Camera stabilizing device of agricultural vehicle

Abstract

The utility model provides an agricultural vehicle camera stabilizing device. Comprising a connecting frame, a needle bearing, a pin shaft I, a pin shaft II, a yaw stabilization platform, a longitudinal stabilization platform, a pin shaft III, a pin shaft IV, a double-gyroscope rotation stabilization mechanism I, a double-gyroscope rotation stabilization mechanism II, a conical damper, a bearing seat, a thrust ball bearing, a lower pin column, an outer ring, an inner ring, a rotating shaft, a deep groove ball bearing, a rotor, an upper pin column, a gyroscope retainer and a battery. The gyroscope comprises a gyroscope base, a conical damper base, a conical damping layer and a conical damper upper cover. According to the design of the device, violent image jitter caused by road bumping in an agricultural environment can be reduced, so that the camera can capture clearer and more stable images in the advancing process of the agricultural vehicle, and the accuracy and efficiency of agricultural production are improved.

Description

Technical Field

[0001] The present application relates to the field of agricultural camera auxiliary equipment, and in particular to a camera stabilization device. Background Art

[0002] With the development of smart agriculture, the demand for efficient and intelligent agricultural machinery is growing. The research and development and application of agricultural machinery onboard cameras and their supporting stabilization devices can provide technical support for precision agriculture, enhance the intelligence level of agricultural machinery, and promote the modernization and intelligent upgrading of agricultural production methods.

[0003] When agricultural machinery is working in the field, it often faces uneven terrain and changing working conditions, which can cause the machinery to shake and vibrate. This shaking not only makes it difficult for the operator to operate the machine, but also has an adverse effect on the stability and image quality of the camera system mounted on the machine.

[0004] In order to effectively reduce image jitter caused by bumpy roads and ensure that the camera can capture clear and stable images to improve the accuracy and efficiency of agricultural production, the degree of automation of agricultural production can be effectively improved, labor costs can be reduced, work efficiency and crop yields can be improved, and ultimately the goal of sustainable agricultural development can be achieved.

[0005] Therefore, it is necessary to design a camera stabilization device suitable for agricultural scenes. Summary of the invention

[0006] In order to reduce the severe image shaking caused by bumpy road conditions in agricultural environments and enable the camera to capture clearer and more stable images while the agricultural vehicle is moving, the present application provides a camera stabilization device for an agricultural vehicle.

[0007] The present application provides an agricultural vehicle camera stabilization device that adopts the following technical solution.

[0008] A camera stabilization device for agricultural vehicles, used for connecting between agricultural vehicles and cameras; comprising a connecting frame, a needle bearing, a pin shaft I, a pin shaft II, a lateral sway stabilization platform, a longitudinal sway stabilization platform, a pin shaft III, a pin shaft IV, a dual gyroscope rotation stabilization mechanism I, a dual gyroscope rotation stabilization mechanism II, and a conical shock absorber; the connecting frame is fixedly connected to the agricultural vehicle frame by bolt connection; the middle ends of the upper layer of the lateral sway stabilization platform are hinged to the bracket by pin shafts I and II, and the hinges are connected by needle bearings; the pin shafts I and II are fixedly connected to the left and right ends of the upper layer of the lateral sway stabilization platform by welding; the lower ends of the longitudinal sway stabilization platform are connected to the bracket by pin shafts III and IV The lateral swing stabilization platform is hinged, and needle bearings are used for connection at the hinges; the pin shaft III and the pin shaft IV are fixedly connected to the front and rear ends of the lower layer of the longitudinal swing stabilization platform by welding; the gyroscope base of the dual-gyroscope rotation stabilization mechanism I is fixedly connected to the lateral swing stabilization platform by bolt connection; the gyroscope base of the dual-gyroscope rotation stabilization mechanism II is fixedly connected to the longitudinal swing stabilization platform by bolt connection; the conical shock absorber is fixedly connected to the upper layer of the longitudinal swing stabilization platform by bolt connection; the dual-gyroscope rotation stabilization mechanism I has the same structure as the dual-gyroscope rotation stabilization mechanism II, but the arrangement directions are perpendicular to each other in the horizontal plane, which are used to alleviate lateral swing and longitudinal swing respectively.

[0009] The characteristics of the dual gyro rotation stabilization mechanism I and the dual gyro rotation stabilization mechanism II are: including a bearing seat, a thrust ball bearing, a lower pin, an outer ring, an inner ring, a rotating shaft, a deep groove ball bearing, a rotor, an upper pin, a gyroscope holder, a battery, and a gyroscope base; the rotor is fixedly connected to the outer ring of the deep groove ball bearing at the central hole by an interference fit; the rotation speeds of the two rotors are the same in magnitude and opposite in direction after power is turned on; the rotating shaft is fixedly connected to the inner ring of the deep groove ball bearing by an interference fit; the rotating shaft is fixedly connected to the inner side of the inner ring by welding; the outer side of the inner ring is a non-full-circumferential tooth surface, and the tooth surfaces of the two inner rings mesh with each other; the two ends of the outer side of the inner ring are fixedly connected to the inner side of the outer ring by welding; the outer ring An upper pin and a lower pin are welded at the upper and lower ends of the outer side; the lower pin is fixedly connected to the tight ring of the thrust ball bearing by interference fit; the loose ring of the thrust ball bearing is fixedly connected to the bearing seat by interference fit; the upper pin is fixedly connected to the inner ring of the deep groove ball bearing by interference fit; the outer ring of the deep groove ball bearing is fixedly connected to the bearing seat by interference fit; the bearing seat is fixedly connected to the gyroscope holder by welding; the gyroscope holder is fixedly connected to the gyroscope base by welding; the battery is fixedly connected to the groove of the gyroscope base by interference fit; the batteries are symmetrically distributed on the gyroscope base to avoid shaking of the yaw stable platform and the pitch stable platform caused by uneven mass distribution.

[0010] The conical shock absorber is used to reduce the vertical shake of the camera, and is characterized by: comprising a conical shock absorber base, a conical shock absorbing layer, and a conical shock absorber upper cover; the conical shock absorber base is fixedly connected to the upper layer of the longitudinal swing stabilization platform by bolt connection; the conical shock absorbing layer is fixedly connected to the conical shock absorber base by super glue; the conical shock absorber upper cover is fixedly connected to the conical shock absorbing layer by super glue; the conical shock absorber upper cover has an internal thread in the center of the top, and the camera is fixedly connected to the conical shock absorber upper cover.

[0011] As a preferred technical solution of the utility model, the gyroscope base of the dual-gyroscope rotation stabilization mechanism I is fixedly connected to the lateral sway stabilization platform by bolt connection, and the gyroscope base of the dual-gyroscope rotation stabilization mechanism II is fixedly connected to the longitudinal sway stabilization platform by bolt connection. During installation, the arrangement directions of the dual-gyroscope rotation stabilization mechanism I and the dual-gyroscope rotation stabilization mechanism II are ensured to be perpendicular to each other in the horizontal plane. The dual-gyroscope rotation stabilization mechanism can maintain the stability of the camera when the agricultural vehicle swings laterally and longitudinally.

[0012] As a preferred technical solution of the utility model, the center distance between the two inner rings of the dual gyro rotation stabilization mechanism I and the dual gyro rotation stabilization mechanism II can meet the normal meshing of the non-full-circumference tooth surface.

[0013] As a preferred technical solution of the utility model, the non-full-circumference tooth surface range of the inner ring is 90°~180° to ensure that the gear teeth of the two inner rings always remain in meshing during operation.

[0014] As an optimal technical solution of the utility model, the conical shock absorber includes: a conical shock absorber base, a conical shock absorbing layer, and a conical shock absorber upper cover; a conical shock absorbing layer is connected between the conical shock absorber base and the conical shock absorber upper cover, and the conical shock absorber upper cover is fixedly connected to the bottom of the camera, which can reduce the vertical shaking of the camera when the agricultural vehicle passes over an obstacle; the conical shock absorbing layer is made of foam rubber material, which is conducive to reducing the vertical shaking to a greater extent.

[0015] In summary, the present application includes at least one of the following beneficial technical effects:

[0016] 1. Use dual gyroscopic rotation stabilization mechanism to alleviate the impact of lateral and longitudinal swing of agricultural vehicles on camera shooting, and use the gyro's fixed axis to suppress the lateral or longitudinal swing of the camera in real time. The rotors turn in opposite directions to avoid gyro instability caused by excessive bumps;

[0017] 2. Use conical shock absorbers to alleviate the impact of the vertical position fluctuations of agricultural vehicles on camera shooting. A conical shock-absorbing layer is arranged between the upper cover and the base of the conical shock absorber to absorb and dissipate the kinetic energy transmitted in the vertical direction, which is beneficial to reduce the vertical shake of the camera. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the main structure of the utility model;

[0019] Figure 2 It is a dual gyro rotation stabilization mechanism of the utility model;

[0020] Figure 3 It is a cross-sectional view of the cone shock absorber of the utility model;

[0021] In the figure: 1. connecting frame; 2. needle bearing; 3. pin shaft I; 4. pin shaft II; 5. lateral sway stabilization platform; 6. longitudinal sway stabilization platform; 7. pin shaft III; 8. pin shaft IV; 9. dual gyroscope rotation stabilization mechanism I; 10. dual gyroscope rotation stabilization mechanism II; 11. conical shock absorber; 901. bearing seat; 902. thrust ball bearing; 903. lower pin column; 904. outer ring; 905. inner ring; 906. rotating shaft; 907. deep groove ball bearing; 908. rotor; 909. upper pin column; 910. gyroscope holder; 911. battery; 912 gyroscope base; 1101. conical shock absorber base; 1102. conical shock absorbing layer; 1103. conical shock absorber cover. DETAILED DESCRIPTION

[0022] The following is combined with Figure 1 , Attachment Figure 2 , Attachment Figure 3 The preferred embodiments of the present invention are described. It should be understood that the embodiments described here are only part of the embodiments of the present invention, not all of the embodiments.

[0023] Embodiment 1

[0024] like Figure 1As shown, the utility model provides a camera stabilization device for agricultural vehicles, including a connecting frame 1, a needle bearing 2, a pin shaft Ⅰ3, a pin shaft Ⅱ4, a lateral sway stabilization platform 5, a longitudinal sway stabilization platform 6, a pin shaft Ⅲ7, a pin shaft Ⅳ8, a dual gyroscope rotation stabilization mechanism Ⅰ9, a dual gyroscope rotation stabilization mechanism Ⅱ10, and a conical shock absorber 11. The connecting frame 1 is fixedly connected to the agricultural vehicle frame by bolt connection; the middle ends of the upper layer of the lateral sway stabilization platform 5 are hinged to the bracket through the pin shaft Ⅰ3 and the pin shaft Ⅱ4, and the hinge is connected with the needle bearing 2; the pin shaft Ⅰ3 and the pin shaft Ⅱ4 are fixedly connected to the left and right ends of the upper layer of the lateral sway stabilization platform 5 by welding; the lower ends of the longitudinal sway stabilization platform 6 are hinged to the lateral sway stabilization platform 5 by the pin shaft Ⅲ7 and the pin shaft Ⅳ8, and the hinge is connected with the needle bearing 2; the pin shaft Ⅲ7 and the pin shaft Ⅳ8 are connected to the front and rear ends of the lower layer of the longitudinal sway stabilization platform 6 by welding The two ends are fixedly connected; the gyro base 912 of the dual-gyro rotation stabilization mechanism I9 is ​​fixedly connected to the lateral swing stabilization platform 5 by bolts; the gyro base 912 of the dual-gyro rotation stabilization mechanism II10 is fixedly connected to the longitudinal swing stabilization platform 6 by bolts; the conical shock absorber 11 is fixedly connected to the upper layer of the longitudinal swing stabilization platform 6 by bolts; the dual-gyro rotation stabilization mechanism I9 and the dual-gyro rotation stabilization mechanism II10 have the same structure, but the arrangement directions are perpendicular to each other in the horizontal plane, which are used to alleviate lateral swing and longitudinal swing respectively.

[0025] like Figure 2As shown, the dual gyroscope rotation stabilization mechanism includes: a bearing seat 901, a thrust ball bearing 902, a lower pin 903, an outer ring 904, an inner ring 905, a rotating shaft 906, a deep groove ball bearing 907, a rotor 908, an upper pin 909, a gyroscope holder 910, a battery 911, and a gyroscope base 912. The rotor 908 is fixedly connected to the outer ring of the deep groove ball bearing 907 at the central hole by means of interference fit; after power is turned on, the rotation speeds of the two rotors 908 are the same and in opposite directions; the rotating shaft 906 is fixedly connected to the inner ring of the deep groove ball bearing 907 by means of interference fit; the rotating shaft 906 is fixedly connected to the inner side of the inner ring 905 by means of welding; the outer side of the inner ring 905 is a non-full-circumference tooth surface, and the tooth surfaces of the two inner rings 905 mesh with each other; the outer ends of the inner ring 905 are fixedly connected to the inner side of the outer ring 904 by means of welding; the upper and lower ends of the outer side of the outer ring 904 are welded with an upper pin 909 and a lower pin 903; the lower pin 904 is welded with a lower pin 904; the lower pin 904 is welded with a lower pin 903; the lower pin 903 ... 03 is fixedly connected with the tight ring of the thrust ball bearing 902 by means of interference fit; the loose ring of the thrust ball bearing 902 is fixedly connected with the bearing seat 901 by means of interference fit; the upper pin 909 is fixedly connected with the inner ring of the deep groove ball bearing 907 by means of interference fit; the outer ring of the deep groove ball bearing 907 is fixedly connected with the bearing seat 901 by means of interference fit; the bearing seat 901 is fixedly connected with the gyroscope holder 910 by means of welding; the gyroscope holder 910 is fixedly connected with the gyroscope base 912 by means of welding; the battery 911 is fixedly connected with the groove of the gyroscope base 912 by means of interference fit.

[0026] like Figure 3 As shown, the conical shock absorber 11 includes: a conical shock absorber base 1101, a conical shock absorbing layer 1102, and a conical shock absorber upper cover 1103; the conical shock absorber base 1101 is fixedly connected to the upper layer of the longitudinal and sway stabilization platform 6 by bolt connection; the conical shock absorbing layer 1102 is fixedly connected to the conical shock absorber base 1101 by adhesive; the conical shock absorber upper cover 1103 is fixedly connected to the conical shock absorbing layer 1102 by adhesive; there is an internal thread in the center of the top of the conical shock absorber upper cover 1103, and the camera is fixedly connected to the conical shock absorber upper cover 1103 by bolt connection; the batteries are symmetrically distributed on the gyroscope base to avoid shaking of the sway stabilization platform and the longitudinal and sway stabilization platform caused by uneven mass distribution.

[0027] The gyro base 912 of the dual-gyro rotation stabilization mechanism I9 is ​​fixedly connected to the lateral stabilization platform 5 through bolts, and the gyro base 912 of the dual-gyro rotation stabilization mechanism II10 is fixedly connected to the longitudinal stabilization platform 6 through bolts. During installation, ensure that the arrangement directions of the dual-gyro rotation stabilization mechanism I9 and the dual-gyro rotation stabilization mechanism II10 are perpendicular to each other in the horizontal plane. The dual-gyro rotation stabilization mechanism can maintain the stability of the camera when the agricultural vehicle swings laterally and longitudinally.

[0028] The center distance between the two inner rings 905 of the dual gyro rotation stabilization mechanism I9 and the dual gyro rotation stabilization mechanism II10 can meet the normal meshing of the gear teeth; the non-full-circumference tooth surface range of the inner ring 905 is 90°~180° to ensure that the gear teeth of the two inner rings 905 always remain meshed during operation.

[0029] The conical shock absorber 11 includes: a conical shock absorber base 1101, a conical shock absorbing layer 1102, and a conical shock absorber upper cover 1103. The conical shock absorbing layer 1102 is connected between the conical shock absorber base 1101 and the conical shock absorber upper cover 1103. The conical shock absorber upper cover 1103 is fixedly connected to the bottom of the camera, which can reduce the vertical shaking of the camera when the agricultural vehicle passes over an obstacle. The conical shock absorbing layer 1102 is made of foam rubber material, which is conducive to reducing the vertical shaking to a greater extent.

[0030] During specific operation, the connecting frame 1 is fixed to the front end of the agricultural vehicle one after the other, the lateral stabilizing platform 5 can rotate freely around the forward direction of the agricultural vehicle, the longitudinal stabilizing platform 6 can rotate freely around the vertical direction of the forward direction of the agricultural vehicle, and the rotor 908 of the dual gyroscopic stabilizing mechanism rotates at high speed. Due to the action of the dual gyroscopic stabilizing mechanism I9 and the dual gyroscopic stabilizing mechanism II10, the influence of the lateral and longitudinal swing of the agricultural vehicle on the camera shooting is alleviated. When the agricultural vehicle shakes due to road conditions, the two dual gyroscopic stabilizing mechanisms use the fixed axis of the gyroscope to suppress the lateral or longitudinal swing of the camera in real time. The rotor 908 turns in the opposite direction to avoid the gyroscopic instability caused by excessive bumps. At the same time, the conical shock absorber 11 can reduce the influence of the vertical position fluctuation of the agricultural vehicle on the camera shooting. When the vertical position of the agricultural vehicle changes suddenly, the damping material of the conical shock-absorbing layer 1102 connected between the conical shock-absorbing base 1101 and the conical shock-absorbing upper cover 1103 can absorb kinetic energy and convert it into material internal energy, thereby suppressing the vertical shaking of the camera.

[0031] The beneficial effects achieved by the utility model are: using a dual gyroscopic rotation stabilization mechanism to mitigate the impact of the lateral and longitudinal swing of the agricultural vehicle on the camera shooting, and using the fixed axis of the gyro to suppress the lateral or longitudinal swing of the camera in real time. The two rotors 908 rotate in opposite directions to avoid the instability of the gyroscope caused by excessive bumps; using a conical shock absorber 11 to mitigate the impact of the fluctuation of the agricultural vehicle position in the vertical direction on the camera shooting, a conical shock-absorbing layer 1102 is provided between the conical shock absorber upper cover 1103 and the conical shock absorber base 1101 to absorb and dissipate the kinetic energy transmitted in the vertical direction, which is conducive to reducing the vertical shaking of the camera.

[0032] The above utility model is only a preferred embodiment and is not intended to limit the utility model. Those skilled in the art can make various modifications and improvements to the technical solution of the utility model within the scope of the claims. These equivalent forms also fall within the scope defined by the claims attached to this application.

Claims

1. A camera stabilizing device for an agricultural vehicle, used to be connected between the agricultural vehicle and the camera; its characteristics are: The stabilizing device comprises a connecting frame, a needle bearing, a pin shaft I, a pin shaft II, a lateral sway stabilizing platform, a longitudinal sway stabilizing platform, a pin shaft III, a pin shaft IV, a dual gyroscope rotation stabilizing mechanism I, a dual gyroscope rotation stabilizing mechanism II, and a conical shock absorber; the connecting frame is fixedly connected to the agricultural vehicle frame by bolt connection; the middle ends of the upper layer of the lateral sway stabilizing platform are hinged to the bracket by pin shafts I and II, and the hinges are connected by needle bearings; the pin shafts I and II are fixedly connected to the left and right ends of the upper layer of the lateral sway stabilizing platform by welding; the lower ends of the longitudinal sway stabilizing platform are hinged to the lateral sway stabilizing platform by pin shafts III and IV, and the hinges are connected to the bracket ... lower ends of the longitudinal sway stabilizing platform are hinged to the lateral sway stabilizing platform by pin shafts III and IV, and the hinges are connected to the bracket by needle bearings; the lower ends of the longitudinal sway stabilizing platform are hinged to the lateral sway stabilizing platform by pin shafts III and IV, and the hinges are connected to the The joints are connected by needle bearings; the pin shaft III and the pin shaft IV are fixedly connected to the front and rear ends of the lower layer of the longitudinal swing stabilization platform by welding; the gyroscope base of the dual-gyroscope rotation stabilization mechanism I is fixedly connected to the lateral swing stabilization platform by bolt connection; the gyroscope base of the dual-gyroscope rotation stabilization mechanism II is fixedly connected to the longitudinal swing stabilization platform by bolt connection; the conical shock absorber is fixedly connected to the upper layer of the longitudinal swing stabilization platform by bolt connection; the dual-gyroscope rotation stabilization mechanism I has the same structure as the dual-gyroscope rotation stabilization mechanism II, but the arrangement directions are perpendicular to each other in the horizontal plane, which are used to alleviate lateral swing and longitudinal swing respectively.

2. The camera stabilizing device for agricultural vehicles according to claim 1, characterized in that: The characteristics of the dual gyro rotation stabilization mechanism I and the dual gyro rotation stabilization mechanism II are: including a bearing seat, a thrust ball bearing, a lower pin, an outer ring, an inner ring, a rotating shaft, a deep groove ball bearing, a rotor, an upper pin, a gyroscope holder, a battery, and a gyroscope base; the rotor is fixedly connected to the outer ring of the deep groove ball bearing at the central hole by an interference fit; the rotation speeds of the two rotors are the same in magnitude and opposite in direction after power is turned on; the rotating shaft is fixedly connected to the inner ring of the deep groove ball bearing by an interference fit; the rotating shaft is fixedly connected to the inner side of the inner ring by welding; the outer side of the inner ring is a non-full-circumferential tooth surface, and the tooth surfaces of the two inner rings mesh with each other; the two ends of the outer side of the inner ring are fixedly connected to the inner side of the outer ring by welding; the outer ring An upper pin and a lower pin are welded at the upper and lower ends of the outer side; the lower pin is fixedly connected to the tight ring of the thrust ball bearing by interference fit; the loose ring of the thrust ball bearing is fixedly connected to the bearing seat by interference fit; the upper pin is fixedly connected to the inner ring of the deep groove ball bearing by interference fit; the outer ring of the deep groove ball bearing is fixedly connected to the bearing seat by interference fit; the bearing seat is fixedly connected to the gyroscope holder by welding; the gyroscope holder is fixedly connected to the gyroscope base by welding; the battery is fixedly connected to the groove of the gyroscope base by interference fit; the batteries are symmetrically distributed on the gyroscope base to avoid shaking of the yaw stable platform and the pitch stable platform caused by uneven mass distribution.

3. The camera stabilizing device for agricultural vehicles according to claim 1, characterized in that: The conical shock absorber includes a conical shock absorber base, a conical shock absorbing layer, and a conical shock absorber upper cover; the conical shock absorber base is fixedly connected to the upper layer of the longitudinal swing stabilization platform by bolts; the conical shock absorbing layer is fixedly connected to the conical shock absorber base by adhesive; the conical shock absorber upper cover is fixedly connected to the conical shock absorbing layer by adhesive; an internal thread is provided in the center of the top of the conical shock absorber upper cover, and a camera is fixedly connected to the conical shock absorber upper cover by bolts.

4. The camera stabilizing device for agricultural vehicles according to claim 1, characterized in that: The gyroscope base of the dual-gyroscope rotation stabilization mechanism I is fixedly connected to the lateral sway stabilization platform by bolt connection, and the gyroscope base of the dual-gyroscope rotation stabilization mechanism II is fixedly connected to the longitudinal sway stabilization platform by bolt connection. During installation, the arrangement directions of the dual-gyroscope rotation stabilization mechanism I and the dual-gyroscope rotation stabilization mechanism II are ensured to be perpendicular to each other in the horizontal plane. The dual-gyroscope rotation stabilization mechanism can maintain the stability of the camera when the agricultural vehicle swings laterally and longitudinally.

5. The camera stabilizing device for agricultural vehicles according to claim 1, characterized in that: The center distance between the two inner rings of the dual gyro rotation stabilization mechanism I and the dual gyro rotation stabilization mechanism II can meet the normal meshing of the gear teeth; the non-full-circumference tooth surface range of the inner ring is 90°~180° to ensure that the gear teeth of the two inner rings always remain meshed during operation.

6. The agricultural vehicle camera stabilization device according to claim 1, characterized in that: The conical shock absorber comprises: a conical shock absorber base, a conical shock absorbing layer, and a conical shock absorber upper cover; a conical shock absorbing layer is connected between the conical shock absorber base and the conical shock absorber upper cover, and the conical shock absorber upper cover is fixedly connected to the bottom of the camera, so that when the agricultural vehicle passes over an obstacle, the vertical shaking of the camera can be reduced; the conical shock absorbing layer is made of foam rubber material, which is conducive to reducing the vertical shaking to a greater extent.

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