CN204988187U - Be used for rigid body planar motion position appearance measuring vision initiative mark point - Google Patents
Be used for rigid body planar motion position appearance measuring vision initiative mark point Download PDFInfo
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- CN204988187U CN204988187U CN201520737574.7U CN201520737574U CN204988187U CN 204988187 U CN204988187 U CN 204988187U CN 201520737574 U CN201520737574 U CN 201520737574U CN 204988187 U CN204988187 U CN 204988187U
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- collimation lens
- light source
- rigid body
- circular arc
- motion
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Abstract
The utility model discloses a be used for rigid body planar motion position appearance measuring vision initiative mark point, include base, LED pointolite, collimating lens, indicate the end cover, the base end has a tie bottom groove, and the tie bottom groove and fixed with flat bottom groove's interior bottom surface is placed in to the LED pointolite, and the collimating lens middle part has a cavity, and collimating lens is provided above the LED pointolite to make the LED pointolite arrange in among its cavity, indicate the top of end cover setting at collimating lens for top edge through compressing tightly collimating lens is fixed collimating lens, indicates the inner edge of end cover and flat bottom groove's lateral wall clearance fit, and fastens it through the screw on flat bottom groove's the lateral wall, the flag terminal is covered and has been offered the unthreaded hole, and this unthreaded hole is promptly for vision initiative mark point. The utility model discloses measuring range is big in the adaptation, the circumstances such as velocity of movement height to need not additionally to provide the light source. Can better imaging be provided for the camera, the processing speed can be accelerated when improving the precision.
Description
Technical field
The present invention relates to field of optical measuring technologies, particularly relate to a kind of vision active flag point for Motion of Rigid Body pose measurement.
Background technology
Motion of Rigid Body comprises 3 degree of freedom, i.e. plane translation degree of freedom x and y and the rotational freedom around z-axis.In order to obtain Motion of Rigid Body real-time pose with visible sensation method, must need to be realized by the obvious mark of contrasts one or more on tracking object.Mark can be divided into artificial target's thing and the large class of natural mark two.For the measurement of high-precision high-speed, natural mark is limited to surrounding environment influence, and imaging effect is poor, is difficult to reach at a high speed and high precision, uses artificial mark to be inevitable selection.Artificial target's thing can be divided into again passive type and active two kinds.
Passive type mark uses extensively, its principle is that self is not luminous, but due to self structure or special material, after being irradiated by external light source, light is reflected back camera imaging, contrast now between monumented point and background is obvious, facilitate successive image process, as now commercial scanner monumented point, spherical reflective marker point etc.Active flag point cardinal principle is luminous by self, and light directly enters camera imaging, thus monumented point and background contrast are obviously, and the application of such mark is relatively less, mainly concentrates on the less demanding occasion of measuring accuracy, as augmented reality system etc.
Existing active flag point great majority are applied in measuring accuracy and require it is not very high occasion, therefore great majority all by LED point light source directly as monumented point.For plane high-speed motion rigid body, because space is relatively large, movement velocity is high, and attitude during in order to obtain high-precision real, must need high resolution camera and high precision mark.Because camera resolution is high, so captured image data amount just becomes large, at this time carrying out the processing time to image must increase, and in order to reach requirement of real-time, necessarily require to realize location with the fastest Processing Algorithm, this will ask image quality very good.Simultaneously because movement velocity is very high, in order to obtain the image without smear, the time shutter that inevitable requirement is extremely short, external light source at this time must be needed could to obtain enough light intensity, but due to work space larger, so the words using passive reflecting sign point to do mark just need enough large external light source just can satisfy condition, this brings very large inconvenience to kinetic measurement.To sum up consider, in order to obtain sharp-edged monumented point image, facilitating simultaneously and follow-uply asking for platform rotational angle, need one can active illuminating, edge clear, the specific mark of shape.
Summary of the invention
The object of the invention is to the shortcoming and defect overcoming above-mentioned prior art, a kind of vision active flag point for Motion of Rigid Body pose measurement is provided, it not only can active illuminating, and in camera imaging edge clear, regular shape, can be used for plane high-speed moving object pose real-time high-precision measure.
The present invention is achieved through the following technical solutions:
For a vision active flag point for Motion of Rigid Body pose measurement, comprise pedestal 4, LED point light source 3, collimation lens 2, mark end cap 1;
Described pedestal 4 end has a flat bottomed recess, LED point light source 3 is placed in this flat bottomed recess and fixes with the inner bottom surface of flat bottomed recess, have in the middle part of collimation lens 2 cavity 2 ?1, collimation lens 2 is arranged on above LED point light source, and make LED point light source 3 be placed in its cavity 2 ?among 1;
Described mark end cap 1 is arranged on the top of collimation lens 2, be fixed for the coboundary collimation lens 2 by compressing collimation lens 2, inner edge 1 ?1 of mark end cap 1 coordinates with the sidewall spacers of flat bottomed recess, and carries out fastening by the screw 6 on the sidewall of flat bottomed recess to it;
Described mark end cap 1 offers unthreaded hole 1 ?2, this unthreaded hole 1 ?2 is vision active flag point.
The inner top surface of cavity 2 ?1 of described collimation lens 2 is the lower dome arc surface 201 to lower convexity, corresponding to the epirelief circular arc camber 202 of middle part for raising up of collimation lens 2 upper surface of lower dome arc surface 201; The outer rim of collimation lens 2 is the indent circular arc camber 203 caved inward, and the side surface of collimation lens 2 is the evagination circular arc camber 204 of outwardly convex;
Wherein descend dome arc surface 201 and epirelief circular arc camber 202 to form a pair, make the light of LED point light source 3 incidence become collimated ray after lower dome arc surface 201 with epirelief circular arc camber 202;
Indent circular arc camber 203 and evagination circular arc camber 204 form other a pair, make the light of LED point light source 3 incidence become collimated ray after indent circular arc camber 203 with evagination circular arc camber 204.
Described cavity 2 ?1 be cylindrical cavity.
Described unthreaded hole 1 ?2 be double circular hole or arc transition rectangular opening or rectangular opening.
Described LED point light source 3 be fixed on substrate 3 ?on 1, substrate 3 ?1 to be fixed by the inner bottom surface of bolt 5 with flat bottomed recess.
The inner bottom surface of described flat bottomed recess offer with the hole 4 of ft connection ?1, for by the wire 3 of LED point light source 3 ?3 to be drawn by this hole.
The present invention its not only can active illuminating, and in camera imaging edge clear, regular shape, the real-time high-precision that can be used for plane high-speed moving object pose is measured.
The situations such as this active flag point of the present invention is applicable to the measurement of Rigid Planar 3DOF very much, can adapt to measurement range large, and movement velocity is high, and without the need to additionally providing light source.Imaging effect more carefully can be provided to camera, can speed up processing while of carrying high-precision.
Accompanying drawing explanation
Fig. 1 is structural profile schematic diagram of the present invention.
Fig. 2 is the elevational schematic view of mark end cap.
Fig. 3 is the structural profile schematic diagram of collimation lens.
Fig. 4 is the structural representation of LED point light source.
Fig. 5 is the unthreaded hole that LED point light source passes through to indicate end cap, the luminescence imaging schematic diagram when measuring.
Embodiment
Below in conjunction with specific embodiment, the present invention is more specifically described in detail.
Embodiment
As shown in Fig. 1 to 5.A kind of vision active flag point for Motion of Rigid Body pose measurement of the present invention, comprises pedestal 4, LED point light source 3, collimation lens 2, mark end cap 1; Pedestal 4 and mark end cap 1 carry out anodic oxidation and add black process.LED point light source 3 preferably elects white light as.
Described pedestal 4 end has a flat bottomed recess, LED point light source 3 is placed in this flat bottomed recess and fixes with the inner bottom surface of flat bottomed recess, have in the middle part of collimation lens 2 cavity 2 ?1, collimation lens 2 is arranged on above LED point light source, and make LED point light source 3 be placed in its cavity 2 ?among 1; LED point light source 3 has power adjustable circuit, and its luminous intensity is adjustable.
Described mark end cap 1 is arranged on the top of collimation lens 2, be fixed for the coboundary collimation lens 2 by compressing collimation lens 2, inner edge 1 ?1 of mark end cap 1 coordinates with the sidewall spacers of flat bottomed recess, and carries out fastening by the screw 6 on the sidewall of flat bottomed recess to it;
Described mark end cap 1 offers unthreaded hole 1 ?2, this unthreaded hole 1 ?2 is vision active flag point.
Collimation lens 2 is made up of transparent material, as optical glass.The inner top surface of cavity 2 ?1 of collimation lens 2 is the lower dome arc surface 201 to lower convexity, corresponding to the epirelief circular arc camber 202 of middle part for raising up of collimation lens 2 upper surface of lower dome arc surface 201; The outer rim of collimation lens 2 is the indent circular arc camber 203 caved inward, and the side surface of collimation lens 2 is the evagination circular arc camber 204 of outwardly convex;
Wherein descend dome arc surface 201 and epirelief circular arc camber 202 to form a pair, make the light of LED point light source 3 incidence become collimated ray after lower dome arc surface 201 with epirelief circular arc camber 202;
Indent circular arc camber 203 and evagination circular arc camber 204 form other a pair, make the light of LED point light source 3 incidence become collimated ray after indent circular arc camber 203 with evagination circular arc camber 204.
Described cavity 2 ?1 be cylindrical cavity.
Described unthreaded hole 1 ?2 be preferred arc transition rectangular opening or double circular hole (that is, two independently circular hole), Fig. 2 illustrate only arc transition rectangular opening.But also or rectangular opening, concrete shape can carry out Choice and process according to measurement requirement.
Described LED point light source 3 be fixed on substrate 3 ?on 1, substrate 3 ?1 to be fixed by the inner bottom surface of bolt 5 with flat bottomed recess.
The inner bottom surface of described flat bottomed recess offer with the hole 4 of ft connection ?1, for by the wire 3 of LED point light source 3 ?3 to be drawn by this hole.
As mentioned above, just the present invention can be realized preferably.
Embodiments of the present invention are not restricted to the described embodiments; other are any do not deviate from Spirit Essence of the present invention and principle under do change, modification, substitute, combine, simplify; all should be the substitute mode of equivalence, be included within protection scope of the present invention.
Claims (7)
1. for a vision active flag point for Motion of Rigid Body pose measurement, it is characterized in that, comprise pedestal (4), LED point light source (3), collimation lens (2), mark end cap (1);
Described pedestal (4) end has a flat bottomed recess, LED point light source (3) is placed in this flat bottomed recess and fixes with the inner bottom surface of flat bottomed recess, collimation lens (2) middle part has a cavity (2-1), collimation lens (2) is arranged on above LED point light source, and makes LED point light source (3) be placed among its cavity (2-1);
Described mark end cap (1) is arranged on the top of collimation lens (2), be fixed for the coboundary collimation lens (2) by compressing collimation lens (2), the inner edge (1-1) of mark end cap (1) coordinates with the sidewall spacers of flat bottomed recess, and carries out fastening by the screw (6) on the sidewall of flat bottomed recess to it;
Described mark end cap (1) offers unthreaded hole (1-2), and this unthreaded hole (1-2) is vision active flag point.
2. the vision active flag point for Motion of Rigid Body pose measurement according to claim 1, it is characterized in that, the inner top surface of the cavity (2-1) of described collimation lens (2) is the lower dome arc surface (201) to lower convexity, corresponding to the epirelief circular arc camber (202) of middle part for raising up of collimation lens (2) upper surface of lower dome arc surface (201); The outer rim of collimation lens (2) is the indent circular arc camber (203) caved inward, and the side surface of collimation lens (2) is the evagination circular arc camber (204) of outwardly convex;
Wherein, lower dome arc surface (201) and epirelief circular arc camber (202) form a pair, make the incident light of LED point light source (3) become collimated ray after lower dome arc surface (201) with epirelief circular arc camber (202);
Indent circular arc camber (203) and evagination circular arc camber (204) form other a pair, make the incident light of LED point light source (3) become collimated ray after indent circular arc camber (203) with evagination circular arc camber (204).
3. the vision active flag point for Motion of Rigid Body pose measurement according to claim 1, it is characterized in that, described cavity (2-1) is cylindrical cavity.
4. the vision active flag point for Motion of Rigid Body pose measurement according to claim 1, is characterized in that, described unthreaded hole (1-2) is double circular hole or arc transition rectangular opening.
5. the vision active flag point for Motion of Rigid Body pose measurement according to claim 1, it is characterized in that, described unthreaded hole (1-2) is rectangular opening.
6. the vision active flag point for Motion of Rigid Body pose measurement according to any one of claim 1 to 5, it is characterized in that, described LED point light source (3) is fixed on substrate (3-1), and substrate (3-1) is fixed by the inner bottom surface of bolt (5) with flat bottomed recess.
7. the vision active flag point for Motion of Rigid Body pose measurement according to claim 6, it is characterized in that, the inner bottom surface of described flat bottomed recess offers and the hole of ft connection (4-1), for being drawn by this hole by the wire (3-3) of LED point light source (3).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520737574.7U CN204988187U (en) | 2015-09-22 | 2015-09-22 | Be used for rigid body planar motion position appearance measuring vision initiative mark point |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520737574.7U CN204988187U (en) | 2015-09-22 | 2015-09-22 | Be used for rigid body planar motion position appearance measuring vision initiative mark point |
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| CN204988187U true CN204988187U (en) | 2016-01-20 |
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| CN201520737574.7U Expired - Fee Related CN204988187U (en) | 2015-09-22 | 2015-09-22 | Be used for rigid body planar motion position appearance measuring vision initiative mark point |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105157571A (en) * | 2015-09-22 | 2015-12-16 | 华南理工大学 | Visual active marking point for rigid body plane motion pose measurement |
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2015
- 2015-09-22 CN CN201520737574.7U patent/CN204988187U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105157571A (en) * | 2015-09-22 | 2015-12-16 | 华南理工大学 | Visual active marking point for rigid body plane motion pose measurement |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160120 Termination date: 20180922 |
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| CF01 | Termination of patent right due to non-payment of annual fee |