CN202975814U - Stereoscopic vision spatial dynamic tracking device - Google Patents
Stereoscopic vision spatial dynamic tracking device Download PDFInfo
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- CN202975814U CN202975814U CN 201220622846 CN201220622846U CN202975814U CN 202975814 U CN202975814 U CN 202975814U CN 201220622846 CN201220622846 CN 201220622846 CN 201220622846 U CN201220622846 U CN 201220622846U CN 202975814 U CN202975814 U CN 202975814U
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Abstract
The utility model discloses a stereoscopic vision spatial dynamic tracking device, comprising an XYZ three-dimensional motion platform and a stereoscopic vision mechanism capable of conducting stereoscopic shooting of an object and outputting spatial coordinate information of the object. The XYZ three-dimensional motion platform comprises a pedestal, and an X-axis motion mechanism, a Y-axis motion mechanism, and a Z-axis motion mechanism, which are erected on the pedestal and mutually erected. A positioning pointer is fixed on the Z-axis motion mechanism. The device further comprises an industrial control computer which is used for receiving the spatial coordinate information of the object sent from the stereoscopic vision mechanism, processing the spatial coordinate information, and then controlling motions of the X-axis motion mechanism, the Y-axis motion mechanism, and the Z-axis motion mechanism of the XYZ three-dimensional motion platform. The tracking device is high in positioning precision, fast in reaction speed, and capable of realizing real-time tracking of the object by combining with the three-dimensional motion platform and enabling people to directly observe tracking processes and results.
Description
Technical field
The utility model relates to the technical field of tracking, espespecially a kind of space dynamic tracking apparatus based on stereoscopic vision and three-dimensional motion platform.
Background technology
Traditional target tracker usually needs extra equipment (laser for example, infrared ray etc.) indicating target thing, could realize the target following of operating equipment, and be difficult to realize the dynamic tracking to target, existing tracking means based on the camera vision is difficult to check intuitively tracing process and tracking results.Therefore, how to provide a kind of more general dynamic tracking apparatus and the real-time observation tracking results of energy become the current problem that needs solution.
The utility model content
Technical problem to be solved in the utility model is to provide a kind of space dynamic tracking apparatus based on stereoscopic vision and three-dimensional motion platform, realizes complexity to overcome the conventional target tracker, and real-time performance of tracking is poor, the poor series of problems that waits of intuitive.
For solving the problems of the technologies described above, technical solution of the present utility model is:
A kind of stereoscopic vision space dynamic tracking apparatus comprises XYZ three-dimensional motion platform and can carry out to an object stereoscopic vision mechanism of the volume coordinate information of stereoscopic shooting and export target thing; X-axis motion, Y-axis motion and Z axis motion that this XYZ three-dimensional motion platform comprises base and is erected on base and mutually sets up are fixed with positioning pointer on the Z axis motion; This device also comprises receiving the volume coordinate information of the object that stereoscopic vision mechanism sends, and this information is processed, and controls afterwards the industrial computer of the XYZ three-axis moving mechanism action of XYZ three-dimensional motion platform.
Described stereoscopic vision mechanism is a stereoscopic vision video camera with binocular, or two video cameras of parallel arranged at a certain distance.
Described stereoscopic vision mechanism is arranged on horizontal angle, the angle of pitch and highly all on adjustable tripod.
Described XYZ three-axis moving mechanism comprises respectively axle moving assembly and axle slide assemblies, and the three is the setting of cartesian space coordinate structure.
Described axle moving assembly comprises pedestal, is arranged on leading screw, the embedded ball assembly that coordinates with leading screw on pedestal and can drives the servomotor that leading screw rotates.
Described leading screw two ends respectively arrange a limit switch.
Described servomotor be with the DC servo motor of scrambler and speed reduction unit or for separately with the DC servo motor of scrambler, and adopt closed-loop control.
Described axle slide assemblies comprises two guide rails that are arranged on said base and the guide rail slide assemblies that coordinates with guide rail, and this guide rail slide assemblies is fixedly connected with described embedded ball assembly.
Be fixed with a supporting component on described guide rail slide assemblies.
Described XYZ three-axis moving mechanism also comprises the grating scale that is arranged on described axle moving assembly one side and is arranged on grating scale probe on described slide assemblies, and this grating scale probe is placed on grating scale.
After adopting such scheme, what adopt due to tracking means described in the utility model is stereoscopic vision mechanism, and its bearing accuracy is high, and reaction velocity is fast, real-time follow-up to object can be realized in conjunction with the three-dimensional motion platform again, and tracing process and result can be intuitively observed.This tracking means can be applied to factory's streamline to the processing on real-time of manufacture component, also can be used under hazardous environment specifying the classification of object, the operations such as processing; Itself also can be used as institution of higher learning's research equipment this tracking means, follows the tracks of in vision, and range finding, closed-loop control, there is scientific research use widely in the fields such as visual servo.
Description of drawings
Fig. 1 is stereographic map of the present utility model;
Fig. 2 is another angle service chart of the present utility model;
Fig. 3 is axle moving assembly structural representation described in the utility model;
Fig. 4 is axle slide assemblies structural representation described in the utility model.
Embodiment
The utility model is described in further detail below in conjunction with the drawings and specific embodiments.
The utility model discloses is a kind of stereoscopic vision space dynamic tracking apparatus, as shown in Figures 1 and 2, is preferred embodiment of the present utility model.Described tracking means comprises XYZ three-dimensional motion platform 1, stereoscopic vision mechanism 2, industrial computer 3 and object 4.Wherein:
Described XYZ three-dimensional motion platform 1 comprises base 11 and the X-axis motion 12, Y-axis motion 13 and the Z axis motion 14 that are erected on base 11 and mutually set up, is fixed with positioning pointer 15 on Z axis motion 14.This XYZ three-dimensional motion platform 1 can be for existing conventional three-dimensional motion platform, for example in the CN201111957Y Chinese utility model patent disclosed a kind of " triaxial movement platform " of Granted publication on September 10th, 2008.And the XYZ three- axis moving mechanism 12,13,14 of the described XYZ three-dimensional motion of the present embodiment platform 1 comprises respectively axle moving assembly and axle slide assemblies, and the three is the setting of cartesian space coordinate structure.That is to say, the X-axis moving assembly is fixed on base 1, the X-axis moving assembly touches by X-axis slide assemblies and the moving assembly vertical connection of y-axis shift, the X-axis slide assemblies can be done vector together with the moving assembly of y-axis shift and slide on the X-axis moving assembly, X slide assemblies initial position is placed in the destination county of X-axis moving assembly.Z axis motion 14 is perpendicular to the plane of XY shaft movement mechanism, and moving assembly is vertical is connected by Y-axis slide assemblies and y-axis shift, and Z axis motion 14 is placed in the center of the moving assembly of y-axis shift together with the initial position of Y-axis slide assemblies.The Z axis slide assemblies is installed on the Z axis moving assembly, a positioning pointer 15 in order to the locus indication can be set on this Z axis slide assemblies.This cartesian space coordinate structure, not only simple in structure, and space motion path is clear.
Axle moving assembly and the axle slide assemblies of above-mentioned XYZ three- axis moving mechanism 12,13,14 can adopt identical structure, also can adopt different structures.The described three-axis moving of the present embodiment mechanism all adopts identical structure, all comprises axle moving assembly 16 and axle slide assemblies 17.Below to the unified explanation of each axle construction.
Described axle moving assembly 16 as shown in Figure 3, it comprises pedestal 161, be arranged on leading screw 162, the embedded ball assembly 163 that coordinates with leading screw 162 on pedestal 161 and can drive the servomotor 164 that leading screw 162 rotates.In addition, described leading screw 162 two ends can respectively arrange a limit switch 165, in order to limit the limit shift position of embedded ball assembly 163.Described servomotor 164 can be the servomotor with scrambler and speed reduction unit, perhaps for separately with the DC servo motor of scrambler 166, and adopt closed-loop control.
Described axle slide assemblies 17 as shown in Figure 4, it comprises two guide rails 171 that are arranged on said base 161 and the guide rail slide assemblies 172 that coordinates with guide rail 171, this guide rail slide assemblies 172 is fixedly connected with described embedded ball assembly 163, and can be connected with the pedestal 161 of another axle moving assembly 16 mounted thereto simultaneously, perhaps be used for fixing described pointer 15.In order to facilitate the fixing of another pedestal or described pointer 15, can fix again a supporting component 173 on described guide rail slide assemblies 172, by the fixing described pointer 15 of this supporting component 173 or another pedestal 161.
In order to improve the bearing accuracy of motion, can also in described XYZ three- axis moving mechanism 12,13,14, measurement mechanism be set, this measurement mechanism comprises the grating scale 181 that is arranged on described axle moving assembly 16 1 sides and is arranged on grating scale probe 182 on described axle slide assemblies 17, this grating scale probe 182 is placed on grating scale 181, and this grating scale 181 can be micron utmost point grating scale.The present embodiment, described grating scale 181 is positioned at the outside of described pedestal 161, and described grating scale probe 182 is arranged on described guide rail slide assemblies 172.
Described stereoscopic vision mechanism 2 is in order to carry out stereoscopic shooting to object, this stereoscopic vision mechanism 2 can be a stereoscopic vision video camera (as shown in embodiment in figure) with binocular (two camera lenses), can be also two video cameras of parallel arranged at a certain distance.The general axis angle with described Y-axis motion 13 of the visual angle axis of this stereoscopic vision mechanism 2 is 90 degree or 0 degree.This stereoscopic vision mechanism 2 can be arranged on horizontal angle, the angle of pitch and highly all on adjustable tripod 5, in order to the position of this mechanism is regulated.
Described industrial computer 3 is connected by control card or data line and described XYZ three-dimensional motion platform 1 and stereoscopic vision mechanism 2, in order to receive the volume coordinate information of the object that stereoscopic vision mechanism 2 sends, and this information is processed, control afterwards the XYZ three-axis moving mechanism action of XYZ three-dimensional motion platform 1, follow the tracks of with the position of realizing 15 pairs of objects 4 of described positioning pointer.
Described object 4 can be to want arbitrarily the target of following the tracks of in theory, and in the present embodiment, this object 4 is positioned on the mechanical arm 6 of a six degree of freedom, is used for any space three-dimensional motion of emulation.
Principle of work of the present utility model is: by described stereoscopic vision mechanism's 2 identifications and real-time target acquisition thing 4, and the volume coordinate information with respect to the stereoscopic vision video camera of export target thing 4; After this volume coordinate information is processed via industrial computer 3, send XYZ shaft movement mechanism 12,13,14 actions that control signal drives described XYZ three-dimensional motion platform 1, make pointer 15 and object 4 synchronization actions on this XYZ three-dimensional motion platform 1, complete the dynamic position of object 4 is followed the tracks of.
The above is only preferred embodiment of the present utility model, is not to limit the scope that the utility model is implemented.Therefore variation or the modification in every case done according to claim of the present utility model and instructions are within all should belonging to the scope that the utility model patent contains.
Claims (10)
1. a stereoscopic vision space dynamic tracking apparatus, is characterized in that: comprise XYZ three-dimensional motion platform and can carry out to an object stereoscopic vision mechanism of the volume coordinate information of stereoscopic shooting and export target thing; X-axis motion, Y-axis motion and Z axis motion that this XYZ three-dimensional motion platform comprises base and is erected on base and mutually sets up are fixed with positioning pointer on the Z axis motion; This device also comprises receiving the volume coordinate information of the object that stereoscopic vision mechanism sends, and this information is processed, and controls afterwards the industrial computer of the XYZ three-axis moving mechanism action of XYZ three-dimensional motion platform.
2. a kind of stereoscopic vision according to claim 1 space dynamic tracking apparatus is characterized in that: described stereoscopic vision mechanism is a stereoscopic vision video camera with binocular, or two video cameras of parallel arranged at a certain distance.
3. a kind of stereoscopic vision according to claim 1 and 2 space dynamic tracking apparatus is characterized in that: described stereoscopic vision mechanism is arranged on horizontal angle, the angle of pitch and highly all on adjustable tripod.
4. a kind of stereoscopic vision according to claim 1 space dynamic tracking apparatus is characterized in that: described XYZ three-axis moving mechanism comprises respectively axle moving assembly and axle slide assemblies, and the three is the setting of cartesian space coordinate structure.
5. a kind of stereoscopic vision according to claim 4 space dynamic tracking apparatus, it is characterized in that: described axle moving assembly comprises pedestal, is arranged on leading screw, the embedded ball assembly that coordinates with leading screw on pedestal and can drives the servomotor that leading screw rotates.
6. a kind of stereoscopic vision according to claim 5 space dynamic tracking apparatus is characterized in that: described leading screw two ends respectively arrange a limit switch.
7. a kind of stereoscopic vision according to claim 5 space dynamic tracking apparatus is characterized in that: described servomotor be with the DC servo motor of scrambler and speed reduction unit or for separately with the DC servo motor of scrambler, and adopt closed-loop control.
8. one of according to claim 5-7 described a kind of stereoscopic vision space dynamic tracking apparatus, it is characterized in that: described axle slide assemblies comprises two guide rails that are arranged on said base and the guide rail slide assemblies that coordinates with guide rail, and this guide rail slide assemblies is fixedly connected with described embedded ball assembly.
9. a kind of stereoscopic vision according to claim 8 space dynamic tracking apparatus, is characterized in that: be fixed with a supporting component on described guide rail slide assemblies.
10. a kind of stereoscopic vision according to claim 4 space dynamic tracking apparatus, it is characterized in that: described XYZ three-axis moving mechanism also comprises the grating scale that is arranged on described axle moving assembly one side and is arranged on grating scale probe on described slide assemblies, and this grating scale probe is placed on grating scale.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201220622846 CN202975814U (en) | 2012-11-22 | 2012-11-22 | Stereoscopic vision spatial dynamic tracking device |
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| CN 201220622846 CN202975814U (en) | 2012-11-22 | 2012-11-22 | Stereoscopic vision spatial dynamic tracking device |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104931091A (en) * | 2015-06-24 | 2015-09-23 | 金陵科技学院 | Bionic robot fish measuring platform and using method thereof |
| CN106054934A (en) * | 2016-06-13 | 2016-10-26 | 哈尔滨工大智慧工厂有限公司 | Air floating platform system based on visual pre-judging tracking |
| CN107320125A (en) * | 2017-08-10 | 2017-11-07 | 武汉瑞福宁科技有限公司 | It is a kind of to be used for toy or prosthese detecting location and the control device and its control method of posture |
| CN112247983A (en) * | 2020-08-28 | 2021-01-22 | 南京蹑波物联网科技有限公司 | Industrial robot calibration device and calibration method |
| CN113281197A (en) * | 2021-05-13 | 2021-08-20 | 中物院成都科学技术发展中心 | Vertical light gas gun capable of moving in multiple dimensions |
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2012
- 2012-11-22 CN CN 201220622846 patent/CN202975814U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104931091A (en) * | 2015-06-24 | 2015-09-23 | 金陵科技学院 | Bionic robot fish measuring platform and using method thereof |
| CN104931091B (en) * | 2015-06-24 | 2016-12-21 | 金陵科技学院 | A kind of bionic machine fish measuring table and using method thereof |
| CN106054934A (en) * | 2016-06-13 | 2016-10-26 | 哈尔滨工大智慧工厂有限公司 | Air floating platform system based on visual pre-judging tracking |
| CN107320125A (en) * | 2017-08-10 | 2017-11-07 | 武汉瑞福宁科技有限公司 | It is a kind of to be used for toy or prosthese detecting location and the control device and its control method of posture |
| CN112247983A (en) * | 2020-08-28 | 2021-01-22 | 南京蹑波物联网科技有限公司 | Industrial robot calibration device and calibration method |
| CN112247983B (en) * | 2020-08-28 | 2021-10-15 | 南京蹑波物联网科技有限公司 | Industrial robot calibration device and calibration method |
| CN113281197A (en) * | 2021-05-13 | 2021-08-20 | 中物院成都科学技术发展中心 | Vertical light gas gun capable of moving in multiple dimensions |
| CN113281197B (en) * | 2021-05-13 | 2022-11-15 | 中物院成都科学技术发展中心 | Vertical light gas gun capable of moving in multiple dimensions |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130605 Termination date: 20151122 |
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| EXPY | Termination of patent right or utility model |