CN205864585U - A kind of vehicular for tunnel image acquisition regulates platform - Google Patents
A kind of vehicular for tunnel image acquisition regulates platform Download PDFInfo
- Publication number
- CN205864585U CN205864585U CN201621124934.7U CN201621124934U CN205864585U CN 205864585 U CN205864585 U CN 205864585U CN 201621124934 U CN201621124934 U CN 201621124934U CN 205864585 U CN205864585 U CN 205864585U
- Authority
- CN
- China
- Prior art keywords
- platform
- vehicular
- image acquisition
- tunnel
- pedestal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Image Processing (AREA)
Abstract
This utility model relates to a kind of vehicular for tunnel image acquisition and regulates platform.It includes that mounting platform, motion branch, pedestal and revolution drive；Motion branch has three, and two of which is SPR version, and another is RPS version；Motion branch is connected with pedestal, and this pedestal is connected with baggage carrier of vehicle by revolving dial；Revolving dial can rotate under step motor drive effect.Compared with prior art, this utility model possesses the ability vertically moved along tunnel, can make to remain in camera field depth between digital camera and tunnel-liner surface；The vertical height of digital camera can be adjusted in real time.Additionally, parallel robot is applied in vcehicular tunnel image acquisition field, avoid the track of vehicle deviation impact on image capture device in gatherer process, the locus of regulation digital camera can be realized simultaneously according to tunnel structure size, solve the conventional images acquisition system many technical barriers when vcehicular tunnel is applied.
Description
Technical field
This utility model belongs to highway detection technique field, it particularly relates to a kind of for tunnel image acquisition
Vehicular regulation platform.
Background technology
Freeway tunnel can produce crack due to reasons such as geological disaster, the operation time limits, and highway in serious threat
Operation security.Tunnel slot detection means is the most relative with equipment backward at present, often uses artificial or artificial instrument by height
The mode of idle job car completes Detection task.This, subjective degree low based on manual detection method efficiency is big, particularly China
The most newly-built a collection of super long tunnel, relies on and manually more cannot complete Detection task in a short time.
The core of machine vision technique is with it is crucial that the most high-quality collection image, and this just requires that measured object is in all the time
In camera field depth.In order to ensure higher crack identification precision, need to select the digital camera that resolution is higher, this also causes
The depth of field is less, wants the distance of strict guarantee camera and lining cutting surface in gatherer process.But in detection overall height speed driving process
Affected by vehicle flowrate, pavement behavior and driver's subjective consciousness etc. and Vehicular vibration, course deviation inevitably occur, reduce
Collected by camera effect, the picture quality making collection is relatively low, has a strong impact on crack identification precision and accuracy.Meanwhile, vcehicular tunnel
Structure tunnel structure size complicated, different has bigger difference, thus before detecting tunnel, it is necessary to according to Tunnel Design drawing. every time
Camera installation site and focal length are adjusted.On the one hand reducing the intelligence degree of system, on the other hand, vehicle jolts shadow
Ring the focussing mechanism of digital camera, image acquisition is produced disturbance.In sum, prior art condition limits machine vision skill
Art application in vcehicular tunnel Intelligent Measurement, its basic reason is to lack a set of image stabilization harvester, causes collection
The picture quality arrived is poor, affects successive image and processes and feature identification.
Summary of the invention
For solving above-mentioned technical problem, this utility model provide a kind of easy and simple to handle, good stability for tunnel figure
As the vehicular regulation platform gathered.
A kind of vehicular for tunnel image acquisition described in the utility model regulates platform, and the regulation of described vehicular is flat
Platform includes mounting platform, motion branch, pedestal, revolution driving and control system；Described mounting platform is pacified by camera from top to bottom
Dress support 1, gripper shoe 2, sub-truss 3 and posture adjustment platform 4 are constituted；Described sub-truss 3 is fixed end and is installed in posture adjustment platform 4
Between position, its telescopic end is installed on bottom gripper shoe 2；Described motion branch has three, and two of which is SPR structure shape
Formula, including the upper revolute pair 5 being sequentially connected with, branch's moving sets, servo electric jar 7 and lower ball pivot 9, another is RPS structure shape
Formula, including the upper ball pivot 6 being sequentially connected with, branch's moving sets, servo electric jar 7 and lower revolute pair 10；Described branch moving sets exists
Servo electric jar 7 effect is lower produces the stretching motion along servo electric jar 7 axis direction；Described servomotor 8 connects and drives
Servo electric jar 7；Described upper revolute pair 5 and upper ball pivot 6 are connected with posture adjustment platform 4；Described lower ball pivot 9 and lower revolute pair 10 and base
Seat 11 connects；The kinematic pair central point of described motion branch respectively constitutes two equilateral triangles；Three groups of described motion branch turn
Dynamic secondary axis is parallel to each other；Described pedestal 11 is connected with baggage carrier of vehicle 14 by revolving dial 13；Described revolving dial 13 exists
Can be around its vertical axis 0～360 ° of any rotations under motor 12 driving effect；Described revolving dial 13 is tied by worm and gear
Structure realize 0～360 ° freely rotatable；Three-dimensional accelerometer that described control system includes being connected with controller, gyroscope, three-dimensional
Laser scanner, data collecting card, multi-axis motion control card, servo-driver and encoder；Described encoder connects servo electricity
Dynamic cylinder 7 and servomotor 8；Described data collecting card connects three-dimensional accelerometer, gyroscope and three-dimensional laser scanner；Described many
Axis motion control card connects each servomotor 8.
A kind of vehicular for tunnel image acquisition described in the utility model regulates platform, described upper revolute pair 5 He
Lower revolute pair 10 all includes multidiameter, bearing and end cap；
A kind of vehicular for tunnel image acquisition described in the utility model regulates platform, described upper ball pivot 6 and under
Ball pivot 9 three revolute pairs that are orthogonal by axis and that intersect at a point are compound to be constituted.
A kind of vehicular for tunnel image acquisition described in the utility model regulates platform, outside described posture adjustment platform 4
Shape is circular or rectangle, and thickness is 0.1～0.2m, and upper surface is provided with threaded mounting hole, lower surface arrangement has kinematic pair free bearing, its
Circumscribed circle diameter is 1.5～3.0m；
A kind of vehicular for tunnel image acquisition described in the utility model regulates platform, and described pedestal 11 is shaped as
Circular or rectangle, thickness is 0.1～0.2m, and upper surface is disposed with kinematic pair free bearing, lower surface is provided with through hole, its correspondence external
Circular diameter is 2 times of posture adjustment platform 4 circumscribed circle diameter.
A kind of vehicular for tunnel image acquisition described in the utility model regulates platform, and the regulation of described vehicular is flat
When platform is in initial pose, the distance between posture adjustment platform 4 and pedestal 11 is 1.5m.
A kind of vehicular for tunnel image acquisition described in the utility model regulates platform, described camera mounting bracket
1 can install three groups of digital cameras simultaneously, and two adjacent groups camera axis angle is 60 °
A kind of vehicular for tunnel image acquisition described in the utility model regulates platform, and described sub-truss 3 is
Telescopic rod structure form, adjustment height is 0.5～1.5m.
Current detection car driving process is vacillated now to the left, now to the right, causes the distance between camera and lining cutting inwall to become
Change, and digital camera tunnel structure size difference bigger from the distance of tunnel top, different is bigger.Compared with prior art,
Vehicular for tunnel image acquisition described in the utility model regulates platform and possesses the ability vertically moved along tunnel, can make
Remain between digital camera and tunnel-liner surface in camera field depth；The vertical height of digital camera can be adjusted in real time
Degree.It addition, parallel robot is applied in vcehicular tunnel image acquisition field, it is to avoid track of vehicle deviation in gatherer process
Impact on image capture device, can realize the locus of regulation digital camera simultaneously, solve according to tunnel structure size
The conventional images acquisition system many technical barriers when vcehicular tunnel is applied.
Accompanying drawing explanation
Fig. 1 is that vehicular regulates platform graphics；Fig. 2 is that vehicular regulates platform application figure；Fig. 3 is that mounting platform is three-dimensional
Figure；Fig. 4 is motion branched structure schematic diagram；Fig. 5 is posture adjustment platform hinge point distribution schematic diagram；Fig. 6 is the distribution of base hinge point
Schematic diagram.Camera mounting bracket-1, gripper shoe-2, sub-truss-3, posture adjustment platform-4, upper revolute pair-5, upper ball pivot-6, servo
Electric cylinder-7, servomotor-8, lower ball pivot-9, lower revolute pair-10, pedestal-11, motor-12, revolving dial-13, vehicle
Luggage carrier-14.
Detailed description of the invention
Vehicular for tunnel image acquisition described in the utility model is regulated flat below in conjunction with specific embodiment
Platform is described further, but protection domain of the present utility model is not limited to this.
Embodiment 1
Fig. 1 is the vehicular regulation platform three-dimensional modeling for vcehicular tunnel image acquisition.Fig. 2 is that vehicular regulates platform
Three-dimensional modeling during use, including mounting platform, motion branch, pedestal 11, revolution driving 13 and control system.Described control is
Three-dimensional accelerometer that system includes being connected with controller, gyroscope, three-dimensional laser scanner, data collecting card, multiaxial motion control
Fabrication, servo-driver and encoder；Described encoder connects servo electric jar 7 and servomotor 8；Described data acquisition links
Connect three-dimensional accelerometer, gyroscope and three-dimensional laser scanner；Described multi-axis motion control card connects each servomotor 8.Three-dimensional
Accelerometer, gyroscope are mainly used in obtaining the vibration parameters in vehicle operation；Three-dimensional laser scanner can obtain tunnel
Cross dimensions；Encoder is used for obtaining servo electric jar and motor real time kinematics amount；Data collecting card can respectively sense by Real-time Collection
Device numerical value；Multi-axis motion control card can be used for each servomotor of Synchronization Control and runs.
Fig. 3 is mounting platform three-dimensional modeling, by camera mounting bracket 1, gripper shoe 2, sub-truss 3 and posture adjustment platform 4 structure
Become.Camera mounting bracket 1 is for installing three groups of digital cameras, and its physical dimension is 0.045m × 0.045m × 0.15m, and adjacent two
Angle between group camera is 60 °；Posture adjustment platform 4 is aviation aluminum alloy material, and its circumscribed circle diameter is 0.700m, thickness is
0.012m；Sub-truss 3 fixes that end is installed on posture adjustment platform 4 middle position, telescopic end is installed on bottom gripper shoe 2, adjustable
Whole vertical height scope is 0.5～1.5m.
Fig. 4 is motion branched structure, and the 1st, 3 motion branched structure forms are SPR, the 2nd motion branched structure form is
RPS, is connected with posture adjustment platform 4 by upper revolute pair 5 or upper ball pivot 6, and corresponding hinge point arranges as it is shown in figure 5, a in figure1～a3For
Hinge centres point, each hinge point constitutes an equilateral triangle, and corresponding circumscribed circle diameter is 1m；By lower ball pivot 9 or lower rotation
Secondary 10 are connected with pedestal 11, and corresponding hinge point is arranged as shown in Figure 6, b in figure1～b3For hinge centres point, each hinge point constitutes one
Individual equilateral triangle, corresponding circumscribed circle diameter is 1.2m.Described each revolute pair axis is parallel to each other, and branch's moving sets is by servo electricity
Dynamic cylinder 7 and servomotor 8 realize, choose servo electric jar 7 model be SGM7J-02AFC6S, total kilometres be 1.2m；Servomotor
8 rated power are 200W, rated speed is 3000r/min, nominal torque is 0.64Nm；Supporting encoder acquisition precision is
131072pulses/rev。
Pedestal 11 is connected with baggage carrier of vehicle 14, under motor 12 driving effect by revolving dial 13, it is achieved adjust
Joint platform is around vertical axis 0～360 ° of any rotations.Choose revolving dial 13 model be SE9-61-H-25R, bearing capacity be
260Kg, supporting motor 12 model is SM3-960, rated speed is 3000r/min, nominal torque is 6N m.Choose tune
Distance between appearance platform 4 and pedestal 11 be position during 1mm be regulation platform working position.
Current detection car driving process is vacillated now to the left, now to the right, causes the distance between camera and lining cutting inwall to become
Change, and digital camera tunnel structure size difference bigger from the distance of tunnel top, different is bigger.Compared with prior art,
Vehicular for tunnel image acquisition described in the utility model regulates platform and possesses the ability vertically moved along tunnel, can make
Remain between digital camera and tunnel-liner surface in camera field depth；The vertical height of digital camera can be adjusted in real time
Degree.It addition, parallel robot is applied in vcehicular tunnel image acquisition field, it is to avoid track of vehicle deviation in gatherer process
Impact on image capture device, can realize the locus of regulation digital camera simultaneously, solve according to tunnel structure size
The conventional images acquisition system many technical barriers when vcehicular tunnel is applied.
Claims (8)
1. the vehicular regulation platform for tunnel image acquisition, it is characterised in that described vehicular regulation platform includes
Mounting platform, motion branch, pedestal and revolution drive；Described mounting platform is from top to bottom by camera mounting bracket (1), gripper shoe
(2), sub-truss (3) and posture adjustment platform (4) are constituted；The fixing end of described sub-truss (3) is installed on posture adjustment platform (4) interposition
Putting place, its telescopic end is installed on gripper shoe (2) bottom；Described motion branch has three, and two of which is SPR version,
Including the upper revolute pair (5) being sequentially connected with, branch's moving sets, servo electric jar (7) and lower ball pivot (9), another is RPS structure
Form, including the upper ball pivot (6) being sequentially connected with, branch's moving sets, servo electric jar (7) and lower revolute pair (10)；Described servo
Motor (8) connects and drives servo electric jar (7)；Described upper revolute pair (5) and upper ball pivot (6) are connected with posture adjustment platform (4)；Institute
State lower ball pivot (9) and lower revolute pair (10) is connected with pedestal (11)；The kinematic pair central point of described motion branch respectively constitutes two
Individual equilateral triangle；Three groups of revolute pair axis of described motion branch are parallel to each other；Described pedestal (11) passes through revolving dial (13)
It is connected with baggage carrier of vehicle (14)；Described revolving dial (13) can be around its vertical axis 0 under motor (12) driving effect
～360 ° of any rotations；Described revolving dial (13) by worm gear structure realize 0～360 ° freely rotatable；Described control system
Including the three-dimensional accelerometer being connected with controller, gyroscope, three-dimensional laser scanner, data collecting card, Multi-axis motion control
Card, servo-driver and encoder；Described encoder connects servo electric jar (7) and servomotor (8)；Described data collecting card
Connect three-dimensional accelerometer, gyroscope and three-dimensional laser scanner；Described multi-axis motion control card connects each servomotor (8).
A kind of vehicular for tunnel image acquisition the most according to claim 1 regulates platform, it is characterised in that described
Upper revolute pair (5) and lower revolute pair (10) all include multidiameter, bearing and end cap.
A kind of vehicular for tunnel image acquisition the most according to claim 1 regulates platform, it is characterised in that described
Upper ball pivot (6) and lower ball pivot (9) the compound composition of three revolute pairs that is orthogonal by axis and that intersect at a point.
A kind of vehicular for tunnel image acquisition the most according to claim 1 regulates platform, it is characterised in that described
Posture adjustment platform (4) profile is circular or rectangle, and thickness is 0.1～0.2m, and upper surface is provided with threaded mounting hole, lower surface arrangement has
Kinematic pair free bearing, its circumscribed circle diameter is 1.5～3.0m.
A kind of vehicular for tunnel image acquisition the most according to claim 1 regulates platform, it is characterised in that described
Pedestal (11) is generally circular in shape or rectangle, and thickness is 0.1～0.2m, and upper surface is disposed with kinematic pair free bearing, lower surface is provided with logical
Hole, the circumscribed circle diameter of its correspondence is 2 times of posture adjustment platform (4) circumscribed circle diameter.
A kind of vehicular for tunnel image acquisition the most according to claim 1 regulates platform, it is characterised in that described
When vehicular regulation platform is in initial pose, the distance between posture adjustment platform (4) and pedestal (11) is 1.5m.
A kind of vehicular for tunnel image acquisition the most according to claim 1 regulates platform, it is characterised in that described
Camera mounting bracket (1) can install three groups of digital cameras simultaneously, and two adjacent groups camera axis angle is 60 °
A kind of vehicular for tunnel image acquisition the most according to claim 1 regulates platform, it is characterised in that described
Sub-truss (3) is Telescopic rod structure form, and adjustment height is 0.5～1.5m.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621124934.7U CN205864585U (en) | 2016-11-28 | 2016-11-28 | A kind of vehicular for tunnel image acquisition regulates platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621124934.7U CN205864585U (en) | 2016-11-28 | 2016-11-28 | A kind of vehicular for tunnel image acquisition regulates platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205864585U true CN205864585U (en) | 2017-01-04 |
Family
ID=57594376
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621124934.7U Expired - Fee Related CN205864585U (en) | 2016-11-28 | 2016-11-28 | A kind of vehicular for tunnel image acquisition regulates platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205864585U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107199373A (en) * | 2017-05-31 | 2017-09-26 | 昆明理工大学 | A kind of 3DOF steel billet burr rejecting machine of vertical structure |
| CN107463186A (en) * | 2017-09-11 | 2017-12-12 | 中铁第四勘察设计院集团有限公司 | Suitable for the three dimensional data collection control device of face |
| CN108583460A (en) * | 2018-06-04 | 2018-09-28 | 辽宁省交通规划设计院有限责任公司 | Industrial camera holder and Tunnel testing vehicle |
| CN110851770A (en) * | 2019-08-30 | 2020-02-28 | 中国第一汽车股份有限公司 | Vehicle-mounted camera pose correction device and method, control equipment and correction system |
| CN111447363A (en) * | 2020-04-14 | 2020-07-24 | 中原工学院 | Tunnel wireless panoramic video monitoring system |
-
2016
- 2016-11-28 CN CN201621124934.7U patent/CN205864585U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107199373A (en) * | 2017-05-31 | 2017-09-26 | 昆明理工大学 | A kind of 3DOF steel billet burr rejecting machine of vertical structure |
| CN107463186A (en) * | 2017-09-11 | 2017-12-12 | 中铁第四勘察设计院集团有限公司 | Suitable for the three dimensional data collection control device of face |
| CN108583460A (en) * | 2018-06-04 | 2018-09-28 | 辽宁省交通规划设计院有限责任公司 | Industrial camera holder and Tunnel testing vehicle |
| CN110851770A (en) * | 2019-08-30 | 2020-02-28 | 中国第一汽车股份有限公司 | Vehicle-mounted camera pose correction device and method, control equipment and correction system |
| CN111447363A (en) * | 2020-04-14 | 2020-07-24 | 中原工学院 | Tunnel wireless panoramic video monitoring system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205864585U (en) | A kind of vehicular for tunnel image acquisition regulates platform | |
| CN106657764B (en) | A kind of vehicular adjusting platform and its implementation method for tunnel Image Acquisition | |
| WO2021068846A1 (en) | Multi-arm robot for tunnel lining detection and disease diagnosis in operating period | |
| CN205852787U (en) | A kind of multiaxis regulation platform with pose self-checking function | |
| CN113253751B (en) | Rapid line falling control method for overhead power transmission cable flying type inspection robot | |
| CN105034400B (en) | Numerical control winding apparatus and method for square glass fiber reinforced plastic air pipe | |
| CN201891999U (en) | Electrically controlled telescopic rocker | |
| CN107081752A (en) | Compact robot head and compact robot | |
| CN204650290U (en) | Unmanned plane pan-shot The Cloud Terrace in the finite space | |
| CN106882283A (en) | A kind of robot system | |
| CN204125805U (en) | A kind of robot scaling equipment for track detecting | |
| CN204240947U (en) | The contact net geometric parameter measurement instrument of view-based access control model measuring technique | |
| CN107416060B (en) | A kind of automation bar class climbing robot | |
| CN205466207U (en) | Two mesh stereovision devices of manipulator formula of carrying on | |
| CN105571520B (en) | A kind of intelligent 3 D stereo scanner head | |
| CN102962834A (en) | Inspection robot mechanism for high-voltage transmission line | |
| CN206748429U (en) | Compact robot head and compact robot | |
| CN113290568A (en) | Self-adaptive tunnel detection robot and working method | |
| CN202791194U (en) | T-shaped filming frame for three-dimensional reduction filming | |
| CN110231008A (en) | High and pull-out value measurement mechanism and method are led based on the contact net being imaged twice | |
| CN107460835B (en) | A kind of traffic camera mounting device and its construction method | |
| CN114120674B (en) | Traffic information display device based on intelligent traffic management system control | |
| CN206998977U (en) | A kind of wheeled robot binocular vision head | |
| CN101168256A (en) | Swinging arm type transmission line polling robot swinging arm transmission device | |
| CN210113177U (en) | Electric power patrols line unmanned aerial vehicle based on VR and multisensor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170104 Termination date: 20181128 |