CN206998977U - A kind of wheeled robot binocular vision head - Google Patents
A kind of wheeled robot binocular vision head Download PDFInfo
- Publication number
- CN206998977U CN206998977U CN201720851521.7U CN201720851521U CN206998977U CN 206998977 U CN206998977 U CN 206998977U CN 201720851521 U CN201720851521 U CN 201720851521U CN 206998977 U CN206998977 U CN 206998977U
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- stepper motor
- video camera
- runing rest
- rotating shaft
- pitching
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- 230000004438 eyesight Effects 0.000 title claims abstract description 12
- 230000008878 coupling Effects 0.000 claims abstract description 18
- 238000010168 coupling process Methods 0.000 claims abstract description 18
- 238000005859 coupling reaction Methods 0.000 claims abstract description 18
- 238000005259 measurement Methods 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000011038 discontinuous diafiltration by volume reduction Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
Abstract
The utility model discloses a kind of wheeled robot binocular vision head, including：Video camera, runing rest, bearing block, side rotating shaft, shaft coupling I, main support, side turn stepper motor, pitching stepper motor, video camera fixed station, shaft coupling II, obliquity sensor and pitch axis；Side rotating motor is fixed on main support, is coupled by shaft coupling I with side rotating shaft；Fixed in the middle part of the rotating shaft of side by bearing seat supports, the other end with runing rest；Runing rest side is mounted with pitching stepper motor, and pitching stepper motor is coupled by shaft coupling II with pitch axis；Affixed video camera fixed station in the middle part of pitch axis；Above video camera fixed station obliquity sensor is there is also mounted in addition to two video camera composition binocular visions are mounted with；Said structure ensure that the signal fed back according to obliquity sensor can adjust angle of inclination by side rotating motor, luffing angle can be adjusted by pitching motor, so as to so that video camera fixed station keep level.
Description
Technical field
It the utility model is related to robot field, the binocular vision head of more particularly to a kind of wheeled robot.
Background technology
Wheeled robot mostly uses fixed visual tasks platform at present, and camera angle can not root in motion process
It is adjusted according to the pose of robot.
Visual tasks platform does not possess automatic horizontal function, when robot run-off the straight in motion process, can cause institute
Collection image is deflected, and difficulty is brought to navigate or following the trail of.
The content of the invention
The utility model is directed to above-mentioned technical problem, proposes a kind of binocular vision head for being capable of automatic adjustable level.
To achieve the above objectives, it is achieved through the following technical solutions：
A kind of wheeled robot binocular vision head, including：Video camera, runing rest, bearing block, side rotating shaft, shaft coupling
Ith, main support, side turn stepper motor, pitching stepper motor, video camera fixed station, shaft coupling II, obliquity sensor and pitch axis；
Bearing block is provided with main support；Side turns stepper motor and is fixed on main support；
By bearing seat supports, the output shaft that one end of side rotating shaft turns stepper motor by shaft coupling I with side couples for side rotating shaft,
The other end of side rotating shaft is fixed with runing rest；
It is open hollow frame up and down that runing rest, which is,；
Video camera fixed station is embedded in runing rest, and passes through pitch axis and runing rest rolling assembling；
Wherein, the central axis of side rotating shaft and the central axis of pitch axis are orthogonal in the horizontal direction；
Pitching stepper motor is fixed on runing rest, and the output shaft of pitching stepper motor passes through shaft coupling with pitch axis
II connection；
Obliquity sensor is installed in the middle part of video camera fixed station；
Wherein, the output signal circuit of obliquity sensor turns the control circuit company of stepper motor with pitching stepper motor and side
Connect；
Further, runing rest is the rectangular frame of unilateral open type, and now video camera fixed station selection can be embedded in
Rectangular slab or lighter frame structure to runing rest open end, contribute to the contracting of overall weight and upper end formation volume
Subtract.
Using the utility model of above-mentioned technical proposal, the present apparatus is kept for wheeled robot when uneven road surface is walked
Binocular vision is horizontal, so as to improve the precision of the function such as path planning, measurement and target positioning and tracking.
Obliquity sensor is used for pitching and the angle of inclination for detecting robot, and passes through pitching driving stepper motor video camera
Fixed station is rotated to adjust luffing angle, and turning driving stepper motor runing rest by side rotates to adjust angle of inclination.
When in use, obliquity sensor should be in same level with base video camera, and keep at obliquity sensor
In the centre of base video camera.Obliquity sensor can export inclination and the angle of pitch with respect to the horizontal plane with measurement sensor
Degree.The data signal that obliquity sensor is sent is received by external controller, and controls pitching stepper motor or side to turn step
Stepper motor turns over corresponding angle, so that camera keep level.
Described above is only the general introduction of technical solutions of the utility model, in order to better understand skill of the present utility model
Art means, and being practiced according to the content of specification, and in order to allow above and other purpose of the present utility model, feature
It can be become apparent with advantage, below especially exemplified by preferred embodiment, and coordinate accompanying drawing, described in detail as follows.
Brief description of the drawings
The utility model totally 4 width accompanying drawing, wherein：
Fig. 1 is front view of the present utility model.
Fig. 2 is left view of the present utility model.
Fig. 3 is top view of the present utility model.
Fig. 4 is dimensional structure diagram of the present utility model.
In figure：1st, video camera, 2, runing rest, 3, bearing block, 4, side rotating shaft, 5, shaft coupling I, 6, main support, 7, side turns
Stepper motor, 8, pitching stepper motor, 9, video camera fixed station, 10, shaft coupling II, 11, obliquity sensor, 12, pitch axis.
Embodiment
A kind of wheeled robot binocular vision head as shown in Figure 1, Figure 2, Figure 3 and Figure 4, including：Video camera 1, rotation
Support 2, bearing block 3, side rotating shaft 4, shaft coupling I 5, main support 6, side turn stepper motor 7, pitching stepper motor 8, video camera and fixed
Platform 9, shaft coupling II 10, obliquity sensor 11 and pitch axis 12；
Bearing block 3 is provided with main support 6；Side turns stepper motor 7 and is fixed on main support 6；
For the rolling assembling of side rotating shaft 4 on bearing block 3, one end of side rotating shaft 4 turns stepper motor 7 by shaft coupling I 5 and side
Output shaft couples, and the other end of side rotating shaft 4 is fixed with runing rest 2；
It is open hollow frame up and down that runing rest 2, which is,；
Video camera fixed station 9 is embedded in runing rest 2, and passes through pitch axis 12 and the rolling assembling of runing rest 2；
Wherein, the central axis of the central axis of side rotating shaft 4 and pitch axis 12 is orthogonal in the horizontal direction；
Pitching stepper motor 8 is fixed on runing rest 2, and the output shaft of pitching stepper motor 8 passes through with pitch axis 12
Shaft coupling II 10 couples；
The middle part of video camera fixed station 9 is mounted with obliquity sensor 11；
Wherein, the output signal circuit of obliquity sensor 11 turns the control electricity of stepper motor 7 with pitching stepper motor 8 and side
Road connects；
Further, runing rest 2 is the rectangular frame of unilateral open type, and the now selection of video camera fixed station 9 can be embedding
Enter the rectangular slab to the open end of runing rest 2 or lighter frame structure, contribute to overall weight and upper end formation volume
Reduction.
Using the utility model of above-mentioned technical proposal, the present apparatus is kept for wheeled robot when uneven road surface is walked
Binocular vision is horizontal, so as to improve the precision of the function such as path planning, measurement and target positioning and tracking.
Obliquity sensor 11 is used for pitching and the angle of inclination for detecting robot, and is taken the photograph by the driving of pitching stepper motor 8
Camera fixed station 9 is rotated to adjust luffing angle, and turning stepper motor 7 by side drives runing rest 2 to rotate to adjust inclination angle
Degree.
When in use, obliquity sensor 11 should be in same level with video camera, and keep obliquity sensor 7 to be in
The centre of video camera fixed station.Obliquity sensor 11 can measure the inclination and pitching of video camera fixed station with respect to the horizontal plane
Angle.The data signal that obliquity sensor 11 is sent is received by external controller, control pitching stepper motor 8 or side turn
Stepper motor 7 turns over corresponding angle, so that camera keep level.
It is described above, only it is preferred embodiment of the present utility model, not the utility model is made any formal
Limitation, although the utility model is disclosed above with preferred embodiment, but be not limited to the utility model, it is any ripe
Know professional and technical personnel do not departing from the range of technical solutions of the utility model, when the technology contents using the disclosure above
Make a little change or be modified to the equivalent embodiment of equivalent variations, as long as being without departing from technical solutions of the utility model
Hold, according to the technical essence of the utility model to any simple modification, equivalent change and modification made for any of the above embodiments, still
Belong in the range of technical solutions of the utility model.
Claims (2)
- A kind of 1. wheeled robot binocular vision head, it is characterised in that including：Video camera (1), runing rest (2), bearing block (3), side rotating shaft (4), shaft coupling I (5), main support (6), side turn stepper motor (7), pitching stepper motor (8), video camera and fixed Platform (9), shaft coupling II (10), obliquity sensor (11) and pitch axis (12)；The side turns stepper motor (7) and is fixed on main support (6)；Side rotating shaft (4) is supported by bearing block (3), and one end of side rotating shaft (4) turns stepper motor (7) by shaft coupling I (5) and side Output shaft couples, and the other end of side rotating shaft (4) is fixed with runing rest (2)；It is open hollow frame up and down that the runing rest (2), which is,；The video camera fixed station (9) is arranged on runing rest (2) by pitch axis (12)；Wherein, the central axis of the central axis of side rotating shaft (4) and pitch axis (12) is orthogonal in the horizontal direction；Pitching stepper motor (8) is fixed on runing rest (2), and the output shaft of pitching stepper motor (8) and pitch axis (12) Coupled by shaft coupling II (10)；Obliquity sensor (11) is mounted with the middle part of the video camera fixed station (9)；Wherein, the output signal circuit of obliquity sensor (11) turns the control of stepper motor (7) with pitching stepper motor (8) and side Circuit connects.
- A kind of 2. wheeled robot binocular vision head according to claim 1, it is characterised in that：The runing rest (2) is the rectangular frame of unilateral open type, and now video camera fixed station (9) selection can be embedded into rotation Turn the rectangular slab of support (2) open end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720851521.7U CN206998977U (en) | 2017-07-13 | 2017-07-13 | A kind of wheeled robot binocular vision head |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720851521.7U CN206998977U (en) | 2017-07-13 | 2017-07-13 | A kind of wheeled robot binocular vision head |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206998977U true CN206998977U (en) | 2018-02-13 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720851521.7U Expired - Fee Related CN206998977U (en) | 2017-07-13 | 2017-07-13 | A kind of wheeled robot binocular vision head |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206998977U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109202853A (en) * | 2018-11-12 | 2019-01-15 | 国网四川省电力公司电力科学研究院 | A kind of power construction safety supervision robot |
| CN114158833A (en) * | 2021-12-28 | 2022-03-11 | 四川移柯智创通信技术有限公司 | Intelligent wireless electronic communication device |
-
2017
- 2017-07-13 CN CN201720851521.7U patent/CN206998977U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109202853A (en) * | 2018-11-12 | 2019-01-15 | 国网四川省电力公司电力科学研究院 | A kind of power construction safety supervision robot |
| CN114158833A (en) * | 2021-12-28 | 2022-03-11 | 四川移柯智创通信技术有限公司 | Intelligent wireless electronic communication device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180213 Termination date: 20180713 |
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| CF01 | Termination of patent right due to non-payment of annual fee |