CN210689624U - Pose measuring device - Google Patents
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- CN210689624U CN210689624U CN201922062534.8U CN201922062534U CN210689624U CN 210689624 U CN210689624 U CN 210689624U CN 201922062534 U CN201922062534 U CN 201922062534U CN 210689624 U CN210689624 U CN 210689624U
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Abstract
The utility model discloses a pose measuring device, which comprises a bracket, a controller, a drive plate, a light supplementing lighting unit and two sets of image acquisition units, wherein each image acquisition unit comprises an electric control rotating mechanism, a camera shooting assembly and a temperature and humidity compensation assembly; the light supplementing lighting unit comprises an electric control rotating turnover mechanism and a light supplementing lighting assembly arranged on the electric control rotating turnover mechanism; the drive board is respectively connected with the controller, the electric control rotating mechanism, the temperature and humidity compensation assembly, the electric control rotating turnover mechanism and the light supplementing illumination assembly, and the controller is connected with the camera shooting assembly. The utility model discloses can reduce the influence that environmental factor brought to the measurement under the complicated operating mode to the appearance parameter of the moving object is measured to the accuracy, has solved the technical problem that current binocular stereo vision video measurement system can not normal use under complicated operating mode environment.
Description
Technical Field
The utility model relates to a measure technical field, specifically speaking relate to a position appearance measuring device.
Background
The attitude parameters are key basic information of the aircraft, and the characteristic analysis of the aerodynamic force changing along with the attitude parameters is a main means for researching the nonlinear/unsteady aerodynamic force problem. The out-of-control flight is the main murder of the civil aircraft, and the flight records published by the boeing company show that: when the civil aircraft is out of control to fly, the attitude motion parameters of the civil aircraft are greatly increased, and unsteady aerodynamics is a key for solving the problem of out of control of the flight. The large-scale part or complete machine test in the industries of machinery, motility and the like needs to carry out motion attitude detection and dynamics analysis.
With the rapid development of camera technology and the continuous improvement of interface data transmission rate, it is possible to transmit data to a computer after an image is captured by a camera rapidly and accurately and analyze the motion posture of an object in a high-speed state in real time through software.
The traditional measurement of the motion attitude is to collect data by installing an acceleration sensor, an infrared detection sensor, a laser detection sensor and other modes, and the methods have certain defects, such as low precision, narrow measurement range, low real-time degree, complex installation, inconvenient maintenance and the like, and even can not carry out effective measurement in some complex environments at all.
Video measurement based on the binocular stereo vision principle is an important technology of modern video measurement, and three-dimensional geometric information of an object is acquired from a plurality of images based on the parallax principle. The binocular stereo vision video measuring system generally obtains two digital images of a measured object from different angles by a double camera at the same time, or obtains two digital images of the measured object from different angles at different moments by a single camera, recovers three-dimensional geometric information of an object based on a parallax principle, and reconstructs a three-dimensional outline and a position of the object. Therefore, the binocular stereoscopic vision video measurement system has wide application prospect in the field of video measurement.
Under some complex conditions, the motion attitude of an object cannot be measured in a traditional mode of adding a sensor, such as complex test environments of wind tunnel tests, aircraft test flight and the like. Video measurement using the principles of binocular stereo vision provides a viable solution for these measurements. However, under complex conditions such as an environment with too high or too low temperature, high humidity and glare intensity, the accuracy and precision of the measurement result are greatly affected by the normal acquisition and imaging quality of the image of the camera. These problems have severely limited the application of binocular stereo video measurement to motion attitude measurement under complex conditions.
In addition, the overseas mature commercial pose optical measurement system (such as GOM, V-STARS, OPTOTRAK and the like) does not have the function of analyzing the dynamic characteristics of aerodynamic force changing along with attitude parameters in a complex environment. Therefore, it is necessary to construct a video measurement and dynamic characteristic analyzer for motion postures under complex working conditions of durable skin and firmness and complete functions by independent innovation aiming at complex test environments of overhigh or overlow temperature, high humidity, glare and the like.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the above-mentioned problem that exists among the prior art, provide a position appearance measuring device, the utility model discloses can reduce the influence that environmental factor brought to the measurement under the complicated operating mode to the position appearance parameter of the moving object is measured to the accuracy, has solved the technical problem that current binocular stereo vision video measurement system can not normal use under complicated operating mode environment.
In order to achieve the above object, the utility model adopts the following technical scheme:
a posture measuring device is characterized in that: the device comprises a support, a controller, a driving board, a light supplementing lighting unit and two sets of image acquisition units, wherein each image acquisition unit comprises an electric control rotating mechanism, a camera shooting assembly and a temperature and humidity compensation assembly; the light supplementing lighting unit comprises an electric control rotating turnover mechanism fixed on the bracket and a light supplementing lighting assembly arranged on the electric control rotating turnover mechanism; the drive board is respectively connected with the controller, the electric control rotating mechanism, the temperature and humidity compensation assembly, the electric control rotating turnover mechanism and the light supplementing illumination assembly, and the controller is connected with the camera shooting assembly.
The electronic control rotating mechanism comprises a base, a rotating bearing and an electronic control rotating platform, the base is fixed on the support, the rotating bearing is fixed on the base, the electronic control rotating platform is installed on the rotating bearing and connected with the drive plate, and the camera shooting assembly is fixed on the electronic control rotating platform.
The image acquisition unit also comprises a protection assembly, the protection assembly comprises a box body with a box cover, the camera shooting assembly is fixed in the box body through an electric control rotating platform, one end of the box body is provided with a lens hole, and a sealing ring, an optical filter and a lens sheath are fixed at the lens hole; the other end of the box body is provided with two radiating fins, and the temperature and humidity compensation component comprises a semiconductor refrigerator and a temperature and humidity sensor which are fixed between the radiating fins.
A wiring hole is formed below the radiating fin on the box body, and a waterproof wiring assembly is fixed at the wiring hole.
The waterproof wiring assembly comprises a sealing base, a sealing frame and wire diameter sealing modules, wherein the sealing base is fixed at the wiring hole, the sealing frame is fixed on the sealing base, and the wire diameter sealing modules are symmetrically fixed in the sealing frame.
The electric control rotary turnover mechanism comprises a base, a housing, a horizontal rotary mechanism and a vertical turnover mechanism, wherein the base is fixed on the support, the housing is fixed on the base, the horizontal rotary mechanism and the drive plate are both fixed in the housing, and the drive plate is positioned below the horizontal rotary mechanism; the vertical turnover mechanism is arranged above the housing through the horizontal rotating mechanism, and the light supplementing and illuminating assembly is arranged on the vertical turnover mechanism; the horizontal rotating mechanism and the vertical turning mechanism are both connected with the driving plate.
Horizontal rotating mechanism includes the rotating electrical machines, first photoelectric switch, the mounting bracket, the bearing ring, from gear shaft and master gear axle, the mounting bracket symmetry is fixed on housing upper portion, the rotating electrical machines is fixed on one of them mounting bracket and is connected with the drive plate, the master gear axle transversely installs on the mounting bracket and is connected with the rotating electrical machines through the bearing, first photoelectric switch fixes on the housing, first photoelectric switch is connected with the drive plate and is used for detecting master gear axle initial position, the bearing ring is fixed in the through-hole that the housing upper surface was seted up, from the vertical fixing of gear shaft in the bearing ring and with master gear axle meshing, perpendicular tilting mechanism with from gear shaft fixed connection.
The vertical turnover mechanism comprises a connecting plate, turnover stand columns, a turnover motor, a turnover fixing seat and a second photoelectric switch, the connecting plate is fixedly connected with the horizontal rotating mechanism, the turnover stand columns are symmetrically fixed at two ends of the connecting plate, and the light supplementing and illuminating assembly is arranged between the two turnover stand columns through the turnover fixing seat and a bearing fixed in the turnover fixing seat; the overturning motor is fixed between one of the stand columns and one of the overturning fixing seats, and the overturning motor is respectively connected with the light supplementing lighting assembly and the driving board; the second photoelectric switch is fixed between the other stand column and the other overturning fixing seat, and the second photoelectric switch is connected with the driving plate and used for detecting the initial position of the light supplementing lighting assembly.
The line passing holes are formed in the slave gear shaft and the connecting plate, and the vertical turnover mechanism and the light supplementing lighting assembly are connected with the driving plate through the connecting plate and the line passing holes in the slave gear shaft in sequence.
The housing is fixed on the base through the bottom plate, and the driving plate is fixed on the bottom plate.
The light supplementing lighting assembly comprises a lamp body box, a light-passing board, a lamp body fixing board, a heat dissipation cover and an LED light supplementing lamp, wherein two ends of the lamp body box are connected with the vertical turnover mechanism, the LED light supplementing lamp is fixed in the lamp body box through the lamp body fixing board and is connected with the drive board, and the light-passing board and the heat dissipation cover are respectively fixed on the front side and the back side of the lamp body box.
The support comprises a tripod and a cross beam, the cross beam is fixed on the tripod, a scale is arranged on the cross beam, the light supplementing and illuminating unit is fixed in the middle of the cross beam, and the two sets of image acquisition units are fixed at two ends of the cross beam.
The controller comprises a control host and a control panel, the control panel is inserted in the control host, and the control panel comprises a first processing module, a camera trigger control module and an extended storage module; the driving board comprises a second processing module, an electric control rotating platform driving module, a temperature and humidity acquisition module, a semiconductor refrigerator driving module, a light control driving module, a rotating motor driving module and a turnover motor driving module, the first processing module is respectively connected with the control host, the camera trigger control module, the expansion storage module and the second processing module, the camera trigger control module is connected with the camera shooting assembly, the second processing module is respectively connected with the electric control rotating platform driving module, the temperature and humidity acquisition module, the semiconductor refrigerator driving module, the light control driving module, the rotating motor driving module, the turnover motor driving module, a first photoelectric switch and a second photoelectric switch, the electric control rotating platform driving module is connected with the electric control rotating platform, the temperature and humidity acquisition module is connected with a temperature and humidity sensor, the semiconductor refrigerator driving module is connected with a semiconductor refrigerator, the light control driving module is connected with the light supplementing lighting assembly, the rotating motor driving module is connected with the rotating motor, and the overturning motor driving module is connected with the overturning motor.
Adopt the utility model has the advantages of:
1. the utility model discloses a controller, drive plate, light filling lighting unit and two sets of image acquisition units can form two mesh stereovision video measurement systems through two sets of image acquisition units, are favorable to the effective measurement of high-speed moving object position appearance. In addition, the light supplementing lighting unit can supplement light under the complex working condition of insufficient light, and the technical problem that the direction and the brightness of a light source cannot be automatically adjusted in the prior art is solved. Temperature and humidity compensation can be carried out under the working conditions of overhigh temperature or overlow temperature and high humidity through the temperature and humidity compensation assembly, and the technical problem that the prior art cannot effectively measure the temperature or overlow temperature and high humidity environment is solved. Through drive plate and controller cooperation, can realize the automatic control of each part, intelligent degree is higher. To sum up, the utility model discloses can reduce the influence that environmental factor brought to the measurement under the complicated operating mode to the appearance parameter of moving object is measured to the accuracy, has solved the technical problem that current binocular stereo vision video measurement system can not normal use under complicated operating mode environment.
2. The utility model discloses in adopt automatically controlled revolving stage as the slewing mechanism of subassembly of making a video recording, have simple structure, rotation control nimble convenient, can advantages such as accurate control turned angle.
3. The utility model discloses be provided with the protection subassembly on automatically controlled slewing mechanism, can form effective protection to the subassembly of making a video recording through the protection subassembly, be favorable to prolonging the life of the subassembly of making a video recording, prevent that the subassembly of making a video recording damages and rain-proof antifog etc.. The influence of glare and stray light on the measurement can be removed through the optical filter. The semiconductor refrigerator and the temperature and humidity sensor are adopted as the temperature and humidity compensation assembly, so that the temperature and humidity can be compensated timely, the fogging can be prevented, the structure is simple, the cost is low, and the accuracy of pose measurement can be improved.
4. The utility model discloses the fin below on the box has been seted up and has been walked the line hole, walks that line hole department is fixed with waterproof line subassembly of walking. The advantage of this structure lies in can improving the standardization of wiring under guaranteeing waterproof prerequisite.
5. The utility model discloses mainly adopt seal base, sealing frame and the sealed module of line footpath to constitute waterproof line subassembly of walking, have the advantage that water-proof effects is good and the wiring is more standard.
6. The utility model provides an automatically controlled rotatory tilting mechanism includes base, housing, horizontal rotary mechanism and perpendicular tilting mechanism, and the base is fixed on the support, and the housing is fixed on the base, and horizontal rotary mechanism and drive plate are all fixed in the housing, and the drive plate is located horizontal rotary mechanism below. The advantage of this structure lies in can effectively combining drive plate and automatically controlled rotatory tilting mechanism and protect in the housing for whole device is more succinct change.
7. The utility model provides a horizontal rotation mechanism includes rotating electrical machines, a photoelectric switch, a mounting bracket, the bearing ring, from gear shaft and master gear axle, through rotating electrical machines with from gear shaft and master gear axle cooperation, can control the effective rotation of the last light filling lighting components of perpendicular tilting mechanism, can detect the initial position of master gear axle through a photoelectric switch to accurate control light filling lighting components's turned angle.
8. The utility model provides a perpendicular tilting mechanism includes connecting plate, upset stand, upset motor, upset fixing base and second photoelectric switch, can control light filling lighting components in the effective upset of vertical direction through the rotating electrical machines, can detect light filling lighting components's home position through second photoelectric switch to accurate control light filling lighting components's rotation angle.
9. The utility model discloses all having seted up the line hole from gear shaft and connecting plate, perpendicular tilting mechanism and light filling lighting assembly all are connected with the drive plate through the connecting plate in proper order and from the epaxial line hole of crossing of gear. The advantage of this structure lies in making the cable among the light filling lighting unit can realize inside wiring under the condition of avoiding twisting, and the wiring is more standard, and the structure is more pleasing to the eye.
10. The utility model provides a housing passes through the bottom plate to be fixed on the base, and the drive plate is fixed again on the bottom plate. The structure fixes the driving plate in the housing, and a better protection effect is formed on the driving plate.
11. The utility model provides a light filling lighting components includes lamp body case, light-passing board, heat dissipation face guard and LED light filling lamp, and the light filling lighting components who adopts this structure has advantages such as simple structure, low cost, light filling are effectual.
12. The utility model provides a support includes tripod and crossbeam, and the crossbeam is fixed on the tripod, and is provided with the scale on the crossbeam, and light filling lighting unit fixes in the middle of the crossbeam, and two sets of image acquisition units are fixed at the crossbeam both ends. This structure makes light filling lighting unit and image acquisition unit be located same water flat line, not only more is favorable to the light filling, still more is favorable to improving measurement accuracy. And the distance between the image acquisition unit and the light supplementing lighting unit can be conveniently and accurately adjusted through the ruler.
13. The utility model discloses a main control system, control panel and drive plate cooperate, have realized the automatic control of each part effectively, and intelligent degree is higher.
Drawings
Fig. 1 is a schematic structural view of the present invention;
FIG. 2 is an exploded view of the image capturing unit of the present invention;
fig. 3 is an exploded view of the middle light-compensating lighting unit of the present invention;
fig. 4 is an exploded view of the middle light-compensating lighting assembly of the present invention on the vertical turnover mechanism;
FIG. 5 is a control schematic block diagram of the present invention;
labeled as: 1. a tripod, 2, a beam, 3, a controller, 4, a driving board, 5, a light-filling lighting unit, 6, an image acquisition unit, 7, a camera shooting component, 8, a light-filling lighting component, 9, an electronic control rotary turnover mechanism, 10, a base, 11, a rotary bearing, 12, an electronic control rotary table, 13, a box cover, 14, a box body, 15, a wire diameter sealing module, 16, a sealing ring, 17, a filter, 18, a lens sheath, 19, a radiating fin, 20, a semiconductor refrigerator, 21, a temperature and humidity sensor, 22, a sealing base, 23, a sealing frame, 24, a bottom plate, 25, a base, 26, a housing, 27, a rotary motor, 28, a first photoelectric switch, 29, a mounting rack, 30, a bearing ring, 31, a slave gear shaft, 32, a master gear shaft, 33, a connecting plate, 34, a turnover stand column, 35, a turnover motor, 36, a turnover fixing seat, 37, and a second, 38. LED light filling lamp 39, lamp body case, 40, light-passing board, 41, heat dissipation face guard, 42, lamp body fixed plate.
Detailed Description
Example 1
The embodiment discloses a pose measuring device which comprises a support, a controller 3, a drive plate 4, a light supplementing lighting unit 5 and two sets of image acquisition units 6, wherein the support comprises a tripod 1 and a cross beam 2, the tripod 1 is of a height-adjustable structure, the cross beam 2 is fixed on the tripod 1, a ruler is arranged on the cross beam 2, the light supplementing lighting unit 5 is fixed in the middle of the cross beam 2, and the two sets of image acquisition units 6 are fixed at two ends of the cross beam 2; the beam 2 can be made of a section bar with a groove, and the positions of the image acquisition unit 6 and the light supplement lighting unit 5 on the beam 2 are adjustable; the image acquisition unit 6 comprises an electric control rotating mechanism, a camera shooting assembly 7 and a temperature and humidity compensation assembly, the camera shooting assembly 7 can adopt an industrial camera, the electric control rotating mechanism is fixed on the cross beam 2, and the camera shooting assembly 7 and the temperature and humidity compensation assembly are both fixed on the electric control rotating mechanism; the light supplementing lighting unit 5 comprises an electric control rotary turnover mechanism 9 fixed on the cross beam 2 and a light supplementing lighting assembly 8 arranged on the electric control rotary turnover mechanism 9; the drive board 4 is respectively connected with the controller 3, the electronic control rotating mechanism, the temperature and humidity compensation assembly, the electronic control rotating turnover mechanism 9 and the light supplementing illumination assembly 8, the controller 3 respectively controls the temperature and humidity compensation assembly, the light supplementing illumination assembly 8, the electronic control rotating mechanism and the electronic control rotating turnover mechanism 9 through the drive board 4, the camera assembly 7 is controlled to rotate, the temperature and humidity around the camera assembly 7 are compensated through the temperature and humidity compensation assembly, the electronic control rotating turnover mechanism 9 is controlled to rotate, the angle of the light supplementing illumination assembly 8 is adjusted through turnover, and the light supplementing illumination assembly 8 is controlled to supplement illumination; the controller 3 is connected with the camera assembly 7, and the controller 3 is used for controlling the camera assembly 7 to collect images of high-speed moving objects, analyzing the collected images and outputting pose parameters of the objects. Wherein, the compensation means that the temperature and humidity or the illumination reaches a set value.
In this embodiment, the controller 3 includes a control host and a control panel, the control host may be a VPX card-inserted notebook computer, the control panel is inserted into the control host, and the control panel includes a first processing module, a camera trigger control module, and an extended storage module. The first processing module can be an ARM module or an FPGA module, the first processing module is respectively connected with a processor of the control host, the camera trigger control module and the expansion storage module, the expansion storage module can be used for plugging a storage card and storing relevant information and data, and the camera trigger control module is connected with the camera shooting assembly 7. The driving plate 4 may be mounted on a bracket or may be provided on the controller 3 side. Wherein the driving board 4 comprises a second processing module and a plurality of driving modules, the second processing module can be an ARM module or an FPGA module, the second processing module is connected with the first processing module, the second processing module is respectively connected with the electric control rotating mechanism, the light supplementing and illuminating assembly 8, the temperature and humidity compensation assembly and the electric control rotating and overturning mechanism 9 through the plurality of driving modules,
in this embodiment, the temperature and humidity compensation assembly can adopt a temperature sensor and a humidity sensor sold in the market to cooperate and detect, and can adopt a heater and a refrigerator sold in the market to carry out temperature and humidity compensation. The electric control rotating mechanism and the electric control rotating turnover mechanism 9 can be realized by adopting known structures. The supplementary lighting assembly 8 can adopt a commercial LED lamp.
In this embodiment, the image acquisition unit 6 is configured to acquire an image of a measured object, and monitor, control, and adjust parameters of a working environment of the camera assembly 7. The drive plate 4 is used for adjusting the collection direction of the camera shooting assembly 7 through the electric control rotating mechanism and collecting temperature and humidity information of the image collection unit 6 in real time, and the light supplementing and illuminating unit 5 is used for supplementing light by utilizing lamplight in an environment with insufficient light. The controller 3 is used for analyzing and processing the images received from the camera assembly 7, so that the pose parameters of the object in high-speed motion can be obtained under complex working conditions.
Example 2
The embodiment discloses a pose measuring device which comprises a support, a controller 3, a drive plate 4, a light supplementing lighting unit 5 and two sets of image acquisition units 6, wherein the support comprises a tripod 1 and a cross beam 2, the tripod 1 is of a height-adjustable structure, the cross beam 2 is fixed on the tripod 1, a village ruler is arranged on the cross beam 2, the light supplementing lighting unit 5 is fixed in the middle of the cross beam 2, and the two sets of image acquisition units 6 are fixed at two ends of the cross beam 2; the beam 2 can be made of a section bar with a groove, and the positions of the image acquisition unit 6 and the light supplement lighting unit 5 on the beam 2 are adjustable; the image acquisition unit 6 comprises an electric control rotating mechanism, a camera assembly 7 and a temperature and humidity compensation assembly, the electric control rotating mechanism is fixed on the cross beam 2, and the camera assembly 7 and the temperature and humidity compensation assembly are fixed on the electric control rotating mechanism; the light supplementing lighting unit 5 comprises an electric control rotary turnover mechanism 9 fixed on the cross beam 2 and a light supplementing lighting assembly 8 arranged on the electric control rotary turnover mechanism 9; the drive board 4 is respectively connected with the controller 3, the electronic control rotating mechanism, the temperature and humidity compensation assembly, the electronic control rotating turnover mechanism 9 and the light supplementing illumination assembly 8, the controller 3 respectively controls the temperature and humidity compensation assembly, the light supplementing illumination assembly 8, the electronic control rotating mechanism and the electronic control rotating turnover mechanism 9 through the drive board 4, the camera assembly 7 is controlled to rotate, the temperature and humidity around the camera assembly 7 are compensated through the temperature and humidity compensation assembly, the electronic control rotating turnover mechanism 9 is controlled to rotate, the angle of the light supplementing illumination assembly 8 is adjusted through turnover, and the light supplementing illumination assembly 8 is controlled to supplement illumination; the controller 3 is connected with the camera assembly 7, and the controller 3 is used for controlling the camera assembly 7 to collect images of high-speed moving objects, analyzing the collected images and outputting pose parameters of the objects.
In this embodiment, automatically controlled slewing mechanism includes base 10, swivel bearing 11 and automatically controlled revolving stage 12, base 10 has the fixed slot, base 10 passes through fixed slot and bolt fastening on the support, swivel bearing 11 passes through the bolt fastening on base 10, automatically controlled revolving stage 12 is installed on swivel bearing 11 and is connected with drive plate 4, camera module 7 is fixed on automatically controlled revolving stage 12, controller 3 carries out 360 degrees rotations through the steerable automatically controlled revolving stage 12 of drive plate 4, and then the camera module 7 of control fixing on automatically controlled revolving stage 12 rotates.
In this embodiment, the image acquisition unit 6 further includes a protection component, the protection component includes a box 14 with a box cover 13, the camera component 7 is fixed in the box 14 through an electronic control rotary table 12, one end of the box 14 is provided with a lens hole, and a sealing ring 16, an optical filter 17 and a lens sheath 18 are fixed at the lens hole; the other end of the box 14 is provided with two cooling fins 19, and the temperature and humidity compensation components are a semiconductor refrigerator 20 and a temperature and humidity sensor 21 which are fixed between the cooling fins 19.
Furthermore, a wiring hole is formed below the heat sink 19 on the box body 14, and a waterproof wiring component is fixed at the wiring hole; the waterproof wiring assembly comprises a sealing base 22, a sealing frame 23 and a wire diameter sealing module 15, wherein the sealing base 22 is fixed at a wiring hole through a bolt, the sealing frame 23 can be fixed on the sealing base 22 in a bolt fixing mode or a clamping mode, and the wire diameter sealing module 15 is symmetrically fixed in the sealing frame 23. Specifically, the sealing frame 23 may be a structure in which an upper half frame and a lower half frame are fixed by bolts, and the linear diameter sealing module 15 may be four symmetrical plastic bodies fixed in the sealing frame 23. Various cables connected to the image pickup unit 6 enter the case 14 through the wire diameter sealing module 15.
In this embodiment, the controller 3 includes a control host and a control panel, the control host may be a VPX card-inserted notebook computer, the control panel is inserted into the control host, and the control panel includes a first processing module, a camera trigger control module, and an extended storage module. The first processing module can be an ARM module or an FPGA module, the first processing module is respectively connected with a processor of the control host, the camera trigger control module and the expansion storage module, the expansion storage module can be used for plugging a storage card and storing relevant information and data, and the camera trigger control module is connected with the camera shooting assembly 7. The driving plate 4 may be mounted on a bracket or may be provided on the controller 3 side. The driving board 4 comprises a second processing module, an electric control rotating table driving module, a temperature and humidity acquisition module, a semiconductor refrigerator driving module and a light supplementing and illuminating unit 5 driving module, the second processing module can be an ARM module or an FPGA module, and the second processing module is connected with the first processing module. The second processing module is connected with the electric control rotating platform 12 through an electric control rotating platform driving module and is used for controlling the electric control rotating platform 12 to rotate. The second processing module is connected with the temperature and humidity sensor 21 through a temperature and humidity acquisition module and is used for acquiring temperature and humidity information around the camera assembly 7. The second processing module is connected with the semiconductor refrigerator 20 through the semiconductor refrigerator driving module, and is used for performing temperature rise or temperature fall compensation according to the collected temperature and humidity information. The second processing module is connected with the supplementary lighting unit 5 through a supplementary lighting unit 5 driving module, and is used for controlling the supplementary lighting assembly 8 to adjust the angle and supplement illumination.
In this embodiment, the electrically controlled rotary turnover mechanism 9 can be implemented by a known structure. The supplementary lighting assembly 8 can adopt a commercial LED lamp.
Example 3
The embodiment discloses a pose measuring device which comprises a support, a controller 3, a drive plate 4, a light supplementing lighting unit 5 and two sets of image acquisition units 6, wherein the support comprises a tripod 1 and a cross beam 2, the tripod 1 is of a height-adjustable structure, the cross beam 2 is fixed on the tripod 1, a ruler is arranged on the cross beam 2, the light supplementing lighting unit 5 is fixed in the middle of the cross beam 2, and the two sets of image acquisition units 6 are fixed at two ends of the cross beam 2; the beam 2 can be made of a section bar with a groove, and the positions of the image acquisition unit 6 and the light supplement lighting unit 5 on the beam 2 are adjustable; the image acquisition unit 6 comprises an electric control rotating mechanism, a camera assembly 7 and a temperature and humidity compensation assembly, the electric control rotating mechanism is fixed on the cross beam 2, and the camera assembly 7 and the temperature and humidity compensation assembly are fixed on the electric control rotating mechanism; the light supplementing lighting unit 5 comprises an electric control rotary turnover mechanism 9 fixed on the cross beam 2 and a light supplementing lighting assembly 8 arranged on the electric control rotary turnover mechanism 9; the drive board 4 is respectively connected with the controller 3, the electronic control rotating mechanism, the temperature and humidity compensation assembly, the electronic control rotating turnover mechanism 9 and the light supplementing illumination assembly 8, the controller 3 respectively controls the temperature and humidity compensation assembly, the light supplementing illumination assembly 8, the electronic control rotating mechanism and the electronic control rotating turnover mechanism 9 through the drive board 4, the camera assembly 7 is controlled to rotate, the temperature and humidity around the camera assembly 7 are compensated through the temperature and humidity compensation assembly, the electronic control rotating turnover mechanism 9 is controlled to rotate, the angle of the light supplementing illumination assembly 8 is adjusted through turnover, and the light supplementing illumination assembly 8 is controlled to supplement illumination; the controller 3 is connected with the camera assembly 7, and the controller 3 is used for controlling the camera assembly 7 to collect images of high-speed moving objects, analyzing the collected images and outputting pose parameters of the objects.
In this embodiment, automatically controlled slewing mechanism includes base 10, swivel bearing 11 and automatically controlled revolving stage 12, base 10 has the fixed slot, base 10 passes through fixed slot and bolt fastening on the support, swivel bearing 11 passes through the bolt fastening on base 10, automatically controlled revolving stage 12 is installed on swivel bearing 11 and is connected with drive plate 4, camera module 7 is fixed on automatically controlled revolving stage 12, controller 3 carries out 360 degrees rotations through the steerable automatically controlled revolving stage 12 of drive plate 4, and then the camera module 7 of control fixing on automatically controlled revolving stage 12 rotates.
In this embodiment, the image acquisition unit 6 further includes a protection component, the protection component includes a box 14 with a box cover 13, the camera component 7 is fixed in the box 14 through an electronic control rotary table 12, one end of the box 14 is provided with a lens hole, and a sealing ring 16, an optical filter 17 and a lens sheath 18 are fixed at the lens hole; the other end of the box 14 is provided with two cooling fins 19, and the temperature and humidity compensation components are a semiconductor refrigerator 20 and a temperature and humidity sensor 21 which are fixed between the cooling fins 19.
Furthermore, a wiring hole is formed below the heat sink 19 on the box body 14, and a waterproof wiring component is fixed at the wiring hole; the waterproof wiring assembly comprises a sealing base 22, a sealing frame 23 and a wire diameter sealing module 15, wherein the sealing base 22 is fixed at a wiring hole through a bolt, the sealing frame 23 can be fixed on the sealing base 22 in a bolt fixing mode or a clamping mode, and the wire diameter sealing module 15 is symmetrically fixed in the sealing frame 23. Specifically, the sealing frame 23 may be a structure in which an upper half frame and a lower half frame are fixed by bolts, and the linear diameter sealing module 15 may be four symmetrical plastic bodies fixed in the sealing frame 23. Various cables connected to the image pickup unit 6 enter the case 14 through the wire diameter sealing module 15.
In this embodiment, the electrically controlled rotating and overturning mechanism 9 includes a base 25, a housing 26, a horizontal rotating mechanism and a vertical overturning mechanism, the base 25 has a fixing groove, the base 25 is fixed on a support through the fixing groove and a bolt, the housing 26 is fixed on the base 25 through a bottom plate 24 and a bolt, the horizontal rotating mechanism is fixed on the housing 26, the driving plate 4 is fixed on the bottom plate 24, the horizontal rotating mechanism and the driving plate 4 are both located in the housing 26, and the driving plate 4 is located below the horizontal rotating mechanism; the vertical turnover mechanism is arranged above the housing 26 through the horizontal rotating mechanism, and the light supplementing illumination assembly 8 is arranged on the vertical turnover mechanism; the horizontal rotating mechanism and the vertical turning mechanism are both connected with the driving plate 4.
In this embodiment, the horizontal rotation mechanism includes a rotation motor 27, a first photoelectric switch 28, and a mounting bracket 29, bearing ring 30, from gear shaft 31 and master gear shaft 32, mounting bracket 29 is L shape structure, mounting bracket 29 passes through the bolt symmetry to be fixed at the top of housing 26, rotating electrical machines 27 is fixed on one of them mounting bracket 29 and is connected with drive plate 4, master gear shaft 32 transversely installs on mounting bracket 29 through the bearing and is connected with rotating electrical machines 27, rotating electrical machines 27 can drive master gear shaft 32 rotatory, first photoelectric switch 28 is fixed on housing 26, first photoelectric switch 28 is connected with drive plate 4 and is used for detecting master gear shaft 32 initial position, bearing ring 30 is fixed in the through-hole that the upper surface of housing 26 was seted up, adopt the vertical fixing in bearing ring 30 of tight fit mode and mesh with master gear shaft 32 from gear shaft 31, perpendicular tilting mechanism and from gear shaft 31 fixed connection.
In this embodiment, the vertical turning mechanism includes a connecting plate 33, turning columns 34, a turning motor 35, turning holders 36 and a second photoelectric switch 37, the connecting plate 33 is fixedly connected with a secondary gear shaft 31 of the horizontal rotating mechanism, the turning columns 34 are symmetrically fixed at two ends of the connecting plate 33 through bolts, circular housings are arranged at upper ends of the turning columns 34, and the light supplementing lighting assembly 8 is installed between the circular housings of the two turning columns 34 through the turning holders 36 and bearings fixed in the turning holders 36; the overturning motor 35 is fixed between one of the upright posts and one of the overturning fixing seats 36, the overturning motor 35 is located in the circular shell of the overturning upright post 34, the overturning motor 35 is respectively connected with the light supplementing lighting assembly 8 and the driving board 4, and the driving board 4 can control the overturning motor 35 to drive the light supplementing lighting assembly 8 to overturn; the second photoelectric switch 37 is fixed between another column and another turning fixing seat 36, and the second photoelectric switch 37 is connected with the driving board 4 to detect the starting position of the supplementary lighting assembly 8.
In this embodiment, the wire passing holes are formed in the slave gear shaft 31 and the connecting plate 33, and cables in the vertical turnover mechanism and the light supplementing lighting assembly 8 are connected with the drive board 4 through the connecting plate 33 and the wire passing holes in the slave gear shaft 31 in sequence.
In this embodiment, the light supplementing lighting assembly 8 includes a lamp body box 39, a light-transmitting plate 40, a lamp body fixing plate 42, a heat-dissipating cover 41 and an LED light supplementing lamp 38, two ends of the lamp body box 39 are connected to the vertical turnover mechanism, the LED light supplementing lamp 38 is fixed in the lamp body box 39 through the lamp body fixing plate 42 and is connected to the driving plate 4, and the light-transmitting plate 40 and the heat-dissipating cover 41 are fixed on the front and the back of the lamp body box 39 respectively.
In this embodiment, the controller 3 includes a control host and a control panel, the control host may be a VPX card-insertion type notebook computer, the control panel is inserted into the control host, the control panel includes a first processing module, a camera trigger control module and an extended storage module, the first processing module may be an ARM module or an FPGA module, the first processing module is respectively connected to the control host, the camera trigger control module and the extended storage module, the extended storage module may be used to insert a memory card for storing relevant information and data, and the camera trigger control module is connected to the camera shooting assembly 7. The driving plate 4 may be mounted on a bracket or may be provided on the controller 3 side. The driving board 4 comprises a second processing module, an electric control rotating table driving module, a temperature and humidity acquisition module, a semiconductor refrigerator driving module, a light control driving module, a rotating motor driving module and a turnover motor driving module, the second processing module can be an ARM module or an FPGA module, and the second processing module is connected with the first processing module. The second processing module is respectively connected with an electric control rotary table driving module, a temperature and humidity acquisition module, a semiconductor refrigerator driving module, a light control driving module, a rotating motor driving module, a turnover motor driving module, a first photoelectric switch 28 and a second photoelectric switch 37, the electric control rotary table driving module is connected with an electric control rotary table 12, the temperature and humidity acquisition module is connected with a temperature and humidity sensor 21, the semiconductor refrigerator driving module is connected with a semiconductor refrigerator 20, the light control driving module is connected with a light supplementing lighting assembly 8, the rotating motor driving module is connected with a rotating motor 27, and the turnover motor driving module is connected with a turnover motor 35.
The utility model discloses based on two mesh stereovision video measurement principles, realize carrying out the stereometric of two directions to the object that awaits measuring through using two sets of image acquisition units 6 to through the angle position of the accurate control camera subassembly 7 measurement of automatically controlled revolving stage 12, utilize the high definition filter to come the filtering to dazzle light and the influence of miscellaneous light to the formation of image. Working environment parameters are monitored in real time through the temperature and humidity sensor 21, the temperature environment is adjusted and improved through the semiconductor refrigerator 20, and the measurement requirement under the complex working condition and the complex environment is met. Meanwhile, illumination compensation in multiple directions and multiple angles is achieved through the light supplementing illumination unit 5, and imaging quality in a dark light environment is improved.
The utility model discloses the angular adjustment of well subassembly 7 of making a video recording adopts accurate automatically controlled revolving stage 12, and light control adopts automatically controlled rotatory tilting mechanism 9, is accessible computer software remote control, controls very conveniently.
The utility model discloses a subassembly 7 and light filling lighting components 8 all can realize automatic the regulation through the computer software in the controller 3 of making a video recording. To the environment that some can't the manual work get into manual regulation, the utility model discloses can carry out long-range automatically regulated, very big improvement binocular stereo vision video measurement system's degree of automation.
The utility model discloses an implement the principle as follows:
step 1, placing a measured object in a proper position, fixing a camera component 7 in a horizontal position through a support, adjusting the support to complete the angle position adjustment between the camera component 7 and the measured object, completing focusing and ensuring the imaging definition of the measured object;
step 3, the LED light supplement lamp 38 is controlled to be turned on through a command issued by control software, the electrically-controlled rotary turnover mechanism 9 is controlled to rotate through a software command, and the angle of the LED light supplement lamp 38 is adjusted, so that light can be uniformly irradiated on a measured object from the front;
step 5, placing a target with a proper size to the measured object, opening image analysis processing software, setting acquisition parameters of a camera component 7, and finishing calibration of the whole measuring system by adjusting different positions and angles of the target and carrying out image acquisition;
and 6, removing the target, measuring the motion attitude of the measured object, continuously acquiring images for multiple times through image analysis processing software, storing the image data into the control host, and outputting and storing the motion attitude data of the measured object in real time through real-time analysis processing of the software.
The utility model discloses a temperature and humidity sensor 21 measures operational environment's humiture, adjusts current environmental parameter through semiconductor cooler 20, makes the utility model discloses can work at wider humiture scope. The influence of complex environment parameters such as temperature, humidity, glare and stray light on final imaging is greatly reduced, and the imaging quality and the measurement accuracy of the motion attitude of the measured object are improved.
Claims (10)
1. A posture measuring device is characterized in that: the device comprises a support, a controller (3), a driving board (4), a light supplementing lighting unit (5) and two sets of image acquisition units (6), wherein each image acquisition unit (6) comprises an electric control rotating mechanism, a camera assembly (7) and a temperature and humidity compensation assembly, the electric control rotating mechanism is fixed on the support, and the camera assembly (7) and the temperature and humidity compensation assembly are fixed on the electric control rotating mechanism; the light supplementing lighting unit (5) comprises an electric control rotary turnover mechanism (9) fixed on the bracket and a light supplementing lighting assembly (8) arranged on the electric control rotary turnover mechanism (9); the driving board (4) is respectively connected with the controller (3), the electric control rotating mechanism, the temperature and humidity compensation assembly, the electric control rotating turnover mechanism (9) and the light supplementing illumination assembly (8), and the controller (3) is connected with the camera shooting assembly (7).
2. The pose measurement device according to claim 1, characterized in that: the electronic control rotating mechanism comprises a base (10), a rotating bearing (11) and an electronic control rotating platform (12), the base (10) is fixed on the support, the rotating bearing (11) is fixed on the base (10), the electronic control rotating platform (12) is installed on the rotating bearing (11) and connected with the drive plate (4), and the camera shooting assembly (7) is fixed on the electronic control rotating platform (12).
3. The pose measurement device according to claim 2, characterized in that: the image acquisition unit (6) further comprises a protection assembly, the protection assembly comprises a box body (14) with a box cover (13), the camera assembly (7) is fixed in the box body (14) through an electric control rotating platform (12), one end of the box body (14) is provided with a lens hole, and a sealing ring (16), an optical filter (17) and a lens sheath (18) are fixed at the lens hole; the other end of the box body (14) is provided with two radiating fins (19), and the temperature and humidity compensation component comprises a semiconductor refrigerator (20) and a temperature and humidity sensor (21) which are fixed between the radiating fins (19).
4. A pose measurement apparatus according to claim 3, wherein: the waterproof wire distribution box is characterized in that wire distribution holes are formed in the lower portion of a radiating fin (19) on the box body (14), a waterproof wire distribution assembly is fixed at the wire distribution holes and comprises a sealing base (22), a sealing frame (23) and a wire diameter sealing module (15), the sealing base (22) is fixed at the wire distribution holes, the sealing frame (23) is fixed on the sealing base (22), and the wire diameter sealing module (15) is symmetrically fixed in the sealing frame (23).
5. A pose measurement apparatus according to claim 3, wherein: the electric control rotary turnover mechanism (9) comprises a base (25), a housing (26), a horizontal rotating mechanism and a vertical turnover mechanism, wherein the base (25) is fixed on the support, the housing (26) is fixed on the base (25), the horizontal rotating mechanism and the driving plate (4) are both fixed in the housing (26), and the driving plate (4) is positioned below the horizontal rotating mechanism; the vertical turnover mechanism is arranged above the housing (26) through the horizontal rotating mechanism, and the light supplementing illumination assembly (8) is arranged on the vertical turnover mechanism; the horizontal rotating mechanism and the vertical turning mechanism are both connected with a driving plate (4).
6. The pose measurement device according to claim 5, characterized in that: the horizontal rotating mechanism comprises a rotating motor (27), a first photoelectric switch (28), a mounting rack (29), a bearing ring (30), a slave gear shaft (31) and a master gear shaft (32), mounting bracket (29) symmetry is fixed on housing (26) upper portion, rotating electrical machines (27) are fixed on one of them mounting bracket (29) and are connected with drive plate (4), master gear axle (32) transversely install on mounting bracket (29) and are connected with rotating electrical machines (27) through the bearing, first photoelectric switch (28) are fixed on housing (26), first photoelectric switch (28) are connected with drive plate (4) and are used for detecting master gear axle (32) initial position, bearing ring (30) are fixed in the through-hole that housing (26) upper surface was seted up, vertically fix in bearing ring (30) and mesh with master gear axle (32) from gear shaft (31), perpendicular tilting mechanism with from gear shaft (31) fixed connection.
7. The pose measurement device according to claim 6, characterized in that: the vertical turnover mechanism comprises a connecting plate (33), turnover stand columns (34), a turnover motor (35), turnover fixing seats (36) and a second photoelectric switch (37), wherein the connecting plate (33) is fixedly connected with the horizontal rotating mechanism, the turnover stand columns (34) are symmetrically fixed at two ends of the connecting plate (33), and the light supplementing and illuminating assembly (8) is arranged between the two turnover stand columns (34) through the turnover fixing seats (36) and a bearing fixed in the turnover fixing seats (36); the overturning motor (35) is fixed between one of the upright posts and one of the overturning fixing seats (36), and the overturning motor (35) is respectively connected with the light supplementing lighting assembly (8) and the driving board (4); the second photoelectric switch (37) is fixed between the other stand column and the other overturning fixing seat (36), and the second photoelectric switch (37) is connected with the driving plate (4) and used for detecting the initial position of the light supplementing lighting assembly (8).
8. The pose measurement device according to claim 7, characterized in that: the auxiliary gear shaft (31) and the connecting plate (33) are provided with wire passing holes, and the vertical turnover mechanism and the light supplementing lighting assembly (8) are connected with the driving plate (4) through the connecting plate (33) and the wire passing holes in the auxiliary gear shaft (31) in sequence.
9. The pose measurement device according to claim 8, characterized in that: light filling lighting components (8) include lamp body case (39), light-passing board (40), lamp body fixed plate (42), heat dissipation face guard (41) and LED light filling lamp (38), and the both ends and the perpendicular tilting mechanism of lamp body case (39) are connected, and LED light filling lamp (38) are fixed in lamp body case (39) and are connected with drive plate (4) through lamp body fixed plate (42), and the front and the back at lamp body case (39) are fixed respectively in light-passing board (40) and heat dissipation face guard (41).
10. A posture measuring apparatus as claimed in any one of claims 1-9, wherein: the support comprises a tripod (1) and a cross beam (2), the cross beam (2) is fixed on the tripod (1), a scale is arranged on the cross beam (2), a light supplementing and illuminating unit (5) is fixed in the middle of the cross beam (2), and two sets of image acquisition units (6) are fixed at two ends of the cross beam (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922062534.8U CN210689624U (en) | 2019-11-26 | 2019-11-26 | Pose measuring device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922062534.8U CN210689624U (en) | 2019-11-26 | 2019-11-26 | Pose measuring device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210689624U true CN210689624U (en) | 2020-06-05 |
Family
ID=70893700
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922062534.8U Active CN210689624U (en) | 2019-11-26 | 2019-11-26 | Pose measuring device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210689624U (en) |
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2019
- 2019-11-26 CN CN201922062534.8U patent/CN210689624U/en active Active
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Inventor after: Wang Rujun Inventor after: Jing Xiaobing Inventor after: Chen Zhiqiang Inventor after: Wang Bingsen Inventor after: Li Chun Inventor after: Deng Zhizhong Inventor after: Zhou Run Inventor before: Wang Rujun Inventor before: Jing Xiaobing Inventor before: Chen Zhiqiang Inventor before: Wang Bingsen Inventor before: Li Chun Inventor before: Deng Zhizhong Inventor before: Zhou Run Inventor before: Wang Ran |
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