CN208013727U - Lifebuoy based on machine vision positioning is jettisoninged equipment - Google Patents
Lifebuoy based on machine vision positioning is jettisoninged equipment Download PDFInfo
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- CN208013727U CN208013727U CN201820239882.0U CN201820239882U CN208013727U CN 208013727 U CN208013727 U CN 208013727U CN 201820239882 U CN201820239882 U CN 201820239882U CN 208013727 U CN208013727 U CN 208013727U
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- lifebuoy
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Abstract
The utility model is provided a kind of lifebuoy positioned based on machine vision and jettisoninged equipment, including arm of jettisoninging, mobile platform, vision system, host computer and wireless hand-held remote controler, arm fixation of jettisoninging is at the top of mobile platform, vision system includes video camera, light compensating lamp, image processing unit and display screen, video camera and light compensating lamp are installed in by holder jettisonings on arm, image processing unit is built in host computer, and display screen is embedded in host computer.Camera acquisition sea image information, image processing unit carries out image preprocessing to the image collected, extract a bar navigation datum line, image processing unit calculates navigation information, visualizing deviations between navigation information and navigation datum line are presented to search and rescue person by display screen, search and rescue person adjusts arm positioning of jettisoninging, the positional precision higher that lifebuoy is jettisoninged manually according to navigation deviation.
Description
Technical field
It jettisonings equipment the utility model is related to a kind of lifebuoy, more particularly to a kind of lifesaving based on machine vision positioning
Enclose equipment of jettisoninging.
Background technology
Ship can inevitably encounter various unexpected and danger during going to sea, and it is essential to be equipped with lifebuoy for ship.Mesh
Before, jettisoninging for lifebuoy is mainly completed by equipment of jettisoninging, and after being positioned manually, equipment of jettisoninging jettisonings lifebuoy attached to drowning people
Closely.But rescue worker is only to go to judge the position of drowning people by the mode of range estimation, positioning accuracy is low, is especially painting
Black night, rescue worker can not pass through lifebuoy of visually accurately jettisoninging.
Utility model content
There is provided the purpose of this utility model is to overcome the problems of the above-mentioned prior art one kind jettisoning position essence
High lifebuoy is spent to jettisoning equipment.
In order to achieve the above objectives, the technical solution of the utility model is as follows：
Lifebuoy based on machine vision positioning is jettisoninged equipment, including arm of jettisoninging, mobile platform, vision system, upper
Machine and wireless hand-held remote controler, for the arm fixation of jettisoninging at the top of the mobile platform, the vision system includes taking the photograph
Camera, light compensating lamp, image processing unit and display screen, the video camera and light compensating lamp are installed in by holder and are jettisoninged on arm,
Described image processing unit is built in the host computer, and the display screen is embedded in the host computer；The mobile platform
There are four Mecanum wheel, this four Mecanum wheels are watched by independent Serve Motor Control, two of homonymy for bottom setting
It takes motor to connect with a two-way motor servo controller, wireless receiving mould is provided in each two-way motor servo controller
Block；There are two 360 degree of Universal rocking rods, the wiring boards of the wireless hand-held remote controler for setting on the wireless hand-held remote controler
On be provided with microcontroller processing unit and wireless transmitter module.
Further, accumulator and power-supply controller of electric are provided in the mobile platform, the power-supply controller of electric connection
Accumulator, power-supply controller of electric pass through external interface and host computer, servo motor, two-way motor servo controller and hydraulic cylinder start and stop
Controller connects.
Further, being provided with support device at four angles of the mobile platform bottom, the support device is by hanging down
Straight hydraulic cylinder and support plate are constituted, and the cylinder body of the hydraulic cylinder is installed in the bottom of the mobile platform, and the support plate is solid
It is located on the telescopic rod of the hydraulic cylinder.
Further, the hydraulic cylinder has start-up and shut-down control module and wireless receiving module, the wireless hand-held distant
It is provided with hydraulic cylinder control button on control device.
The utility model has the beneficial effects that：1. realizing mobile platform as executing agency using Mecanum wheel
All-around mobile；2. search and rescue person according to navigation deviation, adjusts arm positioning of jettisoninging, the positional precision that lifebuoy is jettisoninged is more manually
It is high.
Description of the drawings
It is required in being described below to embodiment in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
Attached drawing to be used is briefly described.
Fig. 1 is that the jettisoning structure of equipment and control mode of the lifebuoy based on machine vision positioning disclosed in embodiment is shown
It is intended to；
Fig. 2 is the distribution map of the Mecanum wheel disclosed in embodiment；
Fig. 3 is the control flow schematic diagram disclosed in embodiment.
Specific implementation mode
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe.
Embodiment one
The lifebuoy based on machine vision positioning as shown in Figure 1 is jettisoninged equipment, including arm 1 of jettisoninging, mobile platform 2,
Vision system, host computer 3 and wireless hand-held remote controler 4, arm fixation of jettisoninging is at the top of mobile platform.It is mobile referring to Fig. 2
The bottom setting of platform is there are four Mecanum wheel 5, this four Mecanum wheels are controlled by independent servo motor 6, homonymy
Two servo motors connect with a two-way motor servo controller 7, be provided with nothing in each two-way motor servo controller
Line receiving module.There are two 360 degree of Universal rocking rods, the wiring boards of wireless hand-held remote controler for setting on wireless hand-held remote controler
On be provided with microcontroller processing unit and wireless transmitter module.Referring to Fig. 3, rotate Universal rocking rod, microcontroller processing unit according to
The rotation data of Universal rocking rod generates one group of instruction, and wireless transmitter module sends out instruction, and wireless receiving module receives instruction, double
Road motor servo controller is according to the action for instructing control servomotor 7.
Vision system includes video camera 8, light compensating lamp, image processing unit and display screen, and video camera and light compensating lamp pass through branch
Frame 9 is installed in the top for arm of jettisoninging, and image processing unit is built in host computer, and display screen is embedded in host computer.Vision system
Camera acquisition sea image information in system, and the image collected is transferred to host computer, the figure being built in host computer
Picture processing unit carries out image preprocessing to the image collected, extracts a bar navigation datum line, shows that this is led in display screen
Navigate datum line.Image processing unit is calculated according to the relative position of navigation datum line and mobile platform and navigation datum line and is led
It navigates information, navigation information is shown in the form of unidirectional arrow in display screen.Display screen is visual by navigation datum line and navigation information
It is presented to search and rescue person with changing, search and rescue person is turned to by wireless hand-held remote controller operation mobile platform and is adjusted according to navigation information,
To realize the positioning for arm of jettisoninging.
It needs to brake Mecanum wheel after arm of jettisoninging positioning, but the dedicated brake apparatus of Mecanum wheel
Complicated, purchase cost is high, can increase the manufacturing cost for equipment of jettisoninging, so, the present embodiment is not to Mecanum wheel reality
Row braking, but mobile platform is carried out and is braked.
Referring to Fig. 1, it is respectively arranged a support device at four angles of mobile platform bottom, support device is by vertical liquid
Cylinder pressure 10 and support plate 11 are constituted, and the cylinder body of hydraulic cylinder is installed in the bottom of mobile platform, and support plate is installed in stretching for hydraulic cylinder
On contracting bar.Hydraulic cylinder has on off controller 14 and wireless receiving module, is provided on wireless hand-held remote controler hydraulic cylinder-controlled
Button processed.After arm of jettisoninging positions, hydraulic cylinder control button is pressed, microcontroller processing unit generates one group of instruction, wireless to send out
It penetrates module to send out instruction, the wireless receiving module on hydraulic cylinder receives instruction, and on off controller controls hydraulic cylinder according to instruction
Telescopic rod stretch out, support plate support above deck, mobile platform is lifted, Mecanum wheel be in vacant state.
Referring to Fig. 1, accumulator 12 and power-supply controller of electric 13 are provided in mobile platform, power-supply controller of electric connects accumulator,
Power-supply controller of electric passes through external interface and host computer, servo motor, two-way motor servo controller and hydraulic cylinder on off controller
Connection.Accumulator is powered to host computer, servo motor, the power supply of two-way motor servo controller and hydraulic cylinder on off controller.
Embodiment two
Lifebuoy in embodiment one will be introduced in the present embodiment to jettisoning the control mode of equipment.
The control mode for equipment of being jettisoninged based on the lifebuoy that machine vision positions, is included the following steps：
First, camera acquisition sea image information is utilized；
Then, image processing unit carries out image preprocessing to the image collected, extracts a bar navigation datum line；Image
Processing unit calculates navigation information, navigation letter according to the relative position of navigation datum line and mobile platform and navigation datum line
Breath is mobile platform lateral mid-point point and the lateral offset distance of leading line；
Finally, will navigate datum line and navigation information of display screen is visually presented with to search and rescue person, the navigation in display screen
Information display methods are unidirectional arrow, and arrow direction is consistent with the lateral direction of offset distance, the size of arrow length and lateral offset distance
Unanimously；Search and rescue person is according to navigation information, and operation mobile platform, which turns to, to be adjusted, to realize the positioning for arm of jettisoninging.
In order to avoid equipment of jettisoninging repeats to jettisoning lifebuoy to drowning people, image processing unit wanted when image preprocessing
The lifebuoy Pixel Information for including in image is filtered.
Various modifications to these embodiments will be apparent to those skilled in the art, herein
Defined General Principle can be real in other embodiments without departing from the spirit or scope of the present utility model
It is existing.Therefore, the utility model is not intended to be limited to the embodiments shown herein, and be to fit to it is disclosed herein
Principle and the consistent widest range of features of novelty.
Claims (4)
- The equipment 1. lifebuoy based on machine vision positioning is jettisoninged, which is characterized in that including arm of jettisoninging, mobile platform, vision System, host computer and wireless hand-held remote controler, the arm fixation of jettisoninging is in the top of the mobile platform, the vision system System includes video camera, light compensating lamp, image processing unit and display screen, and the video camera and light compensating lamp are installed in described by holder It jettisonings on arm, described image processing unit is built in the host computer, and the display screen is embedded in the host computer；It is described The bottom setting of mobile platform there are four Mecanum wheel, four Mecanum wheels by independent Serve Motor Control, Two servo motors of homonymy are connect with a two-way motor servo controller, each two-way motor servo controller In be provided with wireless receiving module；There are two 360 degree of Universal rocking rods, the wireless hands for setting on the wireless hand-held remote controler It holds and is provided with microcontroller processing unit and wireless transmitter module on the wiring board of formula remote controler.
- The equipment 2. lifebuoy according to claim 1 based on machine vision positioning is jettisoninged, which is characterized in that the movement Accumulator and power-supply controller of electric are provided in platform, the power-supply controller of electric connects accumulator, and power-supply controller of electric is connect by outside Mouth is connect with host computer, servo motor, two-way motor servo controller and hydraulic cylinder on off controller.
- The equipment 3. lifebuoy according to claim 2 based on machine vision positioning is jettisoninged, which is characterized in that the movement Support device is provided at four angles of mesa base, the support device is made of vertical hydraulic cylinder and support plate, described The cylinder body of hydraulic cylinder is installed in the bottom of the mobile platform, and the support plate is installed on the telescopic rod of the hydraulic cylinder.
- The equipment 4. lifebuoy according to claim 3 based on machine vision positioning is jettisoninged, which is characterized in that the hydraulic pressure Cylinder has start-up and shut-down control module and wireless receiving module, and hydraulic cylinder control button is provided on the wireless hand-held remote controler.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820239882.0U CN208013727U (en) | 2018-02-08 | 2018-02-08 | Lifebuoy based on machine vision positioning is jettisoninged equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820239882.0U CN208013727U (en) | 2018-02-08 | 2018-02-08 | Lifebuoy based on machine vision positioning is jettisoninged equipment |
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| Publication Number | Publication Date |
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| CN208013727U true CN208013727U (en) | 2018-10-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201820239882.0U Active CN208013727U (en) | 2018-02-08 | 2018-02-08 | Lifebuoy based on machine vision positioning is jettisoninged equipment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108170063A (en) * | 2018-02-08 | 2018-06-15 | 中国人民解放军陆军军事交通学院镇江校区 | Lifebuoy based on machine vision positioning is jettisoninged equipment and control mode |
-
2018
- 2018-02-08 CN CN201820239882.0U patent/CN208013727U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108170063A (en) * | 2018-02-08 | 2018-06-15 | 中国人民解放军陆军军事交通学院镇江校区 | Lifebuoy based on machine vision positioning is jettisoninged equipment and control mode |
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