CN211716134U - Full-automatic tracking cradle head of diaxon - Google Patents
Full-automatic tracking cradle head of diaxon Download PDFInfo
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- CN211716134U CN211716134U CN202020032064.0U CN202020032064U CN211716134U CN 211716134 U CN211716134 U CN 211716134U CN 202020032064 U CN202020032064 U CN 202020032064U CN 211716134 U CN211716134 U CN 211716134U
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Abstract
The utility model discloses a two-axis full-automatic tracking cradle head, which comprises a cabin body, an installation arm, an installation plate, a first motor, a second motor, a support bearing, an industrial camera, a gyroscope and a control module; the mounting arm comprises a first side plate, a second side plate and a bottom plate; the outer ring of the support bearing is fixedly connected with the second side plate; the first motor is fixed on the mounting plate, and an output shaft of the first motor is vertically and fixedly connected with the lower end face of the bottom plate; a rotating column at one side of the cabin body and a second motor are fixed at the other side of the cabin body; an output shaft of the second motor is vertically and fixedly connected with the inner wall of the first side plate, and the rotating column is coaxially and fixedly connected with an inner ring of the supporting bearing; the control module controls the first motor and the second motor to work according to images shot by the industrial camera and induction information of the gyroscope. The utility model discloses can accomplish to follow in real time under control system and feedback information, its motion process response is rapid, and the overshoot can neglect, can accurate discernment follow target object.
Description
Technical Field
The utility model relates to a full-automatic apparatus especially relates to a full-automatic tracking cloud platform of diaxon.
Background
A two-axis pan-tilt that patent 2019J498T relates to includes a translation axis structure and a pitch axis structure, wherein an annular magnet is fixed on a translation axis of the translation axis structure and rotates along with the translation axis, a translation drive plate is fixed on a motor base of the translation axis structure, a magnetic encoding chip is fixed on the translation drive plate, the annular magnet and the magnetic encoding chip are arranged oppositely and coaxially, and a space is arranged between the annular magnet and the magnetic encoding chip; when the translation shaft rotates, the magnetic coding chip induces the rotation angle of the annular magnet, transmits the rotation angle to the translation driving plate, and adjusts the rotation of the translation shaft through the translation driving plate. The utility model discloses an use the response of magnetic encoding chip annular magnet's turned angle because the pure data feedback of sensor takes place to disturb easily and causes data loss easily, influences the precision and the response speed of control.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that to the defect that involves in the background art, provide a full automatic tracking cloud platform of diaxon.
The utility model discloses a solve above-mentioned technical problem and adopt following technical scheme:
a two-axis full-automatic tracking cradle head comprises a cabin body, a mounting arm, a mounting plate, a first motor, a second motor, a support bearing, an industrial camera, a gyroscope and a control module;
the mounting arm is U-shaped and comprises a first side plate, a second side plate and a bottom plate, wherein two ends of the bottom plate are fixedly connected with the lower end of the first side plate and the lower end of the second side plate respectively; the second side plate is provided with a through hole for mounting the supporting bearing;
the support bearing is arranged in the through hole of the second side plate, and the outer ring of the support bearing is fixedly connected with the second side plate;
the first motor is fixed on the mounting plate, an output shaft of the first motor faces upwards, and the output shaft is vertically and fixedly connected with the lower end face of the bottom plate and used for driving the mounting arm to rotate relative to the mounting plate;
the second motor is fixed on one side of the cabin body, and the straight line where the output shaft of the second motor is located is perpendicular to the straight line where the output shaft of the first motor is located; the other side of the cabin body is provided with a rotating column corresponding to the second motor, and the rotating column is coaxial with an output shaft of the second motor;
an output shaft of the second motor is vertically and fixedly connected with the inner wall of the first side plate, and the rotating column is coaxially and fixedly connected with an inner ring of the supporting bearing, so that the second motor can drive the cabin body to rotate around the output shaft of the second motor and the rotating column relative to the mounting arm;
the industrial camera, the gyroscope and the control module are all arranged on the cabin body, and the industrial camera is used for shooting an image of a target and transmitting the image to the control module; the gyroscope is used for obtaining the pitch angle, the yaw angle and the roll angle of the cabin body and transmitting the pitch angle, the yaw angle and the roll angle to the control module;
the control module is electrically connected with the industrial camera, the gyroscope, the first motor and the second motor respectively and used for controlling the first motor and the second motor to work according to images shot by the industrial camera and induction information of the gyroscope, so that the industrial camera can continuously track and shoot targets.
The utility model also comprises a limiting device, wherein the limiting device comprises a limiting ring and a limiting strip;
the limiting ring is a circular ring provided with a fan-shaped notch, and is fixed on the outer wall of the second side plate and is coaxial with the through hole in the second side plate;
the rotating column extends out of the through hole of the second side plate to the limiting ring;
one end of the limiting strip is vertically and fixedly connected with the rotating column, and the other end of the limiting strip extends into the notch of the limiting ring and is used for limiting the rotating angle of the cabin body relative to the mounting arm.
The utility model also discloses a tracking method of this full-automatic tracking cloud platform of diaxon contains following step:
step 1), an industrial camera shoots an image of a target and transmits the image to the control module, and a gyroscope obtains a pitch angle, a yaw angle and a roll angle of a cabin and the industrial camera and transmits the pitch angle, the yaw angle and the roll angle to the control module;
step 2), the control module receives the image, divides the image content into three two-dimensional matrixes respectively storing color information of three channels of RGB, calls an ROS frame system and starts multi-thread operation;
step 3), performing matrix transformation on the image information, restoring image distortion content according to preset internal parameter data of the industrial camera, performing color space conversion, and performing primary processing on pixel point information;
step 4), performing threshold analysis on the image information after the preliminary processing of the pixel point information, preliminarily screening background information, removing a large number of interferents, performing image corrosion expansion operation, reducing noise point interference, and obtaining screened foreground information;
step 5), performing principal component analysis on the screened foreground information, and finding out the spatial position of the principal component information through coordinate space transformation;
step 6), screening components meeting the proportion condition according to the length, width and shape information of the target to obtain the coordinate position of the target in the picture;
step 7), the control module calculates the error value between the coordinate position of the target in the picture and the center of the image;
and 8), carrying out attitude calculation and PID (proportion integration differentiation) regulation according to the pitching angle, the yawing angle and the rolling angle of the industrial camera, and the error value between the coordinate position of the current target in the picture and the image center, calculating rotation duty ratio signals of the first motor and the second motor, and controlling the first motor and the second motor to rotate according to the rotation duty ratio signals of the first motor and the second motor so as to realize target following.
The utility model adopts the above technical scheme to compare with prior art, have following technological effect:
1. the structure is simple, and the use is convenient;
2. the closed-loop control increases the response speed, and realizes almost complete synchronization of the holder and remote control operation;
3. the high-speed feedback of the image processing ensures the real-time property of automatic following of the holder;
4. the high accuracy of detection realizes accurate automatic identification and following.
Drawings
FIG. 1 is an overall installation diagram of a two-axis fully automatic tracking pan-tilt;
FIG. 2 is a right side view of the overall installation of a two-axis fully automatic tracking pan/tilt head;
fig. 3 is a schematic flow chart of a tracking method of a two-axis fully-automatic tracking pan-tilt.
In the figure, 1-cabin body, 2-mounting arm, 3-first motor, 4-second motor, 5-rotating column, 6-industrial camera, 7-mounting plate, 8-limiting strip and 9-limiting ring.
Detailed Description
The technical scheme of the utility model is further explained in detail with the attached drawings as follows:
the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. In the drawings, components are exaggerated for clarity.
It will be understood that, although the terms first, second, third, etc. may be used herein to describe various elements, components and/or sections, these elements, components and/or sections should not be limited by these terms. These terms are only used to distinguish one element, component, and/or section from another. Thus, a first element, component, and/or section discussed below could be termed a second element, component, or section without departing from the teachings of the present invention.
As shown in fig. 1, the utility model discloses a two-axis full-automatic tracking pan-tilt, which comprises a cabin body, a mounting arm, a mounting plate, a first motor, a second motor, a support bearing, an industrial camera, a gyroscope and a control module;
the mounting arm is U-shaped and comprises a first side plate, a second side plate and a bottom plate, wherein two ends of the bottom plate are fixedly connected with the lower end of the first side plate and the lower end of the second side plate respectively; the second side plate is provided with a through hole for mounting the supporting bearing;
the support bearing is arranged in the through hole of the second side plate, and the outer ring of the support bearing is fixedly connected with the second side plate;
the first motor is fixed on the mounting plate, an output shaft of the first motor faces upwards, and the output shaft is vertically and fixedly connected with the lower end face of the bottom plate and used for driving the mounting arm to rotate relative to the mounting plate;
the second motor is fixed on one side of the cabin body, and the straight line where the output shaft of the second motor is located is perpendicular to the straight line where the output shaft of the first motor is located; the other side of the cabin body is provided with a rotating column corresponding to the second motor, and the rotating column is coaxial with an output shaft of the second motor;
an output shaft of the second motor is vertically and fixedly connected with the inner wall of the first side plate, and the rotating column is coaxially and fixedly connected with an inner ring of the supporting bearing, so that the second motor can drive the cabin body to rotate around the output shaft of the second motor and the rotating column relative to the mounting arm;
the industrial camera, the gyroscope and the control module are all arranged on the cabin body, and the industrial camera is used for shooting an image of a target and transmitting the image to the control module; the gyroscope is used for obtaining the pitch angle, the yaw angle and the roll angle of the cabin body and transmitting the pitch angle, the yaw angle and the roll angle to the control module;
the control module is electrically connected with the industrial camera, the gyroscope, the first motor and the second motor respectively and used for controlling the first motor and the second motor to work according to images shot by the industrial camera and induction information of the gyroscope, so that the industrial camera can continuously track and shoot targets.
As shown in fig. 2, the utility model also comprises a limiting device, wherein the limiting device comprises a limiting ring and a limiting strip;
the limiting ring is a circular ring provided with a fan-shaped notch, and is fixed on the outer wall of the second side plate and is coaxial with the through hole in the second side plate;
the rotating column extends out of the through hole of the second side plate to the limiting ring;
one end of the limiting strip is vertically and fixedly connected with the rotating column, and the other end of the limiting strip extends into the notch of the limiting ring and is used for limiting the rotating angle of the cabin body relative to the mounting arm.
As shown in fig. 3, the utility model also discloses a tracking method of this full-automatic tracking cloud platform of diaxon, contains following step:
step 1), an industrial camera shoots an image of a target and transmits the image to the control module, and a gyroscope obtains a pitch angle, a yaw angle and a roll angle of a cabin and the industrial camera and transmits the pitch angle, the yaw angle and the roll angle to the control module;
step 2), the control module receives the image, divides the image content into three two-dimensional matrixes respectively storing color information of three channels of RGB, calls an ROS frame system and starts multi-thread operation;
step 3), performing matrix transformation on the image information, restoring image distortion content according to preset internal parameter data of the industrial camera, performing color space conversion, and performing primary processing on pixel point information;
step 4), performing threshold analysis on the image information after the preliminary processing of the pixel point information, preliminarily screening background information, removing a large number of interferents, performing image corrosion expansion operation, reducing noise point interference, and obtaining screened foreground information;
step 5), performing principal component analysis on the screened foreground information, and finding out the spatial position of the principal component information through coordinate space transformation;
step 6), screening components meeting the proportion condition according to the length, width and shape information of the target to obtain the coordinate position of the target in the picture;
step 7), the control module calculates the error value between the coordinate position of the target in the picture and the center of the image;
and 8), carrying out attitude calculation and PID (proportion integration differentiation) regulation according to the pitching angle, the yawing angle and the rolling angle of the industrial camera, and the error value between the coordinate position of the current target in the picture and the image center, calculating rotation duty ratio signals of the first motor and the second motor, and controlling the first motor and the second motor to rotate according to the rotation duty ratio signals of the first motor and the second motor so as to realize target following.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The above-mentioned embodiments further describe the objects, technical solutions and advantages of the present invention in detail, it should be understood that the above description is only the embodiments of the present invention, and is not intended to limit the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (2)
1. A two-axis full-automatic tracking cradle head is characterized by comprising a cabin body, a mounting arm, a mounting plate, a first motor, a second motor, a support bearing, an industrial camera, a gyroscope and a control module;
the mounting arm is U-shaped and comprises a first side plate, a second side plate and a bottom plate, wherein two ends of the bottom plate are fixedly connected with the lower end of the first side plate and the lower end of the second side plate respectively; the second side plate is provided with a through hole for mounting the supporting bearing;
the support bearing is arranged in the through hole of the second side plate, and the outer ring of the support bearing is fixedly connected with the second side plate;
the first motor is fixed on the mounting plate, an output shaft of the first motor faces upwards, and the output shaft is vertically and fixedly connected with the lower end face of the bottom plate and used for driving the mounting arm to rotate relative to the mounting plate;
the second motor is fixed on one side of the cabin body, and the straight line where the output shaft of the second motor is located is perpendicular to the straight line where the output shaft of the first motor is located; the other side of the cabin body is provided with a rotating column corresponding to the second motor, and the rotating column is coaxial with an output shaft of the second motor;
an output shaft of the second motor is vertically and fixedly connected with the inner wall of the first side plate, and the rotating column is coaxially and fixedly connected with an inner ring of the supporting bearing, so that the second motor can drive the cabin body to rotate around the output shaft of the second motor and the rotating column relative to the mounting arm;
the industrial camera, the gyroscope and the control module are all arranged on the cabin body, and the industrial camera is used for shooting an image of a target and transmitting the image to the control module; the gyroscope is used for obtaining the pitch angle, the yaw angle and the roll angle of the cabin body and transmitting the pitch angle, the yaw angle and the roll angle to the control module;
the control module is electrically connected with the industrial camera, the gyroscope, the first motor and the second motor respectively and used for controlling the first motor and the second motor to work according to images shot by the industrial camera and induction information of the gyroscope, so that the industrial camera can continuously track and shoot targets.
2. The two-axis full-automatic tracking cradle head according to claim 1, further comprising a limiting device, wherein the limiting device comprises a limiting ring and a limiting strip;
the limiting ring is a circular ring provided with a fan-shaped notch, and is fixed on the outer wall of the second side plate and is coaxial with the through hole in the second side plate;
the rotating column extends out of the through hole of the second side plate to the limiting ring;
one end of the limiting strip is vertically and fixedly connected with the rotating column, and the other end of the limiting strip extends into the notch of the limiting ring and is used for limiting the rotating angle of the cabin body relative to the mounting arm.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202020032064.0U CN211716134U (en) | 2020-01-08 | 2020-01-08 | Full-automatic tracking cradle head of diaxon |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202020032064.0U CN211716134U (en) | 2020-01-08 | 2020-01-08 | Full-automatic tracking cradle head of diaxon |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111043485A (en) * | 2020-01-08 | 2020-04-21 | 南京航空航天大学 | Two-axis full-automatic tracking cradle head and tracking method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111043485A (en) * | 2020-01-08 | 2020-04-21 | 南京航空航天大学 | Two-axis full-automatic tracking cradle head and tracking method thereof |
| CN111043485B (en) * | 2020-01-08 | 2024-03-19 | 南京航空航天大学 | Two-axis full-automatic tracking holder and tracking method thereof |
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