CN207503037U - Machine user tripod head transfer - Google Patents
Machine user tripod head transfer Download PDFInfo
- Publication number
- CN207503037U CN207503037U CN201721583916.XU CN201721583916U CN207503037U CN 207503037 U CN207503037 U CN 207503037U CN 201721583916 U CN201721583916 U CN 201721583916U CN 207503037 U CN207503037 U CN 207503037U
- Authority
- CN
- China
- Prior art keywords
- control unit
- camera
- cradle head
- electric rotating
- rotating machine
- 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.)
- Active
Links
Abstract
The utility model discloses a kind of machine user tripod head transfers, belong to intelligent robot technology field.The utility model includes camera control unit, cradle head control unit, holder electric rotating machine, rotary head, camera and attitude transducer, camera control unit, cradle head control unit, holder electric rotating machine and rotary head are placed in robot, attitude transducer and camera are fixed on rotary head, holder electric rotating machine is connect by transmission device with rotary head, attitude transducer is connect with cradle head control unit, camera control unit is connect respectively with camera and cradle head control unit, and cradle head control unit is connect with holder electric rotating machine.For the utility model when robot is turned to or yawed for some reason, the camera that random device people moves together can remain face subject, so as to which subject locking same direction is taken pictures and/or be recorded a video.
Description
Technical field
The utility model belongs to intelligent robot technology field, and in particular to one kind is used for the small vehicle device of intelligent substation patrol
The holder transfer of device people.
Background technology
At present applied in the buggy robot of intelligent substation patrol, common holder transfer is based primarily upon holder
Electric rotating machine controls.When needing to take pictures and/or record a video, can first stop buggy robot chassis, and then rotary platform is clapped
According to and/or video recording；Or in order to improve efficiency, the movement of buggy robot chassis side, side rotary platform is taken pictures and/or is recorded
Picture.
When buggy robot chassis takes pictures and/or records a video in movement, traditional control program can not turn in dolly chassis
To locking same direction takes pictures and/or records a video well in the process, i.e., small vehicle device relatively difficult to achieve in the overall process turned on chassis
Camera aims at the direction of subject on device user tripod head, phenomena such as may being overlapped or lose so as to cause camera partial information,
So that video processing and extraction information process complicate, monitoring electrical equipment effect is deteriorated.
Chinese patent 201621372464.6 discloses a kind of inspection machine user tripod head, which includes holder shell
Body, pitching motor mounting base, pitching motor, second harmonic retarder, electric rotating machine skeleton, electric rotating machine, first harmonic slow down
Device, the electric rotating machine, first harmonic decelerator are separately mounted on the electric rotating machine skeleton, the electric rotating machine output shaft
It is connect with the first harmonic decelerator, the bottom of the pitching motor mounting base and the first harmonic decelerator being disposed below
Output axis connection, the pitching motor, second harmonic retarder be mounted in the pitching motor mounting base, pitching electricity
The output shaft of machine is connect with the second harmonic retarder, and the output shaft of the second harmonic retarder connects with the holder housing
It connects, the holder housing is installed in rotation in pitching motor mounting base.Although the cradle head device can realize rotation and bow
Action is faced upward, still, can not well be locked in dolly chassis steering procedure using the buggy robot of the cradle head device same
Direction takes pictures and/or records a video, phenomena such as may being overlapped or lose so as to cause camera partial information.
Invention content
The utility model aim is to provide a kind of machine user tripod head transfer so that in buggy robot motion process
In, the camera on machine user tripod head can lock same direction to subject and be taken pictures and/or be recorded a video.
Specifically, the utility model is realized using following technical scheme：Including camera control unit, cradle head control
Unit, holder electric rotating machine, rotary head and camera further include attitude transducer, the camera control unit, cradle head control list
Member, holder electric rotating machine and rotary head are placed in robot, and attitude transducer and camera are fixed on rotary head, holder
Electric rotating machine is connect by transmission device with rotary head, and the attitude transducer is connect with cradle head control unit, for by phase
Machine directional information passes to cradle head control unit, and camera control unit is connect respectively with camera and cradle head control unit, for controlling
Camera processed takes pictures and/or records a video and for camera locking direction information to be issued cradle head control unit, cradle head control unit with
Holder electric rotating machine connects.
Furthermore, camera direction information is passed to cradle head control by the attitude transducer by IIC communication modes
Unit, camera control unit are connect by network interface with camera, and camera control unit is connect by serial ports with cradle head control unit, cloud
Platform control unit is connect by serial ports with holder electric rotating machine.
Furthermore, the attitude transducer is three axis accelerometer, three axle magnetometer and three-axis gyroscope combination
Nine axis attitude transducers.
Furthermore, camera direction information is passed to the frequency of cradle head control unit higher than cloud by the attitude transducer
Platform control unit controls the frequency of holder electric rotating machine.
Furthermore, the frequency that camera direction information is passed to cradle head control unit by the attitude transducer is
500Hz, the frequency of cradle head control unit control holder electric rotating machine is 50Hz.
Furthermore, the camera control unit is industrial personal computer.
The beneficial effects of the utility model are as follows：The machine user tripod head transfer of the utility model, buggy robot bottom
When disk is turned to or yawed for some reason, the camera moved with buggy robot can remain that face is taken
Object, so as to which subject locking same direction is taken pictures and/or be recorded a video.
Description of the drawings
Fig. 1 is the system structure diagram of the utility model embodiment 1.
Fig. 2 is the course of work schematic diagram of the utility model embodiment 1.
Label in figure：1 --- buggy robot inspection road, 2 --- buggy robot running orbit, 3 --- trolley
Robot chassis is directed toward, and 4 --- the direction of camera on desired buggy robot rotary head, 5 --- certain electric power being taken
Equipment.
Specific embodiment
The utility model is described in further detail with reference to embodiment and with reference to attached drawing.
Embodiment 1：
One embodiment of the utility model is a kind of machine user tripod head transfer.With reference to Fig. 1, the machine user tripod head
Transfer, including wheel, chassis, industrial personal computer, cradle head control unit, holder electric rotating machine, rotary head, nine axis postures sensing
Device and camera.Industrial personal computer, cradle head control unit, holder electric rotating machine and rotary head are placed on chassis, holder electric rotating machine
It is connect by transmission device with rotary head.Nine axis attitude transducers are three axis accelerometer, three axle magnetometer and three axis accelerometer
The combination of instrument.Nine axis attitude transducers and camera are fixed on rotary head, so when rotary head rotates, nine axis postures sensing
Nine axis informations of the rotary head that device obtains can be used for representing the directional information of camera.
Nine axis informations are passed to cradle head control unit by nine axis attitude transducers by IIC communication modes.Industrial personal computer conduct
Camera control unit is connect by network interface with camera, and for camera to be controlled to be taken pictures and/or is recorded a video, analysis camera collects
Data.Industrial personal computer is connect by serial ports with cradle head control unit, for camera to be needed to be sent instructions to when locking certain direction
Cradle head control unit.Cradle head control unit is connect by serial ports with holder electric rotating machine, for control holder electric rotating machine with compared with
High-frequency control rotary head locking same direction.
During work, nine axle sensors being fixed on rotary head obtain nine axis informations of rotary head in real time, and with compared with
High-frequency (such as 500Hz, can be other frequencies) passes to cradle head control unit, which controls higher than cradle head control unit
(such as nine axis informations are passed to the frequency of cradle head control unit as 500Hz to the frequency of holder electric rotating machine by nine axle sensors, cloud
The frequency of platform control unit control holder electric rotating machine is 50Hz).
Cradle head control unit resolves nine axle sensor data by algorithm commonly used in the trade and obtains the rotation represented with Eulerian angles
Holder attitude information (yaw angle, rotation angle and pitch angle), the direction for representing camera on rotary head by yaw angle information are believed
Breath.Cradle head control unit receive industrial personal computer proposition demand (such as instruction rotary head on camera locking present orientation letter
Breath or a certain azimuth information of locking) after, by pid algorithm control holder electric rotating machine with higher frequency (such as 50Hz,
Can be other frequencies) rotary head is made to lock same direction, so that camera is continuously maintained in what is specified to a certain extent
It is taken pictures and/or is recorded a video in direction.
With reference to Fig. 2, buggy robot carries out inspection along inspection road 1, small in the operational process of buggy robot chassis
The vertical Mr. Yu's power equipment 5 of camera (such as cable, instrument and meter cabinet) carries out video acquisition in vehicle robot and/or photo is clapped
It takes the photograph.Buggy robot chassis is turned to along running orbit 2, is changed correspondingly, buggy robot chassis is directed toward 3, industry control
Machine instruction buggy robot rotary head locking camera persistently keeps direction as indicated at 4, i.e., perpendicular to the power equipment.
Camera can be infrared camera or Visible Light Camera.Infrared camera can record the temperature conditions of whole cable,
Industrial personal computer is facilitated to carry out high temperature information alert；Visible Light Camera can with the data in filming instrument instrument cabinet, facilitate industrial personal computer into
Row pattern-recognition and information extraction).
Although the utility model has been described by way of example and in terms of the preferred embodiments, embodiment is not for limiting the utility model
's.It is new to also belong to this practicality for any equivalence changes done in the spirit and scope for not departing from the utility model or retouching
The protection domain of type.Therefore the scope of protection of the utility model should be using the content that claims hereof is defined as mark
It is accurate.
Claims (6)
1. a kind of machine user tripod head transfer, including camera control unit, cradle head control unit, holder electric rotating machine, rotation
Holder and camera, which is characterized in that further include attitude transducer, the camera control unit, cradle head control unit, holder rotation
Motor and rotary head are placed in robot, and attitude transducer and camera are fixed on rotary head, and holder electric rotating machine leads to
It crosses transmission device to connect with rotary head, the attitude transducer is connect with cradle head control unit, for by camera direction information
Cradle head control unit is passed to, camera control unit is connect respectively with camera and cradle head control unit, for camera to be controlled to take pictures
And/or video recording and for camera locking direction information to be issued cradle head control unit, cradle head control unit and holder electric rotating
Machine connects.
2. machine user tripod head transfer according to claim 1, it is characterised in that：The attitude transducer passes through IIC
Camera direction information is passed to cradle head control unit by communication mode, and camera control unit is connect by network interface with camera, camera
Control unit is connect by serial ports with cradle head control unit, and cradle head control unit is connect by serial ports with holder electric rotating machine.
3. machine user tripod head transfer according to claim 2, it is characterised in that：The attitude transducer adds for three axis
Nine axis attitude transducers of speedometer, three axle magnetometer and three-axis gyroscope combination.
4. machine user tripod head transfer according to claim 2, it is characterised in that：The attitude transducer is by camera side
Frequency of the frequency higher than cradle head control unit control holder electric rotating machine of cradle head control unit is passed to information.
5. machine user tripod head transfer according to claim 4, it is characterised in that：The attitude transducer is by camera side
The frequency that cradle head control unit is passed to information is 500Hz, and the frequency of cradle head control unit control holder electric rotating machine is
50Hz。
6. according to any machine user tripod head transfer of Claims 1 to 5, it is characterised in that：The camera control list
Member is industrial personal computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721583916.XU CN207503037U (en) | 2017-11-23 | 2017-11-23 | Machine user tripod head transfer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721583916.XU CN207503037U (en) | 2017-11-23 | 2017-11-23 | Machine user tripod head transfer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207503037U true CN207503037U (en) | 2018-06-15 |
Family
ID=62506001
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721583916.XU Active CN207503037U (en) | 2017-11-23 | 2017-11-23 | Machine user tripod head transfer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207503037U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108919839A (en) * | 2018-07-05 | 2018-11-30 | 北京淳中科技股份有限公司 | Holder rotating direction control method, device, electronic equipment and storage medium |
| CN111941392A (en) * | 2019-05-14 | 2020-11-17 | 发那科株式会社 | Robot operating device, robot, and robot operating method |
-
2017
- 2017-11-23 CN CN201721583916.XU patent/CN207503037U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108919839A (en) * | 2018-07-05 | 2018-11-30 | 北京淳中科技股份有限公司 | Holder rotating direction control method, device, electronic equipment and storage medium |
| CN108919839B (en) * | 2018-07-05 | 2021-08-10 | 北京淳中科技股份有限公司 | Cloud deck steering control method and device, electronic equipment and storage medium |
| CN111941392A (en) * | 2019-05-14 | 2020-11-17 | 发那科株式会社 | Robot operating device, robot, and robot operating method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105667838B (en) | A kind of modularization attitude determination and control devices and methods therefor of skin Nano satellite | |
| CN104537729B (en) | A kind of intelligent travelling crane recorder of the comprehensive target following of stabilization | |
| CN107977013A (en) | Unmanned vehicle | |
| CN207503037U (en) | Machine user tripod head transfer | |
| CN103135549A (en) | Motion control system and motion control method for spherical robot with visual feedback | |
| CN110347171A (en) | A kind of flying vehicles control method and aircraft | |
| CN104811641A (en) | Head wearing camera system with cloud deck and control method thereof | |
| CN206193685U (en) | Virtual reality system | |
| CN104503473B (en) | Inertial stabilization controller | |
| CN105353869A (en) | Interactive experience driving method for virtual automobile | |
| CN210201937U (en) | Image acquisition device | |
| CN106909158A (en) | A kind of all-around mobile environment VR image detection cars | |
| CN207148653U (en) | A kind of wind proof unmanned plane during flying system | |
| CN107145167A (en) | A kind of video target tracking method based on digital image processing techniques | |
| CN201637409U (en) | Digital aviation panoramic measuring camera platform | |
| CN106910358A (en) | For the attitude determination method and device of unmanned vehicle | |
| CN106919106A (en) | Ship Motion Attitude data acquisition device and transmission method | |
| CN101055189A (en) | Aircraft posture testing system based on micro inertial measurement unit | |
| CN205721378U (en) | Four-axle aircraft control system of taking photo by plane based on STM32 | |
| CN105588583B (en) | A kind of twin shaft angular rate gyroscope coupling error compensation method | |
| CN209070376U (en) | A kind of holder tracing system based on image recognition | |
| CN107237971A (en) | Boat-carrying based on gyroscope attitude detection is from steady head | |
| CN206926836U (en) | A kind of multifunctional intellectual unmanned plane | |
| CN206130495U (en) | On -board is from steady cloud platform based on gyroscope gesture detects | |
| CN109048911B (en) | Robot vision control method based on rectangular features |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |