip mat; 25. a support pillar; 26. a second groove; 27. a movable post; 28. an extension spring; 29. a pull ring; 30. a handle; 31. and pressing the ring.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
As shown in fig. 1 to 5, an article model recognition device based on binocular vision comprises a binocular camera body 1, a support plate 2 is arranged below the binocular camera body 1, a mounting plate 3 is arranged below the support plate 2, a plurality of suckers 4 are arranged at the bottom of the mounting plate 3, a first fixing shaft 5 is arranged above the mounting plate 3, the top of the first fixing shaft 5 is fixedly connected with the bottom of the support plate 2, the bottom end of the first fixing shaft 5 is connected with the top of the mounting plate 3 through a first bearing 6, a worm wheel 7 is sleeved outside the first fixing shaft 5, a worm 8 is arranged on one side of the worm wheel 7, the worm 8 is connected with the mounting plate 3 through a rotating unit, a fixing component matched with the worm 8 is arranged on the mounting plate 3, lifting blocks 9 are arranged on both sides of the binocular camera body 1, the lifting blocks 9 are connected with the support plate 2 through lifting units, second fixing shafts 10 are fixedly connected with both sides of the binocular camera body 1, one end of a second fixing shaft 10 is connected with the lifting block 9 through a second bearing 11, a first fixing ring 12 is sleeved outside the second fixing shaft 10, the first fixing ring 12 is fixedly connected with the second fixing shaft 10, and the first fixing ring 12 is connected with the lifting block 9 through a limiting assembly;
in this embodiment, the limiting assembly includes a pressing ring 31 sleeved outside the second fixing shaft 10, a pressing plate 13 is disposed on one side of the elevator block 9, one side of the pressing plate 13 is connected to one side of the elevator block 9 through a plurality of compression springs 15, the pressing plate 13 is connected to the pressing ring 31 through two connecting rods 14, and the connecting rods 14 penetrate through the elevator block 9.
In this embodiment, the pressing ring 31 is located on one side of the first fixing ring 12 close to the binocular camera body 1, the pressing ring 31 is in contact with the first fixing ring 12, the two pressing plates 13 are driven to move close to each other, so that the connecting rod 14 drives the two pressing rings 31 to move close to each other, and further the pressing ring 31 is no longer in contact with the first fixing ring 12, the compression spring 15 is in a compressed state at this time, the position of the first fixing ring 12 and the position of the second fixing ring 10 are not limited, the second fixing ring 10 can be rotated, when the second fixing ring 10 needs to be fixed, the pressing plates 13 are released, and further the pressing plates 13 and the connecting rod 14 are driven to move by the compression spring 15, so that the pressing ring 31 is in contact with the first fixing ring 12, and the compression spring 15 is still in a compressed state at this time, and further the compression spring 15 applies pressure to the pressing plates 13, so that the pressing ring 31 applies pressure to the first fixing ring 12, further, the pressing ring 31 is closely attached to the first fixing ring 12, and positions of the first fixing ring 12 and the second fixing shaft 10 are limited.
In this embodiment, the lifting unit is including setting up in the fixed disk 18 of lifting block 9 top, and the bottom fixedly connected with screw post 16 of fixed disk 18, and screw post 16 runs through lifting block 9, and screw post 16 is threaded connection with lifting block 9's connected mode, and the bottom of screw post 16 is connected through third bearing 17 with the top of backup pad 2, rotates through drive fixed disk 18, and then makes lifting block 9 reciprocate, adjusts the height of lifting block 9 and binocular camera body 1.
In this embodiment, the rotating unit includes fixing plates 19 symmetrically disposed on both sides of the worm 8, the bottom of the fixing plate 19 is fixedly connected to the top of the mounting plate 3, both ends of the worm 8 are respectively connected to the two fixing plates 19 through fourth bearings 20, and the worm 8 is provided with a handle 30.
In this embodiment, the fixing assembly includes a second fixing ring 22 sleeved outside the worm 8, the second fixing ring 22 is fixedly connected to the worm 8, a movable plate 21 is disposed above the second fixing ring 22, a first groove 23 is disposed on the movable plate 21, inner walls of two sides of the first groove 23 are both communicated with two sides of the movable plate 21, a non-slip mat 24 is disposed on an inner wall of the first groove 23, the non-slip mat 24 is in contact with the second fixing ring 22, and the movable plate 21 and the mounting plate 3 are connected through an elastic unit.
In this embodiment, the elastic unit includes two support pillars 25 disposed below the movable plate 21, the bottom of each support pillar 25 is fixedly connected to the top of the mounting plate 3, a second groove 26 is formed in the top of each support pillar 25, a movable pillar 27 is disposed in the second groove 26, the top of each movable pillar 27 is fixedly connected to the bottom of the corresponding movable plate 21, the bottom of each movable pillar 27 is connected to the inner wall of the bottom of the corresponding second groove 26 through a tension spring 28, a pull ring 29 is disposed at the top of the corresponding movable plate 21, the pull ring 29 is held, the movable plate 21 is driven to move upwards, the corresponding anti-skid mat 24 is no longer in contact with the corresponding second fixing ring 22, and the tension spring 28 is in a tension state at this time, pressing of the corresponding second fixing ring 22 is released, fixing of the worm 8 is released, and the worm 8 can rotate.
An article model identification method based on binocular vision comprises the following steps:
s1, the mounting plate 3 is adsorbed on the workbench through the suction cup 4, the pull ring 29 is held, the movable plate 21 is driven to move upwards, so that the non-slip mat 24 is no longer in contact with the second fixing ring 22, and the extension spring 28 is in the extension state at this time, the pressing on the second fixing ring 22 is released, and the fixing on the position of the worm 8 is released, so that the worm 8 can rotate;
s2, the worm 8 is driven to rotate, and the first fixing shaft 5 is enabled to rotate through the matching of the worm 8 and the worm wheel 7, so that the orientation of the support plate 2 and the binocular camera body 1 is changed;
s3, after the orientation of the binocular camera body 1 and the support plate 2 is adjusted, the pull ring 29 is released, and the extension spring 28 drives the movable post 27 to move downward, so that the movable plate 21 and the anti-slip mat 24 move downward, and the anti-slip mat 24 contacts with the second fixing ring 22 again, and at this time, the extension spring 28 is still in an extension state, and the anti-slip mat 24 elastically presses the second fixing ring 22, so that the second fixing ring 22 is fixed relative to the movable plate 21, thereby reducing the possibility of the rotation of the worm 8 due to non-human factors;
s4, the fixed disc 18 is driven to rotate, so that the lifting block 9 moves up and down, and the heights of the lifting block 9 and the binocular camera body 1 are adjusted;
s5, the two pressing plates 13 are driven to move close to each other, so that the connecting rod 14 drives the two pressing rings 31 to move close to each other, and further the pressing rings 31 are no longer in contact with the first fixing ring 12, the compression spring 15 is in a compressed state at this time, the position limitation on the first fixing ring 12 and the second fixing shaft 10 is removed, and the second fixing shaft 10 can be rotated;
s6, rotate through drive binocular camera body 1, change the inclination of binocular camera body 1, after the regulation finishes, loosen and press the clamp plate 13, and then compression spring 15 drive presses clamp plate 13 and connecting rod 14 to remove, make press ring 31 and first solid fixed ring 12 contact, and compression spring 15 still is in compression state this moment, and then compression spring 15 exerts pressure to press clamp plate 13, make press ring 31 exert pressure to first solid fixed ring 12, and then make press ring 31 hug closely with first solid fixed ring 12, the position of spacing first solid fixed ring 12 and second fixed axle 10, and then the position of spacing binocular camera body 1 this moment.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. The utility model provides an article model recognition device based on binocular vision, includes binocular camera body (1), its characterized in that: the binocular camera comprises a binocular camera body (1), a supporting plate (2) is arranged below the binocular camera body, a mounting plate (3) is arranged below the supporting plate (2), a plurality of suckers (4) are arranged at the bottom of the mounting plate (3), a first fixing shaft (5) is arranged above the mounting plate (3), the top of the first fixing shaft (5) is fixedly connected with the bottom of the supporting plate (2), the bottom of the first fixing shaft (5) is connected with the top of the mounting plate (3) through a first bearing (6), a worm wheel (7) is sleeved outside the first fixing shaft (5), a worm (8) is arranged on one side of the worm wheel (7), the worm (8) is connected with the mounting plate (3) through a rotating unit, a fixing component matched with the worm (8) is arranged on the mounting plate (3), lifting blocks (9) are arranged on two sides of the binocular camera body (1), and the lifting blocks (9) are connected with the supporting plate (2) through a lifting unit, the binocular camera comprises a binocular camera body (1), wherein second fixing shafts (10) are fixedly connected to the two sides of the binocular camera body, one ends of the second fixing shafts (10) are connected with a lifting block (9) through second bearings (11), first fixing rings (12) are sleeved outside the second fixing shafts (10), the first fixing rings (12) are fixedly connected with the second fixing shafts (10), and the first fixing rings (12) are connected with the lifting block (9) through limiting assemblies.
2. The binocular vision-based article model recognition device of claim 1, wherein: the limiting assembly comprises a pressing ring (31) sleeved outside the second fixing shaft (10), a pressing plate (13) is arranged on one side of the lifting block (9), one side of the pressing plate (13) is connected with one side of the lifting block (9) through a plurality of compression springs (15), the pressing plate (13) is connected with the pressing ring (31) through two connecting rods (14), and the connecting rods (14) penetrate through the lifting block (9).
3. The binocular vision-based article model recognition device of claim 2, wherein: the pressing ring (31) is located on one side, close to the binocular camera body (1), of the first fixing ring (12), and the pressing ring (31) is in contact with the first fixing ring (12).
4. The binocular vision-based article model recognition device of claim 1, wherein: the lifting unit comprises a fixed disc (18) arranged above the lifting block (9), the bottom of the fixed disc (18) is fixedly connected with a threaded column (16), the threaded column (16) penetrates through the lifting block (9), the threaded column (16) is in threaded connection with the lifting block (9), and the bottom end of the threaded column (16) is connected with the top of the supporting plate (2) through a third bearing (17).
5. The binocular vision-based article model recognition device of claim 1, wherein: the rotating unit comprises fixing plates (19) symmetrically arranged on two sides of the worm (8), the bottom of each fixing plate (19) is fixedly connected with the top of the mounting plate (3), two ends of the worm (8) are respectively connected with the two fixing plates (19) through fourth bearings (20), and a handle (30) is arranged on the worm (8).
6. The binocular vision-based article model recognition device of claim 1, wherein: the fixed subassembly is including the solid fixed ring of the outside second (22) of worm (8) is located to the cover, the solid fixed ring of second (22) and worm (8) fixed connection, the top of the solid fixed ring of second (22) is equipped with fly leaf (21), first recess (23) have been seted up on fly leaf (21), the both sides inner wall of first recess (23) all is linked together with the both sides of fly leaf (21), be equipped with slipmat (24) on the inner wall of first recess (23), slipmat (24) contact with the solid fixed ring of second (22), fly leaf (21) and mounting panel (3) are connected through the elastic element.
7. The binocular vision-based article model recognition device of claim 6, wherein: the elastic unit comprises two supporting columns (25) arranged below the movable plate (21), the bottom of each supporting column (25) is fixedly connected with the top of the mounting plate (3), a second groove (26) is formed in the top of each supporting column (25), a movable column (27) is arranged in each second groove (26), the top of each movable column (27) is fixedly connected with the bottom of the corresponding movable plate (21), the bottom of each movable column (27) is connected with the inner wall of the bottom of each second groove (26) through a tension spring (28), and a pull ring (29) is arranged at the top of the corresponding movable plate (21).
8. An article model identification method based on binocular vision is characterized by comprising the following steps:
s1, adsorbing the mounting plate (3) on a workbench through a sucker (4), holding the pull ring (29), driving the movable plate (21) to move upwards, further enabling the anti-skid pad (24) to be not in contact with the second fixing ring (22), enabling the tension spring (28) to be in a tension state at the moment, releasing the pressing on the second fixing ring (22), further releasing the fixing on the position of the worm (8), and enabling the worm (8) to rotate;
s2, the worm (8) is driven to rotate, and then the first fixing shaft (5) is enabled to rotate through the matching of the worm (8) and the worm wheel (7), so that the orientation of the support plate (2) and the binocular camera body (1) is changed;
s3, after the orientation of the binocular camera body (1) and the supporting plate (2) is adjusted, the pull ring (29) is loosened, the extension spring (28) drives the movable column (27) to move downwards, the movable plate (21) and the anti-slip mat (24) move downwards, the anti-slip mat (24) is contacted with the second fixing ring (22) again, the extension spring (28) is still in a stretching state at the moment, the anti-slip mat (24) elastically presses the second fixing ring (22), the second fixing ring (22) is fixed relative to the movable plate (21), and the possibility that the worm (8) rotates due to non-human factors is reduced;
s4, the fixed disc (18) is driven to rotate, so that the lifting block (9) moves up and down, and the heights of the lifting block (9) and the binocular camera body (1) are adjusted;
s5, the two pressing plates (13) are driven to move close to each other, the connecting rod (14) drives the two pressing rings (31) to move close to each other, the pressing rings (31) are further not in contact with the first fixing ring (12), the compression spring (15) is in a compression state at the moment, the limitation on the positions of the first fixing ring (12) and the second fixing shaft (10) is removed, and the second fixing shaft (10) can rotate;
s6, rotate through drive binocular camera body (1), change the inclination of binocular camera body (1), after the regulation finishes, loosen and press board (13), and then compression spring (15) drive is pressed board (13) and connecting rod (14) removal, make pressing ring (31) and first solid fixed ring (12) contact, and compression spring (15) still are in compression state this moment, and then compression spring (15) exert pressure to pressing board (13), make pressing ring (31) exert pressure to first solid fixed ring (12), and then make pressing ring (31) and first solid fixed ring (12) hug closely, the position of spacing first solid fixed ring (12) and second fixed axle (10), and then the position of spacing binocular camera body (1) this moment.
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