A direct-drive motor-based indexing panoramic imaging device
The indexing panoramic imaging device driven by a direct-drive motor solves the problems of high cost and insufficient real-time performance of traditional panoramic scanning equipment, achieving low-cost and efficient panoramic image acquisition and improving target recognition accuracy and response speed.
Patent Information
- Application Number
- CN202423083611.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-13
- Publication Date
- 2025-11-28
- Estimated Expiration
- 2034-12-13
AI Technical Summary
In traditional monitoring solutions, panoramic scanning equipment based on stepper motors is expensive, complex, and lacks real-time performance. High-end equipment is also expensive to implement, which limits its widespread application.
The imaging device is driven by a direct-drive motor. Through precise control of the indexing motion, combined with an image processing module and a multi-camera acquisition module, it achieves efficient acquisition of 360° panoramic images.
It achieves low-cost, high-resolution, and rapid panoramic image acquisition, improves target recognition accuracy, shortens event response time, and has broad application potential.
Smart Images
Figure CN223613425U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model belongs to the field of computational imaging, especially relates to a indexing panoramic imaging device based on direct drive motor. BACKGROUND
[0002] In the vast regions such as forest, coastline, airport and oil field, it is always a key task to realize the comprehensive monitoring of the targets in the environment. The traditional monitoring scheme relies on a large number of distributed cameras, which not only requires a large number of camera devices, but also has a complicated deployment and maintenance process and a high implementation cost. There is also a technical scheme to form a scanning track by panoramic scanning through a holder. However, the traditional holder is a motion mechanism based on a stepping motor, and the motion speed limits the real-time performance of panoramic scanning. The mirror swing technology is also introduced into the panoramic scanning solution to shorten the scanning period, but the high-end devices usually have a high implementation cost and a complex system structure, which limits their application in more extensive scenarios.
[0003] The direct drive motor is a motor without transmission of power through gears, belts or other transmission devices. Its main feature is that it can be directly connected with the load to realize high-precision and high-efficiency transmission. The indexing 360° panoramic imaging device based on the direct drive motor not only has a low implementation cost, but also can realize the acquisition of high-resolution panoramic images, while also taking into account the timeliness required for target detection. Therefore, there is an urgent need for an indexing panoramic imaging device based on a direct drive motor. SUMMARY
[0004] The utility model relates to a kind of indexing panoramic imaging device based on direct drive motor, the indexing motion of imaging device is accurately controlled by direct drive motor, 360° panoramic image in range is acquired by computational imaging, to solve the technical problem existing in background art.
[0005] The technical scheme of the utility model is as follows: a kind of indexing panoramic imaging device based on direct drive motor, including direct drive motor, motor drive controller, image processing module, first image acquisition module, second image acquisition module, installation shell, processing device and display device;
[0006] The first image acquisition module, second image acquisition module and image processing module are all installed in the installation shell, the rotor of the direct drive motor is connected with the installation shell, the first image acquisition module and the second image acquisition module are arranged back to each other, the first image acquisition module, second image acquisition module are all connected with the image processing module, the image processing module is connected with the processing device, the processing device is connected with the motor drive controller, the motor drive controller is connected with the direct drive motor;
[0007] The processing device is used for driving the direct drive motor to rotate through the motor drive controller, the direct drive motor is used for driving the mounting shell to rotate, the image processing module is used for collecting images photographed by the first image acquisition module and the second image acquisition module and sending the images to the processing device, and the processing device is used for splicing the photographed images to form a panoramic photo.
[0008] Further, the first image acquisition module and the second image acquisition module each include two image acquisition modules arranged in an up-down mode.
[0009] Further, the first image acquisition module and the second image acquisition module each include two image acquisition modules arranged in an up-down mode.
[0010] Further, the mounting shell includes a mounting support, a closed machine shell and a window, the mounting support is fixed in the closed machine shell, the closed machine shell is connected with a rotor of the direct drive motor, the first image acquisition module and the second image acquisition module are arranged on the mounting support, and the window is arranged on the closed machine shell and faces the first image acquisition module and the second image acquisition module.
[0011] Further, the image processing module is connected with the processing device through a conductive slip ring.
[0012] The utility model discloses a beneficial effect:
[0013] Compared with the traditional holder drive, the utility model can scan the surrounding image in shorter time, the scanning precision is high, improves the accuracy of subsequent tasks such as target identification, reduces the occurrence of false alarm, the scanning period is short, and the response time after the event occurs is shortened.
[0014] Compared with the equipment using the swing mirror technology, the utility model has lower implementation cost and system complexity, and has more extensive application scenarios.
[0015] The utility model has the advantages of imaging stability, timeliness and large field of view coverage. ACCURATE DRAWINGS
[0016] Figure 1 It is the structural schematic diagram of the utility model.
[0017] Figure 2 It is the working process schematic diagram of the utility model.
[0018] Figure 3 It is the device division operation mechanism schematic diagram of the utility model.
[0019] Figure 4 It is the image vertical splicing mode schematic diagram of the utility model.
[0020] Figure 5The panoramic picture splicing mode schematic diagram of the utility model. DETAILED DESCRIPTION
[0021] In order to make the person skilled in the art better understand the utility model scheme, the technical scheme in the utility model embodiments will be clearly and completely described below in combination with the drawings in the utility model embodiments, and the described embodiments are only a part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by the person skilled in the art without creative labor should belong to the protection scope of the utility model.
[0022] In the embodiments of the utility model, Figure 1 It is the structure schematic diagram provided according to the specific structure of the indexing panoramic imaging device based on direct drive motor of the utility model, as Figure 1 The utility model includes:
[0023] Including direct drive motor 5, motor drive controller 6, image processing module 3, first image acquisition module 1, second image acquisition module 2, installation shell, processing device 7 and display device 8.
[0024] First image acquisition module 1, second image acquisition module 2 and image processing module 3 are all installed in the installation shell, the installation shell is connected with the rotor of direct drive motor 5, and first image acquisition module 1 and second image acquisition module 2 are arranged opposite to each other.
[0025] Specifically, the installation shell includes mounting bracket 9, closed machine shell 10 and window 11, the mounting bracket 9 is fixed in the closed machine shell 10, the closed machine shell 10 is connected with the rotor of direct drive motor 5, and the machine can drive the whole shell and the internal equipment to rotate, the closed machine shell 10 plays a protective role to the internal equipment, and the window 11 ensures that first image acquisition module 1 and second image acquisition module 2 can collect external pictures, and the window 11 can be a glass window 11.
[0026] First image acquisition module 1 and second image acquisition module 2 are arranged on the mounting bracket 9, and need to meet the back-to-back arrangement of first image acquisition module 1 and second image acquisition module 2, the window 11 is installed on the closed machine shell 10, and the window 11 faces first image acquisition module 1 and second image acquisition module 2.
[0027] The processing device 7 is in communication connection with the motor drive controller 6, and the motor drive controller 6 is connected with the direct drive motor 5. Wherein, the direct drive motor 5 adopts a permanent magnet synchronous motor, and its advantages are high positioning accuracy and small control time delay. The encoder built in the motor adopts a single-circle absolute value encoder, and its advantage is that each position has absolute encoding, and the control is more accurate and reliable. The control system of the utility model is composed of the processing device 7 and the motor drive controller 6, and both are electrically connected with the direct drive motor 5. The processing device 7 sends instructions to the motor drive controller 6, and the motor drive controller 6 processes the instructions and generates pulses to control the rotation of the rotor of the direct drive motor 5. Wherein, the processing device 7 can specifically adopt a computer, and the motor drive controller 6 and the direct drive motor 5 are matched equipment, and both belong to the conventional technical means in the field, so they will not be repeated here.
[0028] The first image acquisition module 1 and the second image acquisition module 2 are in communication connection with the image processing module 3, and the image processing module 3 is in communication connection with the processing device 7, wherein the image processing module 3 is connected with the processing device 7 through the conductive slip ring 4. The conductive slip ring 4 is responsible for data transmission and power supply when the motor rotates, the line of the conductive slip ring 4 is connected with the data transmission line in the direct drive motor 5, then the data of the image processing module 3 is transmitted to the processing device 7 by the data connector of the base of the direct drive motor 5, so that the data communication between the image processing module 3 and the processing device 7 is realized.
[0029] Wherein, the first image acquisition module 1 and the second image acquisition module 2 each include two image acquisition modules arranged vertically, and the first image acquisition module and the second image acquisition module include a CMOS image sensor or a camera.
[0030] The image processing module 3 specifically converts the original image collected by the CMOS image sensor into a YUV format image with higher quality and can be displayed through a processing procedure, and the specific model is an SS928 chip. Meanwhile, the images collected by the two image sensors of the first image acquisition module 1 and the second image acquisition module 2 at the same time can be spliced. The shooting actions of the cameras used by the first image acquisition module 1 and the second image acquisition module 2 are triggered by an external synchronization signal. The advantages of triggering based on the external synchronization signal are that the images shot by all the cameras can be accurately controlled at the same time, and the time synchronization problem of the images is solved. Each image acquisition module is composed of two cameras vertically stacked and arranged, and the images shot by the cameras have a certain overlap in the vertical direction, which is used for splicing images by the image processing module 3. The splicing method is as follows: Figure 4As shown, the advantage of the vertical stacked camera is that the vertical field of view is expanded, and the panoramic image has a larger field of view in the vertical direction. The camera group is arranged in a back-to-back manner, and the scene in two directions is photographed, and the advantage is that compared with a single camera group, the time for scanning a 360-degree panoramic image is halved.
[0031] The processing device 7 is used for driving the direct drive motor 5 to rotate through the motor drive controller 6, the direct drive motor 5 is used for driving the mounting shell to rotate, the image processing module 3 is used for collecting images photographed by the first image acquisition module 1 and the second image acquisition module 2 and sending to the processing device 7, and the processing device 7 is used for splicing the photographed images to form a panoramic photo. The post-processing of the utility model is completed by the processing device 7, the device is built-in high-performance image processing algorithm, the processing device 7 and the internal circuit of the direct drive motor 5 are electrically connected, and two groups of camera single-frame local images output by the image processing module 3 can be obtained. After a certain number of single-frame local images are accumulated, a 360-degree panoramic image is calculated by the processing device 7 through an image splicing algorithm, and is displayed by the display device 8. It should be noted that the image processing algorithm and the image splicing algorithm involved in the processing device 7 and the image processing module 3 are all conventional technical means in the field, and the algorithm is not improved in the technical solution, so it is not repeated here.
[0032] As shown in the figure, Figure 2 The specific working process of the utility model is as follows: after the device starts, the processing device 7 acts as the main control and sends a shooting instruction to the image processing module 3, the image processing module 3 converts the digital signal into an analog signal, the signal triggers the camera to shoot images at the same time, the raw data obtained by shooting is spliced by the image processing module 3 to generate a single-frame image and image , and is returned to the processing device 7 for post-processing and displayed on the user interface of the display device 88. After that, the processing device 7 sends an instruction to the motor drive controller 6 to rotate by a certain angle, and the specific value of the angle is calculated according to the optical characteristics of the camera group and the image overlap degree. After the direct drive motor 5 moves to the specified position, the device will repeat the above process to obtain a plurality of local images until the direct drive motor 5 rotates 180 degrees, and the processing device 7 generates a single-frame 360-degree panoramic image. When the device is running, the above process will be repeated to continuously refresh the 360-degree panoramic image of the surrounding environment.
[0033] As shown in the figure, Figure 3 The angle of the direct drive motor 5 is determined by the optical characteristics of the camera lens and the overlap degree of the front and rear images, and the horizontal field of view angle of the camera lens is shown in the figure , The overlap rate of the front and rear images is shown in the figure The calculation formula is:
[0034]
[0035] The calculation formula of the number of movements required for generating one panoramic image by motor 5 is:
[0036]
[0037] The utility model discloses a indexing 360 degree panoramic imaging device based on direct drive motor, and the panoramic imaging principle is as shown in Figure 5 The panoramic image is divided into two parts of 180 degrees and 180 degrees, and the two parts are generated simultaneously in the shooting process. Each part is transversely spliced by a plurality of local images, and there is an overlap between the local images. According to the overlap, the processing device 7 can realize the transverse splicing of the local images through a splicing fusion algorithm. The splicing process is refreshed in real time on the user interface of the display device 8.
[0038] Finally, it should be explained that the above specific embodiments are only used to illustrate the technical scheme of the utility model and are not limited. Although the utility model is described in detail with reference to the examples, those skilled in the art should understand that the technical scheme of the utility model can be modified or replaced equivalently without departing from the spirit and scope of the technical scheme of the utility model, and all should be covered in the scope of the claims of the utility model.
Claims
1. A direct drive motor based indexing panoramic imaging device, characterized in that, The device comprises a direct drive motor (5), a motor drive controller (6), an image processing module (3), a first image acquisition module (1), a second image acquisition module (2), a mounting shell, a processing device (7) and a display device (8). The first image acquisition module (1), the second image acquisition module (2) and the image processing module (3) are mounted in the mounting shell, the mounting shell is connected with the rotor of the direct drive motor (5), the first image acquisition module (1) and the second image acquisition module (2) are arranged opposite to each other, the first image acquisition module (1) and the second image acquisition module (2) are in communication connection with the image processing module (3), the image processing module (3) is in communication connection with the processing device (7), the processing device (7) is in communication connection with the motor drive controller (6), and the motor drive controller (6) is connected with the direct drive motor (5). The processing device (7) is used for driving the direct drive motor (5) to rotate through the motor drive controller (6), the direct drive motor (5) is used for driving the mounting shell to rotate, the image processing module (3) is used for collecting images shot by the first image acquisition module (1) and the second image acquisition module (2) and sending the images to the processing device (7), and the processing device (7) is used for splicing the shot images to form a panoramic photo.
2. The direct drive motor based indexing panoramic imaging apparatus as claimed in claim 1, wherein, The first image acquisition module (1) and the second image acquisition module (2) each comprise two image acquisition modules arranged in an up-down manner.
3. The direct drive motor based indexing panoramic imaging apparatus as claimed in claim 2, wherein, The first image acquisition module (1) and the second image acquisition module (2) each comprise two image acquisition modules arranged in an up-down manner.
4. The direct drive motor based indexing panoramic imaging apparatus as claimed in claim 1, wherein, The mounting shell comprises a mounting bracket (9), a closed machine shell (10) and a window (11), the mounting bracket (9) is fixed in the closed machine shell (10), the closed machine shell (10) is connected with the rotor of the direct drive motor (5), the first image acquisition module (1) and the second image acquisition module (2) are arranged on the mounting bracket (9), the window (11) is mounted on the closed machine shell (10), and the window (11) faces the first image acquisition module (1) and the second image acquisition module (2).
5. The direct drive motor based indexing panoramic imaging apparatus as claimed in claim 1, wherein, The image processing module (3) is connected with the processing device (7) through a conductive slip ring (4).
6. The direct drive motor based indexing panoramic imaging apparatus as claimed in claim 1, wherein, The processing device (7) comprises a computer.