Attitude adjusting device, attitude adjusting method and image acquisition device

Abstract

The invention relates to the technical field of image acquisition devices, and provides a posture adjusting device, a posture adjusting method and an image acquisition device. The posture adjusting device comprises a fixed plate, a first movable plate, a first driving mechanism, a second movable plate, a second driving mechanism and a third driving mechanism; the first movable plate can be rotatably arranged on the fixed plate around a first axis, and the first axis is perpendicular to the first movable plate; the second movable plate is connected with the first movable plate, the second movable plate at least can rotate around a second axis and a third axis relative to the first movable plate, the second axis is perpendicular to the third axis, and the second axis and the third axis are both perpendicular to the first axis; the first driving mechanism drives the first movable plate to rotate relative to the fixed plate. The second driving mechanism and the third driving mechanism drive the second movable plate to rotate relative to the first movable plate. By means of the arrangement, the problems that in the prior art, when the posture of the camera is adjusted, dependence on manual work is high, and adjustment cannot be completed manually under the extreme working condition are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of image acquisition devices, and provides a posture adjustment device, a posture adjustment method and an image acquisition device. Background Art

[0002] The 360-degree detection system can collect the appearance image information of the monitored object through the camera, and perform fault detection and troubleshooting through image recognition technology or manual work. Taking train operation and maintenance as an example, train operation and maintenance is a key link in the entire life cycle of the train, and can identify and deal with abnormal conditions such as component fatigue defects, deformation, missing parts and foreign objects generated during the service of the vehicle. The 360-degree detection system can realize intelligent operation and maintenance of trains, improve efficiency, reduce dependence on manual work, and eliminate the problem of missed inspections.

[0003] In order to improve the compatibility of image acquisition of the 360 ​​detection system and ensure the quality of image acquisition, it is necessary to accurately control the posture of the camera according to the image acquisition requirements. In the prior art, the camera of the 360 ​​detection system is generally fixed on a mounting frame, and the posture of the mounting frame is manually adjusted according to the detection requirements. The process of adjusting the posture is highly dependent on manual labor, and the accuracy of the posture adjustment is difficult to guarantee. In extreme working conditions, it is even impossible to complete the adjustment manually.

[0004] Therefore, how to solve the problem in the prior art that when adjusting the camera posture, the camera is highly dependent on manual labor and cannot be adjusted manually under extreme working conditions has become an important technical problem that technicians in this field need to solve. Summary of the invention

[0005] The embodiments of the present invention provide a posture adjustment device, a posture adjustment method and an image acquisition device, which are used to solve the defects in the prior art that when adjusting the posture of a camera, the posture is highly dependent on manual labor and the adjustment cannot be completed manually under extreme working conditions, so as to achieve automatic adjustment of the camera posture, reduce dependence on manual labor, and improve adjustment efficiency and accuracy.

[0006] A first aspect of the present invention provides a posture adjustment device, comprising: Fixed plate; A first movable plate is rotatably disposed on the fixed plate around a first axis, wherein the first axis is perpendicular to the first movable plate; a first driving mechanism, adapted to drive the first movable plate to rotate relative to the fixed plate; a second movable plate, adapted to install the image acquisition module, the second movable plate being connected to the first movable plate, the second movable plate being capable of rotating relative to the first movable plate at least around a second axis and a third axis, respectively, the second axis being perpendicular to the third axis, and the second axis and the third axis being perpendicular to the first axis; a second driving mechanism, adapted to drive the second movable plate to rotate relative to the first movable plate around the second axis; The third driving mechanism is adapted to drive the second movable plate to rotate around the third axis relative to the first movable plate.

[0007] According to one embodiment of the present invention, the first driving mechanism comprises: The first temperature-dependent deformation rod is provided with two groups, the axes of the two groups of the first temperature-dependent deformation rods are parallel to each other and perpendicular to the first axis, the two groups of the first temperature-dependent deformation rods are respectively located on both sides of the first axis, the first end of the first temperature-dependent deformation rod is connected to the fixed plate, the second end of the first temperature-dependent deformation rod is connected to the first movable plate, and the first temperature-dependent deformation rod is suitable for being connected to a power source.

[0008] According to one embodiment of the present invention, the second driving mechanism comprises: The second temperature-dependent deformation rod is provided with two groups, the axes of the two groups of the second temperature-dependent deformation rods are parallel to the first axis, the two groups of the second temperature-dependent deformation rods are respectively located on both sides of the second axis, the first end of the second temperature-dependent deformation rod is connected to the first movable plate, the second end of the second temperature-dependent deformation rod is connected to the second movable plate, and the second temperature-dependent deformation rod is suitable for being connected to a power supply.

[0009] According to one embodiment of the present invention, the third driving mechanism comprises: The third temperature-dependent deformation rod is provided with two groups, the axes of the two groups of the third temperature-dependent deformation rods are parallel to the first axis, the two groups of the third temperature-dependent deformation rods are respectively located on both sides of the third axis, the first end of the third temperature-dependent deformation rod is connected to the first movable plate, the second end of the third temperature-dependent deformation rod is connected to the second movable plate, and the third temperature-dependent deformation rod is suitable for being connected to a power supply.

[0010] According to one embodiment of the present invention, it also includes: A posture sensor is arranged on the second movable plate, and the posture sensor is suitable for detecting the three-dimensional posture of the second movable plate. The posture sensor and the power supply are both electrically connected to the control system.

[0011] According to an embodiment of the present invention, the first temperature-dependent deformation rod, the second temperature-dependent deformation rod and the third temperature-dependent deformation rod each include: The length of the temperature-deformable rod body changes with temperature; Insulating parts, arranged at both ends of the temperature-dependent deformation rod body; The temperature sensor is arranged inside the temperature-dependent deformation rod body. The temperature sensor is suitable for detecting the temperature of the temperature-dependent deformation rod body. The temperature sensor is electrically connected to the control system.

[0012] According to one embodiment of the present invention, it also includes: The universal connector is arranged between the first movable plate and the second movable plate, the first end of the universal connector is connected to the first movable plate through a connecting rod, the axis of the connecting rod coincides with the first axis, and the second end of the universal connector is fixedly connected to the second movable plate.

[0013] A second aspect of the present invention provides a posture adjustment method, which is suitable for adjusting the above-mentioned posture adjustment device, wherein the posture adjustment device includes a posture sensor, and the posture sensor is arranged on the second movable plate. The posture adjustment method includes: Determine the relationship between the coordinate system of the gesture sensor and the coordinate system of the image acquisition module; Get the target posture of the image acquisition module; Determine a target detection posture according to a relationship between a coordinate system of the posture sensor and a coordinate system of an image acquisition module, wherein the target detection posture is a target posture of the image acquisition module of the target posture in the coordinate system of the posture sensor; Determining a target current of each first temperature-dependent deformable rod, a target current of each second temperature-dependent deformable rod, and a target current of each third temperature-dependent deformable rod according to the target detection posture and a database, wherein the database includes a mapping relationship between the target detection posture, the current of each first temperature-dependent deformable rod, the current of each second temperature-dependent deformable rod, and the current of each third temperature-dependent deformable rod; The output current of the power supply is controlled according to the target current of each of the first temperature-dependent deformable rods, the target current of each of the second temperature-dependent deformable rods, and the target current of each of the third temperature-dependent deformable rods.

[0014] According to one embodiment of the present invention, the database is discrete data, and when the target detection posture is not located in the database, the posture adjustment method further includes: Determine an applicable posture according to the target detection posture and the database, wherein the applicable posture is a posture in the database that is closest to the target detection posture; According to the applicable posture and the database, determining the applicable current of each first temperature-dependent deformation rod, the applicable current of each second temperature-dependent deformation rod, and the applicable current of each third temperature-dependent deformation rod corresponding to the applicable posture; Controlling the output current of the power supply according to the applicable current of each of the first temperature-dependent deformation rods, the applicable current of each of the second temperature-dependent deformation rods, and the applicable current of each of the third temperature-dependent deformation rods; Obtain the current posture of the image acquisition module in the coordinate system of the posture sensor; The output current of the power supply is fine-tuned until the current posture of the image acquisition module in the coordinate system of the posture sensor is consistent with the target detection posture.

[0015] A third aspect of the present invention provides an image acquisition device, comprising the above-mentioned posture adjustment device, or suitable for executing the above-mentioned posture adjustment method.

[0016] The above one or more technical solutions in the embodiments of the present invention have at least one of the following technical effects.

[0017] According to the first aspect of the present invention, the posture adjustment device provided by the embodiment includes a fixed plate, a first movable plate, a first driving mechanism, a second movable plate, a second driving mechanism and a third driving mechanism. The first movable plate can be rotatably arranged on the fixed plate around a first axis, and the first axis is perpendicular to the first movable plate. The first driving mechanism is used to drive the first movable plate to rotate relative to the fixed plate. The second movable plate is connected to the first movable plate, and the image acquisition module is installed on the second movable plate. When the first movable plate rotates relative to the fixed plate, it will drive the first movable plate and the image acquisition module to rotate around the first axis. The second movable plate can at least rotate relative to the first movable plate around a second axis and a third axis respectively, and the second axis is perpendicular to the third axis, and the second axis and the third axis are both perpendicular to the first axis. The second driving mechanism is used to drive the second movable plate to rotate relative to the first movable plate around the second axis, and the third driving mechanism is used to drive the second movable plate to rotate relative to the first movable plate around the third axis. When the second movable plate rotates around the second axis and the third axis, the image acquisition module rotates with the second movable plate around the second axis and the third axis. With such arrangement, the first drive mechanism, the second drive mechanism and the third drive mechanism can be used to drive the second movable plate to rotate around the first axis, the second axis and the third axis respectively relative to the fixed plate, thereby adjusting the posture of the second movable plate, and further adjusting the posture of the image acquisition module located on the second movable plate. No manual operation is required in the process of adjusting the posture of the image acquisition module, which reduces the dependence on manual operation. Moreover, under extreme working conditions, there is no need to manually touch the posture adjustment device itself, and the first drive mechanism, the second drive mechanism and the third drive mechanism can be remotely controlled, which removes the limitation of the working environment on the posture adjustment process, and solves the problem in the prior art that the posture adjustment of the camera is highly dependent on manual operation and cannot be completed manually under extreme working conditions.

[0018] According to the posture adjustment method provided in the embodiment of the second aspect of the present invention, it is possible to realize automatic control of the posture of the image acquisition module, reduce dependence on manual labor, remove the restrictions of the working environment on the posture adjustment process, and solve the problem in the prior art of strong dependence on manual labor when adjusting the posture of the camera and the inability to complete the adjustment manually under extreme working conditions.

[0019] The image acquisition device provided in accordance with the third aspect of the present invention also has the various advantages as described above because it is provided with the posture adjustment device as described above or can execute the posture adjustment method as described above. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the present invention or related technologies, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 It is a structural schematic diagram of the posture adjustment device provided by an embodiment of the present invention at a certain viewing angle.

[0022] Figure 2 It is a structural schematic diagram of the posture adjustment device provided by an embodiment of the present invention at another viewing angle.

[0023] Figure 3 It is a schematic diagram of a connection structure between a first movable plate and a fixed plate provided in an embodiment of the present invention.

[0024] Figure 4 It is a schematic diagram of the structure between the first movable plate and the second movable plate provided by an embodiment of the present invention.

[0025] Figure 5 It is a schematic structural diagram of a first temperature-dependent deformation rod, a second temperature-dependent deformation rod and a third temperature-dependent deformation rod provided in an embodiment of the present invention.

[0026] Figure 6 The process of the posture adjustment method provided by the embodiment of the present invention is Figure 1 .

[0027] Figure 7 The process of the posture adjustment method provided by the embodiment of the present invention is Figure 2 .

[0028] Reference numerals: 1. Fixed plate; 2. First movable plate; 3. Second movable plate; 4. First temperature-dependent deformation rod; 5. Second temperature-dependent deformation rod; 6. Third temperature-dependent deformation rod; 7. Posture sensor; 8. Temperature-dependent deformation rod body; 9. Insulator; 10. Temperature sensor; 11. Universal connector; 12. Connecting rod; 13. Coil spring; 14. Image acquisition module; 15. Thrust bearing. DETAILED DESCRIPTION

[0029] The following embodiments of the present invention are described in further detail in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0030] In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limitations on the embodiments of the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0031] In the description of the embodiments of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0032] In the embodiments of the present invention, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0033] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiment of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0034] Combine the following Figures 1 to 7 The posture adjustment device of the present invention is described.

[0035] like Figures 1 to 7 As shown, a first embodiment of the present invention provides a posture adjustment device, including a fixed plate 1, a first movable plate 2, a first driving mechanism, a second movable plate 3, a second driving mechanism and a third driving mechanism.

[0036] Specifically, the first movable plate 2 is rotatably disposed on the fixed plate 1 around a first axis, and the first axis is perpendicular to the first movable plate 2. The first driving mechanism is used to drive the first movable plate 2 to rotate relative to the fixed plate 1.

[0037] The second movable plate 3 is connected to the first movable plate 2 . The image acquisition module 14 is installed on the second movable plate 3 . When the first movable plate 2 rotates relative to the fixed plate 1 , the first movable plate 2 and the image acquisition module 14 are driven to rotate around the first axis.

[0038] The second movable plate 3 can at least rotate about the second axis and the third axis relative to the first movable plate 2, the second axis is perpendicular to the third axis, and the second axis and the third axis are both perpendicular to the first axis. Figure 1 The straight line indicated by z in the figure, the second axis is as follows Figure 1 The straight line indicated by x in the figure, the third axis is as follows Figure 1 The straight line indicated by y in .

[0039] The second driving mechanism is used to drive the second movable plate 3 to rotate around the second axis relative to the first movable plate 2, and the third driving mechanism is used to drive the second movable plate 3 to rotate around the third axis relative to the first movable plate 2. When the second movable plate 3 rotates around the second axis and the third axis, the image acquisition module 14 rotates with the second movable plate 3 around the second axis and the third axis.

[0040] With such arrangement, the first drive mechanism, the second drive mechanism and the third drive mechanism can be used to drive the second movable plate 3 to rotate around the first axis, the second axis and the third axis respectively relative to the fixed plate 1, thereby adjusting the posture of the second movable plate 3, and further adjusting the posture of the image acquisition module 14 located on the second movable plate 3. No manual operation is required in the process of adjusting the posture of the image acquisition module 14, which reduces the dependence on manual operation. Moreover, under extreme working conditions, it is not necessary to manually touch the posture adjustment device itself, and the first drive mechanism, the second drive mechanism and the third drive mechanism can be remotely controlled, which removes the limitation of the working environment on the posture adjustment process, and solves the problem in the prior art that the posture adjustment of the camera is highly dependent on manual operation and cannot be completed manually under extreme working conditions.

[0041] In the embodiment of the present invention, the first driving mechanism includes a first temperature-dependent deformation rod 4, and the length of the first temperature-dependent deformation rod 4 changes with temperature. That is, by controlling the temperature of the first temperature-dependent deformation rod 4, the length of the first temperature-dependent deformation rod 4 can be controlled.

[0042] Two groups of first temperature-dependent deformation rods 4 are provided, and the axes of the two groups of first temperature-dependent deformation rods 4 are parallel to each other, and the axes of the first temperature-dependent deformation rods 4 are perpendicular to the first axis. The two groups of first temperature-dependent deformation rods 4 are respectively located on both sides of the first axis, and the first ends of the first temperature-dependent deformation rods 4 are connected to the fixed plate 1, and the second ends of the first temperature-dependent deformation rods 4 are connected to the first movable plate 2. When the lengths of the two groups of first temperature-dependent deformation rods 4 change, torque is generated on the first movable plate 2, so that the first movable plate 2 rotates around the first axis relative to the fixed plate 1.

[0043] In a specific embodiment, the size of the fixed plate 1 is larger than that of the first movable plate 2, the two groups of first temperature-dependent deformation rods 4 are respectively located on opposite sides of the first movable plate 2, and the first axis is located between the straight lines where the axes of the two groups of first temperature-dependent deformation rods 4 are located. Figure 1 and Figure 2 Each group of first temperature-dependent deformation rods 4 includes only one first temperature-dependent deformation rod 4 .

[0044] Each first temperature-dependent deformation rod 4 is connected to a power source, and current is passed through the power source. Different currents passed through the first temperature-dependent deformation rod 4 will generate different amounts of heat and temperatures, and thus the first temperature-dependent deformation rod 4 will have different lengths.

[0045] By passing different current values ​​through the two groups of first temperature-dependent deformation rods 4 of the first driving mechanism, the two groups of first temperature-dependent deformation rods 4 can be made to have different lengths, thereby generating torque on the first movable plate 2 to drive the first movable plate 2 to rotate relative to the fixed plate 1.

[0046] In this embodiment, the second driving mechanism includes a second temperature-dependent deformation rod 5 , and the length of the second temperature-dependent deformation rod 5 changes with temperature. That is, the length of the second temperature-dependent deformation rod 5 can be controlled by controlling the temperature of the second temperature-dependent deformation rod 5 .

[0047] Two groups of second temperature-dependent deformation rods 5 are provided, and the axes of the two groups of second temperature-dependent deformation rods 5 are parallel to each other, and the axes of the second temperature-dependent deformation rods 5 are parallel to the first axis. The two groups of second temperature-dependent deformation rods 5 are respectively located on both sides of the second axis, and the first ends of the second temperature-dependent deformation rods 5 are connected to the first movable plate 2, and the second ends of the second temperature-dependent deformation rods 5 are connected to the second movable plate 3. When the lengths of the two groups of second temperature-dependent deformation rods 5 change, torque is generated on the second movable plate 3, so that the second movable plate 3 rotates around the second axis relative to the first movable plate 2.

[0048] In a specific embodiment, there is a gap between the second movable plate 3 and the first movable plate 2, two sets of second temperature-dependent deformation rods 5 are arranged between the second movable plate 3 and the first movable plate 2, and the two ends of the second temperature-dependent deformation rods 5 are respectively connected to the side of the second movable plate 3 close to the first movable plate 2. Figure 1 and Figure 2 Each group of second temperature-dependent deformation rods 5 includes only one second temperature-dependent deformation rod 5 , and the two second temperature-dependent deformation rods 5 are distributed along the third axis, that is, the distribution direction of the two second temperature-dependent deformation rods 5 is perpendicular to the second axis.

[0049] Each second temperature-dependent deformation rod 5 is connected to a power source, and current is passed through the power source. Different currents passed through the second temperature-dependent deformation rod 5 will generate different amounts of heat and temperatures, and thus the second temperature-dependent deformation rod 5 will have different lengths.

[0050] By passing different current values ​​through the two groups of second temperature-dependent deformation rods 5 of the second driving mechanism, the two groups of second temperature-dependent deformation rods 5 can be made to have different lengths, thereby generating torque on the second movable plate 3 to drive the second movable plate 3 to rotate relative to the first movable plate 2.

[0051] In this embodiment, the third driving mechanism includes a third temperature-dependent deformation rod 6 , and the length of the third temperature-dependent deformation rod 6 changes with temperature. That is, by controlling the temperature of the third temperature-dependent deformation rod 6 , the length of the third temperature-dependent deformation rod 6 can be controlled.

[0052] Two groups of third temperature-dependent deformation rods 6 are provided, and the axes of the two groups of third temperature-dependent deformation rods 6 are parallel to each other, and the axes of the third temperature-dependent deformation rods 6 are parallel to the first axis. The two groups of third temperature-dependent deformation rods 6 are respectively located on both sides of the third axis, and the first ends of the third temperature-dependent deformation rods 6 are connected to the first movable plate 2, and the second ends of the third temperature-dependent deformation rods 6 are connected to the second movable plate 3. When the lengths of the two groups of third temperature-dependent deformation rods 6 change, torque is generated on the second movable plate 3, so that the second movable plate 3 rotates around the third axis relative to the first movable plate 2.

[0053] In a specific embodiment, two sets of third temperature-dependent deformation rods 6 are disposed between the second movable plate 3 and the first movable plate 2, and two ends of the third temperature-dependent deformation rods 6 are respectively connected to the side of the second movable plate 3 close to the first movable plate 2. Figure 1 and Figure 2 Each group of third temperature-dependent deformation rods 6 includes only one third temperature-dependent deformation rod 6 , and the two third temperature-dependent deformation rods 6 are distributed along the second axis, that is, the distribution direction of the two third temperature-dependent deformation rods 6 is perpendicular to the third axis.

[0054] Each third temperature-dependent deformation rod 6 is connected to a power source, and current is passed through the power source. Different currents passed through the third temperature-dependent deformation rods 6 will generate different amounts of heat and temperatures, and thus the third temperature-dependent deformation rods 6 will have different lengths.

[0055] By passing different current values ​​through the two groups of third temperature-dependent deformation rods 6 of the third driving mechanism, the two groups of third temperature-dependent deformation rods 6 can be made to have different lengths, thereby generating torque on the second movable plate 3 to drive the second movable plate 3 to rotate relative to the first movable plate 2.

[0056] It should be noted that each first temperature-dependent deformation rod 4, each second temperature-dependent deformation rod 5 and each third temperature-dependent deformation rod 6 can be equipped with a separate power supply to facilitate control and eliminate the influence between the currents of the first temperature-dependent deformation rod 4, the second temperature-dependent deformation rod 5 and the third temperature-dependent deformation rod 6.

[0057] In the embodiment of the present invention, the first temperature-dependent deformation rod 4 , the second temperature-dependent deformation rod 5 and the third temperature-dependent deformation rod 6 have the same structure, and all include a temperature-dependent deformation rod body 8 , an insulating member 9 and a temperature sensor 10 .

[0058] The length of the temperature-dependent deformation rod body 8 changes with the change of its own temperature. The insulating member 9 is provided at both ends of the temperature-dependent deformation rod body 8. The ends of the temperature-dependent deformation rod body 8 are connected to the fixed plate 1, the first movable plate 2 or the second movable plate 3 through the insulating member 9, which can ensure the insulation between the temperature-dependent deformation rod body 8 and the fixed plate 1, the insulation between the temperature-dependent deformation rod body 8 and the first movable plate 2, and the insulation between the temperature-dependent deformation rod body 8 and the second movable plate 3. In specific applications, only current is passed through the temperature-dependent deformation rod body 8.

[0059] The temperature sensor 10 is disposed inside the temperature-dependent deformation rod body 8, and the temperature sensor 10 is used to detect the temperature of the temperature-dependent deformation rod body 8. The temperature sensor 10 and the power supply are both electrically connected to the control system, and the control system can obtain the temperature data detected by each temperature sensor 10 to control the output current of the power supply.

[0060] When the temperature-dependent deformation rod body 8 is connected to the fixed plate 1, the first movable plate 2 or the second movable plate 3 through the insulating member 9, the insulating member 9 at at least one end of the temperature-dependent deformation rod body 8 can be connected to the temperature-dependent deformation rod body 8 through a universal hinge, or the insulating member 9 at at least one end of the temperature-dependent deformation rod body 8 can be connected to the fixed plate 1, the first movable plate 2 or the second movable plate 3 through a universal hinge. When adjusting the posture of the image acquisition module 14 and the posture of the second movable plate 3, the connection structure between the second temperature-dependent deformation rod 5 and the first movable plate 2, the connection structure between the second temperature-dependent deformation rod 5 and the second movable plate 3, the connection structure between the third temperature-dependent deformation rod 6 and the first movable plate 2, and the connection structure between the third temperature-dependent deformation rod 6 and the second movable plate 3 can adapt to the posture change of the second movable plate 3, avoiding the problem of the posture adjustment device being damaged due to stress.

[0061] A coil spring 13 may also be sleeved on the outside of the temperature-dependent deformation rod body 8 , and two ends of the coil spring 13 are respectively connected to two ends of the temperature-dependent deformation rod body 8 to assist the temperature-dependent deformation rod body 8 in deformation.

[0062] The insulating member 9 may be, but is not limited to, ceramics which are thermally insulating materials.

[0063] The material of the temperature-dependent deformation rod body 8 can be a memory alloy, and the length of the memory alloy rod changes with the temperature. In the specific real-time process, different formulas can be selected to print the memory alloy according to the change rate of the length of the temperature-dependent deformation rod body 8 with temperature.

[0064] In an optional embodiment, a rod with adjustable length such as a cylinder or a hydraulic cylinder may be used to replace the first temperature-dependent deformation rod 4, the second temperature-dependent deformation rod 5 and the third temperature-dependent deformation rod 6. The structural principle of the telescopic adjustment of the rod itself is different, but the layout position of the rod is consistent with the layout position of the first temperature-dependent deformation rod 4, the second temperature-dependent deformation rod 5 and the third temperature-dependent deformation rod 6, and the connection relationship between the rod and other components is completely consistent with the connection relationship between the first temperature-dependent deformation rod 4, the second temperature-dependent deformation rod 5 and the third temperature-dependent deformation rod 6 and other connecting components, which will not be elaborated in detail.

[0065] In this embodiment, the posture adjustment device further includes a universal connector 11, which is disposed between the first movable plate 2 and the second movable plate 3. The universal connector 11 includes two parts that can rotate relative to each other in any direction, one of which serves as the first end of the universal connector 11, and the other serves as the second end of the universal connector 11. The first end of the universal connector 11 is connected to the first movable plate 2 through a connecting rod 12, and the axis of the connecting rod 12 coincides with the first axis. The second end of the universal connector 11 is fixedly connected to the second movable plate 3.

[0066] With such arrangement, the connecting rod 12 can support the second movable board 3 , thereby improving the stability of the second movable board 3 .

[0067] When the first movable plate 2 is rotatably connected to the fixed plate 1, a thrust bearing 15 can be provided between the first movable plate 2 and the fixed plate 1. The thrust bearing 15 can limit the displacement of the first movable plate 2 relative to the fixed plate 1 along the first axis and can reduce the friction during the posture adjustment process.

[0068] In this embodiment, the posture adjustment device further includes a posture sensor 7, which is disposed on the second movable plate 3 and is used to detect the three-dimensional posture of the second movable plate 3. Specifically, the posture sensor 7 can detect the Euler angle when the second movable plate 3 rotates.

[0069] The posture sensor 7 and the power supply are both electrically connected to the control system. The controller can obtain the three-dimensional posture information of the second movable board 3 detected by the posture sensor 7 and control the output current of the power supply according to the three-dimensional posture information of the second movable board 3 .

[0070] In a further embodiment, the center of the first movable plate 2 and the center of the second movable plate 3 can be located on the first axis, and the first axis, the second axis and the third axis intersect at one point. When the image acquisition module 14 is installed on the second movable plate 3, it is more convenient to determine the coordinate system of the image acquisition module 14 and the relationship between the coordinate system of the posture sensor 7 and the coordinate system of the image acquisition module 14.

[0071] It should be noted that the posture adjustment device provided in the embodiment of the present invention can not only be used to adjust the posture of the image acquisition module 14, but can also be applied to other industrial scenarios to adjust the posture of other components, and has strong scalability and portability.

[0072] In summary, the posture adjustment device provided in the embodiment of the present invention has a simple structure, and only needs to adjust the output current of the power supply to complete the adjustment of the posture of the second movable plate 3 , and has simple operation and simple control method.

[0073] The second embodiment of the present invention provides a posture adjustment method, which is suitable for adjusting the posture adjustment device described above. The posture adjustment method described below and the posture adjustment device described above can be referred to in correspondence with each other.

[0074] When the posture adjustment device includes the posture sensor 7 , and the posture adjustment device is disposed on the second movable plate 3 , the posture adjustment method provided by the second aspect of the embodiment of the present invention includes steps 110 to 150 .

[0075] Step 110: Determine the relationship between the coordinate system of the gesture sensor and the coordinate system of the image acquisition module.

[0076] Step 120: Obtain the target posture of the image acquisition module.

[0077] Step 130: Determine the target posture of the posture sensor corresponding to the target posture of the image acquisition module according to the relationship between the coordinate system of the posture sensor and the coordinate system of the image acquisition module.

[0078] Step 140: Determine a target current of each first temperature-dependent deformation rod, a target current of each second temperature-dependent deformation rod, and a target current of each third temperature-dependent deformation rod according to a target posture of the posture sensor and a database, wherein the database includes a mapping relationship between the posture of the posture sensor, the current of each first temperature-dependent deformation rod, the current of each second temperature-dependent deformation rod, and the current of each third temperature-dependent deformation rod.

[0079] Step 150 , controlling the output current of the power supply according to the target current of each first temperature-dependent deformable rod, the target current of each second temperature-dependent deformable rod, and the target current of each third temperature-dependent deformable rod.

[0080] The image acquisition module 14 and the posture sensor 7 are installed at different positions on the second movable plate 3, the coordinate system of the image acquisition module 14 and the reference point of the coordinate system of the posture sensor 7 are different, the posture of the second movable plate 3 in the coordinate system of the image acquisition module 14 and the posture of the second movable plate 3 in the coordinate system of the posture sensor 7 are different, that is, the three-dimensional posture of the second movable plate 3 detected by the posture sensor 7 is completely different from the posture of the second movable plate 3 in the coordinate system of the image acquisition module 14, and accordingly, the posture of the image acquisition module 14 is also inconsistent with the three-dimensional posture detected by the posture sensor 7.

[0081] In the embodiment of the present invention, the relationship between the coordinate system of the posture sensor 7 and the coordinate system of the image acquisition module 14 is first determined to unify the reference point, so as to facilitate the establishment of the corresponding relationship between the posture of the image acquisition module 14 and its posture in the coordinate system of the posture sensor 7, thereby determining the target detection posture, which is the target posture of the image acquisition module 14 in the coordinate system of the posture sensor 7.

[0082] Then, according to the mapping relationship between the target detection posture and the database, the target current of each first temperature-dependent deformable rod 4 , the target current of each second temperature-dependent deformable rod 5 , and the target current of each third temperature-dependent deformable rod 6 can be determined and controlled.

[0083] The derivation process of the beneficial effects of the posture adjustment method in the embodiment of the present invention is substantially similar to the derivation process of the beneficial effects of the posture adjustment device described above, and thus will not be described in detail herein.

[0084] In a specific embodiment, the steps of the posture adjustment method include steps a to f.

[0085] a. Establishing and determining the relationship between the coordinate system of the posture sensor and the coordinate system of the image acquisition module, and calibrating the initial posture of the image acquisition module to provide a reference for subsequent posture adjustment.

[0086] b. The processor obtains the target posture of the image acquisition module and calculates the difference between the target posture and the current posture: , , .

[0087] c. The processor calculates the temperature difference between each group of temperature-dependent deformation rod bodies to meet the target posture , and then calculate the current difference required to meet the above temperature difference .

[0088] d. Control the current size of each group of temperature-dependent deformation rod bodies.

[0089] e. Real-time detection of the temperature information of each group of temperature-dependent deformation rod bodies.

[0090] f. Detect the current posture of the image acquisition module in real time to determine whether the target posture is reached. If the target posture is not reached, re-execute steps b to f. If the target posture is reached, the posture adjustment is completed.

[0091] The mapping relationship in the above database is generally discrete data, which is difficult to achieve continuity. In the specific implementation process, it is inevitable that the target detection posture is not located in the above database.

[0092] In a further embodiment of the present invention, when the target detection posture is not in the above database, the applicable posture is first searched and determined in the database based on the target detection posture and the database, and the applicable posture is the posture in the database that is closest to the target detection posture.

[0093] Furthermore, based on the applicable posture and the database, the applicable current of each first temperature-dependent deformation rod 4, the applicable current of each second temperature-dependent deformation rod 5, and the applicable current of each third temperature-dependent deformation rod 6 corresponding to the applicable posture can be determined, and then the output current of the power supply can be controlled based on the applicable current of each first temperature-dependent deformation rod 4, the applicable current of each second temperature-dependent deformation rod 5, and the applicable current of each third temperature-dependent deformation rod 6.

[0094] After the current of each first temperature-dependent deformation rod 4, the current of each second temperature-dependent deformation rod 5, and the current of each third temperature-dependent deformation rod 6 are adjusted to the right position, the current is fine-tuned. During the fine-tuning process, the current posture of the image acquisition module 14 in the coordinate system of the posture sensor 7 is obtained in real time until the current posture of the image acquisition module 14 in the coordinate system of the posture sensor 7 is consistent with the target detection posture.

[0095] At this time, it is also necessary to update the mapping relationship between the target detection posture and the current of each first temperature-dependent deformation rod 4, the current of each second temperature-dependent deformation rod 5 and the current of each third temperature-dependent deformation rod 6 to the database to achieve a self-learning effect to facilitate subsequent posture adjustment.

[0096] The third aspect of the present invention provides an image acquisition device, including the above-mentioned posture adjustment device, or capable of executing the above-mentioned posture adjustment method. It has all the advantages of the above-mentioned posture adjustment device or posture adjustment method, which will not be repeated here. The derivation process of the beneficial effects of the image acquisition device in the embodiment of the present invention is generally similar to the derivation process of the beneficial effects of the above-mentioned posture adjustment device or posture adjustment method, so it will not be repeated here.

[0097] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A posture adjustment device, characterized in that: include: Fixed plate; A first movable plate is rotatably disposed on the fixed plate around a first axis, wherein the first axis is perpendicular to the first movable plate; a first driving mechanism, adapted to drive the first movable plate to rotate relative to the fixed plate; a second movable plate, adapted to install the image acquisition module, the second movable plate being connected to the first movable plate, the second movable plate being capable of rotating relative to the first movable plate at least around a second axis and a third axis, respectively, the second axis being perpendicular to the third axis, and the second axis and the third axis being perpendicular to the first axis; a second driving mechanism, adapted to drive the second movable plate to rotate relative to the first movable plate around the second axis; The third driving mechanism is adapted to drive the second movable plate to rotate around the third axis relative to the first movable plate.

2. The posture adjustment device according to claim 1, characterized in that: The first driving mechanism comprises: The first temperature-dependent deformation rod is provided with two groups, the axes of the two groups of the first temperature-dependent deformation rods are parallel to each other and perpendicular to the first axis, the two groups of the first temperature-dependent deformation rods are respectively located on both sides of the first axis, the first end of the first temperature-dependent deformation rod is connected to the fixed plate, the second end of the first temperature-dependent deformation rod is connected to the first movable plate, and the first temperature-dependent deformation rod is suitable for being connected to a power source.

3. The posture adjustment device according to claim 2, characterized in that: The second driving mechanism comprises: The second temperature-dependent deformation rod is provided with two groups, the axes of the two groups of the second temperature-dependent deformation rods are parallel to the first axis, the two groups of the second temperature-dependent deformation rods are respectively located on both sides of the second axis, the first end of the second temperature-dependent deformation rod is connected to the first movable plate, the second end of the second temperature-dependent deformation rod is connected to the second movable plate, and the second temperature-dependent deformation rod is suitable for being connected to a power supply.

4. The posture adjustment device according to claim 3, characterized in that: The third driving mechanism comprises: The third temperature-dependent deformation rod is provided with two groups, the axes of the two groups of the third temperature-dependent deformation rods are parallel to the first axis, the two groups of the third temperature-dependent deformation rods are respectively located on both sides of the third axis, the first end of the third temperature-dependent deformation rod is connected to the first movable plate, the second end of the third temperature-dependent deformation rod is connected to the second movable plate, and the third temperature-dependent deformation rod is suitable for being connected to a power supply.

5. The posture adjustment device according to claim 4, characterized in that: Also includes: A posture sensor is arranged on the second movable plate, and the posture sensor is suitable for detecting the three-dimensional posture of the second movable plate. The posture sensor and the power supply are both electrically connected to the control system.

6. The posture adjustment device according to claim 4, characterized in that: The first temperature-dependent deformation rod, the second temperature-dependent deformation rod and the third temperature-dependent deformation rod each include: The length of the temperature-deformable rod body changes with temperature; Insulating parts, arranged at both ends of the temperature-dependent deformation rod body; The temperature sensor is arranged inside the temperature-dependent deformation rod body. The temperature sensor is suitable for detecting the temperature of the temperature-dependent deformation rod body. The temperature sensor is electrically connected to the control system.

7. The posture adjustment device according to any one of claims 1 to 6, characterized in that: Also includes: The universal connector is arranged between the first movable plate and the second movable plate, the first end of the universal connector is connected to the first movable plate through a connecting rod, the axis of the connecting rod coincides with the first axis, and the second end of the universal connector is fixedly connected to the second movable plate.

8. A posture adjustment method, characterized in that: Suitable for adjusting the posture adjustment device according to any one of claims 4 to 6, the posture adjustment device comprises a posture sensor, and the posture sensor is arranged on the second movable plate, and the posture adjustment method comprises: Determine the relationship between the coordinate system of the gesture sensor and the coordinate system of the image acquisition module; Get the target posture of the image acquisition module; Determine a target detection posture according to a relationship between a coordinate system of the posture sensor and a coordinate system of an image acquisition module, wherein the target detection posture is a target posture of the image acquisition module of the target posture in the coordinate system of the posture sensor; Determining a target current of each first temperature-dependent deformable rod, a target current of each second temperature-dependent deformable rod, and a target current of each third temperature-dependent deformable rod according to the target detection posture and a database, wherein the database includes a mapping relationship between the target detection posture, the current of each first temperature-dependent deformable rod, the current of each second temperature-dependent deformable rod, and the current of each third temperature-dependent deformable rod; The output current of the power supply is controlled according to the target current of each of the first temperature-dependent deformable rods, the target current of each of the second temperature-dependent deformable rods, and the target current of each of the third temperature-dependent deformable rods.

9. The posture adjustment method according to claim 8, characterized in that: The database is discrete data. When the target detection posture is not located in the database, the posture adjustment method further includes: Determine an applicable posture according to the target detection posture and the database, wherein the applicable posture is a posture in the database that is closest to the target detection posture; According to the applicable posture and the database, determining the applicable current of each first temperature-dependent deformation rod, the applicable current of each second temperature-dependent deformation rod, and the applicable current of each third temperature-dependent deformation rod corresponding to the applicable posture; Controlling the output current of the power supply according to the applicable current of each of the first temperature-dependent deformation rods, the applicable current of each of the second temperature-dependent deformation rods, and the applicable current of each of the third temperature-dependent deformation rods; Obtain the current posture of the image acquisition module in the coordinate system of the posture sensor; The output current of the power supply is fine-tuned until the current posture of the image acquisition module in the coordinate system of the posture sensor is consistent with the target detection posture.

10. An image acquisition device, characterized in that: It comprises a posture adjustment device as described in any one of claims 1 to 7, or is suitable for executing a posture adjustment method as described in any one of claims 8-9.

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