CN106846379A - Multi-vision visual system and its application method - Google Patents
Multi-vision visual system and its application method Download PDFInfo
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- CN106846379A CN106846379A CN201710067299.6A CN201710067299A CN106846379A CN 106846379 A CN106846379 A CN 106846379A CN 201710067299 A CN201710067299 A CN 201710067299A CN 106846379 A CN106846379 A CN 106846379A
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- 230000000007 visual effect Effects 0.000 title claims abstract description 39
- 238000000034 method Methods 0.000 title claims description 15
- 230000004438 eyesight Effects 0.000 claims abstract description 70
- 238000012545 processing Methods 0.000 claims abstract description 25
- 238000004891 communication Methods 0.000 claims abstract description 15
- 238000012544 monitoring process Methods 0.000 claims abstract description 14
- 235000004443 Ricinus communis Nutrition 0.000 claims description 20
- 240000000528 Ricinus communis Species 0.000 claims description 8
- 239000000725 suspension Substances 0.000 claims description 6
- 230000008054 signal transmission Effects 0.000 claims description 2
- 238000012937 correction Methods 0.000 abstract description 4
- 230000033001 locomotion Effects 0.000 description 9
- 238000012546 transfer Methods 0.000 description 4
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- 229910000838 Al alloy Inorganic materials 0.000 description 2
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- 230000002093 peripheral effect Effects 0.000 description 2
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- 230000009286 beneficial effect Effects 0.000 description 1
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Abstract
The invention discloses a kind of multi-vision visual system, including chassis and control system, chassis is provided with support frame, processing module and communication module are provided with inside support frame, support frame side wall is provided with control panel, at least two vision collecting devices are hinged with support frame, two monitor areas of vision collecting device can overlap.The system is separately positioned with executing agency, effectively solve vision system and be incorporated into increase executing agency weight in executing agency, increase inertia, cause to start, braking response is slow, its field range is limited by executing agency's self structure simultaneously, it is likely to occur monitoring not in place, the problem that cannot respond to, the other system forms multi-vision visual system using multiple vision collecting devices, multiple vision collecting assembly monitor the same areas, the data check and correction that processing module is obtained to multiple vision collecting devices, ensure the accuracy of the target data of seizure, the system architecture is simply compact, subject object catches accurate.
Description
Technical field
The present invention relates to visual pursuit field, more particularly to a kind of multi-vision visual system and its application method.
Background technology
Visual pursuit refers to that the moving target in image sequence is detected, extracted, recognized and tracked, and obtains motion mesh
Target kinematic parameter, such as position, speed, acceleration and movement locus, so as to carry out the treatment and analysis of next step, it is right to realize
The behavior understanding of moving target, to complete more higher leveled Detection task；In shuttlecock robot, robot needs to obtain in real time
Take the parameter such as dimensional orientation, badminton track residing for sports opponent, so as to process respond after these parameters receive it is anti-
Hit.
Existing vision system is typically integrated into robot, but for this kind of exercise machine of shuttlecock robot
People, it is desirable to which movement sensitive, response in time and operate steadily, and vision system is incorporated into increases robot weight in robot, increase
Inertia, cause to start, braking response it is slow, while the vision system being integrated into robot, its field range by robot from
The limitation of body structure, robot is difficult to obtain information to whole audience ground monitor in real time in motion, in fact it could happen that monitor not in place, nothing
The problem of method response.
The vision system that other is separately provided, although energy whole audience ground monitor in real time obtains information, but majority is used
A set of vision collecting device, the seizure to object in space is difficult to ensure that precisely.
The content of the invention
It is an object of the invention to overcome the existing vision system in the presence of prior art to be typically integrated into machine
On people, increase robot weight, increase inertia, cause startup, braking response slow, while the vision system being integrated into robot
System, its field range is limited by robot self structure, and robot is difficult to obtain letter to whole audience ground monitor in real time in motion
Breath, in fact it could happen that monitoring is not in place, it is impossible to respond, the vision system that other is separately provided, although can the real-time prison in whole audience ground
Control acquisition information, but it is most use a set of vision collecting device, the seizure of object in space is difficult to ensure that accurately above-mentioned
It is not enough, there is provided a kind of multi-vision visual system and its application method.
In order to realize foregoing invention purpose, the invention provides following technical scheme：
A kind of multi-vision visual system, including chassis and control system, the chassis are provided with support frame, the carriage
The main frame of the control system is provided with inside frame, the main frame includes processing module and communication module, support frame side wall
The control panel of the control system is provided with, main frame described in the control panel wired connection is hinged with the support frame
At least two vision collecting devices, enable surveillance area each position simultaneously described at least two vision collecting device
Gathered, main frame described in all equal wired connections of vision collecting device；
Wherein, communication module described in the processing module wired connection, the communication module is used to be carried out with executing agency
PERCOM peripheral communication, to external agency, the vision collecting device is used to obtain prison in real time the information transfer that the vision system is obtained
The data of all objects in control region.
Using multi-vision visual system of the present invention, the system is separately positioned with executing agency, effectively solves vision system
System is incorporated into increases executing agency's weight in executing agency, increase inertia, causes startup, braking response slow, while being integrated into
Vision system in executing agency, its field range is limited by executing agency's self structure, and executing agency is difficult in motion
Information is obtained to whole audience ground monitor in real time, in fact it could happen that monitoring is not in place, it is impossible to the problem of response, and the system is using multiple in addition
Vision collecting device formation multi-vision visual system, multiple vision collecting assembly monitor the same areas, processing module is to multiple visions
The data check and correction that harvester is obtained, it is ensured that the accuracy of the target data of seizure, the system architecture is simply compact, subject object
Catch accurate.
Preferably, the support frame top is provided with horizontal gird, and the length of the crossbeam is more than the support frame
Width, the two ends of the crossbeam are respectively articulated with a vision collecting device, and each described vision collecting device is in the horizontal stroke
Horizontally rotate in plane residing for beam.
Preferably, the system also includes housing, and the housing is coated and is fixedly connected the support frame.
Preferably, the system also includes input/output interface, and the input/output interface is located in the support frame, and
Connect the main frame.
Preferably, the input/output interface includes one or more in USB interface, HDMI.
Preferably, the system also includes at least one loudspeaker, and each described loudspeaker is located in the support frame, institute
There is the loudspeaker to be all connected with the main frame.
Preferably, the control panel includes display screen and operating desk.
Preferably, the control panel includes touch-screen.
Preferably, the relatively described chassis of the control panel is obliquely installed, and its inclination angle is 45 ° -80 °.
Using this structure setting, facilitate people have a down dip direct-view and raise one's hand height etc. operating habit.
Preferably, the inclination angle is 60 ° -70 °.
Preferably, the chassis is provided with least three castors, and suspension is provided between each described castor and the chassis
Device.
Using this structure setting, all castors are enable voluntarily to adjust upper-lower position highly, even if rough
The face also residing ground of adapted in real time contact, it is ensured that chassis is in horizontality, while suspension arrangement ensure that people promotes this to be
Shake when system starts and brakes replys rapidly steady.
Preferably, each one braking system of the castor correspondence, all braking systems are all connected to the chassis.
It is with braking system that castor is locked after the system is moved into place using this structure setting, prevent the system from arriving
Position and parameter instruction slide after finishing, then look after and guide parameter again.
Preferably, the processing module includes single-chip microcomputer.
Preferably, the communication module includes bluetooth.
Preferably, all vision collecting devices are vision camera.
Preferably, each described castor is Mecanum wheel or 90 degree of omni-directional wheels.
Using this structure setting, can realize chassis do not turn under Omni-mobile, make chassis Omni-mobile accurate rapidly
Really, save adjustment, carry required time.
Preferably, the chassis, the support frame and the crossbeam are aluminum alloy material structural member, are easy to meet and are somebody's turn to do
Mitigate the overall weight of the system on the premise of apparatus structure intensity.
Present invention also offers a kind of application method of the multi-vision visual system as described in any of the above, including following step
Suddenly：
A, the vision system is placed in using area, and with the place geo-stationary；
B, all vision collecting design factors of regulation, enable each position of surveillance area simultaneously by least two institutes
Vision collecting device 6 is stated to be gathered；
Monitoring data is real-time transmitted to the processing module of main frame, the processing module for C, all vision collecting devices
By the monitor area 3-dimensional digital coordinatograph；
D, all vision collecting devices catch all objects of the tracking in the monitor area, and by monitoring data reality
When be transferred to the processing module；
After E, the processing module processing data draw signal, by the communication module of the main frame by the signal transmission
To the acquisition equipment in the monitor area；
F, the acquisition equipment are responded and intercept and capture the target in the monitor area.
Using the application method of multi-vision visual system of the present invention, can effective monitoring using area, it is three-dimensional
Digital coordinates, while by all objects 3-dimensional digital coordinatograph in the place, and catch the fortune of wherein moving object
Dynamic rail mark, by the real-time information transfer for obtaining to executing agency, makes its precisely capture target；Vision collecting device captures letter in real time
Control system is ceased and be transferred to, control system is automatically processed and outputs data to executing agency, realize acquisition output target letter
Breath whole-course automation, the method clear principle, step is simple, and response is rapid, effect is significant.
In sum, by adopting the above-described technical solution, the beneficial effects of the invention are as follows：
1st, with multi-vision visual system of the present invention, the system is separately positioned with executing agency, effectively solves vision
System combination increases inertia to increase executing agency weight in executing agency, causes startup, braking response slow, while being integrated
Vision system on to executing agency, its field range is limited by executing agency's self structure, and executing agency is difficult in motion
Information is obtained with to whole audience ground monitor in real time, in fact it could happen that monitoring is not in place, it is impossible to the problem of response, and the system is using more in addition
Individual vision collecting device forms multi-vision visual system, and multiple vision collecting assembly monitor the same areas, processing module is regarded to multiple
Feel the data check and correction that harvester is obtained, it is ensured that the accuracy of the target data of seizure, the system architecture is simply compact, object mesh
Mark catches accurate；
2nd, with multi-vision visual system of the present invention, the relatively described chassis of the control panel is obliquely installed, and it inclines
Angle be 45 ° -80 °, using this structure setting, facilitate people have a down dip direct-view and raise one's hand height etc. operating habit；
3rd, with multi-vision visual system of the present invention, the chassis is provided with least three castors, each described pin
Suspension arrangement is provided between wheel and the chassis, using this structure setting, all castors is voluntarily adjusted upper-lower position high
Degree, even if on the residing ground of broken terrain also adapted in real time contact, it is ensured that chassis is in horizontality, while hanging dress
Put shake when ensure that people promotes the system to start and brake and reply steady rapidly；
4th, with multi-vision visual system of the present invention, each one braking system of the castor correspondence is all described
Braking system is all connected to the chassis, using this structure setting, after the system is moved into place, with braking system by castor
It is locked, prevent the system in place and parameter is looked after and guided after finishing and slid, then look after and guide parameter again；
5th, with multi-vision visual system of the present invention, each described castor is Mecanum wheel or 90 degree of omnidirectionals
Wheel, using this structure setting, can realize that chassis is not turned lower Omni-mobile, makes chassis Omni-mobile accurate rapidly, save
About adjust, carry required time；
6th, with the application method of multi-vision visual system of the present invention, can effective monitoring using area, will thirdly
Dimension word coordinatograph, while by all objects 3-dimensional digital coordinatograph in the place, and catch wherein moving object
Movement locus, by the real-time information transfer for obtaining to executing agency, makes its precisely capture target；Vision collecting device is captured in real time
Information is simultaneously transferred to control system, and control system is automatically processed and outputs data to executing agency, realizes acquisition output target
Information whole-course automation, the method clear principle, step is simple, and response is rapid, effect is significant.
Brief description of the drawings
Fig. 1 is the internal structure schematic diagram of multi-vision visual system described in embodiment；
Fig. 2 is the structural representation of multi-vision visual system described in embodiment；
Fig. 3 is the use schematic flow sheet of multi-vision visual system described in embodiment.
Marked in figure：1- chassis, 2- castors, 3- support frames, 4- main frames, 5- control panels, 6- vision collecting devices, 7-
Crossbeam, 8- input/output interfaces, 9- loudspeakers, 10- casings.
Specific embodiment
With reference to test example and specific embodiment, the present invention is described in further detail.But this should not be understood
For the scope of above-mentioned theme of the invention is only limitted to following embodiment, all technologies realized based on present invention belong to this
The scope of invention.
Embodiment 1
As shown in Figure 1-2, multi-vision visual system of the present invention, including chassis 1 and control system.
The chassis 1 is provided with support frame 3, and the outside of the support frame 3 coats and is fixedly connected with housing 10, described
The main frame 4 of the control system is provided with inside support frame 3, the main frame 4 includes processing module and communication module, the support
The side wall of framework 3 is provided with the control panel 5 of the control system, and the control panel 5 connects the main frame 4, the support frame 3
Top is provided with horizontal gird 7, the width of the length more than the support frame 3 of the crossbeam 7, the two ends difference of the crossbeam 7
A vision collecting device 6 is hinged, each described vision collecting device 6 horizontally rotates in plane residing for the crossbeam 7,
Enable each position of surveillance area while being gathered by two vision collecting devices 6, all vision collectings
Device 6 is all connected with the main frame 4；
Wherein, the processing module includes single-chip microcomputer, and the communication module includes bluetooth, the processing module wired connection
The communication module, the communication module is used to carry out PERCOM peripheral communication with executing agency, and the information that the vision system is obtained is passed
External agency is defeated by, all vision collecting devices 6 are vision camera, and the vision collecting device 6 is used for acquisition in real time
The data of all objects in monitor area.
The multi-vision visual system also includes input/output interface 8 and two loudspeakers 9, and the input/output interface 8 is located at
In the support frame 3, and connect the main frame 4.The input/output interface 8 includes that four USB interfaces and a HDMI connect
Mouthful；Two loudspeakers 9 are symmetrically set in the support frame 3, and all loudspeakers 9 are all connected with the main frame 4.
The control panel 5 includes touch-screen, and the relatively described chassis 1 of the control panel 5 is obliquely installed, and its inclination angle is
64 °, using this structure setting, facilitate people have a down dip direct-view and raise one's hand height etc. operating habit.
The chassis 1 is provided with four castors 2, and suspension arrangement is provided between each described castor 2 and the chassis 1, adopts
This structure setting is used, all castors 2 is voluntarily adjusted upper-lower position highly, even if also being fitted in real time in broken terrain
With the residing ground of contact, it is ensured that chassis 1 is in horizontality, at the same suspension arrangement ensure that people promote the system start and
Shake during braking replys rapidly steady.Each described castor 2 one braking system of correspondence, all braking systems are all connected with
It is with braking system that castor 2 is locked after the system is moved into place using this structure setting in the chassis 1, prevent this
System slides in place and after parameter instruction is finished, then looks after and guides parameter again.
Each described castor 2 is Mecanum wheel or 90 degree of omni-directional wheels, using this structure setting, can realize chassis
1 do not turn under Omni-mobile, make the Omni-mobile of chassis 1 accurate rapidly, the time required to saving adjustment, carrying.The chassis 1,
The support frame 3 and the crossbeam 7 are aluminum alloy material structural member, and the housing 10 is plastic casing, are easy to meet and are somebody's turn to do
Mitigate the overall weight of the system on the premise of apparatus structure intensity.
With multi-vision visual system of the present invention, the system is separately positioned with executing agency, effectively solves vision system
System is incorporated into increases executing agency's weight in executing agency, increase inertia, causes startup, braking response slow, while being integrated into
Vision system in executing agency, its field range is limited by executing agency's self structure, and executing agency is difficult in motion
Information is obtained to whole audience ground monitor in real time, in fact it could happen that monitoring is not in place, it is impossible to the problem of response, and the system is using multiple in addition
Vision collecting device 6 forms multi-vision visual system, and multiple vision collecting devices 6 monitor the same area, and processing module is regarded to multiple
Feel the data check and correction that harvester 6 is obtained, it is ensured that the accuracy of the target data of seizure, the system architecture is simply compact, object
Target acquisition is accurate.
Embodiment 2
As Figure 1-3, the application method of multi-vision visual system of the present invention, using many as described in Example 1
Mesh vision system, comprises the following steps：
A, the vision system is placed in using area, and with the place geo-stationary；
B, all angles of vision collecting device 6 of regulation, enable each position of surveillance area while described in two
Vision collecting device 6 is gathered；
Monitoring data is real-time transmitted to the processing module of main frame 4, the treatment mould for C, all vision collecting devices 6
Block is by the monitor area 3-dimensional digital coordinatograph；
D, all vision collecting devices 6 catch all objects of the tracking in the monitor area, and by monitoring data
It is real-time transmitted to the processing module；
After E, the processing module processing data draw signal, the signal is passed by the communication module of the main frame 4
It is defeated by the acquisition equipment in the monitor area；
F, the acquisition equipment are responded and intercept and capture the target in the monitor area.
With the application method of multi-vision visual system of the present invention, can effective monitoring using area, it is three-dimensional
Digital coordinates, while by all objects 3-dimensional digital coordinatograph in the place, and catch the fortune of wherein moving object
Dynamic rail mark, by the real-time information transfer for obtaining to executing agency, makes its precisely capture target；Vision collecting device 6 is captured in real time
Information is simultaneously transferred to control system, and control system is automatically processed and outputs data to executing agency, realizes acquisition output target
Information whole-course automation, the method clear principle, step is simple, and response is rapid, effect is significant.
Presently preferred embodiments of the present invention is the foregoing is only, is not intended to limit the invention, it is all in essence of the invention
Any modification, equivalent and improvement made within god and principle etc., should be included within the scope of the present invention.
Claims (10)
1. a kind of multi-vision visual system, including chassis (1) and control system, it is characterised in that the chassis (1) is provided with support
Framework (3), is provided with the main frame (4) of the control system inside the support frame (3), the main frame (4) is including processing module
And communication module, support frame (3) side wall is provided with the control panel (5) of the control system, and the control panel (5) is even
The main frame (4) is connect, at least two vision collecting devices (6) are hinged with the support frame (3), make the every of surveillance area
Individual position the vision collecting device (6) described at least two can gather simultaneously, and all vision collecting devices (6) connect
Connect the main frame (4).
2. multi-vision visual system according to claim 1, it is characterised in that support frame (3) top is provided with level
Crossbeam (7), the width of the length more than the support frame (3) of the crossbeam (7), the two ends of the crossbeam (7) are respectively articulated with
One vision collecting device (6), each described vision collecting device (6) level in plane residing for the crossbeam (7) turns
It is dynamic.
3. multi-vision visual system according to claim 1, it is characterised in that also including housing (10), the housing (10)
Coat and be fixedly connected the support frame (3).
4. multi-vision visual system according to claim 1, it is characterised in that described defeated also including input/output interface (8)
Enter output interface (8) in the support frame (3), and connect the main frame (4).
5. multi-vision visual system according to claim 4, it is characterised in that the input/output interface (8) connects including USB
One or more in mouth, HDMI.
6. multi-vision visual system according to claim 1, it is characterised in that also including at least one loudspeaker (9), each
In the support frame (3), all loudspeakers (9) are all connected with the main frame (4) to the loudspeaker (9).
7. multi-vision visual system according to claim 1, it is characterised in that the control panel (5) is including touch-screen.
8. multi-vision visual system according to claim 1, it is characterised in that the relatively described chassis of control panel (5)
(1) it is obliquely installed, its inclination angle is 45 ° -80 °.
9. according to any described multi-vision visual systems of claim 1-8, it is characterised in that the chassis (1) is provided with least
Three castors (2), suspension arrangement is provided between each described castor (2) and the chassis (1).
10. the application method of a kind of multi-vision visual system as described in claim 1-9 is any, it is characterised in that including following
Step：
A, the vision system is placed in using area, and with the place geo-stationary；
B, all vision collecting device (6) angles of regulation, enable each position of surveillance area simultaneously by least two institutes
Vision collecting device (6) is stated to be gathered；
Monitoring data is real-time transmitted to the processing module of main frame (4), the treatment mould for C, all vision collecting devices (6)
Block is by the monitor area 3-dimensional digital coordinatograph；
D, all vision collecting devices (6) catch all objects of the tracking in the monitor area, and by monitoring data reality
When be transferred to the processing module；
After E, the processing module processing data draw signal, by the communication module of the main frame (4) by the signal transmission
To the acquisition equipment in the monitor area；
F, the acquisition equipment are responded and intercept and capture the target in the monitor area.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710067299.6A CN106846379A (en) | 2017-02-07 | 2017-02-07 | Multi-vision visual system and its application method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710067299.6A CN106846379A (en) | 2017-02-07 | 2017-02-07 | Multi-vision visual system and its application method |
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| CN111251312A (en) * | 2020-01-17 | 2020-06-09 | 上海理工大学 | Table tennis robot based on omnidirectional Mecanum wheel platform |
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