CN108953905A - A kind of binocular vision camera support structure and its pose method of adjustment - Google Patents

Abstract

The invention discloses a binocular vision camera support structure and a pose adjustment method thereof, comprising the rolling connection between the support base and the sliding platform support I through a cylindrical surface, the sliding platform support I, the sliding platform support II and the sliding platform support III through rollers The lead screw is connected, and the roller screw is connected with the motor through the shaft sleeve. The camera holding bracket is connected with the motor sleeved in the slide bracket III. The camera is connected with the camera holding bracket, and the motor is connected with the camera holding bracket through the hole on the camera adjustment bracket. At the same time, the posture adjustment method of the binocular vision camera is disclosed. The support structure can realize the displacement of the binocular vision camera in the three directions of x, y, and z, as well as the rotation around the y and z axes, and the binocular vision can be realized by controlling the motor The pose adjustment of the camera, the present invention can be applied to the robot intelligent operation based on machine vision.

Description

A Binocular Vision Camera Support Structure and Its Pose Adjustment Method

technical field

The invention belongs to the technical field of machine vision, in particular to a structure of a binocular vision camera support device and a pose adjustment method thereof.

Background technique

With the development of artificial intelligence, the requirements for object shooting in the field of machine vision are getting higher and higher. The existing binocular cameras can only achieve fine-tuning of the focal length and shooting at a fixed angle of view, and cannot achieve independent control between the two eyes. The shooting of a wide range of viewing angles and the real-time motion control of the camera have a low degree of automation and cannot adapt to rapid scene changes.

The present invention solves the deficiencies of the prior art, and provides a binocular vision camera support structure with high degree of automation, high positioning accuracy, space saving, and large-scale shooting, and adjusts the pose of the support structure through a corresponding pose adjustment method , realizing the independent control between the binocular cameras and the adjustment of the camera distance to the object to be recognized and detected, and providing an efficient, fast and stable structure and method for the application of machine vision.

Contents of the invention

The invention proposes a binocular vision camera support structure and a pose adjustment method thereof for use in the field of binocular vision. It realizes the coarse adjustment and fine adjustment of the distance between binocular vision cameras, and realizes a wide range of image acquisition through the pitch angle. The movable camera adjustment bracket can be applied to various types of cameras, which solves the problem of fixed shooting distance and shooting range of conventional cameras. Limited questions. The motor combination controls the binocular vision camera to achieve higher precision. The invention has a compact structure, light weight, and does not occupy limited space. It can be installed on a fixed bracket and a movable mechanical arm to meet the requirements of stable movement and excellent control performance. . It can be widely used in binocular vision cameras in object recognition and tracking, visual navigation of robots, and robotic arms handling objects in industrial production.

The present invention adopts following scheme:

A binocular vision camera support structure and its posture adjustment method, characterized in that: the support base (1) is connected to the slide bracket I (2) through a cylindrical surface; the slide bracket I (2) is connected to the slide The table support II (3) is connected by the roller screw ii (7), the sliding table support II (3) and the sliding table support III (10) are connected by the roller screw i (6), and the roller screw i (6) Connect the rotating shaft of the motor i (4) through the sleeve i (5), and the roller screw ii (7) is connected with the rotating shaft of the motor ii (9) through the sleeve ii (8); the camera adjustment bracket A ( 12), the camera adjustment bracket B (13) is connected with the rotating shaft of the motor iii (11) in the slide bracket III (10); the camera (16) is clamped by the camera clamping bracket (15), and the motor iv (14 ) shaft is connected to the camera holding bracket (15) through the hole on the camera adjustment bracket B (13); the binocular vision camera support structure of the present invention is a left-right symmetrical structure, so in the structural description, only the right half is described, The left half has the same structure as the right half.

As a preference, the support base (1) is connected with the slide bracket I (2) through cylindrical rolling, and a magnetic control limiter is used for position limitation.

Preferably, the camera holding bracket B (13) is connected to the rotating shaft of the motor iii (11); the camera adjusting bracket A (12) is connected to the camera adjusting bracket B (13) through two rods.

Preferably, the steps of adjusting the pose of the binocular vision camera support structure are as follows:

Step I: The supporting base (1) and the slide bracket I (2) are connected by rolling on the cylindrical surface, and the position is limited by the magnetic control limiter, so as to realize the rotation of the support structure of the binocular vision camera around the y-axis, and carry out the binocular vision camera Coarse adjustment of pitch angle;

Step II: Control the slide bracket III (10) to translate along the x-axis direction through the motor iv (4) through the roller screw i (6), and the motor ii (9) controls the slide bracket through the roller screw ii (7) II (3) translates along the y-axis direction; adjust the relative position between the sliding table support I (2), sliding table support II (3) and sliding table support III (10), and carry out the distance between the binocular vision cameras and the binocular vision Adjustment of the distance between the visual camera and the object;

Step III: Adjust the rotation of the camera adjustment bracket A (12) and the camera adjustment bracket B (13) around the z-axis of the camera through the motor iii (11) sleeved in the slide bracket III (10) to realize the binocular vision camera ( 16) Adjustment of the z-axis angle with the object to be detected;

Step IV: Motor iv (14) adjusts the pitch angle of the binocular vision camera (16) by adjusting the camera clamping bracket (15).

The beneficial effects of the present invention are:

1. The present invention can realize the displacement of the binocular vision camera in the three directions of x, y, and z and the rotation around the y and z axes. Compared with the support structure of a purely mechanical binocular camera, it can realize automatic control, and a single camera Independent control of pose, simple structure, more flexible movement, suitable for more work scenes;

2. The sliding table support A and the sliding table support B of the present invention are connected by rolling on the cylindrical surface, and the position is limited by using the magnetic control limiter, so as to realize the rotation around the y-axis of the binocular industrial camera support structure, and a larger pitch angle can be realized adjustment;

3. The present invention reduces the difficulty of adjusting the relative pose of the camera and the object. Compared with the commonly used sliding guide rail structure, it has higher mechanical strength, more compact structure and stronger working stability;

4. The camera clamping bracket of the present invention can be applied to more camera models and has more versatility.

Description of drawings

Fig. 1 is a structural decomposition diagram of a binocular vision camera support structure and its pose adjustment method.

Figure 2 is a schematic diagram of the overall structure of a binocular vision camera support structure and its pose adjustment method.

In order to make the object, technical solution and advantages of the present invention clearer, the present invention is described below through specific embodiments shown in the accompanying drawings. It should be understood, however, that these descriptions are exemplary only and are not intended to limit the scope of the present invention. Also, in the following description, descriptions of well-known structures and techniques are omitted to avoid unnecessarily obscuring the concept of the present invention.

The specific structure and implementation mode of the present invention will be further described below in conjunction with the accompanying drawings.

Structural composition of the present invention is as Fig. 1, Fig. 2.

The present invention adopts following scheme:

Example 1:

A binocular vision camera support structure and its posture adjustment method, characterized in that: the support base (1) is connected to the slide bracket I (2) through a cylindrical surface; the slide bracket I (2) is connected to the slide The table support II (3) is connected by the roller screw ii (7), the sliding table support II (3) and the sliding table support III (10) are connected by the roller screw i (6), and the roller screw i (6) Connect the rotating shaft of the motor i (4) through the sleeve i (5), and the roller screw ii (7) is connected with the rotating shaft of the motor ii (9) through the sleeve ii (8); the camera adjustment bracket A ( 12), the camera adjustment bracket B (13) is connected with the rotating shaft of the motor iii (11) in the slide bracket III (10); the camera (16) is clamped by the camera clamping bracket (15), and the motor iv (14 ) shaft is connected to the camera holding bracket (15) through the hole on the camera adjustment bracket B (13); the binocular vision camera support structure of the present invention is a left-right symmetrical structure, so in the structural description, only the right half is described, The left half has the same structure as the right half.

The support base (1) is connected with the sliding table bracket I (2) through cylindrical rolling, and the position is limited by using a magnetic control limiter.

The camera holding bracket B (13) is connected to the rotating shaft of the motor iii (11); the camera adjusting bracket A (12) is connected to the camera adjusting bracket B (13) through two rods.

Embodiment 2: In the present invention, the posture adjustment steps of the binocular vision camera support structure are as follows:

Step I: The supporting base (1) and the slide bracket I (2) are connected by rolling on the cylindrical surface, and the position is limited by the magnetic control limiter, so as to realize the rotation of the support structure of the binocular vision camera around the y-axis, and carry out the binocular vision camera Coarse adjustment of pitch angle;

Step II: Control the slide bracket III (10) to translate along the x-axis direction through the motor iv (4) through the roller screw i (6), and the motor ii (9) controls the slide bracket through the roller screw ii (7) II (3) translates along the y-axis direction; adjust the relative position between the sliding table support I (2), sliding table support II (3) and sliding table support III (10), and carry out the distance between the binocular vision cameras and the binocular vision Adjustment of the distance between the visual camera and the object;

Step III: Adjust the rotation of the camera adjustment bracket A (12) and the camera adjustment bracket B (13) around the z-axis of the camera through the motor iii (11) sleeved in the slide bracket III (10) to realize the binocular vision camera ( 16) Adjustment of the z-axis angle with the object to be detected;

Step IV: Motor iv (14) adjusts the pitch angle of the binocular vision camera (16) by adjusting the camera clamping bracket (15).

The basic principles and main features of the present invention and the advantages of the present invention have been shown and described above. Those skilled in the industry should understand that the present invention is not limited by the above-mentioned embodiments, and what described in the above-mentioned embodiments and the description only illustrates the principles of the present invention, and the present invention will also have other functions without departing from the spirit and scope of the present invention. Variations and improvements are possible, which fall within the scope of the claimed invention. The protection scope of the present invention is defined by the appended claims and their equivalents.

Claims (4)

1. A binocular vision camera support structure and a pose adjustment method thereof, characterized in that: the support base (1) is connected with the sliding table support I (2) through a cylindrical surface rolling; the sliding table support I (2) It is connected with the slider bracket II (3) through the roller screw ii (7), and the slider bracket II (3) and the slider bracket III (10) are connected through the roller screw i (6). The rod i (6) is connected to the rotating shaft of the motor i (4) through the sleeve i (5), and the roller screw ii (7) is connected to the rotating shaft of the motor ii (9) through the sleeve ii (8); the camera adjustment bracket A (12), camera adjustment bracket B (13) is connected with the motor iii (11) rotating shaft in the slide bracket III (10); the camera (16) is clamped by the camera clamping bracket (15), and the motor iv (14) The rotating shaft is connected to the camera holding bracket (15) through the hole on the camera adjustment bracket B (13); the binocular vision camera support structure of the present invention is a left-right symmetrical structure, so in the structural description, only the right half is described part, the left half has the same structure as the right half. 2. A binocular vision camera support structure and its posture adjustment method according to claim 1, characterized in that: the support base (1) is connected with the slide bracket I (2) through a cylindrical surface rolling, and the use of The magnetic control limiter is used for position limitation. 3. A binocular vision camera support structure and its posture adjustment method according to claim 1, characterized in that: the camera clamping bracket B (13) is connected to the rotating shaft of the motor iii (11); the camera adjustment bracket A (12) and the camera adjustment bracket B (13) are connected through two rods. 4. A binocular vision camera support structure and a pose adjustment method thereof, characterized in that: the binocular vision camera support structure pose adjustment steps are as follows: Step I: The supporting base (1) and the slide bracket I (2) are connected by rolling on the cylindrical surface, and the position is limited by the magnetic control limiter, so as to realize the rotation of the support structure of the binocular vision camera around the y-axis, and carry out the binocular vision camera Coarse adjustment of pitch angle; Step II: Control the slide bracket III (10) to translate along the x-axis direction through the motor iv (4) through the roller screw i (6), and the motor ii (9) controls the slide bracket through the roller screw ii (7) II (3) translates along the y-axis direction; adjust the relative position between the sliding table support I (2), sliding table support II (3) and sliding table support III (10), and carry out the distance between the binocular vision cameras and the binocular vision Adjustment of the distance between the visual camera and the object; Step III: Adjust the rotation of the camera adjustment bracket A (12) and the camera adjustment bracket B (13) around the z-axis of the camera through the motor iii (11) sleeved in the slide bracket III (10) to realize the binocular vision camera ( 16) Adjustment of the z-axis angle with the object to be detected; Step IV: Motor iv (14) adjusts the pitch angle of the binocular vision camera (16) by adjusting the camera clamping bracket (15).