CN211716134U - Full-automatic tracking cradle head of diaxon - Google Patents
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Abstract
本实用新型公开了一种两轴全自动跟踪云台，包含舱体、安装臂、安装板、第一电机、第二电机、支撑轴承、工业相机、陀螺仪和控制模块；安装臂包含第一侧板、第二侧板和底板；支撑轴承的外圈和第二侧板固连；第一电机固定在安装板上，其输出轴和底板的下端面垂直固连；舱体一侧旋转柱、另一侧固定第二电机；第二电机的输出轴和第一侧板的内壁垂直固连，旋转柱和支撑轴承的内圈同轴固连；控制模块根据工业相机拍摄的图像和陀螺仪的感应信息控制第一电机、第二电机工作。本实用新型能够在控制系统及反馈信息下做到实时跟随，其运动过程响应迅速，超调可忽略不计，能够准确识别跟随目标物。
The utility model discloses a two-axis fully automatic tracking pan/tilt head, 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 comprises a first motor, a second motor, a support bearing, an industrial camera, a gyroscope and a control module. Side plate, second side plate and bottom plate; the outer ring of the support bearing and the second side plate are fixedly connected; the first motor is fixed on the mounting plate, and its output shaft and the lower end face of the bottom plate are vertically fixed; a rotating column on one side of the cabin 2. The second motor is fixed on the other side; the output shaft of the second motor is vertically fixed with the inner wall of the first side plate, and the rotating column is fixed with the inner ring of the support bearing coaxially; the control module is based on the image captured by the industrial camera and the gyroscope The induction information controls the first motor and the second motor to work. The utility model can realize real-time following under the control system and feedback information, the motion process responds quickly, the overshoot is negligible, and the following target can be accurately identified.
Description
技术领域technical field
本实用新型涉及到一种全自动器械，尤其涉及一种两轴全自动跟踪云台。The utility model relates to a fully automatic instrument, in particular to a two-axis fully automatic tracking head.
背景技术Background technique
专利2019J498T中涉及到的一种两轴云台，包括平移轴结构和俯仰轴结构，其平移轴结构的平移轴上固定一环形磁铁，并跟随平移轴转动，平移轴结构的电机座上固定一平移驱动板，平移驱动板上固定一磁编码芯片，环形磁铁与磁编码芯片相对且同轴设置，两者之间设有间距；平移轴转动时，磁编码芯片感应所述环形磁铁的转动角度，传输给所述平移驱动板，并通过平移驱动板来调整平移轴的转动。该实用新型是使用磁编码芯片感应所述环形磁铁的转动角度，由于传感器的纯数据反馈容易发生干扰并容易造成数据损失，影响控制的精度和响应速度。A two-axis gimbal involved in patent 2019J498T includes a translation axis structure and a pitch axis structure. A ring magnet is fixed on the translation axis of the translation axis structure, and rotates with the translation axis, and a motor base of the translation axis structure is fixed with a ring magnet. The translation drive board has a magnetic coding chip fixed on the translation drive board. The ring magnet and the magnetic coding chip are opposite and coaxially arranged with a space between them; when the translation shaft rotates, the magnetic coding chip senses the rotation angle of the ring magnet , transmitted to the translation drive plate, and the rotation of the translation shaft is adjusted by the translation drive plate. The utility model uses a magnetic coding chip to sense the rotation angle of the ring magnet. Since the pure data feedback of the sensor is prone to interference and data loss, the control accuracy and response speed are affected.
实用新型内容Utility model content
本实用新型所要解决的技术问题是针对背景技术中所涉及到的缺陷，提供一种两轴全自动跟踪云台。The technical problem to be solved by the utility model is to provide a two-axis automatic tracking pan/tilt for the defects involved in the background technology.
本实用新型为解决上述技术问题采用以下技术方案：The utility model adopts the following technical solutions for solving the above-mentioned technical problems:
一种两轴全自动跟踪云台，包含舱体、安装臂、安装板、第一电机、第二电机、支撑轴承、工业相机、陀螺仪和控制模块；A two-axis fully automatic tracking pan/tilt head, comprising a cabin, a mounting arm, a mounting plate, a first motor, a second motor, a support bearing, an industrial camera, a gyroscope and a control module;
所述安装臂呈U字型，包含第一侧板、第二侧板和底板，其中，所述底板的两端分别和第一侧板的下端、第二侧板的下端固连；所述第二侧板上设有用于安装所述支撑轴承的通孔；The mounting arm is U-shaped and includes a first side plate, a second side plate and a bottom plate, wherein two ends of the bottom plate are respectively fixed with the lower end of the first side plate and the lower end of the second side plate; the The second side plate is provided with a through hole for installing the support bearing;
所述支撑轴承设置在所述第二侧板的通孔中，其外圈和所述第二侧板固连；the support bearing is arranged in the through hole of the second side plate, and its outer ring is fixedly connected with the second side plate;
所述第一电机固定在所述安装板上，其输出轴朝上、且输出轴和所述底板的下端面垂直固连，用于带动安装臂相对于安装板转动；The first motor is fixed on the mounting plate, and its output shaft faces upward, and the output shaft is vertically fixed to the lower end surface of the bottom plate, so as to drive the mounting arm to rotate relative to the mounting plate;
所述第二电机固定在所述舱体的一侧，且第二电机的输出轴所在直线垂直于第一电机输出轴所在直线；所述舱体的另一侧对应于第二电机设有旋转柱，所述旋转柱和第二电机的输出轴同轴；The second motor is fixed on one side of the cabin body, and the line where the output shaft of the second motor is located is perpendicular to the line where the output shaft of the first motor is located; the other side of the cabin body is provided with a rotation corresponding to the second motor. a column, the rotating column is coaxial with the output shaft of the second motor;
所述第二电机的输出轴和所述第一侧板的内壁垂直固连，所述旋转柱和所述支撑轴承的内圈同轴固连，使得第二电机能够带动所述舱体相对于所述安装臂绕第二电机的输出轴和旋转柱转动；The output shaft of the second motor is vertically fixed to the inner wall of the first side plate, and the rotating column and the inner ring of the support bearing are coaxially fixed, so that the second motor can drive the cabin relative to the inner ring. the mounting arm rotates around the output shaft and the rotating column of the second motor;
所述工业相机、陀螺仪、控制模块均设置在所述舱体上，所述工业相机用于拍摄目标的图像并将其传递给所述控制模块；所述陀螺仪用于获得舱体的俯仰角度、偏航角度和滚转角度，并将其传递给所述控制模块；The industrial camera, the gyroscope and the control module are all arranged on the cabin, and the industrial camera is used to capture the image of the target and transmit it to the control module; the gyroscope is used to obtain the pitch of the cabin angle, yaw angle and roll angle and pass them to the control module;
所述控制模块分别和工业相机、陀螺仪、第一电机、第二电机电气相连，用于根据工业相机拍摄的图像和陀螺仪的感应信息控制第一电机、第二电机工作，使得工业相机能够持续跟踪拍摄目标。The control module is electrically connected to the industrial camera, the gyroscope, the first motor, and the second motor, respectively, and is used to control the operation of the first motor and the second motor according to the image captured by the industrial camera and the sensing information of the gyroscope, so that the industrial camera can Keep tracking the subject.
本实用新型还包含限位装置，所述限位装置包含限位环和限位条；The utility model also includes a limit device, the limit device includes a limit ring and a limit bar;
所述限位环为设有扇形缺口的圆环，固定在所述第二侧板的外壁上、和所述第二侧板上的通孔同轴；The limiting ring is a circular ring with a fan-shaped notch, which is fixed on the outer wall of the second side plate and is coaxial with the through hole on the second side plate;
所述旋转柱从所述第二侧板的通孔中伸出至所述限位环中；The rotating column extends into the limiting ring from the through hole of the second side plate;
所述限位条一端和所述旋转柱垂直固连，另一端伸入至所述限位环的缺口中，用于限定所述舱体相对于安装臂的旋转角度。One end of the limiting strip is vertically fixed with the rotating column, and the other end extends into the notch of the limiting ring to limit the rotation angle of the cabin body relative to the mounting arm.
本实用新型还公开了一种该两轴全自动跟踪云台的跟踪方法，包含以下步骤：The utility model also discloses a tracking method for the two-axis automatic tracking pan-tilt head, which comprises the following steps:
步骤1），工业相机拍摄目标的图像并将其传递给所述控制模块，陀螺仪获得舱体和工业相机的俯仰角度、偏航角度和滚转角度，并将其传递给所述控制模块；Step 1), the industrial camera captures the image of the target and transmits it to the control module, the gyroscope obtains the pitch angle, yaw angle and roll angle of the cabin and the industrial camera, and transmits it to the control module;
步骤2），控制模块接收图像，将图像内容划为三个分别存以RGB三个通道的颜色信息的二维矩阵，调用ROS框架系统，开启多线程运算；Step 2), the control module receives the image, divides the image content into three two-dimensional matrices that store the color information of the three RGB channels respectively, calls the ROS framework system, and enables multi-threaded operations;
步骤3），对图像信息做矩阵变换，根据预设的工业相机的内参数据还原图像失真内容，并做色彩空间转化，对像素点信息初步处理；Step 3), perform matrix transformation on the image information, restore the image distortion content according to the preset internal parameter data of the industrial camera, and perform color space transformation, and preliminarily process the pixel point information;
步骤4），对像素点信息初步处理后的图像信息做阈值化分析，初步筛选背景信息，去除大片干扰物，并做图像腐蚀膨胀操作，减少噪声点干扰，得到筛选出的前景信息；Step 4), perform threshold analysis on the image information after preliminary processing of pixel point information, initially screen background information, remove large pieces of interference, and perform image erosion and expansion operation to reduce noise point interference, and obtain the screened foreground information;
步骤5），对筛选出的前景信息做主成分分析，通过坐标空间转化，找到主成分信息所在在的空间位置；Step 5), perform principal component analysis on the screened foreground information, and find the spatial position where the principal component information is located through coordinate space transformation;
步骤6），根据目标的长度、宽度、形状信息，筛选符合比例条件的成分，得到目标在图片内的坐标位置；Step 6), according to the length, width and shape information of the target, filter the components that meet the proportional conditions, and obtain the coordinate position of the target in the picture;
步骤7），控制模块计算目标在图片内的坐标位置与图像中心的误差值；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;
步骤8），根据工业相机的俯仰角度、偏航角度、滚转角度、以及当前目标在图片内的坐标位置与图像中心的误差值进行姿态解算和PID调节，计算第一电机、第二电机的转动占空比信号，并根据第一电机、第二电机的转动占空比信号控制第一电机、第二电机转动以实现目标跟随。Step 8), perform attitude calculation and PID adjustment according to the pitch angle, yaw angle, roll angle of the industrial camera, and the error value between the coordinate position of the current target in the picture and the image center, and calculate the first motor and the second motor. The rotation duty cycle signal of the first motor and the second motor is controlled to rotate according to the rotation duty cycle signal of the first motor and the second motor to realize the target following.
本实用新型采用以上技术方案与现有技术相比，具有以下技术效果：Compared with the prior art, the utility model adopts the above technical scheme, and has the following technical effects:
1. 结构简单，使用方便；1. Simple structure and easy to use;
2. 闭环控制增大了响应速度，实现云台与遥控操纵的几乎完全同步；2. The closed-loop control increases the response speed and realizes almost complete synchronization between the PTZ and the remote control;
3. 图像处理的高速反馈，保障了云台自动跟随的实时性；3. The high-speed feedback of image processing ensures the real-time performance of automatic tracking of the gimbal;
4. 检测的高准确率，实现了准确自动识别与跟随。4. The high accuracy of detection realizes accurate automatic identification and follow-up.
附图说明Description of drawings
图1是两轴全自动跟踪云台的总体安装图；Figure 1 is the overall installation diagram of the two-axis automatic tracking head;
图2是两轴全自动跟踪云台的总体安装右视图；Figure 2 is the right side view of the overall installation of the two-axis automatic tracking head;
图3是两轴全自动跟踪云台的跟踪方法的流程示意图。FIG. 3 is a schematic flowchart of a tracking method of a two-axis fully automatic tracking PTZ.
图中，1-舱体，2-安装臂，3-第一电机，4-第二电机，5-旋转柱，6-工业相机，7-安装板，8-限位条，9-限位环。In the figure, 1-cabin, 2-installation arm, 3-first motor, 4-second motor, 5-rotating column, 6-industrial camera, 7-installation plate, 8-limiting strip, 9-limiting ring.
具体实施方式Detailed ways
下面结合附图对本实用新型的技术方案做进一步的详细说明：Below in conjunction with accompanying drawing, the technical scheme of the present utility model is described in further detail:
本实用新型可以以许多不同的形式实现，而不应当认为限于这里所述的实施例。相反，提供这些实施例以便使本公开透彻且完整，并且将向本领域技术人员充分表达本实用新型的范围。在附图中，为了清楚起见放大了组件。The present invention may be embodied in many different forms and should not be considered limited to the embodiments described 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.
应当理解，尽管这里可以使用术语第一、第二、第三等描述各个元件、组件和/或部分，但这些元件、组件和/或部分不受这些术语限制。这些术语仅仅用于将元件、组件和/或部分相互区分开来。因此，下面讨论的第一元件、组件和/或部分在不背离本实用新型教学的前提下可以成为第二元件、组件或部分。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 are not limited by these terms. These terms are only used to distinguish an element, component and/or section from one another. Thus, a first element, component and/or section discussed below could become a second element, component or section without departing from the teachings of the present invention.
如图1所示，本实用新型公开了一种两轴全自动跟踪云台，包含舱体、安装臂、安装板、第一电机、第二电机、支撑轴承、工业相机、陀螺仪和控制模块；As shown in FIG. 1, the present utility model discloses a two-axis fully automatic tracking pan/tilt head, which includes a cabin, a mounting arm, a mounting plate, a first motor, a second motor, a support bearing, an industrial camera, a gyroscope and a control module ;
所述安装臂呈U字型，包含第一侧板、第二侧板和底板，其中，所述底板的两端分别和第一侧板的下端、第二侧板的下端固连；所述第二侧板上设有用于安装所述支撑轴承的通孔；The mounting arm is U-shaped and includes a first side plate, a second side plate and a bottom plate, wherein two ends of the bottom plate are respectively fixed with the lower end of the first side plate and the lower end of the second side plate; the The second side plate is provided with a through hole for installing the support bearing;
所述支撑轴承设置在所述第二侧板的通孔中，其外圈和所述第二侧板固连；the support bearing is arranged in the through hole of the second side plate, and its outer ring is fixedly connected with the second side plate;
所述第一电机固定在所述安装板上，其输出轴朝上、且输出轴和所述底板的下端面垂直固连，用于带动安装臂相对于安装板转动；The first motor is fixed on the mounting plate, and its output shaft faces upward, and the output shaft is vertically fixed to the lower end surface of the bottom plate, so as to drive the mounting arm to rotate relative to the mounting plate;
所述第二电机固定在所述舱体的一侧，且第二电机的输出轴所在直线垂直于第一电机输出轴所在直线；所述舱体的另一侧对应于第二电机设有旋转柱，所述旋转柱和第二电机的输出轴同轴；The second motor is fixed on one side of the cabin body, and the line where the output shaft of the second motor is located is perpendicular to the line where the output shaft of the first motor is located; the other side of the cabin body is provided with a rotation corresponding to the second motor. a column, the rotating column is coaxial with the output shaft of the second motor;
所述第二电机的输出轴和所述第一侧板的内壁垂直固连，所述旋转柱和所述支撑轴承的内圈同轴固连，使得第二电机能够带动所述舱体相对于所述安装臂绕第二电机的输出轴和旋转柱转动；The output shaft of the second motor is vertically fixed to the inner wall of the first side plate, and the rotating column and the inner ring of the support bearing are coaxially fixed, so that the second motor can drive the cabin relative to the inner ring. the mounting arm rotates around the output shaft and the rotating column of the second motor;
所述工业相机、陀螺仪、控制模块均设置在所述舱体上，所述工业相机用于拍摄目标的图像并将其传递给所述控制模块；所述陀螺仪用于获得舱体的俯仰角度、偏航角度和滚转角度，并将其传递给所述控制模块；The industrial camera, the gyroscope and the control module are all arranged on the cabin, and the industrial camera is used to capture the image of the target and transmit it to the control module; the gyroscope is used to obtain the pitch of the cabin angle, yaw angle and roll angle and pass them to the control module;
所述控制模块分别和工业相机、陀螺仪、第一电机、第二电机电气相连，用于根据工业相机拍摄的图像和陀螺仪的感应信息控制第一电机、第二电机工作，使得工业相机能够持续跟踪拍摄目标。The control module is electrically connected to the industrial camera, the gyroscope, the first motor, and the second motor, respectively, and is used to control the operation of the first motor and the second motor according to the image captured by the industrial camera and the sensing information of the gyroscope, so that the industrial camera can Keep tracking the subject.
如图2所示，本实用新型还包含限位装置，所述限位装置包含限位环和限位条；As shown in FIG. 2 , the present invention further includes a limit device, and the limit device includes a limit ring and a limit bar;
所述限位环为设有扇形缺口的圆环，固定在所述第二侧板的外壁上、和所述第二侧板上的通孔同轴；The limiting ring is a circular ring with a fan-shaped notch, which is fixed on the outer wall of the second side plate and is coaxial with the through hole on the second side plate;
所述旋转柱从所述第二侧板的通孔中伸出至所述限位环中；The rotating column extends into the limiting ring from the through hole of the second side plate;
所述限位条一端和所述旋转柱垂直固连，另一端伸入至所述限位环的缺口中，用于限定所述舱体相对于安装臂的旋转角度。One end of the limiting strip is vertically fixed with the rotating column, and the other end extends into the notch of the limiting ring to limit the rotation angle of the cabin body relative to the mounting arm.
如图3所示，本实用新型还公开了一种该两轴全自动跟踪云台的跟踪方法，包含以下步骤：As shown in FIG. 3 , the utility model also discloses a tracking method for the two-axis automatic tracking pan/tilt head, which includes the following steps:
步骤1），工业相机拍摄目标的图像并将其传递给所述控制模块，陀螺仪获得舱体和工业相机的俯仰角度、偏航角度和滚转角度，并将其传递给所述控制模块；Step 1), the industrial camera captures the image of the target and transmits it to the control module, the gyroscope obtains the pitch angle, yaw angle and roll angle of the cabin and the industrial camera, and transmits it to the control module;
步骤2），控制模块接收图像，将图像内容划为三个分别存以RGB三个通道的颜色信息的二维矩阵，调用ROS框架系统，开启多线程运算；Step 2), the control module receives the image, divides the image content into three two-dimensional matrices that store the color information of the three RGB channels respectively, calls the ROS framework system, and enables multi-threaded operations;
步骤3），对图像信息做矩阵变换，根据预设的工业相机的内参数据还原图像失真内容，并做色彩空间转化，对像素点信息初步处理；Step 3), perform matrix transformation on the image information, restore the image distortion content according to the preset internal parameter data of the industrial camera, and perform color space transformation, and preliminarily process the pixel point information;
步骤4），对像素点信息初步处理后的图像信息做阈值化分析，初步筛选背景信息，去除大片干扰物，并做图像腐蚀膨胀操作，减少噪声点干扰，得到筛选出的前景信息；Step 4), perform threshold analysis on the image information after preliminary processing of pixel point information, initially screen background information, remove large pieces of interference, and perform image erosion and expansion operation to reduce noise point interference, and obtain the screened foreground information;
步骤5），对筛选出的前景信息做主成分分析，通过坐标空间转化，找到主成分信息所在在的空间位置；Step 5), perform principal component analysis on the screened foreground information, and find the spatial position where the principal component information is located through coordinate space transformation;
步骤6），根据目标的长度、宽度、形状信息，筛选符合比例条件的成分，得到目标在图片内的坐标位置；Step 6), according to the length, width and shape information of the target, filter the components that meet the proportional conditions, and obtain the coordinate position of the target in the picture;
步骤7），控制模块计算目标在图片内的坐标位置与图像中心的误差值；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;
步骤8），根据工业相机的俯仰角度、偏航角度、滚转角度、以及当前目标在图片内的坐标位置与图像中心的误差值进行姿态解算和PID调节，计算第一电机、第二电机的转动占空比信号，并根据第一电机、第二电机的转动占空比信号控制第一电机、第二电机转动以实现目标跟随。Step 8), perform attitude calculation and PID adjustment according to the pitch angle, yaw angle, roll angle of the industrial camera, and the error value between the coordinate position of the current target in the picture and the image center, and calculate the first motor and the second motor. The rotation duty cycle signal of the first motor and the second motor is controlled to rotate according to the rotation duty cycle signal of the first motor and the second motor to realize the target following.
本技术领域技术人员可以理解的是，除非另外定义，这里使用的所有术语（包括技术术语和科学术语）具有与本实用新型所属领域中的普通技术人员的一般理解相同的意义。还应该理解的是，诸如通用字典中定义的那些术语应该被理解为具有与现有技术的上下文中的意义一致的意义，并且除非像这里一样定义，不会用理想化或过于正式的含义来解释。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 should also be understood that terms such as those defined in the general dictionary should be understood to have meanings consistent with their meanings in the context of the prior art and, unless defined as herein, are not to be taken in an idealized or overly formal sense. explain.
以上所述的具体实施方式，对本实用新型的目的、技术方案和有益效果进行了进一步详细说明，所应理解的是，以上所述仅为本实用新型的具体实施方式而已，并不用于限制本实用新型，凡在本实用新型的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本实用新型的保护范围之内。The specific embodiments described above further describe the purpose, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above are only specific embodiments of the present invention and are not intended to limit the present invention In the utility model, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.
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