CN215264831U - Device for automatically marking head posture - Google Patents
Device for automatically marking head posture Download PDFInfo
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- CN215264831U CN215264831U CN202121514627.0U CN202121514627U CN215264831U CN 215264831 U CN215264831 U CN 215264831U CN 202121514627 U CN202121514627 U CN 202121514627U CN 215264831 U CN215264831 U CN 215264831U
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Abstract
The utility model discloses a device for automatically marking head postures, which comprises an automatic lifting mechanism, an image acquisition device, a rotary table, a servo motor controller and a CPU controller, wherein the image acquisition device is arranged on the automatic lifting mechanism; the automatic lifting mechanism comprises a first motor, and the first motor drives the automatic lifting mechanism to lift; the rotary table comprises a second motor, and the second motor drives the rotary table to rotate; the servo motor controller is respectively and electrically connected with the first motor and the second motor, and the CPU controller is respectively and electrically connected with the image acquisition device and the servo motor controller. The utility model discloses can be fast, accurate accomplish the picture mark, automatic lifting mechanism and revolving stage adopt step motor can not arouse step motor's the emergence of giving up, and step motor reunion screw rod or the transmission ratio adjustment of gear can let the rotational accuracy of carousel reach 0.1, and the high precision of lifter reaches 0.1mm, is competent in face angle measurement demand completely.
Description
Technical Field
The utility model relates to the technical field of mechanical equipment, especially, relate to an automatic mark device of head gesture.
Background
The head pose estimation algorithm is an important direction in the current vision algorithm, and a large number of head pose picture sets labeled with accurate (pitch) parameters are required for training and verification.
At present, more head posture labeling sets are labeled by adopting a subjective estimation value mode, and a low-cost high-precision labeling scheme method is lacked in engineering.
SUMMERY OF THE UTILITY MODEL
The utility model provides an automatic mark device of head gesture to adopt the subjective estimated value mode to mark among the solution prior art and cause the problem that the precision is not high.
The utility model adopts the technical proposal that: the device for automatically marking the head posture comprises an automatic lifting mechanism, an image acquisition device, a rotary table, a servo motor controller and a CPU (central processing unit) controller, wherein the image acquisition device is arranged on the automatic lifting mechanism; the automatic lifting mechanism comprises a first motor, and the first motor drives the automatic lifting mechanism to lift; the rotary table comprises a second motor, and the second motor drives the rotary table to rotate; the servo motor controller is respectively and electrically connected with the first motor and the second motor, and the CPU controller is respectively and electrically connected with the image acquisition device and the servo motor controller.
As a preferred mode of the apparatus for automatically labeling a head posture, the image capturing apparatus includes a camera.
As a preferred mode of the device for automatically labeling a head posture, the first motor is a first stepping motor.
As an optimal mode of the device for automatically marking the head posture, the automatic lifting mechanism further comprises a seat barrel, a connector, a nut, a screw rod and a lifting rod which are coaxially installed, wherein the seat barrel is of a hollow barrel-shaped structure, a first stepping motor is installed in the seat barrel, the screw rod is installed on a rotating shaft of the first stepping motor through the connector, a camera is installed at one end of the lifting rod, the other end of the lifting rod is slidably installed in the seat barrel, the nut is fixedly installed at one end of the lifting rod, external threads of the screw rod are matched with internal threads of the nut, a sliding rail is arranged on the outer wall of the lifting rod along the length direction of the lifting rod, and a sliding groove matched with the sliding rail is arranged on the inner wall of the seat barrel.
As a preferable mode of the device for automatically labeling the head posture, the first motor is an electric push rod.
The automatic lifting mechanism further comprises an electric push rod, a seat barrel and a lifting rod, wherein the electric push rod, the seat barrel and the lifting rod are coaxially installed, the electric push rod is installed in the seat barrel, the camera is installed at one end of the lifting rod, the other end of the lifting rod is slidably installed in the seat barrel, and the push rod of the electric push rod is connected with the lifting rod in an installing mode.
As a preferred mode of the device for automatically labeling the head posture, the second motor is a second stepping motor, the turntable further comprises a driving gear, a driven gear, a middle shaft, a base and a turntable, the second stepping motor is mounted on the base, the driving gear is mounted on a rotating shaft of the second stepping motor, one end of the middle shaft is mounted on the turntable, the other end of the middle shaft is mounted on the base through a bearing, the driven gear is mounted on the middle shaft, and the driving gear and the driven gear are meshed with each other.
As a preferable mode of the device for automatically marking the head posture, a support leg is installed at the bottom of the automatic lifting mechanism.
The utility model has the advantages that:
the utility model discloses can be fast, the accurate picture mark of accomplishing, help shortening algorithm development cycle.
The utility model discloses an adopt step motor in automatic lifting mechanism and the revolving stage, can not arouse step motor's the emergence of losing steps, in addition, general step motor step angle can be 1.8, perhaps 0.9, and the drive ratio adjustment of reunion screw rod or gear can let the rotation precision of carousel reach 0.1, and the high precision of lifter reaches 0.1mm, is competent at face angle measurement demand completely.
Drawings
Fig. 1 is a diagram depicting three postures of the head.
Fig. 2 is a schematic structural diagram of the device for automatically labeling the head posture disclosed by the present invention.
Fig. 3 is a schematic structural view of the automatic lifting mechanism disclosed in the present invention.
Fig. 4 is a schematic structural diagram of the turntable disclosed in the present invention.
Reference numerals: 1. an automatic lifting mechanism; 101. a first motor; 102. a connector; 103. a seat barrel; 104. a nut; 105. a screw; 106. a lifting rod; 2. an image acquisition device; 3. a turntable; 301. a driven gear; 302. a driving gear; 303. a second motor; 304. a middle shaft; 305. a base; 306. a turntable; 4. a servo motor controller; 5. a CPU controller.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings, but the embodiments of the present invention are not limited thereto.
Example 1:
the head pose labeling angle is a coordinate system for an image acquisition device and an observed head on a turntable, and specifically relates to adjustment of three angle parameters, and fig. 1 is a description diagram of three poses of the head:
(1) when the space distance between the image acquisition device and the observed head is not changed, and the head is not moved, the roll (Z-axis) angle can be adjusted only by rotating the image acquisition device, and the pitch (X-axis) and yaw (Y-axis) angles cannot be changed.
(2) When the space distance between the image acquisition device and the observed head is unchanged, and the image acquisition device is not moved, only the head is rotated, and the yaw value can be changed.
(3) When the horizontal position of the head is fixed, the height of the image acquisition device is changed, and the pitch angle can be changed.
Based on above analysis the utility model provides an automatic mark device of head gesture, see fig. 2-4, including automatic lifting mechanism 1, image acquisition device 2, revolving stage 3, servo motor controller 4 and CPU controller 5.
The image acquisition device 2 comprises a camera, the camera is arranged on the automatic lifting mechanism 1, the automatic lifting mechanism 1 comprises a first motor 101, and the first motor 101 is used for driving the automatic lifting mechanism 1 to lift; the turntable 3 comprises a second motor 303, the second motor 303 being adapted to drive the turntable in rotation. The servo motor controller 4 is electrically connected with the first motor 101 and the second motor 303 respectively, and the CPU controller 5 is electrically connected with the image acquisition device 2 and the servo motor controller 4 respectively.
In the present embodiment, the first motor 101 is a first stepping motor, and the second motor 303 is a second stepping motor.
Referring to fig. 3, at this time, the automatic lifting mechanism 1 includes a first stepping motor, a connector 102, a seat barrel 103, a nut 104, a screw 105, and a lifting rod 106, which are coaxially installed, the seat barrel 103 is a hollow barrel structure, the first stepping motor is installed in the seat barrel 103, the screw 105 is installed on a rotating shaft of the first stepping motor through the connector 102, the camera is installed at one end of the lifting rod 106, and the other end of the lifting rod 106 is slidably installed in the seat barrel 103. The nut 104 is fixedly installed at one end of the lifting rod 106, the external thread of the screw 105 is matched with the internal thread of the nut 104, the outer wall of the lifting rod 106 is provided with a sliding rail arranged along the length direction of the lifting rod 106, and the inner wall of the seat barrel 103 is provided with a sliding groove matched with the sliding rail. The automatic lifting mechanism 1 can convert the rotation of the rotating shaft of the first stepping motor into the axial expansion and contraction of the lifting rod 106, and only axial sliding exists between the lifting rod 106 and the seat barrel 103, and no circumferential relative rotation exists. The image acquisition device 2 is ensured to be straight up and down, so that the acquisition of the pitch angle of the acquired head on the turntable 3 by the image acquisition device 2 is completed. In addition, according to the relation between the stepping angle of the first stepping motor and the lead of the screw 105, the lifting distance corresponding to each pulse can be accurately calculated, so that accurate automatic lifting is realized.
Referring to fig. 4, the turntable 3 includes a second stepping motor, a driving gear 302, a driven gear 301, a central shaft 304, a base 305, and a turntable 306, the second stepping motor is mounted on the base 305, the driving gear 301 is mounted on a rotating shaft of the second stepping motor, one end of the central shaft 304 is mounted on the turntable 306, the other end of the central shaft 304 is mounted on the base 305 through a bearing, the driven gear 301 is mounted on the central shaft 304, and the driving gear 302 and the driven gear 301 are engaged with each other. By the rotation of the turntable 3, the acquisition of the yaw angle of the acquired head on the turntable 3 by the image acquisition device 2 is realized.
The stepping motors adopted in the automatic lifting mechanism 1 and the rotary table 3 are mainly used because the lifting of the lifting rod 106 and the rotary motion load of the rotary table 3 are very small, the step loss of the stepping motors cannot be caused, in addition, the stepping angle of the general stepping motor can be 1.8 degrees or 0.9 degrees, and the rotation precision of the rotary table can reach 0.1 degree by combining the adjustment of the transmission ratio of a screw or a gear, the height precision of the lifting rod reaches 0.1mm, and the requirement of the measurement of the face angle is completely met.
The utility model discloses a rotatory image of having gathered acquires the roll angle, and the method that does not adopt rotatory image acquisition device 2 acquires the roll angle, and the benefit of design like this is, at first need not to design rotary device specially to image acquisition device 2, and the cost is reduced, and secondly acquires roll angle easy operation and error-free through the rotatory image of having acquireed.
The utility model discloses a theory of operation does: when the head posture is marked, the support leg at the bottom of the automatic lifting mechanism 1 is placed on the ground, the camera at the top end of the lifting rod 106 faces the rotary table 3, the mannequin stands on the rotary table 306 of the rotary table 3, the CPU controller 5 controls the servo motor controller 4 to rotate the first stepping motor and the second stepping motor, so that the lifting of the lifting rod 106 and the rotation of the rotary table 3 are realized, the CPU controller 5 controls the camera in the image acquisition device 2 to acquire the head posture of the mannequin after the mannequin rotates to the position, and meanwhile, the roll, pitch and yaw angles aiming at the head posture can be calculated through the lead relation between the first stepping motor and the screw 105, the transmission ratio between the second stepping motor and the driving gear and the driven gear, and the distance between the camera and the center of the rotary table, so that the marking of the head posture is completed.
Example 2
The present embodiment is different from embodiment 1 in that the automatic lifting mechanism in the present embodiment is different from the automatic lifting mechanism in embodiment 1, and in addition, the first motor 101 adopts an electric push rod. The electric push rod is also called a linear actuator, and can drive the automatic lifting mechanism 1 to move linearly, so that the pitch angle of the image capturing device 2 relative to the turntable 3 is changed.
Specifically, including electric putter, seat bucket, the lifter of coaxial line installation with automatic lifting mechanism in this embodiment, electric putter installs in the seat bucket, and the one end at the lifter is installed to the camera, and the other end slidable mounting of lifter is in the seat bucket, and electric putter's push rod and lifter erection joint to realize that electric putter promotes the straight up-and-down motion of lifter. The lifting precision of the electric push rod to the lifting rod in the embodiment is not controlled as that of the first stepping motor in the embodiment 1, but the lifting can be controlled accurately.
The above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.
Claims (8)
1. A device for automatically marking head postures is characterized by comprising an automatic lifting mechanism, an image acquisition device, a rotary table, a servo motor controller and a CPU (central processing unit) controller, wherein the image acquisition device is arranged on the automatic lifting mechanism; the automatic lifting mechanism comprises a first motor, and the first motor drives the automatic lifting mechanism to lift; the rotary table comprises a second motor, and the second motor drives the rotary table to rotate; the servo motor controller is respectively and electrically connected with the first motor and the second motor, and the CPU controller is respectively and electrically connected with the image acquisition device and the servo motor controller.
2. The device for automatically labeling head pose according to claim 1, wherein the image capturing device comprises a camera.
3. The device for automatically labeling head pose according to claim 2, wherein the first motor is a first stepping motor.
4. The device for automatically labeling the head posture according to claim 3, wherein the automatic lifting mechanism further comprises a seat barrel, a connector, a nut, a screw rod and a lifting rod which are coaxially installed, the seat barrel is of a hollow barrel-shaped structure, the first stepping motor is installed in the seat barrel, the screw rod is installed on a rotating shaft of the first stepping motor through the connector, the camera is installed at one end of the lifting rod, the other end of the lifting rod is slidably installed in the seat barrel, the nut is fixedly installed at one end of the lifting rod, external threads of the screw rod are matched with internal threads of the nut, a sliding rail is arranged on the outer wall of the lifting rod along the length direction of the lifting rod, and a sliding groove matched with the sliding rail is arranged on the inner wall of the seat barrel.
5. The device for automatically labeling head postures of claim 2, wherein the first motor is an electric push rod.
6. The device for automatically labeling head postures according to claim 5, wherein the automatic lifting mechanism further comprises a coaxially-mounted electric push rod, a seat barrel and a lifting rod, the electric push rod is mounted in the seat barrel, the camera is mounted at one end of the lifting rod, the other end of the lifting rod is slidably mounted in the seat barrel, and a push rod of the electric push rod is connected with the lifting rod in a mounting manner.
7. The device for automatically labeling the head posture according to any one of claims 1 to 6, wherein the second motor is a second stepping motor, the turntable further comprises a driving gear, a driven gear, a middle shaft, a base and a turntable, the second stepping motor is mounted on the base, the driving gear is mounted on a rotating shaft of the second stepping motor, one end of the middle shaft is mounted on the turntable, the other end of the middle shaft is mounted on the base through a bearing, the driven gear is mounted on the middle shaft, and the driving gear and the driven gear are meshed with each other.
8. The device for automatically marking the head posture as claimed in claim 7, wherein a support foot is installed at the bottom of the automatic lifting mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121514627.0U CN215264831U (en) | 2021-07-05 | 2021-07-05 | Device for automatically marking head posture |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121514627.0U CN215264831U (en) | 2021-07-05 | 2021-07-05 | Device for automatically marking head posture |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215264831U true CN215264831U (en) | 2021-12-21 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121514627.0U Active CN215264831U (en) | 2021-07-05 | 2021-07-05 | Device for automatically marking head posture |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215264831U (en) |
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2021
- 2021-07-05 CN CN202121514627.0U patent/CN215264831U/en active Active
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