Binocular acquisition system based on distance sensor

Abstract

The utility model discloses a binocular acquisition system based on a distance sensor, and belongs to the technical field of binocular acquisition equipment, the system comprises a control unit, a base, a CCD camera, a depth camera, a distance sensor, a lens adjusting device and a translation mechanism; the translation mechanism is arranged on the base, the two CCD cameras are respectively arranged on the corresponding rotating platforms, and the rotating platforms are connected with the translation mechanism; the two CCD cameras are located at the left end and the right end of the base and can get close to each other or get away from each other under the action of the translation mechanism. The lens adjusting device is arranged on the rotating platform and acts on a zoom ring and a focusing ring of the CCD camera; the depth camera and the distance sensor are located between the two CCD cameras; the control unit can receive data of the distance sensor and the depth camera and control the lens adjusting device, the rotating platform and the translation mechanism to act. According to the invention, binocular acquisition can be carried out in various dynamic and complex environments, and meanwhile, parallax adjustment can be rapidly carried out on the binocular acquisition system.

Description

TECHNICAL FIELD

[0001] The utility model belongs to binocular collection equipment's technical field, specifically related to a binocular collection system based on distance sensor. BACKGROUND

[0002] In the existing binocular shooting device, it usually depends on fixed camera distance and angle, this design is simple, but when shooting objects of different distances and angles, often will cause defocus or parallax inaccurate. Especially in the capture of dynamic scene, the rapid change of object makes the static parallax parameter difficult to meet the requirements, resulting in the decline of imaging quality. For example, when shooting close-range objects, fixed camera distance may not provide enough stereoscopic effect, but cause the image of the plane, which is a major defect for the application occasion which needs stereoscopic effect.

[0003] In addition, in the accuracy and real-time of distance measurement, the binocular system of prior art generally adopts simple ranging sensor which lacks accuracy. The design of these sensors is mainly considered as low cost and easy to integrate, which causes them to perform poorly in accuracy and adaptability. For example, common battery-driven sensors are usually limited by environmental factors such as strong light, shadow and reflective surface. These factors not only affect the working effect of the sensor, but also may cause the system feedback to delay or inaccurate. When the light is strong, the sensor cannot distinguish the reflection signal of the target object from the interference of the background light, which will cause measurement error. At the same time, in the shadow area, the reflection signal of the object may weaken, and the sensor may not be able to obtain enough information to make accurate judgment.

[0004] From this point of view, the traditional binocular shooting device has significant limitations in many aspects, which seriously affects its practicability and reliability in complex environment. CONTENT OF THE UTILITY MODEL

[0005] The utility model in the prior art in the deficiency provides a binocular collection system based on distance sensor, which can collect binoculars in various dynamic and complex environments, and can quickly adjust the parallax of the binocular collection system.

[0006] In order to achieve the above purpose, the utility model adopts the following technical scheme:

[0007] The application provides a binocular collection system based on a distance sensor, which comprises a control unit, a base, CCD cameras, a depth camera, a distance sensor, a lens adjusting device and a translation mechanism; the translation mechanism is installed on the base; two CCD cameras are respectively installed on corresponding rotating platforms, and the rotating platforms are connected with the translation mechanism; the two CCD cameras are located at left and right ends of the base and can approach or move away from each other under the action of the translation mechanism; the lens adjusting device is arranged on the rotating platform, and the lens adjusting device acts on a zoom ring and a focusing ring of the CCD camera; the depth camera and the distance sensor are located in the middle of the two CCD cameras; and the control unit can receive data of the distance sensor and the depth camera, and control the lens adjusting device, the rotating platform and the translation mechanism to act.

[0008] Optionally, the translation mechanism comprises a first servo motor, a bevel gear set, a ball screw and a workbench; the first servo motor is installed on the base; the first servo motor drives the bevel gear set; the bevel gear set drives two ball screws to rotate; the workbench is slidably connected to each ball screw; and the rotating platform is installed on the corresponding workbench.

[0009] Optionally, the bevel gear set comprises a support frame, a driving bevel gear and driven bevel gears meshing with the driving bevel gear; the support frame is installed between the two ball screws; the driving bevel gear and the two driven bevel gears are rotatably connected to the support frame and mesh with each other; a driving shaft of the first servo motor is connected with the driving bevel gear; and the two driven bevel gears are one-to-one correspondingly installed on each ball screw; and the depth camera and the distance sensor are both installed on the top of the support frame.

[0010] Optionally, the bevel gear set further comprises an intermediate bevel gear, the intermediate bevel gear is rotatably connected to the support frame, the driving bevel gear and the intermediate bevel gear are opposite to each other, and the intermediate bevel gear meshes with the driven bevel gears.

[0011] Optionally, the translation mechanism further comprises slide rails; the front and rear sides of each ball screw are provided with slide rails; and the workbench is slidably connected to the slide rails.

[0012] Optionally, the end of the ball screw away from the bevel gear set is installed on the base through a support seat; and the first servo motor is located at the rear side of the support frame.

[0013] Optionally, the lens adjusting device comprises a zoom gear and a focusing gear; the zoom gear is engaged with a zoom ring in the shape of a toothed ring, and the focusing gear is engaged with a focusing ring in the shape of a toothed ring; the zoom gear is mounted on a zoom drive, and the focusing gear is mounted on a focusing drive, and the zoom drive and the focusing drive are both mounted on a rotating platform.

[0014] Optionally, the distance sensor and the depth camera are arranged side by side; the rotating platforms of the two CCD cameras rotate simultaneously inward or outward.

[0015] The beneficial effects of the utility model are:

[0016] (1) The distance information and the depth information obtained by the distance sensor and the depth camera are used to change the distance between the two CCD cameras, so that the CCD cameras maintain the best parallax range in various dynamic and complex environments; in addition, the CCD cameras are fixed on the rotating platform, and the CCD cameras are rotated by the rotating platform to enable the two CCD cameras to rotate simultaneously by a set angle, greatly expanding the field of view of the system and enhancing the adaptability of the system under different spatial layouts and light conditions, and the system is suitable for multiple fields such as virtual reality and augmented reality.

[0017] (2) The translation mechanism comprises a first servo motor, a bevel gear set and a ball screw, synchronous rotation of the two ball screws is realized through the bevel gear set, so that the two CCD cameras are close to each other or away from each other, the structure is simple, the transmission effect is good, and the movement distance of the two CCD cameras can be accurately controlled. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is the overall structure schematic diagram of a binocular acquisition system based on a distance sensor of the utility model;

[0019] Figure 2 is the enlarged structure schematic diagram of a lens adjusting device of the utility model.

[0020] In the figure, 1 is a base, 2 is a CCD camera, 3 is a depth camera, 4 is a distance sensor, 5 is a lens adjusting device, 51 is a zoom gear, 52 is a focusing gear, 6 is a translation mechanism, 61 is a first servo motor, 62 is a ball screw, 63 is a workbench, 64 is a support frame, 65 is a driven bevel gear, 66 is an intermediate bevel gear, 67 is a sliding rail, 68 is a support seat, and 7 is a rotating platform. DETAILED DESCRIPTION

[0021] The utility model is described in detail below with reference to the drawings.

[0022] It should be noted that the terms such as "upper", "lower", "left", "right", "front", "back" and the like cited in the utility model are only for the convenience of clear description, and are not intended to limit the scope of the utility model. The change or adjustment of the relative relationship is also considered as the scope of the utility model without substantial change of the technical content. The term "comprising" and any variation thereof in the utility model specification and claims is intended to cover non-exclusive inclusion.

[0023] As shown in Figure 1 and Figure 2 A binocular collection system based on distance sensor, comprising a control unit, a base 1, a CCD camera 2, a depth camera 3, a distance sensor 4, a lens adjusting device 5 and a translation mechanism 6.

[0024] The structure of the CCD camera 2 can refer to the prior art; the structures of the depth camera 3 and the distance sensor 4 can both refer to the prior art. The depth camera 3 and the distance sensor 4 are located in the middle of the two CCD cameras 2; the distance sensor 4 and the depth camera 3 are arranged side by side; the distance sensor 4 can detect the distance between the shooting object and the distance sensor 4, and the depth camera 3 can shoot the depth image of the shooting object to obtain the depth information, so as to evaluate the distance between the shooting object and the depth camera 3 and the size of the shooting object; the distance sensor 4 and the depth camera 3 cooperate with each other to provide a physical basis for parallax adjustment.

[0025] Each of the two CCD cameras 2 is mounted on a corresponding rotating platform 7; the rotating platform 7 drives the CCD camera 2 to rotate after rotation, so as to adjust the two CCD cameras 2 to rotate inward or outward at the same time; the structure of the rotating platform 7 can refer to the prior art, and the rotating platform 7 is driven by a 86HSM85H-E1 servo motor to adjust the angle between the two CCD cameras 2. The adjusted angle is based on the data fed back by the distance sensor 4 and the depth camera, and is calculated by an arctan formula; the acquisition of the rotation angle of the CCD camera 2 can refer to the prior art, that is, it can be ensured that the shooting object is located in the shooting field of view of the CCD camera 2, and as an option, the included angle between the connecting line of the CCD camera 2 and the shooting object and the connecting line of the two CCD cameras 2 is obtained according to the distance detected by the distance sensor 4 and the distance between the two CCD cameras 2, that is, the rotation angle of the CCD camera 2.

[0026] The rotating platform 7 is connected with the translation mechanism 6 and located at the left and right ends of the base 1; the two CCD cameras 2 can simulate the vision of human eyes; the two CCD cameras 2 can move close to or away from each other under the action of the translation mechanism 6; the translation mechanism 6 comprises a first servo motor 61, a bevel gear set, a ball screw 62 and a workbench 63; the first servo motor 61 is installed on the base 1; the first servo motor 61 drives the bevel gear set, and the model of the first servo motor 61 can be MSME202G1H servo motor; the bevel gear set drives the two ball screws 62 to rotate; the workbench 63 is slidably connected to each ball screw 62; the rotating platform 7 is installed on the corresponding workbench 63; that is, each CCD camera 2 corresponds to a ball screw 62, a workbench 63 and a rotating platform 7; the first servo motor 61 drives the bevel gear set, the bevel gear set simultaneously drives the two ball screws 62 to rotate, and the workbench 63 is connected to the nut of the ball screw 62, thereby driving the CCD camera 2 to translate; the two CCD cameras 2 simultaneously move away from or close to each other, change the distance between the two CCD cameras 2, and thus can adapt to various shooting environments and requirements.

[0027] More specifically, the end of the ball screw 62 away from the bevel gear set is installed on the base 1 through a support seat 68; the first servo motor 61 is located at the rear side of the support frame 64, that is, the first servo motor 61 is located at the rear side of the lens of the CCD camera 2.

[0028] In the embodiment, the bevel gear set comprises a support frame 64, a driving bevel gear and two driven bevel gears 65; the support frame 64 is installed between the two ball screws 62; the axes of the two ball screws 62 are in the same straight line; the driving bevel gear and the two driven bevel gears 65 are rotatably connected to the support frame 64, the driving bevel gear and the driven bevel gears 65 are in mesh with each other, and the driving shaft of the first servo motor 61 is connected with the driving bevel gear; the two driven bevel gears 65 are one-to-one correspondingly installed on each ball screw 62; the depth camera 3 and the distance sensor 4 are both installed on the top of the support frame 64; the first servo motor 61 drives the driving bevel gear to rotate, and the driving bevel gear drives the two driven bevel gears 65 to rotate.

[0029] In order to further ensure the stability of the bevel gear set, in some other embodiments, the bevel gear set further comprises an intermediate bevel gear 66, the intermediate bevel gear 66 is rotatably connected to the support frame 64, the driving bevel gear and the intermediate bevel gear 66 are opposite to each other and do not interfere with each other, and the intermediate bevel gear 66 is in mesh with the driven bevel gears 65.

[0030] In other embodiments, the translation mechanism 6 further comprises a slide rail 67; the slide rail 67 is arranged on the front and rear sides of each ball screw 62; the workbench 63 is slidably connected to the slide rail 67; the arrangement of the slide rail 67 can ensure that the movement of the workbench 63 is more stable.

[0031] The lens adjusting device 5 is arranged on the rotating platform 7; the lens adjusting device 5 acts on the zoom ring and the focusing ring of the CCD camera 2; the zoom ring and the focusing ring of the CCD camera 2 are both toothed, and the structure of the zoom ring and the focusing ring can refer to the prior art; the lens adjusting device 5 comprises a zoom gear 51 and a focusing gear 52; the zoom gear 51 is connected with the output shaft of the zoom drive, and the focusing gear is connected with the output shaft of the focusing drive; the focusing drive and the zoom drive are installed on the rotating platform 7; the zoom gear 51 is in mesh with the toothed ring of the zoom ring, and the focusing gear 52 is in mesh with the toothed ring of the focusing ring; the focusing drive and the zoom drive are both servo motors, and as an option, the model is 86HSM85H-E1; the lens adjusting devices 5 corresponding to the two CCD cameras 2 act simultaneously, that is, the two CCD cameras simultaneously perform focusing operation or zoom operation; of course, in some other embodiments, the toothed rings meshing with the zoom gear 51 and the focusing gear 52 can be fixed on the outer periphery of the zoom ring and the focusing ring by bonding or the like to realize lens adjustment.

[0032] The control unit can receive the data of the distance sensor 4 and the depth camera 3, and control the lens adjusting device 5, the rotating platform 7 and the translation mechanism 6 to act; as an option, the control unit can control the lens adjusting device 5, the rotating platform 7 and the translation mechanism 6 to act in an automatic or semi-automatic manner, that is, the control unit can automatically obtain the parallax adjustment parameters including the focal length, the distance between the two CCD cameras 2 and the rotation angle of each CCD camera 2 according to the distance data and the depth data, the way of obtaining the parallax adjustment parameters can refer to the prior art, and the lens adjusting device 5, the rotating platform 7 and the translation mechanism 6 are automatically controlled to act according to the obtained parallax adjustment parameters; of course, the parallax adjustment parameters can also be set manually by an external processing module or based on expert experience, and the control unit controls the lens adjusting device 5, the rotating platform 7 and the translation mechanism 6 to act according to the manually set parallax adjustment parameters; the structure of the control unit can refer to the prior art.

[0033] The embodiments in the specification are described in a progressive manner, and each embodiment focuses on the difference from other embodiments, and the same or similar parts of each embodiment can be referred to each other.

[0034] The preferred embodiments of the utility model are described above, and the protection scope of the utility model is not limited to the above-mentioned embodiments, and any technical solution falling within the concept of the utility model belongs to the protection scope of the utility model. It should be noted that for ordinary technical personnel in the technical field, some improvements and decorations without departing from the principle of the utility model should be considered as the protection scope of the utility model.

Claims

1. A binocular acquisition system based on distance sensors, characterized in that, It includes control unit, base (1), CCD camera (2), depth camera (3), distance sensor (4), lens adjusting device (5) and translation mechanism (6); The translation mechanism (6) is installed on the base (1), two CCD cameras (2) are installed on the corresponding rotating platform (7) respectively, and the rotating platform (7) is connected with the translation mechanism (6); Two CCD cameras (2) are located at the left and right ends of the base (1), and can approach or move away from each other under the action of the translation mechanism (6); The lens adjusting device (5) is arranged on the rotating platform (7), and the lens adjusting device (5) acts on the zoom ring and focus ring of the CCD camera (2); The depth camera (3) and distance sensor (4) are located in the middle of the two CCD cameras (2); The control unit can receive the data of the distance sensor (4) and the depth camera (3), control the action of the lens adjusting device (5), the rotating platform (7) and the translation mechanism (6).

2. The distance sensor based binocular acquisition system of claim 1, wherein, The translation mechanism (6) includes a first servo motor (61), a bevel gear set, a ball screw (62) and a workbench (63); The first servo motor (61) is installed on the base (1); The first servo motor (61) drives the bevel gear set; The bevel gear set drives two ball screws (62) to rotate; Each ball screw (62) is slidably connected with a workbench (63); The rotating platform (7) is installed on the corresponding workbench (63).

3. The distance sensor based binocular acquisition system of claim 2, wherein, The bevel gear set includes a support frame (64), a driving bevel gear and a driven bevel gear (65) engaged with the driving bevel gear; The support frame (64) is installed between the two ball screws (62); The driving bevel gear and the two driven bevel gears (65) are rotatably connected to the support frame (64); The driving shaft of the first servo motor (61) is connected with the driving bevel gear; Two driven bevel gears (65) are installed on each ball screw (62) one by one; The depth camera (3) and the distance sensor (4) are installed on the top of the support frame (64).

4. The distance sensor based binocular acquisition system of claim 3, wherein, The bevel gear set further includes an intermediate bevel gear (66), which is rotatably connected to the support frame (64), and the driving bevel gear and the intermediate bevel gear (66) are opposite to each other, and the intermediate bevel gear (66) is engaged with the driven bevel gear (65).

5. The distance sensor based binocular acquisition system of claim 2, wherein, The translation mechanism (6) further includes a slide rail (67); The front and rear sides of each ball screw (62) are provided with a slide rail (67); The workbench (63) is slidably connected to the slide rail (67).

6. The distance sensor based binocular acquisition system of claim 2, wherein, The end of the ball screw (62) away from the bevel gear set is installed on the base (1) through a support seat (68); The first servo motor (61) is located at the rear side of the support frame (64).

7. The distance sensor based binocular acquisition system of claim 1, wherein, The lens adjusting device (5) comprises a zoom gear (51) and a focusing gear (52); the zoom gear (51) is engaged with a zoom ring in the shape of a tooth ring, and the focusing gear (52) is engaged with a focusing ring in the shape of a tooth ring; the zoom gear (51) is installed on a zoom drive, and the focusing gear (52) is installed on a focusing drive; the zoom drive and the focusing drive are both installed on a rotating platform (7).

8. The distance sensor based binocular acquisition system of claim 1, wherein, The distance sensor (4) and the depth camera (3) are arranged side by side; the rotating platform (7) of the two CCD cameras (2) rotates inwards at the same time or rotates outwards at the same time.

Images