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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 present invention provides an automatic leveling system with good operability and high measurement accuracy. , good stability, low manufacturing cost, real-time performance and safety and reliability of the platform automatic leveling device based on machine vision

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
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Effect test

Embodiment 1

[0076] refer to Figure 1 to Figure 11 , Figure 14 , Figure 15 , Figure 17 , an automatic platform leveling device based on machine vision, including an omnidirectional tilt sensor housing, LED lighting source, transparent cone container, opaque liquid, camera, embedded system, power supply, compass, platform, platform support foot position The servo control action unit and the platform support foot position servo control drive unit, the power supply supplies power to the lighting source and the embedded system, and the embedded system supplies power to the camera through a USB interface. The above-mentioned transparent cone container is formed by combining two cones of the same size into a closed container in a back-to-back manner; The LED lighting source is fixed with the camera at the bottom; the LED lighting source emits white light toward the center of the transparent cone container facing downwards, and the camera senses the camera toward the center of the transpar...

Embodiment 2

[0138] All the other are the same as embodiment 1, the difference is the leveling algorithm using the highest point, 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 upwards to align with it. When each point reaches the highest point, the platform is in a horizontal state, as shown in Figure 13 shown; the specific implementation method is: according to the signals of the tilt angle and tilt azimuth angle detected by the omnidirectional tilt sensor, determine the highest point of the platform, and use it as the origin of the coordinate system, and then calculate the position from each support point to the highest point Error; send this error value to the respective servo system, drive the motor to turn a certain angle, and make the outrigger rise a given distance, so that each point is at the same height and the platform reaches a horizontal state;

[0139] Figu...

Embodiment 3

[0158] All the other are the same as embodiment 1, the difference is the leveling algorithm using the middle point, such as Figure 12 , Figure 18 As shown; the "middle point" leveling algorithm is to control its 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, the platform That is, in a horizontal state, such as Figure 12 shown;

[0159]The specific implementation method is: according to the signal of inclination angle and inclination azimuth angle detected by the omni-directional inclination sensor, determine the highest point and the lowest point of the platform, and take 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 support point to the middle point; send this error value to the respective servo system, ...

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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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