CN218158679U

CN218158679U - Mirror reflection's shooting mechanism and detection car

Info

Publication number: CN218158679U
Application number: CN202221928171.7U
Authority: CN
Inventors: 戚建淮; 张伟生; 解亚飞; 崔宸; 胡金华
Original assignee: Shenzhen Y&D Electronics Information Co Ltd
Current assignee: Shenzhen Y&D Electronics Information Co Ltd
Priority date: 2022-07-21
Filing date: 2022-07-21
Publication date: 2022-12-27
Anticipated expiration: 2032-07-21

Abstract

The utility model discloses a mirror surface reflection's shooting mechanism and detection car, shooting mechanism includes: the shooting camera is arranged on the detection vehicle body; the reflecting mechanism comprises a driving device and a reflecting device, the driving device is arranged on the detection vehicle body and is close to the shooting camera, the driving device is rotatably connected to the reflecting device to drive the reflecting device to rotate, and a mirror surface is arranged on the surface of the reflecting device; trigger device, trigger device include trigger sensor and response piece, and trigger sensor is connected with shooting camera electricity, and the response piece sets up on reflect meter, when drive arrangement rotated, shoots the camera face and shoot in order to trigger through this response strip of trigger sensor response. The utility model has the advantages that: the smear influence during mobile shooting is obviously reduced, and the dynamic shooting performance is improved. The system has the advantages of simplicity, easiness in installation and maintenance, low cost and easiness in adapting to the area-array cameras of different models.

Description

Mirror reflection's shooting mechanism and detection car

Technical Field

The utility model relates to an image processing technology field, more specifically say, relate to a mirror reflection's shooting mechanism and detection car.

Background

The image scanning is increasingly applied to tunnel lining detection as a general nondestructive detection mode, the principle of image scanning of tunnel lining is that a camera is installed on a detection vehicle, a tunnel lining surface is photographed in the advancing process of the detection vehicle, a computer analyzes and processes the acquired photos, and disease characteristics such as cracks, leakage, falling and the like are searched on the photo images.

In the prior art, as shown in fig. 1, the camera is fixed on the inspection vehicle, and the position and direction of the camera are fixed and unadjustable during shooting. When the camera is used for shooting, the shot part is in a relative motion state because the detection vehicle advances, the shot image can generate certain smear phenomenon, the detection resolution effect is directly influenced, and the smear phenomenon can become more serious under the conditions that the camera exposure time is long, the frame rate is low and the advancing speed of the detection vehicle is high.

In order to overcome the smear phenomenon, a linear array camera with a higher photographing speed or a higher frame rate can be selected. However, in some application scenarios, such as the application scenario of detecting the leakage of the tunnel lining by using a far infrared thermal imager, it is difficult to find a far infrared camera or a far infrared line camera with a fast shooting speed. As shown in fig. 2, when the camera takes an image, the tunnel detection surface to be taken is in a relatively moving state, which causes a movement of the part to be taken and a phenomenon that the taken image is smeared.

As shown in fig. 3, there is also an improved solution to the above drawbacks, which is implemented by rotating the camera during shooting and keeping the shooting position unchanged by changing the shooting direction of the camera. The method for keeping the shooting position relatively unchanged by rotating the direction of the camera has the defects that the reliability of a common camera is easily damaged by vibration caused by repeated motion of the camera and the structure of a camera reciprocating device is complex.

In addition, in order to overcome the problem of smear, the prior art also has to select a linear camera with a faster photographing rate or a higher frame rate. However, in some application scenarios, such as an application scenario in which a far infrared thermal imager is used to detect leakage of a tunnel lining, it is difficult to find a far infrared camera or a far infrared line camera with a fast shooting speed. If the area-array camera with more common parameters can be used for testing, the composition of a testing system can be simplified, and the cost is reduced.

SUMMERY OF THE UTILITY MODEL

The utility model provides a specular reflection's shooting mechanism and detection car solves the image of shooing at present and can produce certain smear phenomenon, and the vibration that the repetitive motion of camera leads to easily causes the harm to the reliability of ordinary camera, and the structure of camera reciprocating motion device is also more complicated, problem with high costs.

In order to solve the above problem, on the one hand, the utility model provides a mirror reflection's shooting mechanism, include:

the shooting camera is arranged on the detection vehicle body;

the reflecting mechanism comprises a driving device and a reflecting device, the driving device is arranged on the detection vehicle body and is close to the shooting camera, the driving device is rotationally connected with the reflecting device to drive the reflecting device to rotate, and a mirror surface is arranged on the surface of the reflecting device;

the trigger device comprises a trigger sensor and a sensing piece, the trigger sensor is electrically connected with the shooting camera, the sensing piece is arranged on the reflecting device, and when the driving device rotates, the sensing piece senses the sensing strip through the trigger sensor to trigger the shooting camera to shoot towards the mirror surface.

The driving device comprises a motor and a rotating shaft, and the reflecting device comprises a reflecting body and a reflecting mirror;

the motor drive connect in the pivot, pivot fixed connection in reflection body, reflection body's surface is provided with the speculum to when the motor rotates, the drive the pivot rotates, and drives reflection body rotates so that the plane of speculum and the angle that the shooting direction of shooting camera formed continuously changes.

The reflector body has a plurality of axial surfaces, each of which is provided with the reflector.

The induction piece is arranged between every two adjacent axial surfaces.

The driving device further comprises a coupler connected between the motor and the rotating shaft, the rotating shaft is axially connected with the reflecting body, and the rotating shaft and the coupler are arranged on the axis of the reflecting body.

Still including being used for fixing the camera installation base of shooting the camera, camera installation base is fixed in on detecting the car body, sets up the shooting direction of shooting the camera does the radial of reflection body.

Still including be used for swing joint in the bearing frame of pivot, be used for fixing trigger sensor's sensing installation base, be used for fixing the motor installation base of motor and be fixed in detect the mounting plate of car body, sensing installation base is fixed in on the bearing frame, the bearing frame reaches motor installation base is fixed in on the mounting plate.

The shooting cameras and the reflecting mechanisms are arranged in a plurality of numbers;

the motor is connected with the rotating shafts of the plurality of reflecting mechanisms in a driving mode, and the shooting directions of the shooting cameras are respectively set to be radial directions of reflecting bodies of the plurality of reflecting mechanisms.

Still including the position encoder that is used for measuring the tire position who detects the car body, be used for the sensing position encoder's reading position sensor and linkage controller, position sensor electric connection in linkage controller, linkage controller electric connection in the motor.

In one aspect, an inspection vehicle is provided, including:

detecting a vehicle body;

mirror reflection shooting mechanism.

The utility model has the advantages that: by utilizing the mirror reflection principle, the continuous visual tracking photographing can be realized without moving the camera only by rotating the reflector, and the dynamic photographing performance can be improved by obviously reducing the smear influence in the moving photographing process by matching with the area array camera. The system has the advantages of simplicity, easiness in installation and maintenance, low cost and easiness in adapting to the area-array cameras of different models.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained without inventive efforts.

FIG. 1 is a schematic view of a prior art inspection vehicle photographing a lining surface of a tunnel during traveling;

FIG. 2 is a schematic diagram of a tunnel detection surface shot in a moving state in the prior art;

fig. 3 is a schematic diagram of changing a photographing direction of a camera to keep a photographing position constant in a moving state of the related art;

fig. 4 is a schematic diagram illustrating a camera moving state according to an embodiment of the present invention, in which a shooting position is maintained by changing a shooting direction of the camera;

fig. 5 is a schematic structural diagram of a mirror-reflection shooting mechanism according to an embodiment of the present invention;

fig. 6 is a schematic diagram of triggering a shooting camera according to an embodiment of the present invention;

fig. 7 is a perspective view of an inspection vehicle according to an embodiment of the present invention;

fig. 8 is a sectional view of an inspection vehicle according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by those skilled in the art without creative efforts belong to the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

In the present application, the word "exemplary" is used to mean "serving as an example, instance, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. The following description is presented to enable any person skilled in the art to make and use the invention. In the following description, details are set forth for the purpose of explanation. It will be apparent to one of ordinary skill in the art that the present invention may be practiced without these specific details. In other instances, well-known structures and processes are not shown in detail to avoid obscuring the description of the invention with unnecessary detail. Thus, the present invention is not intended to be limited to the embodiments shown, but is to be accorded the widest scope consistent with the principles and features disclosed herein.

Referring to fig. 4, fig. 4 is a schematic view of changing the shooting direction of the camera under the moving state to keep the shooting position unchanged according to an embodiment of the present invention, in which the present application skillfully utilizes a position encoder 91 to detect the rotation angle of the wheel, and utilizes a synchronous control motor 211 to control two rotating reflecting mirror 222 surface sets with different phases, so as to utilize the reflection principle to keep the viewing angle of a certain tunnel lining shot by the fixed camera at a certain angle unchanged. By utilizing the mirror reflection principle, the effect of continuous visual tracking photographing can be realized without moving the camera only by rotating the reflector 222, and meanwhile, the influence of photographing smear can be obviously reduced by matching with an area array camera, and the dynamic photographing performance is further improved. The system has the characteristics of simplicity, easiness in installation and maintenance and strong practicability, and can adapt to area-array cameras with different performance parameters. The camera and the shooting device thereof move along with the detection vehicle to shoot, the reflection angle of the reflector 222 is adjusted in a rotating mode in the shooting process and is always aligned with the same shooting area to be fixed, and the position of the visual range of tracking shooting is kept unchanged, so that the smear cannot be generated.

Referring to fig. 5, fig. 5 is a schematic structural diagram of the mirror-surface-reflection shooting mechanism 100 provided in an embodiment of the present invention, the mirror-surface-reflection shooting mechanism 100 includes a shooting camera 1, a reflection mechanism 2, a trigger device 3, a camera mounting base 4, a bearing seat 5, a sensing mounting base 6, a motor mounting base 7, a mounting base plate 8, a position encoder 91 for measuring the tire position of the detection vehicle body 200, a position sensor 92 for sensing the reading of the position encoder 91, and a linkage controller 93.

The shooting camera 1 is arranged on the inspection vehicle body 200; the reflecting mechanism 2 comprises a driving device 21 and a reflecting device 22, the driving device 21 is arranged on the detection vehicle body 200 and is arranged close to the shooting camera 1, the driving device 21 is rotatably connected to the reflecting device 22 to drive the reflecting device 22 to rotate, and a mirror surface is arranged on the surface of the reflecting device 22; the triggering device 3 comprises a triggering sensor 31 and a sensing piece 32, the triggering sensor 31 is electrically connected with the shooting camera 1, the sensing piece 32 is arranged on the reflecting device 22, and when the driving device 21 rotates, the triggering sensor 31 senses the sensing strip to trigger the shooting camera 1 to shoot facing the mirror surface. The driving device 21 comprises a motor 211 and a rotating shaft 212, and the reflecting device 22 comprises a reflecting body 221 and a reflecting mirror 222; the motor 211 is connected to the rotating shaft 212 in a driving manner, the rotating shaft 212 is fixedly connected to the reflection body 221, and the reflection mirror 222 is disposed on the surface of the reflection body 221, so that when the motor 211 rotates, the rotating shaft 212 is driven to rotate, and the reflection body 221 is driven to rotate, so that an angle formed by the plane of the reflection mirror 222 and the shooting direction of the shooting camera 1 is continuously changed. The reflector body 221 has a plurality of axial surfaces, each of which is provided with the reflector 222. The induction member 32 is disposed between each two adjacent axial surfaces.

In this embodiment, refer to fig. 6, fig. 6 is a schematic diagram is triggered to shooting camera 1 that an embodiment provided, shooting camera 1's shooting direction and position all remain unchanged, just to the lens of the dislocation arrangement of rotatory speculum 222, it rotates to rotate pivot 212 and drives the speculum 222 rotatory to shoot when shooing, when next position sensing piece 32 triggers the sensing signal, shooting camera 1 shoots next picture again, through the incessant rotation of pivot 212, shooting camera 1 just shoots dynamic picture through speculum 222 incessantly, the phenomenon of smear can not appear. Referring to fig. 4 and 7, fig. 7 is a perspective view of the detection vehicle provided by an embodiment of the present invention, in the process of advancing the detection vehicle, the rotating shaft 212 rotates synchronously, and when the rotating shaft rotates to the trigger position, the sensing element 32 at this position makes the trigger sensor 31 generate the photographing trigger signal to trigger the photographing camera 1 to photograph. The trigger time and the exposure time delay of the shooting camera 1 are set to trigger the shooting time of the camera that the new mirror surface just rotates to the front of the lens, before the exposure is ended, the current lens is still the current mirror surface, and the current mirror surface is not switched to the next mirror surface by rotating.

Wherein, the trigger sensor 31 is used with the sensing piece 32. If the trigger sensor 31 uses a reflective position sensor, the corresponding sensing element 32 needs to use a reflective strip; if the trigger sensor 31 uses a magnetic induction type position sensor, the corresponding sensing piece 32 needs to use a magnetic strip. The sensing members 32 are fixedly disposed on the reflecting body 221 at symmetrical positions, the reflecting body 221 may be shaped as a polygonal cylinder having a plurality of sides, each side is provided with a reflecting mirror 222, and the sensing members 32 are disposed between every two adjacent sides. Preferably, each shooting camera 1 corresponds to only one trigger sensor 31, and the position is adjustable.

The driving device 21 further includes a coupler 213 connected between the motor 211 and the rotating shaft 212, the rotating shaft 212 is axially connected to the reflection body 221, and the rotating shaft 212 and the coupler 213 are both disposed on the axis of the reflection body 221. The camera mounting base 4 is fixed on the inspection vehicle body 200 through the mounting base plate 8, and the shooting direction of the shooting camera 1 is set to be the radial direction of the reflection body 221. Bearing frame 5 swing joint in pivot 212, sensing installation base 6 is fixed trigger sensor 31, motor installation base 7 is fixed motor 211, mounting plate 8 are fixed in detect car body 200, sensing installation base 6 is fixed in on the bearing frame 5, bearing frame 5 and motor installation base 7 is fixed in on the mounting plate 8.

In this embodiment, the photographing camera 1 is mounted on the mounting base plate 8 through the camera mounting base 4, the motor 211, the bearing seat 5 and the camera mounting base 4 are all fixed on the mounting base plate 8 by bolts, and the mounting base plate 8 is fixed on the inspection vehicle body 200 by bolts.

The shooting cameras 1 and the reflecting mechanisms 2 are arranged in plurality; the motor 211 is drivingly connected to the rotating shafts 212 of the plurality of reflection mechanisms 2, and the shooting directions of the plurality of shooting cameras 1 are respectively set to be radial directions of the reflection bodies 221 of the plurality of reflection mechanisms 2.

In the present embodiment, the design of the turntable imaging mechanism 100 is not limited to two imaging cameras 1, but may be a plurality of or more, and the operation principle is the same. The plurality of shooting cameras 1 share one rotating shaft 212, the rotating phase and the shooting trigger time can be reasonably staggered, and the better effect of continuous shooting coverage can be obtained through interactive shooting.

The position sensor 92 is electrically connected to the linkage controller 93, and the linkage controller 93 is electrically connected to the motor 211.

In this embodiment, the motion parameters of the position encoder 91 on the wheel axle are detected by the position sensor 92 and are uploaded to the linkage controller 93 through the optical cable 300, the linkage controller 93 sends an instruction to the motor 211 after data integration, the motor 211 drives the rotating shaft 212 through the coupler 213 to rotate the two reflecting mechanisms 2 which are arranged on the rotating shaft 212 in a staggered manner at a speed matched with the traveling speed of the detection vehicle, when the sensing strip at the peripheral position of the reflecting mirror 222 is close to or blocks the trigger sensor 31, a trigger sensing signal is generated, and meanwhile, the shooting camera 1 is triggered to shoot. After the test is started, the detection vehicle advancing mechanism is linked with the rotating shaft 212, the trigger sensor 31 is started, the shooting camera 1 is opened, and the shooting triggering mode of the camera is set as external triggering. When the test is finished, the linkage of the rotating shaft 212 is closed, and the trigger sensor 31, the position sensor 92 and the shooting camera 1 are closed.

Wherein, pivot 212 linkage description: the rotation of the rotating shaft 212 is synchronous with the advance of the detection vehicle, so that the uniform and continuous coverage of the detected surface by photographing can be ensured, and the best dynamic tracking effect is achieved. Compared with a linkage implementation method using a mechanical transmission device, the device vibration is easily caused, as the advancing driving part of the detection vehicle is arranged at the bottom of the vehicle, the photographing part is arranged at the top of the vehicle, the distance position is far away, the device arrangement is not facilitated, the parameter adjustment is inconvenient and flexible, the position encoder 91 is used for sensing the advancing state of the detection vehicle, the mode that the rotating shaft 212 is adjusted to synchronously rotate by controlling the motor 211 according to the sensing parameter of the position encoder 91 is easier to realize, the parameter adjustment is more flexible, and the position of the detection vehicle is convenient to mark, so that the detection vehicle is taken as an optimal scheme. As shown in fig. 8, fig. 8 is a cross-sectional view of the detection vehicle provided by the embodiment of the present invention, the position encoder 91 is used for detecting the rotation status parameter of the driving wheel of the detection vehicle, and the linkage controller 93 receives the rotation parameter of the position encoder 91 and processes the rotation parameter, and adjusts the rotation parameter of the rotating shaft 212 through the control motor 211, thereby realizing the rotation of the rotating shaft 212 and the rotation linkage of the driving wheel of the detection vehicle. The linkage controller 93 may be integrated with a camera picture processing controller, so that it is convenient to integrate the moving position information of the inspection vehicle in the photographed picture, and to correspond the photographed picture to the inspection position.

Referring to fig. 7-8, the inspection vehicle includes a vehicle body 200 and a mirror-reflected image capturing mechanism 100.

In this embodiment, a linkage mechanism is used to make two (not limited to two) rotating octagonal mirror surfaces (not limited to octagonal) arranged in a staggered manner, so that a camera realizes a continuous position dynamic tracking shooting method by a mirror reflection principle. The position encoders 91 respectively arranged on the rotating surface of the wheel shaft and the side surface of the rotating mirror surface shaft are used for detecting the rotating state parameters of the driving wheel of the detection vehicle, the angular speed of the mirror surface transmission shaft is equal to the angular speed of the detection wheel through the controller, the shot tunnel lining leakage picture is kept still, and a relatively static clear picture can be shot.

The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims

1. A mirror-reflected camera mechanism, comprising:

the shooting camera is arranged on the detection vehicle body;

the trigger device comprises a trigger sensor and a sensing piece, the trigger sensor is electrically connected with the shooting camera, the sensing piece is arranged on the reflecting device, and when the driving device rotates, the sensing piece senses the sensing piece to trigger the shooting camera to shoot on the mirror surface.

2. The camera mechanism as claimed in claim 1, wherein the driving device comprises a motor and a rotating shaft, and the reflecting device comprises a reflecting body and a reflecting mirror;

3. The camera mechanism of claim 2, wherein the reflector body has a plurality of axial surfaces, each of the axial surfaces being provided with the mirror.

4. The camera mechanism of claim 3, wherein the sensing element is disposed between each two adjacent axial surfaces.

5. The camera mechanism according to any one of claims 2 to 4, wherein the driving device further comprises a coupling connected between the motor and the rotating shaft, the rotating shaft is axially connected to the reflector, and both the rotating shaft and the coupling are disposed on an axis of the reflector.

6. The shooting mechanism according to claim 1, further comprising a camera mounting base for fixing the shooting camera, wherein the camera mounting base is fixed on the inspection vehicle body, and the shooting direction of the shooting camera is set to be the radial direction of the reflection body.

7. The camera mechanism according to claim 2, further comprising a bearing seat movably connected to the rotating shaft, a sensing mounting base for fixing the trigger sensor, a motor mounting base for fixing the motor, and a mounting plate fixed to the inspection vehicle body, wherein the sensing mounting base is fixed to the bearing seat, and the bearing seat and the motor mounting base are fixed to the mounting plate.

8. The camera mechanism according to claim 2, wherein the camera and the reflection mechanism are provided in plurality;

9. The camera mechanism according to claim 2, further comprising a position encoder for measuring a tire position of the detection vehicle body, a position sensor for sensing a reading of the position encoder, and a linkage controller, wherein the position sensor is electrically connected to the linkage controller, and the linkage controller is electrically connected to the motor.

10. An inspection vehicle, comprising:

detecting a vehicle body;

the mirror-reflected photographing mechanism according to any one of claims 1 to 9.