CN208079277U - A kind of three-dimensional image acquisition apparatus - Google Patents
A kind of three-dimensional image acquisition apparatus Download PDFInfo
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- CN208079277U CN208079277U CN201820126644.9U CN201820126644U CN208079277U CN 208079277 U CN208079277 U CN 208079277U CN 201820126644 U CN201820126644 U CN 201820126644U CN 208079277 U CN208079277 U CN 208079277U
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Abstract
The utility model provides a kind of three-dimensional image acquisition apparatus.Described device includes：Including main unit, control box unit, electric rotating machine, telescope motor and three-dimensional image acquisition unit；The main unit includes mobile platform and support arm, and rotary part and extensible member are provided on the support arm；The control box unit is made of main controller module and motor control module, and the motor control module connects the main controller module, electric rotating machine and telescope motor；Control box unit, electric rotating machine and the telescope motor are set on the mobile platform of the main unit；The electric rotating machine connects the rotary part, and the telescope motor connects the extensible member；The three-dimensional image acquisition unit is mounted on the support arm, is electrically connected with the main controller module, to acquire the three-dimensional image information of target object.The utility model can realize the automatic monitoring of target object body condition.
Description
Technical field
The utility model is related to field of image detection, more particularly, to a kind of three-dimensional image acquisition apparatus.
Background technology
The assessment of animal body condition is extremely important during animal-breeding.It can be used for weighing animal energy in breeding process
Measure the level of reserve.Animal body condition can be assessed from the shape three-D profile of animal under normal conditions.At present generally by more
Position cultivation expert scene touches, provides an average mark to animal body condition after observation, and this method is often depending on expert's
Experience, and assess whether continuously, it is a kind of subjectivity method, and continually assessed, it is time-consuming and laborious, on the other hand,
Breeding environment is artificially frequently invaded, biological risk is readily incorporated, is unfavorable for cultivating safely.
With the development of computer and image vision technology, image monitoring technology can simulate human eye characteristic, and have
The advantages that time saving and energy saving, objective, intelligent, the technology also become a kind of method of animal body condition monitoring.It is main at present to apply two
Tie up the monitoring and evaluation that image technique carries out animal body condition.This method is based on animal two dimensional image feature and carries out body condition assessment, exists
The problem of information content, information dimension missing.And in animal body condition monitoring process, typically when animal is on a channel
When passing through, complete one by one.Camera is just set up on a passage and height and position can not adjust.
Existing artificial process needs multidigit expert field observation, touches, time-consuming and laborious, and staff and animal are frequent
It is in contact, is readily incorporated bio-safety risk.Just installation camera is inconvenient on a passage, difficulty is big for two dimensional image method,
And can not adjust automatically Image Acquisition coordinate information.On the other hand, two dimensional image relative to animal individual in two dimensional surface
On projection, lack expression to animal shape convex and concave feature, cause loss of learning, can not accurately react the body condition letter of animal
Breath, impact evaluation accuracy.
Utility model content
The utility model provides a kind of 3-D view for overcoming the above problem or solving the above problems at least partly and adopts
Acquisition means.
One side according to the present utility model provides a kind of three-dimensional image acquisition apparatus, including main unit, control cabinet
Unit, electric rotating machine, telescope motor and three-dimensional image acquisition unit；
The main unit includes mobile platform and support arm, and rotary part and pars contractilis are provided on the support arm
Part；
The control box unit is made of main controller module and motor control module, and the motor control module connects institute
State main controller module, electric rotating machine and telescope motor；Wherein, the main controller module, for the electric rotating machine and/
Or telescope motor issues control instruction, is rotated or is stretched to control the support arm；
Control box unit, electric rotating machine and the telescope motor are set on the mobile platform of the main unit；It is described
Electric rotating machine connects the rotary part, and the telescope motor connects the extensible member；
The three-dimensional image acquisition unit is mounted on the support arm, is electrically connected with the main controller module, with acquisition
The three-dimensional image information of target object.
Further, the main unit further includes tripod, and the tripod is located on the mobile platform, including three
Support leg and the support tablet being set in three support legs；
Three support legs are respectively arranged with swinging arms to adjust respective height, and the tripod is described in
The buckle of three support foot bottoms is fixed with the mobile platform.
Further, the rotary part is by fixed card slot, the first rotation circular shaft, the second rotation circular shaft on the support arm
It is formed with third swingle；
The extensible member by the support arm the first telescopic rod and the second telescopic rod form；
The fixed card slot is set on the support tablet, and is clamped with the side of the first rotation circular shaft；It is described
The other side of first rotation circular shaft connects the first telescopic rod, and first telescopic rod is socketed second telescopic rod；Described second
The other end of telescopic rod connects the side of the second rotation circular shaft；The other side of the second rotation circular shaft connects the third
Swingle.
The electric rotating machine surrounds the fixing card for controlling the first rotation circular shaft in horizontal plane or vertical plane
Slot is rotated.
The telescope motor is steppingly stretched for controlling second telescopic rod by the internal diameter of first telescopic rod
Long and shortening.
The second rotation circular shaft, is rotated for passing through fixed angle, is rotated the third swingle when work
To level, the third swingle is rotated to concordant with second telescopic rod when packing up.
Further, the electric rotating machine includes the first motor rotated for controlled level and for controlling vertical rotary
The second motor；
The telescope motor includes for controlling mobile third motor and for controlling the 4th flexible motor.
Further, the three-dimensional image acquisition unit is made of laser ranging module and three-dimensional camera；
The laser ranging module, if detection has target object process, triggers institute for carrying out laser acquisition downwards
It states three-dimensional camera and carries out Image Acquisition；
The three-dimensional camera for carrying out Image Acquisition according to the triggering command of the laser ranging module, and will be adopted
The 3-D view of the target object collected is sent to main controller module.
Further, further include transmission module and back-end processing platform；
The 3-D view of the transmission module, the target object for sending the main controller module is transmitted to
The back-end processing platform；
The back-end processing platform for the 3-D view to be carried out parabolic surface fitting, and calculates the target
The body condition characteristic value of object, to carry out assessed value monitoring to the body condition of the target object.
Further, further include power management module；The power management module connects the main controller module, for for
The 3-D view monitoring device provides power supply.
The utility model proposes a kind of three-dimensional image acquisition apparatus, by carrying control box unit, rotation with main unit
Motor, telescope motor and three-dimensional image acquisition unit, acquire the 3-D view of target object, wherein control box unit passes through rotation
Rotating motor and telescope motor drive the corresponding component of the main unit to be stretched and rotated, and can flexibly realize that image is adopted
The position adjustment of collection point；Adjust automatically Image Acquisition height can be applied to the image of acquisition different height animal.Due to target
Object dimensional imaging can react target object outer contoured shape, be extracted from 3-D view relevant with target object body condition
Morphological feature, the body condition that target object is carried out using 3-D view are monitored, and the automation prison of target object body condition is helped to realize
It surveys.
Description of the drawings
Fig. 1 is a kind of 3-D view monitoring device schematic diagram of the utility model embodiment；
Fig. 2 is that the functional component of the utility model embodiment 3-D view monitoring device connects block diagram.
Reference sign
1, box unit is controlled, 2, mobile platform, 3, tripod,
4, fixed card slot, the 5, first rotation circular shaft, the 6, first telescopic rod,
7, the second telescopic rod, the 8, second rotation circular shaft, 9, third swingle,
10, three-dimensional image acquisition unit, 11, target object, 12, channel,
13, motor group, 100, power management module, 101, main controller module,
102, motor control module, 301, swinging arms, 302, swinging arms,
303, swinging arms, 1001, laser ranging module, 1002, three-dimensional camera.
Specific implementation mode
With reference to the accompanying drawings and examples, specific embodiment of the present utility model is described in further detail.Below
Embodiment is not intended to limit the scope of the present invention for illustrating the utility model.
Fig. 1 is a kind of 3-D view monitoring device schematic diagram of the utility model embodiment, a kind of graphics as shown in Figure 1
As monitoring device, including main unit, control box unit 1, electric rotating machine, telescope motor and three-dimensional image acquisition unit 10；
The main unit includes mobile platform 2 and support arm, and rotary part and pars contractilis are provided on the support arm
Part；
The control box unit 1 is made of main controller module 101 and motor control module 102, and the motor controls mould
Block 102 connects the main controller module 101, electric rotating machine and telescope motor；Wherein, the main controller module 10, is used for
Control instruction is issued to the electric rotating machine and/or telescope motor, is rotated or is stretched to control the support arm；
Control box unit 1, electric rotating machine and the telescope motor are set on the mobile platform 10 of the main unit；Institute
It states electric rotating machine and connects the rotary part, the telescope motor connects the extensible member；
The three-dimensional image acquisition unit 10 is mounted on the support arm, is electrically connected with the main controller module 101, with
Acquire the three-dimensional image information of target object.
Referring to FIG. 1, the utility model embodiment includes mainly three parts：Main part, control section and Image Acquisition
Part.Wherein, main part provides platform and Mechanical course function, including mobile platform 2 and support arm；Control section carries
Supplied for electronic control function, including control box unit 1, electric rotating machine and telescope motor；Image Acquisition part provides 3-D view and adopts
Collect function, including three-dimensional image acquisition unit 10.
The utility model embodiment with main unit by carrying control box unit, electric rotating machine, telescope motor and three-dimensional
Image acquisition units acquire the 3-D view of target object, wherein control box unit is driven by electric rotating machine and telescope motor
The corresponding component of the main unit is stretched and is rotated, and can flexibly realize the position adjustment of Image Acquisition point；Automatically
Image Acquisition height is adjusted, the image of acquisition different height animal is can be applied to.Since target object three-dimensional imaging can be anti-
Target object outer contoured shape is answered, extraction and the relevant morphological feature of target object body condition, utilize three-dimensional from 3-D view
Image carries out the body condition monitoring of target object, helps to realize the automatic monitoring of target object body condition.
In an alternative embodiment, described device further includes power management module 100；The power management module
The 100 connection main controller modules 101, for providing power supply for the 3-D view monitoring device.
In an alternative embodiment, the main unit further includes tripod 3, and the tripod 3 is located at the shifting
On moving platform 2, including three support legs and the support tablet that is set in three support legs；
It (is respectively swinging arms 301, swinging arms 302 and activity that three support legs, which are respectively arranged with swinging arms,
Knob 303) to adjust respective height, and the tripod is flat by the buckle of described three support foot bottoms and the movement
Platform 2 is fixed.
In an alternative embodiment, the rotary part is by fixed card slot 4, the first rotational circle on the support arm
Axis 5, second rotates circular shaft 8 and third swingle 9 forms；
The extensible member by the support arm the first telescopic rod 6 and the second telescopic rod 7 form；
The fixed card slot 4 is set on the support tablet, and is clamped with the side of the first rotation circular shaft 5；Institute
The other side for stating the first rotation circular shaft 5 connects the first telescopic rod 6, and first telescopic rod 6 is socketed second telescopic rod 7；Institute
The other end for stating the second telescopic rod 7 connects the side of the second rotation circular shaft 8；The other side of the second rotation circular shaft 8 connects
Connect the third swingle 9.
The electric rotating machine surrounds the fixation for controlling the first rotation circular shaft 5 in horizontal plane or vertical plane
Card slot 4 is rotated.
The telescope motor, for controlling second telescopic rod 7 by the internal diameter of first telescopic rod 6 steppingly
Elongation and shortening.
The second rotation circular shaft 8, is rotated, when work revolves the third swingle 9 for passing through fixed angle
Level is gone to, it is when packing up that the third swingle 9 rotation is extremely concordant with second telescopic rod 7.
Referring to FIG. 1, main part includes mobile platform 2, tripod 3 and support arm, the support arm is by components described below
Composition：Fixed card slot 4, first rotates circular shaft 5, the first telescopic rod 6, the second telescopic rod 7, second rotation circular shaft 8 and third rotation
Bar 9.
In an alternative embodiment, the electric rotating machine includes the first motor and use rotated for controlled level
In the second motor of control vertical rotary；
The telescope motor includes for controlling mobile third motor and for controlling the 4th flexible motor.
Referring to FIG. 1, motor group 13 includes first motor, the second motor, third motor and the 4th motor, difference in Fig. 1
Controlled level rotation, vertical rotary, movement and flexible, can be with 360 degree of comprehensive control by this four motors.
In an alternative embodiment, the three-dimensional image acquisition unit 10 is taken the photograph by laser ranging module 1001 and three-dimensional
As head 1002 forms；
The laser ranging module 1001, if detection has target object process, is touched for carrying out laser acquisition downwards
It sends out three-dimensional camera 1002 described and carries out Image Acquisition；
The three-dimensional camera 1002 is adopted for carrying out image according to the triggering command of the laser ranging module 1001
Collection, and the 3-D view of collected target object is sent to main controller module 101.
Specifically, when carrying out animal painting acquisition using the utility model embodiment described device, for example milk cow is carried out
Image Acquisition, the channel 12 in Fig. 1 is the outlet of milking parlour, when laser ranging module 1001 detects that there is object process in channel 12
When, triggering three-dimensional camera 1002 carries out Image Acquisition to the milk cow of process successively.
In an alternative embodiment, further include transmission module and back-end processing platform；
The 3-D view of the transmission module, the target object for sending the main controller module 101 passes
Transport to the back-end processing platform；
The back-end processing platform for the 3-D view to be carried out parabolic surface fitting, and calculates the target
The body condition characteristic value of object, to carry out assessed value monitoring to the body condition of the target object.
Fig. 2 is that the functional component of the utility model embodiment 3-D view monitoring device connects block diagram, referring to FIG. 2, institute
It includes control unit, transmission module and back-end processing platform to state functional component mainly, wherein the control unit includes motor control
Device, that is, motor control module 102 processed, master controller, that is, main controller module 101；Wherein, electric machine controller is separately connected control and moves
The flexible motor of dynamic motor, control, controlled level selection motor and control the motor of vertical rotary；The master controller point
Not Lian Jie electric machine controller, power management module, three-dimensional image acquisition module and transmission module, the transmission module connects rear end
Processing platform.
The workflow of the 3-D view monitoring device is as follows：
Power management module 100 provides the power supply of whole device, is that device is placed in suitable position first, is obtained by adjusting
Knob 301,302 and 303 is obtained, tripod is made to be in horizontality.Then third swingle 9 is rotated to horizontality, and
Three-dimensional image acquisition unit 10 is fixed on third swingle 9.
Then, according to the size of the target object of monitoring (generally can be animal) and the position at compartment center, setting
Telescope motor, the parameter for rotating horizontally motor, vertical rotary motor, the second telescopic rod 7 of control elongation to specific position, control the
Three swingles are to corresponding position.After position adjustment is suitable, three-dimensional image acquisition unit is started to work, and the image collected is sent out
It send to main controller module 101, image is wirelessly finally sent to long-range back-end processing using transmission module
Platform.
Specifically, using the utility model embodiment described device carry out animal painting acquisition when, can according to cultivation every
Between the distance between and each compartment image acquisition time, in the host controller be arranged mobile platform 2 the mobile moment and movement
Distance.When timing one arrives, electric machine controller works mobile motor is controlled, and platform is moved to another compartment.
The automatic collection of each compartment image is realized, to be monitored to the animal of entire breeding house.
Specifically, carrying out animal body condition monitoring using 3-D view monitoring device described in the utility model embodiment, it is not necessarily to
Artificial timing enters carry out scene in breeding house and checks, improves monitoring efficiency, reduces contact of the people with animal, reduces bio-safety
Risk.The position of device can be moved freely, any position is realized in height, angle and the horizontal position of adjust automatically monitoring
Precisely monitoring.Can provide it is a kind of digitlization, automation animal body condition monitoring method, it is more objective with it is accurate, have well
Advantageous effect.
Three-dimensional image acquisition apparatus described in the utility model embodiment controls mobile platform so that device using motor
It can be moved in Image Acquisition channel, realize the target object image acquisition of multiple location points；Using rotation circular shaft, pass through electricity
Machine controls realization device adjust automatically monitoring angle and horizontal position, is precisely controlled image capture position；Using telescopic rod, pass through
Motor step-by-step movement controls, adjust automatically Image Acquisition height, can be applied to the image of acquisition different height target object；Image
Include laser ranging component in collecting unit, can incude that whether there is or not target objects to pass through, realizes trigger-type Image Acquisition, precisely adopt
Collect target object image；Further, image is sent to remote back-end platform by wireless transport module, utilizes image procossing
Algorithm realizes automatically analyzing for target object behavior.
In conclusion three-dimensional image acquisition apparatus described in the utility model embodiment, may be implemented height, angle and level
The adjust automatically of position.Laser ranging module is designed in three-dimensional image acquisition unit, is clapped according to the variation of distance to accurately control
According to opportunity, the 3-D view of target object is precisely acquired.
Finally it should be noted that：Above example is only to illustrate the technical solution of the utility model, rather than its limitations；
Although the utility model is described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that：
It still can be with technical scheme described in the above embodiments is modified, or is carried out to which part technical characteristic etc.
With replacement；And these modifications or replacements, various embodiments of the utility model technology that it does not separate the essence of the corresponding technical solution
The spirit and scope of scheme.
Claims (7)
1. a kind of three-dimensional image acquisition apparatus, which is characterized in that including main unit, control box unit, electric rotating machine, flexible electricity
Machine and three-dimensional image acquisition unit；
The main unit includes mobile platform and support arm, and rotary part and extensible member are provided on the support arm；
The control box unit is made of main controller module and motor control module, and the motor control module connects the master
Controller module, electric rotating machine and telescope motor；Wherein, the main controller module, for the electric rotating machine and/or stretching
Contracting motor issues control instruction, is rotated or is stretched to control the support arm；
Control box unit, electric rotating machine and the telescope motor are set on the mobile platform of the main unit；The rotation
Motor connects the rotary part, and the telescope motor connects the extensible member；
The three-dimensional image acquisition unit is mounted on the support arm, is electrically connected with the main controller module, to acquire target
The three-dimensional image information of object.
2. the apparatus according to claim 1, which is characterized in that the main unit further includes tripod, the tripod
On the mobile platform, including three support legs and the support tablet that is set in three support legs；
Three support legs are respectively arranged with swinging arms to adjust respective height, and the tripod passes through described three
The buckle of support foot bottom is fixed with the mobile platform.
3. the apparatus of claim 2, which is characterized in that the rotary part is by the fixing card on the support arm
Slot, the first rotation circular shaft, the second rotation circular shaft and third swingle composition；
The extensible member by the support arm the first telescopic rod and the second telescopic rod form；
The fixed card slot is set on the support tablet, and is clamped with the side of the first rotation circular shaft；Described first
The other side for rotating circular shaft connects the first telescopic rod, and first telescopic rod is socketed second telescopic rod；Described second is flexible
The other end of bar connects the side of the second rotation circular shaft；The other side of the second rotation circular shaft connects the third rotation
Bar；
The electric rotating machine, for control it is described first rotation circular shaft in horizontal plane or vertical plane around the fixed card slot into
Row rotation；
The telescope motor, for control second telescopic rod by the internal diameter of first telescopic rod steppingly extend with
Shorten；
The second rotation circular shaft, is rotated, when work rotates the third swingle to water for passing through fixed angle
It is flat, the third swingle is rotated to concordant with second telescopic rod when packing up.
4. according to claim 1-3 any one of them devices, which is characterized in that the electric rotating machine, including be used to control water
The first motor of flat rotation and the second motor for controlling vertical rotary；
The telescope motor includes for controlling mobile third motor and for controlling the 4th flexible motor.
5. the apparatus according to claim 1, which is characterized in that the three-dimensional image acquisition unit by laser ranging module and
Three-dimensional camera forms；
The laser ranging module, if detection has target object process, triggers described three for carrying out laser acquisition downwards
It ties up camera and carries out Image Acquisition；
The three-dimensional camera for carrying out Image Acquisition according to the triggering command of the laser ranging module, and will collect
The 3-D view of target object be sent to main controller module.
6. the apparatus according to claim 1, which is characterized in that further include transmission module and back-end processing platform；
The transmission module, the 3-D view of the target object for sending the main controller module are transmitted to described
Back-end processing platform；
The back-end processing platform for the 3-D view to be carried out parabolic surface fitting, and calculates the target object
Body condition characteristic value, with to the body condition of the target object carry out assessed value monitoring.
7. the apparatus according to claim 1, which is characterized in that further include power management module；The power management module
The main controller module is connected, for providing power supply for the 3-D view monitoring device.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820126644.9U CN208079277U (en) | 2018-01-25 | 2018-01-25 | A kind of three-dimensional image acquisition apparatus |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820126644.9U CN208079277U (en) | 2018-01-25 | 2018-01-25 | A kind of three-dimensional image acquisition apparatus |
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| CN208079277U true CN208079277U (en) | 2018-11-09 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108416260A (en) * | 2018-01-25 | 2018-08-17 | 北京农业信息技术研究中心 | A kind of 3-D view monitoring device and method |
| CN112856170A (en) * | 2020-12-25 | 2021-05-28 | 河南科技大学 | Automatic device of grading of milk cow body condition |
| CN113720274A (en) * | 2021-09-02 | 2021-11-30 | 华北理工大学 | Three-dimensional image acquisition device |
-
2018
- 2018-01-25 CN CN201820126644.9U patent/CN208079277U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108416260A (en) * | 2018-01-25 | 2018-08-17 | 北京农业信息技术研究中心 | A kind of 3-D view monitoring device and method |
| CN112856170A (en) * | 2020-12-25 | 2021-05-28 | 河南科技大学 | Automatic device of grading of milk cow body condition |
| CN112856170B (en) * | 2020-12-25 | 2022-07-01 | 河南科技大学 | Automatic device of grading of milk cow body condition |
| CN113720274A (en) * | 2021-09-02 | 2021-11-30 | 华北理工大学 | Three-dimensional image acquisition device |
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