A working method of an integrated wearable RGB-D camera holder

Abstract

The application discloses a working method of an integrated wearable RGB-D camera support, which comprises a frame structure, a camera support sliding mechanism, a screen support sliding mechanism, a connecting rod and a waistband, wherein the upper and lower frames of the frame structure are structural supports respectively, and the frame structure is connected to the waistband through the connecting rod; the camera support sliding mechanism comprises an RGB-D camera connecting piece, an RGB-D camera sliding table and a sliding table locking knob; and the screen support sliding mechanism comprises a longitudinal sliding rod, a transverse sliding rod, a track intersection sliding table, a screen support and a screen support sliding table. The application can realize the displacement of the RGB-D camera in the y-axis direction and the pitch angle rotation of the RGB-D camera on the structural supports, can realize the translation of the tablet placed on the screen support on the longitudinal sliding rod and the transverse sliding rod, and can realize the wearable collection by connecting the whole support to the waist, so that the application is convenient and fast to use.

Description

Technical Field

[0001] This invention relates to the field of urban renewal and heritage protection technology, and in particular to a working method for an integrated wearable RGB-D camera bracket. Background Technology

[0002] Traditional urban renewal and heritage preservation methods often face numerous challenges. Current traditional surveying methods are difficult to implement in the field and have limited application scenarios, failing to achieve accurate surveying within a short timeframe and thus no longer meeting the needs of current urban development. The 3D spatial reconstruction method based on RGB-D images, integrating an RGB-D camera, scaffold, and portable computer, can achieve real-time and accurate 3D modeling of the built environment in a short time. Existing technologies lack a scaffold structure that can integrate an RGB-D camera and portable computer, as well as a multi-dimensional adjustment method. Summary of the Invention

[0003] The purpose of this invention is to address the technical deficiencies in the existing technology by providing a working method for an integrated wearable RGB-D camera bracket. This bracket can realize an integrated wearable solution for RGB-D cameras and tablets, enabling convenient data acquisition.

[0004] The technical solution adopted to achieve the purpose of this invention is:

[0005] A method for operating an integrated wearable RGB-D camera bracket includes a frame structure, a camera bracket sliding mechanism, a screen bracket sliding mechanism, a connecting rod, and a belt, wherein:

[0006] The upper and lower frames of the frame structure are structural supports, and the frame structure is connected to the waist belt by connecting rods.

[0007] The camera bracket sliding mechanism includes an RGB-D camera connector, an RGB-D camera slide, and a slide locking knob. The RGB-D camera is mounted on the RGB-D camera slide via the RGB-D camera connector. The RGB-D camera slide is slidably connected to the upper structural support. The slide locking knob fixes the RGB-D camera slide on the structural support.

[0008] The screen bracket sliding mechanism includes a longitudinal slide rod, a transverse slide rod, a track cross slide, a screen bracket, and a screen bracket slide. There are two longitudinal slide rods, each with a track connector fixed at both ends. The track connectors are slidably connected to the corresponding structural bracket. Each track connector has a knob screw that fixes the track connector to the structural bracket. There are two transverse slide rods, each with its end fixed to a track cross slide. The ends of the two track cross slides are slidably connected to the corresponding longitudinal slide rods through resistance. The screen bracket slide is slidably connected to the two transverse slide rods, and the screen bracket is fixed to the screen bracket slide.

[0009] The working method includes the following steps:

[0010] First, fasten the belt around your body to integrate the wearable device, then make the following adjustments:

[0011] Adjust the pitch angle of the RGB-D camera using the RGB-D camera connector;

[0012] Adjust the position of the RGB-D camera in the y-axis direction using the RGB-D camera slide. After locking the slide by the slide lock knob, the RGB-D camera slide can be fixed to the structural support.

[0013] The screen bracket is moved horizontally on the slide bar by moving the screen bracket slide table, and the screen bracket is moved in the direction of the longitudinal slide bar by sliding the track cross slide table along the longitudinal slide bar. The horizontal slide bar is displaced in the y-axis direction by sliding the track connector along the structural support.

[0014] The frame structure can be adjusted by rotating the lever with the telescopic rod as the axis.

[0015] The height of the frame structure can be adjusted using telescopic rods;

[0016] The frame structure can be rotated and adjusted around the bottom connector as needed by connecting the ball groove blades and ball groove rods to the bottom connector.

[0017] In the above technical solution, the frame structure is a rectangular frame structure, with the upper and lower frames being a structural support and the left and right frames being a rotating handle. The two ends of each rotating handle are fixed to the ends of the upper and lower structural supports by the cooperation of screws and nuts.

[0018] In the above technical solution, the RGB-D camera connector is fixed to the RGB-D camera slide by bolts.

[0019] In the above technical solution, the RGB-D camera slide is a hollow cuboid, and the upper structural support passes through the hollow cuboid. The RGB-D camera slide has a through horizontal hole, and the slide locking knob passes through the horizontal hole and the elongated hole on the structural support to fix the RGB-D camera slide to the upper structural support.

[0020] In the above technical solution, the track connector is a hollow cuboid structure, and the upper structural support passes through the hollow part of the cuboid structure. A through horizontal hole is opened in the middle of the track connector, and the knob screw passes through the horizontal through hole and the elongated hole on the structural support, and the track connector is fixed to the structural support with the help of the nut.

[0021] In the above technical solution, the screen bracket is a snap-on spring structure, and the screen bracket is fixed to the screen bracket slide by fastening bolts.

[0022] In the above technical solution, a silicone ring is nested inside each track cross slide, and the longitudinal slide rod is fitted inside the silicone ring.

[0023] In the above technical solution, the connecting rod is a telescopic rod, and the lower structural support has a central connecting member at its center. The central connecting member has pipe-shaped openings in three directions: left, right, and bottom. The left and right openings are connected to the structural support through bearings, and the bottom opening of the central connecting member is fixedly connected to the top of the telescopic rod.

[0024] In the above technical solution, the telescopic rod adopts a rear-end collision structure, including an upper telescopic rod part and a lower telescopic rod part. The top of the upper telescopic rod part is connected to the structural support located at the bottom through a central connector, and the bottom of the lower telescopic rod part is connected to a base, which is fixed to the waist belt.

[0025] In the above technical solution, the lower structural support has two sections, and the end of each section is rotatably connected to the central connecting member through a bearing.

[0026] In the above technical solution, the bottom of the telescopic rod is provided with a bottom end connector. The base is connected to the bottom end connector through a ball groove blade and a ball groove rod. The connecting end of the ball groove rod is fixed to the bottom end connector by bolts and nuts. The spherical end of the ball groove rod is rotatably connected to the ball groove blade of the base. The fastening ring is screwed on the outside of the ball groove blade by thread rotation to constrain the position of the spherical end so that it does not come out of the ball groove blade. At the same time, the spherical end can rotate freely within the ball groove blade.

[0027] Compared with the prior art, the beneficial effects of the present invention are:

[0028] 1. This invention enables the RGB-D camera to perform displacement in the y-axis direction and pitch angle rotation on the structural support. That is, by adjusting the RGB-D camera connector and the RGB-D camera slide, a wide range of image acquisition can be achieved, and the camera scanning range can cover any area in the three-dimensional spatial coordinate system.

[0029] 2. This invention enables the tablet placed on the screen support to move along the vertical and horizontal sliders, facilitating real-time observation of data acquisition.

[0030] 3. This invention allows the entire support frame to be worn around the waist for data collection, and the entire support frame can be rotated and adjusted around the telescopic rod as an axis and around the bottom connector by gripping the rod.

[0031] 4. By changing the camera bracket of different sizes, this invention can be applied to various industrial camera models, and has good versatility. Attached Figure Description

[0032] Figure 1 and Figure 2 This is a schematic diagram of the structure of the present invention.

[0033] Figure 3 and Figure 4 This is an exploded view of the structure of the present invention.

[0034] Figure 5 This is a diagram illustrating the actual usage of the present invention.

[0035] In the picture:

[0036] 1. Waist belt, 2. Base, 3. Fastening screw ring, 4. Ball groove blade, 5. Ball end rod, 6. Bottom end connector, 7. Upper telescopic rod, 8. Lower telescopic rod, 9. Bearing, 10. Center connector, 11. Structural bracket, 12. Rotating grip, 13. Rail connector, 14. Slide lock knob, 15. RGB-D camera connector, 16. RGB-D camera slide, 17. Screen bracket, 18. Screen bracket slide, 19. Horizontal slide bar, 20. Vertical slide bar, 21. Rail cross slide, 22. Silicone ring, 23. Knob screw, 24. Tablet, 25. RGB-D camera. Detailed Implementation

[0037] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0038] Example 1

[0039] See Figure 1 Figure 2A method for operating an integrated wearable RGB-D camera bracket includes a frame structure, a camera bracket sliding mechanism, a screen bracket sliding mechanism, a connecting rod, and a waist belt 1, wherein:

[0040] The frame structure is a rectangular frame structure, with a structural support 11 on the upper and lower frames and a rotating handle 12 on the left and right frames. The two ends of each rotating handle 12 are fixed to the ends of the upper and lower structural supports 11 by screws and nuts.

[0041] The structure of the camera bracket sliding mechanism is described in [reference]. Figure 3 and Figure 4 The camera bracket sliding mechanism includes a structural bracket 11, an RGB-D camera connector 15, an RGB-D camera slide 16, and a slide locking knob 14. The RGB-D camera is mounted on the RGB-D camera slide 16 via the RGB-D camera connector 15, which is rotatably connected to the RGB-D camera slide 16. Two structural brackets 11 are provided, and the RGB-D camera slide 16 is slidably connected to the upper structural bracket 11. The RGB-D camera slide 16 is equipped with a slide locking knob 14 to fix it to the structural bracket 11. The RGB-D camera is mounted on the RGB-D camera connector 15, allowing for movement and rotation adjustment of the RGB-D camera on the structural bracket 11 as needed.

[0042] The structure of the screen bracket sliding mechanism is described in [reference]. Figure 3 and Figure 4 The screen bracket sliding mechanism includes a longitudinal slide rod 20, a transverse slide rod 19, a silicone ring 22, a track cross slide 21, a screen bracket 17, and a screen bracket slide 18. Two longitudinal slide rods 20 are provided, each with a track connector 13 fixed at both ends. The track connector 13 is slidably connected to the corresponding structural bracket 11. Each track connector 13 has a knob screw 23, which fixes the track connector 13 to the structural bracket 11. Two transverse slide rods 19 are provided, each with its ends fixed to a track cross slide 21. The two track cross slides 21 are slidably connected to a longitudinal slide rod 20 via resistance. The screen bracket slide 18 is slidably connected to the two transverse slide rods 19, and the screen bracket 17 is fixed to the screen bracket slide 18.

[0043] The horizontal slide bar 20 is fixed to the structural support 11 by the horizontal slide bar connector 13 and the knob screw 23; the track cross slide 21 is movably sleeved on the horizontal slide bar by the silicone ring 22, and the screen support slide 18 is movably sleeved on the vertical slide bar 19; the tablet 24 is placed on the screen support 17, and the tablet 24 can be moved on the support as needed.

[0044] The lower structural support 11 has a central connector 10 in the middle. The central connector 10 has pipe-shaped openings in the left, right and down directions. The lower structural support 11 has two sections. The left and right openings are connected to one section of the structural support 11 through bearings 9. The lower opening of the central connector is fixedly connected to the top of the telescopic rod. As needed, the frame structure can be rotated and adjusted around the telescopic rod as an axis.

[0045] In use, the RGB-D camera is fixedly installed in the desired position using the RGB-D camera connector 15, the tablet is placed inside the screen bracket 17, and the belt 1 is fastened to the body. As needed, the RGB-D camera can be moved and rotated on the bracket, the tablet can be moved on the bracket, and the overall bracket can be rotated and adjusted.

[0046] The method of using the integrated wearable RGB-D camera holder includes the following steps:

[0047] Ⅰ: The pitch angle of the RGB-D camera is adjusted by the RGB-D camera connector 15; the displacement of the RGB-D camera in the y-axis direction is achieved by the RGB-D camera slide 16; after locking the slide lock knob 14, the RGB-D camera slide 16 can be fixed on the structural support 11.

[0048] II: The screen bracket is translated on the horizontal slide bar 19 by moving the screen bracket slide table 18, the screen bracket is moved in the direction of the vertical slide bar 20 by sliding the track cross slide table 21 along the vertical slide bar 20, and the horizontal slide bar 19 is displaced in the y-axis direction by sliding the track connector along the structural bracket.

[0049] Ⅲ: The overall support frame can be rotated and adjusted around the telescopic rod by rotating the handle 12; the height of the equipment can be adjusted by the telescopic rod.

[0050] IV: The ball groove blade 4 and ball groove rod 5 are connected to the bottom connector to realize the rotation adjustment of the entire bracket with the bottom connector as needed; the belt is tied to the body to realize the integration of wearable devices.

[0051] Example 2

[0052] Preferably, the RGB-D camera connector 15 is fixed to the RGB-D camera slide 16 by bolts. The RGB-D camera slide 16 is a hollow cuboid, and the upper structural support 11 passes through the hollow cuboid. The RGB-D camera slide 16 has a through horizontal hole. The slide locking knob 14 passes through the horizontal hole and the elongated hole on the structural support 11 to fix the RGB-D camera slide 16 to the upper structural support 11.

[0053] Preferably, the track connector 13 is a hollow cuboid structure, and the upper structural support 11 passes through the hollow part of the cuboid structure. A through horizontal hole is opened in the middle of the track connector 13, and the knob screw 23 passes through the horizontal through hole and the elongated hole on the structural support 11, and the track connector 13 is fixed on the structural support 11 with the help of the nut.

[0054] Preferably, the screen bracket 17 is a snap-on spring structure, and the screen bracket 17 is fixed to the screen bracket slide 18 by fastening bolts. Preferably, each track cross slide 21 has a silicone ring 22 nested inside it, and the longitudinal slide rod 20 is fitted inside the silicone ring 22. When an external force is applied, the track cross slide 21 can move up and down along the longitudinal slide rod 20. When there is no external force, the track cross slide 21 is fixed to the longitudinal slide rod 20 by the friction between the silicone ring 22 and the track cross slide 21.

[0055] Preferably, the telescopic rod adopts a tail-end structure, including an upper telescopic rod part 7 and a lower telescopic rod part 8. The top of the upper telescopic rod part 7 is connected to the structural support 11 located at the bottom through a central connector 10, and the bottom of the lower telescopic rod part 8 is connected to the base 2. By adjusting the length of the telescopic rod, the height of the entire frame structure can be appropriately adjusted to adjust the RGB-D camera 25 and the tablet 26 to an appropriate height.

[0056] Preferably, the base 2 is connected to the bottom end connector 6 of the telescopic rod via a ball groove blade 4 and a ball groove rod 5. The bottom end connector 6 is fixed to the bottom of the telescopic rod. The connecting end of the ball groove rod 5 is fixed to the bottom end connector 6 with bolts and nuts. The spherical end of the ball groove rod 5 is rotatably connected to the ball groove blade 4 of the base 2. The fastening ring 3 is threaded and rotated on the outside of the ball groove blade 4 to constrain the position of the spherical end so that it does not come out of the ball groove blade 4, and can ensure that the spherical end can rotate freely within the ball groove blade 4. The diameter of the ball groove blade 4 is slightly smaller than the diameter of the spherical end of the ball groove rod 5. The ball groove blade 4 is made of elastic material. The size of the groove space enclosed by the ball groove blade 4 near the base is equal to the diameter of the spherical end of the ball groove rod 5, and the size of the groove space enclosed by the ball groove blade 4 far from the base is slightly smaller than the diameter of the spherical end.

[0057] The base 2 is fixed to the middle of the belt 1. The two ends of the belt 1 are respectively provided with a connector A and a connector B that cooperate with each other. The length of the belt 1 can be adjusted by the connector A and connector B to suit different users. The connector A and connector B are detachable and fixed. When it is necessary to wear it, the belt 1 is tied around the user's waist and the connector A and connector B are fixed together. After use, the connector A and connector B are untied and the belt 1 is taken off.

[0058] The arrangement of the ball groove blade 4 and the ball groove rod 5 allows for the overall support to be rotated and adjusted around the bottom connector 6 as needed.

[0059] For ease of explanation, spatial relative terms such as “up,” “down,” “left,” and “right” are used in the embodiments to describe the relationship of one element or feature shown in the figures relative to another element or feature. It should be understood that, in addition to the orientations shown in the figures, spatial terms are intended to include different orientations of the device in use or operation. For example, if the device in the figures is inverted, an element described as being “down” of other elements or features would be positioned “up” of those other elements or features. Therefore, the exemplary term “down” can encompass both up and down orientations. The device may be positioned in other ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0060] Moreover, relational terms such as “first” and “second” are used merely to distinguish one component from another that has the same name, without necessarily requiring or implying any such actual relationship or order between the components.

[0061] The above description is only a preferred embodiment of the present invention. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method of working with an integrated wearable RGB-D camera rig, characterized in that, The application relates to a wearable device, which comprises a frame structure, a camera support sliding mechanism, a screen support sliding mechanism, a connecting rod and a waistband, wherein: the upper and lower frames of the frame structure are structure supports, and the frame structure is connected to the waistband through the connecting rod; the frame structure is a rectangular frame structure, the upper and lower frames are structure supports, the left and right frames are rotating handlebars, and the two ends of each rotating handlebar are fixed to the end portions of the upper and lower structure supports through the cooperation of a screw rod and a screw nut; the camera support sliding mechanism comprises an RGB-D camera connecting piece, an RGB-D camera sliding table and a sliding table locking knob, the RGB-D camera is assembled on the RGB-D camera sliding table through the RGB-D camera connecting piece, the RGB-D camera sliding table is slidingly connected to the structure support located at the upper portion, and the sliding table locking knob fixes the RGB-D camera sliding table on the structure support; the screen support sliding mechanism comprises longitudinal sliding rods, transverse sliding rods, track intersection sliding tables, a screen support and a screen support sliding table, the longitudinal sliding rods are provided with two, the two ends of each longitudinal sliding rod are fixed with a track connecting piece, the track connecting piece is slidingly connected to the corresponding structure support, a knob screw is arranged on each track connecting piece, the track connecting piece is fixed on the structure support through the knob screw, the transverse sliding rods are provided with two, the end portions of the two transverse sliding rods are fixed on a track intersection sliding table, the end portions of the two track intersection sliding tables are slidingly connected to the corresponding longitudinal sliding rods, the screen support sliding table is slidingly connected to the two transverse sliding rods, and the screen support is fixed on the screen support sliding table; the connecting rod is a telescopic rod, the telescopic rod adopts a rear-end following structure and comprises an upper telescopic rod portion and a lower telescopic rod portion, the top portion of the upper telescopic rod portion is connected to the structure support located at the lower portion through a central connecting piece, and the bottom portion of the lower telescopic rod portion is connected to a base; the working method comprises the following steps: firstly, the waistband is buckled on the body to realize the integration of the wearable device, and then the following adjustment is conducted: the pitch angle of the RGB-D camera is adjusted through the RGB-D camera connecting piece; the position of the RGB-D camera in the y-axis direction is adjusted through the RGB-D camera sliding table, and the RGB-D camera sliding table is fixed on the structure support after the sliding table locking knob is locked; the screen support is translated on the transverse sliding rod through the screen support sliding table, the screen support is moved in the longitudinal sliding rod direction through the sliding of the track intersection sliding table, and the transverse sliding rod is displaced in the y-axis direction through the sliding of the track connecting piece along the structure support; the frame structure is rotated and adjusted around the telescopic rod through the rotation of the rotating handlebar; the height of the frame structure is adjusted through the telescopic rod; the frame structure is rotationally adjusted around the bottom end connecting piece through the connection of the ball groove blade, the ball groove rod and the bottom end connecting piece. 2.The working method of the integrated wearable RGB-D camera holder of claim 1, wherein, The RGB-D camera sliding table is a hollow cuboid, and the upper structure support passes through the hollow cuboid, a through horizontal hole is formed in the RGB-D camera sliding table, and the sliding table locking knob passes through the horizontal hole and a long strip-shaped hole in the structure support to fix the RGB-D camera sliding table on the upper structure support. 3.The working method of the integrated wearable RGB-D camera holder of claim 1, wherein, The track connecting piece is a hollow cuboid structure, and the upper structure support passes through the hollow part of the cuboid structure, a through horizontal hole is formed in the middle of the track connecting piece, the knob screw passes through the horizontal hole and the long strip-shaped hole in the structure support, and the track connecting piece is fixed on the structure support in cooperation with the nut. 4.The working method of the integrated wearable RGB-D camera holder of claim 1, wherein, The screen support is a buckle type spring structure, and the screen support is fixed on the screen support sliding table through the fastening bolt. 5.The working method of the integrated wearable RGB-D camera holder of claim 1, wherein, Each track intersection sliding table is nested with a silica gel ring, and the longitudinal sliding rod is sleeved in the silica gel ring.

6. The method of claim 1, wherein the wearable RGB-D camera rig is integrated. The center of the lower structure support is provided with a center connecting piece, the center connecting piece is provided with pipe-shaped openings in left, right and lower directions, the left and right openings are connected with the structure support through bearings, and the lower opening of the center connecting piece is fixedly connected with the top of the telescopic rod.

7. The working method of an integrated wearable RGB-D camera holder according to claim 6, wherein, The base is fixed on the waistband. 8.The working method of the integrated wearable RGB-D camera holder of claim 6, wherein, The telescopic rod adopts a rear-end following structure, the lower structure support is provided with two sections, and the end of each section is rotationally connected to the center connecting piece through a bearing. 9.The working method of the integrated wearable RGB-D camera holder of claim 7, wherein, The connecting end of the ball groove rod is fixed on the bottom connecting piece through a bolt and a nut, the spherical end of the ball groove rod is rotationally connected in the ball groove blade of the base, the fastening ring is sleeved outside the ball groove blade through screw threads, the position of the spherical end is constrained so as not to be separated from the ball groove blade, and meanwhile, the spherical end can freely rotate in the ball groove blade.

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