CN113606456A - High-precision numerical control holder capable of automatically tracking and aiming - Google Patents
High-precision numerical control holder capable of automatically tracking and aiming Download PDFInfo
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- CN113606456A CN113606456A CN202110753554.9A CN202110753554A CN113606456A CN 113606456 A CN113606456 A CN 113606456A CN 202110753554 A CN202110753554 A CN 202110753554A CN 113606456 A CN113606456 A CN 113606456A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/08—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a vertical axis, e.g. panoramic heads
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Laser Beam Processing (AREA)
Abstract
The invention discloses a high-precision numerical control holder capable of automatically tracking and aiming, which comprises an image recognition module, a tracking control module and a servo module, wherein the image recognition module cuts and recognizes an image collected by a camera to determine the position coordinate of a target tracked and aimed by the holder; the tracking control module comprises a motion control module and a laser positioning module, the motion control module finds a tracking target by controlling the movement of the holder, and the laser positioning module emits laser with different powers to aim at the target; and an input interface of the servo module is connected with an output interface of the image recognition module, receives the position coordinate of the tracking aiming target, and responds to the output interface to output the rotating speed and the angle of the servo motor according to the received position coordinate. The invention adopts a mode of directly driving the hollow speed reducer rotating platform and the servo motor, avoids delay in multi-stage gear transmission, realizes automatic tracking and aiming functions by mutually coordinating and matching modules, and has high precision and good real-time tracking effect.
Description
Technical Field
The invention relates to a high-precision numerical control holder capable of automatically tracking and aiming, belonging to the field of laser holders.
Background
With the rapid development of computer technology and the rise of artificial intelligence discipline, computer vision is developing vigorously as a product combining the two. The computer vision can simulate the visual information collected by the imaging system to complete a series of identification, detection and tracking work by the biological vision through the processing and analysis of the computer and related equipment. The visual tracking technology is an important research field of computer vision and has wide application prospect in the fields of military affairs, manufacturing, medicine and the like.
The cradle head is used as a supporting device for fixing the imaging system, and the rotation control performance of the cradle head plays a decisive role in the tracking effect of the system. The tracking cloud platform that exists in the existing market, the multistage gear reduction structure of most, machining error and dress adjusting error can lead to there being the clearance between the gear, and when automatic tracking reciprocating motion, revolving stage counter-rotation response time becomes long to motor drive has the delay, hardly reaches real-time tracking's effect. In addition, the stepping precision of structures such as a rotary table and an encoder of the holder is low, and the tracking effect is poor.
Disclosure of Invention
In order to solve the technical problems in the prior art, the invention provides the high-precision numerical control holder capable of automatically tracking and aiming, which can realize automatic tracking and aiming, and has high precision and good real-time tracking effect.
The invention mainly adopts the technical scheme that:
a high-precision numerical control holder capable of automatically tracking and aiming comprises an image recognition module, a tracking control module and a servo module, wherein,
the input interface of the image identification module receives the pictures collected by the camera, cuts and identifies the pictures collected by the camera, and determines the position coordinates of the tripod head tracking and aiming target to be output through the output interface;
the tracking control module comprises a motion control module and a laser positioning module, the laser positioning module emits laser aiming targets with different powers and provides a current aiming target point for the motion control module; the input interface of the motion control module is connected with the output interface of the image identification module, the position of the tripod head tracking and aiming target output by the image identification module is obtained and is used as a tracking target point, and the aiming target point of the laser positioning module is combined to resolve and output a tripod head servo control instruction to control the movement of the tripod head so that the aiming target point and the tracking target point are superposed to realize the automatic identification and tracking of the target;
and the input interface of the servo module is connected with the output interface of the motion control module, receives a tripod head servo control instruction and makes a servo control action to control the rotating speed and the rotating angle of the servo motors of the horizontal axis motion module and the vertical axis motion module.
Preferably, the servo module comprises a horizontal axis movement module and a vertical axis movement module, the vertical axis movement module is fixed on a holder support frame of the horizontal axis movement module through a turntable bottom plate, and the rotation of the holder in the horizontal and vertical directions is realized in a way that a servo motor drives a hollow speed reducer to rotate a platform.
Preferably, the horizontal axis motion module comprises a holder base, an X-axis servo motor, a first rotating shaft, a holder support frame and an X-axis hollow speed reducer rotating platform; the rotary output end of the X-axis hollow speed reducer rotary platform is fixed on the holder base, the holder support frame is fixedly installed on the X-axis hollow speed reducer rotary platform fixing piece, the stator end of the X-axis servo motor is fixedly installed on the bottom surface of the top plate of the holder support frame, and the rotor end of the X-axis servo motor is connected with the input end of the X-axis hollow speed reducer rotary platform through a first rotating shaft.
Preferably, the vertical axis movement module comprises a turntable base plate, a motor fixing plate, a Y-axis servo motor, a second rotating shaft, a first turntable support, a second turntable support, a Y-axis hollow speed reducer rotating platform and a rotating shaft support; revolving stage bottom plate fixed mounting is in on the roof top surface of cloud platform support frame, Y axle servo motor's stator end passes through motor fixed plate horizontal installation on the revolving stage bottom plate, first revolving stage support and second revolving stage support are installed respectively motor fixed plate both sides, and are located Y axle servo motor both sides, Y axle cavity speed reducer rotary platform's mounting is fixed on the revolving stage bottom plate, Y axle cavity speed reducer rotary platform's plane of rotation and horizontal plane mutually perpendicular, Y axle servo motor's rotor end pass through the second pivot with Y axle cavity speed reducer rotary platform's input cooperation is connected, Y axle cavity speed reducer rotary platform's rotatory output with pivot support swivelling joint.
Preferably, the laser positioning module comprises a laser emitting head, the laser emitting head is fixedly mounted on the rotating shaft support, and the laser emitting head emits laser to the aiming target point.
Preferably, the cloud platform support frame includes backup pad and roof, the roof is connected perpendicularly the top of backup pad, the bottom fixed connection of backup pad is in on the X axle cavity speed reducer rotary platform.
Preferably, the control and response period of the pan-tilt is within 30ms, the tracking control precision is 0.001 degree, and the pitching control precision is 0.001 degree.
Has the advantages that: the invention provides a high-precision numerical control holder capable of automatically tracking and aiming, which comprises an image recognition module, a tracking control module and a servo module, wherein a mode of directly driving a hollow speed reducer rotating platform and a servo motor is adopted, so that delay in multi-stage gear transmission is avoided, the modules are mutually coordinated and matched, the automatic tracking and aiming function can be realized, and the high-precision numerical control holder is high in precision and good in real-time tracking effect.
Drawings
Fig. 1 is a schematic block diagram of the present invention.
Fig. 2 is an overall structural view of the present invention.
Fig. 3 is a block diagram of a horizontal axis motion module of the present invention.
Fig. 4 is a view showing the structure of a vertical axis motion module of the present invention.
Fig. 5 is a view showing the connection structure of the horizontal axis and vertical axis motion module according to the present invention.
In the figure: the device comprises an image identification module 1, a tracking control module 2, a servo module 3, a motion control module 4, a laser positioning module 5, a laser emitting head 5-1, a horizontal axis motion module 6, a holder base 6-1, an X axis servo motor 6-2, a first rotating shaft 6-3, a holder support frame 6-4, a top plate 6-41, an X axis hollow speed reducer rotating platform 6-5, a vertical axis motion module 7, a turntable bottom plate 7-1, a motor fixing plate 7-2, a Y axis servo motor 7-3, a second rotating shaft 7-4, a first turntable support 7-5, a second turntable support 7-6, a Y axis hollow speed reducer rotating platform 7-7 and a rotating shaft support 7-8.
Detailed Description
In order to make those skilled in the art better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application are clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
As shown in fig. 1 and 2, a high-precision numerical control pan/tilt head capable of automatically tracking and aiming comprises an image recognition module 1, a tracking control module 2 and a servo module 3, wherein,
the input interface of the image identification module 1 receives the pictures collected by the camera, cuts and identifies the pictures collected by the camera, and determines the position coordinates of the tripod head tracking and aiming target to be output through the output interface;
the tracking control module 2 comprises a motion control module 4 and a laser positioning module 5, the laser positioning module 5 emits laser aiming targets with different powers and provides a current aiming target point for the motion control module 5, an input interface of the motion control module 5 is connected with an output interface of the image identification module 1, the position of a cradle head tracking aiming target output by the image identification module 1 is obtained and is used as a tracking target point, and a cradle head servo control instruction is resolved and output to control the movement of the cradle head so that the aiming target point and the tracking target point are superposed to realize the automatic identification and tracking of the target in combination with the aiming target point of the laser positioning module 4;
and an input interface of the servo module 3 is connected with an output interface of the motion control module 5, receives a pan-tilt servo control instruction and makes a servo control action, and controls the rotating speed and the angle of a servo motor of the horizontal axis motion module 6 and the vertical axis motion module 7.
As shown in fig. 5, the servo module 3 includes a horizontal axis movement module 6 and a vertical axis movement module 7, the vertical axis movement module 7 is fixed on a pan-tilt support frame 6-4 of the horizontal axis movement module 6 through a turntable bottom plate 7-1, and the pan-tilt is rotated in the horizontal and vertical directions by driving a hollow speed reducer to rotate a platform through a servo motor.
As shown in fig. 3, the horizontal axis motion module 6 comprises a pan-tilt base 6-1, an X-axis servo motor 6-2, a first rotating shaft 6-3, a pan-tilt support frame 6-4 and an X-axis hollow speed reducer rotating platform 6-5; the rotary output end of the X-axis hollow speed reducer rotary platform 6-5 is fixed on the holder base 6-1, the holder support frame 6-4 is fixedly installed on a fixing piece of the X-axis hollow speed reducer rotary platform 6-5, the stator end of the X-axis servo motor 6-2 is fixedly installed on the bottom surface of the top plate 6-41 of the holder support frame 6-4, and the rotor end of the X-axis servo motor 6-2 is connected with the input end of the X-axis hollow speed reducer rotary platform 6-5 through the first rotating shaft 6-3. In the invention, the rotation of the rotor end of the X-axis servo motor 6-2 is transmitted to the output end of the X-axis hollow speed reducer rotating platform 6-5, the output end of the X-axis hollow speed reducer rotating platform 6-5 in the horizontal rotation process is fixed, and the fixing piece of the X-axis hollow speed reducer rotating platform 6-5 rotates around the output end to drive the tripod head support frame 6-4 fixed on the X-axis hollow speed reducer rotating platform 6-5 and the stator end of the X-axis servo motor 6-2 to rotate around the tripod head base 6-1.
In the invention, the holder support frame 6-4 comprises a support plate 6-42 and a top plate 6-41, wherein the top plate 6-41 is vertically connected to the top end of the support plate 6-42, and the bottom end of the support plate 6-42 is fixedly connected to an X-axis hollow speed reducer rotating platform 6-5.
As shown in fig. 4, the vertical axis movement module 7 comprises a turntable bottom plate 7-1, a motor fixing plate 7-2, a Y axis servo motor 7-3, a second rotating shaft 7-4, a first turntable support 7-5, a second turntable support 7-6, a Y axis hollow speed reducer rotating platform 7-7, a rotating shaft support 7-8, a turntable rotating shaft and a rotating shaft supporting plate; the rotary table bottom plate 7-1 is fixedly installed on the top surface of a top plate 6-41 of the holder support frame 6-4, the stator end of the Y-axis servo motor 7-3 is horizontally installed on the rotary table bottom plate 7-1 through a motor fixing plate 7-2, the first rotary table support 7-5 and the second rotary table support 7-6 are respectively installed on two sides of the motor fixing plate 7-2 and located on two sides of the Y-axis servo motor 7-3, a fixing piece of the rotary platform 7-7 of the Y-axis hollow speed reducer is fixed on the rotary table bottom plate 7-1, the rotary surface of the rotary platform 7-7 of the Y-axis hollow speed reducer is perpendicular to the horizontal plane, the rotor end of the Y-axis servo motor 7-3 is connected with the input end of the rotary platform 7-7 of the Y-axis hollow speed reducer in a matching manner through a second rotary shaft 7-4, and the rotary output end of the rotary platform 7-7 of the Y-axis hollow speed reducer is rotatably connected with the rotary shaft support 7-8. In the invention, the rotor of the Y-axis servo motor 7-3 rotates to drive the rotating shaft bracket 7-8 to rotate.
In the invention, the first rotary table bracket 7-5, the second rotary table bracket 7-6 and the motor fixing plate 7-2 surround the motor together to play a role in fixing and protecting the motor.
As shown in fig. 2, the laser positioning module 5 includes a laser emitting head 5-1, the laser emitting head 5-1 is fixedly mounted on the rotating shaft support 7-8, the laser emitting head 5-1 aims at a target by emitting laser, the tracking control precision is 0.001 degree, and the pitching control precision is 0.001 degree.
In the invention, the X-axis hollow speed reducer rotating platform and the Y-axis hollow speed reducer rotating platform respectively comprise a rotating output end, an input end and a fixing piece of the rotating output end, and the input end and the output end are connected with a 1-stage helical gear through crossed helical roller bearings, so that the tripod head has a low back clearance structure. The input and output rotating speeds are all 10: 1.
in the invention, the cloud platform processes and analyzes the collected image to obtain the position coordinates of the tracking target, or after the position of the tracking target is manually input, the cloud platform can quickly respond to the rotating laser emission port to aim at the target and emit laser to calibrate the target, the cloud platform tracks the calibrated target in real time to enable the calibrated target to be always positioned at the central position of a screen, and the control and response period of the cloud platform is within 30 ms.
When the numerical control tripod head is implemented specifically, the numerical control tripod head can be divided into an image identification module 1, a tracking and aiming module 2 and a servo module 3, a mode that a hollow speed reducer rotating platform and a servo motor are directly driven is adopted, delay existing in multi-stage gear transmission is avoided, the modules are mutually coordinated and matched, an automatic tracking and aiming function can be achieved, the precision is high, and the real-time tracking effect is good.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (7)
1. The utility model provides a high accuracy numerical control cloud platform that automatic tracking aimed which characterized in that: comprises an image identification module, a tracking control module and a servo module, wherein,
the input interface of the image identification module receives the pictures collected by the camera, cuts and identifies the pictures collected by the camera, and determines the position coordinates of the tripod head tracking and aiming target to be output through the output interface;
the tracking control module comprises a motion control module and a laser positioning module, the laser positioning module emits laser aiming targets with different powers and provides a current aiming target point for the motion control module; the input interface of the motion control module is connected with the output interface of the image identification module, the position of the tripod head tracking and aiming target output by the image identification module is obtained and is used as a tracking target point, and the aiming target point of the laser positioning module is combined to resolve and output a tripod head servo control instruction to control the movement of the tripod head so that the aiming target point and the tracking target point are superposed to realize the automatic identification and tracking of the target;
and the input interface of the servo module is connected with the output interface of the motion control module, receives a tripod head servo control instruction and makes a servo control action to control the rotating speed and the rotating angle of the servo motors of the horizontal axis motion module and the vertical axis motion module.
2. The high-precision numerical control holder capable of automatically tracking and aiming as claimed in claim 1, wherein: the servo module comprises a horizontal axis movement module and a vertical axis movement module, the vertical axis movement module is fixed on a holder support frame of the horizontal axis movement module through a turntable bottom plate, and the rotation of the holder in the horizontal direction and the vertical direction is realized in a mode that a hollow speed reducer is driven by a servo motor to rotate a platform.
3. The high-precision numerical control holder capable of automatically tracking and aiming as claimed in claim 2, wherein: the horizontal axis motion module comprises a holder base, an X-axis servo motor, a first rotating shaft, a holder support frame and an X-axis hollow speed reducer rotating platform; the rotary output end of the X-axis hollow speed reducer rotary platform is fixed on the holder base, the holder support frame is fixedly installed on the X-axis hollow speed reducer rotary platform fixing piece, the stator end of the X-axis servo motor is fixedly installed on the bottom surface of the top plate of the holder support frame, and the rotor end of the X-axis servo motor is connected with the input end of the X-axis hollow speed reducer rotary platform through a first rotating shaft.
4. The high-precision numerical control holder capable of automatically tracking and aiming as claimed in claim 3, wherein: the vertical axis motion module comprises a rotary table bottom plate, a motor fixing plate, a Y-axis servo motor, a second rotary shaft, a first rotary table support, a second rotary table support, a Y-axis hollow speed reducer rotary platform and a rotary shaft support; revolving stage bottom plate fixed mounting is in on the roof top surface of cloud platform support frame, Y axle servo motor's stator end passes through motor fixed plate horizontal installation on the revolving stage bottom plate, first revolving stage support and second revolving stage support are installed respectively motor fixed plate both sides, and are located Y axle servo motor both sides, Y axle cavity speed reducer rotary platform's mounting is fixed on the revolving stage bottom plate, Y axle cavity speed reducer rotary platform's plane of rotation and horizontal plane mutually perpendicular, Y axle servo motor's rotor end pass through the second pivot with Y axle cavity speed reducer rotary platform's input cooperation is connected, Y axle cavity speed reducer rotary platform's rotatory output with pivot support swivelling joint.
5. The high-precision numerical control holder capable of automatically tracking and aiming as claimed in claim 4, wherein: the laser positioning module comprises a laser emitting head which is fixedly arranged on the rotating shaft support, and the laser emitting head emits laser to the aiming target point.
6. The high-precision numerical control holder capable of automatically tracking and aiming as claimed in claim 5, wherein: the cloud platform support frame includes backup pad and roof, the roof is connected perpendicularly the top of backup pad, the bottom fixed connection of backup pad is in on the X axle cavity speed reducer rotary platform.
7. The high-precision numerical control holder capable of automatically tracking and aiming as claimed in claim 1 or 6, wherein: the control and response period of the pan-tilt is within 30ms, the tracking control precision is 0.001 degree, and the pitching control precision is 0.001 degree.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110753554.9A CN113606456A (en) | 2021-07-02 | 2021-07-02 | High-precision numerical control holder capable of automatically tracking and aiming |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110753554.9A CN113606456A (en) | 2021-07-02 | 2021-07-02 | High-precision numerical control holder capable of automatically tracking and aiming |
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