WO2018014726A1 - 一种车顶摄像系统 - Google Patents

一种车顶摄像系统 Download PDF

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Publication number
WO2018014726A1
WO2018014726A1 PCT/CN2017/091693 CN2017091693W WO2018014726A1 WO 2018014726 A1 WO2018014726 A1 WO 2018014726A1 CN 2017091693 W CN2017091693 W CN 2017091693W WO 2018014726 A1 WO2018014726 A1 WO 2018014726A1
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WIPO (PCT)
Prior art keywords
motor
camera
roof
camera system
top frame
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PCT/CN2017/091693
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English (en)
French (fr)
Inventor
何涛
蒋少峰
张善乐
肖志光
管勋
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广州小鹏汽车科技有限公司
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Publication of WO2018014726A1 publication Critical patent/WO2018014726A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof

Definitions

  • the present invention relates to the field of vehicle imaging, and more particularly to a roof camera system.
  • ECU Electronic Control Unit, electronic control unit
  • LVDS Low-Voltage Differential Signaling, low voltage differential signal.
  • an object of the present invention is to provide a roof camera system.
  • a roof camera system comprising an ECU, a roof support device, a main control device and a camera
  • the roof support device comprising a base, a top frame, a pan/tilt, a link mechanism and a first motor
  • the first motor level Mounted on the base and connected to the output shaft of the first motor
  • the base and the top frame are hinged by a link mechanism
  • the pan/tilt is mounted on the top frame
  • the camera is mounted on the front end of the pan/tilt.
  • the ECU is respectively connected to the main control device, the camera and the first motor
  • the main control device is connected to the camera.
  • the roof supporting device further includes a second motor mounted on a lower end surface of the top frame, the second The output shaft of the motor is connected to the pan/tilt, and the second motor is connected to the ECU.
  • the link mechanism adopts a different surface link mechanism.
  • the profiled link mechanism includes an active swing arm and two driven swing arms that are not coplanar, and the active swing arm and the two driven swing arms are parallel and equal in length.
  • one end of the active swing arm is connected to the output shaft of the first motor, and the other end is hinged to the top frame, and two ends of the two driven swing arms are respectively hinged with the base and the top frame.
  • the base is provided with a limiting top pillar.
  • first motor and the second motor employ a servo motor with an absolute encoder.
  • the main control device comprises a touch display screen, a main controller, a speaker, a wireless communication module and a storage module, and the main controller is respectively connected with the touch display screen, the speaker, the wireless communication module, the storage module, the ECU and the camera.
  • the utility model has the beneficial effects that the roof camera system of the invention comprises an ECU, a roof supporting device, a main control device and a camera, and the roof supporting device comprises a base, a top frame, a pan/tilt, a link mechanism and the first a motor, the first motor is horizontally mounted on the base, and the output shaft of the first motor is connected to the link mechanism, the base and the top frame are hinged by a link mechanism, the pan/tilt is mounted on the top frame, and the camera is mounted on the front end of the pan/tilt, the ECU It is connected to the main control device, the camera and the first motor respectively, and the main control device is connected with the camera.
  • the roof camera system has a simple structure, convenient and stable control, small volume in the collapsed state, high transmission efficiency, low cost, and real-time display and online data sharing.
  • FIG. 1 is a schematic view showing the electronic structure of a roof camera system of the present invention
  • FIG. 2 is a schematic structural view of a roof supporting device of a roof camera system according to the present invention.
  • FIG. 3 is a schematic view showing a state of rotation of a gimbal of a roof supporting device of a roof camera system according to the present invention
  • FIG. 4 is a schematic view showing the working principle of the different surface link mechanism of the roof supporting device of the roof camera system of the present invention.
  • the present invention provides a roof camera system including an ECU, a roof support device, a main control device, and a camera 4, the roof support device including a base 1, a top frame 2, and a pan/tilt head 3 a link mechanism and a first motor 5, the first motor 5 being horizontally mounted on the base 1 and output of the first motor 5
  • the shaft is connected to the link mechanism, the base 1 and the top frame 2 are hinged by a link mechanism, the pan/tilt head 3 is mounted on the top frame 2, the camera 4 is mounted on the front end of the pan/tilt head 3, and the ECU is respectively associated with the main The control device, the camera 4 and the first motor 5 are connected, and the main control device is connected to the camera 4.
  • the roof supporting device further includes a second motor 8 mounted on a lower end surface of the top frame 2, an output shaft of the second motor 8 is connected to the platform 3, and the second motor 8 is The ECU is connected, and the second motor 8 is used to drive the pan/tilt 3 to rotate on the top frame 2, as shown in FIG.
  • the link mechanism adopts a different surface link mechanism.
  • the different surface link mechanism includes an active swing arm 6 and two driven swing arms 7 that are not coplanar, and the active swing arm 6 and the two driven swing arms 7 are The two are parallel and equal in length.
  • one end of the active swing arm 6 is connected to the output shaft of the first motor 5, and the other end is hinged to the top frame 2, and the two ends of the two driven swing arms 7 are respectively connected with the base 1 and The top frame 2 is hinged.
  • the base 1 is provided with a limiting top pillar 9.
  • first motor 5 and the second motor 8 employ a servo motor with an absolute encoder.
  • the main control device includes a touch display screen, a main controller, a speaker, a wireless communication module, and a storage module, and the main controller is respectively connected with a touch display screen, a speaker, a wireless communication module, a storage module, an ECU, and The camera 4 is connected.
  • a roof camera system includes an ECU, a roof support device, a main control device and a camera 4 , and the roof support device includes a base 1 , a top frame 2 , a pan/tilt head 3 , and a connecting rod.
  • the ECU is connected to the main control device, the camera 4 and the first motor 5, respectively, and the main control device is connected to the camera 4.
  • the ECU is used for overall control, including controlling the operation of the first motor 5 and the second motor 8.
  • the first motor 5 and the second motor 8 are provided with a belt Absolute encoder servo motor, specifically, servo motor includes control chip, absolute encoder, reducer and brushless motor.
  • the servo motor is used as the power source, which has the characteristics of quick response, short time interval and high linearity.
  • the up and down movement distance of the camera 4 can be controlled by controlling the moving distance of the absolute encoder.
  • the base 1 is provided with a limit top column 9 for supporting the top frame 2 when it is lowered to the lowest position after the roof support device is powered off.
  • the base 1 can also be provided with a receiving groove, so that when the top frame 2 is lowered to the lowest position, the platform 3 can be completely accommodated into the receiving groove.
  • the main control device includes a touch display screen, a main controller, a speaker, a wireless communication module, and a storage module, and the main controller is respectively connected to the touch display screen, the speaker, the wireless communication module, the storage module, the ECU, and the camera 4.
  • the video signal data is transmitted between the main controller and the camera 4 through the LVDS line, and the control signal is transmitted through the CAN bus, and the control signal and the video image data are separately transmitted to ensure the stability of the whole system and ensure the load balance of the CAN bus. At the same time, the video image data transmission is guaranteed to be smooth and fast.
  • the touch display can display the video captured by the camera 4 in real time, and can also be used to receive input commands from the user to control the camera 4 or the motor.
  • the wireless communication module can access the Internet through wireless communication, thereby realizing real-time sharing of video image data.
  • the linkage mechanism of the embodiment adopts a different-surface linkage mechanism, including an active swing arm 6 and two driven swing arms 7 that are not coplanar, and the active swing arm 6 and the two driven swing arms 7 are parallel to each other and The length is equal.
  • one end of the active swing arm 6 is connected to the output shaft of the first motor 5, and the other end is hinged to the top frame 2.
  • the two ends of the two driven swing arms 7 are respectively hinged with the base 1 and the top frame 2.
  • the hinged manner is achieved by a hinge connection with the pin of the fixed hinge mount 10 illustrated in Fig. 2.
  • FIG. 4 A schematic diagram of the working principle of the different-surface link mechanism of this embodiment is shown in FIG. 4.
  • L1 represents the length of the active swing arm 6, and L2 and L3 represent the lengths of the two driven swing arms 7, respectively.
  • the active swing arm 6 and the two driven swing arms 7 are not coplanar, and the two are parallel and equal in length, and the joints at both ends are coplanar, so that the three swing arms can be horizontal at the same time, thereby realizing the company.
  • the folding operation of the rod mechanism, and during the movement of the three swing arms, can ensure that the gimbal 3 is always in a horizontal state.
  • the three swing arms drive the rise or fall of the top frame 2 to drive the up and down movement of the camera 4 on the pan/tilt head 3, and the second motor 8 drives the pan/tilt head 3 to rotate on the top frame 2, which can drive the camera 4 to be horizontal.
  • the rotation of the direction. Therefore, the roof supporting device can drive the camera 4 to move in the horizontal and vertical directions, smoothly realize lifting and rotating, thereby realizing imaging in a large angle range. Therefore, the roof camera system has a simple structure and convenient control. Stable, small in size, high transmission efficiency, low cost, and real-time display of captured video images and real-time sharing of video image data through the main control device.
  • the improvement of the present invention lies in the various components of the roof camera system and the connection relationship between the components. Any data acquisition, data reception, data transmission, calculation or control process mentioned in the specification is based on the present. At the level of technical data processing, the present invention does not have any improvement in the data processing method. The present invention relates only to structural improvements, and does not relate to method improvements, and does not involve any software improvements.

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Mechanical Engineering (AREA)
  • Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)
  • Accessories Of Cameras (AREA)
  • Studio Devices (AREA)

Abstract

一种车顶摄像系统，包括ECU、车顶支撑装置、主控设备和摄像头，车顶支撑装置包括底座、顶架、云台、连杆机构和第一电机，第一电机水平地安装在底座上且第一电机的输出轴与连杆机构连接，底座与顶架通过连杆机构铰接，云台安装在顶架上，摄像头安装在云台前端，ECU分别与主控设备、摄像头和第一电机连接，主控设备与摄像头连接。该系统结构简单，控制方便、稳定，收拢状态下体积小，传递效率高，成本较低，而且可以实现实时显示和在线数据共享，可广泛应用于车顶摄像行业中。

Description

一种车顶摄像系统 技术领域
本发明涉及车辆摄像领域，特别是涉及一种车顶摄像系统。
背景技术
名词解释：
ECU：Electronic Control Unit，电子控制单元；
LVDS：Low-Voltage Differential Signaling，低电压差分信号。
随着私家车辆的暴涨，导致城市交通路线日渐拥堵，在道路拥堵的情况下，驾驶员希望能够观察到前方远处的交通状况，及时判断是否发生交通事故、临时封路等特殊情况，以及对当前堵车时间进行预判，调整出行方案等，这种情况下，对于私家车而言，驾驶位置视野受阻，只能观察近距离的周边情况，远距离的交通状况无法获取。而对于乘坐车辆进行观光的乘客来说，对于沿途的风光，车内乘客从车窗观察的视角受限，无法观察到广角范围的风光，也拍摄不到广范围的照片。车主驾车过程中，沿途用手机抓拍照片不仅操作麻烦，容易引起注意力不集中，影响驾驶安全。现有技术中，也出现了一些用在车顶进行摄像的装置，主流的结构是设置电动升降云台来配合摄像头实现大角度范围的拍摄。这种电动升降云台主要是采用锥齿轮、螺杆配合进行动力传输，这种方案机械结构复杂，但是传递效率较低，而且为了保证云台在运动过程中其平面保持水平，对锥齿轮、螺杆的安装定位精度要求较高，成本较高。而且现有技术中的车顶摄像系统，拍摄的图片是存储在装置的内部存储部件里面的，无法实现实时显示和在线共享。
发明内容
为了解决上述的技术问题，本发明的目的是提供一种车顶摄像系统。
本发明解决其技术问题所采用的技术方案是：
一种车顶摄像系统，包括ECU、车顶支撑装置、主控设备和摄像头，所述车顶支撑装置包括底座、顶架、云台、连杆机构和第一电机，所述第一电机水平地安装在底座上且第一电机的输出轴与连杆机构连接，所述底座与顶架通过连杆机构铰接，所述云台安装在顶架上，所述摄像头安装在云台前端，所述ECU分别与主控设备、摄像头和第一电机连接，所述主控设备与摄像头连接。
进一步，所述车顶支撑装置还包括安装在顶架下端面的第二电机，所述第二 电机的输出轴与云台连接，所述第二电机与ECU连接。
进一步，所述连杆机构采用异面连杆机构。
进一步，所述异面连杆机构包括不共面的一个主动摆臂和两个从动摆臂，所述主动摆臂和两个所述从动摆臂两两相互平行且长度相等。
进一步，所述主动摆臂的一端与第一电机的输出轴连接，另一端与顶架铰接，两个所述从动摆臂的两端分别与底座和顶架铰接。
进一步，所述底座上设有限位顶柱。
进一步，所述第一电机和第二电机采用带绝对编码器的伺服电机。
进一步，主控设备包括触摸显示屏、主控制器、喇叭、无线通信模块和存储模块，所述主控制器分别与触摸显示屏、喇叭、无线通信模块、存储模块、ECU和摄像头连接。
本发明的有益效果是：本发明的一种车顶摄像系统，包括ECU、车顶支撑装置、主控设备和摄像头，车顶支撑装置包括底座、顶架、云台、连杆机构和第一电机，第一电机水平地安装在底座上且第一电机的输出轴与连杆机构连接，底座与顶架通过连杆机构铰接，云台安装在顶架上，摄像头安装在云台前端，ECU分别与主控设备、摄像头和第一电机连接，主控设备与摄像头连接。本车顶摄像系统结构简单，控制方便、稳定，收拢状态下体积小，传递效率高，成本较低，而且可以实现实时显示和在线数据共享。
附图说明
下面结合附图和实施例对本发明作进一步说明。
图1是本发明的一种车顶摄像系统的电子结构示意图；
图2是本发明的一种车顶摄像系统的车顶支撑装置的结构示意图；
图3是本发明的一种车顶摄像系统的车顶支撑装置的云台旋转状态示意图；
图4是本发明的一种车顶摄像系统的车顶支撑装置的异面连杆机构的工作原理示意图。
具体实施方式
参照图1和图2，本发明提供了一种车顶摄像系统，包括ECU、车顶支撑装置、主控设备和摄像头4，所述车顶支撑装置包括底座1、顶架2、云台3、连杆机构和第一电机5，所述第一电机5水平地安装在底座1上且第一电机5的输出 轴与连杆机构连接，所述底座1与顶架2通过连杆机构铰接，所述云台3安装在顶架2上，所述摄像头4安装在云台3前端，所述ECU分别与主控设备、摄像头4和第一电机5连接，所述主控设备与摄像头4连接。
进一步作为优选的实施方式，所述车顶支撑装置还包括安装在顶架2下端面的第二电机8，所述第二电机8的输出轴与云台3连接，所述第二电机8与ECU连接，第二电机8用于带动云台3在顶架2上旋转，如图3所示。
进一步作为优选的实施方式，所述连杆机构采用异面连杆机构。
进一步作为优选的实施方式，所述异面连杆机构包括不共面的一个主动摆臂6和两个从动摆臂7，所述主动摆臂6和两个所述从动摆臂7两两相互平行且长度相等。
进一步作为优选的实施方式，所述主动摆臂6的一端与第一电机5的输出轴连接，另一端与顶架2铰接，两个所述从动摆臂7的两端分别与底座1和顶架2铰接。
进一步作为优选的实施方式，所述底座1上设有限位顶柱9。
进一步作为优选的实施方式，所述第一电机5和第二电机8采用带绝对编码器的伺服电机。
进一步作为优选的实施方式，主控设备包括触摸显示屏、主控制器、喇叭、无线通信模块和存储模块，所述主控制器分别与触摸显示屏、喇叭、无线通信模块、存储模块、ECU和摄像头4连接。
以下结合详细实施例对本发明做进一步说明。
参照图1、图2和图3，一种车顶摄像系统，包括ECU、车顶支撑装置、主控设备和摄像头4，车顶支撑装置包括底座1、顶架2、云台3、连杆机构、第一电机5以及安装在顶架2下端面的第二电机8，第一电机5水平地安装在底座1上且第一电机5的输出轴与连杆机构连接，底座1与顶架2通过连杆机构铰接，云台3安装在顶架2上，摄像头4安装在云台3前端，第二电机8的输出轴与云台3连接，第二电机8与ECU连接，第二电机8用于带动云台3在顶架2上旋转，从而带动摄像头4实现对主前方近180°的旋转拍摄。ECU分别与主控设备、摄像头4和第一电机5连接，主控设备与摄像头4连接。ECU用于进行综合控制，包括控制第一电机5和第二电机8的运转。第一电机5和第二电机8采用带 绝对编码器的伺服电机，具体的，伺服电机包括控制芯片、绝对编码器、减速器和无刷电机四部分。采用伺服电机作为动力来源，具有快速反应、时间间隔短、线性度高的特点。结合常规的数学计算以及现有技术中伺服电机的控制方法，通过控制绝对编码器的移动距离，可以控制摄像头4的上下移动距离。
底座1上设有限位顶柱9，可以在车顶支撑装置下电后顶架2下降到最低位置时起到支撑作用。具体的，底座1上还可以设置容纳凹槽，从而在顶架2下降到最低位置时，云台3可以完全收纳进该容纳凹槽内。
本实施例中，主控设备包括触摸显示屏、主控制器、喇叭、无线通信模块和存储模块，主控制器分别与触摸显示屏、喇叭、无线通信模块、存储模块、ECU和摄像头4连接。主控制器与摄像头4之间通过LVDS线传输视频图像数据，通过CAN总线传输控制信号，采用控制信号与视频图像数据分开传输的方式，可以保证整个系统的工作稳定性，保证CAN总线负载平衡，同时保证视频图像数据传输流畅迅速。触摸显示屏可以实时显示摄像头4拍摄的视频，同时也可以用于接收用户的输入指令，实现对摄像头4或者电机的控制。无线通信模块可以通过无线通信方式接入互联网，从而实现视频图像数据的实时共享。
本实施例的连杆机构采用异面连杆机构，包括不共面的一个主动摆臂6和两个从动摆臂7，主动摆臂6和两个从动摆臂7两两相互平行且长度相等。具体的，主动摆臂6的一端与第一电机5的输出轴连接，另一端与顶架2铰接，两个从动摆臂7的两端分别与底座1和顶架2铰接。本实施例中，铰接方式是通过与图2中示例的固定铰支座10的销轴实现铰链连接。
本实施例的异面连杆机构的工作原理示意图如图4所示，图4中，L1代表主动摆臂6的长度，L2和L3分别代表两个从动摆臂7的长度。主动摆臂6和两个从动摆臂7不共面，且两两互相平行且长度相等，且两端铰链连接处均共面，因此，三个摆臂可以同时处于水平状态，实现本连杆机构的收拢操作，而且在三个摆臂的运动过程中，可以保证云台3一直处于水平状态。通过三个摆臂带动顶架2的上升或下降，从而带动云台3上的摄像头4的上下移动，而通过第二电机8带动云台3在顶架2上旋转，可以带动摄像头4在水平方向的旋转。因此，本车顶支撑装置可以带动摄像头4在水平、竖直方向进行移动，平稳地实现升降、旋转，从而实现大角度范围的摄像。因此，本车顶摄像系统结构简单，控制方便、 稳定，收拢状态下体积小，传递效率高，成本较低，而且可以通过主控设备实时显示拍摄的视频图像以及实现视频图像数据的实时共享。
需要注意的是，本发明的改进在于车顶摄像系统的各个组成部件以及各个部件之间的连接关系，说明书中提到的任何数据采集、数据接收、数据传输、计算或控制过程均是基于现有技术的数据处理水平，本发明并没有在数据处理方法上有任何改进，本发明只涉及结构上的改进，并没有涉及到方法上的改进，更不涉及任何软件上的改进。
以上是对本发明的较佳实施进行了具体说明，但本发明创造并不限于实施例，熟悉本领域的技术人员在不违背本发明精神的前提下还可做出种种的等同变形或替换，这些等同的变型或替换均包含在本申请权利要求所限定的范围内。

Claims (8)

  1. 一种车顶摄像系统，其特征在于，包括ECU、车顶支撑装置、主控设备和摄像头，所述车顶支撑装置包括底座、顶架、云台、连杆机构和第一电机，所述第一电机水平地安装在底座上且第一电机的输出轴与连杆机构连接，所述底座与顶架通过连杆机构铰接，所述云台安装在顶架上，所述摄像头安装在云台前端，所述ECU分别与主控设备、摄像头和第一电机连接，所述主控设备与摄像头连接。
  2. 根据权利要求1所述的一种车顶摄像系统，其特征在于，所述车顶支撑装置还包括安装在顶架下端面的第二电机，所述第二电机的输出轴与云台连接，所述第二电机与ECU连接。
  3. 根据权利要求1所述的一种车顶摄像系统，其特征在于，所述连杆机构采用异面连杆机构。
  4. 根据权利要求3所述的一种车顶摄像系统，其特征在于，所述异面连杆机构包括不共面的一个主动摆臂和两个从动摆臂，所述主动摆臂和两个所述从动摆臂两两相互平行且长度相等。
  5. 根据权利要求4所述的一种车顶摄像系统，其特征在于，所述主动摆臂的一端与第一电机的输出轴连接，另一端与顶架铰接，两个所述从动摆臂的两端分别与底座和顶架铰接。
  6. 根据权利要求1所述的一种车顶摄像系统，其特征在于，所述底座上设有限位顶柱。
  7. 根据权利要求2所述的一种车顶摄像系统，其特征在于，所述第一电机和第二电机采用带绝对编码器的伺服电机。
  8. 根据权利要求2所述的一种车顶摄像系统，其特征在于，主控设备包括触摸显示屏、主控制器、喇叭、无线通信模块和存储模块，所述主控制器分别与触摸显示屏、喇叭、无线通信模块、存储模块、ECU和摄像头连接。
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