CN110351485A - A kind of machine vision tracking rotation device and control method - Google Patents
A kind of machine vision tracking rotation device and control method Download PDFInfo
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- CN110351485A CN110351485A CN201910740767.0A CN201910740767A CN110351485A CN 110351485 A CN110351485 A CN 110351485A CN 201910740767 A CN201910740767 A CN 201910740767A CN 110351485 A CN110351485 A CN 110351485A
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- driving motor
- circuit board
- fixedly connected
- swivel becket
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- 238000000034 method Methods 0.000 title claims description 15
- 230000005540 biological transmission Effects 0.000 claims abstract description 12
- 210000000245 forearm Anatomy 0.000 claims description 17
- 239000007858 starting material Substances 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims 1
- 238000010276 construction Methods 0.000 abstract description 2
- 230000001737 promoting effect Effects 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000006641 stabilisation Effects 0.000 description 2
- 238000011105 stabilization Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/61—Control of cameras or camera modules based on recognised objects
- H04N23/611—Control of cameras or camera modules based on recognised objects where the recognised objects include parts of the human body
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Toys (AREA)
- Accessories Of Cameras (AREA)
Abstract
The invention belongs to follow-up mechanism technical fields, in particular a kind of machine vision tracking rotation device, including rack, driving motor is fixedly installed on the side wall of the rack, the output end of the driving motor is fixedly connected with driving wheel, the surface engaged transmission of the driving wheel has crawler belt, the surface engaged transmission of the crawler belt has driven wheel one, driven wheel two, the rack built-in control circuit plate, the supplying cell on frame side wall is fixed with right above the control circuit board, plummer is fixedly connected between two racks, rotary electric machine is fixedly connected at the top of the plummer, the output end of the rotary electric machine is fixedly connected with turntable, Rotational Cylindrical is fixedly connected at the top of the turntable, principal arm is fixedly connected on the side wall of the Rotational Cylindrical.Overall construction design advantages of simple of the present invention, practical, mechanism is compact, has good promotional value.
Description
Technical field
The present invention relates to follow-up mechanism technical field, specially a kind of machine vision tracking rotation device and control method.
Background technique
As the booming manufacturing industry of China's economic is rapidly developed, the automation of some detections has become one kind and becomes
Gesture.
One industrial camera is installed using position fixed height is fixed above crank end, industrial camera claps downwards one
Photo is passed in computer and is handled.Computer captures the image position of crank end, and calculates crank end to photograph
The pixel number of piece central point, with the pixel number multiplied by the pel spacing value of this photo, so that it may calculate mechanical arm
To the X-direction of crank end and the distance of Y-direction.
If the height distance of industrial camera to crank end is fixed value, pel spacing is exactly fixed value in photo, such as
Fruit distance is uncertain, and the spacing of two pixels is exactly variable.
Horizontal plane where crank end is a virtual plane, and is not present, can not precise measurement industrial camera arrive
The distance of this virtual plane, also you can't get the spacing of two pixels, can not be computed correctly mechanical arm to crank end X
The distance value in direction and the direction y, at the same can not judge apart from while can not carry out information capture.
Summary of the invention
(1) the technical issues of solving
In view of the deficiencies of the prior art, the present invention provides a kind of machine vision tracking rotation device and control method, solutions
The problem of having determined proposed in above-mentioned background technique.
(2) technical solution
To achieve the above object, the invention provides the following technical scheme: a kind of machine vision tracking rotation device, including machine
Frame is fixedly installed with driving motor on the side wall of the rack, and the output end of the driving motor is fixedly connected with driving wheel, institute
The surface engaged transmission for stating driving wheel has crawler belt, and the surface engaged transmission of the crawler belt has driven wheel one, driven wheel two, the machine
Frame built-in control circuit plate, the supplying cell on frame side wall is fixed with right above the control circuit board, is located at
It is fixedly connected with plummer between two racks, rotary electric machine, the rotation are fixedly connected at the top of the plummer
The output end of motor is fixedly connected with turntable, is fixedly connected with Rotational Cylindrical at the top of the turntable, on the side wall of the Rotational Cylindrical
It is fixedly connected with principal arm, the principal arm and forearm are rotatablely connected, and are fixedly connected with linking arm, the connection at the top of the forearm
It is fixedly connected with link block at the top of arm, recognition of face camera, the linking arm are fixedly connected at the top of the link block
Inner rotation be connected with swivel becket one, the swivel becket one is socketed on electric pushrod one, one end of the electric pushrod one
It being socketed on swivel becket two, the swivel becket two is fixed on forearm, it is fixed with swivel becket three on the side wall of the forearm,
One end of the swivel becket three is fixedly attached on electric pushrod, and one end of the electric pushrod is fixedly attached on swivel becket,
The swivel becket is fixed on principal arm.
The control circuit board is electrically connected electric pushrod one, rotary electric machine and electric pushrod two, the control by conducting wire
Circuit board processed is electrically connected by conducting wire and supplying cell, and the control circuit board is electrical by conducting wire and recognition of face camera
Connection, the control circuit board are electrically connected with relay one and relay two respectively by conducting wire, the relay one and after
Electric appliance two is electrically connected by conducting wire and driving motor one and driving motor two respectively.
As a preferred technical solution of the present invention, the driving wheel, driven wheel one and driven wheel two form triangle,
The driven wheel one is connect with gantry rotation respectively with driven wheel two.
As a preferred technical solution of the present invention, the turntable and protecting platform are rotatablely connected, the protecting platform
It is fixedly mounted on plummer.
As a preferred technical solution of the present invention, there are two the driving motor quantity, and one is driving motor one,
Another is that driving motor two, driving motor one and driving motor two are symmetrical arranged with tilting oblique line.
A kind of machine vision tracking rotation device and control method,
S1: starter is powered control circuit board by supplying cell, and control circuit board is worked simultaneously,
Total system works；
S2: carrying out long-range control and operation input to control circuit board, (such as USB accesses tracked information typing, together
When can using remote information input, such as g transmission input, input mode is the prior art)；And then it is opened by control circuit board
Recognition of face camera, recognition of face camera tracked information compare in control circuit board；
S3: after the completion of comparison in S2, under mobility status, control circuit board controls relay one and relay two, then
Relay one and relay two control driving motor one and driving motor two as drive system, so that whole moved respectively
(driving motor two is motionless when driving motor one is driven, and single unit system is turned to the left, and driving motor two is driven,
Driving motor one is motionless, and single unit system turns to the right, and when driving motor one and driving motor two drive simultaneously, single unit system moves ahead
Or retreat)；
S4: after completing comparison in S2, can be controlled by control circuit board, so that electric pushrod two is driven, so that
Large arm and forearm carry out flexible opening, and then control circuit board driving electric pushrod is for the moment, so that producing between forearm and linking arm
The male character types in Chinese operas, usu. referring tov the bearded character degree, so that recognition of face images head tilt；
S5: after completing comparison in S2, can also be controlled by control circuit board, so that rotary electric machine is rotated, rotation
Motor drives turntable to be rotated, so that the entirety on turntable is rotated；
S6: being controlled by control circuit board, can be completed at the same time S2, S3, S4 and S5 driving work step.
(3) beneficial effect
Compared with prior art, the present invention provides a kind of machine vision tracking rotation device and control method, have with
It is lower the utility model has the advantages that
1, the machine vision tracking rotation device and control method, by crawler type driving method, driving is stablized, so that dynamic
Power is abundant, and single unit system moves fast block, and tracking effect is good.
2, the machine vision tracking rotation device and control method are turned to by having, flexible and elevating function, in turn
So that tracking effect is more preferable, while controllability and adaptivity ability are stronger, more convenient to use.
3, the machine vision tracking rotation device and control method, overall construction design advantages of simple, practical, mechanism
It is compact, have good promotional value.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention；
Fig. 2 is structure of the invention front view；
Fig. 3 is structure of the invention side view；
Fig. 4 is structure of the invention system diagram.
In figure: 1, rack；2, driving motor；3, driving wheel；4, crawler belt；5, driven wheel one；6, driven wheel two；7, control electricity
Road plate；8, supplying cell；9, plummer；10, rotary electric machine；11, turntable；12, protecting platform；13, Rotational Cylindrical；14, principal arm；
15, forearm；16, linking arm；17, link block；18, recognition of face camera；19, swivel becket one；20, electric pushrod one；21, turn
Rotating ring two；22, swivel becket three；23, electric pushrod two；24, swivel becket four；25, relay one；26, relay two.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Embodiment
Please refer to Fig. 1-4, the present invention is the following technical schemes are provided: a kind of machine vision tracking rotation device, including rack
1, driving motor 2 is fixedly installed on the side wall of rack 1, and the output end of driving motor 2 is fixedly connected with driving wheel 3, driving wheel 3
Surface engaged transmission have a crawler belt 4, the surface engaged transmission of crawler belt 4 has driven wheel 1, driven wheel 26, the built-in control of rack 1
Circuit board 7 is fixed with the supplying cell 8 on 1 side wall of rack positioned at the surface of control circuit board 7, be located at two racks 1 it
Between be fixedly connected with plummer 9, the top of plummer 9 is fixedly connected with rotary electric machine 10, and the output end of rotary electric machine 10 is fixed
It is connected with turntable 11, the top of turntable 11 is fixedly connected with Rotational Cylindrical 13, principal arm 14 is fixedly connected on the side wall of Rotational Cylindrical 13,
Principal arm 14 and forearm 15 are rotatablely connected, and the top of forearm 15 is fixedly connected with linking arm 16, and the top of linking arm 16 is fixedly connected
There is link block 17, the top of link block 17 is fixedly connected with recognition of face camera 18, and the inner rotation of linking arm 16 is connected with
Swivel becket 1, swivel becket 1 are socketed on electric pushrod 1, and one end of electric pushrod 1 is socketed in swivel becket 2 21
On, swivel becket 2 21 is fixed on forearm 15, and swivel becket 3 22 is fixed on the side wall of forearm, and one end of swivel becket 3 22 is fixed
It is socketed on electric pushrod 2 23, one end of electric pushrod 2 23 is fixedly attached on swivel becket 4 24, and swivel becket 4 24 is fixed
On principal arm 14.
Control circuit board 7 is electrically connected electric pushrod 1, rotary electric machine 10 and electric pushrod 2 23, control by conducting wire
Circuit board 7 is electrically connected by conducting wire and supplying cell 8, and control circuit board 7 passes through conducting wire and recognition of face camera 18 electrically
Connection, control circuit board 7 are electrically connected with relay 1 and relay 2 26 respectively by conducting wire, relay 1 and relay
Device 2 26 is electrically connected by conducting wire and driving motor one and driving motor two respectively.
In the present embodiment, single unit system can meet mobile, steering, lifting, folder function, so that recognition of face is taken the photograph
It carries out comprehensive tracking and adjusts as first 18, and recognition of face camera 18 uses existing camera, with the use of control circuit board 7
Existing intelligent chip.
Specifically, driving wheel 3, driven wheel 1 and driven wheel 26 form triangle, driven wheel 1 with 26 points of driven wheel
It is not rotatablely connected with rack 1.
In the present embodiment, the driven wheel 1 and driven wheel 26 and driving wheel 3 of triangle transmission have certain stabilization
Property, while driving powerful, stabilization.
Specifically, turntable 11 and protecting platform 12 are rotatablely connected, protecting platform 12 is fixedly mounted on plummer 9.
In the present embodiment, protecting platform 12 and turntable 11 are in the same plane, are conducive to protect turntable 11 in this way
Shield.
Specifically, one is driving motor one there are two 2 quantity of driving motor, another is driving motor two, driving electricity
Machine one and driving motor two are symmetrical arranged with tilting oblique line.
In the present embodiment, driving motor one controls respectively with driving motor two, so meet single unit system steering and
Telemechanical.
A kind of machine vision tracking rotation device and control method,
S1: starter is powered control circuit board 7 by supplying cell 8, and control circuit board 7 work same
When, total system works；
S2: carrying out long-range control and operation input to control circuit board 7, (such as USB accesses tracked information typing,
It is inputted simultaneously using remote information, such as 4g transmission input, input mode is the prior art)；And then pass through control circuit board 7
Recognition of face camera 18 is opened, 18 tracked information of recognition of face camera compares in control circuit board 7；
S3: after the completion of comparison in S2, under mobility status, control circuit board 7 controls relay 1 and relay 2 26,
Then relay 1 and relay 2 26 control driving motor one and driving motor two as drive system, so that whole respectively
Carry out it is mobile (driving motor two is motionless when driving motor one is driven, and single unit system is turned to the left, driving motor two into
Row driving, driving motor one is motionless, and single unit system turns to the right, whole when driving motor one and driving motor two drive simultaneously
Device is moved ahead or is retreated)；
S4: after completing comparison in S2, it can be controlled by control circuit board 7, so that electric pushrod 2 23 is driven, be made
Large arm 15 and forearm 15 carry out flexible opening, and then when control circuit board 7 drives electric pushrod 1, so that forearm 15 and even
It connects and generates angle between arm 16, so that recognition of face camera 18 tilts；
S5: after completing comparison in S2, can also be controlled by control circuit board 7, so that rotary electric machine 10 is rotated, be turned
Dynamic motor 10 drives turntable 11 to be rotated, so that the entirety on turntable 11 is rotated；
S6: being controlled by control circuit board 7, can be completed at the same time S2, S3, S4 and S5 driving work step.
Finally, it should be noted that the foregoing is only a preferred embodiment of the present invention, it is not intended to restrict the invention,
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art, still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (5)
1. a kind of machine vision tracking rotation device, including rack (1), it is characterised in that: fixed on the side wall of the rack (1)
It is equipped with driving motor (2), the output end of the driving motor (2) is fixedly connected with driving wheel (3), the driving wheel (3)
Surface engaged transmission has crawler belt (4), and the surface engaged transmission of the crawler belt (4) has driven wheel one (5), driven wheel two (6), described
Rack (1) built-in control circuit plate (7) is located at right above the control circuit board (7) and is fixed on rack (1) side wall
Supplying cell (8) is fixedly connected with plummer (9) between two racks (1), and the top of the plummer (9) is solid
Surely it is connected with rotary electric machine (10), the output end of the rotary electric machine (10) is fixedly connected with turntable (11), the turntable (11)
Top be fixedly connected with Rotational Cylindrical (13), be fixedly connected with principal arm (14), the principal arm on the side wall of the Rotational Cylindrical (13)
(14) it is rotatablely connected, is fixedly connected with linking arm (16) at the top of the forearm (15), the linking arm (16) with forearm (15)
Top be fixedly connected with link block (17), be fixedly connected with recognition of face camera (18) at the top of the link block (17),
The inner rotation of the linking arm (16) is connected with swivel becket one (19), and the swivel becket one (19) is socketed in electric pushrod one
(20) on, one end of the electric pushrod one (20) is socketed on swivel becket two (21), and the swivel becket two (21) is fixed on small
On arm (15), swivel becket three (22), one end fixing sleeve of the swivel becket three (22) are fixed on the side wall of the forearm
It connects on electric pushrod (23), one end of the electric pushrod (23) is fixedly attached on swivel becket (24), the swivel becket
(24) it is fixed on principal arm (14)；
The control circuit board (7) is electrically connected electric pushrod one (20), rotary electric machine (9) and electric pushrod two by conducting wire
(23), the control circuit board (8) is electrically connected by conducting wire and supplying cell (8), and the control circuit board (7) passes through conducting wire
With recognition of face camera (18) be electrically connected, the control circuit board (7) by conducting wire respectively with relay one (25) and after
Electric appliance two (26) is electrically connected, and the relay one (25) and relay two (26) by conducting wire and driving motor one and drive respectively
Dynamic motor two is electrically connected.
2. a kind of machine vision tracking rotation device according to claim 1 and control method, it is characterised in that: the drive
Driving wheel (3), driven wheel one (5) and driven wheel two (6) form triangle, the driven wheel one (5) and driven wheel two (6) respectively with
Rack (1) rotation connection.
3. a kind of machine vision tracking rotation device according to claim 1, it is characterised in that: the turntable (11) and guarantor
Platform (12) rotation connection is protected, the protecting platform (12) is fixedly mounted on plummer (9).
4. a kind of machine vision tracking rotation device according to claim 1, it is characterised in that: the driving motor (2)
There are two quantity, and one is driving motor one, another is that driving motor two, driving motor one and driving motor two are oblique to tilt
Line is symmetrical arranged.
5. a kind of machine vision tracking rotation device and control method of -4 any one according to claim 1, it is characterised in that:
S1: starter is powered control circuit board (7) by supplying cell (8), and control circuit board 7 work same
When, total system works；
S2: carrying out long-range control and operation input to control circuit board 7, (such as USB accesses tracked information typing, simultaneously
It is inputted using remote information, such as 4g transmission input, input mode is the prior art)；And then it is opened by control circuit board 7
Recognition of face camera 18,18 tracked information of recognition of face camera compare in control circuit board 7；
S3: after the completion of comparison in S2, under mobility status, control circuit board 7 controls relay 1 and relay 2 26, then
Relay 1 and relay 2 26 control driving motor one and driving motor two as drive system, so that whole carry out respectively
It is mobile that (driving motor two is motionless when driving motor one is driven, and single unit system is turned to the left, and driving motor two is driven
Dynamic, driving motor one is motionless, and single unit system turns to the right, when driving motor one and driving motor two drive simultaneously, single unit system
It moves ahead or retreats)；
S4: after completing comparison in S2, it can be controlled by control circuit board (7), so that electric pushrod two (23) is driven, be made
It obtains large arm (15) and forearm (15) and carries out flexible opening, and then when control circuit board (7) driving electric pushrod one (20), so that small
Angle is generated between arm (15) and linking arm (16), so that recognition of face camera (18) tilts；
S5: after completing comparison in S2, can also be controlled by control circuit board (7), so that rotary electric machine (10) is rotated, be turned
Dynamic motor (10) drive turntable (11) to be rotated, so that the entirety on turntable (11) is rotated；
S6: being controlled by control circuit board 7, can be completed at the same time S2, S3, S4 and S5 driving work step.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910740767.0A CN110351485A (en) | 2019-08-12 | 2019-08-12 | A kind of machine vision tracking rotation device and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910740767.0A CN110351485A (en) | 2019-08-12 | 2019-08-12 | A kind of machine vision tracking rotation device and control method |
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| Publication Number | Publication Date |
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| CN110351485A true CN110351485A (en) | 2019-10-18 |
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| CN201910740767.0A Pending CN110351485A (en) | 2019-08-12 | 2019-08-12 | A kind of machine vision tracking rotation device and control method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110723226A (en) * | 2019-10-22 | 2020-01-24 | 北京深醒科技有限公司 | Security protection patrol robot with stable structure |
| CN111503451A (en) * | 2020-04-18 | 2020-08-07 | 刘志亮 | Intelligent monitoring camera without dead angle |
| CN112664219A (en) * | 2020-12-22 | 2021-04-16 | 临沂矿业集团有限责任公司 | Coal mine roadway tunneling device based on big data |
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