CN205490832U - Self -balancing image acquisition device based on ultrasonic sensor range finding - Google Patents
Self -balancing image acquisition device based on ultrasonic sensor range finding Download PDFInfo
- Publication number
- CN205490832U CN205490832U CN201620085251.9U CN201620085251U CN205490832U CN 205490832 U CN205490832 U CN 205490832U CN 201620085251 U CN201620085251 U CN 201620085251U CN 205490832 U CN205490832 U CN 205490832U
- Authority
- CN
- China
- Prior art keywords
- chip microcomputer
- ultrasonic sensor
- photographic head
- steering wheel
- camera
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Length Measuring Devices Characterised By Use Of Acoustic Means (AREA)
Abstract
The utility model provides the utility model discloses a self -balancing image acquisition device based on ultrasonic sensor range finding among the machine people is plucked to the kiwi fruit, including camera, two degrees of freedom PTZ, acceleration sensor, ultrasonic sensor, five parts of singlechip. The device is controlled by singlechip minimum system, installs camera and four ultrasonic sensor above two degrees of freedom PTZ. The below installation acceleration sensor of camera, when the position of camera changed, acceleration sensor is the volume of detecting the change at once, gave the singlechip with the data transfer who collects. The steering wheel of single chip microcomputer control cloud bench transfers the cloud platform to the level. After horizontal position was adjusted to to the camera, four ultrasonic sensor can outwards launch the ultrasonic wave simultaneously, ran into the object and were reflected, and four ultrasonic sensor give the singlechip with the data transmission who collects, and the distance of four minimums in the distance as camera to kiwi fruit is got to the singlechip.
Description
Technical field
This patent relates to a kind of self-balancing image collecting device based on ultrasonic sensor range finding in Fructus actinidiae chinensis picking robot, is mainly used in the target image collection of Fructus actinidiae chinensis picking robot under field conditions.
Background technology
China is Fructus actinidiae chinensis big producing country, and the shed frame type production structure that Fructus actinidiae chinensis is unique, determine photographic head and can from bottom to top Fructus actinidiae chinensis be carried out the image taking of fruit.Owing to Fructus actinidiae chinensis height off the ground is different, so photographic head is the most different with the distance of Fructus actinidiae chinensis during shooting, there is deviation in the full-size(d) which results in image that photographic head finally shoots and Fructus actinidiae chinensis, have impact on the picture quality of collection.Complicated additionally, due to field conditions, if it occur that tilt may result in photographic head and tilt when Fructus actinidiae chinensis picking robot moves in field, also influence whether the picture quality gathered.Therefore, if ultrasonic sensor can be added on the premise of image collecting device autobalance, utilize it to measure the photographic head distance to Fructus actinidiae chinensis, just can obtain image more reliably.
Owing to the image acquisition of Fructus actinidiae chinensis being the first step realizing Fructus actinidiae chinensis is plucked function, thus one accurately image pickup method final identification of Fructus actinidiae chinensis can be allowed to produce a more preferably effect.Traditional Fructus actinidiae chinensis identification device have ignored the accurate shooting problem to Fructus actinidiae chinensis, and result in the advantages such as intellectuality that intelligent robot represented and accuracy can not perfect embody.This patent is then the otherwise address shooting problem of Fructus actinidiae chinensis on the basis of original Fructus actinidiae chinensis identification device, the i.e. lower section at photographic head adds an acceleration transducer, solve the equilibrium problem of image collecting device, four ultrasonic sensors are installed for obtaining the distance of photographic head distance objective Fructus actinidiae chinensis in photographic head side (top of The Cloud Terrace), are calculated the full-size(d) of Fructus actinidiae chinensis for the later stage by the method for image procossing.Then whole image collecting device is controlled by single-chip minimum system, instructs the precise manipulation of picking robot.This patent uses cradle head of two degrees of freedom, can regulate horizontal and vertical position, is mounted thereon by photographic head, it is achieved photographic head is automatically adjusted to the function of horizontal level.Acceleration transducer is a kind of electronic equipment that can measure acceleration, the acceleration caused due to gravity by measurement, can calculate equipment angle of inclination with respect to the horizontal plane, by analyzing dynamic acceleration, in the way of can moving to analyze equipment.Under using acceleration transducer to ensure that photographic head is at an arbitrary position, it is possible to be automatically adjusted to level, bottom-up shooting Fructus actinidiae chinensis.Ultrasonic sensor is the sensor utilizing the characteristic of ultrasound wave to develop, and both can launch ultrasound wave, it is also possible to accept ultrasound wave.Four ultrasonic sensors are simultaneously to emission ultrasound wave, it is to avoid the phenomenon that single ultrasound wave can not return.The photographic head distance to top measured by four ultrasonic sensors simultaneously, and taking minimum range is the photographic head distance to Fructus actinidiae chinensis, then by similar triangle theory, utilizes image processing method to estimate the actual size of Fructus actinidiae chinensis.
Summary of the invention
For the acquisition problems of Fructus actinidiae chinensis image, this experiment proposes a kind of high efficiency, intellectuality, high self-balancing image collecting device based on the range finding of super body wave sensor accurately.
Realizing above-mentioned experiment purpose is to be realized by techniques below scheme:
This patent includes photographic head, cradle head of two degrees of freedom, acceleration transducer, ultrasonic sensor, single-chip microcomputer five part.It is characterized in that this device is controlled by single-chip minimum system, at cradle head of two degrees of freedom photographic head installed above and four ultrasonic sensors.Acceleration transducer is installed in the lower section of photographic head, and when the position of photographic head changes, acceleration transducer can be detected immediately upon variable quantity, sends the data collected to single-chip microcomputer.Carrying two steering wheels on The Cloud Terrace, first steering wheel is vertical duction steering wheel, is mounted in The Cloud Terrace upper end, and second steering wheel, for being horizontally diverted steering wheel, is mounted in the lower end of The Cloud Terrace.The directional steering of Single-chip Controlling vertical duction steering wheel, steering wheel drives The Cloud Terrace to rotate in vertical direction by gear engagement, and Single-chip Controlling is horizontally diverted the directional steering of steering wheel simultaneously, and steering wheel drives The Cloud Terrace to turn in the horizontal direction by gear engagement.After photographic head is adjusted to horizontal level, four ultrasonic sensors can outwards launch ultrasound wave simultaneously, it is to avoid single ultrasonic sensor emits ultrasonic acoustic waves into the situation of sky.Being reflected back when ultrasound wave runs into object, the data of collection are transferred to single-chip microcomputer by four ultrasonic sensors, and single-chip microcomputer takes the distance as photographic head to Fructus actinidiae chinensis of the minima in four distances, utilizes image processing method to estimate the actual size of Fructus actinidiae chinensis.
Above-mentioned single-chip microcomputer is used for sending reception and processing signal and data, and controls steering wheel and operate accordingly.
Above-mentioned ultrasonic sensor is used for measuring the photographic head distance to Fructus actinidiae chinensis.
Above-mentioned acceleration transducer is used for measuring the variable angle of acceleration of gravity.
Above-mentioned steering wheel is used for The Cloud Terrace is carried out adjustment both horizontally and vertically.
The advantage of this patent: photographic head keeps level with ground all the time, it is ensured that device stability, it is ensured that photographic head directly shoots facing to the fruit calyx part of Fructus actinidiae chinensis from top to bottom.Ultrasonic sensor can measure the photographic head distance to Fructus actinidiae chinensis, by the full-size(d) of similar triangle theory estimation Fructus actinidiae chinensis, the beneficially precise manipulation of Fructus actinidiae chinensis picking robot.
Accompanying drawing explanation
With embodiment, this patent is further illustrated below in conjunction with the accompanying drawings.
Fig. 1 is the structured flowchart of the image collecting device of a kind of self-adaptative adjustment；
Fig. 2 is the structural representation of cradle head of two degrees of freedom in this device；
Fig. 3 is the top view in this device to photographic head and ultrasonic sensor.
Detailed description of the invention
In Fig. 1,2,3, a kind of based on ultrasonic sensor range finding the self-balancing image collecting device of this patent, including single-chip microcomputer 1, cradle head of two degrees of freedom 2, acceleration transducer 3, ultrasonic sensor 4, photographic head 5.Described single-chip microcomputer 1, as control system, receives acceleration transducer 3 and the information of ultrasonic sensor 4 transmission and processes, and then controlling the motion of cradle head of two degrees of freedom 2；Cradle head of two degrees of freedom 2 includes being horizontally diverted steering wheel, vertical duction steering wheel.
Specific works process:
When cradle head device photographic head 5 position topmost changes, acceleration transducer 3 senses the change of The Cloud Terrace horizontal sextant angle immediately, sends the data of collection to single-chip microcomputer 1.Single-chip microcomputer 1 controls to be horizontally diverted the rotation of steering wheel 22, and steering wheel 22 is mediated by gear 24 and driven the The Cloud Terrace of bottom to rotate in the horizontal direction.Meanwhile, single-chip microcomputer 1 controls the directional steering of vertical duction steering wheel 21, and steering wheel 21 is rotated upwardly and downwardly by gear 23 conjugate control upper end The Cloud Terrace.The Cloud Terrace 2 finally reverts to level under the control of single-chip microcomputer 1.After single-chip microcomputer 1 judges that The Cloud Terrace 2 is adjusted to horizontal level, device quits work.Now, its distance from top measured by four ultrasonic sensors 41,42,43,44 above The Cloud Terrace 2 simultaneously, and transfer data to single-chip microcomputer 1, single-chip microcomputer 1 takes the distance as photographic head to Fructus actinidiae chinensis of the minima in four distances, and later stage recycling image processing method estimates the actual size of Fructus actinidiae chinensis.
Claims (1)
1. a self-balancing image collecting device based on ultrasonic sensor range finding, including single-chip microcomputer (1), cradle head of two degrees of freedom (2), acceleration transducer (3), ultrasonic sensor (4), photographic head (5) five part；It is characterized in that, this device is controlled by single-chip microcomputer (1), cradle head of two degrees of freedom (2) photographic head installed above (5) and four ultrasonic sensors (41,42,43,44)；Acceleration transducer (3) is installed in the lower section of photographic head (5), when the position of photographic head (5) changes, acceleration transducer (3) can be detected immediately upon variable quantity, and the data collected send to single-chip microcomputer (1)；Single-chip microcomputer (1) controls to be horizontally diverted the rotation of steering wheel (22), is horizontally diverted steering wheel steering wheel (22) and drives the The Cloud Terrace of bottom to rotate in the horizontal direction by gear (24) kneading；Single-chip microcomputer (1) controls the directional steering of vertical duction steering wheel (21) again, and vertical duction steering wheel (21) is rotated upwardly and downwardly by gear (23) conjugate control upper end The Cloud Terrace, is finally adjusted to horizontal level；After photographic head (5) is adjusted to horizontal level, four ultrasonic sensors (41,42,43,44) can outwards launch ultrasound wave simultaneously；It is reflected back when ultrasound wave runs into object, the data of collection are transferred to single-chip microcomputer (1) by four ultrasonic sensors (41,42,43,44), single-chip microcomputer (1) takes the distance as photographic head to Fructus actinidiae chinensis of the minima in four distances, utilizes image processing method to estimate the actual size of Fructus actinidiae chinensis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620085251.9U CN205490832U (en) | 2016-01-26 | 2016-01-26 | Self -balancing image acquisition device based on ultrasonic sensor range finding |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620085251.9U CN205490832U (en) | 2016-01-26 | 2016-01-26 | Self -balancing image acquisition device based on ultrasonic sensor range finding |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205490832U true CN205490832U (en) | 2016-08-17 |
Family
ID=56619893
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620085251.9U Expired - Fee Related CN205490832U (en) | 2016-01-26 | 2016-01-26 | Self -balancing image acquisition device based on ultrasonic sensor range finding |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205490832U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108571963A (en) * | 2018-05-07 | 2018-09-25 | 西安交通大学 | A kind of orchard robot and its more ultrasonic videos point Combinated navigation method |
| CN109725241A (en) * | 2019-02-25 | 2019-05-07 | 重庆大学 | Channel cable detection early warning system based on Internet of Things |
| CN110488709A (en) * | 2019-08-25 | 2019-11-22 | 西北工业大学 | Vehicle-mounted automatic aiming percussion system based on Multi-sensor Fusion |
-
2016
- 2016-01-26 CN CN201620085251.9U patent/CN205490832U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108571963A (en) * | 2018-05-07 | 2018-09-25 | 西安交通大学 | A kind of orchard robot and its more ultrasonic videos point Combinated navigation method |
| CN108571963B (en) * | 2018-05-07 | 2020-08-28 | 西安交通大学 | Orchard robot and multi-ultrasonic video point combination navigation method thereof |
| CN109725241A (en) * | 2019-02-25 | 2019-05-07 | 重庆大学 | Channel cable detection early warning system based on Internet of Things |
| CN109725241B (en) * | 2019-02-25 | 2023-12-12 | 重庆大学 | Channel cable detection early warning system based on Internet of things |
| CN110488709A (en) * | 2019-08-25 | 2019-11-22 | 西北工业大学 | Vehicle-mounted automatic aiming percussion system based on Multi-sensor Fusion |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205490832U (en) | Self -balancing image acquisition device based on ultrasonic sensor range finding | |
| CN105856262B (en) | A kind of small scale robot tactile carries out detection to object and knows method for distinguishing | |
| US20230042756A1 (en) | Autonomous mobile grabbing method for mechanical arm based on visual-haptic fusion under complex illumination condition | |
| CN101750022B (en) | Sintering paving material thickness online detection method | |
| CN108073167A (en) | A kind of positioning and air navigation aid based on depth camera and laser radar | |
| CN107289910B (en) | Optical flow positioning system based on TOF | |
| KR100937049B1 (en) | Control system of the angle of view for the camera | |
| KR101874757B1 (en) | Gradient measuring apparatus for structure | |
| CN105352856B (en) | Measure method and its device of the liquid in the advancing contact angle of the surface of solids, receding contact angle and retention force | |
| CN207081412U (en) | A kind of animal body chi ultrasound noncontacting measurement device | |
| CN110928301A (en) | Method, device and medium for detecting tiny obstacles | |
| CN106908000A (en) | A kind of measuring system and method for hydraulic support top beam bearing height and attitude | |
| CN207894374U (en) | A kind of high-rise building relative horizontal displacement on-Line Monitor Device based on CMOS | |
| CN112492292B (en) | Intelligent visual 3D information acquisition equipment of free gesture | |
| WO2022078418A1 (en) | Intelligent three-dimensional information acquisition appratus capable of stably rotating | |
| CN205378028U (en) | Image acquisition device of self -adaptation adjustment | |
| CN112361962B (en) | Intelligent visual 3D information acquisition equipment of many every single move angles | |
| CN107314759A (en) | Wheatland yield method of estimation and device based on unmanned plane multi-angled shooting | |
| CN108613728A (en) | Somatic data measuring device and method | |
| CN207881649U (en) | A kind of rotary double excitation contour outline measuring set | |
| CN103124394A (en) | Silicon wheat automatic detector | |
| CN114660593B (en) | Vertical shaft well wall deformation detection method and detection system based on millimeter wave radar | |
| CN115560936A (en) | Laser automatic detection device and detection method for looseness of tower bolt | |
| WO2022078419A1 (en) | Intelligent visual 3d information acquisition device having multiple offset angles | |
| CN208140023U (en) | A kind of rotary laser contour outline measuring set |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160817 Termination date: 20170126 |