Platform automatic leveling device based on machine vision

An automatic leveling and machine vision technology, which is applied to the parts of the instrument, instruments, non-electric variable control, etc., can solve the problems of high manufacturing cost, high requirements for the use environment, poor visibility and maintainability, etc.

Active Publication Date: 2011-01-26
ZHEJIANG UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0009] In order to overcome the deficiencies of the existing automatic leveling system, such as high manufacturing cost, complex mechanism, poor visibility and maintainability, high requirements for the use environment, and single measurement parameters, the pre

Method used

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  • Platform automatic leveling device based on machine vision
  • Platform automatic leveling device based on machine vision
  • Platform automatic leveling device based on machine vision

Examples

Experimental program
Comparison scheme
Effect test

Example Embodiment

[0075] Example 1

[0076] Reference Figure 1~Figure 11 , Figure 14 , Figure 15 , Figure 17 , An automatic platform leveling device based on machine vision, including omni-directional tilt sensor housing, LED lighting source, transparent cone container, opaque liquid, camera, embedded system, power supply, compass, platform, platform support foot position Servo control action unit and platform support foot position servo control drive unit. The power supply supplies power to the illumination light source and the embedded system, and the embedded system supplies power to the camera through the USB interface, so The transparent cone container is composed of two cones of the same size combined back to back into a closed container; the middle part of the omnidirectional tilt sensor housing is fixed with the transparent cone container, and the upper part is fixed with the transparent cone container. LED illuminating light source, the lower part is fixed with the camera; the LED il...

Example Embodiment

[0137] Example 2

[0138] The rest are the same as in embodiment 1, except that the highest point leveling algorithm is used, such as Figure 13 , Figure 16 As shown; the "highest point" leveling algorithm is to keep the highest point still during leveling, and other support points move upward to align with it. When each point reaches the highest point, the platform is in a horizontal state, such as Figure 13 As shown; the specific implementation method is: according to the signal of the tilt angle and tilt azimuth angle detected by the omni-directional tilt sensor, determine the highest point of the platform, and use it as the origin of the coordinate system, and then calculate the position of each support point to the highest point Error: Send this error value to the respective servo system, drive the motor to rotate through a certain angle, so that the outrigger will rise a given distance, so that each point is at the same height, and the platform reaches a level state;

[0139...

Example Embodiment

[0157] Example 3

[0158] The rest are the same as in embodiment 1, except that the leveling algorithm of the intermediate point is adopted, such as Picture 12 , Figure 18 As shown; the "middle point" leveling algorithm is to control the movement direction and displacement according to the calculated difference between the support point and the middle point during leveling, and align with the middle point. When each point reaches the middle point position, the platform Is in a horizontal state, such as Picture 12 Shown

[0159] The specific method is to determine the highest point and the lowest point of the platform according to the signals of the tilt angle and tilt azimuth angle detected by the omni-directional tilt sensor, and use the middle point of the highest point and the lowest point as the origin of the coordinate system, and then calculate each The position error from the supporting point to the intermediate point; this error value is sent to the respective servo syst...

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PUM

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Abstract

The invention relates to a platform automatic leveling device based on machine vision, which comprises an omnibearing-inclined sensor shell, an LED lighting source, a transparent cone container, opaque liquid, a camera, an embedded system, a power source, a compass, a platform, a platform supporting leg position servo control unit and a platform supporting leg position servo control drive unit. The transparent cone container is combined into a closed container by using two cones with the same size in a back-to-back way, and the container contains the opaque liquid which is half of the volume of the container; the transparent part of the transparent cone container, shot by the camera in a positive body focus, is analyzed, judged and calculated to obtain measuring parameters, including incline angle, dip azimuth and the like of the tested platform, and then the platform is automatically leveled through the measuring parameters according to different leveling strategies. The invention has the advantages of simple maintenance and adjustment, high measurement precision and control precision, wide measurement range, low manufacturing cost, rich leveling means, real-time performance, security and reliability.

Description

technical field [0001] The invention relates to a level automatic adjustment device, which belongs to the level control of various platforms in physics, digital image processing technology, LED technology, embedded technology, network communication technology, horizontal plane visualization technology, computer control technology and mechanical design technology. Applications, mainly applicable to geophysical measurement, crustal movement monitoring, oil / gas well monitoring, dam monitoring, heavy paving machinery, ship hull adjustment, deviation control, continuous casting technology, weapon platform adjustment and other fields. Background technique [0002] With the development of modern industry, especially the military industry, more and more platform objects need to be leveled, and the scope is wider and wider, and the requirements for the reliability, speed and accuracy of leveling are getting higher and higher. [0003] Generally speaking, the level automatic adjustmen...

Claims

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Application Information

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IPC IPC(8): G12B5/00G05D3/00
Inventor 汤一平王颖汤晓燕仇翔俞立宋鉷
Owner ZHEJIANG UNIV OF TECH
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