CN2378248Y - Omnibearing vision sensor carried on vehicle - Google Patents
Omnibearing vision sensor carried on vehicle Download PDFInfo
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- CN2378248Y CN2378248Y CN 99223712 CN99223712U CN2378248Y CN 2378248 Y CN2378248 Y CN 2378248Y CN 99223712 CN99223712 CN 99223712 CN 99223712 U CN99223712 U CN 99223712U CN 2378248 Y CN2378248 Y CN 2378248Y
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Abstract
The utility model relates to an omnibearing vision sensor carried on vehicles, which is provided with road markings. The utility model is composed of a hemispherical surface reflector, a protective cover, a base, a filter glass, a lens, a CCD camera, and a mobile mechanism. The utility model is characterized in that the hemispherical surface reflector is arranged on the inner side of the upper part of the protective cover, and the hemispherical surface is vertically downward; the protective cover is arranged on the base; the lens with the filter glass is arranged on the CCD camera which is positioned on the mobile mechanism which can move in two-dimension direction; the lower part of the mobile mechanism is provided with the base for the matched connection of the mobile mechanism and a moving carrier. Because the utility model adopts the hemispherical surface reflector to observe omnibearing scenes, blind zones can be reduced. In addition, the structure of the utility model is simple, because the utility model only adopts one camera. The utility model also has the advantages of low cost and convenient operation.
Description
The utility model relates to the autonomous type mobile vehicle, specifically a kind of omni-directional visual registration device based on the active road sign.
In the prior art, registration device is the important component part of autonomous type mobile vehicle (AGV), use absolute location coordinates and direction that this device can calculate a certain relatively reference frame of body coordinate system, thereby can determine oneself state of kinematic motion and relative position constantly, finish to the automated location of AGV determine, autonomous navigation and path planning task.Sensing technologies such as that these registration devices adopt substantially is ultrasonic, laser and video camera are set up sensing system, and in these sensing location technologies, the vision positioning method that relies on road sign is one of means of realizing of technology.Be to obtain bigger scene, some experimental system design so-called sensor total field of view: a kind of is to realize comprehensive scene observation with four vehicle-mounted vidicons; Another kind be with camera be contained in can the The Cloud Terrace of comprehensive rotation on, determine the observation angle of camera by the The Cloud Terrace code wheel reading; Adopt flake camera and active road sign to constitute simple sensor total field of view in addition; Being to utilize vertebra shape catadioptre and ccd video camera to constitute sensor total field of view in addition, is the robot location by the identification natural landmark.It is more that the problem that these systems exist has plenty of the camera employing, the demarcation complexity of system; The support that needs rotation platform that has; Though adopt fish eye lens simple in structure in addition, the fish eye lens cost with satisfied visual field is higher, and still has bigger blind area.
For overcome above-mentioned camera adopt more, complex structure, cost is higher and have deficiency such as big blind area, it is a kind of simple in structure that the utility model provides, cost is low, the blind area is little, can vehicle-borne omnibearing vision sensor based on the active road sign.
To achieve these goals, the technical solution of the utility model is: have initiatively road sign, form by hemisphere face catadioptre, protective case, base, filter glass, camera lens, CCD camera and travel mechanism, it is characterized in that: described hemisphere face catadioptre is installed in the inboard, top of protective case, sphere vertically downward, described protective case is installed on the base, the camera lens that has filter glass is installed on the CCD camera, described CCD camera is positioned at can be in the travel mechanism that moves on the two-dimensional directional, is to connect with mobile vehicle to use base below the travel mechanism;
Described protective case cover protected by a glass and protective cover two parts are formed, protecting glass is positioned at the top, and its upper limb is connected with hemisphere face catadioptre gummed, and lower edge contacts with base outer edge bulge place, protective cover is sleeved on the protecting glass below from slide outside, drops on the base;
Described travel mechanism is made up of to support, Y rail and underframe to support, X rail, Y X, wherein the Y rail slides to support with Y on being installed in the CCD camera and links to each other, its two ends are fixed on X on support, at described X the X rail that can slide are housed thereon on support, and are installed on the base by underframe;
Described base is circular, and outer edge bulge has window.
The utility model has reduced the blind area owing to adopt the hemisphere face catadioptre to realize comprehensive scene observation; Because simple in structure, as only adopting a camera, cost is low, and is easy to use in addition.
Description of drawings:
Fig. 1 is the utility model structural representation.
Below in conjunction with accompanying drawing structure of the present utility model and principle of work are described in further detail.
As shown in Figure 1, has initiatively road sign, by hemisphere face catadioptre 1, protective case 2, base 3, filter glass 4, camera lens 5, CCD camera 6 and travel mechanism 7 form, it is characterized in that: described hemisphere face catadioptre 1 is installed in the inboard, top of protective case 2, sphere vertically downward, described protective case 2 is installed on the base 3, the camera lens 5 that has filter glass 4 is installed on the CCD camera 6, described CCD camera 6 adopts the 1881EX pick up camera, being positioned at can be in the travel mechanism 7 that moves on the two-dimensional directional, described travel mechanism 7 is mobile robots, is below to connect with base 3 with mobile vehicle;
Described protective case 2 covers 21 protected by a glass and protective cover 22 two parts are formed, protecting glass 21 is positioned at the top, its upper limb is connected with hemisphere face catadioptre 1 gummed, lower edge contacts with base 3 outer edge bulge places, protective cover 22 is sleeved on protecting glass 21 belows from slide outside, drops on the base 3;
Described travel mechanism 7 is made up of to support 73, Y rail 74 and underframe 75 to support 71, X rail 72, Y X, wherein Y rail 74 slides to support 73 with Y on being installed in CCD camera 6 and links to each other, its two ends are fixed on X on support 71, at described X the X rail 72 that can slide is housed thereon on support 71, and is installed on the base 3 by underframe 75;
Described base 3 is circular, and outer edge bulge has window.
Principle of work of the present utility model is:
Hemisphere face catadioptre 1 is equipped with at protective case 2 tops, as the scenery collection mirror, can observe 360 degree scenes, and have than big visual field, depression angle, the CCD camera adopts the 1881EX pick up camera, be fixed in the travel mechanism 7 with two degree of freedom, camera lens 5 its visual fields of employing can cover whole hemisphere face catadioptre 1, and above device is done as a whole being encapsulated in the protective case 2; Protective case 2 comprises up and down two parts, and top is flint glass, has not only shielded but also does not influence the visual field of pick up camera; The bottom is divided into metallic material, plays protection, fixing and installation effect; Base 3 is installed on the mobile robot, the active road sign that is made of infrarede emitting diode is fixed on the indoor wall or support of visual range, and be distributed in according to certain rules the mobile work robot zone around, gather the visual signal of the active road sign around being distributed in by hemisphere face catadioptre 1 by ccd video camera 6, carry out image processing by computing machine again, calculate the position coordinate of the utility model at active road sign system of axes, and then, calculate mobile robot's absolute location coordinates according to the utility model and mobile robot's mutual coordinate relation.
Claims (4)
- One kind can vehicle-borne omnibearing vision sensor; has initiatively road sign; by hemisphere face catadioptre (1); protective case (2); base (3); filter glass (4); camera lens (5); CCD camera (6) and travel mechanism (7) form; it is characterized in that: described hemisphere face catadioptre (1) is installed in the inboard, top of protective case (2); sphere vertically downward; described protective case (2) is installed on the base (3); the camera lens (5) that has filter glass (4) is installed on the CCD camera (6); described CCD camera (6) is positioned at can be in the travel mechanism that moves on the two-dimensional directional (7), below the travel mechanism (7) is to connect with base (3) with mobile vehicle.
- According to claim 1 is described can vehicle-borne omnibearing vision sensor; it is characterized in that: described protective case (2) cover protected by a glass (21) and protective cover (22) two parts are formed; protecting glass (21) is positioned at the top; its upper limb is connected with hemisphere face catadioptre (1) gummed; lower edge contacts with base (3) outer edge bulge place; protective cover (22) is sleeved on protecting glass (21) below from slide outside, drops on the base (3).
- According to claim 1 is described can vehicle-borne omnibearing vision sensor, it is characterized in that: described travel mechanism (7) is made up of to support (73), Y rail (74) and underframe (75) to support (71), X rail (72), Y X, wherein Y rail (74) slides to support (73) with Y on being installed in CCD camera (6) and links to each other, its two ends are fixed on X on support (71), at described X the X rail (72) that can slide is housed thereon on support (71), and is installed on the base (3) by underframe (75).
- According to claim 1 is described can vehicle-borne omnibearing vision sensor, it is characterized in that: described base (3) is for circular, and outer edge bulge has window.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 99223712 CN2378248Y (en) | 1999-05-06 | 1999-05-06 | Omnibearing vision sensor carried on vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 99223712 CN2378248Y (en) | 1999-05-06 | 1999-05-06 | Omnibearing vision sensor carried on vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2378248Y true CN2378248Y (en) | 2000-05-17 |
Family
ID=34013901
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 99223712 Expired - Fee Related CN2378248Y (en) | 1999-05-06 | 1999-05-06 | Omnibearing vision sensor carried on vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2378248Y (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100420304C (en) * | 2005-12-31 | 2008-09-17 | 浙江工业大学 | Vehicle antitheft device based on omnibearing computer vision |
| CN100419813C (en) * | 2005-12-28 | 2008-09-17 | 浙江工业大学 | Omnibearing visual sensor based road monitoring apparatus |
| CN101881580A (en) * | 2010-06-29 | 2010-11-10 | 浙江工业大学 | Quick automatic artillery aiming device |
| CN106197652A (en) * | 2015-09-08 | 2016-12-07 | 萨姆株式会社 | Utilize omnirange acoustical camera and the omnirange sound visualization device of MEMS sound transducer |
-
1999
- 1999-05-06 CN CN 99223712 patent/CN2378248Y/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100419813C (en) * | 2005-12-28 | 2008-09-17 | 浙江工业大学 | Omnibearing visual sensor based road monitoring apparatus |
| CN100420304C (en) * | 2005-12-31 | 2008-09-17 | 浙江工业大学 | Vehicle antitheft device based on omnibearing computer vision |
| CN101881580A (en) * | 2010-06-29 | 2010-11-10 | 浙江工业大学 | Quick automatic artillery aiming device |
| CN106197652A (en) * | 2015-09-08 | 2016-12-07 | 萨姆株式会社 | Utilize omnirange acoustical camera and the omnirange sound visualization device of MEMS sound transducer |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |