CN207779410U - A kind of binocular vision navigation device - Google Patents
A kind of binocular vision navigation device Download PDFInfo
- Publication number
- CN207779410U CN207779410U CN201820227900.3U CN201820227900U CN207779410U CN 207779410 U CN207779410 U CN 207779410U CN 201820227900 U CN201820227900 U CN 201820227900U CN 207779410 U CN207779410 U CN 207779410U
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- China
- Prior art keywords
- image capture
- binocular vision
- navigation device
- vision navigation
- separately
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Abstract
The binocular vision navigation device of the utility model, height and horizontal position image capture device can be adjusted separately using two, two image capture devices pass through leading screw and gear-rack drive, the horizontal and vertical position that two image capture devices can be adjusted separately can ensure the acquisition different range requirement of varying environment image capture device；Image is acquired using two image capture devices, the accuracy for acquiring information is high, improves vision guided navigation precision；The driving motor of leading screw and gear also uses stepper motor, and control accuracy is high, and response is fast.
Description
Technical field
The utility model belongs to agricultural machines navigation field, is related to a kind of binocular vision navigation device.
Background technology
With the progress of modern science and technology and the continuous development of modern agriculture with high efficiency, automated control technology is existing in agricultural
Status and effect are increasingly valued by the people during generation.Agricultural automation can greatly improve labor productivity and increase labor
Dynamic comfort, agricultural production towards high efficiency and high-precision mechanization, automation direction development be inevitable choice.
Agricultural machinery vision guided navigation is the important technology of Machinery Automation, agricultural machinery often face in use it is a variety of not
Same service condition, needs the image range acquired, position and angle often to differ, the acquisition of existing vision navigation system is set
It is standby to be completely fixed on agricultural machinery, it can not move, the requirement of a variety of acquisition angles and range cannot be applicable in well, and existing adopt
It is usually single device to collect equipment, and the accuracy for acquiring information is not high, causes the final accuracy of information that navigation system obtains low, shadow
Ring navigation accuracy.
Utility model content
The purpose of the utility model is to overcome above-mentioned the deficiencies in the prior art, provide a kind of binocular vision navigation device,
Using two image capture devices, the accuracy for acquiring information is high, two image capture devices can shift position, can adjust
Image-capture field and position meet a variety of acquisition demands.
The utility model uses following scheme to achieve the above object：
A kind of binocular vision navigation device, including rack, leading screw, feed screw nut, fixed plate and image capture device；
Two vertical leading screws disposed in parallel are mounted in rack, and driving device is separately provided in every leading screw, for distinguishing
Two fixed plates of two image capture devices of installation are separately fixed on the feed screw nut of two leading screws, and two fixed plates can divide
It is not moved in vertical direction along leading screw, mounting bracket is connected separately in each fixed plate, being horizontally disposed on each mounting bracket has cunning
Rail, two image capture devices are separately mounted on a mounting plate, and each mounting plate is mounted on a sliding rail by sliding block respectively
On, mounting plate can be moved horizontally along sliding rail, and mounting plate is horizontally disposed rack, and the tooth engaged with rack is equipped in fixed plate
Wheel, gear are connected with the motor of its rotation of driving.
Preferably, the driving device of leading screw is stepper motor, and the driving motor of gear also uses stepper motor, two steppings
Motor is separately connected there are one driver, and two drivers connect the same controller.
Preferably, controller is microcontroller or PLC.
Preferably, image capture device is installed on a mounting board by turntable.
Preferably, described image collecting device is CCD camera.
Preferably, image capture device is connected with storage device.
Preferably, the storage device is hard disk.
The binocular vision navigation device of the utility model can adjust separately height using two and horizontal position image is adopted
Collect equipment, two image capture devices can adjust separately two image capture devices by leading screw and gear-rack drive
Horizontal and vertical position can ensure the acquisition different range requirement of varying environment image capture device；Using two Image Acquisition
Equipment acquires image, and the accuracy for acquiring information is high, improves vision guided navigation precision.
Further, the driving motor of leading screw and gear also uses stepper motor, there are one two stepper motors are separately connected
Driver, two drivers connect the same controller, and by stepper motor drive motion, stepper motor is realized high by controller
Precision, control response are fast.
Further, image capture device is installed on a mounting board by turntable, can adjust image capture device angle,
Image-capture field bigger.
Further, image capture device is connected with storage device, can in real time be stored to the information of acquisition.
Description of the drawings
Fig. 1 is the structural schematic diagram of the utility model；
In figure：1- racks；The first stepper motors of 2-；3- leading screws；4- feed screw nuts；5- fixed plates；The second stepper motors of 6-；
7- racks；8- mounting plates；9- gears；10- sliding rails；11- sliding blocks；12- image capture devices.
Specific implementation mode
The utility model is described in further detail in the following with reference to the drawings and specific embodiments, but not as to this practicality
Novel restriction.
As shown in Figure 1, the binocular vision navigation device of the utility model, including rack 1, the first stepper motor 2, leading screw 3,
Feed screw nut 4, fixed plate 5, the second stepper motor 6, rack 7, mounting plate 8, gear 9, sliding rail 10, sliding block 11, Image Acquisition are set
Standby 12.
Two vertical leading screws 3 disposed in parallel are mounted in door frame shaped rack 1, and the first stepping electricity is separately provided in every leading screw
Machine 2 is driven, and two fixed plates 5 for installing two image capture devices respectively are separately fixed at the silk of two leading screws 3
On thick stick nut 4, fixed plate 5 using welding or is bolted with feed screw nut 4, and two fixed plates 5 can be respectively along leading screw 3 vertical
Direction is moved, and is respectively welded in each fixed plate 5 and is connected with mounting bracket, and being horizontally disposed on each mounting bracket has one group of sliding rail 10,
Two image capture devices 12 are separately mounted on a mounting plate 8, and each mounting plate 8 is mounted on one group by sliding block 11 respectively
On sliding rail 10, mounting plate 8 can be moved horizontally along sliding rail, and mounting plate 8 is horizontally disposed rack 7, be equipped in fixed plate 5 and tooth
7 meshed gears 9 of item, gear are connected with the second stepper motor 6 of its rotation of driving.
Image capture device 12 is CCD camera, and image capture device 12 is connected with storage hard disk.
First stepper motor 2 and the second stepper motor 6 are separately connected there are one driver, and two driver connections are same
Controller.
Controller uses microcontroller or PLC, simple in structure to facilitate control.
Image capture device 12 is mounted on by turntable on mounting plate 8, and 12 shooting angle of image capture device can be adjusted
Degree, coverage bigger.
Each image capture device support construction is ball-screw, and image capture device is mounted on feed screw nut, leading screw
It is driven and is rotated by stepper motor, the movement for realizing image capture device upper and lower position is driven by stepper motor；
Two image capture device support constructions are mounted on the same horizontally disposed guide rail, are arranged in parallel with guide rail
Rack, two support constructions have been respectively arranged below and rack meshed gears, the tooth of each image capture device support construction
Wheel is driven by the second stepper motor and is rotated, and realizes each image capture device support construction moving horizontally along the linear guide.
Through the above structure, the utility model can meet the various demands of the Image Acquisition of vision navigation system substantially,
It is highly practical.
Finally it should be noted that：Above example is merely to illustrate the technical solution of the utility model rather than limits it
System, although the utility model is described in detail with reference to above-described embodiment, those of ordinary skill in the art should manage
Solution：Specific embodiment of the present utility model can be still modified or replaced equivalently, and without departing from the utility model
Any modification of spirit and scope or equivalent replacement should all cover in present claims range.
Claims (7)
1. a kind of binocular vision navigation device, it is characterised in that：Including rack (1), leading screw (3), feed screw nut (4), fixed plate
(5) and image capture device (12)；
Two vertical leading screws (3) disposed in parallel are mounted in rack (1), and driving device is separately provided in every leading screw, for dividing
Not An Zhuan two fixed plates (5) of two image capture devices be separately fixed on the feed screw nut (4) of two leading screws (3), two
A fixed plate (5) can move along leading screw (3) in vertical direction respectively, be connected separately with mounting bracket on each fixed plate (5), each
Being horizontally disposed on mounting bracket has sliding rail (10), two image capture devices (12) to be separately mounted on a mounting plate (8), each
Mounting plate (8) is mounted on by sliding block (11) on a sliding rail (10) respectively, and mounting plate (8) can be moved horizontally along sliding rail, installation
Plate (8) is horizontally disposed rack (7), is equipped in fixed plate (5) and is connected with driving with rack (7) meshed gears (9), gear
Its motor rotated.
2. binocular vision navigation device as described in claim 1, it is characterised in that：The driving device of leading screw (3) is stepping electricity
The driving motor of machine, gear also uses stepper motor, two stepper motors to be separately connected there are one driver, and two drivers connect
Connect the same controller.
3. binocular vision navigation device as claimed in claim 2, it is characterised in that：Controller is microcontroller or PLC.
4. binocular vision navigation device as described in any one of claims 1-3, it is characterised in that：Image capture device (12) is logical
Turntable is crossed on mounting plate (8).
5. binocular vision navigation device as described in any one of claims 1-3, it is characterised in that：Described image collecting device
(12) it is CCD camera.
6. binocular vision navigation device as described in any one of claims 1-3, it is characterised in that：Image capture device (12) is even
It is connected to storage device.
7. binocular vision navigation device as claimed in claim 6, it is characterised in that：The storage device is hard disk.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820227900.3U CN207779410U (en) | 2018-02-07 | 2018-02-07 | A kind of binocular vision navigation device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820227900.3U CN207779410U (en) | 2018-02-07 | 2018-02-07 | A kind of binocular vision navigation device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207779410U true CN207779410U (en) | 2018-08-28 |
Family
ID=63210143
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820227900.3U Expired - Fee Related CN207779410U (en) | 2018-02-07 | 2018-02-07 | A kind of binocular vision navigation device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207779410U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109544596A (en) * | 2018-10-30 | 2019-03-29 | 浙江理工大学 | A kind of artificial intelligence binocular vision tracking mechanism of view-based access control model feedback |
| CN109732648A (en) * | 2019-01-14 | 2019-05-10 | 北京工业大学 | A kind of binocular regulating mechanism connecting robot and filature |
-
2018
- 2018-02-07 CN CN201820227900.3U patent/CN207779410U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109544596A (en) * | 2018-10-30 | 2019-03-29 | 浙江理工大学 | A kind of artificial intelligence binocular vision tracking mechanism of view-based access control model feedback |
| CN109732648A (en) * | 2019-01-14 | 2019-05-10 | 北京工业大学 | A kind of binocular regulating mechanism connecting robot and filature |
| CN109732648B (en) * | 2019-01-14 | 2021-04-02 | 北京工业大学 | Binocular adjusting mechanism for connecting robot and screw machine |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180828 Termination date: 20190207 |
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| CF01 | Termination of patent right due to non-payment of annual fee |