CN114087510B - Object model identification device and method based on binocular vision - Google Patents
Object model identification device and method based on binocular vision Download PDFInfo
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- CN114087510B CN114087510B CN202111269296.3A CN202111269296A CN114087510B CN 114087510 B CN114087510 B CN 114087510B CN 202111269296 A CN202111269296 A CN 202111269296A CN 114087510 B CN114087510 B CN 114087510B
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- 238000000034 method Methods 0.000 title claims abstract description 12
- 241000252254 Catostomidae Species 0.000 claims abstract description 3
- 230000006835 compression Effects 0.000 claims description 23
- 238000007906 compression Methods 0.000 claims description 23
- 239000007787 solid Substances 0.000 claims description 23
- 238000010586 diagram Methods 0.000 description 5
- 238000001514 detection method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- 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, comprising a binocular camera body, wherein a supporting plate is arranged below the binocular camera body, a mounting plate is arranged below the supporting plate, a plurality of suckers are arranged at the bottom of the mounting plate, a first fixed shaft is arranged above the mounting plate, the top of the first fixed shaft is fixedly connected with the bottom of the supporting plate, the bottom end of the first fixed shaft is connected with the top of the mounting 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 mounting plate through a rotating unit, and a fixing component matched with the worm is arranged on the mounting plate. The invention discloses an article model identification device and method based on binocular vision, which belong to the technical field of binocular vision, change the orientation of a supporting plate and a binocular camera body, adjust the heights of a lifting block and the binocular camera body, and facilitate changing the inclination angle of the binocular camera body, so that the device and method are convenient for 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, which mimics the process of human eyes and human stereoscopic perception, and is one of the core subjects of computer vision research. In recent years, binocular vision technology has been widely used in the fields of obstacle detection, target object detection and the like, and object models are identified through mutual verification of left and right cameras of a binocular camera and three-dimensional modeling, but the conventional binocular camera is inconvenient to adjust the observation direction at multiple angles according to actual demands, and is inconvenient to operate in practice.
Disclosure of Invention
The invention mainly aims to provide an object model identification device and method based on binocular vision, which can effectively solve the problems that the conventional binocular camera in the background art is inconvenient to adjust the observation direction at multiple angles according to actual demands and is inconvenient to operate in practice.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
the utility model provides an article model recognition device based on binocular vision, including the binocular camera body, the below of binocular camera body is equipped with the backup pad, the below of backup pad is equipped with the mounting panel, the bottom of mounting panel is equipped with a plurality of sucking discs, the top of mounting panel is equipped with first fixed axle, the top of first fixed axle and the bottom fixed connection of backup pad, the bottom of first fixed axle passes through first bearing connection with the top of mounting panel, the outside cover of first fixed axle is equipped with the worm wheel, one side of worm wheel is equipped with the worm, the worm passes through rotation unit with the mounting panel and is connected, be equipped with on the mounting panel with worm matched with fixed subassembly, the both sides of binocular camera body all are equipped with the lifter, the lifter passes through the lifter with the backup pad and is connected, the equal fixedly connected with second fixed axle in both sides of binocular camera body, the one end and the lifter of second fixed axle pass through the second bearing and are connected, the outside cover of second fixed axle is equipped with first solid fixed ring, first solid fixed ring and second fixed axle fixed connection, first solid fixed ring and lifter pass through spacing subassembly with the lifter and are connected.
Preferably, the limiting assembly comprises a pressing ring sleeved outside the second fixing 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 is connected with the pressing ring through two connecting rods, and the connecting rods penetrate through the lifting block.
Preferably, the pressing ring is located at one side of the first fixing ring, which is close to the binocular camera body, and the pressing ring is in contact with the first fixing ring.
Preferably, the lifting unit comprises a fixed disc arranged above the lifting block, a threaded column is fixedly connected to the bottom of the fixed disc and penetrates through the lifting block, the threaded column is connected with the lifting block in a threaded mode, and the bottom end of the threaded column is connected with the top of the supporting plate through a third bearing.
Preferably, the rotation unit comprises fixing plates symmetrically arranged on two sides of the worm, the bottoms of the fixing plates are 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 a handle is arranged on the worm.
Preferably, the fixed subassembly is including the outside second solid fixed ring of cover locating the worm, and second solid fixed ring and worm fixed connection are equipped with the fly leaf in the top of second solid fixed ring, have seted up first recess on the fly leaf, and the both sides inner wall of first recess all is linked together with the both sides of fly leaf, is equipped with the slipmat on the inner wall of first recess, and the slipmat contacts with the solid fixed ring of second, and fly leaf and mounting panel pass through elastic element and connect.
Preferably, the elastic unit comprises two support columns arranged below the movable plate, the bottoms of the support columns are fixedly connected with the top of the mounting plate, the tops of the support columns are provided with second grooves, movable columns are arranged in the second grooves, the tops of the movable columns are fixedly connected with the bottoms of the movable plates, the bottoms of the movable columns are connected with the bottom inner walls of the second grooves through extension springs, and pull rings are arranged at the tops of the movable plates.
An article model identification method based on binocular vision comprises the following steps:
s1, the mounting plate is adsorbed on a workbench through a sucker, the pull ring is held, the movable plate is driven to move upwards, the anti-slip pad is not contacted with the second fixed ring any more, the tension spring is in a tension state at the moment, the second fixed ring is released from being pressed, the position of the worm is further released from being fixed, and the worm can rotate;
s2, through driving the worm to rotate, and then through the cooperation of the worm and the worm wheel, the first fixed shaft rotates, and the orientation of the support 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, and then the stretching spring drives the movable column to move downwards, so that the movable plate and the anti-slip pad move downwards, and then the anti-slip pad is contacted with the second fixed ring again, and at the moment, the stretching spring is still in a stretching state, and then the anti-slip pad elastically presses the second fixed ring, so that the second fixed ring is fixed relative to the movable plate, and the possibility that the worm rotates due to non-human factors is reduced;
s4, driving the fixed disc to rotate, so that the lifting block moves up and down, and adjusting the heights of the lifting block and the binocular camera body;
s5, the two pressing plates are driven to move in a close manner, so that the connecting rod drives the two pressing rings to move in a close manner, the pressing rings are not contacted with the first fixed ring any more, the compression springs are in a compressed state at the moment, the limitation on the positions of the first fixed ring and the second fixed shaft is relieved, and the second fixed shaft can be rotated;
s6, through driving the binocular camera body to rotate, change the inclination of binocular camera body, after adjusting, loosen the press plate, and then compression spring drive press plate and connecting rod remove for press plate and first solid fixed ring contact, and compression spring still is in compression state this moment, and then compression spring exerts pressure to the press plate, make press plate exert pressure to first solid fixed ring, and then make press plate 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: article model recognition device and method based on binocular vision is through driving the worm to rotate, 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, and through driving the fixed disk rotation, and then makes the lifter piece reciprocate, adjusts the height of lifter piece 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 diagram of the overall structure of an article model recognition device based on binocular vision;
FIG. 2 is a schematic diagram of a fixed component structure of an object model recognition device based on binocular vision according to the present invention;
FIG. 3 is a schematic diagram of an elastic unit structure of an object model recognition device based on binocular vision according to the present invention;
FIG. 4 is a schematic diagram of a binocular camera body structure of an object model recognition device based on binocular vision according to the present invention;
fig. 5 is a schematic diagram of a lifting block structure of an object model recognition device based on binocular vision.
In the figure: 1. a binocular camera body; 2. a support plate; 3. a mounting plate; 4. a suction cup; 5. a first fixed shaft; 6. a first bearing; 7. a worm wheel; 8. a worm; 9. a lifting block; 10. a second fixed shaft; 11. a second bearing; 12. a first fixing ring; 13. pressing the plate; 14. a connecting rod; 15. a compression spring; 16. a threaded column; 17. a third bearing; 18. a fixed plate; 19. a fixing plate; 20. a fourth bearing; 21. a movable plate; 22. a second fixing ring; 23. a first groove; 24. an anti-slip pad; 25. a support column; 26. a second groove; 27. a movable column; 28. a tension spring; 29. a pull ring; 30. a handle; 31. and pressing the ring.
Detailed Description
The invention is further described in connection with the following detailed description, in order to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the invention easy to understand.
As shown in fig. 1-5, an article model identification device based on binocular vision comprises a binocular camera body 1, a supporting plate 2 is arranged below the binocular camera body 1, 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 fixed shaft 5 is arranged above the mounting plate 3, the top of the first fixed shaft 5 is fixedly connected with the bottom of the supporting plate 2, the bottom of the first fixed 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 fixed shaft 5, one side of the worm wheel 7 is provided with a worm 8, 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, the lifting blocks 9 are connected with the supporting plate 2 through lifting units, two sides of the binocular camera body 1 are fixedly connected with second fixed shafts 10, one end of each second fixed shaft 10 is connected with the lifting block 9 through a second bearing 11, a first fixed ring 12 is sleeved outside the second fixed ring 10, the first fixed ring 12 is fixedly connected with the second fixed shaft 10, and the lifting blocks 9 are connected with the lifting blocks 9 through limiting components;
in this embodiment, the limiting component 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 and the pressing ring 31 are connected through two connecting rods 14, and the connecting rods 14 penetrate through the lifting block 9.
In this embodiment, the pressing ring 31 is located on one side of the first fixed ring 12 near the binocular camera body 1, and the pressing ring 31 contacts with the first fixed ring 12, by driving the two pressing plates 13 to move near each other, so that the connecting rod 14 drives the two pressing rings 31 to move near each other, so that the pressing ring 31 is no longer in contact with the first fixed ring 12, the compression spring 15 is in a compressed state at this time, the limitation on the positions of the first fixed ring 12 and the second fixed ring 10 is released, the second fixed ring 10 can be made to rotate, and when the second fixed ring 10 needs to be fixed, the pressing plate 13 is released, so that the compression spring 15 drives the pressing plate 13 and the connecting rod 14 to move, so that the pressing ring 31 contacts with the first fixed ring 12, and the compression spring 15 is still in a compressed state at this time, so that the compression spring 15 applies pressure to the pressing plate 13, so that the pressing ring 31 applies pressure to the first fixed ring 12, so that the pressing ring 31 is tightly attached to the first fixed ring 12, and the positions of the first fixed ring 12 and the second fixed ring 10 are limited.
In this embodiment, the lifting unit includes a fixed disk 18 disposed above the lifting block 9, a threaded column 16 is fixedly connected to the bottom of the fixed disk 18, the threaded column 16 penetrates through the lifting block 9, the threaded column 16 is connected with the lifting block 9 in a threaded manner, the bottom end of the threaded column 16 is connected with the top of the supporting plate 2 through a third bearing 17, and the lifting block 9 is further made to move up and down by driving the fixed disk 18 to rotate, so that the height of the lifting block 9 and the height of the binocular camera body 1 are adjusted.
In this embodiment, the rotation unit includes fixed plates 19 symmetrically disposed on two sides of the worm 8, the bottom of the fixed plates 19 is fixedly connected with the top of the mounting plate 3, two ends of the worm 8 are respectively connected with the two fixed plates 19 through fourth bearings 20, and a handle 30 is disposed on the worm 8.
In this embodiment, the fixed assembly includes a second fixed ring 22 sleeved outside the worm 8, the second fixed ring 22 is fixedly connected with the worm 8, a movable plate 21 is disposed above the second fixed ring 22, a first groove 23 is formed in the movable plate 21, inner walls on two sides of the first groove 23 are all communicated with two sides of the movable plate 21, an anti-slip pad 24 is disposed on inner walls of the first groove 23, the anti-slip pad 24 is in contact with the second fixed 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 columns 25 disposed below the movable plate 21, the bottom of the support column 25 is fixedly connected with the top of the mounting plate 3, the top of the support column 25 is provided with a second groove 26, a movable column 27 is disposed in the second groove 26, the top of the movable column 27 is fixedly connected with the bottom of the movable plate 21, the bottom of the movable column 27 is connected with the bottom inner wall of the second groove 26 through a tension spring 28, a pull ring 29 is disposed on the top of the movable plate 21, the pull ring 29 is held, the movable plate 21 is driven to move upwards, the anti-slip pad 24 is not contacted with the second fixed ring 22, the tension spring 28 is in a stretched state at this time, the pressing of the second fixed ring 22 is released, and the position of the worm 8 is further released, so that 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 a workbench through the sucker 4, the pull ring 29 is held, the movable plate 21 is driven to move upwards, the anti-slip pad 24 is not contacted with the second fixed ring 22 any more, the tension spring 28 is in a tension state at the moment, the second fixed ring 22 is released from being pressed, the position of the worm 8 is further released from being fixed, and the worm 8 can rotate;
s2, through driving the worm 8 to rotate and then through the cooperation of the worm 8 and the worm wheel 7, the first fixed shaft 5 rotates, and 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 loosened, the extension spring 28 drives the movable column 27 to move downwards, the movable plate 21 and the anti-slip pad 24 move downwards, the anti-slip pad 24 is contacted with the second fixed ring 22 again, the extension spring 28 is still in a stretched state at the moment, the anti-slip pad 24 elastically presses the second fixed ring 22, the second fixed 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, driving the fixed disc 18 to rotate, so that the lifting block 9 moves up and down, and adjusting the heights of the lifting block 9 and the binocular camera body 1;
s5, by driving the two pressing plates 13 to move close to each other, the connecting rod 14 drives the two pressing rings 31 to move close to each other, so that the pressing rings 31 are not contacted with the first fixed ring 12 any more, the compression springs 15 are in a compressed state at the moment, the limitation on the positions of the first fixed ring 12 and the second fixed shaft 10 is released, and the second fixed shaft 10 can be rotated;
s6, through driving the binocular camera body 1 to rotate, change the inclination of binocular camera body 1, after the regulation is accomplished, loosen the press plate 13, and then compression spring 15 drive press plate 13 and connecting rod 14 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 plate 13, make press ring 31 exert pressure to first solid fixed ring 12, and then make press ring 31 and first solid fixed ring 12 hug closely, the position of spacing first solid fixed ring 12 and second solid fixed shaft 10, and then the position of spacing binocular camera body 1 this moment.
The foregoing has shown and described the basic principles and main features of the present invention and the advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (6)
1. Article model recognition device based on binocular vision, including binocular camera body (1), its characterized in that: the utility model discloses a binocular camera, a camera body (1) and a camera module, wherein a supporting plate (2) is arranged below the binocular camera body (1), 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 fixed shaft (5) is arranged above the mounting plate (3), the top of the first fixed shaft (5) is fixedly connected with the bottom of the supporting plate (2), the bottom of the first fixed 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 fixed shaft (5), one side of the worm wheel (7) is provided with a worm (8), the worm (8) is connected with the mounting plate (3) through a rotating unit, a fixed 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), the lifting blocks (9) are connected with the supporting plate (2) through lifting units, two sides of the binocular camera body (1) are fixedly connected with a second fixed shaft (10), one end of the second fixed shaft (10) is connected with the lifting blocks (9) through a second bearing (11), a first fixed ring (12) is arranged outside the second fixed ring (10), the first fixed ring (12) is connected with the lifting block (9) through a limiting component, the limiting component comprises a pressing ring (31) sleeved outside the second fixed 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), the connecting rods (14) penetrate through the lifting block (9), the pressing ring (31) is located on one side, close to the binocular camera body (1), of the first fixed ring (12), and the pressing ring (31) is in contact with the first fixed ring (12).
2. The binocular vision-based object model recognition apparatus of claim 1, wherein: the lifting unit comprises a fixed disc (18) arranged above the lifting block (9), a threaded column (16) is fixedly connected to the bottom of the fixed disc (18), the threaded column (16) penetrates through the lifting block (9), the threaded column (16) is connected with the lifting block (9) in a threaded mode, and the bottom end of the threaded column (16) is connected with the top of the supporting plate (2) through a third bearing (17).
3. The binocular vision-based object model recognition apparatus of claim 1, wherein: the rotating unit comprises fixing plates (19) symmetrically arranged on two sides of the worm (8), the bottoms of the fixing plates (19) are 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 handles (30) are arranged on the worm (8).
4. The binocular vision-based object model recognition apparatus of claim 1, wherein: the fixed subassembly is including the outside second solid fixed ring (22) of cover locating worm (8), the top of second solid fixed ring (22) and worm (8) fixed connection 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) are in contact with second solid fixed ring (22), fly leaf (21) and mounting panel (3) are connected through elastic element.
5. The binocular vision-based object model recognition apparatus of claim 4, wherein: the elastic unit comprises two support columns (25) arranged below the movable plate (21), the bottoms of the support columns (25) are fixedly connected with the top of the mounting plate (3), second grooves (26) are formed in the tops of the support columns (25), movable columns (27) are arranged in the second grooves (26), the tops of the movable columns (27) are fixedly connected with the bottoms of the movable plate (21), the bottoms of the movable columns (27) are connected with the bottom inner walls of the second grooves (26) through extension springs (28), and pull rings (29) are arranged at the tops of the movable plate (21).
6. A binocular vision-based object model recognition method, according to claims 1-5, characterized by comprising the steps of:
s1, the mounting plate (3) is adsorbed on a workbench through the sucking disc (4), the pull ring (29) is held, the movable plate (21) is driven to move upwards, the anti-slip pad (24) is not contacted with the second fixed ring (22) any more, the tension spring (28) is in a tension state at the moment, the second fixed ring (22) is released from being pressed, the position of the worm (8) is further released from being fixed, and the worm (8) can rotate;
s2, through driving the worm (8) to rotate, and then through the cooperation of the worm (8) and the worm wheel (7), the first fixed shaft (5) rotates, and 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, loosening the pull ring (29), and further driving the movable column (27) to move downwards by the extension spring (28), so that the movable plate (21) and the anti-slip pad (24) move downwards, further enabling the anti-slip pad (24) to be in contact with the second fixed ring (22) again, and at the moment, the extension spring (28) is still in an extension state, and further the anti-slip pad (24) elastically presses the second fixed ring (22), so that the second fixed 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, driving the fixed disc (18) to rotate, so that the lifting block (9) moves up and down, and adjusting the heights of the lifting block (9) and the binocular camera body (1);
s5, by driving the two pressing plates (13) 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 not contacted with the first fixed ring (12) any more, the compression springs (15) are in a compressed state at the moment, the limitation on the positions of the first fixed ring (12) and the second fixed shaft (10) is released, and the second fixed shaft (10) can be rotated;
s6, through driving binocular camera body (1) rotation, change the inclination of binocular camera body (1), after adjusting, loosen and press board (13), and then compression spring (15) drive press board (13) and connecting rod (14) remove, make press 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 press board (13), make press ring (31) exert pressure to first solid fixed ring (12), and then make press 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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| CN202111269296.3A CN114087510B (en) | 2021-10-29 | 2021-10-29 | Object model identification device and method based on binocular vision |
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| CN115013664B (en) * | 2022-06-09 | 2023-08-29 | 浙江同洲项目管理有限公司 | On-spot check out test set of building wall body thermal resistance |
| CN116366940B (en) * | 2023-03-10 | 2023-09-01 | 佳木斯大学 | Visual identification device is used in processing based on computer |
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| WO2014129919A1 (en) * | 2013-02-20 | 2014-08-28 | Закрытое Акционерное Общество "Импульс" | Vertically moving stand for x-ray apparatus |
| TWM553536U (en) * | 2017-06-26 | 2017-12-21 | 信錦企業股份有限公司 | Supporting module |
| CN209871890U (en) * | 2019-04-08 | 2019-12-31 | 肇庆佳旺纸品包装有限公司 | Single bunching device of environmental protection corrugated container board |
| CN211260267U (en) * | 2019-12-04 | 2020-08-14 | 沈阳工学院 | Positioning device of projector |
| CN212617358U (en) * | 2020-06-12 | 2021-02-26 | 安徽超清科技股份有限公司 | Intelligent camera turntable mechanism |
| CN213272338U (en) * | 2020-09-25 | 2021-05-25 | 东莞市雄升五金制品科技有限公司 | Lamp body supporting seat with rising rotation adjusting structure |
| CN112901978B (en) * | 2021-01-20 | 2022-04-01 | 淄博职业学院 | Multi-angle adjusting device for shooting of electronic commerce products |
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