CN115435705A - Vibration damper of vision sensor - Google Patents
Vibration damper of vision sensor Download PDFInfo
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- CN115435705A CN115435705A CN202211349990.0A CN202211349990A CN115435705A CN 115435705 A CN115435705 A CN 115435705A CN 202211349990 A CN202211349990 A CN 202211349990A CN 115435705 A CN115435705 A CN 115435705A
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- gyroscope
- vision sensor
- rigid support
- vibration
- ball net
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- 230000000007 visual effect Effects 0.000 claims abstract description 36
- 238000009434 installation Methods 0.000 claims abstract description 19
- 230000008859 change Effects 0.000 claims description 16
- 238000013016 damping Methods 0.000 claims description 14
- 239000000463 material Substances 0.000 claims description 5
- 239000000956 alloy Substances 0.000 claims description 3
- 229910045601 alloy Inorganic materials 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 claims description 3
- 238000007373 indentation Methods 0.000 claims description 2
- 230000010354 integration Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000004154 testing of material Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
Images
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
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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
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
Abstract
The invention relates to the technical field of vision sensors, in particular to a vibration damper of a vision sensor, which comprises: the device comprises a mounting frame, a rigid support piece, an elastic ball net, a gyroscope, an integrated level meter and an algorithm integrated chip; the installation frame sets up on the rigidity support frame, the installation frame is used for setting up visual sensor, rigidity support piece sets up on the elasticity ball net, the elasticity ball net sets up on the gyroscope, under vibration environment, the gyroscope can effectively reduce the vibration, during the gyroscope motion, the elasticity ball net can roll along with it, rigidity support piece will keep original state, avoid the vibration to cause the influence to visual sensor, set up integrated spirit level and algorithm integrated chip in the installation frame, integrated spirit level detects the horizontal angle of installation frame, algorithm integrated chip carries out the algorithm adjustment to visual sensor according to the horizontal angle that detects, with further reduce the influence of vibration, the problem that visual sensor can't be used in the great environment of vibration among the prior art has been solved.
Description
Technical Field
The invention relates to the technical field of vision sensors, in particular to a vibration damper of a vision sensor.
Background
The visual sensor is an instrument vibration reduction device for acquiring external environment image information by using an optical element and an imaging device, is widely applied to mechanical visual products, and has the advantages of high precision, high efficiency, low cost and the like compared with artificial vision.
At present, in the fields of automobiles, aerospace, biomedical, civil engineering, rail transit and the like, more and more new materials and new structures need to be tested through material testing or structure testing to verify the mechanical properties of the new materials and the new structures, and for deformation measurement in the material testing and the structure testing, the traditional vision sensor is fixedly placed for use, and when the vision sensor is placed on a moving vehicle or in other environments with larger vibration, the vision sensor is influenced by the vibration and cannot be normally used.
Disclosure of Invention
The invention aims to provide a vibration damping device of a visual sensor, and aims to solve the problem that the visual sensor cannot be used in an environment with large vibration in the prior art.
The present invention is achieved in this way, and in a first aspect, the present invention provides a vibration damping device for a vision sensor, comprising:
the device comprises a mounting frame, a rigid support piece, an elastic ball net, a gyroscope, an integrated level meter and an algorithm integrated chip;
the mounting frame is used for arranging a visual sensor, the bottom of the mounting frame is connected with the top of the rigid support piece, the rigid support piece is arranged on the elastic ball net, the elastic ball net is arranged on the gyroscope, and the elastic ball net has a function of rolling relatively between the rigid support piece and the gyroscope;
the integrated level meter and the algorithm integrated chip are arranged in the installation frame, the algorithm integrated chip is respectively electrically connected with the integrated level meter and the visual sensor, the integrated level meter is used for measuring the horizontal angle change of the installation frame, and the algorithm integrated chip stores a control algorithm and is used for calculating and compensating the visual sensor according to the horizontal angle change measured by the integrated level meter and eliminating the influence of micro-amplitude vibration in the environment on the visual sensor.
In one embodiment, the rigid support is hemispherical in shape;
the round surface of the rigid support piece is connected with the mounting frame;
the hemisphere surface of the rigid support part is connected with the elastic ball net.
In one embodiment, the material of the rigid support is a high density alloy.
In one embodiment, the resilient ball network comprises a plurality of resilient balls.
In one embodiment, the top end of the gyroscope has a hemispherical notch;
the hemispherical gap is used for arranging the elastic ball net.
In one embodiment, the gyroscope further comprises an assembly part, wherein a plurality of assembly ports are formed in the gyroscope;
the assembly opening is used for installing the assembly piece.
In one embodiment, the assembling ports are respectively arranged on the bottom surface and the side surface of the gyroscope.
In one embodiment, the assembly part is in a cylinder shape, one end of the assembly part is connected with the assembly opening, and the other end of the assembly part is provided with an installation notch used for being installed on a support.
In a second aspect, the present invention provides a control algorithm stored in an algorithm integrated chip of a vibration damping device of a visual sensor of any one of the first aspect, comprising:
s1: receiving an image acquired by the visual sensor, and selecting a plurality of observation points;
s2: receiving the horizontal angle change measured by the integrated level meter;
s3: and calculating to obtain a compensation angle according to the horizontal angle change, and adjusting the plurality of observation points according to the compensation angle.
In one embodiment, the relationship between the horizontal angle variation and the compensation angle in S3 is the same in value and opposite in direction.
The invention provides a vibration damper of a vision sensor, which has the following beneficial effects:
in the invention, the installation frame is arranged on the rigid support frame, the installation frame is used for arranging the visual sensor, the rigid support piece is arranged on the elastic ball net, the elastic ball net is arranged on the gyroscope, the gyroscope can effectively reduce vibration in a vibration environment, the elastic ball net can roll along with the gyroscope when the gyroscope moves, the rigid support piece keeps the original state, and therefore the influence of the vibration on the visual sensor in the installation frame is avoided.
Drawings
Fig. 1 is a schematic structural diagram of a vibration damping device of a vision sensor according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a gyroscope of a vibration damping device of a vision sensor according to an embodiment of the present invention;
FIG. 3 is a schematic view of an assembly structure of a vibration damping device of a vision sensor according to an embodiment of the present invention;
fig. 4 is a schematic diagram illustrating steps of a control algorithm according to an embodiment of the present invention.
Reference numerals are as follows: 1-mounting frame, 2-rigid supporting piece, 3-elastic ball net, 4-gyroscope, 5-integrated level meter, 6-algorithm integrated chip, 30-elastic ball, 41-hemispherical notch, 42-assembly opening, 7-assembly piece and 70-mounting notch.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The same or similar reference numerals in the drawings of the present embodiment correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", etc. based on the orientation or positional relationship shown in the drawings, it is only for convenience of describing the present invention and simplifying the description, but it is not intended to indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and are not to be construed as limiting the present patent, and the specific meaning of the terms may be understood by those skilled in the art according to specific circumstances.
The following describes the implementation of the present invention in detail with reference to specific embodiments.
Referring to fig. 1, 2 and 3, a preferred embodiment of the present invention is provided.
In a first aspect, the present invention provides a vibration damping device for a vision sensor, comprising:
the device comprises a mounting frame 1, a rigid support 2, an elastic ball net 3, a gyroscope 4, an integrated level meter 5 and an algorithm integrated chip 6.
Specifically, the bottom of the mounting frame 1 is connected with the top of the rigid support 2, and the mounting frame 1 is used for arranging the vision sensor; the rigid support 2 is arranged on an elastic ball net 3, and the elastic ball net 3 is arranged on a gyroscope 4.
Since the gyroscope 4 is a mechanical device that maintains its own level by rotating at a high speed, and the principle thereof is similar to that of a gyroscope that rotates at a high speed and is stable, the gyroscope 4 mounted on a moving carrier can maintain its own stability under the influence of external vibration, and the influence of vibration caused by the movement of the carrier can be avoided to some extent.
More specifically, the elastic ball net 3 is not fixed to the gyroscope 4, the elastic ball net 3 is not fixed to the rigid support member 2, and the elastic ball net 3 has a function of rolling relatively between the gyroscope 4 and the rigid support member 2, and it can be understood that, when the external environment vibrates, the gyroscope 4 drives the elastic ball net 3 to move, and the rigid support member 2 keeps the original position under the action of inertia, and at this time, the elastic ball net 3 rolls relatively to the rigid support member 2 to support the rigid support member 2 with a fixed position, so that the vibration of the gyroscope 4 does not affect the gravity centers of the rigid support member 2 and the mounting frame 1, that is, the gravity center of the visual sensor arranged in the mounting frame 1 is always kept on the rigid support member 2, and is kept stable and not affected by the vibration of the surrounding environment.
More specifically, an integrated level 5 and an algorithm integrated chip 6 are provided in the mounting frame 1, and the algorithm integrated chip 6 and the integrated level 5 are electrically connected to the vision sensor, respectively, wherein the integrated level 5 functions to measure a horizontal angle of the mounting frame 1, and the algorithm integrated chip 6 is used to perform algorithm adjustment on the vision sensor according to the horizontal angle measured by the integrated level 5.
It should be noted that the gyroscope 4 and the elastic ball net 3 can effectively reduce the vibration, but some vibration will still be transmitted to the mounting frame 1, and in order to avoid the influence of the vibration, the influence of the vibration is detected by measuring the horizontal angle of the mounting frame 1 by the integrated level 5, so that the vision sensor is algorithmically adjusted according to the horizontal angle by using the algorithm integrated chip 6, thereby reducing the influence of the vibration.
More specifically, the vision sensor collects a plurality of observation points on the target, the observation points are used as a basic frame to construct an overall image of the target, when the integrated level meter 5 senses the change of a horizontal angle, the horizontal change is recorded as an angle a, the algorithm integrated chip 6 receives the angle a, a control algorithm is stored in the algorithm integrated chip, the control algorithm gives a compensation angle b according to the angle a and transmits the compensation angle b to the vision sensor, and the compensation angle b is used for adjusting the observation points collected by the vision sensor, namely, each observation point is respectively adjusted in position according to the compensation angle b, so that the adjustment of an overall model constructed by using the observation points as the basic frame is realized.
It should be noted that the angle a and the compensation angle b are consistent in value and have opposite directions, such as: when the angle a is 3 degrees inclined to the left, the compensation angle b is 3 degrees inclined to the right, and it can be understood that when the angle a is 3 degrees inclined to the left, the visual sensor is also inclined to the left by 3 degrees, and the positions of the plurality of observation points acquired by the visual sensor are also deviated, so that in order to correct the whole image, the observation points are required to be inclined to the right by 3 degrees, so that the whole image constructed by the visual sensor is ensured to be the image when the visual sensor is not inclined.
The invention provides a vibration damper of a visual sensor, which has the following beneficial effects:
in the invention, an installation frame 1 is arranged on a rigid support frame, the installation frame 1 is used for arranging a visual sensor, a rigid support member 2 is arranged on an elastic ball net 3, the elastic ball net 3 is arranged on a gyroscope 4, the gyroscope 4 can effectively reduce vibration in a vibration environment, when the gyroscope 4 moves, the elastic ball net 3 rolls along with the elastic ball net, and the rigid support member 2 keeps the original state, thereby avoiding the influence of the vibration on the visual sensor in the installation frame 1, in addition, an integrated level meter 5 and an algorithm integrated chip 6 are also arranged in the installation frame 1, the integrated level meter 5 detects the horizontal angle of the installation frame 1, the algorithm integrated chip 6 carries out algorithm adjustment on the visual sensor according to the detected horizontal angle, so as to further reduce the influence of the vibration, and solve the problem that the visual sensor in the prior art cannot be used in an environment with larger vibration.
That is, in the present invention, the effect of large vibration in the environment on the visual sensor is eliminated by the combination of the gyroscope 4, the elastic ball net 3 and the rigid support 2; the influence of micro-amplitude vibration in the environment on the vision sensor is eliminated by integrating the level meter 5 and the algorithm integration chip 6, and the stability of the vision sensor is realized by eliminating the vibration twice.
In some embodiments, the rigid support 2 is hemispherical in shape.
Specifically, the round surface of the rigid support member 2 is connected with the mounting frame 1, the hemispherical surface of the rigid support member 2 is connected with the elastic ball net 3, and the hemispherical surface can be tightly attached to the elastic ball net 3, so that the rigid support member 2 can smoothly roll on the elastic ball net 3.
In some embodiments, the material of the rigid support 2 is a high density alloy.
Specifically, the density of the rigid support member 2 is high, representing that the rigid support member 2 has a large mass, and when the weight of the rigid support member 2 is larger than the mounting frame 1 and the vision sensor provided on the top of the rigid support member 2, the center of gravity connecting the mounting frame 1 and the rigid support member 2 provided will fall on the rigid support member 2, and it is understood that the rigid support member 2 remains stable to allow the mounting frame 1 and the vision sensor to be attached.
More specifically, the mass of the object is large and the inertia is high, so that the rigid support 2 with a large mass has a high inertia, so that during the movement of the vehicle, the elastic ball net 3 rolls with the movement of the gyroscope 4, and while the elastic ball net 3 rolls, the rigid support 2 still keeps the original state, thereby keeping the stability of the visual sensor in the mounting frame 1.
In some embodiments, the resilient ball network 3 comprises a plurality of resilient balls 30.
Specifically, the elastic balls 30 are spherical bodies having elasticity, the plurality of elastic balls 30 are disposed on the top end of the gyroscope 4, and the plurality of elastic balls 30 are mutually abutted to form a net structure and attached to the bottom of the rigid support member 2.
In some embodiments, the top of gyroscope 4 has a hemispherical indentation 41.
It can be understood that the radian of the hemispherical gap 41 is consistent with that of the hemispherical surface of the rigid support member 2, the elastic ball net 3 is arranged on the hemispherical gap 41, and the radian of the elastic ball net 3 is consistent with that of the hemispherical surface, so that the elastic ball net 3 is tightly attached to the hemispherical surface.
In some embodiments, a fitting 7 is also included.
Specifically, the gyroscope 4 is provided with a plurality of assembling ports 42, the assembling ports 42 are used for arranging the assembling pieces 7, and the assembling pieces 7 are used for arranging the gyroscope 4 on the mounting bracket.
More specifically, the plurality of assembling ports 42 are respectively arranged on the bottom surface and the side surface of the gyroscope 4, so that the assembling parts 7 can be arranged on the bottom surface and the side surface of the gyroscope 4, and the installation of the gyroscope 4 has more options and is suitable for more installation scenes.
In some embodiments, the fitting 7 is cylindrical in shape.
Specifically, one end of the fitting 7 is connected to the fitting opening 42, and the other end of the fitting 7 has a mounting notch 70, and the mounting notch 70 is used for mounting on a bracket.
It should be noted that the fitting opening 42 has a certain depth, so that the fitting 7 can be fixedly installed in the fitting opening 42 in an embedded manner; the mounting notch 70 is a notch with a certain depth, and the bracket has a protrusion which can be embedded into the mounting notch 70 to realize the fixed connection between the two.
In a second aspect, referring to fig. 4, the present invention provides a control algorithm stored in an algorithm integrated chip of a vibration damping device of any one of the visual sensors in the first aspect, including:
s1: receiving an image acquired by a visual sensor, and selecting a plurality of observation points;
s2: receiving the horizontal angle change measured by the integrated level 5;
s3: and calculating to obtain a compensation angle according to the horizontal angle change, and adjusting the plurality of observation points according to the compensation angle.
In one embodiment, the relationship between the horizontal angle change and the compensation angle in S3 is the same in magnitude and opposite in direction.
More specifically, after the vision sensor acquires an image, the algorithm integration chip 6 collects a plurality of observation points on a target, and constructs an overall image of the target by taking the plurality of observation points as a basic frame, when the integrated level 5 senses a change of a horizontal angle, the horizontal change is recorded as an angle a, the algorithm integration chip 6 receives the angle a, a control algorithm is stored in the algorithm integration chip, the control algorithm gives a compensation angle b according to the angle a and transmits the compensation angle b to the vision sensor, and the compensation angle b is used for adjusting the plurality of observation points collected by the vision sensor, namely, each observation point respectively adjusts the position according to the compensation angle b, so that the adjustment of the overall model constructed by taking the plurality of observation points as the basic frame is realized.
It should be noted that the angle a and the compensation angle b are consistent in value and have opposite directions, such as: when the angle a is 3 degrees to the left, the compensation angle b is 3 degrees to the right, and it can be understood that when the angle a is 3 degrees to the left, the visual sensor is also inclined 3 degrees to the left, and the positions of the plurality of observation points acquired by the visual sensor are also deviated, so that in order to correct the whole image, the observation points are required to be 3 degrees to the right, and the whole image constructed by the visual sensor is ensured to be the image when the visual sensor is not inclined.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A vibration damping device for a vision sensor, comprising:
the system comprises a mounting frame, a rigid support piece, an elastic ball net, a gyroscope, an integrated level meter and an algorithm integrated chip;
the mounting frame is used for arranging a visual sensor, the bottom of the mounting frame is connected with the top of the rigid support piece, the rigid support piece is arranged on the elastic ball net, the elastic ball net is arranged on the gyroscope, and the elastic ball net has a function of rolling relatively between the rigid support piece and the gyroscope;
the integrated level meter and the algorithm integrated chip are arranged in the installation frame, the algorithm integrated chip is respectively electrically connected with the integrated level meter and the vision sensor, the integrated level meter is used for measuring the horizontal angle change of the installation frame, and the algorithm integrated chip stores a control algorithm and is used for calculating and compensating the vision sensor according to the horizontal angle change measured by the integrated level meter.
2. The vibration reducing apparatus for a vision sensor as set forth in claim 1, wherein said rigid support member is shaped in a hemispherical shape;
the round surface of the rigid support piece is connected with the mounting frame;
the hemisphere surface of the rigid support part is connected with the elastic ball net.
3. The vibration damping device for a vision sensor as set forth in claim 1, wherein the material of said rigid support member is a high-density alloy.
4. The vibration reducing apparatus for a vision sensor as set forth in claim 1, wherein said elastic ball net comprises a plurality of elastic balls.
5. The vibration damping device for a visual sensor according to claim 1, wherein said gyroscope has a hemispherical indentation at its top end;
the hemispherical gap is used for arranging the elastic ball net.
6. The vibration damping device for a vision sensor as set forth in claim 1, further comprising a fitting member, said gyroscope having a plurality of fitting ports;
the assembly opening is used for installing the assembly part.
7. The vibration damping device for a vision sensor as set forth in claim 6, wherein said fitting openings are provided on the bottom surface and the side surface of said gyroscope, respectively.
8. The vibration damper for a vision sensor as described in claim 6, wherein said fitting member is shaped like a cylinder, one end of said fitting member is disposed in connection with said fitting opening, and the other end of said fitting member has a mounting notch for mounting on a bracket.
9. A control algorithm stored in an algorithm integrated chip of a vibration damping device of a vision sensor according to any one of claims 1 to 8, comprising:
s1: receiving an image acquired by the vision sensor, and selecting a plurality of observation points;
s2: receiving a horizontal angle change measured by the integrated level meter;
s3: and calculating to obtain a compensation angle according to the horizontal angle change, and adjusting the plurality of observation points according to the compensation angle.
10. A control algorithm according to claim 9 wherein said horizontal angle change and said compensation angle in S3 are related by the same magnitude and opposite directions.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211349990.0A CN115435705A (en) | 2022-10-31 | 2022-10-31 | Vibration damper of vision sensor |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211349990.0A CN115435705A (en) | 2022-10-31 | 2022-10-31 | Vibration damper of vision sensor |
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Application publication date: 20221206 |
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