CN209089134U - A kind of Three Degree Of Freedom visual identifying system - Google Patents
A kind of Three Degree Of Freedom visual identifying system Download PDFInfo
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- CN209089134U CN209089134U CN201822201566.7U CN201822201566U CN209089134U CN 209089134 U CN209089134 U CN 209089134U CN 201822201566 U CN201822201566 U CN 201822201566U CN 209089134 U CN209089134 U CN 209089134U
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Abstract
The utility model discloses a kind of Three Degree Of Freedom visual identifying systems of robotic technology field, including pedestal, rotation is equipped with turntable on the pedestal, the bottom of the turntable is equipped with rotating bar, the bottom of the rotating bar connects first motor, the turntable, rotating bar and first motor are respectively positioned on the inner cavity of pedestal, under casing and controller are equipped with from Zuo Zhiyou on the turntable, the top of the under casing is equipped with electric telescopic rod, the bottom of the electric telescopic rod, which is run through the top of under casing and extended to, is fixedly connected with ball nut inside it, the top of the electric telescopic rod is fixed with fixed plate, the fixed plate is equipped with binocular camera, the two sidewalls of the binocular camera are symmetrical to be fixedly connected with bull stick, bull stick described in two groups passes through fixed block and is fixedly connected with fixed plate, this system structure is simple, monitoring visual field range is wide.
Description
Technical field
The utility model discloses a kind of Three Degree Of Freedom visual identifying systems, specially robotic technology field.
Background technique
Vision is the most important sense organ of the mankind, and the mankind's most of external information obtained both is from vision, with
Continuous exploration of the mankind to natural world, it is generally desirable that the function of human vision can be realized by certain digital machine
Can, automatically obtain the information in the external world.Color image is the description of external objective world approached the most, color image ratio
Gray level image information amount is more abundant.Meanwhile establish one can rapidly the system of the extraneous variation of perception be more as the mankind
It is the research emphasis of machine vision.Existing vision system is only capable of acquiring the image information of some position, the visual field under normal circumstances
Range is restricted, can not fine simulation human visual system.For this purpose, we have proposed a kind of Three Degree Of Freedom visual identitys
System comes into operation, to solve the above problems.
Utility model content
The purpose of this utility model is to provide a kind of Three Degree Of Freedom visual identifying systems, to solve in above-mentioned background technique
The problem of proposition.
To achieve the above object, the utility model provides the following technical solutions: a kind of Three Degree Of Freedom visual identifying system, packet
Include pedestal, rotation is equipped with turntable on the pedestal, and the bottom of the turntable is equipped with rotating bar, the bottom connection of the rotating bar the
One motor, the turntable, rotating bar and first motor are respectively positioned on the inner cavity of pedestal, on the turntable from Zuo Zhiyou be equipped under casing and
Controller, the top of the under casing are equipped with electric telescopic rod, top and extension of the bottom of the electric telescopic rod through under casing
Ball nut is fixedly connected with inside to it, the top of the electric telescopic rod is fixed with fixed plate, and the fixed plate is equipped with
Binocular camera, the two sidewalls of the binocular camera are symmetrical to be fixedly connected with bull stick, and bull stick described in two groups passes through solid
Determine block to be fixedly connected with fixed plate, the lower section of the right side bull stick is equipped with second gear, and the second gear and the second motor are solid
It is fixed to connect, third motor is fixed on the right side wall of the under casing, the output shaft of the third motor runs through the right side of under casing
Wall simultaneously extends to its inner rotation connection under casing inner cavity left side wall, and the ball nut is socketed on the output shaft of third motor,
The other end of the rotating bar is connect with first gear, the binocular camera, electric telescopic rod, first motor, the second motor
It is electrically connected with controller with third motor.
Preferably, the outer wall of the turntable is equipped with ring slider, and the inner cavity of the under casing is equipped with mutually fits with ring slider
The annular groove matched.
Preferably, the right end of the right side bull stick is equipped with gear, and gear is meshed with the second gear.
Preferably, rotation gap is equipped between the binocular camera and fixed plate.
Preferably, the bottom of the turntable is equipped with groove, and groove is equipped with groove compatible with first gear, and described the
One gear is located at the inner cavity of groove.
Preferably, the controller inner cavity is equipped with target identification processing device and control module.
Compared with prior art, the utility model has the beneficial effects that robot view field range can be improved in this system, can lead to
The mutual cooperation for crossing first motor, third motor and electric telescopic rod enables binocular camera free in three dimensions
Activity passes through the pitch angle of the adjustable binocular camera of the second motor, further expansion field range.
Detailed description of the invention
FIG. 1 is a schematic structural view of the utility model；
Fig. 2 is the utility model third motor rotating mechanism structural schematic diagram；
Fig. 3 is the utility model turntable bottom surface structure schematic diagram；
Fig. 4 is the utility model fixed plate partial side structural schematic diagram.
In figure: 1 pedestal, 2 turntables, 3 electric telescopic rods, 4 under casings, 5 controllers, 6 first motors, 7 rotating bars, 8 second electricity
Machine, 9 second gears, 10 binocular cameras, 11 fixed blocks, 12 bull sticks, 13 fixed plates, 14 third motors, 15 ball nuts, 16
One gear.
Specific embodiment
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, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
Every other embodiment obtained, fall within the protection scope of the utility model.
Fig. 1-4 is please referred to, the utility model provides a kind of technical solution: a kind of Three Degree Of Freedom visual identifying system, including
Pedestal 1, rotation is equipped with turntable 2 on the pedestal 1, and the bottom of the turntable 2 is equipped with rotating bar 7, and the bottom of the rotating bar 7 connects
Connect first motor 6, the turntable 2, rotating bar 7 and first motor 6 are respectively positioned on the inner cavity of pedestal 1, from Zuo Zhiyou on the turntable 2
Equipped under casing 4 and controller 5, the top of the under casing 4 is equipped with electric telescopic rod 3, and bottom is run through in the bottom of the electric telescopic rod 3
The top of case 4 simultaneously extends to inside it and is fixedly connected with ball nut 15, and the top of the electric telescopic rod 3 is fixed with fixed plate
13, the fixed plate 13 is equipped with binocular camera 10, and the two sidewalls of the binocular camera 10 are symmetrical to be fixedly connected
Bull stick 12, bull stick 12 described in two groups are fixedly connected by fixed block 11 with fixed plate 13, and the lower section of the right side bull stick 12 is set
There is second gear 9, the second gear 9 is fixedly connected with the second motor 8, is fixed with third on the right side wall of the under casing 4
The output shaft of motor 14, the third motor 14 runs through the right side wall of under casing 4 and extends to its inner rotation connection 4 inner cavity of under casing
Left side wall, the ball nut 15 are socketed on the output shaft of third motor 14, the other end and first gear of the rotating bar 7
16 connections, the binocular camera 10, electric telescopic rod 3, first motor 6, the second motor 8 and third motor 14 are and controller
5 are electrically connected.
Wherein, the outer wall of the turntable 2 is equipped with ring slider, and the inner cavity of the under casing 4 is equipped with mutually fits with ring slider
The right end of the annular groove matched, the right side bull stick 12 is equipped with gear, and gear is meshed with second gear 9, and the binocular is taken the photograph
As being equipped with rotation gap between head 10 and fixed plate 13, the bottom of the turntable 2 is equipped with groove, and groove is equipped with and first gear
16 compatible grooves, the first gear 16 are located at the inner cavity of groove, and 5 inner cavity of controller is equipped with target identification processing device
And control module.
Working principle: this system is set there are three motor, can be respectively to binocular camera shooting by first motor 6 and third motor 14
First 10 carry out circle rotation movement and move forward and backward, and can be moved up and down to binocular camera 10 by electric telescopic rod 3, if
There is the second motor 8, the pitch angle of binocular camera 10 can be changed, enable binocular camera 10 in three-dimensional space
In move freely, third motor 14 rotates, acted on by ball nut 15 so that binocular camera 10 moves forward and backward, first
Motor 6 rotates, and turntable 2 is driven to rotate, final that binocular camera 10 is driven to move in a circle, the work of the second motor 8, band moving gear
Rotation adjusts pitch angle, is acquired work to image by binocular camera 10 so that binocular camera 10 be driven to rotate
Make, target identification processing device, control module are equipped in controller 5, the image of target object is prestored in target identification processing device
The image of acquisition is compared with the image prestored, completes the identification of target by information, passes through the achievable figure of binocular camera 10
The result of identification is sent to controller 5 by the acquisition of picture and the calculating of target position, is controlled by 5 control module of controller
Three motors and electric telescopic rod 3 track target, and this system structure is simple, and monitoring visual field range is wide, have very strong
Practical value.
While there has been shown and described that the embodiments of the present invention, for the ordinary skill in the art,
It is understood that these embodiments can be carried out with a variety of variations in the case where not departing from the principles of the present invention and spirit, repaired
Change, replacement and variant, the scope of the utility model is defined by the appended claims and the equivalents thereof.
Claims (6)
1. a kind of Three Degree Of Freedom visual identifying system, including pedestal (1), it is characterised in that: rotation, which is equipped with, on the pedestal (1) turns
The bottom of disk (2), the turntable (2) is equipped with rotating bar (7), and the bottom of the rotating bar (7) connects first motor (6), described
Turntable (2), rotating bar (7) and first motor (6) are respectively positioned on the inner cavity of pedestal (1), are equipped with bottom from Zuo Zhiyou on the turntable (2)
The top of case (4) and controller (5), the under casing (4) is equipped with electric telescopic rod (3), and the bottom of the electric telescopic rod (3) is passed through
It wears the top of under casing (4) and extends to inside it and be fixedly connected ball nut (15), the top of the electric telescopic rod (3) is fixed
Equipped with fixed plate (13), the fixed plate (13) is equipped with binocular camera (10), the two sidewalls of the binocular camera (10)
Symmetrical to be fixedly connected bull stick (12), bull stick described in two groups (12) connects by the way that fixed block (11) and fixed plate (13) are fixed
It connects, the lower section of the right side bull stick (12) is equipped with second gear (9), the second gear (9) and the second motor (8) fixed company
It connects, is fixed with third motor (14) on the right side wall of the under casing (4), the output shaft of the third motor (14) runs through under casing
(4) right side wall simultaneously extends to its inner rotation connection under casing (4) inner cavity left side wall, and the ball nut (15) is socketed in third
On the output shaft of motor (14), the other end of the rotating bar (7) is connect with first gear (16), the binocular camera
(10), electric telescopic rod (3), first motor (6), the second motor (8) and third motor (14) electrically connect with controller (5)
It connects.
2. a kind of Three Degree Of Freedom visual identifying system according to claim 1, it is characterised in that: outside the turntable (2)
Wall is equipped with ring slider, and the inner cavity of the under casing (4) is equipped with annular groove compatible with ring slider.
3. a kind of Three Degree Of Freedom visual identifying system according to claim 1, it is characterised in that: the right side bull stick (12)
Right end be equipped with gear, and gear is meshed with second gear (9).
4. a kind of Three Degree Of Freedom visual identifying system according to claim 1, it is characterised in that: the binocular camera
(10) rotation gap is equipped between fixed plate (13).
5. a kind of Three Degree Of Freedom visual identifying system according to claim 1, it is characterised in that: the bottom of the turntable (2)
Portion is equipped with groove, and groove is equipped with compatible groove, the first gear (16) are located at the interior of groove with first gear (16)
Chamber.
6. a kind of Three Degree Of Freedom visual identifying system according to claim 1, it is characterised in that: in the controller (5)
Chamber is equipped with target identification processing device and control module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822201566.7U CN209089134U (en) | 2018-12-26 | 2018-12-26 | A kind of Three Degree Of Freedom visual identifying system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822201566.7U CN209089134U (en) | 2018-12-26 | 2018-12-26 | A kind of Three Degree Of Freedom visual identifying system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209089134U true CN209089134U (en) | 2019-07-09 |
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ID=67127422
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822201566.7U Active CN209089134U (en) | 2018-12-26 | 2018-12-26 | A kind of Three Degree Of Freedom visual identifying system |
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| CN (1) | CN209089134U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110509292A (en) * | 2019-09-05 | 2019-11-29 | 南京法法法信息科技有限公司 | A kind of public place mobile law popularization robot |
-
2018
- 2018-12-26 CN CN201822201566.7U patent/CN209089134U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110509292A (en) * | 2019-09-05 | 2019-11-29 | 南京法法法信息科技有限公司 | A kind of public place mobile law popularization robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230428 Address after: 224000 building D6, Yanlong sub district office, Yandu District, Yancheng City, Jiangsu Province Patentee after: DIGITAL EAGLE TECHNOLOGY DEVELOPMENT (YANCHENG) Co.,Ltd. Address before: 214000 Room 411, building A1, 999 Gao Lang Dong Road, Binhu District, Wuxi, Jiangsu. Patentee before: JIANGSU DIGITAL EAGLE TECHNOLOGY DEVELOPMENT Co.,Ltd. |
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| TR01 | Transfer of patent right |