CN209911671U - Anti-shake device and visual perception equipment - Google Patents
Anti-shake device and visual perception equipment Download PDFInfo
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- CN209911671U CN209911671U CN201821924558.9U CN201821924558U CN209911671U CN 209911671 U CN209911671 U CN 209911671U CN 201821924558 U CN201821924558 U CN 201821924558U CN 209911671 U CN209911671 U CN 209911671U
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Abstract
The utility model relates to a vision perception technical field discloses an anti-shake device and vision perception equipment. Including the supporting mechanism, suspension mechanism, magnetism coupling mechanism, motion detecting element and the control unit, supporting mechanism and suspension mechanism pass through magnetism coupling mechanism magnetic suspension and connect, the control unit and motion detecting element and magnetism coupling mechanism signal connection, when motion detecting element detects that the supporting mechanism produces the shake, can generate the motion information of the motion state of sign supporting mechanism, the control unit calculates the magnetic force between first magnetic connecting piece of control and the second magnetic connecting piece according to this motion information, with relative position between adjustment supporting mechanism and the suspension mechanism, compare with current optics anti-shake technique, the utility model provides an anti-shake device can improve the anti-shake effect to the great shake of vibration range, and then can improve the data acquisition precision of vision perception equipment under the great shake of vibration range.
Description
Technical Field
The utility model relates to a vision perception technical field, in particular to anti-shake device and vision perception equipment.
Background
The anti-shake technology has important significance for the camera, can improve the problem of image blurring caused by camera vibration, and improves the imaging definition of the camera. An anti-shake technology commonly used at present is optical anti-shake, which is mainly divided into lens moving type optical anti-shake and CCD (charge Coupled Device) moving type optical anti-shake, and the principle thereof is to compensate a light path where shake occurs by using a movable component such as a compensation lens and an image sensor, thereby achieving the effect of reducing the blur of a picture. The specific implementation process of the optical anti-shake system is as follows: the camera lens is internally provided with a gyroscope, an accelerometer and other sensors for detecting shake, when the sensors sense the shake, shake information representing the characteristics of the shake, such as displacement, angle, acceleration and the like of the camera is generated and transmitted to the microprocessor, the microprocessor calculates displacement information required to be compensated of the movable part according to the shake information, and controls the compensation lens group or the image sensor to move according to the displacement information so as to improve the adverse effect of the shake on imaging.
SUMMERY OF THE UTILITY MODEL
The existing optical anti-shake technology has a good effect of processing the shake with the vibration amplitude at the micron level, but cannot process the shake with larger vibration amplitude. In the technical field of visual perception, particularly in the field of visual robots or automatic driving, the vibration amplitude of visual perception equipment such as cameras and laser radars can reach the centimeter level, and the traditional optical anti-shake in the application scenes can not meet the use requirements, so that the data acquisition precision of the visual perception equipment is reduced.
The utility model provides an anti-shake device and vision perception equipment, this anti-shake device utilize the magnetic suspension principle to realize the anti-shake function, can improve the anti-shake effect of the great shake of vibration range, can solve the anti-shake effect that current optics anti-shake technique can't satisfy the great shake of vibration range of effective improvement, and then the problem that the data acquisition precision that leads to vision perception equipment reduces.
In order to achieve the above purpose, the utility model provides the following technical scheme:
an anti-shake apparatus comprising:
a support mechanism;
the suspension mechanism is provided with an installation structure for installing a visual perception device;
the magnetic connecting mechanism comprises at least one magnetic assembly, each magnetic assembly comprises a first magnetic connecting piece arranged on the supporting mechanism and a second magnetic connecting piece arranged on the suspension mechanism, and a magnetic acting force is formed between the first magnetic connecting piece and the second magnetic connecting piece; the supporting mechanism is in magnetic suspension connection with the suspension mechanism through the magnetic connecting mechanism;
the motion detection unit is arranged on the supporting mechanism and used for generating motion information according to the motion state of the supporting mechanism;
and the control unit is in signal connection with the motion detection unit and the magnetic connecting mechanism and is used for adjusting the magnetic acting force according to the acquired motion information so as to adjust the relative position between the suspension mechanism and the supporting mechanism.
Optionally, in any magnetic assembly, the first magnetic connecting piece is an electromagnet in signal connection with the control unit, and the second magnetic connecting piece is a permanent magnet; or the like, or, alternatively,
the first magnetic connecting piece is a permanent magnet, and the second magnetic connecting piece is an electromagnet in signal connection with the control unit; or the like, or, alternatively,
the first magnetic connecting piece and the second magnetic connecting piece are electromagnets which are in signal connection with the control unit.
Further, in any magnetic assembly, the first magnetic connector and the second magnetic connector are arranged oppositely.
Optionally, the magnetic connection mechanism includes at least one magnetic unit formed by two magnetic assemblies, and the two magnetic assemblies in each magnetic unit are respectively disposed on two sides of the suspension mechanism.
Further, the magnetic connection mechanism comprises a plurality of magnetic units, and the arrangement direction of two magnetic assemblies in at least one magnetic unit is not parallel to the arrangement direction of two magnetic assemblies in other magnetic units.
Further, the two magnetic assemblies in the at least one magnetic unit in the magnetic connection mechanism are arranged in a vertical direction, and/or the two magnetic assemblies in the at least one magnetic unit in the magnetic connection mechanism are arranged in a horizontal direction.
Optionally, the visual perception device further comprises a power supply mechanism, wherein the power supply mechanism comprises a power supply interface used for being electrically connected with the visual perception device, and a power transmission module electrically connected with the power supply interface.
Further, the power transmission module comprises a power supply lead electrically connected with the power supply interface; and/or the presence of a gas in the gas,
the power transmission module comprises at least one group of wireless power transmission units, and each group of wireless power transmission units comprises a wireless power transmission transmitting circuit arranged on the supporting mechanism and a wireless power transmission receiving circuit arranged on the suspension mechanism and electrically connected with the power supply interface.
Furthermore, the power transmission module is in signal connection with the control unit, and the control unit is further used for controlling the working mode of the power transmission module.
Optionally, the device further comprises a signal transmission mechanism, wherein the signal transmission mechanism comprises a signal interface for signal connection with the visual perception device and a signal transmission module in signal connection with the signal interface.
Furthermore, the signal transmission module comprises a signal wire in signal connection with the signal interface; and/or the presence of a gas in the gas,
the signal transmission module comprises a signal transmission antenna in signal connection with the signal interface.
Furthermore, the signal transmission module is in signal connection with the control unit, and the control unit is further used for controlling the working mode of the signal transmission module.
Optionally, the motion detection unit is an inertial measurement unit, an accelerometer or a gyroscope.
The utility model also provides a vision perception equipment, including vision perception device, still include as above the anti-shake device, vision perception device install in the suspension mechanism of anti-shake device.
Optionally, the visual perception device and the suspension mechanism are of an integrated structure or a split structure.
Compared with the prior art, the utility model discloses following beneficial effect has:
the embodiment of the utility model provides an anti-shake device of anti-shake device, including the supporting mechanism, suspension mechanism, magnetism coupling mechanism, motion detection unit and the control unit, supporting mechanism and suspension mechanism pass through magnetism suspension connection of magnetism coupling mechanism, the control unit is connected with motion detection unit and magnetism coupling mechanism signal, when motion detection unit detects that the supporting mechanism shakes, can generate the motion information that characterizes the motion state of supporting mechanism, the control unit calculates the displacement that the suspension mechanism needs to produce in order to reduce the change that the shake of supporting mechanism brought to its spatial position according to this motion information, control the magnetic force between first magnetic connecting piece and the second magnetic connecting piece according to this displacement volume, in order to adjust the relative position between supporting mechanism and the suspension mechanism, thereby can make the spatial position of suspension mechanism keep in certain within range when the supporting mechanism shakes, so as to ensure the imaging precision of the visual perception device arranged on the suspension mechanism. Because the magnetic suspension that is non-contact between supporting mechanism and the suspension mechanism is connected, consequently clearance between the two can set up the great shake of centimetre rank in order to adapt to the vibration range, compare with current optics anti-shake technique, the utility model provides an anti-shake device can improve the anti-shake effect to the great shake of vibration range, and then can improve the data acquisition precision of vision perception equipment under the great shake of vibration range.
Drawings
Fig. 1 is a schematic structural diagram of an anti-shake device provided in an embodiment of the present invention;
fig. 2a is a schematic structural diagram of an anti-shake device provided in an embodiment of the present invention;
fig. 2b is a schematic view of an operation principle of the anti-shake device according to the embodiment of the present invention;
fig. 2c is a schematic structural diagram of an anti-shake device with another structure according to an embodiment of the present invention;
fig. 3 is a system block diagram of an anti-shake apparatus provided in an embodiment of the present invention;
fig. 4 is a flowchart of a visual perception device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
The embodiment of the utility model provides an anti-shake device's structure, theory of operation and system block diagram are shown with reference to fig. 1-fig. 3, and wherein fig. 1 is the utility model provides an anti-shake device's structure schematic diagram, fig. 2a is the utility model provides an anti-shake device's structure schematic diagram, fig. 2b is the utility model provides an anti-shake device's theory of operation schematic diagram, fig. 2c is the utility model provides an anti-shake device's of another kind of structure schematic diagram, fig. 3 is the embodiment of the utility model provides an anti-shake device's system block diagram.
Referring first to fig. 1 and fig. 2a, an anti-shake apparatus provided by an embodiment of the present invention includes a supporting mechanism 10, a suspension mechanism 20, and a magnetic connecting mechanism 30.
Wherein, supporting mechanism 10 in this embodiment is the hollow cubic shell structure shown in fig. 1, and its inside is used for placing suspension mechanism 20 and vision perception device, and the vision perception device can be equipment such as camera, laser radar, and supporting mechanism 10 outside is equipped with and is used for installing the anti-shake device on equipment such as car, unmanned aerial vehicle, robot to and be used for with the inside device power supply of supporting mechanism 10, the interface of communication, install or maintain the inside device of supporting mechanism 10 for being convenient for, supporting mechanism 10 in this embodiment is split type structure. In other embodiments, the structure of the supporting mechanism 10 is not limited to the structure shown in fig. 1, and may be set according to the specific application scenario of the anti-shake device, and specifically, for example, may be set in the shape of a polyhedron, a sphere, or the like, and may also be set in a frame structure.
The magnetic connecting mechanism 30 is used for connecting the supporting mechanism 10 and the suspending mechanism 20, and specifically, the supporting mechanism 10 and the suspending mechanism 20 are connected by using the magnetic force between the magnetic connectors respectively arranged on the supporting mechanism 10 and the suspending mechanism 20. Referring to fig. 1 and 2a, the magnetic connecting mechanism 30 includes 4 magnetic assemblies, namely, magnetic assemblies 31a, 31b, 31c and 31d, each of the magnetic assemblies 31a, 31b, 31c and 31d includes a first magnetic connecting member 311a, 311b, 311c and 311d disposed on the supporting mechanism 10 and a second magnetic connecting member 312a, 312b, 312c and 312d disposed on the levitation mechanism 20, a magnetic force is applied between the first magnetic connecting member 311a and the second magnetic connecting member 312a, a magnetic force is applied between the first magnetic connecting member 311b and the second magnetic connecting member 312b, a magnetic force is applied between the first magnetic connecting member 311c and the second magnetic connecting member 312c, and a magnetic force is applied between the first magnetic connecting member 311d and the second magnetic connecting member 312 d. The supporting mechanism 10 and the suspending mechanism 20 are magnetically suspended by a magnetic connecting mechanism 30.
Specifically, the magnetic suspension connection in this embodiment refers to a non-contact connection between the support mechanism 10 and the suspension mechanism 20 through magnetic force between the magnetic assemblies 31a, 31b, 31c, and 31d, the relative position between the suspension mechanism 20 and the support mechanism 10 can be adjusted or kept fixed under the action of the magnetic force, and the suspension mechanism 20 in this embodiment can be in a suspension state without contacting with other mechanisms through the magnetic force. In a specific implementation, the magnetic force between the first magnetic connector and the second magnetic connector in each magnetic assembly may be an attractive force or a repulsive force. Referring to fig. 2a, in order to make the relative position of the suspension mechanism 20 and the support mechanism 10 adjustable, the number of the magnetic assemblies required in the magnetic connection mechanism 30 is at least one, and for example, only the magnetic assembly 31a or 31b generating magnetic force in the vertical direction y as shown in the figure may be included, and the suspension mechanism 20 may be in the suspension state by the magnetic force in the vertical direction y, but in this case, only the distance between the suspension mechanism 20 and the support mechanism 10 may be adjusted in the vertical direction y, and in addition, when the suspension mechanism 20 and the support mechanism 10 have an active connection relationship in other directions than the vertical direction y, the distance between the suspension mechanism 20 and the support mechanism 10 may also be adjusted by the magnetic assembly arranged in the active direction when the suspension mechanism 20 and the support mechanism 10 are in an active connection relationship, specifically, for example, the suspension mechanism 20 and the support mechanism 10 are slidably connected by a guide pillar in the horizontal direction x, at this time, although the levitation mechanism 20 is not in the levitation state, the distance between the levitation mechanism 20 and the support mechanism 10 in the horizontal direction x can be adjusted by the magnetic assembly 31c or 31d disposed in the horizontal direction as shown in fig. 2 a.
In order to improve the adjustment efficiency and accuracy of the suspension mechanism 20, magnetic assemblies may be disposed on both sides of the suspension mechanism 20 in any movement direction, and a magnetic force is applied to the suspension mechanism 20 through the two magnetic assemblies, so as to improve the adjustment efficiency and accuracy. In this embodiment, two magnetic assemblies arranged in the same direction and respectively disposed at two sides of the suspension mechanism 20 are divided into one magnetic unit, that is, the magnetic assemblies 31c and 31d arranged in the horizontal direction x shown in fig. 2a are one magnetic unit, the magnetic assemblies 31a and 31b arranged in the vertical direction y are the other magnetic unit, the magnetic assemblies 31c and 31d are respectively disposed at two sides of the suspension mechanism 20 in the horizontal direction x, the magnetic assemblies 31a and 31b are respectively disposed at two sides of the suspension mechanism 20 in the vertical direction y, and the two magnetic units respectively adjust the position of the suspension mechanism 20 in the horizontal direction and the vertical direction.
In this embodiment, in order to ensure that the relative position between the suspension mechanism 20 and the support mechanism 10 can be adjusted in multiple directions, referring to fig. 2a, magnetic assemblies 31c and 31d are arranged in the horizontal direction x, and magnetic assemblies 31a and 31b are arranged in the vertical direction y, so that the motions of the suspension mechanism 20 in the planes of the horizontal direction x and the vertical direction y can be synthesized by the motions in the horizontal direction x and the vertical direction y, so as to adjust the relative position between the suspension mechanism 20 and the support mechanism 10 in multiple directions.
In one embodiment, the magnetic unit in the magnetic coupling mechanism 30 should be at least one when the magnetic unit comprising two magnetic assemblies is used to adjust the position of the suspension mechanism 20. In other embodiments, the magnetic connection mechanism 30 should include at least one magnetic unit having two magnetic assemblies arranged in a vertical direction, or at least one magnetic unit having two magnetic assemblies arranged in a horizontal direction, or both at least one magnetic unit having two magnetic assemblies arranged in a vertical direction and at least one magnetic unit having two magnetic assemblies arranged in a horizontal direction.
Further, based on the resultant adjustment manner of the movement directions, the number of the magnetic units in the magnetic connecting mechanism 30 is not limited to two as shown in fig. 2a, and the arrangement directions of the two magnetic assemblies in the magnetic units are not limited to the horizontal direction and the vertical direction as shown in fig. 2a, so as to improve the accuracy and efficiency of the position adjustment of the levitation mechanism 20, in one embodiment, the magnetic connecting mechanism 30 includes a plurality of magnetic units, and the arrangement directions of the two magnetic assemblies in at least one magnetic unit are not parallel to the arrangement directions of the two magnetic assemblies in the other magnetic units. Referring to fig. 2c, the magnetic connection mechanism 30 shown in the figure includes 4 magnetic units, which are respectively composed of magnetic assemblies 31a and 31b, 31c and 31d, 31e and 31f, and 31g and 31h, and can adjust the position of the suspension mechanism 20 in multiple directions in the x-y plane of the figure, and in addition, one or more magnetic units can be arranged on other planes besides the x-y plane of fig. 2c to adjust the position of the suspension mechanism 20 in multiple planes in space.
In order to ensure that the relative position between the suspension mechanism 20 and the support mechanism 10 is adjustable, the magnitude and direction of the magnetic force between the first magnetic connecting piece and the second magnetic connecting piece between each magnetic assembly are also adjustable, so at least one of the first magnetic connecting piece and the second magnetic connecting piece is an electromagnet, in this embodiment, the first magnetic connecting pieces 311a, 311b, 311c and 311d arranged on the support mechanism 10 are all electromagnets with adjustable magnetic fields, each electromagnet is provided with an electromagnet driving circuit to control the magnitude and direction of the magnetic force of the electromagnet, the second magnetic connecting pieces 312a, 312b, 312c and 312d arranged on the suspension mechanism 20 are all permanent magnets, specifically, permanent magnets with strong magnetism such as neodymium iron boron magnets can be adopted, when the electromagnet is not electrified to generate a magnetic field, the suspension mechanism 20 can be adsorbed on the inner wall of the support mechanism 10, collision of the suspension mechanism 20 in the support mechanism 10 is avoided. In other embodiments, the first magnetic connecting piece may be configured as a permanent magnet, the second magnetic connecting piece may be configured as an electromagnet, or both the first magnetic connecting piece and the second magnetic connecting piece may be configured as electromagnets. The magnetic induction intensity of the first magnetic connecting piece and the second magnetic connecting piece is set according to the size and the weight of the suspension mechanism 20. In addition, in order to ensure the strength of the magnetic force between the first magnetic connecting piece and the second magnetic connecting piece and prevent other devices from interfering with the magnetic force, in one embodiment, as shown in fig. 2a, the first magnetic connecting pieces 311a, 311b, 311c and 311d are respectively arranged opposite to the second magnetic connecting pieces 312a, 312b, 312c and 312 d.
In order to realize the anti-shake function of the anti-shake apparatus, a device for detecting the shake of the supporting apparatus and a device for controlling the magnetic field strength of the electromagnet are further required, and referring to fig. 3, the anti-shake apparatus provided in this embodiment further includes a motion detection unit 40 and a control unit 50. Specifically, the motion detection unit 40 is disposed on the support mechanism 10 and configured to generate motion information according to a motion state of the support mechanism 10, where the motion information includes parameters of the support mechanism 10, such as vibration amplitude, vibration frequency, angle, acceleration, and the like, and in a specific implementation, the motion detection unit 40 may be implemented by one or more of an inertial measurement unit, an accelerometer, or a gyroscope; the control unit 50 is in signal connection with the motion detection unit 40 and the magnetic connection mechanism 30, and is used for adjusting the magnetic acting force according to the acquired motion information so as to adjust the relative position between the suspension mechanism and the support mechanism. Specifically, the control unit 50 in this embodiment is in signal connection with each first magnetic connecting piece, and as shown in fig. 2c, when each first magnetic connecting piece is an electromagnet, each first magnetic connecting piece is correspondingly provided with one first magnetic connecting piece driving circuit, and the control unit 50 is connected with each first magnetic connecting piece driving circuit, and the magnetic field strength of the corresponding first magnetic connecting piece is controlled by the first magnetic connecting piece driving circuit to change the magnitude and direction of the magnetic acting force. The Control Unit 50 may be an electronic Control Unit ecu (electronic Control Unit), or may be an electronic device capable of performing calculations, such as an MCU (micro controller Unit) or a single chip microcomputer.
Referring to fig. 2b, when the support mechanism 10 shakes, the position a shown in the figure moves to a position a' indicated by a two-dot chain line in the figure, the motion detection unit 40 detects that the support mechanism 10 shakes, and generates motion information representing the motion state of the support mechanism 10, the motion information may specifically include parameters such as vibration amplitude, vibration frequency, angle, acceleration, and the like of the support mechanism 10, the control unit 50 may calculate the magnitude and frequency of the driving current of the first magnetic coupling corresponding to the direction to be adjusted according to the motion information, specifically calculate the displacement amount required by the suspension mechanism 20 to reduce the change of the spatial position of the support mechanism 10 caused by shaking, and then calculate the magnitude and frequency of the driving current required to control the magnetic acting force between the first magnetic coupling and the second magnetic coupling according to the displacement amount, as shown in fig. 2b, the magnetic assemblies 31a and 31b apply a force pointing from the a 'position to the a position to the levitation mechanism 20 after receiving the driving current, and make the displacement of the levitation mechanism 20 in the direction equal to or close to the displacement of the support mechanism 10 from the a position to the a' position, so as to stabilize the position of the levitation mechanism 20 in space, and ensure the imaging accuracy of the visual sensing device mounted on the levitation mechanism 20. Because the supporting mechanism 10 and the suspension mechanism 20 are in non-contact magnetic suspension connection, a gap between the supporting mechanism and the suspension mechanism can be set to a centimeter level to adapt to shaking with a large vibration amplitude.
In the anti-shake device provided by this embodiment, the supporting mechanism 10 is connected with the suspension mechanism 20 in a non-contact magnetic suspension manner, the visual sensing device connected with the suspension mechanism 20 is in a suspension state during operation, and the visual sensing device can be powered by a battery, but when the visual sensing device needs to operate for a long time, the battery is difficult to meet the power supply requirement, and a power supply means other than battery power supply is also needed. In a specific implementation manner, the anti-shake apparatus provided in this embodiment includes a power supply mechanism, where the power supply mechanism includes a power supply interface electrically connected to the visual perception device and a power transmission module electrically connected to the power supply interface. Specifically, the power supply interface may be disposed on the suspension mechanism 20 and electrically connected to the visual sensing device mounted on the suspension mechanism 20, and the power supply interface may also be integrated on the visual sensing device. The power transmission module can supply power to the visual perception device in a wired power supply or wireless power supply mode, when the wired power supply is adopted, the power transmission module comprises a power supply lead electrically connected with the power supply interface, and the power supply lead is a flexible lead so as not to influence the position adjustment precision of the suspension mechanism; in another implementation manner, the power transmission module uses wireless power supply, and referring to fig. 1, the power transmission module includes a group of wireless power transmission units 60, where each wireless power transmission unit 60 includes a wireless power transmission transmitting circuit 61 disposed on the supporting mechanism 10 and a wireless power transmission receiving circuit 62 disposed on the suspension mechanism 20 and electrically connected to the power supply interface, and the wireless power supply mode can reduce the influence of the power supply process on the position adjustment of the suspension mechanism. In a specific implementation, at least one wireless power transmission unit 60 is required. In the above two implementation manners, the power transmission module is required to be in signal connection with the control unit 50, the control unit 50 is further configured to control the working mode of the power transmission module, and specifically, the control unit 50 is configured to control the on/off state, the working time, the output current, the voltage magnitude, and other working states of the power transmission module; referring to fig. 3, the power transmission module may further be connected to a battery 82 inside the visual sensing device 80, and may also supply power to other components while charging the battery 82 of the visual sensing device 80, and in addition, in order to manage the internal power supply of the visual sensing device 80, in a specific embodiment, the visual sensing device 80 further includes a power management module 83 shown in fig. 3, the power management module 83 is connected to the battery 82, the wireless power transmission receiving circuit 62, and the visual sensing device control unit 81, and after receiving the electric energy of the wireless power transmission receiving circuit 62, the power management module 83 supplies power to the battery 82 or other components inside the visual sensing device 80 according to a control signal of the visual sensing device control unit 81.
Except for supplying power to the visual sensing device connected to the suspension mechanism, the visual sensing device is required to be communicated with the outside, and images or video signals collected by the visual sensing device are required to be transmitted to the outside. Specifically, the signal interface may be disposed on the suspension mechanism and in signal connection with the visual sensing device mounted on the suspension mechanism, and the signal interface may also be integrated on the visual sensing device. The signal transmission module can be communicated with the visual perception device in a wired signal transmission or wireless signal transmission mode, when the wired signal transmission is adopted, the signal transmission module comprises a signal lead connected with a signal interface in a signal mode, and the signal lead is a flexible lead so as to avoid influencing the position adjustment precision of the suspension mechanism; in another implementation, the signal transmission module employs wireless signal transmission, as shown in fig. 1, the signal transmission module 70 includes a signal transmission antenna in signal connection with the signal interface, and specifically includes a first signal transmission antenna 71 connected with the supporting mechanism 10 and a second signal transmission antenna 72 connected with the suspension mechanism 20, the first signal transmission antenna 71 and the second signal transmission antenna 72 are in wireless signal connection, in a specific implementation, the first signal transmission antenna 71 is in signal connection with the visual sensing device control unit 50, the second signal transmission antenna 72 is in signal connection with the control unit 50, and the second signal transmission antenna 72 can be in wireless signal connection or in wired signal connection with the outside, so that the visual sensing device communicates with the outside. In the above two implementation manners, the signal transmission module 70 is in signal connection with the control unit 50, and the control unit 50 is further configured to control a working mode of the signal transmission module, specifically, control a working protocol of the signal transmission module 70, or communicate with the visual sensing device control unit 81 or the power management module 83.
Based on the same inventive concept, the embodiment of the present invention further provides a visual perception device, the structure of which is shown in fig. 3, the visual perception device comprises a visual perception device, and further comprises the anti-shake apparatus 100 as above, and the visual perception device 80 is installed on the suspension mechanism 20 of the anti-shake apparatus. In specific implementation, the visual sensing device 80 may be a camera, a laser radar, a millimeter wave radar, or the like capable of implementing a visual sensing function, and the visual sensing device 80 and the suspension mechanism 20 may be an integrated structure or a split structure.
The workflow of the visual perception device provided by the embodiment is shown in fig. 4, and includes the following steps:
step S11, electrifying the first magnetic connecting piece driving circuit to enable the suspension mechanism to float;
step S12, the motion detection unit detects whether the support mechanism generates vibration, if yes, step S13 and step S22 are executed;
step S13, calculating the driving current of the corresponding first magnetic connector;
step S14, adjusting the relative position between the suspension mechanism and the support mechanism.
The steps are the implementation process of the anti-shake function of the visual perception equipment.
Step S21, starting the wireless power transmission transmitting circuit and the wireless power transmission receiving circuit;
in step S22, the charging power is adjusted according to the relative position between the wireless power transmission transmitting circuit and the wireless power transmission receiving circuit.
The steps are the implementation process of the power supply function of the visual perception equipment.
Step S31, communicating with the visual perception device, requesting to send image information;
in step S32, image information is acquired.
The above steps are the implementation process of the visual perception function of the visual perception device.
The visual perception equipment provided by the embodiment can be applied to the fields of unmanned driving, visual robots and the like. Because the anti-shake device can improve the anti-shake effect on the shake with larger vibration amplitude, the visual perception equipment can improve the data acquisition precision of the visual perception equipment under the shake with larger vibration amplitude. For specific principles and implementation, refer to the embodiments of the anti-shake apparatus described above, and are not described in detail.
It will be apparent to those skilled in the art that various changes and modifications may be made to the embodiments of the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (15)
1. An anti-shake apparatus, comprising:
a support mechanism;
the suspension mechanism is provided with an installation structure for installing a visual perception device;
the magnetic connecting mechanism comprises at least one magnetic assembly, each magnetic assembly comprises a first magnetic connecting piece arranged on the supporting mechanism and a second magnetic connecting piece arranged on the suspension mechanism, and a magnetic acting force is formed between the first magnetic connecting piece and the second magnetic connecting piece; the supporting mechanism is in magnetic suspension connection with the suspension mechanism through the magnetic connecting mechanism;
the motion detection unit is arranged on the supporting mechanism and used for generating motion information according to the motion state of the supporting mechanism;
and the control unit is in signal connection with the motion detection unit and the magnetic connecting mechanism and is used for adjusting the magnetic acting force according to the acquired motion information so as to adjust the relative position between the suspension mechanism and the supporting mechanism.
2. The anti-shake apparatus according to claim 1, wherein in any of the magnetic assemblies, the first magnetic connecting member is an electromagnet in signal connection with the control unit, and the second magnetic connecting member is a permanent magnet; or the like, or, alternatively,
the first magnetic connecting piece is a permanent magnet, and the second magnetic connecting piece is an electromagnet in signal connection with the control unit; or the like, or, alternatively,
the first magnetic connecting piece and the second magnetic connecting piece are electromagnets which are in signal connection with the control unit.
3. The anti-shake apparatus according to claim 2, wherein the first magnetic connector and the second magnetic connector are disposed opposite to each other in any one of the magnetic assemblies.
4. The anti-shake apparatus according to any one of claims 1-3, wherein the magnetic connection mechanism comprises at least one magnetic unit formed by two magnetic assemblies, and the two magnetic assemblies in each magnetic unit are respectively disposed on two sides of the suspension mechanism.
5. The anti-shake apparatus according to claim 4, wherein the magnetic connection mechanism comprises a plurality of magnetic units, and wherein the arrangement direction of two magnetic components in at least one magnetic unit is not parallel to the arrangement direction of two magnetic components in the other magnetic units.
6. The anti-shake apparatus according to claim 5, wherein the two magnetic assemblies in the at least one magnetic unit in the magnetic connection mechanism are aligned in a vertical direction and/or the two magnetic assemblies in the at least one magnetic unit in the magnetic connection mechanism are aligned in a horizontal direction.
7. The anti-shake apparatus according to claim 1, further comprising a power supply mechanism, wherein the power supply mechanism comprises a power supply interface for electrically connecting with the visual perception device, and a power transmission module electrically connected with the power supply interface.
8. The anti-shake apparatus according to claim 7, wherein the power transmission module comprises a power supply lead electrically connected to the power supply interface; and/or the presence of a gas in the gas,
the power transmission module comprises at least one group of wireless power transmission units, and each group of wireless power transmission units comprises a wireless power transmission transmitting circuit arranged on the supporting mechanism and a wireless power transmission receiving circuit arranged on the suspension mechanism and electrically connected with the power supply interface.
9. The anti-shake apparatus according to claim 8, wherein the power transmission module is in signal connection with the control unit, and the control unit is further configured to control an operation mode of the power transmission module.
10. The anti-shake apparatus according to claim 1, further comprising a signal transmission mechanism, wherein the signal transmission mechanism comprises a signal interface for signal connection with the visual perception device and a signal transmission module in signal connection with the signal interface.
11. The anti-shake apparatus according to claim 10, wherein the signal transmission module comprises a signal conductor in signal connection with the signal interface; and/or the presence of a gas in the gas,
the signal transmission module comprises a signal transmission antenna in signal connection with the signal interface.
12. The anti-shake apparatus according to claim 11, wherein the signal transmission module is in signal connection with the control unit, and the control unit is further configured to control an operation mode of the signal transmission module.
13. The anti-shake apparatus according to claim 1, wherein the motion detection unit comprises at least one of an inertial measurement unit, an accelerometer, or a gyroscope in signal connection with the control unit.
14. A visual perception device comprising a visual perception device, characterized by further comprising an anti-shake apparatus according to any one of claims 1-13, the visual perception device being connected to a suspension mechanism of the anti-shake apparatus.
15. The visual perception device of claim 14, wherein the visual perception device is one-piece or split with the suspension mechanism.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821924558.9U CN209911671U (en) | 2018-11-20 | 2018-11-20 | Anti-shake device and visual perception equipment |
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| CN201821924558.9U CN209911671U (en) | 2018-11-20 | 2018-11-20 | Anti-shake device and visual perception equipment |
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| CN201821924558.9U Active CN209911671U (en) | 2018-11-20 | 2018-11-20 | Anti-shake device and visual perception equipment |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111425551A (en) * | 2020-03-20 | 2020-07-17 | 广州小鹏汽车科技有限公司 | Method and device for damping vehicle component and vehicle |
| CN112943849A (en) * | 2021-02-03 | 2021-06-11 | 中国人民解放军国防科技大学 | Composite vibration isolation device and vibration test platform |
| CN113183879A (en) * | 2021-04-23 | 2021-07-30 | 恒大恒驰新能源汽车研究院(上海)有限公司 | Anti-shake module, electron outside rear-view mirror and vehicle |
| CN115143231A (en) * | 2022-07-27 | 2022-10-04 | 哈尔滨工程大学 | Multi-degree-of-freedom magnetic suspension vibration damping device capable of resisting sea wave impact |
| WO2023272601A1 (en) * | 2021-06-30 | 2023-01-05 | 深圳市大疆创新科技有限公司 | Damping structure, movable platform, and load damping method |
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2018
- 2018-11-20 CN CN201821924558.9U patent/CN209911671U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111425551A (en) * | 2020-03-20 | 2020-07-17 | 广州小鹏汽车科技有限公司 | Method and device for damping vehicle component and vehicle |
| CN112943849A (en) * | 2021-02-03 | 2021-06-11 | 中国人民解放军国防科技大学 | Composite vibration isolation device and vibration test platform |
| CN113183879A (en) * | 2021-04-23 | 2021-07-30 | 恒大恒驰新能源汽车研究院(上海)有限公司 | Anti-shake module, electron outside rear-view mirror and vehicle |
| WO2023272601A1 (en) * | 2021-06-30 | 2023-01-05 | 深圳市大疆创新科技有限公司 | Damping structure, movable platform, and load damping method |
| CN115143231A (en) * | 2022-07-27 | 2022-10-04 | 哈尔滨工程大学 | Multi-degree-of-freedom magnetic suspension vibration damping device capable of resisting sea wave impact |
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