CN205336450U - Imitative hawk eye vision image device of distinguishable rate transform - Google Patents
Imitative hawk eye vision image device of distinguishable rate transform Download PDFInfo
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- CN205336450U CN205336450U CN201620055315.0U CN201620055315U CN205336450U CN 205336450 U CN205336450 U CN 205336450U CN 201620055315 U CN201620055315 U CN 201620055315U CN 205336450 U CN205336450 U CN 205336450U
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Abstract
The utility model relates to an imitative hawk eye vision image device of distinguishable rate transform divide into mechanical structure and control system two parts. Mechanical structure adopts layer -stepping bilateral symmetry structure, and whole imitative hawk eye vision image device is divided into upper optical structure and lower stratus platform control structure, makes it possess servo control and resolution ratio mapping function. Mechanical structure includes that two focus industry camera, two board level industry cameras, camera lens auto -change over device and two degrees of freedom PTZ, control system includes image processing unit, steering engine control unit and electrical unit. The visual system can be guaranteed in the invention both can monitor the scene on a large scale, detected and fixed a position suspicious target, can carry out high resolution again and carry out analysis and measurement, and precision and the view field range that can overcome single camera be the defect of contradiction each other, and target detection efficiency obviously improves, and application scope is wider.
Description
[technical field]
The present invention relates to the imitative hawkeye vision imaging device of a kind of distinguishable rate conversion, belong to visual imaging technology and bionics techniques field。
[background technology]
Vision is a kind of important information acquisition system。Due to features such as the low cost of vision sensor and ease for use, Vision imaging system is widely used to the various aspects in life, including monitoring, industrial products inspection, optical measurement, unmanned plane, satellite etc.。But, it is that on simple image data acquiring, structure is relative with function single in the market mostly to the design of visual system。It is limited that simple industrial camera and the combination of tight shot often lead to visual system field range, and image information utilization rate is relatively low, it is difficult to meet big visual field and high-precision requirement simultaneously。Although collocation zoom lens can realize zoom data acquisition, but automatic focusing system structure relative complex, and relatively it is difficult to programme-control, therefore, designs and a kind of can meet multiple demand and user-friendly intelligent vision system is necessary。
Hawkeye has big visual field, the distinguishing feature such as sharp-sighted。Its special eye structure and visual theory determine eagle and can find in complex environment and catch Weak target。Therefore, visual system structure and visual theory to hawkeye are analyzed, and set up hawkeye vision mode, and then build imitative hawkeye vision imaging device, have broad application prospects。
[summary of the invention]
1, goal of the invention:
The imitative hawkeye vision imaging device of a kind of distinguishable rate of present invention conversion, it is providing one imitative hawkeye Visual intelligent acquisition processing system, by simulating hawkeye visual system structure and environment sensing mechanism, adopt multiplex image acquisition and image processing techniques, so that system has the function of big visual field and resolution conversion simultaneously。
2, technical scheme:
The present invention is the imitative hawkeye vision imaging device of a kind of distinguishable rate conversion, is divided into mechanical construction and control system two parts。Frame for movement adopts layer-stepping bilateral symmetry, and whole imitative hawkeye vision imaging device is divided into upper strata optical texture and lower floor's cradle head control structure so that it is possess SERVO CONTROL and resolution conversion function。
Described frame for movement includes two and focuses industrial camera, two plate level industrial cameras, lens switching device and cradle head of two degrees of freedom；
Said two focuses industrial camera and two plate level industrial cameras are both secured on platform upper slice；Two fixed-focus cameras are parallel is distributed in platform upper slice both sides, and two fixed-focus camera optical axis directions become 180 degree of angles；Two plate level industrial cameras are respectively positioned on other sides of platform upper slice, and two plate level industrial camera optical axis directions become 30 degree of angles；
Described lens switching device is made up of steering wheel A, rotation of lens sheet and camera lens, and steering wheel A controls the rotary motion of rotation of lens sheet, thus driving the switching of camera lens；Steering wheel A is fixed on platform upper slice, with plate level industrial camera in the same side；Rotation of lens sheet is Circular plate structure, and center has installing hole and steering wheel A to fix；Camera lens, with rotation of lens sheet center for the center of circle, is distributed on rotation of lens sheet according to even circumferential, and camera lens and steering wheel A are respectively arranged in the both sides of rotation of lens sheet；
Described cradle head of two degrees of freedom is made up of platform bottom sheet, elevation servo, The Cloud Terrace revolving fragment and base, and cradle head of two degrees of freedom controls upper strata optical texture and carries out pitching and turn to operation；Described upper strata optical texture is connected with lower floor cradle head control structure by sheet in platform and L-type fixture；
Described elevation servo includes steering wheel B; rocking arm and rocking bar; two steering wheel B are symmetrically fixed in platform bottom sheet; rocking arm is fixed with steering wheel B by the center mounting hole of rocking arm; rocking arm is arch carbon fiber plate structure; rocking bar is symmetrically mounted on the two ends of rocking arm, and rocking bar is cylindrical, and elevation servo controls upper strata optical texture and carries out elevating movement；
Base is cylinder-like structure, and steering wheel B is fixed in cylindric base, and The Cloud Terrace revolving fragment is made for circular carbon fiber plate, is positioned on base, and The Cloud Terrace revolving fragment center and steering wheel B fix；
Two L-type support member symmetries are fixed in platform bottom sheet, connecting platform bottom sheet and L-shaped fixture；Six L-shaped fixture point both sides symmetries are fixed in platform on sheet, and the fixture in the middle of in three every fixtures is connected with L-type support member, and in every three fixtures on one side, both sides is connected with two rocking bars respectively；
Described The Cloud Terrace revolving fragment is controlled to carry out divertical motion by the steering wheel B in base；
Platform upper slice and platform are fixedly connected each through connecting rod between sheet and between platform bottom sheet and The Cloud Terrace revolving fragment；
The described industrial camera that focuses is connected with graphics processing unit by holding wire with plate level industrial camera, the multiway images gathered processes through graphics processing unit, graphics processing unit can carry out functional design according to user's request, complete specific visual processes task, and by control system and steering wheel, lens switching device is controlled, thus switch to the camera lens of corresponding task。
Described focus the mounting means that industrial camera adopts lateral symmetry fixing, adopt fixing short-focus lens, form the field range that both sides are bigger, such that it is able to the information on a large scale obtained in scene；
The centrally located region of said two plate level industrial camera, forms binocular visual field's scope, and camera lens is regulated by lens switching device, thus forming the binocular vision structure of distinguishable rate conversion。In device, all of camera lens all adopts the M12 interface camera lens of standard, thus the volume of whole device can be reduced。
In described platform upper slice, platform, sheet, platform bottom sheet, The Cloud Terrace revolving fragment and rotation of lens sheet all adopt carbon fiber board to be made, thus alleviating the weight of whole device。Platform upper slice is hexagon, and in platform, sheet is circular, and platform bottom sheet is constituted for being removed centrosymmetric two arcuate sections by circle；
Described L-type support member and L-type fixture all adopt aluminum alloy materials to be made。
Described cradle head of two degrees of freedom controls entirety and carries out pitching and turn to operation；
Described control system includes graphics processing unit, servos control unit and power subsystem；
Described power subsystem provides power supply for whole hardware system；
Described graphics processing unit is responsible for gathering the industrial camera image of multichannel, and processes accordingly；
Described servos control unit receives control signal from graphics processing unit, for controlling the steering wheel in cradle head of two degrees of freedom and the steering wheel in lens switching device。
The mode of operation of above-mentioned industrial camera can be combined configuration, and the industrial camera that focuses of both sides forms side views, and middle plate level industrial camera forms middle visual field, and three visual fields can cover scene on a large scale, thus target can be caught in scene on a large scale；Graphics processing unit utilizes large scene information and setting task to dispatch lens switching device, when suspicious object is distant, switch to short-focus lens, enter large scene pattern, effectively to follow the tracks of target, when suspicious object close together, then switch to telephoto lens, entering Binocular vision photogrammetry pattern, composition stereoscopic vision is thus catch the more information of target and accurately measure。
Specific works step is as follows:
(1) lens switching device is controlled, by the camera adjusting of plate level industrial camera to short-focus lens, enter large scene pattern, both sides focus industrial camera and form side views, thus three field stitchings are a big visual field, for the monitor in real time of large scene, now for target be distant target, the image gathered, after graphics processing unit processes, adopts significance to calculate the suspicious object in detection scene；
(2) after scene finds suspicious object, calculate suspicious object image coordinate in large scene, and then calculate the suspicious object direction parameter relative to integral platform center, servos control unit controls two steering wheel B in cradle head of two degrees of freedom according to the direction parameter of target, and intermediate plate level industrial camera is directed at suspicious object；
(3) by controlling lens switching device, by the camera adjusting of plate level industrial camera to telephoto lens, entering Binocular vision photogrammetry pattern, now target can be carried out further explication de texte by the binocular vision system of two plate level industrial camera compositions；Both sides focus industrial camera and then continue surrounding scene is carried out monitor in real time。
Advantage of the present invention and effect are in that:
Adopt the imitative hawkeye vision imaging device that distinguishable rate converts, can ensure that visual system both can large-range monitoring scene, suspicious object is detected and positions, high-resolution can be carried out again be analyzed and measure, the precision of single camera and the defect that field range is conflicting can be overcome, target detection efficiency significantly improves, and the scope of application is wider。Control system is added for device, system can be made automatically to detect suspicious object and carry out resolution conversion by program setting, human-computer interaction function can facilitate user carry out remotely monitoring as required and control, it is possible to expands the range of application of imitative hawkeye vision imaging device well。
[accompanying drawing explanation]
The imitative hawkeye vision imaging device structural representation of Fig. 1 distinguishable rate conversion。
Fig. 2 superstructure schematic diagram。
Fig. 3 understructure schematic diagram。
Fig. 4 hardware annexation schematic diagram。
Number in the figure illustrates as follows:
1, platform upper slice 2, sheet 3, platform bottom sheet 4, The Cloud Terrace revolving fragment in platform
5, base 6, steering wheel B7, rocking arm 8, rocking bar
9, L-type support member 10, L-type fixture 11, focus industrial camera 12, connecting rod
13, plate level industrial camera 14, steering wheel A15, rotation of lens sheet 16, camera lens
[detailed description of the invention]
Referring to shown in Fig. 14, the imitative hawkeye vision imaging device of a kind of distinguishable rate of present invention conversion, it is divided into mechanical construction and control system two parts。Frame for movement adopts classical layer-stepping bilateral symmetry, and entirety can be divided into upper strata optical texture and lower floor's cradle head control structure so that it is possesses SERVO CONTROL and resolution conversion function。
Frame for movement includes two and focuses industrial camera 11, two plate level industrial cameras 13, lens switching device, cradle head of two degrees of freedom；Said two focuses industrial camera and plate level industrial camera is both secured on platform upper slice 1, and two fixed-focus cameras are parallel is distributed in both sides, and two plate level industrial cameras are centrally located, and optical axis direction becomes 30 degree of angles；Lens switching device is made up of steering wheel A14, rotation of lens sheet 15 and multiple camera lens 16, and steering wheel A14 controls the rotary motion of rotation of lens sheet 15, thus driving the switching of camera lens 16, steering wheel A14 is positioned at the top of plate level industrial camera 13；Upper strata optical texture is connected with lower floor cradle head control structure by sheet 2 in platform and L-type fixture；Cradle head of two degrees of freedom is made up of platform bottom sheet 3, elevation servo, The Cloud Terrace revolving fragment 4 and base, controls upper strata optical texture and carries out pitching and turn to operation；Elevation servo includes steering wheel B6, rocking arm 7 and rocking bar 8, and parametric controller carries out elevating movement, and The Cloud Terrace revolving fragment 4 is carried out divertical motion by the servos control in base 5；It is fixedly connected each through connecting rod 12 between stage+module sheet 1 and 2 and between 3 and 4；L-type support member is connected with sheet in platform 2 by fixture 10, makes upper strata optical texture carry out rotating shaft during elevating movement and keeps fixed position；All cameras are connected with graphics processing unit by holding wire, the multiway images gathered processes through graphics processing unit, graphics processing unit can carry out functional design according to user's request, complete specific visual processes task, and by control system and steering wheel, lens switching device is controlled, thus switch to the camera lens of corresponding task。
In above-mentioned platform upper slice 1, platform, sheet 2, platform bottom sheet 3 and rotation of lens sheet 15 all adopt carbon fiber board to be made, thus alleviating the weight of whole device。Above-mentioned L-type support member 9 and L-type fixture 10 all adopt aluminum alloy materials to be made。
Above-mentioned two focus the mounting means that industrial camera 11 adopts lateral symmetry fixing, adopt fixing short-focus lens, form the field range that both sides are bigger, such that it is able to the information on a large scale obtained in scene；Two centrally located regions of plate level industrial camera 13, form binocular visual field's scope, and camera lens 16 is regulated thus forming the binocular vision structure of distinguishable rate conversion by lens switching device。In device, all of camera lens all adopts the M12 interface camera lens of standard, thus the volume of whole device can be reduced。
Control system includes graphics processing unit, servos control unit and power subsystem；Described power subsystem provides power supply for whole hardware system, and graphics processing unit is responsible for gathering the industrial camera image of multichannel, and processes accordingly；Servos control unit receives control signal from graphics processing unit, for controlling the steering wheel in cradle head of two degrees of freedom and the steering wheel in lens switching device。
The mode of operation of above-mentioned industrial camera can be combined configuration, and the industrial camera that focuses of both sides forms side views, and middle plate level industrial camera forms middle visual field, and three visual fields can cover scene on a large scale, thus target can be caught in scene on a large scale；Graphics processing unit utilizes large scene information and setting task to dispatch lens switching device, when suspicious object is distant, switch to short-focus lens, enter large scene pattern, effectively to follow the tracks of target, when suspicious object close together, then switch to telephoto lens, entering Binocular vision photogrammetry pattern, composition stereoscopic vision is thus catch the more information of target and accurately measure。
The multiway images obtained can be carried out integrating output by above-mentioned graphics processing unit, configure according to user, multiway images can being integrated into a large scene image and be used for human-computer interaction function, user can carry out image by the video output interface of graphics processing unit and network interface and show and remote access。
Specific works step is as follows:
(1) lens switching device is controlled, by the camera adjusting of plate level industrial camera to short-focus lens, enter large scene pattern, both sides focus industrial camera and form side views, thus three field stitchings are a big visual field, for the monitor in real time of large scene, now for target be distant target, the image gathered, after graphics processing unit processes, adopts significance to calculate the suspicious object in detection scene；
(2) after scene finds suspicious object, calculate suspicious object image coordinate in large scene, and then calculate the suspicious object direction parameter relative to integral platform center, servos control unit controls two steering wheels in cradle head of two degrees of freedom according to the direction parameter of target, and intermediate plate level industrial camera is directed at suspicious object；
(3) by controlling lens switching device, by the camera adjusting of plate level industrial camera to telephoto lens, entering Binocular vision photogrammetry pattern, now target can be carried out further explication de texte by the binocular vision system of two plate level industrial camera compositions；Both sides focus industrial camera and then continue surrounding scene is carried out monitor in real time。
Adopt the imitative hawkeye vision imaging device that distinguishable rate converts, can ensure that visual system both can large-range monitoring scene, suspicious object is detected and positions, high-resolution can be carried out again be analyzed and measure, the precision of single camera and the defect that field range is conflicting can be overcome, target detection efficiency significantly improves, and the scope of application is wider。Control system is added for device, system can be made automatically to detect suspicious object and carry out resolution conversion by program setting, human-computer interaction function can facilitate user carry out remotely monitoring as required and control, it is possible to expands the range of application of imitative hawkeye vision imaging device well。
Claims (6)
1. the imitative hawkeye vision imaging device of a distinguishable rate conversion, it is characterised in that: it is divided into mechanical construction and control system two parts；Frame for movement adopts layer-stepping bilateral symmetry, and whole imitative hawkeye vision imaging device is divided into upper strata optical texture and lower floor's cradle head control structure so that it is possess SERVO CONTROL and resolution conversion function；
Described frame for movement includes two and focuses industrial camera, two plate level industrial cameras, lens switching device and cradle head of two degrees of freedom；
Said two focuses industrial camera and two plate level industrial cameras are both secured on platform upper slice；Two fixed-focus cameras are parallel is distributed in platform upper slice both sides；Two plate level industrial cameras are respectively positioned on other sides of platform upper slice；
Described lens switching device is made up of steering wheel A, rotation of lens sheet and camera lens, and steering wheel A controls the rotary motion of rotation of lens sheet, thus driving the switching of camera lens；Steering wheel A is fixed on platform upper slice, with plate level industrial camera in the same side；Rotation of lens sheet is Circular plate structure, and center has installing hole and steering wheel A to fix；Camera lens, with rotation of lens sheet center for the center of circle, is distributed on rotation of lens sheet according to even circumferential, and camera lens and steering wheel A are respectively arranged in the both sides of rotation of lens sheet；
Described cradle head of two degrees of freedom is made up of platform bottom sheet, elevation servo, The Cloud Terrace revolving fragment and base, and cradle head of two degrees of freedom controls upper strata optical texture and carries out pitching and turn to operation；Described upper strata optical texture is connected with lower floor cradle head control structure by sheet in platform and L-type fixture；
Described elevation servo includes steering wheel B; rocking arm and rocking bar; two steering wheel B are symmetrically fixed in platform bottom sheet; rocking arm is fixed with steering wheel B by the center mounting hole of rocking arm; rocking bar is symmetrically mounted on the two ends of rocking arm; rocking bar is cylindrical, and elevation servo controls upper strata optical texture and carries out elevating movement；
Base is cylinder-like structure, and steering wheel B is fixed in cylindric base, is positioned on base, and The Cloud Terrace revolving fragment center and steering wheel B fix；
Two L-type support member symmetries are fixed in platform bottom sheet, connecting platform bottom sheet and L-shaped fixture；Six L-shaped fixture point both sides symmetries are fixed in platform on sheet, and the fixture in the middle of in three every fixtures is connected with L-type support member, and in every three fixtures on one side, both sides is connected with two rocking bars respectively；
Described The Cloud Terrace revolving fragment is controlled to carry out divertical motion by the steering wheel B in base；
Platform upper slice and platform are fixedly connected each through connecting rod between sheet and between platform bottom sheet and The Cloud Terrace revolving fragment；
The described industrial camera that focuses is connected with graphics processing unit by holding wire with plate level industrial camera, the multiway images gathered processes through graphics processing unit, graphics processing unit carries out functional design according to user's request, complete specific visual processes task, and by control system and steering wheel, lens switching device is controlled, thus switch to the camera lens of corresponding task；
Described focus the mounting means that industrial camera adopts lateral symmetry fixing, adopt fixing short-focus lens, form side views scope；
The centrally located region of said two plate level industrial camera, forms binocular visual field's scope, and camera lens is regulated by lens switching device, thus forming the binocular vision structure of distinguishable rate conversion；
Described cradle head of two degrees of freedom controls the imitative hawkeye vision imaging device of this distinguishable rate conversion and carries out pitching and turn to operation；
Described control system includes graphics processing unit, servos control unit and power subsystem；
Described power subsystem provides power supply for whole hardware system；
Described graphics processing unit is responsible for gathering the industrial camera image of multichannel, and processes；
Described servos control unit receives control signal from graphics processing unit, for controlling the steering wheel B in cradle head of two degrees of freedom and the steering wheel A in lens switching device。
2. the imitative hawkeye vision imaging device of a kind of distinguishable rate according to claim 1 conversion, it is characterised in that: said two fixed-focus camera optical axis direction becomes 180 degree of angles；Said two plate level industrial camera optical axis direction becomes 30 degree of angles。
3. the imitative hawkeye vision imaging device of a kind of distinguishable rate according to claim 1 conversion, it is characterised in that: rocking arm is arch carbon fiber plate structure。
4. the imitative hawkeye vision imaging device of a kind of distinguishable rate according to claim 1 conversion, it is characterised in that: in described platform upper slice, platform, sheet, platform bottom sheet, The Cloud Terrace revolving fragment and rotation of lens sheet all adopt carbon fiber board to be made；Platform upper slice is hexagon, and in platform, sheet is circular, and platform bottom sheet is constituted for being removed centrosymmetric two arcuate sections by circle。
5. the imitative hawkeye vision imaging device of a kind of distinguishable rate according to claim 1 conversion, it is characterised in that: described camera lens all adopts the M12 interface camera lens of standard。
6. the imitative hawkeye vision imaging device of a kind of distinguishable rate according to claim 1 conversion, it is characterised in that: described L-type support member and L-type fixture all adopt aluminum alloy materials to be made。
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107131406A (en) * | 2017-05-19 | 2017-09-05 | 哈尔滨工业大学 | A kind of two-degree-of-freedoparallel parallel camera directing mechanism |
| CN110581980A (en) * | 2018-06-11 | 2019-12-17 | 视锐光科技股份有限公司 | Operation mode of safety monitoring system |
-
2016
- 2016-01-20 CN CN201620055315.0U patent/CN205336450U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107131406A (en) * | 2017-05-19 | 2017-09-05 | 哈尔滨工业大学 | A kind of two-degree-of-freedoparallel parallel camera directing mechanism |
| CN110581980A (en) * | 2018-06-11 | 2019-12-17 | 视锐光科技股份有限公司 | Operation mode of safety monitoring system |
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